Moves 'BatchFixedLagSmoother' to 'gtsam' from 'gtsam_unstable'

gtsam/nonlinear/BatchFixedLagSmoother.cpp

@@ -17,7 +17,7 @@
  * @date    Oct 14, 2012
  */
 
-#include <gtsam_unstable/nonlinear/BatchFixedLagSmoother.h>
+#include <gtsam/nonlinear/BatchFixedLagSmoother.h>
 #include <gtsam/nonlinear/LinearContainerFactor.h>
 #include <gtsam/linear/GaussianJunctionTree.h>
 #include <gtsam/linear/GaussianFactorGraph.h>

gtsam/nonlinear/BatchFixedLagSmoother.h

@@ -20,7 +20,7 @@
 // \callgraph
 #pragma once
 
-#include <gtsam_unstable/nonlinear/FixedLagSmoother.h>
+#include <gtsam/nonlinear/FixedLagSmoother.h>
 #include <gtsam/nonlinear/LevenbergMarquardtOptimizer.h>
 #include <queue>
 
@@ -35,10 +35,10 @@ public:
 
   /** default constructor */
   BatchFixedLagSmoother(double smootherLag = 0.0, const LevenbergMarquardtParams& parameters = LevenbergMarquardtParams(), bool enforceConsistency = true) :
-    FixedLagSmoother(smootherLag), parameters_(parameters), enforceConsistency_(enforceConsistency) { };
+    FixedLagSmoother(smootherLag), parameters_(parameters), enforceConsistency_(enforceConsistency) { }
 
   /** destructor */
-  ~BatchFixedLagSmoother() override { };
+  ~BatchFixedLagSmoother() override {}
 
   /** Print the factor for debugging and testing (implementing Testable) */
   void print(const std::string& s = "BatchFixedLagSmoother:\n", const KeyFormatter& keyFormatter = DefaultKeyFormatter) const override;

gtsam/nonlinear/FixedLagSmoother.cpp

@@ -17,7 +17,7 @@
  * @date    Feb 27, 2013
  */
 
-#include <gtsam_unstable/nonlinear/FixedLagSmoother.h>
+#include <gtsam/nonlinear/FixedLagSmoother.h>
 
 namespace gtsam {
 

gtsam/nonlinear/FixedLagSmoother.h

@@ -51,7 +51,7 @@ public:
     size_t nonlinearVariables; ///< The number of variables that can be relinearized
     size_t linearVariables; ///< The number of variables that must keep a constant linearization point
     double error; ///< The final factor graph error
-    Result() : iterations(0), intermediateSteps(0), nonlinearVariables(0), linearVariables(0), error(0) {};
+    Result() : iterations(0), intermediateSteps(0), nonlinearVariables(0), linearVariables(0), error(0) {}
 
     /// Getter methods
     size_t getIterations() const { return iterations; }

gtsam/nonlinear/tests/testBatchFixedLagSmoother.cpp

@@ -17,7 +17,7 @@
  */
 
 #include <CppUnitLite/TestHarness.h>
-#include <gtsam_unstable/nonlinear/BatchFixedLagSmoother.h>
+#include <gtsam/nonlinear/BatchFixedLagSmoother.h>
 #include <gtsam/base/debug.h>
 #include <gtsam/inference/Key.h>
 #include <gtsam/inference/Ordering.h>

gtsam_unstable/linear/InfeasibleInitialValues.h

@@ -33,13 +33,10 @@ public:
   }
 
   const char *what() const noexcept override {
-    if (description_.empty())
+    if (description_->empty())
       description_ =
           "An infeasible initial value was provided for the solver.\n";
-    return description_.c_str();
+    return description_->c_str();
   }
-
-private:
-  mutable std::string description_;
 };
 }

gtsam_unstable/linear/InfeasibleOrUnboundedProblem.h

@@ -29,12 +29,9 @@ public:
   }
 
   const char* what() const noexcept override {
-    if (description_.empty())
+    if (description_->empty())
       description_ = "The problem is either infeasible or unbounded.\n";
-    return description_.c_str();
+    return description_->c_str();
   }
-
-private:
-  mutable std::string description_;
 };
 }

gtsam_unstable/nonlinear/ConcurrentBatchFilter.h

@@ -50,7 +50,7 @@ public:
     double error; ///< The final factor graph error
 
     /// Constructor
-    Result() : iterations(0), lambdas(0), nonlinearVariables(0), linearVariables(0), error(0) {};
+    Result() : iterations(0), lambdas(0), nonlinearVariables(0), linearVariables(0), error(0) {}
 
     /// Getter methods
     size_t getIterations() const { return iterations; }
@@ -61,10 +61,10 @@ public:
   };
 
   /** Default constructor */
-  ConcurrentBatchFilter(const LevenbergMarquardtParams& parameters = LevenbergMarquardtParams()) : parameters_(parameters) {};
+  ConcurrentBatchFilter(const LevenbergMarquardtParams& parameters = LevenbergMarquardtParams()) : parameters_(parameters) {}
 
   /** Default destructor */
-  ~ConcurrentBatchFilter() override {};
+  ~ConcurrentBatchFilter() override = default;
 
   /** Implement a GTSAM standard 'print' function */
   void print(const std::string& s = "Concurrent Batch Filter:\n", const KeyFormatter& keyFormatter = DefaultKeyFormatter) const override;

gtsam_unstable/nonlinear/ConcurrentFilteringAndSmoothing.h

@@ -41,10 +41,10 @@ public:
   typedef std::shared_ptr<ConcurrentFilter> shared_ptr;
 
   /** Default constructor */
-  ConcurrentFilter() {};
+  ConcurrentFilter() = default;
 
   /** Default destructor */
-  virtual ~ConcurrentFilter() {};
+  virtual ~ConcurrentFilter() = default;
 
   /** Implement a standard 'print' function */
   virtual void print(
@@ -58,7 +58,7 @@ public:
    * Perform any required operations before the synchronization process starts.
    * Called by 'synchronize'
    */
-  virtual void presync() {};
+  virtual void presync() {}
 
   /**
    * Populate the provided containers with factors that constitute the filter branch summarization
@@ -91,7 +91,7 @@ public:
    * Perform any required operations after the synchronization process finishes.
    * Called by 'synchronize'
    */
-  virtual void postsync() {};
+  virtual void postsync() {}
 
 }; // ConcurrentFilter
 
@@ -103,10 +103,10 @@ public:
   typedef std::shared_ptr<ConcurrentSmoother> shared_ptr;
 
   /** Default constructor */
-  ConcurrentSmoother() {};
+  ConcurrentSmoother() {}
 
   /** Default destructor */
-  virtual ~ConcurrentSmoother() {};
+  virtual ~ConcurrentSmoother() = default;
 
   /** Implement a standard 'print' function */
   virtual void print(
@@ -120,7 +120,7 @@ public:
    * Perform any required operations before the synchronization process starts.
    * Called by 'synchronize'
    */
-  virtual void presync() {};
+  virtual void presync() {}
 
   /**
    * Populate the provided containers with factors that constitute the smoother branch summarization
@@ -147,7 +147,7 @@ public:
    * Perform any required operations after the synchronization process finishes.
    * Called by 'synchronize'
    */
-  virtual void postsync() {};
+  virtual void postsync() {}
 
 }; // ConcurrentSmoother
 

gtsam_unstable/nonlinear/LinearizedFactor.h

@@ -45,7 +45,7 @@ protected:
 public:
 
   /** default constructor for serialization */
-  LinearizedGaussianFactor() {};
+  LinearizedGaussianFactor() = default;
 
   /**
    * @param gaussian:   A jacobian or hessian factor
@@ -53,7 +53,7 @@ public:
    */
   LinearizedGaussianFactor(const GaussianFactor::shared_ptr& gaussian, const Values& lin_points);
 
-  ~LinearizedGaussianFactor() override {};
+  ~LinearizedGaussianFactor() override = default;
 
   // access functions
   const Values& linearizationPoint() const { return lin_points_; }
@@ -128,11 +128,11 @@ public:
 
   // access functions
   const constBVector b() const { return Ab_(size()).col(0); }
-  const constABlock A() const { return Ab_.range(0, size()); };
+  const constABlock A() const { return Ab_.range(0, size()); }
   const constABlock A(Key key) const { return Ab_(std::find(begin(), end(), key) - begin()); }
 
   /** get the dimension of the factor (number of rows on linearization) */
-  size_t dim() const override { return Ab_.rows(); };
+  size_t dim() const override { return Ab_.rows(); }
 
   /** Calculate the error of the factor */
   double error(const Values& c) const override;