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VariableIndex

release/4.3a0
kartik arcot 2023-01-13 10:55:43 -08:00
parent d05d2af6b5
commit 80fdd69a14
2 changed files with 11 additions and 3 deletions
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3
gtsam/inference/VariableIndex-inl.h
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@ -24,8 +24,7 @@ namespace gtsam {
/* ************************************************************************* */ /* ************************************************************************* */
template<class FG> template<class FG>
void VariableIndex::augment(const FG& factors, void VariableIndex::augment(const FG& factors, const FactorIndices* newFactorIndices) {
boost::optional<const FactorIndices&> newFactorIndices) {
gttic(VariableIndex_augment); gttic(VariableIndex_augment);
// Augment index for each factor // Augment index for each factor

11
gtsam/inference/VariableIndex.h
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@ -126,7 +126,16 @@ class GTSAM_EXPORT VariableIndex {
* solving problems incrementally. * solving problems incrementally.
*/ */
template<class FG> template<class FG>
void augment(const FG& factors, boost::optional<const FactorIndices&> newFactorIndices = boost::none); void augment(const FG& factors, const FactorIndices* newFactorIndices = nullptr);
/**
* An overload of augment() that takes a single factor. and l-value
* reference to FactorIndeces.
*/
template<class FG>
void augment(const FG& factor, const FactorIndices& newFactorIndices) {
augment(factor, &newFactorIndices);
}
/** /**
* Augment the variable index after an existing factor now affects to more * Augment the variable index after an existing factor now affects to more