small improvements

gtsam_unstable/linear/LPInitSolver.cpp

@@ -65,9 +65,7 @@ GaussianFactorGraph::shared_ptr LPInitSolver::buildInitOfInitGraph() const {
       new GaussianFactorGraph(lp_.equalities));
 
   // create factor ||x||^2 and add to the graph
-  const KeyDimMap& constrainedKeyDim = lp_.constrainedKeyDimMap();
-  for (const auto& [key, _] : constrainedKeyDim) {
-    size_t dim = constrainedKeyDim.at(key);
+  for (const auto& [key, dim] : lp_.constrainedKeyDimMap()) {
     initGraph->push_back(
         JacobianFactor(key, Matrix::Identity(dim, dim), Vector::Zero(dim)));
   }

gtsam_unstable/linear/LPInitSolver.h

@@ -19,6 +19,7 @@
 
 #pragma once
 
+#include <gtsam_unstable/dllexport.h>
 #include <gtsam_unstable/linear/LP.h>
 #include <gtsam/linear/GaussianFactorGraph.h>
 
@@ -49,7 +50,7 @@ namespace gtsam {
  * inequality constraint, we can't conclude that the problem is infeasible.
  * However, whether it is infeasible or unbounded, we don't have a unique solution anyway.
  */
-class LPInitSolver {
+class GTSAM_UNSTABLE_EXPORT LPInitSolver {
 private:
   const LP& lp_;