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Fix slow dynamic cast for Point3 and Point2 #1168

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merged 3 commits into from
Apr 14, 2022
Merged

Fix slow dynamic cast for Point3 and Point2 #1168

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49b40d3
Fix slow dynamic cast
ProfFan Apr 12, 2022
ed34ee3
Update the other codepath to also use ptr cast
ProfFan Apr 12, 2022
1b63fb5
Address comments by Frank
ProfFan Apr 14, 2022
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Address comments by Frank
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@ProfFan
ProfFan committed Apr 14, 2022
commit 1b63fb51eb98f10a83d525e8755cf2e9db4bc525
15 changes: 8 additions & 7 deletions gtsam/nonlinear/Values-inl.h
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Original file line number Diff line number Diff line change
Expand Up @@ -279,10 +279,11 @@ namespace gtsam {
template <typename ValueType>
struct handle {
ValueType operator()(Key j, const Value* const pointer) {
try {
auto ptr = dynamic_cast<const GenericValue<ValueType>*>(pointer);
if (ptr) {
// value returns a const ValueType&, and the return makes a copy !!!!!
return dynamic_cast<const GenericValue<ValueType>&>(*pointer).value();
} catch (std::bad_cast&) {
return ptr->value();
} else {
throw ValuesIncorrectType(j, typeid(*pointer), typeid(ValueType));
}
}
Expand Down Expand Up @@ -367,10 +368,10 @@ namespace gtsam {

if(item != values_.end()) {
// dynamic cast the type and throw exception if incorrect
const Value& value = *item->second;
try {
return dynamic_cast<const GenericValue<ValueType>&>(value).value();
} catch (std::bad_cast &) {
auto ptr = dynamic_cast<const GenericValue<ValueType>*>(item->second);
if (ptr) {
return ptr->value();
} else {
// NOTE(abe): clang warns about potential side effects if done in typeid
const Value* value = item->second;
throw ValuesIncorrectType(j, typeid(*value), typeid(ValueType));
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4 changes: 4 additions & 0 deletions gtsam/nonlinear/nonlinear.i
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Expand Up @@ -245,6 +245,10 @@ class Values {
void insert(size_t j, const gtsam::ParameterMatrix<14>& X);
void insert(size_t j, const gtsam::ParameterMatrix<15>& X);

template <T = {gtsam::Point2,
gtsam::Point3}>
void insert(size_t j, const T& val);

void update(size_t j, const gtsam::Point2& point2);
void update(size_t j, const gtsam::Point3& point3);
void update(size_t j, const gtsam::Rot2& rot2);
Expand Down