From a9b4bfd261c7ebfaabdf46ff36b44607f024dddc Mon Sep 17 00:00:00 2001 From: Yao Chen Date: Fri, 20 May 2016 09:20:03 -0400 Subject: [PATCH] Replaced BOOSE_FOREACH with for in examples folder. Tested the changed code locally: successful. --- examples/Pose3SLAMExample_changeKeys.cpp | 4 ++-- examples/Pose3SLAMExample_g2o.cpp | 2 +- examples/Pose3SLAMExample_initializePose3Chordal.cpp | 2 +- .../Pose3SLAMExample_initializePose3Gradient.cpp | 2 +- examples/RangeISAMExample_plaza2.cpp | 4 ++-- examples/SolverComparer.cpp | 8 ++++---- examples/TimeTBB.cpp | 12 ++++++------ 7 files changed, 17 insertions(+), 17 deletions(-) diff --git a/examples/Pose3SLAMExample_changeKeys.cpp b/examples/Pose3SLAMExample_changeKeys.cpp index f3f770750..9cab73822 100644 --- a/examples/Pose3SLAMExample_changeKeys.cpp +++ b/examples/Pose3SLAMExample_changeKeys.cpp @@ -56,7 +56,7 @@ int main(const int argc, const char *argv[]) { std::cout << "Rewriting input to file: " << inputFileRewritten << std::endl; // Additional: rewrite input with simplified keys 0,1,... Values simpleInitial; - BOOST_FOREACH(const Values::ConstKeyValuePair& key_value, *initial) { + for(const Values::ConstKeyValuePair& key_value: *initial) { Key key; if(add) key = key_value.key + firstKey; @@ -66,7 +66,7 @@ int main(const int argc, const char *argv[]) { simpleInitial.insert(key, initial->at(key_value.key)); } NonlinearFactorGraph simpleGraph; - BOOST_FOREACH(const boost::shared_ptr& factor, *graph) { + for(const boost::shared_ptr& factor: *graph) { boost::shared_ptr > pose3Between = boost::dynamic_pointer_cast >(factor); if (pose3Between){ diff --git a/examples/Pose3SLAMExample_g2o.cpp b/examples/Pose3SLAMExample_g2o.cpp index c0399c139..5066222e5 100644 --- a/examples/Pose3SLAMExample_g2o.cpp +++ b/examples/Pose3SLAMExample_g2o.cpp @@ -45,7 +45,7 @@ int main(const int argc, const char *argv[]) { noiseModel::Diagonal::shared_ptr priorModel = // noiseModel::Diagonal::Variances((Vector(6) << 1e-6, 1e-6, 1e-6, 1e-4, 1e-4, 1e-4).finished()); Key firstKey = 0; - BOOST_FOREACH(const Values::ConstKeyValuePair& key_value, *initial) { + for(const Values::ConstKeyValuePair& key_value: *initial) { std::cout << "Adding prior to g2o file " << std::endl; firstKey = key_value.key; graphWithPrior.add(PriorFactor(firstKey, Pose3(), priorModel)); diff --git a/examples/Pose3SLAMExample_initializePose3Chordal.cpp b/examples/Pose3SLAMExample_initializePose3Chordal.cpp index 645b24cfc..e90d014c0 100644 --- a/examples/Pose3SLAMExample_initializePose3Chordal.cpp +++ b/examples/Pose3SLAMExample_initializePose3Chordal.cpp @@ -45,7 +45,7 @@ int main(const int argc, const char *argv[]) { noiseModel::Diagonal::shared_ptr priorModel = // noiseModel::Diagonal::Variances((Vector(6) << 1e-6, 1e-6, 1e-6, 1e-4, 1e-4, 1e-4).finished()); Key firstKey = 0; - BOOST_FOREACH(const Values::ConstKeyValuePair& key_value, *initial) { + for(const Values::ConstKeyValuePair& key_value: *initial) { std::cout << "Adding prior to g2o file " << std::endl; firstKey = key_value.key; graphWithPrior.add(PriorFactor(firstKey, Pose3(), priorModel)); diff --git a/examples/Pose3SLAMExample_initializePose3Gradient.cpp b/examples/Pose3SLAMExample_initializePose3Gradient.cpp index 99342099a..10960cf31 100644 --- a/examples/Pose3SLAMExample_initializePose3Gradient.cpp +++ b/examples/Pose3SLAMExample_initializePose3Gradient.cpp @@ -45,7 +45,7 @@ int main(const int argc, const char *argv[]) { noiseModel::Diagonal::shared_ptr priorModel = // noiseModel::Diagonal::Variances((Vector(6) << 1e-6, 1e-6, 1e-6, 1e-4, 1e-4, 1e-4).finished()); Key firstKey = 0; - BOOST_FOREACH(const Values::ConstKeyValuePair& key_value, *initial) { + for(const Values::ConstKeyValuePair& key_value: *initial) { std::cout << "Adding prior to g2o file " << std::endl; firstKey = key_value.key; graphWithPrior.add(PriorFactor(firstKey, Pose3(), priorModel)); diff --git a/examples/RangeISAMExample_plaza2.cpp b/examples/RangeISAMExample_plaza2.cpp index 01ce8b08b..f87f73983 100644 --- a/examples/RangeISAMExample_plaza2.cpp +++ b/examples/RangeISAMExample_plaza2.cpp @@ -151,7 +151,7 @@ int main (int argc, char** argv) { // Loop over odometry gttic_(iSAM); - BOOST_FOREACH(const TimedOdometry& timedOdometry, odometry) { + for(const TimedOdometry& timedOdometry: odometry) { //--------------------------------- odometry loop ----------------------------------------- double t; Pose2 odometry; @@ -196,7 +196,7 @@ int main (int argc, char** argv) { } i += 1; //--------------------------------- odometry loop ----------------------------------------- - } // BOOST_FOREACH + } // end for gttoc_(iSAM); // Print timings diff --git a/examples/SolverComparer.cpp b/examples/SolverComparer.cpp index 2000b348b..15c21aaa6 100644 --- a/examples/SolverComparer.cpp +++ b/examples/SolverComparer.cpp @@ -80,7 +80,7 @@ double chi2_red(const gtsam::NonlinearFactorGraph& graph, const gtsam::Values& c // the factor graph already includes a factor for the prior/equality constraint. // double dof = graph.size() - config.size(); int graph_dim = 0; - BOOST_FOREACH(const boost::shared_ptr& nlf, graph) { + for(const boost::shared_ptr& nlf: graph) { graph_dim += (int)nlf->dim(); } double dof = double(graph_dim) - double(config.dim()); // kaess: changed to dim @@ -442,7 +442,7 @@ void runIncremental() // break; // } // tictoc_print_(); - // BOOST_FOREACH(Key key, values.keys()) { + // for(Key key: values.keys()) { // gttic_(marginalInformation); // Matrix info = marginals.marginalInformation(key); // gttoc_(marginalInformation); @@ -535,7 +535,7 @@ void runCompare() vector commonKeys; br::set_intersection(soln1.keys(), soln2.keys(), std::back_inserter(commonKeys)); double maxDiff = 0.0; - BOOST_FOREACH(Key j, commonKeys) + for(Key j: commonKeys) maxDiff = std::max(maxDiff, soln1.at(j).localCoordinates_(soln2.at(j)).norm()); cout << " Maximum solution difference (norm of logmap): " << maxDiff << endl; } @@ -549,7 +549,7 @@ void runPerturb() // Perturb values VectorValues noise; - BOOST_FOREACH(const Values::KeyValuePair& key_val, initial) + for(const Values::KeyValuePair& key_val: initial) { Vector noisev(key_val.value.dim()); for(Vector::Index i = 0; i < noisev.size(); ++i) diff --git a/examples/TimeTBB.cpp b/examples/TimeTBB.cpp index 602a00593..129920121 100644 --- a/examples/TimeTBB.cpp +++ b/examples/TimeTBB.cpp @@ -76,7 +76,7 @@ map testWithoutMemoryAllocation() const vector grainSizes = list_of(1)(10)(100)(1000); map timingResults; - BOOST_FOREACH(size_t grainSize, grainSizes) + for(size_t grainSize: grainSizes) { tbb::tick_count t0 = tbb::tick_count::now(); tbb::parallel_for(tbb::blocked_range(0, numberOfProblems), WorkerWithoutAllocation(results)); @@ -129,7 +129,7 @@ map testWithMemoryAllocation() const vector grainSizes = list_of(1)(10)(100)(1000); map timingResults; - BOOST_FOREACH(size_t grainSize, grainSizes) + for(size_t grainSize: grainSizes) { tbb::tick_count t0 = tbb::tick_count::now(); tbb::parallel_for(tbb::blocked_range(0, numberOfProblems), WorkerWithAllocation(results)); @@ -150,7 +150,7 @@ int main(int argc, char* argv[]) const vector numThreads = list_of(1)(4)(8); Results results; - BOOST_FOREACH(size_t n, numThreads) + for(size_t n: numThreads) { cout << "With " << n << " threads:" << endl; tbb::task_scheduler_init init((int)n); @@ -160,19 +160,19 @@ int main(int argc, char* argv[]) } cout << "Summary of results:" << endl; - BOOST_FOREACH(const Results::value_type& threads_result, results) + for(const Results::value_type& threads_result: results) { const int threads = threads_result.first; const ResultWithThreads& result = threads_result.second; if(threads != 1) { - BOOST_FOREACH(const ResultWithThreads::value_type& grainsize_time, result.grainSizesWithoutAllocation) + for(const ResultWithThreads::value_type& grainsize_time: result.grainSizesWithoutAllocation) { const int grainsize = grainsize_time.first; const double speedup = results[1].grainSizesWithoutAllocation[grainsize] / grainsize_time.second; cout << threads << " threads, without allocation, grain size = " << grainsize << ", speedup = " << speedup << endl; } - BOOST_FOREACH(const ResultWithThreads::value_type& grainsize_time, result.grainSizesWithAllocation) + for(const ResultWithThreads::value_type& grainsize_time: result.grainSizesWithAllocation) { const int grainsize = grainsize_time.first; const double speedup = results[1].grainSizesWithAllocation[grainsize] / grainsize_time.second;