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Return FastSet instead of std::set from NonlinearFactorGraph::keys()

release/4.3a0
Richard Roberts 2012-06-30 22:32:46 +00:00
parent f06c7ad2e9
commit 86f19362ab
3 changed files with 5 additions and 5 deletions
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4
gtsam/nonlinear/NonlinearFactorGraph.cpp
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@ -54,8 +54,8 @@ double NonlinearFactorGraph::error(const Values& c) const {
} }
/* ************************************************************************* */ /* ************************************************************************* */
std::set<Key> NonlinearFactorGraph::keys() const { FastSet<Key> NonlinearFactorGraph::keys() const {
std::set<Key> keys; FastSet<Key> keys;
BOOST_FOREACH(const sharedFactor& factor, this->factors_) { BOOST_FOREACH(const sharedFactor& factor, this->factors_) {
if(factor) if(factor)
keys.insert(factor->begin(), factor->end()); keys.insert(factor->begin(), factor->end());

2
gtsam/nonlinear/NonlinearFactorGraph.h
View File

@ -47,7 +47,7 @@ namespace gtsam {
void print(const std::string& str = "NonlinearFactorGraph: ", const KeyFormatter& keyFormatter = DefaultKeyFormatter) const; void print(const std::string& str = "NonlinearFactorGraph: ", const KeyFormatter& keyFormatter = DefaultKeyFormatter) const;
/** return keys as an ordered set - ordering is by key value */ /** return keys as an ordered set - ordering is by key value */
std::set<Key> keys() const; FastSet<Key> keys() const;
/** unnormalized error, \f$ 0.5 \sum_i (h_i(X_i)-z)^2/\sigma^2 \f$ in the most common case */ /** unnormalized error, \f$ 0.5 \sum_i (h_i(X_i)-z)^2/\sigma^2 \f$ in the most common case */
double error(const Values& c) const; double error(const Values& c) const;

4
tests/testNonlinearFactorGraph.cpp
View File

@ -65,9 +65,9 @@ TEST( Graph, error )
TEST( Graph, keys ) TEST( Graph, keys )
{ {
Graph fg = createNonlinearFactorGraph(); Graph fg = createNonlinearFactorGraph();
set<Key> actual = fg.keys(); FastSet<Key> actual = fg.keys();
LONGS_EQUAL(3, actual.size()); LONGS_EQUAL(3, actual.size());
set<Key>::const_iterator it = actual.begin(); FastSet<Key>::const_iterator it = actual.begin();
LONGS_EQUAL(L(1), *(it++)); LONGS_EQUAL(L(1), *(it++));
LONGS_EQUAL(X(1), *(it++)); LONGS_EQUAL(X(1), *(it++));
LONGS_EQUAL(X(2), *(it++)); LONGS_EQUAL(X(2), *(it++));