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Revert "common return statements" 

This reverts commit 7133236c65.
release/4.3a0
Varun Agrawal 2023-01-06 10:33:42 -05:00
parent 7133236c65
commit 2f6d541656
1 changed files with 8 additions and 2 deletions
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10
gtsam/inference/EliminateableFactorGraph-inst.h
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@ -43,17 +43,20 @@ namespace gtsam {
// VariableIndex already here because we computed one if needed in the previous 'if' block. // VariableIndex already here because we computed one if needed in the previous 'if' block.
if (orderingType == Ordering::METIS) { if (orderingType == Ordering::METIS) {
Ordering computedOrdering = Ordering::Metis(asDerived()); Ordering computedOrdering = Ordering::Metis(asDerived());
return eliminateSequential(computedOrdering, function, variableIndex);
} else if (orderingType == Ordering::COLAMD) { } else if (orderingType == Ordering::COLAMD) {
Ordering computedOrdering = Ordering::Colamd(*variableIndex); Ordering computedOrdering = Ordering::Colamd(*variableIndex);
return eliminateSequential(computedOrdering, function, variableIndex);
} else if (orderingType == Ordering::NATURAL) { } else if (orderingType == Ordering::NATURAL) {
Ordering computedOrdering = Ordering::Natural(asDerived()); Ordering computedOrdering = Ordering::Natural(asDerived());
return eliminateSequential(computedOrdering, function, variableIndex);
} else { } else {
Ordering computedOrdering = EliminationTraitsType::DefaultOrderingFunc( Ordering computedOrdering = EliminationTraitsType::DefaultOrderingFunc(
asDerived(), variableIndex); asDerived(), variableIndex);
}
return eliminateSequential(computedOrdering, function, variableIndex); return eliminateSequential(computedOrdering, function, variableIndex);
} }
} }
}
/* ************************************************************************* */ /* ************************************************************************* */
template<class FACTORGRAPH> template<class FACTORGRAPH>
@ -103,17 +106,20 @@ namespace gtsam {
// the previous 'if' block. // the previous 'if' block.
if (orderingType == Ordering::METIS) { if (orderingType == Ordering::METIS) {
Ordering computedOrdering = Ordering::Metis(asDerived()); Ordering computedOrdering = Ordering::Metis(asDerived());
return eliminateMultifrontal(computedOrdering, function, variableIndex);
} else if (orderingType == Ordering::COLAMD) { } else if (orderingType == Ordering::COLAMD) {
Ordering computedOrdering = Ordering::Colamd(*variableIndex); Ordering computedOrdering = Ordering::Colamd(*variableIndex);
return eliminateMultifrontal(computedOrdering, function, variableIndex);
} else if (orderingType == Ordering::NATURAL) { } else if (orderingType == Ordering::NATURAL) {
Ordering computedOrdering = Ordering::Natural(asDerived()); Ordering computedOrdering = Ordering::Natural(asDerived());
return eliminateMultifrontal(computedOrdering, function, variableIndex);
} else { } else {
Ordering computedOrdering = EliminationTraitsType::DefaultOrderingFunc( Ordering computedOrdering = EliminationTraitsType::DefaultOrderingFunc(
asDerived(), variableIndex); asDerived(), variableIndex);
}
return eliminateMultifrontal(computedOrdering, function, variableIndex); return eliminateMultifrontal(computedOrdering, function, variableIndex);
} }
} }
}
/* ************************************************************************* */ /* ************************************************************************* */
template<class FACTORGRAPH> template<class FACTORGRAPH>