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Renamed variable

release/4.3a0
Frank Dellaert 2015-06-11 23:48:18 -07:00
parent 692ddd8f36
commit 15d5542809
4 changed files with 17 additions and 10 deletions
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4
gtsam/inference/ClusterTree-inst.h
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@ -99,7 +99,7 @@ namespace gtsam
// Do dense elimination step
std::pair<boost::shared_ptr<ConditionalType>, boost::shared_ptr<FactorType> > eliminationResult =
eliminationFunction(gatheredFactors, Ordering(node->keys));
eliminationFunction(gatheredFactors, Ordering(node->orderedFrontalKeys));
// Store conditional in BayesTree clique, and in the case of ISAM2Clique also store the remaining factor
myData.bayesTreeNode->setEliminationResult(eliminationResult);
@ -123,7 +123,7 @@ namespace gtsam
const std::string& s, const KeyFormatter& keyFormatter) const
{
std::cout << s;
BOOST_FOREACH(Key j, keys)
BOOST_FOREACH(Key j, orderedFrontalKeys)
std::cout << j << " ";
std::cout << "problemSize = " << problemSize_ << std::endl;
}

2
gtsam/inference/ClusterTree.h
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@ -41,7 +41,7 @@ namespace gtsam
typedef FastVector<sharedFactor> Factors;
typedef FastVector<boost::shared_ptr<Cluster> > Children;
Keys keys; ///< Frontal keys of this node
Keys orderedFrontalKeys; ///< Frontal keys of this node
Factors factors; ///< Factors associated with this node
Children children; ///< sub-trees
int problemSize_;

17
gtsam/inference/JunctionTree-inst.h
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@ -49,7 +49,7 @@ namespace gtsam {
// structure with its own JT node, and create a child pointer in its parent.
ConstructorTraversalData<BAYESTREE,GRAPH> myData = ConstructorTraversalData<BAYESTREE,GRAPH>(&parentData);
myData.myJTNode = boost::make_shared<typename JunctionTree<BAYESTREE,GRAPH>::Node>();
myData.myJTNode->keys.push_back(node->key);
myData.myJTNode->orderedFrontalKeys.push_back(node->key);
myData.myJTNode->factors.insert(myData.myJTNode->factors.begin(), node->factors.begin(), node->factors.end());
parentData.myJTNode->children.push_back(myData.myJTNode);
return myData;
@ -101,13 +101,20 @@ namespace gtsam {
const typename JunctionTree<BAYESTREE, GRAPH>::Node& childToMerge =
*myData.myJTNode->children[child - nrMergedChildren];
// Merge keys, factors, and children.
myData.myJTNode->keys.insert(myData.myJTNode->keys.begin(), childToMerge.keys.begin(), childToMerge.keys.end());
myData.myJTNode->factors.insert(myData.myJTNode->factors.end(), childToMerge.factors.begin(), childToMerge.factors.end());
myData.myJTNode->children.insert(myData.myJTNode->children.end(), childToMerge.children.begin(), childToMerge.children.end());
myData.myJTNode->orderedFrontalKeys.insert(
myData.myJTNode->orderedFrontalKeys.begin(),
childToMerge.orderedFrontalKeys.begin(),
childToMerge.orderedFrontalKeys.end());
myData.myJTNode->factors.insert(myData.myJTNode->factors.end(),
childToMerge.factors.begin(),
childToMerge.factors.end());
myData.myJTNode->children.insert(myData.myJTNode->children.end(),
childToMerge.children.begin(),
childToMerge.children.end());
// Increment problem size
combinedProblemSize = std::max(combinedProblemSize, childToMerge.problemSize_);
// Increment number of frontal variables
myNrFrontals += childToMerge.keys.size();
myNrFrontals += childToMerge.orderedFrontalKeys.size();
// Remove child from list.
myData.myJTNode->children.erase(myData.myJTNode->children.begin() + (child - nrMergedChildren));
// Increment number of merged children

4
gtsam/symbolic/tests/testSymbolicJunctionTree.cpp
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@ -46,10 +46,10 @@ TEST( JunctionTree, constructor )
frontal1 = list_of(2)(3),
frontal2 = list_of(0)(1),
sep1, sep2 = list_of(2);
EXPECT(assert_container_equality(frontal1, actual.roots().front()->keys));
EXPECT(assert_container_equality(frontal1, actual.roots().front()->orderedFrontalKeys));
//EXPECT(assert_equal(sep1, actual.roots().front()->separator));
LONGS_EQUAL(1, (long)actual.roots().front()->factors.size());
EXPECT(assert_container_equality(frontal2, actual.roots().front()->children.front()->keys));
EXPECT(assert_container_equality(frontal2, actual.roots().front()->children.front()->orderedFrontalKeys));
//EXPECT(assert_equal(sep2, actual.roots().front()->children.front()->separator));
LONGS_EQUAL(2, (long)actual.roots().front()->children.front()->factors.size());
EXPECT(assert_equal(*simpleChain[2], *actual.roots().front()->factors[0]));