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STL-based efficient transformation

release/4.3a0
Varun Agrawal 2023-01-15 00:59:34 -05:00
parent abe9b281af
commit b010a240f3
2 changed files with 5 additions and 4 deletions
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7
gtsam/hybrid/HybridFactorGraph.cpp
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@ -45,9 +45,10 @@ DiscreteKeys HybridFactorGraph::discreteKeys() const {
/* ************************************************************************* */
KeySet HybridFactorGraph::discreteKeySet() const {
KeySet keys;
for (const DiscreteKey& k : discreteKeys()) {
keys.insert(k.first);
}
DiscreteKeys key_vector = discreteKeys();
std::transform(key_vector.begin(), key_vector.end(),
std::inserter(keys, keys.begin()),
[](const DiscreteKey& k) { return k.first; });
return keys;
}

2
gtsam/hybrid/HybridFactorGraph.h
View File

@ -65,7 +65,7 @@ class HybridFactorGraph : public FactorGraph<Factor> {
/// @{
/// Get all the discrete keys in the factor graph.
std::set<DiscreteKey> discreteKeys() const;
DiscreteKeys discreteKeys() const;
/// Get all the discrete keys in the factor graph, as a set.
KeySet discreteKeySet() const;