From 0000000000000000000000000000000000000000 Mon Sep 17 00:00:00 2001
From: Gold856 <117957790+Gold856@users.noreply.github.com>
Date: Fri, 29 Nov 2024 19:54:54 -0500
Subject: [PATCH 2/3] Replace VLAs with vectors

---
 dogleg.cpp | 17 +++++++++--------
 1 file changed, 9 insertions(+), 8 deletions(-)

diff --git a/dogleg.cpp b/dogleg.cpp
index 7e4259c303e21a9f4c63ba16f1bf5df131935057..9ed95f64b232f41a51fe23d72885ecadd86dc065 100644
--- a/dogleg.cpp
+++ b/dogleg.cpp
@@ -6,6 +6,7 @@
 // Apparently I need this in MSVC to get constants
 #define _USE_MATH_DEFINES
 
+#include <vector>
 #include <stdio.h>
 #include <stdarg.h>
 #include <math.h>
@@ -1907,7 +1908,7 @@ static bool getOutliernessFactors_dense( // output
     // where A = Jo inv(JtJ) Jot
     //
     // A is symmetric. I store the upper triangle
-    double A[featureSize*(featureSize+1)/2];
+    std::vector<double> A(featureSize*(featureSize+1)/2);
     int iA=0;
     for(int i=0; i<featureSize; i++)
       for(int j=i; j<featureSize; j++, iA++)
@@ -1921,7 +1922,7 @@ static bool getOutliernessFactors_dense( // output
       }
     accum_outlierness_factor(&factors[i_feature],
                              &point->x[i_measurement],
-                             A, featureSize, *scale);
+                             A.data(), featureSize, *scale);
   }
 
   result = true;
@@ -2008,7 +2009,7 @@ static bool getOutliernessFactors_sparse( // output
     // where A = Jo inv(JtJ) Jot
     //
     // A is symmetric. I store the upper triangle
-    double A[featureSize*(featureSize+1)/2];
+    std::vector<double> A(featureSize*(featureSize+1)/2);
     int iA=0;
     for(int i=0; i<featureSize; i++)
       for(int j=i; j<featureSize; j++, iA++)
@@ -2027,7 +2028,7 @@ static bool getOutliernessFactors_sparse( // output
       }
     accum_outlierness_factor(&factors[i_feature],
                              &point->x[i_measurement],
-                             A, featureSize, *scale);
+                             A.data(), featureSize, *scale);
   }
 
   result = true;
@@ -2212,8 +2213,8 @@ double dogleg_getOutliernessTrace_newFeature_sparse(const double*            Jqu
 
   // This is Jt because cholmod thinks in terms of col-first instead of
   // row-first
-  int Jt_p[featureSize+1];
-  int Jt_i[NstateActive*featureSize];
+  std::vector<int> Jt_p(featureSize+1);
+  std::vector<int> Jt_i(NstateActive*featureSize);
   for(int i=0; i<=featureSize; i++)
   {
     Jt_p[i] = i*NstateActive;
@@ -2224,8 +2225,8 @@ double dogleg_getOutliernessTrace_newFeature_sparse(const double*            Jqu
   cholmod_sparse Jt_query_sparse = {.nrow   = ctx->Nstate,
                                     .ncol   = featureSize,
                                     .nzmax  = NstateActive*featureSize,
-                                    .p      = (void*)Jt_p,
-                                    .i      = (void*)Jt_i,
+                                    .p      = (void*)Jt_p.data(),
+                                    .i      = (void*)Jt_i.data(),
                                     .x      = (double*)JqueryFeature,
                                     .sorted = 1,
                                     .packed = 1,