Removed unnecessary includes
Alex Cunningham
parent
b5e46e9b7c
commit
ba22799b67
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@ -5,7 +5,7 @@
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*/
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#include <gtsam/nonlinear/GaussianISAM2.h>
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#include <gtsam/nonlinear/TupleValues-inl.h>
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#include <gtsam/nonlinear/ISAM2-inl.h>
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using namespace std;
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using namespace gtsam;
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@ -9,10 +9,7 @@
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#pragma once
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#include <gtsam/linear/GaussianConditional.h>
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#include <gtsam/linear/GaussianFactor.h>
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#include <gtsam/slam/simulated2D.h>
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#include <gtsam/slam/planarSLAM.h>
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#include <gtsam/nonlinear/ISAM2-inl.h>
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#include <gtsam/nonlinear/ISAM2.h>
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namespace gtsam {
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@ -15,14 +15,10 @@
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* @author Michael Kaess, Richard Roberts
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*/
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#include <gtsam/base/FastSet.h>
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#include <boost/foreach.hpp>
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#include <vector>
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namespace gtsam {
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using namespace std;
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template<class CONDITIONAL, class VALUES, class GRAPH>
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struct ISAM2<CONDITIONAL, VALUES, GRAPH>::Impl {
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@ -85,7 +81,7 @@ struct ISAM2<CONDITIONAL, VALUES, GRAPH>::Impl {
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*
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* Alternatively could we trace up towards the root for each variable here?
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*/
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static void FindAll(ISAM2Type::sharedClique clique, FastSet<Index>& keys, const vector<bool>& markedMask);
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static void FindAll(ISAM2Type::sharedClique clique, FastSet<Index>& keys, const std::vector<bool>& markedMask);
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/**
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* Apply expmap to the given values, but only for indices appearing in
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@ -100,7 +96,7 @@ struct ISAM2<CONDITIONAL, VALUES, GRAPH>::Impl {
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* recalculate its delta.
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*/
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static void ExpmapMasked(VALUES& values, const Permuted<VectorValues>& delta,
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const Ordering& ordering, const vector<bool>& mask,
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const Ordering& ordering, const std::vector<bool>& mask,
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boost::optional<Permuted<VectorValues>&> invalidateIfDebug = boost::optional<Permuted<VectorValues>&>());
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/**
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@ -146,7 +142,7 @@ void ISAM2<CONDITIONAL,VALUES,GRAPH>::Impl::AddVariables(
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theta.insert(newTheta);
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if(debug) newTheta.print("The new variables are: ");
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// Add the new keys onto the ordering, add zeros to the delta for the new variables
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vector<Index> dims(newTheta.dims(*newTheta.orderingArbitrary()));
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std::vector<Index> dims(newTheta.dims(*newTheta.orderingArbitrary()));
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if(debug) cout << "New variables have total dimensionality " << accumulate(dims.begin(), dims.end(), 0) << endl;
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const size_t newDim = accumulate(dims.begin(), dims.end(), 0);
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const size_t originalDim = delta->dim();
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@ -192,7 +188,7 @@ FastSet<Index> ISAM2<CONDITIONAL,VALUES,GRAPH>::Impl::CheckRelinearization(Permu
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/* ************************************************************************* */
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template<class CONDITIONAL, class VALUES, class GRAPH>
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void ISAM2<CONDITIONAL, VALUES, GRAPH>::Impl::FindAll(ISAM2Type::sharedClique clique, FastSet<Index>& keys, const vector<bool>& markedMask) {
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void ISAM2<CONDITIONAL, VALUES, GRAPH>::Impl::FindAll(ISAM2Type::sharedClique clique, FastSet<Index>& keys, const std::vector<bool>& markedMask) {
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static const bool debug = false;
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// does the separator contain any of the variables?
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bool found = false;
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@ -21,20 +21,11 @@
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#include <boost/assign/std/list.hpp> // for operator +=
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using namespace boost::assign;
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#include <set>
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#include <limits>
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#include <numeric>
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#include <gtsam/base/timing.h>
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#include <gtsam/base/debug.h>
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#include <gtsam/nonlinear/NonlinearFactorGraph-inl.h>
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#include <gtsam/linear/GaussianFactor.h>
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#include <gtsam/linear/VectorValues.h>
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#include <gtsam/linear/GaussianJunctionTree.h>
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#include <gtsam/inference/BayesTree-inl.h>
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#include <gtsam/inference/GenericSequentialSolver-inl.h>
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#include <gtsam/linear/HessianFactor.h>
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#include <gtsam/nonlinear/ISAM2.h>
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#include <gtsam/nonlinear/ISAM2-impl-inl.h>
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@ -19,21 +19,8 @@
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#pragma once
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#include <map>
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#include <list>
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#include <vector>
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#include <stdexcept>
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#include <gtsam/base/types.h>
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#include <gtsam/base/FastSet.h>
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#include <gtsam/base/FastList.h>
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#include <gtsam/inference/FactorGraph.h>
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#include <gtsam/nonlinear/NonlinearFactorGraph.h>
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#include <gtsam/nonlinear/Ordering.h>
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#include <gtsam/inference/BayesNet.h>
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#include <gtsam/inference/BayesTree.h>
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#include <gtsam/linear/GaussianFactorGraph.h>
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#include <gtsam/linear/HessianFactor.h>
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namespace gtsam {
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@ -18,6 +18,7 @@ using namespace boost::assign;
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#include <gtsam/linear/GaussianBayesNet.h>
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#include <gtsam/linear/GaussianSequentialSolver.h>
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#include <gtsam/nonlinear/GaussianISAM2.h>
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#include <gtsam/nonlinear/ISAM2-inl.h>
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#include <gtsam/slam/smallExample.h>
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#include <gtsam/slam/planarSLAM.h>
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