12345qiupeng
/
gtsam
1
0
Fork 0
Code Issues Pull Requests Packages Projects Releases Wiki Activity

remove InPlace jacobian from .h file

release/4.3a0
Gerry Chen 2021-01-27 10:44:31 -05:00
parent dcf8a52b8b
commit a17bd5c6d5
2 changed files with 16 additions and 16 deletions
Show Stats Download Patch File Download Diff File Expand all files Collapse all files

24
gtsam/linear/GaussianFactorGraph.cpp
View File

@ -100,16 +100,24 @@ namespace gtsam {
} }
/* ************************************************************************* */ /* ************************************************************************* */
/** Performs in-place population of a sparse jacobian. Contains the
* common functionality amongst different sparseJacobian functions.
* @param graph the factor graph to get the Jacobian from
* @param entries a container of triplets that supports
* `emplace_back(size_t, size_t, double)
* @param ordering the variable ordering
* @param[out] nrows the nurmber of rows in the Jacobian
* @param[out] ncols the number of columns in the Jacobian
*/
template <typename T> template <typename T>
void GaussianFactorGraph::sparseJacobianInPlace(T& entries, void sparseJacobianInPlace(const GaussianFactorGraph& graph, T& entries,
const Ordering& ordering, const Ordering& ordering, size_t& nrows,
size_t& nrows, size_t& ncols) {
size_t& ncols) const {
gttic_(GaussianFactorGraph_sparseJacobianInPlace); gttic_(GaussianFactorGraph_sparseJacobianInPlace);
// First find dimensions of each variable // First find dimensions of each variable
typedef std::map<Key, size_t> KeySizeMap; typedef std::map<Key, size_t> KeySizeMap;
KeySizeMap dims; KeySizeMap dims;
for (const sharedFactor& factor : *this) { for (const auto& factor : graph) {
if (!static_cast<bool>(factor)) continue; if (!static_cast<bool>(factor)) continue;
for (auto it = factor->begin(); it != factor->end(); ++it) { for (auto it = factor->begin(); it != factor->end(); ++it) {
@ -127,7 +135,7 @@ namespace gtsam {
// Iterate over all factors, adding sparse scalar entries // Iterate over all factors, adding sparse scalar entries
nrows = 0; nrows = 0;
for (const sharedFactor& factor : *this) { for (const auto& factor : graph) {
if (!static_cast<bool>(factor)) continue; if (!static_cast<bool>(factor)) continue;
// Convert to JacobianFactor if necessary // Convert to JacobianFactor if necessary
@ -179,7 +187,7 @@ namespace gtsam {
BoostTriplets entries; BoostTriplets entries;
entries.reserve(60 * size()); entries.reserve(60 * size());
size_t nrows, ncols; size_t nrows, ncols;
sparseJacobianInPlace(entries, Ordering(this->keys()), nrows, ncols); sparseJacobianInPlace(*this, entries, Ordering(this->keys()), nrows, ncols);
return entries; return entries;
} }
@ -207,7 +215,7 @@ namespace gtsam {
const Ordering& ordering, size_t& nrows, size_t& ncols) const { const Ordering& ordering, size_t& nrows, size_t& ncols) const {
GtsamTriplets entries; GtsamTriplets entries;
entries.reserve(60 * size()); entries.reserve(60 * size());
sparseJacobianInPlace(entries, ordering, nrows, ncols); sparseJacobianInPlace(*this, entries, ordering, nrows, ncols);
return entries; return entries;
} }

8
gtsam/linear/GaussianFactorGraph.h
View File

@ -380,14 +380,6 @@ namespace gtsam {
/// @} /// @}
private: private:
/** Performs in-place population of a sparse jacobian. Contains the
* common functionality amongst different sparseJacobian functions.
* @param entries a container of triplets that supports
* `emplace_back(size_t, size_t, double)`*/
template <typename T>
void sparseJacobianInPlace(T& entries, const Ordering& ordering,
size_t& nrows, size_t& ncols) const;
/** Serialization function */ /** Serialization function */
friend class boost::serialization::access; friend class boost::serialization::access;
template<class ARCHIVE> template<class ARCHIVE>