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General check for null pointer in saveGraph #503

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Sep 1, 2020
Merged

General check for null pointer in saveGraph #503

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51 changes: 29 additions & 22 deletions gtsam/nonlinear/NonlinearFactorGraph.cpp
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Original file line number Diff line number Diff line change
Expand Up @@ -205,42 +205,49 @@ void NonlinearFactorGraph::saveGraph(std::ostream &stm, const Values& values,
// Create factors and variable connections
for(size_t i = 0; i < size(); ++i) {
const NonlinearFactor::shared_ptr& factor = at(i);
if(formatting.plotFactorPoints) {
// If null pointer, move on to the next
if (!factor) {
continue;
}

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This part is the main fix.

if (formatting.plotFactorPoints) {
const KeyVector& keys = factor->keys();
if (formatting.binaryEdges && keys.size()==2) {
stm << " var" << keys[0] << "--" << "var" << keys[1] << ";\n";
if (formatting.binaryEdges && keys.size() == 2) {
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Formatting changes

stm << " var" << keys[0] << "--"
<< "var" << keys[1] << ";\n";
} else {
// Make each factor a dot
stm << " factor" << i << "[label=\"\", shape=point";
{
map<size_t, Point2>::const_iterator pos = formatting.factorPositions.find(i);
if(pos != formatting.factorPositions.end())
stm << ", pos=\"" << formatting.scale*(pos->second.x() - minX) << ","
<< formatting.scale*(pos->second.y() - minY) << "!\"";
map<size_t, Point2>::const_iterator pos =
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Formatting changes.

formatting.factorPositions.find(i);
if (pos != formatting.factorPositions.end())
stm << ", pos=\"" << formatting.scale * (pos->second.x() - minX)
<< "," << formatting.scale * (pos->second.y() - minY)
<< "!\"";
}
stm << "];\n";

// Make factor-variable connections
if(formatting.connectKeysToFactor && factor) {
for(Key key: *factor) {
stm << " var" << key << "--" << "factor" << i << ";\n";
if (formatting.connectKeysToFactor && factor) {
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This is just formatting.

for (Key key : *factor) {
stm << " var" << key << "--"
<< "factor" << i << ";\n";
}
}
}
}
else {
if(factor) {
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I removed this check since I added a generic check at the beginning.

Key k;
bool firstTime = true;
for(Key key: *this->at(i)) {
if(firstTime) {
k = key;
firstTime = false;
continue;
}
stm << " var" << key << "--" << "var" << k << ";\n";
} else {
Key k;
bool firstTime = true;
for (Key key : *this->at(i)) {
if (firstTime) {
k = key;
firstTime = false;
continue;
}
stm << " var" << key << "--"
<< "var" << k << ";\n";
k = key;
}
}
}
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