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Changed FastVector to vector in GFG and ISAM2

release/4.3a0
Richard Roberts 2013-08-12 18:21:23 +00:00
parent f73db8847b
commit c2284a3d6b
3 changed files with 7 additions and 7 deletions
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4
gtsam/linear/GaussianFactorGraph.cpp
View File

@ -57,7 +57,7 @@ namespace gtsam {
/* ************************************************************************* */
std::vector<boost::tuple<size_t, size_t, double> > GaussianFactorGraph::sparseJacobian() const {
// First find dimensions of each variable
FastVector<size_t> dims;
vector<size_t> dims;
BOOST_FOREACH(const sharedFactor& factor, *this) {
for(GaussianFactor::const_iterator pos = factor->begin(); pos != factor->end(); ++pos) {
if(dims.size() <= *pos)
@ -73,7 +73,7 @@ namespace gtsam {
// Iterate over all factors, adding sparse scalar entries
typedef boost::tuple<size_t, size_t, double> triplet;
FastVector<triplet> entries;
vector<triplet> entries;
size_t row = 0;
BOOST_FOREACH(const sharedFactor& factor, *this) {
// Convert to JacobianFactor if necessary

6
gtsam/nonlinear/ISAM2.cpp
View File

@ -273,7 +273,7 @@ GaussianFactorGraph ISAM2::getCachedBoundaryFactors(Cliques& orphans) {
/* ************************************************************************* */
boost::shared_ptr<FastSet<Key> > ISAM2::recalculate(const FastSet<Key>& markedKeys, const FastSet<Key>& relinKeys,
const FastVector<Key>& observedKeys,
const vector<Key>& observedKeys,
const FastSet<Key>& unusedIndices,
const boost::optional<FastMap<Key,int> >& constrainKeys,
ISAM2Result& result)
@ -519,7 +519,7 @@ boost::shared_ptr<FastSet<Key> > ISAM2::recalculate(const FastSet<Key>& markedKe
/* ************************************************************************* */
ISAM2Result ISAM2::update(
const NonlinearFactorGraph& newFactors, const Values& newTheta, const FastVector<size_t>& removeFactorIndices,
const NonlinearFactorGraph& newFactors, const Values& newTheta, const vector<size_t>& removeFactorIndices,
const boost::optional<FastMap<Key,int> >& constrainedKeys, const boost::optional<FastList<Key> >& noRelinKeys,
const boost::optional<FastList<Key> >& extraReelimKeys, bool force_relinearize) {
@ -633,7 +633,7 @@ ISAM2Result ISAM2::update(
// NOTE: we use assign instead of the iterator constructor here because this
// is a vector of size_t, so the constructor unintentionally resolves to
// vector(size_t count, Index value) instead of the iterator constructor.
FastVector<Index> observedKeys; observedKeys.reserve(markedKeys.size());
vector<Index> observedKeys; observedKeys.reserve(markedKeys.size());
BOOST_FOREACH(Index index, markedKeys) {
if(unusedIndices.find(index) == unusedIndices.end()) // Only add if not unused
observedKeys.push_back(index); // Make a copy of these, as we'll soon add to them

4
gtsam/nonlinear/ISAM2.h
View File

@ -504,7 +504,7 @@ public:
* @return An ISAM2Result struct containing information about the update
*/
ISAM2Result update(const NonlinearFactorGraph& newFactors = NonlinearFactorGraph(), const Values& newTheta = Values(),
const FastVector<size_t>& removeFactorIndices = FastVector<size_t>(),
const std::vector<size_t>& removeFactorIndices = std::vector<size_t>(),
const boost::optional<FastMap<Key,int> >& constrainedKeys = boost::none,
const boost::optional<FastList<Key> >& noRelinKeys = boost::none,
const boost::optional<FastList<Key> >& extraReelimKeys = boost::none,
@ -610,7 +610,7 @@ private:
GaussianFactorGraph getCachedBoundaryFactors(Cliques& orphans);
boost::shared_ptr<FastSet<Key> > recalculate(const FastSet<Key>& markedKeys, const FastSet<Key>& relinKeys,
const FastVector<Key>& observedKeys, const FastSet<Key>& unusedIndices, const boost::optional<FastMap<Key,int> >& constrainKeys, ISAM2Result& result);
const std::vector<Key>& observedKeys, const FastSet<Key>& unusedIndices, const boost::optional<FastMap<Key,int> >& constrainKeys, ISAM2Result& result);
// void linear_update(const GaussianFactorGraph& newFactors);
void updateDelta(bool forceFullSolve = false) const;