More emplace_shared usage

gtsam/hybrid/tests/testHybridEstimation.cpp

@@ -44,7 +44,7 @@ using symbol_shorthand::X;
 
 Ordering getOrdering(HybridGaussianFactorGraph& factors,
                      const HybridGaussianFactorGraph& newFactors) {
-  factors += newFactors;
+  factors.push_back(newFactors);
   // Get all the discrete keys from the factors
   KeySet allDiscrete = factors.discreteKeySet();
 

gtsam/slam/tests/testGeneralSFMFactor.cpp

@@ -483,10 +483,7 @@ TEST(GeneralSFMFactor, BinaryJacobianFactor) {
               actualJacobian.augmentedInformation(), 1e-9));
 
       // Construct from GaussianFactorGraph
-      GaussianFactorGraph gfg1;
-      gfg1 += expected;
-      GaussianFactorGraph gfg2;
-      gfg2 += actual;
+      GaussianFactorGraph gfg1 {expected}, gfg2 {actual};
       HessianFactor hessian1(gfg1), hessian2(gfg2);
       EXPECT(assert_equal(hessian1, hessian2, 1e-9));
     }

gtsam/symbolic/tests/testSymbolicBayesNet.cpp

@@ -83,9 +83,9 @@ TEST(SymbolicBayesNet, Dot) {
   using symbol_shorthand::A;
   using symbol_shorthand::X;
   SymbolicBayesNet bn;
-  bn += SymbolicConditional(X(3), X(2), A(2));
-  bn += SymbolicConditional(X(2), X(1), A(1));
-  bn += SymbolicConditional(X(1));
+  bn.emplace_shared<SymbolicConditional>(X(3), X(2), A(2));
+  bn.emplace_shared<SymbolicConditional>(X(2), X(1), A(1));
+  bn.emplace_shared<SymbolicConditional>(X(1));
 
   DotWriter writer;
   writer.positionHints.emplace('a', 2);

gtsam/symbolic/tests/testSymbolicBayesTree.cpp

@@ -257,8 +257,8 @@ TEST(BayesTree, removeTop) {
 
   // Check expected outcome
   SymbolicBayesNet expected;
-  expected += SymbolicConditional::FromKeys<KeyVector>(Keys(_E_)(_L_)(_B_), 3);
-  expected += SymbolicConditional::FromKeys<KeyVector>(Keys(_S_)(_B_)(_L_), 1);
+  expected.add(SymbolicConditional::FromKeys<KeyVector>(Keys(_E_)(_L_)(_B_), 3));
+  expected.add(SymbolicConditional::FromKeys<KeyVector>(Keys(_S_)(_B_)(_L_), 1));
   CHECK(assert_equal(expected, bn));
 
   SymbolicBayesTree::Cliques expectedOrphans{bayesTree[_T_], bayesTree[_X_]};

gtsam/symbolic/tests/testSymbolicEliminationTree.cpp

@@ -110,19 +110,20 @@ TEST(EliminationTree, Create2) {
   //                          \  |
   //                            l3
   SymbolicFactorGraph graph;
+  graph.emplace_shared<SymbolicFactor>(X(1), L(1));
+  graph.emplace_shared<SymbolicFactor>(X(1), X(2));
+  graph.emplace_shared<SymbolicFactor>(X(2), L(1));
+  graph.emplace_shared<SymbolicFactor>(X(2), X(3));
+  graph.emplace_shared<SymbolicFactor>(X(3), X(4));
+  graph.emplace_shared<SymbolicFactor>(X(4), L(2));
+  graph.emplace_shared<SymbolicFactor>(X(4), X(5));
+  graph.emplace_shared<SymbolicFactor>(L(2), X(5));
+  graph.emplace_shared<SymbolicFactor>(X(4), L(3));
+  graph.emplace_shared<SymbolicFactor>(X(5), L(3));
+
   auto binary = [](Key j1, Key j2) -> SymbolicFactor {
     return SymbolicFactor(j1, j2);
   };
-  graph += binary(X(1), L(1));
-  graph += binary(X(1), X(2));
-  graph += binary(X(2), L(1));
-  graph += binary(X(2), X(3));
-  graph += binary(X(3), X(4));
-  graph += binary(X(4), L(2));
-  graph += binary(X(4), X(5));
-  graph += binary(L(2), X(5));
-  graph += binary(X(4), L(3));
-  graph += binary(X(5), L(3));
 
   SymbolicEliminationTree expected = EliminationTreeTester::MakeTree(  //
       ChildNodes(                                                      //

gtsam/symbolic/tests/testSymbolicFactorGraph.cpp

@@ -292,9 +292,9 @@ TEST(SymbolicFactorGraph, constructFromBayesNet) {
 
   // create Bayes Net
   SymbolicBayesNet bayesNet;
-  bayesNet += SymbolicConditional(0, 1, 2);
-  bayesNet += SymbolicConditional(1, 2);
-  bayesNet += SymbolicConditional(1);
+  bayesNet.emplace_shared<SymbolicConditional>(0, 1, 2);
+  bayesNet.emplace_shared<SymbolicConditional>(1, 2);
+  bayesNet.emplace_shared<SymbolicConditional>(1);
 
   // create actual factor graph from a Bayes Net
   SymbolicFactorGraph actual(bayesNet);
@@ -349,7 +349,7 @@ TEST(SymbolicFactorGraph, push_back) {
 TEST(SymbolicFactorGraph, add_factors) {
   SymbolicFactorGraph fg1;
   fg1.push_factor(10);
-  fg1 += SymbolicFactor::shared_ptr();  // empty slot!
+  fg1.push_back(SymbolicFactor::shared_ptr());  // empty slot!
   fg1.push_factor(11);
 
   SymbolicFactorGraph fg2;

gtsam/symbolic/tests/testSymbolicISAM.cpp

@@ -79,8 +79,8 @@ TEST( SymbolicISAM, iSAM )
   // Now we modify the Bayes tree by inserting a new factor over B and S
 
   SymbolicFactorGraph fullGraph;
-  fullGraph += asiaGraph;
-  fullGraph += SymbolicFactor(_B_, _S_);
+  fullGraph.push_back(asiaGraph);
+  fullGraph.emplace_shared<SymbolicFactor>(_B_, _S_);
 
   // This ordering is chosen to match the one chosen by COLAMD during the ISAM update
   Ordering ordering {_X_, _B_, _S_, _E_, _L_, _T_};

gtsam_unstable/dynamics/tests/testIMUSystem.cpp

@@ -33,20 +33,20 @@ TEST(testIMUSystem, instantiations) {
   // just checking for compilation
   PoseRTV x1_v;
 
-  gtsam::SharedNoiseModel model1 = gtsam::noiseModel::Unit::Create(1);
-  gtsam::SharedNoiseModel model3 = gtsam::noiseModel::Unit::Create(3);
-  gtsam::SharedNoiseModel model6 = gtsam::noiseModel::Unit::Create(6);
-  gtsam::SharedNoiseModel model9 = gtsam::noiseModel::Unit::Create(9);
+  SharedNoiseModel model1 = noiseModel::Unit::Create(1);
+  SharedNoiseModel model3 = noiseModel::Unit::Create(3);
+  SharedNoiseModel model6 = noiseModel::Unit::Create(6);
+  SharedNoiseModel model9 = noiseModel::Unit::Create(9);
 
   Vector accel = Vector::Ones(3), gyro = Vector::Ones(3);
 
   IMUFactor<PoseRTV> imu(accel, gyro, 0.01, x1, x2, model6);
   FullIMUFactor<PoseRTV> full_imu(accel, gyro, 0.01, x1, x2, model9);
-  NonlinearEquality<gtsam::PoseRTV> poseHardPrior(x1, x1_v);
-  BetweenFactor<gtsam::PoseRTV> odom(x1, x2, x1_v, model9);
-  RangeFactor<gtsam::PoseRTV, gtsam::PoseRTV> range(x1, x2, 1.0, model1);
+  NonlinearEquality<PoseRTV> poseHardPrior(x1, x1_v);
+  BetweenFactor<PoseRTV> odom(x1, x2, x1_v, model9);
+  RangeFactor<PoseRTV, PoseRTV> range(x1, x2, 1.0, model1);
   VelocityConstraint constraint(x1, x2, 0.1, 10000);
-  PriorFactor<gtsam::PoseRTV> posePrior(x1, x1_v, model9);
+  PriorFactor<PoseRTV> posePrior(x1, x1_v, model9);
   DHeightPrior heightPrior(x1, 0.1, model1);
   VelocityPrior velPrior(x1, Vector::Ones(3), model3);
 }
@@ -68,13 +68,13 @@ TEST( testIMUSystem, optimize_chain ) {
 
   // assemble simple graph with IMU measurements and velocity constraints
   NonlinearFactorGraph graph;
-  graph += NonlinearEquality<gtsam::PoseRTV>(x1, pose1);
-  graph += IMUFactor<PoseRTV>(imu12, dt, x1, x2, model);
-  graph += IMUFactor<PoseRTV>(imu23, dt, x2, x3, model);
-  graph += IMUFactor<PoseRTV>(imu34, dt, x3, x4, model);
-  graph += VelocityConstraint(x1, x2, dt);
-  graph += VelocityConstraint(x2, x3, dt);
-  graph += VelocityConstraint(x3, x4, dt);
+  graph.emplace_shared<NonlinearEquality<PoseRTV>>(x1, pose1);
+  graph.emplace_shared<IMUFactor<PoseRTV>>(imu12, dt, x1, x2, model);
+  graph.emplace_shared<IMUFactor<PoseRTV>>(imu23, dt, x2, x3, model);
+  graph.emplace_shared<IMUFactor<PoseRTV>>(imu34, dt, x3, x4, model);
+  graph.emplace_shared<VelocityConstraint>(x1, x2, dt);
+  graph.emplace_shared<VelocityConstraint>(x2, x3, dt);
+  graph.emplace_shared<VelocityConstraint>(x3, x4, dt);
 
   // ground truth values
   Values true_values;
@@ -114,10 +114,10 @@ TEST( testIMUSystem, optimize_chain_fullfactor ) {
 
   // assemble simple graph with IMU measurements and velocity constraints
   NonlinearFactorGraph graph;
-  graph += NonlinearEquality<gtsam::PoseRTV>(x1, pose1);
-  graph += FullIMUFactor<PoseRTV>(imu12, dt, x1, x2, model);
-  graph += FullIMUFactor<PoseRTV>(imu23, dt, x2, x3, model);
-  graph += FullIMUFactor<PoseRTV>(imu34, dt, x3, x4, model);
+  graph.emplace_shared<NonlinearEquality<PoseRTV>>(x1, pose1);
+  graph.emplace_shared<FullIMUFactor<PoseRTV>>(imu12, dt, x1, x2, model);
+  graph.emplace_shared<FullIMUFactor<PoseRTV>>(imu23, dt, x2, x3, model);
+  graph.emplace_shared<FullIMUFactor<PoseRTV>>(imu34, dt, x3, x4, model);
 
   // ground truth values
   Values true_values;
@@ -156,7 +156,7 @@ TEST( testIMUSystem, linear_trajectory) {
   Values true_traj, init_traj;
   NonlinearFactorGraph graph;
 
-  graph += NonlinearEquality<gtsam::PoseRTV>(x0, start);
+  graph.emplace_shared<NonlinearEquality<PoseRTV>>(x0, start);
   true_traj.insert(x0, start);
   init_traj.insert(x0, start);
 
@@ -165,7 +165,7 @@ TEST( testIMUSystem, linear_trajectory) {
   for (size_t i=1; i<nrPoses; ++i) {
     Key xA = i-1, xB = i;
     cur_pose = cur_pose.generalDynamics(accel, gyro, dt);
-    graph += FullIMUFactor<PoseRTV>(accel - g, gyro, dt, xA, xB, model);
+    graph.emplace_shared<FullIMUFactor<PoseRTV>>(accel - g, gyro, dt, xA, xB, model);
     true_traj.insert(xB, cur_pose);
     init_traj.insert(xB, PoseRTV());
   }

gtsam_unstable/nonlinear/ConcurrentFilteringAndSmoothing.cpp

@@ -78,7 +78,7 @@ NonlinearFactorGraph calculateMarginalFactors(const NonlinearFactorGraph& graph,
     NonlinearFactorGraph marginalFactors;
     marginalFactors.reserve(marginalLinearFactors.size());
     for(const GaussianFactor::shared_ptr& gaussianFactor: marginalLinearFactors) {
-      marginalFactors += std::make_shared<LinearContainerFactor>(gaussianFactor, theta);
+      marginalFactors.emplace_shared<LinearContainerFactor>(gaussianFactor, theta);
     }
 
     return marginalFactors;

gtsam_unstable/slam/SmartStereoProjectionFactor.h

@@ -30,7 +30,10 @@
 #include <gtsam/slam/dataset.h>
 #include <gtsam_unstable/dllexport.h>
 
+#ifdef GTSAM_ENABLE_BOOST_SERIALIZATION
 #include <boost/serialization/optional.hpp>
+#endif
+
 #include <optional>
 #include <vector>
 
@@ -501,7 +504,7 @@ public:
 
 private:
 
-#ifdef GTSAM_ENABLE_BOOST_SERIALIZATION  ///
+#ifdef GTSAM_ENABLE_BOOST_SERIALIZATION
   /// Serialization function
   friend class boost::serialization::access;
   template<class ARCHIVE>

gtsam_unstable/slam/tests/testInvDepthFactor3.cpp

@@ -62,10 +62,9 @@ TEST( InvDepthFactor, optimize) {
   gtsam::NonlinearFactorGraph graph;
   Values initial;
 
-  InverseDepthFactor::shared_ptr factor(new InverseDepthFactor(expected_uv, sigma,
-      Symbol('x',1), Symbol('l',1), Symbol('d',1), K));
-  graph.push_back(factor);
-  graph += PoseConstraint(Symbol('x',1),level_pose);
+  graph.emplace_shared<InverseDepthFactor>(expected_uv, sigma,
+      Symbol('x',1), Symbol('l',1), Symbol('d',1), K);
+  graph.emplace_shared<PoseConstraint>(Symbol('x', 1), level_pose);
   initial.insert(Symbol('x',1), level_pose);
   initial.insert(Symbol('l',1), inv_landmark);
   initial.insert(Symbol('d',1), inv_depth);
@@ -91,7 +90,7 @@ TEST( InvDepthFactor, optimize) {
       Symbol('x',2), Symbol('l',1),Symbol('d',1),K));
   graph.push_back(factor1);
 
-  graph += PoseConstraint(Symbol('x',2),right_pose);
+  graph.emplace_shared<PoseConstraint>(Symbol('x',2),right_pose);
 
   initial.insert(Symbol('x',2), right_pose);
 

gtsam_unstable/slam/tests/testMultiProjectionFactor.cpp

@@ -73,10 +73,8 @@ TEST( MultiProjectionFactor, create ){
   views.insert(x2);
   views.insert(x3);
 
-  MultiProjectionFactor<Pose3, Point3> mpFactor(n_measPixel, noiseProjection, views, l1, K);
-  graph += mpFactor;
-
-
+  graph.emplace_shared<MultiProjectionFactor<Pose3, Point3>>(
+      n_measPixel, noiseProjection, views, l1, K);
 }