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Removed unused argument from NonlinearFactorGraph::symbolic

release/4.3a0
Richard Roberts 2012-01-03 17:50:05 +00:00
parent dfb1e21284
commit 568cc7562b
3 changed files with 4 additions and 5 deletions
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5
gtsam/nonlinear/NonlinearFactorGraph-inl.h
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@ -92,8 +92,7 @@ namespace gtsam {
/* ************************************************************************* */ /* ************************************************************************* */
template<class VALUES> template<class VALUES>
SymbolicFactorGraph::shared_ptr NonlinearFactorGraph<VALUES>::symbolic( SymbolicFactorGraph::shared_ptr NonlinearFactorGraph<VALUES>::symbolic(const Ordering& ordering) const {
const VALUES& config, const Ordering& ordering) const {
// Generate the symbolic factor graph // Generate the symbolic factor graph
SymbolicFactorGraph::shared_ptr symbolicfg(new SymbolicFactorGraph); SymbolicFactorGraph::shared_ptr symbolicfg(new SymbolicFactorGraph);
symbolicfg->reserve(this->size()); symbolicfg->reserve(this->size());
@ -114,7 +113,7 @@ namespace gtsam {
VALUES>::symbolic(const VALUES& config) const { VALUES>::symbolic(const VALUES& config) const {
// Generate an initial key ordering in iterator order // Generate an initial key ordering in iterator order
Ordering::shared_ptr ordering(config.orderingArbitrary()); Ordering::shared_ptr ordering(config.orderingArbitrary());
return make_pair(symbolic(config, *ordering), ordering); return make_pair(symbolic(*ordering), ordering);
} }
/* ************************************************************************* */ /* ************************************************************************* */

2
gtsam/nonlinear/NonlinearFactorGraph.h
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@ -64,7 +64,7 @@ namespace gtsam {
/** /**
* Create a symbolic factor graph using an existing ordering * Create a symbolic factor graph using an existing ordering
*/ */
SymbolicFactorGraph::shared_ptr symbolic(const VALUES& config, const Ordering& ordering) const; SymbolicFactorGraph::shared_ptr symbolic(const Ordering& ordering) const;
/** /**
* Create a symbolic factor graph and initial variable ordering that can * Create a symbolic factor graph and initial variable ordering that can

2
gtsam/nonlinear/NonlinearOptimizer-inl.h
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@ -36,7 +36,7 @@ namespace gtsam {
graph_(graph), values_(values), error_(graph->error(*values)), ordering_(ordering), graph_(graph), values_(values), error_(graph->error(*values)), ordering_(ordering),
parameters_(parameters), iterations_(0), parameters_(parameters), iterations_(0),
dimensions_(new vector<size_t>(values->dims(*ordering))), dimensions_(new vector<size_t>(values->dims(*ordering))),
structure_(new VariableIndex(*graph->symbolic(*values, *ordering))) { structure_(new VariableIndex(*graph->symbolic(*ordering))) {
if (!graph) throw std::invalid_argument( if (!graph) throw std::invalid_argument(
"NonlinearOptimizer constructor: graph = NULL"); "NonlinearOptimizer constructor: graph = NULL");
if (!values) throw std::invalid_argument( if (!values) throw std::invalid_argument(