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Added missing non-ordered eliminatePartialMultifrontal

release/4.3a0
Richard Roberts 2013-08-12 18:21:31 +00:00
parent e8d733364a
commit 15bd617a0c
2 changed files with 43 additions and 0 deletions
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20
gtsam/inference/EliminateableFactorGraph-inst.h
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@ -137,6 +137,26 @@ namespace gtsam {
} }
} }
/* ************************************************************************* */
template<class FACTORGRAPH>
std::pair<boost::shared_ptr<typename EliminateableFactorGraph<FACTORGRAPH>::BayesTreeType>, boost::shared_ptr<FACTORGRAPH> >
EliminateableFactorGraph<FACTORGRAPH>::eliminatePartialMultifrontal(
const std::vector<Key>& variables, const Eliminate& function, OptionalVariableIndex variableIndex) const
{
if(variableIndex) {
gttic(eliminatePartialMultifrontal);
// Compute full ordering
Ordering fullOrdering = Ordering::COLAMDConstrainedFirst(*variableIndex, variables);
// Split off the part of the ordering for the variables being eliminated
Ordering ordering(fullOrdering.begin(), fullOrdering.begin() + variables.size());
return eliminatePartialMultifrontal(ordering, function, variableIndex);
} else {
// If no variable index is provided, compute one and call this function again
return eliminatePartialMultifrontal(variables, function, VariableIndex(asDerived()));
}
}
/* ************************************************************************* */ /* ************************************************************************* */
template<class FACTORGRAPH> template<class FACTORGRAPH>
boost::shared_ptr<typename EliminateableFactorGraph<FACTORGRAPH>::BayesNetType> boost::shared_ptr<typename EliminateableFactorGraph<FACTORGRAPH>::BayesNetType>

23
gtsam/symbolic/tests/testSymbolicFactorGraph.cpp
View File

@ -63,6 +63,14 @@ TEST(SymbolicFactorGraph, eliminatePartialSequential)
EXPECT(assert_equal(expectedSfg, *actualSfg)); EXPECT(assert_equal(expectedSfg, *actualSfg));
EXPECT(assert_equal(expectedBayesNet, *actualBayesNet)); EXPECT(assert_equal(expectedBayesNet, *actualBayesNet));
SymbolicBayesNet::shared_ptr actualBayesNet2;
SymbolicFactorGraph::shared_ptr actualSfg2;
boost::tie(actualBayesNet2, actualSfg2) =
simpleTestGraph2.eliminatePartialSequential(list_of(0)(1).convert_to_container<vector<Key> >());
EXPECT(assert_equal(expectedSfg, *actualSfg2));
EXPECT(assert_equal(expectedBayesNet, *actualBayesNet2));
} }
/* ************************************************************************* */ /* ************************************************************************* */
@ -100,6 +108,21 @@ TEST(SymbolicFactorGraph, eliminatePartialMultifrontal)
EXPECT(assert_equal(expectedFactorGraph, *actualFactorGraph)); EXPECT(assert_equal(expectedFactorGraph, *actualFactorGraph));
EXPECT(assert_equal(expectedBayesTree, *actualBayesTree)); EXPECT(assert_equal(expectedBayesTree, *actualBayesTree));
SymbolicBayesTree expectedBayesTree2;
SymbolicBayesTreeClique::shared_ptr root2 = boost::make_shared<SymbolicBayesTreeClique>(
boost::make_shared<SymbolicConditional>(4,1));
root2->children.push_back(boost::make_shared<SymbolicBayesTreeClique>(
boost::make_shared<SymbolicConditional>(5,4)));
expectedBayesTree2.insertRoot(root2);
SymbolicBayesTree::shared_ptr actualBayesTree2;
SymbolicFactorGraph::shared_ptr actualFactorGraph2;
boost::tie(actualBayesTree2, actualFactorGraph2) =
simpleTestGraph2.eliminatePartialMultifrontal(list_of<Key>(4)(5).convert_to_container<vector<Key> >());
EXPECT(assert_equal(expectedFactorGraph, *actualFactorGraph2));
EXPECT(assert_equal(expectedBayesTree2, *actualBayesTree2));
} }
/* ************************************************************************* */ /* ************************************************************************* */