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release/4.3a0
Stephen Williams 2013-04-12 12:53:05 +00:00
parent 460a428c97
commit 03db2b7e55
1 changed files with 2 additions and 5 deletions
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7
gtsam_unstable/nonlinear/ConcurrentBatchFilter.cpp
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@ -472,7 +472,7 @@ void ConcurrentBatchFilter::marginalize(const FastList<Key>& keysToMove) {
smootherSummarizationSlots_.insert(smootherSummarizationSlots_.end(), marginalSlots.begin(), marginalSlots.end());
// Move the marginalized factors from the filter to the smoother (holding area)
// Note: Be careful to only move nonlinear factors and not any marginals they may also need to be removed
// Note: Be careful to only move nonlinear factors and not any marginals that may also need to be removed
BOOST_FOREACH(size_t slot, removedFactorSlots) {
std::vector<size_t>::iterator iter = std::find(smootherSummarizationSlots_.begin(), smootherSummarizationSlots_.end(), slot);
if(iter == smootherSummarizationSlots_.end()) {
@ -514,7 +514,7 @@ void ConcurrentBatchFilter::marginalize(const FastList<Key>& keysToMove) {
ordering_.permuteInPlace(forwardPermutation);
delta_.permuteInPlace(forwardPermutation);
// Remove marginalized keys from the ordering, variableIndex, and delta
// Remove marginalized keys from the ordering and delta
for(size_t i = 0; i < keysToMove.size(); ++i) {
ordering_.pop_back();
delta_.pop_back();
@ -526,9 +526,6 @@ void ConcurrentBatchFilter::marginalize(const FastList<Key>& keysToMove) {
NonlinearFactorGraph ConcurrentBatchFilter::marginalize(const NonlinearFactorGraph& graph, const Values& values,
const Ordering& ordering, const std::set<Key>& marginalizeKeys, const GaussianFactorGraph::Eliminate& function) {
// This function returns marginal factors (in the form of LinearContainerFactors) that result from
// marginalizing out the selected variables.
// Calculate marginal factors on the remaining variables (after marginalizing 'marginalizeKeys')
// Note: It is assumed the ordering already has these keys first