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use reference capture instead of copy capture

release/4.3a0
Varun Agrawal 2025-01-20 10:20:01 -05:00
parent 3d116d7fdf
commit 7eb5ad67e3
5 changed files with 14 additions and 14 deletions
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12
gtsam/geometry/tests/testSO3.cpp
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@ -333,7 +333,7 @@ TEST(SO3, CrossB) {
Matrix aH1; Matrix aH1;
for (bool nearZero : {true, false}) { for (bool nearZero : {true, false}) {
std::function<Vector3(const Vector3&, const Vector3&)> f = std::function<Vector3(const Vector3&, const Vector3&)> f =
[=](const Vector3& omega, const Vector3& v) { [nearZero](const Vector3& omega, const Vector3& v) {
return so3::DexpFunctor(omega, nearZero).crossB(v); return so3::DexpFunctor(omega, nearZero).crossB(v);
}; };
for (const Vector3& omega : test_cases::omegas(nearZero)) { for (const Vector3& omega : test_cases::omegas(nearZero)) {
@ -351,7 +351,7 @@ TEST(SO3, DoubleCrossC) {
Matrix aH1; Matrix aH1;
for (bool nearZero : {true, false}) { for (bool nearZero : {true, false}) {
std::function<Vector3(const Vector3&, const Vector3&)> f = std::function<Vector3(const Vector3&, const Vector3&)> f =
[=](const Vector3& omega, const Vector3& v) { [nearZero](const Vector3& omega, const Vector3& v) {
return so3::DexpFunctor(omega, nearZero).doubleCrossC(v); return so3::DexpFunctor(omega, nearZero).doubleCrossC(v);
}; };
for (const Vector3& omega : test_cases::omegas(nearZero)) { for (const Vector3& omega : test_cases::omegas(nearZero)) {
@ -369,7 +369,7 @@ TEST(SO3, ApplyDexp) {
Matrix aH1, aH2; Matrix aH1, aH2;
for (bool nearZero : {true, false}) { for (bool nearZero : {true, false}) {
std::function<Vector3(const Vector3&, const Vector3&)> f = std::function<Vector3(const Vector3&, const Vector3&)> f =
[=](const Vector3& omega, const Vector3& v) { [nearZero](const Vector3& omega, const Vector3& v) {
return so3::DexpFunctor(omega, nearZero).applyDexp(v); return so3::DexpFunctor(omega, nearZero).applyDexp(v);
}; };
for (const Vector3& omega : test_cases::omegas(nearZero)) { for (const Vector3& omega : test_cases::omegas(nearZero)) {
@ -390,7 +390,7 @@ TEST(SO3, ApplyInvDexp) {
Matrix aH1, aH2; Matrix aH1, aH2;
for (bool nearZero : {true, false}) { for (bool nearZero : {true, false}) {
std::function<Vector3(const Vector3&, const Vector3&)> f = std::function<Vector3(const Vector3&, const Vector3&)> f =
[=](const Vector3& omega, const Vector3& v) { [nearZero](const Vector3& omega, const Vector3& v) {
return so3::DexpFunctor(omega, nearZero).applyInvDexp(v); return so3::DexpFunctor(omega, nearZero).applyInvDexp(v);
}; };
for (const Vector3& omega : test_cases::omegas(nearZero)) { for (const Vector3& omega : test_cases::omegas(nearZero)) {
@ -412,7 +412,7 @@ TEST(SO3, ApplyLeftJacobian) {
Matrix aH1, aH2; Matrix aH1, aH2;
for (bool nearZero : {true, false}) { for (bool nearZero : {true, false}) {
std::function<Vector3(const Vector3&, const Vector3&)> f = std::function<Vector3(const Vector3&, const Vector3&)> f =
[=](const Vector3& omega, const Vector3& v) { [nearZero](const Vector3& omega, const Vector3& v) {
return so3::DexpFunctor(omega, nearZero).applyLeftJacobian(v); return so3::DexpFunctor(omega, nearZero).applyLeftJacobian(v);
}; };
for (const Vector3& omega : test_cases::omegas(nearZero)) { for (const Vector3& omega : test_cases::omegas(nearZero)) {
@ -433,7 +433,7 @@ TEST(SO3, ApplyLeftJacobianInverse) {
Matrix aH1, aH2; Matrix aH1, aH2;
for (bool nearZero : {true, false}) { for (bool nearZero : {true, false}) {
std::function<Vector3(const Vector3&, const Vector3&)> f = std::function<Vector3(const Vector3&, const Vector3&)> f =
[=](const Vector3& omega, const Vector3& v) { [nearZero](const Vector3& omega, const Vector3& v) {
return so3::DexpFunctor(omega, nearZero).applyLeftJacobianInverse(v); return so3::DexpFunctor(omega, nearZero).applyLeftJacobianInverse(v);
}; };
for (const Vector3& omega : test_cases::omegas(nearZero)) { for (const Vector3& omega : test_cases::omegas(nearZero)) {

2
gtsam/navigation/tests/testCombinedImuFactor.cpp
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@ -144,7 +144,7 @@ TEST(CombinedImuFactor, FirstOrderPreIntegratedMeasurements) {
auto p = testing::Params(); auto p = testing::Params();
testing::SomeMeasurements measurements; testing::SomeMeasurements measurements;
auto preintegrated = [=](const Vector3& a, const Vector3& w) { auto preintegrated = [&](const Vector3& a, const Vector3& w) {
PreintegratedImuMeasurements pim(p, Bias(a, w)); PreintegratedImuMeasurements pim(p, Bias(a, w));
testing::integrateMeasurements(measurements, &pim); testing::integrateMeasurements(measurements, &pim);
return pim.preintegrated(); return pim.preintegrated();

4
gtsam/navigation/tests/testImuFactor.cpp
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@ -399,7 +399,7 @@ TEST(ImuFactor, PartialDerivative_wrt_Bias) {
Vector3 measuredOmega(0.1, 0, 0); Vector3 measuredOmega(0.1, 0, 0);
double deltaT = 0.5; double deltaT = 0.5;
auto evaluateRotation = [=](const Vector3 biasOmega) { auto evaluateRotation = [&measuredOmega, &deltaT](const Vector3 biasOmega) {
return Rot3::Expmap((measuredOmega - biasOmega) * deltaT); return Rot3::Expmap((measuredOmega - biasOmega) * deltaT);
}; };
@ -424,7 +424,7 @@ TEST(ImuFactor, PartialDerivativeLogmap) {
// Measurements // Measurements
Vector3 deltaTheta(0, 0, 0); Vector3 deltaTheta(0, 0, 0);
auto evaluateLogRotation = [=](const Vector3 delta) { auto evaluateLogRotation = [&thetaHat](const Vector3 delta) {
return Rot3::Logmap( return Rot3::Logmap(
Rot3::Expmap(thetaHat).compose(Rot3::Expmap(delta))); Rot3::Expmap(thetaHat).compose(Rot3::Expmap(delta)));
}; };

6
gtsam/navigation/tests/testManifoldPreintegration.cpp
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@ -43,21 +43,21 @@ TEST(ManifoldPreintegration, BiasCorrectionJacobians) {
testing::SomeMeasurements measurements; testing::SomeMeasurements measurements;
std::function<Rot3(const Vector3&, const Vector3&)> deltaRij = std::function<Rot3(const Vector3&, const Vector3&)> deltaRij =
[=](const Vector3& a, const Vector3& w) { [&](const Vector3& a, const Vector3& w) {
ManifoldPreintegration pim(testing::Params(), Bias(a, w)); ManifoldPreintegration pim(testing::Params(), Bias(a, w));
testing::integrateMeasurements(measurements, &pim); testing::integrateMeasurements(measurements, &pim);
return pim.deltaRij(); return pim.deltaRij();
}; };
std::function<Point3(const Vector3&, const Vector3&)> deltaPij = std::function<Point3(const Vector3&, const Vector3&)> deltaPij =
[=](const Vector3& a, const Vector3& w) { [&](const Vector3& a, const Vector3& w) {
ManifoldPreintegration pim(testing::Params(), Bias(a, w)); ManifoldPreintegration pim(testing::Params(), Bias(a, w));
testing::integrateMeasurements(measurements, &pim); testing::integrateMeasurements(measurements, &pim);
return pim.deltaPij(); return pim.deltaPij();
}; };
std::function<Vector3(const Vector3&, const Vector3&)> deltaVij = std::function<Vector3(const Vector3&, const Vector3&)> deltaVij =
[=](const Vector3& a, const Vector3& w) { [&](const Vector3& a, const Vector3& w) {
ManifoldPreintegration pim(testing::Params(), Bias(a, w)); ManifoldPreintegration pim(testing::Params(), Bias(a, w));
testing::integrateMeasurements(measurements, &pim); testing::integrateMeasurements(measurements, &pim);
return pim.deltaVij(); return pim.deltaVij();

4
gtsam/navigation/tests/testTangentPreintegration.cpp
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@ -78,7 +78,7 @@ TEST(ImuFactor, BiasCorrectionJacobians) {
testing::SomeMeasurements measurements; testing::SomeMeasurements measurements;
std::function<Vector9(const Vector3&, const Vector3&)> preintegrated = std::function<Vector9(const Vector3&, const Vector3&)> preintegrated =
[=](const Vector3& a, const Vector3& w) { [&](const Vector3& a, const Vector3& w) {
TangentPreintegration pim(testing::Params(), Bias(a, w)); TangentPreintegration pim(testing::Params(), Bias(a, w));
testing::integrateMeasurements(measurements, &pim); testing::integrateMeasurements(measurements, &pim);
return pim.preintegrated(); return pim.preintegrated();
@ -149,7 +149,7 @@ TEST(TangentPreintegration, Compose) {
TEST(TangentPreintegration, MergedBiasDerivatives) { TEST(TangentPreintegration, MergedBiasDerivatives) {
testing::SomeMeasurements measurements; testing::SomeMeasurements measurements;
auto f = [=](const Vector3& a, const Vector3& w) { auto f = [&](const Vector3& a, const Vector3& w) {
TangentPreintegration pim02(testing::Params(), Bias(a, w)); TangentPreintegration pim02(testing::Params(), Bias(a, w));
testing::integrateMeasurements(measurements, &pim02); testing::integrateMeasurements(measurements, &pim02);
testing::integrateMeasurements(measurements, &pim02); testing::integrateMeasurements(measurements, &pim02);