From 4949d6988cc918f67188291c7fc0edc74671c03d Mon Sep 17 00:00:00 2001
From: Fan Jiang <i@fanjiang.me>
Date: Sat, 7 Sep 2019 15:48:30 -0400
Subject: [PATCH 1/3] Fix compilation of PartialPriorFactor

---
 gtsam_unstable/slam/PartialPriorFactor.h | 2 +-
 1 file changed, 1 insertion(+), 1 deletion(-)

diff --git a/gtsam_unstable/slam/PartialPriorFactor.h b/gtsam_unstable/slam/PartialPriorFactor.h
index fa06d47a3d..c71ee7abd7 100644
--- a/gtsam_unstable/slam/PartialPriorFactor.h
+++ b/gtsam_unstable/slam/PartialPriorFactor.h
@@ -121,7 +121,7 @@ namespace gtsam {
 
     // access
     const Vector& prior() const { return prior_; }
-    const std::vector<bool>& mask() const { return  mask_; }
+    const std::vector<size_t>& mask() const { return  mask_; }
     const Matrix& H() const { return H_; }
 
   protected:

From b61636e2f711971e875df3aca63ce69907bce9c5 Mon Sep 17 00:00:00 2001
From: Fan Jiang <i@fanjiang.me>
Date: Sat, 7 Sep 2019 16:10:49 -0400
Subject: [PATCH 2/3] Fix segfault in SubgraphBuilder

---
 gtsam/linear/SubgraphBuilder.cpp | 3 ++-
 1 file changed, 2 insertions(+), 1 deletion(-)

diff --git a/gtsam/linear/SubgraphBuilder.cpp b/gtsam/linear/SubgraphBuilder.cpp
index 22ad89cd88..34c4c0440d 100644
--- a/gtsam/linear/SubgraphBuilder.cpp
+++ b/gtsam/linear/SubgraphBuilder.cpp
@@ -127,7 +127,8 @@ static vector<size_t> UniqueSampler(const vector<double> &weight,
 
     /* sampling and cache results */
     vector<size_t> samples = iidSampler(localWeights, n - count);
-    for (const size_t &index : samples) {
+    const auto samplesSize = samples.size();
+    for (size_t index = 0; index < samplesSize; index++) {
       if (touched[index] == false) {
         touched[index] = true;
         samples.push_back(index);

From cb80f27ee8a7af8eada3b9dfb214cee46b99c390 Mon Sep 17 00:00:00 2001
From: Fan Jiang <i@fanjiang.me>
Date: Sat, 7 Sep 2019 17:30:18 -0400
Subject: [PATCH 3/3] Restoring the correct behavior of UniqueSampler

---
 gtsam/linear/SubgraphBuilder.cpp | 9 ++++-----
 1 file changed, 4 insertions(+), 5 deletions(-)

diff --git a/gtsam/linear/SubgraphBuilder.cpp b/gtsam/linear/SubgraphBuilder.cpp
index 34c4c0440d..a999b3a719 100644
--- a/gtsam/linear/SubgraphBuilder.cpp
+++ b/gtsam/linear/SubgraphBuilder.cpp
@@ -107,7 +107,7 @@ static vector<size_t> UniqueSampler(const vector<double> &weight,
   const size_t m = weight.size();
   if (n > m) throw std::invalid_argument("UniqueSampler: invalid input size");
 
-  vector<size_t> samples;
+  vector<size_t> results;
 
   size_t count = 0;
   vector<bool> touched(m, false);
@@ -127,16 +127,15 @@ static vector<size_t> UniqueSampler(const vector<double> &weight,
 
     /* sampling and cache results */
     vector<size_t> samples = iidSampler(localWeights, n - count);
-    const auto samplesSize = samples.size();
-    for (size_t index = 0; index < samplesSize; index++) {
+    for (const size_t &index : samples) {
       if (touched[index] == false) {
         touched[index] = true;
-        samples.push_back(index);
+        results.push_back(index);
         if (++count >= n) break;
       }
     }
   }
-  return samples;
+  return results;
 }
 
 /****************************************************************************/