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change few function parameters to const reference to improve preformance of TransformBtwRobot factors

release/4.3a0
Jing Dong 2014-07-18 15:59:14 -04:00
parent f4dc6a3a95
commit e06c2cfacc
2 changed files with 4 additions and 4 deletions
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4
gtsam_unstable/slam/TransformBtwRobotsUnaryFactor.h
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@ -68,7 +68,7 @@ namespace gtsam {
/** Constructor */ /** Constructor */
TransformBtwRobotsUnaryFactor(Key key, const VALUE& measured, Key keyA, Key keyB, TransformBtwRobotsUnaryFactor(Key key, const VALUE& measured, Key keyA, Key keyB,
const gtsam::Values valA, const gtsam::Values valB, const gtsam::Values& valA, const gtsam::Values& valB,
const SharedGaussian& model) : const SharedGaussian& model) :
Base(cref_list_of<1>(key)), key_(key), measured_(measured), keyA_(keyA), keyB_(keyB), Base(cref_list_of<1>(key)), key_(key), measured_(measured), keyA_(keyA), keyB_(keyB),
model_(model){ model_(model){
@ -111,7 +111,7 @@ namespace gtsam {
/** implement functions needed to derive from Factor */ /** implement functions needed to derive from Factor */
/* ************************************************************************* */ /* ************************************************************************* */
void setValAValB(const gtsam::Values valA, const gtsam::Values valB){ void setValAValB(const gtsam::Values& valA, const gtsam::Values& valB){
if ( (!valA.exists(keyA_)) && (!valB.exists(keyA_)) && (!valA.exists(keyB_)) && (!valB.exists(keyB_)) ) if ( (!valA.exists(keyA_)) && (!valB.exists(keyA_)) && (!valA.exists(keyB_)) && (!valB.exists(keyB_)) )
throw("something is wrong!"); throw("something is wrong!");

4
gtsam_unstable/slam/TransformBtwRobotsUnaryFactorEM.h
View File

@ -77,7 +77,7 @@ namespace gtsam {
/** Constructor */ /** Constructor */
TransformBtwRobotsUnaryFactorEM(Key key, const VALUE& measured, Key keyA, Key keyB, TransformBtwRobotsUnaryFactorEM(Key key, const VALUE& measured, Key keyA, Key keyB,
const gtsam::Values valA, const gtsam::Values valB, const gtsam::Values& valA, const gtsam::Values& valB,
const SharedGaussian& model_inlier, const SharedGaussian& model_outlier, const SharedGaussian& model_inlier, const SharedGaussian& model_outlier,
const double prior_inlier, const double prior_outlier, const double prior_inlier, const double prior_outlier,
const bool flag_bump_up_near_zero_probs = false, const bool flag_bump_up_near_zero_probs = false,
@ -132,7 +132,7 @@ namespace gtsam {
/** implement functions needed to derive from Factor */ /** implement functions needed to derive from Factor */
/* ************************************************************************* */ /* ************************************************************************* */
void setValAValB(const gtsam::Values valA, const gtsam::Values valB){ void setValAValB(const gtsam::Values& valA, const gtsam::Values& valB){
if ( (!valA.exists(keyA_)) && (!valB.exists(keyA_)) && (!valA.exists(keyB_)) && (!valB.exists(keyB_)) ) if ( (!valA.exists(keyA_)) && (!valB.exists(keyA_)) && (!valA.exists(keyB_)) && (!valB.exists(keyB_)) )
throw("something is wrong!"); throw("something is wrong!");