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Fix/clang warnings #146

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merged 2 commits into from
Oct 13, 2019
Merged

Fix/clang warnings #146

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f44ba99
Add override to resolve warnings on clang
dellaert Oct 12, 2019
4a14918
Replace deprecated `ptr_fun` with lambda expression
dellaert Oct 12, 2019
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12 changes: 6 additions & 6 deletions gtsam/linear/GaussianBayesNet.cpp
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Original file line number Diff line number Diff line change
Expand Up @@ -187,16 +187,16 @@ namespace gtsam {
}

/* ************************************************************************* */
double GaussianBayesNet::logDeterminant() const
{
double GaussianBayesNet::logDeterminant() const {
double logDet = 0.0;
for(const sharedConditional& cg: *this) {
if(cg->get_model()) {
for (const sharedConditional& cg : *this) {
if (cg->get_model()) {
Vector diag = cg->R().diagonal();
cg->get_model()->whitenInPlace(diag);
logDet += diag.unaryExpr(ptr_fun<double,double>(log)).sum();
logDet += diag.unaryExpr([](double x) { return log(x); }).sum();
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Lambdas! 👍

} else {
logDet += cg->R().diagonal().unaryExpr(ptr_fun<double,double>(log)).sum();
logDet +=
cg->R().diagonal().unaryExpr([](double x) { return log(x); }).sum();
}
}
return logDet;
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4 changes: 2 additions & 2 deletions gtsam/linear/GaussianBayesTree.cpp
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Expand Up @@ -40,11 +40,11 @@ namespace gtsam {
parentSum += clique->conditional()
->R()
.diagonal()
.unaryExpr(std::ptr_fun<double, double>(log))
.unaryExpr([](double x) { return log(x); })
.sum();
return 0;
}
}
} // namespace internal

/* ************************************************************************* */
bool GaussianBayesTree::equals(const This& other, double tol) const
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32 changes: 16 additions & 16 deletions gtsam/linear/NoiseModel.h
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Expand Up @@ -752,8 +752,8 @@ namespace gtsam {
Fair(double c = 1.3998, const ReweightScheme reweight = Block);
double weight(double error) const override;
double residual(double error) const override;
void print(const std::string &s) const;
bool equals(const Base& expected, double tol=1e-8) const;
void print(const std::string &s) const override;
bool equals(const Base& expected, double tol = 1e-8) const override;
static shared_ptr Create(double c, const ReweightScheme reweight = Block) ;

private:
Expand All @@ -777,8 +777,8 @@ namespace gtsam {
Huber(double k = 1.345, const ReweightScheme reweight = Block);
double weight(double error) const override;
double residual(double error) const override;
void print(const std::string &s) const;
bool equals(const Base& expected, double tol=1e-8) const;
void print(const std::string &s) const override;
bool equals(const Base& expected, double tol = 1e-8) const override;
static shared_ptr Create(double k, const ReweightScheme reweight = Block) ;

private:
Expand Down Expand Up @@ -806,8 +806,8 @@ namespace gtsam {
Cauchy(double k = 0.1, const ReweightScheme reweight = Block);
double weight(double error) const override;
double residual(double error) const override;
void print(const std::string &s) const;
bool equals(const Base& expected, double tol=1e-8) const;
void print(const std::string &s) const override;
bool equals(const Base& expected, double tol = 1e-8) const override;
static shared_ptr Create(double k, const ReweightScheme reweight = Block) ;

private:
Expand All @@ -831,8 +831,8 @@ namespace gtsam {
Tukey(double c = 4.6851, const ReweightScheme reweight = Block);
double weight(double error) const override;
double residual(double error) const override;
void print(const std::string &s) const;
bool equals(const Base& expected, double tol=1e-8) const;
void print(const std::string &s) const override;
bool equals(const Base& expected, double tol = 1e-8) const override;
static shared_ptr Create(double k, const ReweightScheme reweight = Block) ;

private:
Expand All @@ -856,8 +856,8 @@ namespace gtsam {
Welsch(double c = 2.9846, const ReweightScheme reweight = Block);
double weight(double error) const override;
double residual(double error) const override;
void print(const std::string &s) const;
bool equals(const Base& expected, double tol=1e-8) const;
void print(const std::string &s) const override;
bool equals(const Base& expected, double tol = 1e-8) const override;
static shared_ptr Create(double k, const ReweightScheme reweight = Block) ;

private:
Expand Down Expand Up @@ -892,8 +892,8 @@ namespace gtsam {
~GemanMcClure() {}
double weight(double error) const override;
double residual(double error) const override;
void print(const std::string &s) const;
bool equals(const Base& expected, double tol=1e-8) const;
void print(const std::string &s) const override;
bool equals(const Base& expected, double tol=1e-8) const override;
static shared_ptr Create(double k, const ReweightScheme reweight = Block) ;

protected:
Expand Down Expand Up @@ -922,8 +922,8 @@ namespace gtsam {
~DCS() {}
double weight(double error) const override;
double residual(double error) const override;
void print(const std::string &s) const;
bool equals(const Base& expected, double tol=1e-8) const;
void print(const std::string &s) const override;
bool equals(const Base& expected, double tol = 1e-8) const override;
static shared_ptr Create(double k, const ReweightScheme reweight = Block) ;

protected:
Expand Down Expand Up @@ -954,8 +954,8 @@ namespace gtsam {
L2WithDeadZone(double k = 1.0, const ReweightScheme reweight = Block);
double weight(double error) const override;
double residual(double error) const override;
void print(const std::string &s) const;
bool equals(const Base& expected, double tol=1e-8) const;
void print(const std::string &s) const override;
bool equals(const Base& expected, double tol = 1e-8) const override;
static shared_ptr Create(double k, const ReweightScheme reweight = Block);

private:
Expand Down