Resolve review comments
parent
68e987ea62
commit
e5964736d1
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@ -38,12 +38,8 @@ namespace gtsam {
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/* ************************************************************************ */
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VectorValues::VectorValues(const Vector& x, const Dims& dims) {
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using Pair = pair<const Key, size_t>;
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size_t j = 0;
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for (const Pair& v : dims) {
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Key key;
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size_t n;
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std::tie(key, n) = v;
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for (const auto& [key,n] : dims) {
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#ifdef TBB_GREATER_EQUAL_2020
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values_.emplace(key, x.segment(j, n));
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#else
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@ -70,11 +66,11 @@ namespace gtsam {
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VectorValues VectorValues::Zero(const VectorValues& other)
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{
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VectorValues result;
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for(const KeyValuePair& v: other)
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for(const auto& [key,value]: other)
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#ifdef TBB_GREATER_EQUAL_2020
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result.values_.emplace(v.first, Vector::Zero(v.second.size()));
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result.values_.emplace(key, Vector::Zero(value.size()));
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#else
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result.values_.insert(std::make_pair(v.first, Vector::Zero(v.second.size())));
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result.values_.insert(std::make_pair(key, Vector::Zero(value.size())));
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#endif
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return result;
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}
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@ -92,18 +88,18 @@ namespace gtsam {
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/* ************************************************************************ */
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VectorValues& VectorValues::update(const VectorValues& values) {
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iterator hint = begin();
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for (const KeyValuePair& key_value : values) {
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for (const auto& [key,value] : values) {
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// Use this trick to find the value using a hint, since we are inserting
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// from another sorted map
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size_t oldSize = values_.size();
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hint = values_.insert(hint, key_value);
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hint = values_.emplace_hint(hint, key, value);
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if (values_.size() > oldSize) {
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values_.unsafe_erase(hint);
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throw out_of_range(
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"Requested to update a VectorValues with another VectorValues that "
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"contains keys not present in the first.");
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} else {
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hint->second = key_value.second;
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hint->second = value;
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}
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}
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return *this;
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@ -133,16 +129,15 @@ namespace gtsam {
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// Change print depending on whether we are using TBB
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#ifdef GTSAM_USE_TBB
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map<Key, Vector> sorted;
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for (const auto& key_value : v) {
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sorted.emplace(key_value.first, key_value.second);
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for (const auto& [key,value] : v) {
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sorted.emplace(key, value);
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}
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for (const auto& key_value : sorted)
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for (const auto& [key,value] : sorted)
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#else
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for (const auto& key_value : v)
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for (const auto& [key,value] : v)
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#endif
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{
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os << " " << StreamedKey(key_value.first) << ": " << key_value.second.transpose()
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<< "\n";
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os << " " << StreamedKey(key) << ": " << value.transpose() << "\n";
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}
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return os;
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}
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@ -45,8 +45,7 @@ TEST(LinearEquality, constructors_and_accessors) {
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// Test for using different numbers of terms
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{
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// One term constructor
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LinearEquality expected(
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std::vector(terms.begin(), terms.begin() + 1), b, 0);
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LinearEquality expected(terms.begin(), terms.begin() + 1, b, 0);
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LinearEquality actual(terms[0].first, terms[0].second, b, 0);
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EXPECT(assert_equal(expected, actual));
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LONGS_EQUAL((long)terms[0].first, (long)actual.keys().back());
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@ -57,8 +56,7 @@ TEST(LinearEquality, constructors_and_accessors) {
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}
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{
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// Two term constructor
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LinearEquality expected(
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std::vector(terms.begin(), terms.begin() + 2), b, 0);
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LinearEquality expected(terms.begin(), terms.begin() + 2, b, 0);
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LinearEquality actual(terms[0].first, terms[0].second, terms[1].first,
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terms[1].second, b, 0);
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EXPECT(assert_equal(expected, actual));
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@ -70,8 +68,7 @@ TEST(LinearEquality, constructors_and_accessors) {
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}
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{
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// Three term constructor
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LinearEquality expected(
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std::vector(terms.begin(), terms.begin() + 3), b, 0);
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LinearEquality expected(terms.begin(), terms.begin() + 3, b, 0);
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LinearEquality actual(terms[0].first, terms[0].second, terms[1].first,
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terms[1].second, terms[2].first, terms[2].second, b,
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0);
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