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Removing using std::...

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Change-Id: I584402e2a34869183c1d59071a15d97b216c52fb
This commit is contained in:
Alexander Ivanov
2023-01-11 16:51:38 +00:00
parent e1ca3302af
commit 53df5ddcfd
47 changed files with 479 additions and 608 deletions
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examples/robot_pose_mle.cc
+11 -13
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@@ -143,8 +143,6 @@ using ceres::LossFunction;
using ceres::Problem;
using ceres::Solve;
using ceres::Solver;
using std::min;
using std::vector;
DEFINE_double(corridor_length,
30.0,
@@ -215,8 +213,8 @@ struct RangeConstraint {
// conveniently add to a ceres problem.
static RangeCostFunction* Create(const int pose_index,
const double range_reading,
vector<double>* odometry_values,
vector<double*>* parameter_blocks) {
std::vector<double>* odometry_values,
std::vector<double*>* parameter_blocks) {
auto* constraint =
new RangeConstraint(pose_index,
range_reading,
@@ -241,8 +239,8 @@ struct RangeConstraint {
namespace {
void SimulateRobot(vector<double>* odometry_values,
vector<double>* range_readings) {
void SimulateRobot(std::vector<double>* odometry_values,
std::vector<double>* range_readings) {
const int num_steps =
static_cast<int>(ceil(CERES_GET_FLAG(FLAGS_corridor_length) /
CERES_GET_FLAG(FLAGS_pose_separation)));
@@ -256,8 +254,8 @@ void SimulateRobot(vector<double>* odometry_values,
double robot_location = 0.0;
for (int i = 0; i < num_steps; ++i) {
const double actual_odometry_value =
min(CERES_GET_FLAG(FLAGS_pose_separation),
CERES_GET_FLAG(FLAGS_corridor_length) - robot_location);
std::min(CERES_GET_FLAG(FLAGS_pose_separation),
CERES_GET_FLAG(FLAGS_corridor_length) - robot_location);
robot_location += actual_odometry_value;
const double actual_range =
CERES_GET_FLAG(FLAGS_corridor_length) - robot_location;
@@ -269,8 +267,8 @@ void SimulateRobot(vector<double>* odometry_values,
}
}
void PrintState(const vector<double>& odometry_readings,
const vector<double>& range_readings) {
void PrintState(const std::vector<double>& odometry_readings,
const std::vector<double>& range_readings) {
CHECK_EQ(odometry_readings.size(), range_readings.size());
double robot_location = 0.0;
printf("pose: location odom range r.error o.error\n");
@@ -301,8 +299,8 @@ int main(int argc, char** argv) {
CHECK_GT(CERES_GET_FLAG(FLAGS_odometry_stddev), 0.0);
CHECK_GT(CERES_GET_FLAG(FLAGS_range_stddev), 0.0);
vector<double> odometry_values;
vector<double> range_readings;
std::vector<double> odometry_values;
std::vector<double> range_readings;
SimulateRobot(&odometry_values, &range_readings);
printf("Initial values:\n");
@@ -312,7 +310,7 @@ int main(int argc, char** argv) {
for (int i = 0; i < odometry_values.size(); ++i) {
// Create and add a DynamicAutoDiffCostFunction for the RangeConstraint from
// pose i.
vector<double*> parameter_blocks;
std::vector<double*> parameter_blocks;
RangeConstraint::RangeCostFunction* range_cost_function =
RangeConstraint::Create(
i, range_readings[i], &odometry_values, &parameter_blocks);