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Eliminated some copypasta with lambda

release/4.3a0
Frank Dellaert 2018-09-30 15:13:47 -04:00
parent 2fe2f1ad19
commit c50b3cd6be
1 changed files with 44 additions and 68 deletions
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110
gtsam/nonlinear/ISAM2.cpp
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@ -141,8 +141,7 @@ GaussianFactorGraph::shared_ptr ISAM2::relinearizeAffectedFactors(
gttoc(affectedKeysSet);
gttic(check_candidates_and_linearize);
GaussianFactorGraph::shared_ptr linearized =
boost::make_shared<GaussianFactorGraph>();
auto linearized = boost::make_shared<GaussianFactorGraph>();
for (Key idx : candidates) {
bool inside = true;
bool useCachedLinear = params_.cacheLinearizedFactors;
@ -162,8 +161,7 @@ GaussianFactorGraph::shared_ptr ISAM2::relinearizeAffectedFactors(
#endif
linearized->push_back(linearFactors_[idx]);
} else {
GaussianFactor::shared_ptr linearFactor =
nonlinearFactors_[idx]->linearize(theta_);
auto linearFactor = nonlinearFactors_[idx]->linearize(theta_);
linearized->push_back(linearFactor);
if (params_.cacheLinearizedFactors) {
#ifdef GTSAM_EXTRA_CONSISTENCY_CHECKS
@ -268,7 +266,7 @@ boost::shared_ptr<KeySet> ISAM2::recalculate(
// path to root included
gttic(affectedKeys);
FastList<Key> affectedKeys;
for (const ConditionalType::shared_ptr& conditional : affectedBayesNet)
for (const auto& conditional : affectedBayesNet)
affectedKeys.insert(affectedKeys.end(), conditional->beginFrontals(),
conditional->endFrontals());
gttoc(affectedKeys);
@ -758,8 +756,7 @@ ISAM2Result ISAM2::update(
// 7. Linearize new factors
if (params_.cacheLinearizedFactors) {
gttic(linearize);
GaussianFactorGraph::shared_ptr linearFactors =
newFactors.linearize(theta_);
auto linearFactors = newFactors.linearize(theta_);
if (params_.findUnusedFactorSlots) {
linearFactors_.resize(nonlinearFactors_.size());
for (size_t newFactorI = 0; newFactorI < newFactors.size(); ++newFactorI)
@ -822,11 +819,35 @@ void ISAM2::marginalizeLeaves(
// multimap<sharedClique, GaussianFactor::shared_ptr> marginalFactors;
map<Key, vector<GaussianFactor::shared_ptr> > marginalFactors;
// Keep track of variables removed in subtrees
KeySet leafKeysRemoved;
// Keep track of factors that get summarized by removing cliques
KeySet factorIndicesToRemove;
// Keep track of variables removed in subtrees
KeySet leafKeysRemoved;
// Remove the subtree and throw away the cliques
auto trackingRemoveSubtree = [&](const sharedClique& subtreeRoot) {
const Cliques removedCliques = this->removeSubtree(subtreeRoot);
for (const sharedClique& removedClique : removedCliques) {
auto cg = removedClique->conditional();
marginalFactors.erase(cg->front());
leafKeysRemoved.insert(cg->beginFrontals(), cg->endFrontals());
for (Key frontal : cg->frontals()) {
// Add to factors to remove
const auto& involved = variableIndex_[frontal];
factorIndicesToRemove.insert(involved.begin(), involved.end());
#if !defined(NDEBUG)
// Check for non-leaf keys
if (!leafKeys.exists(frontal))
throw std::runtime_error(
"Requesting to marginalize variables that are not leaves, "
"the ISAM2 object is now in an inconsistent state so should "
"no longer be used.");
#endif
}
}
return removedCliques;
};
// Remove each variable and its subtrees
for (Key j : leafKeys) {
@ -858,7 +879,7 @@ void ISAM2::marginalizeLeaves(
if (marginalizeEntireClique) {
// Remove the whole clique and its subtree, and keep the marginal
// factor.
GaussianFactor::shared_ptr marginalFactor = clique->cachedFactor();
auto marginalFactor = clique->cachedFactor();
// We do not need the marginal factors associated with this clique
// because their information is already incorporated in the new
// marginal factor. So, now associate this marginal factor with the
@ -867,27 +888,7 @@ void ISAM2::marginalizeLeaves(
marginalFactor);
// Now remove this clique and its subtree - all of its marginal
// information has been stored in marginalFactors.
const Cliques removedCliques = this->removeSubtree(
clique); // Remove the subtree and throw away the cliques
for (const sharedClique& removedClique : removedCliques) {
marginalFactors.erase(removedClique->conditional()->front());
leafKeysRemoved.insert(removedClique->conditional()->beginFrontals(),
removedClique->conditional()->endFrontals());
for (Key frontal : removedClique->conditional()->frontals()) {
// Add to factors to remove
const VariableIndex::Factors& involvedFactors =
variableIndex_[frontal];
factorIndicesToRemove.insert(involvedFactors.begin(),
involvedFactors.end());
// Check for non-leaf keys
if (!leafKeys.exists(frontal))
throw runtime_error(
"Requesting to marginalize variables that are not leaves, "
"the ISAM2 object is now in an inconsistent state so should "
"no longer be used.");
}
}
trackingRemoveSubtree(clique);
} else {
// Reeliminate the current clique and the marginals from its children,
// then keep only the marginal on the non-marginalized variables. We
@ -910,31 +911,10 @@ void ISAM2::marginalizeLeaves(
}
}
Cliques childrenRemoved;
for (const sharedClique& childToRemove : subtreesToRemove) {
const Cliques removedCliques = this->removeSubtree(
childToRemove); // Remove the subtree and throw away the cliques
childrenRemoved.insert(childrenRemoved.end(), removedCliques.begin(),
removedCliques.end());
for (const sharedClique& removedClique : removedCliques) {
marginalFactors.erase(removedClique->conditional()->front());
leafKeysRemoved.insert(
removedClique->conditional()->beginFrontals(),
removedClique->conditional()->endFrontals());
for (Key frontal : removedClique->conditional()->frontals()) {
// Add to factors to remove
const VariableIndex::Factors& involvedFactors =
variableIndex_[frontal];
factorIndicesToRemove.insert(involvedFactors.begin(),
involvedFactors.end());
// Check for non-leaf keys
if (!leafKeys.exists(frontal))
throw runtime_error(
"Requesting to marginalize variables that are not leaves, "
"the ISAM2 object is now in an inconsistent state so "
"should no longer be used.");
}
}
for (const sharedClique& subtree : subtreesToRemove) {
const Cliques removed = trackingRemoveSubtree(subtree);
childrenRemoved.insert(childrenRemoved.end(), removed.begin(),
removed.end());
}
// Add the factors that are pulled into the current clique by the
@ -969,8 +949,7 @@ void ISAM2::marginalizeLeaves(
std::set_intersection(cliqueFrontals.begin(), cliqueFrontals.end(),
leafKeys.begin(), leafKeys.end(),
std::back_inserter(cliqueFrontalsToEliminate));
pair<GaussianConditional::shared_ptr, GaussianFactor::shared_ptr>
eliminationResult1 = params_.getEliminationFunction()(
auto eliminationResult1 = params_.getEliminationFunction()(
graph, Ordering(cliqueFrontalsToEliminate));
// Add the resulting marginal
@ -997,13 +976,11 @@ void ISAM2::marginalizeLeaves(
originalKeys.end());
clique->conditional()->nrFrontals() -= nToRemove;
// Add to factors to remove factors involved in frontals of current
// clique
// Add to factorIndicesToRemove any factors involved in frontals of
// current clique
for (Key frontal : cliqueFrontalsToEliminate) {
const VariableIndex::Factors& involvedFactors =
variableIndex_[frontal];
factorIndicesToRemove.insert(involvedFactors.begin(),
involvedFactors.end());
const auto& involved = variableIndex_[frontal];
factorIndicesToRemove.insert(involved.begin(), involved.end());
}
// Add removed keys
@ -1018,9 +995,8 @@ void ISAM2::marginalizeLeaves(
// Gather factors to add - the new marginal factors
GaussianFactorGraph factorsToAdd;
typedef pair<Key, vector<GaussianFactor::shared_ptr> > Key_Factors;
for (const Key_Factors& key_factors : marginalFactors) {
for (const GaussianFactor::shared_ptr& factor : key_factors.second) {
for (const auto& key_factors : marginalFactors) {
for (const auto& factor : key_factors.second) {
if (factor) {
factorsToAdd.push_back(factor);
if (marginalFactorsIndices)