Address comments on PR #1843
(cherry picked from commit 7e587e4eb396cadf67799e968cb0cf153af9750a)release/4.3a0
parent
74c40556e3
commit
82c25d887c
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@ -22,7 +22,7 @@ namespace gtsam {
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/* *******************************************************************************/
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static void checkKeys(const KeyVector& continuousKeys,
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std::vector<NonlinearFactorValuePair>& pairs) {
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const std::vector<NonlinearFactorValuePair>& pairs) {
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KeySet factor_keys_set;
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for (const auto& pair : pairs) {
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auto f = pair.first;
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@ -55,14 +55,9 @@ HybridNonlinearFactor::HybridNonlinearFactor(
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/* *******************************************************************************/
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HybridNonlinearFactor::HybridNonlinearFactor(
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const KeyVector& continuousKeys, const DiscreteKey& discreteKey,
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const std::vector<NonlinearFactorValuePair>& factors)
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const std::vector<NonlinearFactorValuePair>& pairs)
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: Base(continuousKeys, {discreteKey}) {
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std::vector<NonlinearFactorValuePair> pairs;
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KeySet continuous_keys_set(continuousKeys.begin(), continuousKeys.end());
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KeySet factor_keys_set;
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for (auto&& [f, val] : factors) {
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pairs.emplace_back(f, val);
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}
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checkKeys(continuousKeys, pairs);
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factors_ = FactorValuePairs({discreteKey}, pairs);
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}
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@ -106,11 +106,11 @@ class GTSAM_EXPORT HybridNonlinearFactor : public HybridFactor {
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*
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* @param continuousKeys Vector of keys for continuous factors.
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* @param discreteKey The discrete key for the "mode", indexing components.
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* @param factors Vector of gaussian factor-scalar pairs, one per mode.
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* @param pairs Vector of gaussian factor-scalar pairs, one per mode.
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*/
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HybridNonlinearFactor(const KeyVector& continuousKeys,
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const DiscreteKey& discreteKey,
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const std::vector<NonlinearFactorValuePair>& factors);
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const std::vector<NonlinearFactorValuePair>& pairs);
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/**
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* @brief Construct a new HybridNonlinearFactor on a several discrete keys M,
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