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release/4.3a0
Frank Dellaert 2023-01-25 08:23:12 -08:00
parent 68e987ea62
commit e5964736d1
2 changed files with 15 additions and 23 deletions
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29
gtsam/linear/VectorValues.cpp
View File

@ -38,12 +38,8 @@ namespace gtsam {
/* ************************************************************************ */ /* ************************************************************************ */
VectorValues::VectorValues(const Vector& x, const Dims& dims) { VectorValues::VectorValues(const Vector& x, const Dims& dims) {
using Pair = pair<const Key, size_t>;
size_t j = 0; size_t j = 0;
for (const Pair& v : dims) { for (const auto& [key,n] : dims) {
Key key;
size_t n;
std::tie(key, n) = v;
#ifdef TBB_GREATER_EQUAL_2020 #ifdef TBB_GREATER_EQUAL_2020
values_.emplace(key, x.segment(j, n)); values_.emplace(key, x.segment(j, n));
#else #else
@ -70,11 +66,11 @@ namespace gtsam {
VectorValues VectorValues::Zero(const VectorValues& other) VectorValues VectorValues::Zero(const VectorValues& other)
{ {
VectorValues result; VectorValues result;
for(const KeyValuePair& v: other) for(const auto& [key,value]: other)
#ifdef TBB_GREATER_EQUAL_2020 #ifdef TBB_GREATER_EQUAL_2020
result.values_.emplace(v.first, Vector::Zero(v.second.size())); result.values_.emplace(key, Vector::Zero(value.size()));
#else #else
result.values_.insert(std::make_pair(v.first, Vector::Zero(v.second.size()))); result.values_.insert(std::make_pair(key, Vector::Zero(value.size())));
#endif #endif
return result; return result;
} }
@ -92,18 +88,18 @@ namespace gtsam {
/* ************************************************************************ */ /* ************************************************************************ */
VectorValues& VectorValues::update(const VectorValues& values) { VectorValues& VectorValues::update(const VectorValues& values) {
iterator hint = begin(); iterator hint = begin();
for (const KeyValuePair& key_value : values) { for (const auto& [key,value] : values) {
// Use this trick to find the value using a hint, since we are inserting // Use this trick to find the value using a hint, since we are inserting
// from another sorted map // from another sorted map
size_t oldSize = values_.size(); size_t oldSize = values_.size();
hint = values_.insert(hint, key_value); hint = values_.emplace_hint(hint, key, value);
if (values_.size() > oldSize) { if (values_.size() > oldSize) {
values_.unsafe_erase(hint); values_.unsafe_erase(hint);
throw out_of_range( throw out_of_range(
"Requested to update a VectorValues with another VectorValues that " "Requested to update a VectorValues with another VectorValues that "
"contains keys not present in the first."); "contains keys not present in the first.");
} else { } else {
hint->second = key_value.second; hint->second = value;
} }
} }
return *this; return *this;
@ -133,16 +129,15 @@ namespace gtsam {
// Change print depending on whether we are using TBB // Change print depending on whether we are using TBB
#ifdef GTSAM_USE_TBB #ifdef GTSAM_USE_TBB
map<Key, Vector> sorted; map<Key, Vector> sorted;
for (const auto& key_value : v) { for (const auto& [key,value] : v) {
sorted.emplace(key_value.first, key_value.second); sorted.emplace(key, value);
} }
for (const auto& key_value : sorted) for (const auto& [key,value] : sorted)
#else #else
for (const auto& key_value : v) for (const auto& [key,value] : v)
#endif #endif
{ {
os << " " << StreamedKey(key_value.first) << ": " << key_value.second.transpose() os << " " << StreamedKey(key) << ": " << value.transpose() << "\n";
<< "\n";
} }
return os; return os;
} }

9
gtsam_unstable/linear/tests/testLinearEquality.cpp
View File

@ -45,8 +45,7 @@ TEST(LinearEquality, constructors_and_accessors) {
// Test for using different numbers of terms // Test for using different numbers of terms
{ {
// One term constructor // One term constructor
LinearEquality expected( LinearEquality expected(terms.begin(), terms.begin() + 1, b, 0);
std::vector(terms.begin(), terms.begin() + 1), b, 0);
LinearEquality actual(terms[0].first, terms[0].second, b, 0); LinearEquality actual(terms[0].first, terms[0].second, b, 0);
EXPECT(assert_equal(expected, actual)); EXPECT(assert_equal(expected, actual));
LONGS_EQUAL((long)terms[0].first, (long)actual.keys().back()); LONGS_EQUAL((long)terms[0].first, (long)actual.keys().back());
@ -57,8 +56,7 @@ TEST(LinearEquality, constructors_and_accessors) {
} }
{ {
// Two term constructor // Two term constructor
LinearEquality expected( LinearEquality expected(terms.begin(), terms.begin() + 2, b, 0);
std::vector(terms.begin(), terms.begin() + 2), b, 0);
LinearEquality actual(terms[0].first, terms[0].second, terms[1].first, LinearEquality actual(terms[0].first, terms[0].second, terms[1].first,
terms[1].second, b, 0); terms[1].second, b, 0);
EXPECT(assert_equal(expected, actual)); EXPECT(assert_equal(expected, actual));
@ -70,8 +68,7 @@ TEST(LinearEquality, constructors_and_accessors) {
} }
{ {
// Three term constructor // Three term constructor
LinearEquality expected( LinearEquality expected(terms.begin(), terms.begin() + 3, b, 0);
std::vector(terms.begin(), terms.begin() + 3), b, 0);
LinearEquality actual(terms[0].first, terms[0].second, terms[1].first, LinearEquality actual(terms[0].first, terms[0].second, terms[1].first,
terms[1].second, terms[2].first, terms[2].second, b, terms[1].second, terms[2].first, terms[2].second, b,
0); 0);