Make BaseEdge.calc_chi2_gradient_hessian return lists instead of dicts (

#55)
JeffLIrion · Nov 8, 2023 · 83f7b70 · 83f7b70
1 parent ba631b5
commit 83f7b70
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Showing 3 changed files with 11 additions and 11 deletions.
diff --git a/graphslam/edge/base_edge.py b/graphslam/edge/base_edge.py
@@ -84,9 +84,9 @@ def calc_chi2_gradient_hessian(self):
         -------
         float
             The :math:`\chi^2` error for the edge
-        dict
+        list[tuple[int, np.ndarray]]
             The edge's contribution(s) to the gradient
-        dict
+        list[tuple[tuple[int, int], np.ndarray]]
             The edge's contribution(s) to the Hessian
 
         """
@@ -99,8 +99,8 @@ def calc_chi2_gradient_hessian(self):
         # fmt: off
         return (
             chi2,
-            {v.gradient_index: np.dot(np.dot(np.transpose(err), self.information), jacobian) for v, jacobian in zip(self.vertices, jacobians)},
-            {(self.vertices[i].gradient_index, self.vertices[j].gradient_index): np.dot(np.dot(np.transpose(jacobians[i]), self.information), jacobians[j]) for i in range(len(jacobians)) for j in range(i, len(jacobians))},
+            [(v.gradient_index, np.dot(np.dot(np.transpose(err), self.information), jacobian)) for v, jacobian in zip(self.vertices, jacobians)],
+            [((self.vertices[i].gradient_index, self.vertices[j].gradient_index), np.dot(np.dot(np.transpose(jacobians[i]), self.information), jacobians[j])) for i in range(len(jacobians)) for j in range(i, len(jacobians))],
         )
         # fmt: on
 

diff --git a/graphslam/graph.py b/graphslam/graph.py
@@ -147,10 +147,10 @@ def update(chi2_grad_hess, incoming):
         """
         chi2_grad_hess.chi2 += incoming[0]
 
-        for idx, contrib in incoming[1].items():
+        for idx, contrib in incoming[1]:
             chi2_grad_hess.gradient[idx] += contrib
 
-        for (idx1, idx2), contrib in incoming[2].items():
+        for (idx1, idx2), contrib in incoming[2]:
             if idx1 <= idx2:
                 chi2_grad_hess.hessian[idx1, idx2] += contrib
             else:

diff --git a/tests/test_base_edge.py b/tests/test_base_edge.py
@@ -78,12 +78,12 @@ def test_calc_chi2_gradient_hessian(self):
 
         self.assertEqual(chi2, 2.0)
 
-        self.assertAlmostEqual(np.linalg.norm(gradient[v1.gradient_index] + np.ones(2)), 0.0)
-        self.assertAlmostEqual(np.linalg.norm(gradient[v2.gradient_index] - np.ones(2)), 0.0)
+        self.assertAlmostEqual(np.linalg.norm(gradient[0][1] + np.ones(2)), 0.0)
+        self.assertAlmostEqual(np.linalg.norm(gradient[1][1] - np.ones(2)), 0.0)
 
-        self.assertAlmostEqual(np.linalg.norm(hessian[(v1.gradient_index, v1.gradient_index)] - np.eye(2)), 0.0)
-        self.assertAlmostEqual(np.linalg.norm(hessian[(v1.gradient_index, v2.gradient_index)] + np.eye(2)), 0.0)
-        self.assertAlmostEqual(np.linalg.norm(hessian[(v2.gradient_index, v2.gradient_index)] - np.eye(2)), 0.0)
+        self.assertAlmostEqual(np.linalg.norm(hessian[0][1] - np.eye(2)), 0.0)
+        self.assertAlmostEqual(np.linalg.norm(hessian[1][1] + np.eye(2)), 0.0)
+        self.assertAlmostEqual(np.linalg.norm(hessian[2][1] - np.eye(2)), 0.0)
 
     def test_equals(self):
         """Test that the ``equals`` method works as expected."""