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cleanup some formatting and comments

release/4.3a0
Ankur Roy Chowdhury 2023-02-04 20:54:08 -08:00
parent d5ec65e320
commit c3045c097d
5 changed files with 15 additions and 17 deletions
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2
gtsam/base/kruskal-inl.h
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@ -10,7 +10,7 @@
* -------------------------------------------------------------------------- */ * -------------------------------------------------------------------------- */
/** /**
* @file SubgraphBuilder-inl.h * @file kruskal-inl.h
* @date Dec 31, 2009 * @date Dec 31, 2009
* @author Frank Dellaert, Yong-Dian Jian * @author Frank Dellaert, Yong-Dian Jian
*/ */

2
gtsam/inference/graph-inl.h
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@ -234,7 +234,7 @@ PredecessorMap<KEY> findMinimumSpanningTree(const G& fg) {
// Convert to a graph that boost understands // Convert to a graph that boost understands
SDGraph<KEY> g = gtsam::toBoostGraph<G, FACTOR2, KEY>(fg); SDGraph<KEY> g = gtsam::toBoostGraph<G, FACTOR2, KEY>(fg);
// // find minimum spanning tree // find minimum spanning tree
std::vector<typename SDGraph<KEY>::Vertex> p_map(boost::num_vertices(g)); std::vector<typename SDGraph<KEY>::Vertex> p_map(boost::num_vertices(g));
prim_minimum_spanning_tree(g, &p_map[0]); prim_minimum_spanning_tree(g, &p_map[0]);

20
gtsam/linear/SubgraphBuilder.cpp
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@ -362,44 +362,44 @@ SubgraphBuilder::Weights SubgraphBuilder::weights(
using Weights = std::vector<double>; using Weights = std::vector<double>;
const size_t m = gfg.size(); const size_t m = gfg.size();
Weights weights; Weights weight;
weights.reserve(m); weight.reserve(m);
for (const GaussianFactor::shared_ptr &gf : gfg) { for (const GaussianFactor::shared_ptr &gf : gfg) {
switch (parameters_.skeletonWeight) { switch (parameters_.skeletonWeight) {
case SubgraphBuilderParameters::EQUAL: case SubgraphBuilderParameters::EQUAL:
weights.push_back(1.0); weight.push_back(1.0);
break; break;
case SubgraphBuilderParameters::RHS_2NORM: { case SubgraphBuilderParameters::RHS_2NORM: {
if (JacobianFactor::shared_ptr jf = if (JacobianFactor::shared_ptr jf =
std::dynamic_pointer_cast<JacobianFactor>(gf)) { std::dynamic_pointer_cast<JacobianFactor>(gf)) {
weights.push_back(jf->getb().norm()); weight.push_back(jf->getb().norm());
} else if (HessianFactor::shared_ptr hf = } else if (HessianFactor::shared_ptr hf =
std::dynamic_pointer_cast<HessianFactor>(gf)) { std::dynamic_pointer_cast<HessianFactor>(gf)) {
weights.push_back(hf->linearTerm().norm()); weight.push_back(hf->linearTerm().norm());
} }
} break; } break;
case SubgraphBuilderParameters::LHS_FNORM: { case SubgraphBuilderParameters::LHS_FNORM: {
if (JacobianFactor::shared_ptr jf = if (JacobianFactor::shared_ptr jf =
std::dynamic_pointer_cast<JacobianFactor>(gf)) { std::dynamic_pointer_cast<JacobianFactor>(gf)) {
weights.push_back(std::sqrt(jf->getA().squaredNorm())); weight.push_back(std::sqrt(jf->getA().squaredNorm()));
} else if (HessianFactor::shared_ptr hf = } else if (HessianFactor::shared_ptr hf =
std::dynamic_pointer_cast<HessianFactor>(gf)) { std::dynamic_pointer_cast<HessianFactor>(gf)) {
weights.push_back(std::sqrt(hf->information().squaredNorm())); weight.push_back(std::sqrt(hf->information().squaredNorm()));
} }
} break; } break;
case SubgraphBuilderParameters::RANDOM: case SubgraphBuilderParameters::RANDOM:
weights.push_back(std::rand() % 100 + 1.0); weight.push_back(std::rand() % 100 + 1.0);
break; break;
default: default:
throw std::invalid_argument( throw std::invalid_argument(
"SubgraphBuilder::weights(): undefined weight scheme "); "SubgraphBuilder::weights: undefined weight scheme ");
break; break;
} }
} }
return weights; return weight;
} }
/*****************************************************************************/ /*****************************************************************************/

5
gtsam/linear/SubgraphBuilder.h
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@ -167,12 +167,11 @@ class GTSAM_EXPORT SubgraphBuilder {
std::vector<size_t> unary(const GaussianFactorGraph &gfg) const; std::vector<size_t> unary(const GaussianFactorGraph &gfg) const;
std::vector<size_t> natural_chain(const GaussianFactorGraph &gfg) const; std::vector<size_t> natural_chain(const GaussianFactorGraph &gfg) const;
std::vector<size_t> bfs(const GaussianFactorGraph &gfg) const; std::vector<size_t> bfs(const GaussianFactorGraph &gfg) const;
std::vector<size_t> sample(const std::vector<double> &weights,
const size_t t) const;
std::vector<size_t> kruskal(const GaussianFactorGraph &gfg, std::vector<size_t> kruskal(const GaussianFactorGraph &gfg,
const std::vector<double> &weights) const; const std::vector<double> &weights) const;
std::vector<size_t> sample(const std::vector<double> &weights,
const size_t t) const;
Weights weights(const GaussianFactorGraph &gfg) const ; Weights weights(const GaussianFactorGraph &gfg) const ;
SubgraphBuilderParameters parameters_; SubgraphBuilderParameters parameters_;
}; };

3
gtsam/slam/lago.cpp
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@ -270,9 +270,8 @@ static VectorValues computeOrientations(const NonlinearFactorGraph& pose2Graph,
// Find a minimum spanning tree // Find a minimum spanning tree
if (useOdometricPath) if (useOdometricPath)
tree = findOdometricPath(pose2Graph); tree = findOdometricPath(pose2Graph);
else { else
tree = findMinimumSpanningTree(pose2Graph); tree = findMinimumSpanningTree(pose2Graph);
}
// Create a linear factor graph (LFG) of scalars // Create a linear factor graph (LFG) of scalars
key2doubleMap deltaThetaMap; key2doubleMap deltaThetaMap;