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fix ci issue

release/4.3a0
kartik arcot 2023-01-21 10:20:15 -08:00
parent b8fb9fabb4
commit 9bc7f3c6dd
1 changed files with 5 additions and 4 deletions
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9
gtsam/nonlinear/ISAM2UpdateParams.h
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@ -20,6 +20,7 @@
#include <gtsam/dllexport.h> // GTSAM_EXPORT #include <gtsam/dllexport.h> // GTSAM_EXPORT
#include <gtsam/inference/Key.h> // Key, KeySet #include <gtsam/inference/Key.h> // Key, KeySet
#include <gtsam/nonlinear/ISAM2Result.h> //FactorIndices #include <gtsam/nonlinear/ISAM2Result.h> //FactorIndices
#include <optional>
namespace gtsam { namespace gtsam {
@ -36,16 +37,16 @@ struct ISAM2UpdateParams {
/** An optional map of keys to group labels, such that a variable can be /** An optional map of keys to group labels, such that a variable can be
* constrained to a particular grouping in the BayesTree */ * constrained to a particular grouping in the BayesTree */
std::optional<FastMap<Key, int>> constrainedKeys{{}}; std::optional<FastMap<Key, int>> constrainedKeys{std::nullopt};
/** An optional set of nonlinear keys that iSAM2 will hold at a constant /** An optional set of nonlinear keys that iSAM2 will hold at a constant
* linearization point, regardless of the size of the linear delta */ * linearization point, regardless of the size of the linear delta */
std::optional<FastList<Key>> noRelinKeys{{}}; std::optional<FastList<Key>> noRelinKeys{std::nullopt};
/** An optional set of nonlinear keys that iSAM2 will re-eliminate, regardless /** An optional set of nonlinear keys that iSAM2 will re-eliminate, regardless
* of the size of the linear delta. This allows the provided keys to be * of the size of the linear delta. This allows the provided keys to be
* reordered. */ * reordered. */
std::optional<FastList<Key>> extraReelimKeys{{}}; std::optional<FastList<Key>> extraReelimKeys{std::nullopt};
/** Relinearize any variables whose delta magnitude is sufficiently large /** Relinearize any variables whose delta magnitude is sufficiently large
* (Params::relinearizeThreshold), regardless of the relinearization * (Params::relinearizeThreshold), regardless of the relinearization
@ -62,7 +63,7 @@ struct ISAM2UpdateParams {
* depend on Keys `X(2)`, `X(3)`. Next call to ISAM2::update() must include * depend on Keys `X(2)`, `X(3)`. Next call to ISAM2::update() must include
* its `newAffectedKeys` field with the map `13 -> {X(2), X(3)}`. * its `newAffectedKeys` field with the map `13 -> {X(2), X(3)}`.
*/ */
std::optional<FastMap<FactorIndex, KeySet>> newAffectedKeys{{}}; std::optional<FastMap<FactorIndex, KeySet>> newAffectedKeys{std::nullopt};
/** By default, iSAM2 uses a wildfire update scheme that stops updating when /** By default, iSAM2 uses a wildfire update scheme that stops updating when
* the deltas become too small down in the tree. This flagg forces a full * the deltas become too small down in the tree. This flagg forces a full