Fix rekey of LinearContainerFactor #777
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| NonlinearFactor::shared_ptr LinearContainerFactor::rekey( |
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Maybe we can just reuse the method for std::map here?
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Can you please explain more?
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Oh I understand now. I don't think that is doable, because the std::map version is doing a replacement, while the other one is doing an update. The assignment in the KeyVector version makes it cleaner and I am not sure how we would create the map without making some assumptions about what the user intended.
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I’m ok if this fixes a bug , but I do want to note, for the record, that “re-keying” goes against the functional nature of GTSAM. I question the need for it and would recommend people using this to re-examine why they’re using it :-) Try to be functional unless it is really affecting performance. |
As per #568,
LinearContainerFactor's rekey method fails because therekeymethod doesn't update the keys for the Gaussian Factor and Linearization point properties.This PR fixes #568 by overriding
rekeyand doing the necessary updates.