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Merge pull request #1983 from mcm001/bayestree-dtor-std-move 

Reduce smart pointer copies in destructors
release/4.3a0
Frank Dellaert 2025-01-20 09:33:54 -05:00 committed by GitHub
parent 717e3bea63 71944110e9
commit ee7616e421
No known key found for this signature in database
GPG Key ID: B5690EEEBB952194
9 changed files with 31 additions and 31 deletions
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4
gtsam/base/timing.cpp
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@ -109,7 +109,7 @@ void TimingOutline::print(const std::string& outline) const {
/* ************************************************************************* */ /* ************************************************************************* */
void TimingOutline::printCsvHeader(bool addLineBreak) const { void TimingOutline::printCsvHeader(bool addLineBreak) const {
#ifdef GTSAM_USE_BOOST_FEATURES #if GTSAM_USE_BOOST_FEATURES
// Order is (CPU time, number of times, wall time, time + children in seconds, // Order is (CPU time, number of times, wall time, time + children in seconds,
// min time, max time) // min time, max time)
std::cout << label_ + " cpu time (s)" << "," << label_ + " #calls" << "," std::cout << label_ + " cpu time (s)" << "," << label_ + " #calls" << ","
@ -134,7 +134,7 @@ void TimingOutline::printCsvHeader(bool addLineBreak) const {
/* ************************************************************************* */ /* ************************************************************************* */
void TimingOutline::printCsv(bool addLineBreak) const { void TimingOutline::printCsv(bool addLineBreak) const {
#ifdef GTSAM_USE_BOOST_FEATURES #if GTSAM_USE_BOOST_FEATURES
// Order is (CPU time, number of times, wall time, time + children in seconds, // Order is (CPU time, number of times, wall time, time + children in seconds,
// min time, max time) // min time, max time)
std::cout << self() << "," << n_ << "," << wall() << "," << secs() << "," std::cout << self() << "," << n_ << "," << wall() << "," << secs() << ","

4
gtsam/constrained/NonlinearConstraint.h
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@ -21,7 +21,7 @@
#include <gtsam/inference/FactorGraph.h> #include <gtsam/inference/FactorGraph.h>
#include <gtsam/inference/FactorGraph-inst.h> #include <gtsam/inference/FactorGraph-inst.h>
#include <gtsam/nonlinear/NonlinearFactor.h> #include <gtsam/nonlinear/NonlinearFactor.h>
#ifdef GTSAM_ENABLE_BOOST_SERIALIZATION #if GTSAM_ENABLE_BOOST_SERIALIZATION
#include <boost/serialization/base_object.hpp> #include <boost/serialization/base_object.hpp>
#endif #endif
@ -77,7 +77,7 @@ class GTSAM_EXPORT NonlinearConstraint : public NoiseModelFactor {
} }
private: private:
#ifdef GTSAM_ENABLE_BOOST_SERIALIZATION #if GTSAM_ENABLE_BOOST_SERIALIZATION
/** Serialization function */ /** Serialization function */
friend class boost::serialization::access; friend class boost::serialization::access;
template <class ARCHIVE> template <class ARCHIVE>

8
gtsam/constrained/NonlinearEqualityConstraint.h
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@ -39,7 +39,7 @@ class GTSAM_EXPORT NonlinearEqualityConstraint : public NonlinearConstraint {
virtual ~NonlinearEqualityConstraint() {} virtual ~NonlinearEqualityConstraint() {}
private: private:
#ifdef GTSAM_ENABLE_BOOST_SERIALIZATION #if GTSAM_ENABLE_BOOST_SERIALIZATION
/** Serialization function */ /** Serialization function */
friend class boost::serialization::access; friend class boost::serialization::access;
template <class ARCHIVE> template <class ARCHIVE>
@ -85,7 +85,7 @@ class ExpressionEqualityConstraint : public NonlinearEqualityConstraint {
} }
private: private:
#ifdef GTSAM_ENABLE_BOOST_SERIALIZATION #if GTSAM_ENABLE_BOOST_SERIALIZATION
/** Serialization function */ /** Serialization function */
friend class boost::serialization::access; friend class boost::serialization::access;
template <class ARCHIVE> template <class ARCHIVE>
@ -131,7 +131,7 @@ class GTSAM_EXPORT ZeroCostConstraint : public NonlinearEqualityConstraint {
} }
private: private:
#ifdef GTSAM_ENABLE_BOOST_SERIALIZATION #if GTSAM_ENABLE_BOOST_SERIALIZATION
/** Serialization function */ /** Serialization function */
friend class boost::serialization::access; friend class boost::serialization::access;
template <class ARCHIVE> template <class ARCHIVE>
@ -166,7 +166,7 @@ class GTSAM_EXPORT NonlinearEqualityConstraints : public FactorGraph<NonlinearEq
NonlinearFactorGraph penaltyGraph(const double mu = 1.0) const; NonlinearFactorGraph penaltyGraph(const double mu = 1.0) const;
private: private:
#ifdef GTSAM_ENABLE_BOOST_SERIALIZATION #if GTSAM_ENABLE_BOOST_SERIALIZATION
/** Serialization function */ /** Serialization function */
friend class boost::serialization::access; friend class boost::serialization::access;
template <class ARCHIVE> template <class ARCHIVE>

6
gtsam/constrained/NonlinearInequalityConstraint.h
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@ -61,7 +61,7 @@ class GTSAM_EXPORT NonlinearInequalityConstraint : public NonlinearConstraint {
virtual NoiseModelFactor::shared_ptr penaltyFactorEquality(const double mu = 1.0) const; virtual NoiseModelFactor::shared_ptr penaltyFactorEquality(const double mu = 1.0) const;
private: private:
#ifdef GTSAM_ENABLE_BOOST_SERIALIZATION #if GTSAM_ENABLE_BOOST_SERIALIZATION
/** Serialization function */ /** Serialization function */
friend class boost::serialization::access; friend class boost::serialization::access;
template <class ARCHIVE> template <class ARCHIVE>
@ -129,7 +129,7 @@ class GTSAM_EXPORT ScalarExpressionInequalityConstraint : public NonlinearInequa
} }
private: private:
#ifdef GTSAM_ENABLE_BOOST_SERIALIZATION #if GTSAM_ENABLE_BOOST_SERIALIZATION
/** Serialization function */ /** Serialization function */
friend class boost::serialization::access; friend class boost::serialization::access;
template <class ARCHIVE> template <class ARCHIVE>
@ -169,7 +169,7 @@ class GTSAM_EXPORT NonlinearInequalityConstraints
const double mu = 1.0) const; const double mu = 1.0) const;
private: private:
#ifdef GTSAM_ENABLE_BOOST_SERIALIZATION #if GTSAM_ENABLE_BOOST_SERIALIZATION
/** Serialization function */ /** Serialization function */
friend class boost::serialization::access; friend class boost::serialization::access;
template <class ARCHIVE> template <class ARCHIVE>

11
gtsam/inference/BayesTree-inst.h
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@ -196,21 +196,20 @@ namespace gtsam {
for (auto&& root: roots_) { for (auto&& root: roots_) {
std::queue<sharedClique> bfs_queue; std::queue<sharedClique> bfs_queue;
// first, move the root to the queue // first, steal the root and move it to the queue. This invalidates root
bfs_queue.push(root); bfs_queue.push(std::move(root));
root = nullptr; // now the root node is owned by the queue
// do a BFS on the tree, for each node, add its children to the queue, and then delete it from the queue // do a BFS on the tree, for each node, add its children to the queue, and then delete it from the queue
// So if the reference count of the node is 1, it will be deleted, and because its children are in the queue, // So if the reference count of the node is 1, it will be deleted, and because its children are in the queue,
// the deletion of the node will not trigger a recursive deletion of the children. // the deletion of the node will not trigger a recursive deletion of the children.
while (!bfs_queue.empty()) { while (!bfs_queue.empty()) {
// move the ownership of the front node from the queue to the current variable // move the ownership of the front node from the queue to the current variable, invalidating the sharedClique at the front of the queue
auto current = bfs_queue.front(); auto current = std::move(bfs_queue.front());
bfs_queue.pop(); bfs_queue.pop();
// add the children of the current node to the queue, so that the queue will also own the children nodes. // add the children of the current node to the queue, so that the queue will also own the children nodes.
for (auto child: current->children) { for (auto child: current->children) {
bfs_queue.push(child); bfs_queue.push(std::move(child));
} // leaving the scope of current will decrease the reference count of the current node by 1, and if the reference count is 0, } // leaving the scope of current will decrease the reference count of the current node by 1, and if the reference count is 0,
// the node will be deleted. Because the children are in the queue, the deletion of the node will not trigger a recursive // the node will be deleted. Because the children are in the queue, the deletion of the node will not trigger a recursive
// deletion of the children. // deletion of the children.

12
gtsam/inference/ClusterTree-inst.h
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@ -114,20 +114,20 @@ ClusterTree<GRAPH>::~ClusterTree() {
for (auto&& root : roots_) { for (auto&& root : roots_) {
std::queue<sharedNode> bfs_queue; std::queue<sharedNode> bfs_queue;
// first, move the root to the queue
bfs_queue.push(root); // first, steal the root and move it to the queue. This invalidates root
root = nullptr; // now the root node is owned by the queue bfs_queue.push(std::move(root));
// for each node iterated, if its reference count is 1, it will be deleted while its children are still in the queue. // for each node iterated, if its reference count is 1, it will be deleted while its children are still in the queue.
// so that the recursive deletion will not happen. // so that the recursive deletion will not happen.
while (!bfs_queue.empty()) { while (!bfs_queue.empty()) {
// move the ownership of the front node from the queue to the current variable // move the ownership of the front node from the queue to the current variable, invalidating the sharedClique at the front of the queue
auto node = bfs_queue.front(); auto node = std::move(bfs_queue.front());
bfs_queue.pop(); bfs_queue.pop();
// add the children of the current node to the queue, so that the queue will also own the children nodes. // add the children of the current node to the queue, so that the queue will also own the children nodes.
for (auto child : node->children) { for (auto child : node->children) {
bfs_queue.push(child); bfs_queue.push(std::move(child));
} // leaving the scope of current will decrease the reference count of the current node by 1, and if the reference count is 0, } // leaving the scope of current will decrease the reference count of the current node by 1, and if the reference count is 0,
// the node will be deleted. Because the children are in the queue, the deletion of the node will not trigger a recursive // the node will be deleted. Because the children are in the queue, the deletion of the node will not trigger a recursive
// deletion of the children. // deletion of the children.

2
gtsam/inference/ClusterTree.h
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@ -166,9 +166,9 @@ class ClusterTree {
/// @} /// @}
protected:
~ClusterTree(); ~ClusterTree();
protected:
/// @name Details /// @name Details
/// @{ /// @{

11
gtsam/inference/EliminationTree-inst.h
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@ -197,20 +197,19 @@ namespace gtsam {
for (auto&& root : roots_) { for (auto&& root : roots_) {
std::queue<sharedNode> bfs_queue; std::queue<sharedNode> bfs_queue;
// first, move the root to the queue // first, steal the root and move it to the queue. This invalidates root
bfs_queue.push(root); bfs_queue.push(std::move(root));
root = nullptr; // now the root node is owned by the queue
// for each node iterated, if its reference count is 1, it will be deleted while its children are still in the queue. // for each node iterated, if its reference count is 1, it will be deleted while its children are still in the queue.
// so that the recursive deletion will not happen. // so that the recursive deletion will not happen.
while (!bfs_queue.empty()) { while (!bfs_queue.empty()) {
// move the ownership of the front node from the queue to the current variable // move the ownership of the front node from the queue to the current variable, invalidating the sharedClique at the front of the queue
auto node = bfs_queue.front(); auto node = std::move(bfs_queue.front());
bfs_queue.pop(); bfs_queue.pop();
// add the children of the current node to the queue, so that the queue will also own the children nodes. // add the children of the current node to the queue, so that the queue will also own the children nodes.
for (auto&& child : node->children) { for (auto&& child : node->children) {
bfs_queue.push(child); bfs_queue.push(std::move(child));
} // leaving the scope of current will decrease the reference count of the current node by 1, and if the reference count is 0, } // leaving the scope of current will decrease the reference count of the current node by 1, and if the reference count is 0,
// the node will be deleted. Because the children are in the queue, the deletion of the node will not trigger a recursive // the node will be deleted. Because the children are in the queue, the deletion of the node will not trigger a recursive
// deletion of the children. // deletion of the children.

4
gtsam/inference/EliminationTree.h
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@ -117,8 +117,10 @@ namespace gtsam {
/// @} /// @}
public: protected:
~EliminationTree(); ~EliminationTree();
public:
/// @name Standard Interface /// @name Standard Interface
/// @{ /// @{