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small improvements

release/4.3a0
Varun Agrawal 2023-06-20 14:36:45 -04:00
parent b3635cc6ce
commit b0404aa109
2 changed files with 3 additions and 4 deletions
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4
gtsam_unstable/linear/LPInitSolver.cpp
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@ -65,9 +65,7 @@ GaussianFactorGraph::shared_ptr LPInitSolver::buildInitOfInitGraph() const {
new GaussianFactorGraph(lp_.equalities)); new GaussianFactorGraph(lp_.equalities));
// create factor ||x||^2 and add to the graph // create factor ||x||^2 and add to the graph
const KeyDimMap& constrainedKeyDim = lp_.constrainedKeyDimMap(); for (const auto& [key, dim] : lp_.constrainedKeyDimMap()) {
for (const auto& [key, _] : constrainedKeyDim) {
size_t dim = constrainedKeyDim.at(key);
initGraph->push_back( initGraph->push_back(
JacobianFactor(key, Matrix::Identity(dim, dim), Vector::Zero(dim))); JacobianFactor(key, Matrix::Identity(dim, dim), Vector::Zero(dim)));
} }

3
gtsam_unstable/linear/LPInitSolver.h
View File

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