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Merge pull request #110 from borglab/fix/subgraphbuilder 

Several fixes in legacy code
release/4.3a0
Frank Dellaert 2019-09-08 14:21:40 -04:00 committed by GitHub
parent 5cbcfdaa98 cb80f27ee8
commit 675f27b075
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GPG Key ID: 4AEE18F83AFDEB23
2 changed files with 4 additions and 4 deletions
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6
gtsam/linear/SubgraphBuilder.cpp
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@ -107,7 +107,7 @@ static vector<size_t> UniqueSampler(const vector<double> &weight,
const size_t m = weight.size();
if (n > m) throw std::invalid_argument("UniqueSampler: invalid input size");
vector<size_t> samples;
vector<size_t> results;
size_t count = 0;
vector<bool> touched(m, false);
@ -130,12 +130,12 @@ static vector<size_t> UniqueSampler(const vector<double> &weight,
for (const size_t &index : samples) {
if (touched[index] == false) {
touched[index] = true;
samples.push_back(index);
results.push_back(index);
if (++count >= n) break;
}
}
}
return samples;
return results;
}
/****************************************************************************/

2
gtsam_unstable/slam/PartialPriorFactor.h
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@ -121,7 +121,7 @@ namespace gtsam {
// access
const Vector& prior() const { return prior_; }
const std::vector<bool>& mask() const { return mask_; }
const std::vector<size_t>& mask() const { return mask_; }
const Matrix& H() const { return H_; }
protected: