Allow construction of ConditionalGaussian without copying the prior

Author: akleeman

include/albatross/src/models/conditional_gaussian.hpp

@@ -23,6 +23,10 @@ struct ConditionalFit {
 class ConditionalGaussian : public ModelBase<ConditionalGaussian> {
 
 public:
+  ConditionalGaussian(JointDistribution &&prior,
+                      const MarginalDistribution &truth)
+      : prior_(std::move(prior)), truth_(truth) {}
+
   ConditionalGaussian(const JointDistribution &prior,
                       const MarginalDistribution &truth)
       : prior_(prior), truth_(truth) {}

include/albatross/src/models/ransac_gp.hpp

@@ -109,17 +109,18 @@ struct AlwaysAcceptCandidateMetric {
 };
 
 template <typename InlierMetric, typename ConsensusMetric,
-          typename IsValidCandidateMetric, typename GroupKey>
+          typename IsValidCandidateMetric, typename GroupKey,
+          typename PriorDistribution>
 inline RansacFunctions<ConditionalFit, GroupKey> get_gp_ransac_functions(
-    const JointDistribution &prior, const MarginalDistribution &truth,
+    PriorDistribution &&prior, const MarginalDistribution &truth,
     const GroupIndexer<GroupKey> &indexer, const InlierMetric &inlier_metric,
     const ConsensusMetric &consensus_metric,
     const IsValidCandidateMetric &is_valid_candidate_metric) {
 
   static_assert(is_prediction_metric<InlierMetric>::value,
                 "InlierMetric must be an PredictionMetric.");
 
-  const ConditionalGaussian model(prior, truth);
+  const ConditionalGaussian model(std::forward<PriorDistribution>(prior), truth);
 
   const auto fitter = get_gp_ransac_fitter<GroupKey>(model, indexer);