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Pass parameters by reference instead of by value (improves effieciency)

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This commit is contained in:
Carles Fernandez 2018-08-21 14:57:22 +02:00
parent a833abbb8a
commit 388d1623ed
2 changed files with 52 additions and 56 deletions
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10
src/algorithms/tracking/libs/bayesian_estimation.cc
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@ -63,7 +63,7 @@ Bayesian_estimator::Bayesian_estimator(int ny)
Psi_est = Psi_prior; Psi_est = Psi_prior;
} }
Bayesian_estimator::Bayesian_estimator(arma::vec mu_prior_0, int kappa_prior_0, int nu_prior_0, arma::mat Psi_prior_0) Bayesian_estimator::Bayesian_estimator(const arma::vec& mu_prior_0, int kappa_prior_0, int nu_prior_0, const arma::mat& Psi_prior_0)
{ {
mu_prior = mu_prior_0; mu_prior = mu_prior_0;
kappa_prior = kappa_prior_0; kappa_prior = kappa_prior_0;
@ -78,7 +78,7 @@ Bayesian_estimator::~Bayesian_estimator()
{ {
} }
void Bayesian_estimator::init(arma::vec mu_prior_0, int kappa_prior_0, int nu_prior_0, arma::mat Psi_prior_0) void Bayesian_estimator::init(const arma::mat& mu_prior_0, int kappa_prior_0, int nu_prior_0, const arma::mat& Psi_prior_0)
{ {
mu_prior = mu_prior_0; mu_prior = mu_prior_0;
kappa_prior = kappa_prior_0; kappa_prior = kappa_prior_0;
@ -93,7 +93,7 @@ void Bayesian_estimator::init(arma::vec mu_prior_0, int kappa_prior_0, int nu_pr
* Perform Bayesian noise estimation using the normal-inverse-Wishart priors stored in * Perform Bayesian noise estimation using the normal-inverse-Wishart priors stored in
* the class structure, and update the priors according to the computed posteriors * the class structure, and update the priors according to the computed posteriors
*/ */
void Bayesian_estimator::update_sequential(arma::vec data) void Bayesian_estimator::update_sequential(const arma::vec& data)
{ {
int K = data.n_cols; int K = data.n_cols;
int ny = data.n_rows; int ny = data.n_rows;
@ -142,9 +142,8 @@ void Bayesian_estimator::update_sequential(arma::vec data)
* Perform Bayesian noise estimation using a new set of normal-inverse-Wishart priors * Perform Bayesian noise estimation using a new set of normal-inverse-Wishart priors
* and update the priors according to the computed posteriors * and update the priors according to the computed posteriors
*/ */
void Bayesian_estimator::update_sequential(arma::vec data, arma::vec mu_prior_0, int kappa_prior_0, int nu_prior_0, arma::mat Psi_prior_0) void Bayesian_estimator::update_sequential(const arma::vec& data, const arma::vec& mu_prior_0, int kappa_prior_0, int nu_prior_0, const arma::mat& Psi_prior_0)
{ {
int K = data.n_cols; int K = data.n_cols;
int ny = data.n_rows; int ny = data.n_rows;
@ -186,4 +185,3 @@ arma::mat Bayesian_estimator::get_Psi_est()
{ {
return Psi_est; return Psi_est;
} }

10
src/algorithms/tracking/libs/bayesian_estimation.h
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@ -58,17 +58,16 @@
class Bayesian_estimator class Bayesian_estimator
{ {
public: public:
Bayesian_estimator(); Bayesian_estimator();
Bayesian_estimator(int ny); Bayesian_estimator(int ny);
Bayesian_estimator(arma::vec mu_prior_0, int kappa_prior_0, int nu_prior_0, arma::mat Psi_prior_0); Bayesian_estimator(const arma::vec& mu_prior_0, int kappa_prior_0, int nu_prior_0, const arma::mat& Psi_prior_0);
~Bayesian_estimator(); ~Bayesian_estimator();
void init(arma::vec mu_prior_0, int kappa_prior_0, int nu_prior_0, arma::mat Psi_prior_0); void init(const arma::mat& mu_prior_0, int kappa_prior_0, int nu_prior_0, const arma::mat& Psi_prior_0);
void update_sequential(arma::vec data); void update_sequential(const arma::vec& data);
void update_sequential(arma::vec data, arma::vec mu_prior_0, int kappa_prior_0, int nu_prior_0, arma::mat Psi_prior_0); void update_sequential(const arma::vec& data, const arma::vec& mu_prior_0, int kappa_prior_0, int nu_prior_0, const arma::mat& Psi_prior_0);
arma::mat get_mu_est(); arma::mat get_mu_est();
arma::mat get_Psi_est(); arma::mat get_Psi_est();
@ -81,7 +80,6 @@ private:
int kappa_prior; int kappa_prior;
int nu_prior; int nu_prior;
arma::mat Psi_prior; arma::mat Psi_prior;
}; };
#endif #endif