fix defaultorderingfunc
parent
9e466345b6
commit
e4e43d5d16
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@ -70,8 +70,8 @@ template<> struct EliminationTraits<DiscreteFactorGraph>
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/// The default ordering generation function
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/// The default ordering generation function
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static Ordering DefaultOrderingFunc(
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static Ordering DefaultOrderingFunc(
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const FactorGraphType& graph,
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const FactorGraphType& graph,
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const VariableIndex& variableIndex) {
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std::optional<std::reference_wrapper<const VariableIndex>> variableIndex) {
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return Ordering::Colamd(variableIndex);
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return Ordering::Colamd((*variableIndex).get());
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}
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}
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};
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};
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@ -27,6 +27,7 @@
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#include <gtsam/linear/GaussianFactor.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/VectorValues.h>
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#include <functional>
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#include <optional>
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#include <optional>
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namespace gtsam {
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namespace gtsam {
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@ -87,7 +88,7 @@ struct EliminationTraits<HybridGaussianFactorGraph> {
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/// The default ordering generation function
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/// The default ordering generation function
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static Ordering DefaultOrderingFunc(
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static Ordering DefaultOrderingFunc(
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const FactorGraphType& graph,
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const FactorGraphType& graph,
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const VariableIndex&) {
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std::optional<std::reference_wrapper<const VariableIndex>>) {
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return HybridOrdering(graph);
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return HybridOrdering(graph);
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}
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}
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};
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};
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@ -52,7 +52,7 @@ namespace gtsam {
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return eliminateSequential(computedOrdering, function, variableIndex);
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return eliminateSequential(computedOrdering, function, variableIndex);
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} else {
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} else {
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Ordering computedOrdering = EliminationTraitsType::DefaultOrderingFunc(
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Ordering computedOrdering = EliminationTraitsType::DefaultOrderingFunc(
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asDerived(), (*variableIndex).get());
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asDerived(), *variableIndex);
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return eliminateSequential(computedOrdering, function, variableIndex);
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return eliminateSequential(computedOrdering, function, variableIndex);
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}
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}
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}
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}
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@ -115,7 +115,7 @@ namespace gtsam {
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return eliminateMultifrontal(computedOrdering, function, variableIndex);
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return eliminateMultifrontal(computedOrdering, function, variableIndex);
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} else {
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} else {
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Ordering computedOrdering = EliminationTraitsType::DefaultOrderingFunc(
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Ordering computedOrdering = EliminationTraitsType::DefaultOrderingFunc(
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asDerived(), (*variableIndex).get());
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asDerived(), *variableIndex);
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return eliminateMultifrontal(computedOrdering, function, variableIndex);
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return eliminateMultifrontal(computedOrdering, function, variableIndex);
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}
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}
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}
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}
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@ -58,8 +58,8 @@ namespace gtsam {
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/// The default ordering generation function
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/// The default ordering generation function
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static Ordering DefaultOrderingFunc(
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static Ordering DefaultOrderingFunc(
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const FactorGraphType& graph,
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const FactorGraphType& graph,
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const VariableIndex& variableIndex) {
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std::optional<std::reference_wrapper<const VariableIndex>> variableIndex) {
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return Ordering::Colamd(variableIndex);
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return Ordering::Colamd((*variableIndex).get());
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}
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}
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};
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};
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@ -49,8 +49,8 @@ namespace gtsam {
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/// The default ordering generation function
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/// The default ordering generation function
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static Ordering DefaultOrderingFunc(
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static Ordering DefaultOrderingFunc(
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const FactorGraphType& graph,
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const FactorGraphType& graph,
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const VariableIndex& variableIndex) {
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std::optional<std::reference_wrapper<const VariableIndex>> variableIndex) {
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return Ordering::Colamd(variableIndex);
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return Ordering::Colamd((*variableIndex).get());
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}
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}
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};
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};
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