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fix defaultorderingfunc

release/4.3a0
Kartik Arcot 2023-01-21 12:32:25 -08:00
parent 9e466345b6
commit e4e43d5d16
5 changed files with 10 additions and 9 deletions
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4
gtsam/discrete/DiscreteFactorGraph.h
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@ -70,8 +70,8 @@ template<> struct EliminationTraits<DiscreteFactorGraph>
/// The default ordering generation function /// The default ordering generation function
static Ordering DefaultOrderingFunc( static Ordering DefaultOrderingFunc(
const FactorGraphType& graph, const FactorGraphType& graph,
const VariableIndex& variableIndex) { std::optional<std::reference_wrapper<const VariableIndex>> variableIndex) {
return Ordering::Colamd(variableIndex); return Ordering::Colamd((*variableIndex).get());
} }
}; };

3
gtsam/hybrid/HybridGaussianFactorGraph.h
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@ -27,6 +27,7 @@
#include <gtsam/linear/GaussianFactor.h> #include <gtsam/linear/GaussianFactor.h>
#include <gtsam/linear/VectorValues.h> #include <gtsam/linear/VectorValues.h>
#include <functional>
#include <optional> #include <optional>
namespace gtsam { namespace gtsam {
@ -87,7 +88,7 @@ struct EliminationTraits<HybridGaussianFactorGraph> {
/// The default ordering generation function /// The default ordering generation function
static Ordering DefaultOrderingFunc( static Ordering DefaultOrderingFunc(
const FactorGraphType& graph, const FactorGraphType& graph,
const VariableIndex&) { std::optional<std::reference_wrapper<const VariableIndex>>) {
return HybridOrdering(graph); return HybridOrdering(graph);
} }
}; };

4
gtsam/inference/EliminateableFactorGraph-inst.h
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@ -52,7 +52,7 @@ namespace gtsam {
return eliminateSequential(computedOrdering, function, variableIndex); return eliminateSequential(computedOrdering, function, variableIndex);
} else { } else {
Ordering computedOrdering = EliminationTraitsType::DefaultOrderingFunc( Ordering computedOrdering = EliminationTraitsType::DefaultOrderingFunc(
asDerived(), (*variableIndex).get()); asDerived(), *variableIndex);
return eliminateSequential(computedOrdering, function, variableIndex); return eliminateSequential(computedOrdering, function, variableIndex);
} }
} }
@ -115,7 +115,7 @@ namespace gtsam {
return eliminateMultifrontal(computedOrdering, function, variableIndex); return eliminateMultifrontal(computedOrdering, function, variableIndex);
} else { } else {
Ordering computedOrdering = EliminationTraitsType::DefaultOrderingFunc( Ordering computedOrdering = EliminationTraitsType::DefaultOrderingFunc(
asDerived(), (*variableIndex).get()); asDerived(), *variableIndex);
return eliminateMultifrontal(computedOrdering, function, variableIndex); return eliminateMultifrontal(computedOrdering, function, variableIndex);
} }
} }

4
gtsam/linear/GaussianFactorGraph.h
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@ -58,8 +58,8 @@ namespace gtsam {
/// The default ordering generation function /// The default ordering generation function
static Ordering DefaultOrderingFunc( static Ordering DefaultOrderingFunc(
const FactorGraphType& graph, const FactorGraphType& graph,
const VariableIndex& variableIndex) { std::optional<std::reference_wrapper<const VariableIndex>> variableIndex) {
return Ordering::Colamd(variableIndex); return Ordering::Colamd((*variableIndex).get());
} }
}; };

4
gtsam/symbolic/SymbolicFactorGraph.h
View File

@ -49,8 +49,8 @@ namespace gtsam {
/// The default ordering generation function /// The default ordering generation function
static Ordering DefaultOrderingFunc( static Ordering DefaultOrderingFunc(
const FactorGraphType& graph, const FactorGraphType& graph,
const VariableIndex& variableIndex) { std::optional<std::reference_wrapper<const VariableIndex>> variableIndex) {
return Ordering::Colamd(variableIndex); return Ordering::Colamd((*variableIndex).get());
} }
}; };