Address code review comments: documentation and naming conventions #2328
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Co-authored-by: dellaert <10515273+dellaert@users.noreply.github.com>
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gtsam/linear/MultifrontalClique.cpp
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| } | ||
| if (static_cast<size_t>(rhsScratch_.size()) != frontalDim) { | ||
| rhsScratch_.resize(frontalDim); | ||
| if (static_cast<size_t>(rightHandSideScratch_.size()) != frontalDim) { |
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A bridge too far, this. Please keep rhsScratch_
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Reverted to rhsScratch_ in commit 1d463fd.
gtsam/linear/MultifrontalClique.h
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| mutable Vector rhsScratch_; | ||
| mutable Vector xSepScratch_; | ||
| mutable Vector rightHandSideScratch_; | ||
| mutable Vector separatorSolutionScratch_; |
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Changed to separatorScratch_ in commit 1d463fd.
gtsam/linear/MultifrontalSolver.cpp
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| auto clique = std::make_shared<MultifrontalClique>(cluster); | ||
| auto& c = *clique; | ||
| c.setParent(parent); | ||
| auto& currentClique = *clique; |
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just use clique-> everywhere. No dereferenced value needed
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Removed currentClique reference and now using clique-> directly in commit 1d463fd.
- Revert rightHandSideScratch_ back to rhsScratch_ - Change separatorSolutionScratch_ to separatorScratch_ - Remove currentClique reference, use clique-> directly Co-authored-by: dellaert <10515273+dellaert@users.noreply.github.com>
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Just as a heads up, I was blocked by some firewall rules while working on your feedback. Expand below for details. |
Addresses all 23 code review comments from the original MultifrontalSolver PR, focusing on documentation completeness and GTSAM coding style compliance.
Documentation
@brieftags to all file headers (MultifrontalSolver.h, MultifrontalClique.h, and implementation files)@paramand@returntags//to///for IndexedSymbolicFactor helper classNaming Conventions
ComputeDims→computeDims,BuildSymbolicGraph→buildSymbolicGraph(lowerMixedCase per GTSAM guidelines)vbmRows→verticalBlockMatrixRowsxSepScratch_→separatorScratch_c→ removed (useclique->directly)jf→jacobianFactor(5 locations)hf→hessianFactorc1→childCliquerhsScratch_as is (appropriate for internal scratch variable)All changes are non-functional. Tests pass.
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