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rename allDiscreteKeys and allContinuousKeys to discreteKeys and continuousKeys respectively

release/4.3a0
Varun Agrawal 2022-09-20 05:16:26 -04:00
parent 2f8a0f82e0
commit c2ca426acc
3 changed files with 4 additions and 9 deletions
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4
gtsam/hybrid/HybridFactorGraph.h
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@ -137,7 +137,7 @@ class HybridFactorGraph : public FactorGraph<HybridFactor> {
} }
/// Get all the discrete keys in the factor graph. /// Get all the discrete keys in the factor graph.
const KeySet allDiscreteKeys() const { const KeySet discreteKeys() const {
KeySet discrete_keys; KeySet discrete_keys;
for (auto& factor : factors_) { for (auto& factor : factors_) {
for (const DiscreteKey& k : factor->discreteKeys()) { for (const DiscreteKey& k : factor->discreteKeys()) {
@ -148,7 +148,7 @@ class HybridFactorGraph : public FactorGraph<HybridFactor> {
} }
/// Get all the continuous keys in the factor graph. /// Get all the continuous keys in the factor graph.
const KeySet allContinuousKeys() const { const KeySet continuousKeys() const {
KeySet keys; KeySet keys;
for (auto& factor : factors_) { for (auto& factor : factors_) {
for (const Key& key : factor->continuousKeys()) { for (const Key& key : factor->continuousKeys()) {

2
gtsam/hybrid/HybridGaussianFactorGraph.cpp
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@ -406,7 +406,7 @@ void HybridGaussianFactorGraph::add(DecisionTreeFactor::shared_ptr factor) {
/* ************************************************************************ */ /* ************************************************************************ */
const Ordering HybridGaussianFactorGraph::getHybridOrdering() const { const Ordering HybridGaussianFactorGraph::getHybridOrdering() const {
KeySet discrete_keys = allDiscreteKeys(); KeySet discrete_keys = discreteKeys();
for (auto &factor : factors_) { for (auto &factor : factors_) {
for (const DiscreteKey &k : factor->discreteKeys()) { for (const DiscreteKey &k : factor->discreteKeys()) {
discrete_keys.insert(k.first); discrete_keys.insert(k.first);

7
gtsam/hybrid/HybridGaussianISAM.cpp
View File

@ -63,12 +63,7 @@ void HybridGaussianISAM::updateInternal(
factors += boost::make_shared<BayesTreeOrphanWrapper<Node> >(orphan); factors += boost::make_shared<BayesTreeOrphanWrapper<Node> >(orphan);
// Get all the discrete keys from the factors // Get all the discrete keys from the factors
KeySet allDiscrete; KeySet allDiscrete = factors.discreteKeys();
for (auto& factor : factors) {
for (auto& k : factor->discreteKeys()) {
allDiscrete.insert(k.first);
}
}
// Create KeyVector with continuous keys followed by discrete keys. // Create KeyVector with continuous keys followed by discrete keys.
KeyVector newKeysDiscreteLast; KeyVector newKeysDiscreteLast;