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@dellaert dellaert commented Jan 5, 2022

This is the first PR from some refactoring I did over the break, to get rid of shared pointers for containers. It is totally appropriate that we use shared pointers for factors (although, maybe we should not!), but it never made sense (I see now) that we used shared pointers for graphs, as they are not really shuffled around like factors.

The big changes that are coming (branches have not been published yet) are mostly in linear, to get a newer and faster API for elimination -- prompted by development in hybrid branch. This PR removes shared pointers from the subgraph API, for starters.

Adding @jlblancoc as a reviewer, partly to get his opinion on above, and @ProfFan as FYI as I know he has a forked branch with lots of shared pointer changes (presumably moving to std::shared_ptr).

@dellaert dellaert requested review from ProfFan and jlblancoc January 5, 2022 04:07
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Some love?

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@varunagrawal varunagrawal left a comment

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Looks good to me modulo 2 comments. Would like to hear @jlblancoc's thoughts as well.

@dellaert dellaert merged commit a2caa0c into develop Jan 22, 2022
@dellaert dellaert deleted the feature/subgraph_refactor branch January 22, 2022 01:59
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2 participants