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Update the other codepath to also use ptr cast

release/4.3a0
Fan Jiang 2022-04-12 15:09:52 -04:00 committed by GitHub
parent 49b40d3942
commit ed34ee3245
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GPG Key ID: 4AEE18F83AFDEB23
1 changed files with 7 additions and 6 deletions
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13
gtsam/nonlinear/Values-inl.h
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@ -295,10 +295,11 @@ namespace gtsam {
template <int M, int N> template <int M, int N>
struct handle_matrix<Eigen::Matrix<double, M, N>, true> { struct handle_matrix<Eigen::Matrix<double, M, N>, true> {
inline Eigen::Matrix<double, M, N> operator()(Key j, const Value* const pointer) { inline Eigen::Matrix<double, M, N> operator()(Key j, const Value* const pointer) {
try { auto ptr = dynamic_cast<const GenericValue<Eigen::Matrix<double, M, N>>*>(pointer);
if (ptr) {
// value returns a const Matrix&, and the return makes a copy !!!!! // value returns a const Matrix&, and the return makes a copy !!!!!
return dynamic_cast<const GenericValue<Eigen::Matrix<double, M, N>>&>(*pointer).value(); return ptr->value();
} catch (std::bad_cast&) { } else {
// If a fixed matrix was stored, we end up here as well. // If a fixed matrix was stored, we end up here as well.
throw ValuesIncorrectType(j, typeid(*pointer), typeid(Eigen::Matrix<double, M, N>)); throw ValuesIncorrectType(j, typeid(*pointer), typeid(Eigen::Matrix<double, M, N>));
} }
@ -312,13 +313,13 @@ namespace gtsam {
auto ptr = dynamic_cast<const GenericValue<Eigen::Matrix<double, M, N>>*>(pointer); auto ptr = dynamic_cast<const GenericValue<Eigen::Matrix<double, M, N>>*>(pointer);
if (ptr) { if (ptr) {
// value returns a const MatrixMN&, and the return makes a copy !!!!! // value returns a const MatrixMN&, and the return makes a copy !!!!!
return dynamic_cast<const GenericValue<Eigen::Matrix<double, M, N>>&>(*pointer).value(); return ptr->value();
} else { } else {
Matrix A; Matrix A;
// Check if a dynamic matrix was stored
auto ptr = dynamic_cast<const GenericValue<Eigen::MatrixXd>*>(pointer); auto ptr = dynamic_cast<const GenericValue<Eigen::MatrixXd>*>(pointer);
if (ptr) { if (ptr) {
// Check if a dynamic matrix was stored A = ptr->value();
A = ptr->value(); // will throw if not....
} else { } else {
// Or a dynamic vector // Or a dynamic vector
A = handle_matrix<Eigen::VectorXd, true>()(j, pointer); // will throw if not.... A = handle_matrix<Eigen::VectorXd, true>()(j, pointer); // will throw if not....