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Cleaned up some application-specific functions in GaussianFactor and VectorValues.

release/4.3a0
Richard Roberts 2010-11-29 21:56:09 +00:00
parent 6fec4aa73e
commit 17513a07d5
3 changed files with 14 additions and 27 deletions
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11
gtsam/linear/GaussianFactor.h
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@ -151,10 +151,6 @@ namespace gtsam {
ABlock getA(iterator variable) { return Ab_(variable - keys_.begin()); }
// direct indexing
constABlock getA(size_t idx) const { return Ab_(idx); }
ABlock getA(size_t idx) { return Ab_(idx); }
/** Return the dimension of the variable pointed to by the given key iterator
* todo: Remove this in favor of keeping track of dimensions with variables?
*/
@ -172,6 +168,13 @@ namespace gtsam {
*/
static shared_ptr Combine(const FactorGraph<GaussianFactor>& factors, const VariableSlots& variableSlots);
/**
* Combine and eliminate several factors.
*/
// static std::pair<GaussianBayesNet::shared_ptr, shared_ptr> CombineAndEliminate(
// const FactorGraph<GaussianFactor>& factors, const VariableSlots& variableSlots,
// size_t nrFrontals=1, SolveMethod solveMethod = SOLVE_QR);
protected:
/** Internal debug check to make sure variables are sorted */

24
gtsam/linear/VectorValues.h
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@ -89,7 +89,6 @@ public:
/* dot product */
double dot(const VectorValues& V) const { return gtsam::dot(this->values_, V.values_) ; }
/** Total dimensions capacity allocated */
size_t dimCapacity() const { return values_.size(); }
@ -99,26 +98,11 @@ public:
iterator end() { return _impl_iterator<VectorValues>(*this, varStarts_.size()-1); }
const_iterator end() const { return _impl_iterator<const VectorValues>(*this, varStarts_.size()-1); }
double *ptr(Index idx = 0) { return values_.data().begin() + varStarts_[idx] ; }
const double *ptr(Index idx = 0) const { return values_.data().begin() + varStarts_[idx] ; }
const Vector& values() const { return values_ ; }
Vector& values() { return values_ ; }
/** Reference the entire solution vector (const version). */
const Vector& vector() const { return values_; }
/* return the dimension spec of this vector, i.e. the dimension of each variable */
template <typename T>
std::vector<T> getDimSpec() const {
const Index n = this->size() ;
std::vector<T> spec(n) ;
for ( Index i = 0 ; i < n ; ++i ) {
spec[i] = varStarts_[i+1] - varStarts_[i] ;
}
return spec;
}
/* get varStart */
std::vector<size_t> getVarStart() const {
return varStarts_ ;
}
/** Reference the entire solution vector. */
Vector& vector() { return values_; }
/** Reserve space for a total number of variables and dimensionality */
void reserve(Index nVars, size_t totalDims) { values_.resize(std::max(totalDims, values_.size())); varStarts_.reserve(nVars+1); }

6
gtsam/linear/tests/testVectorValues.cpp
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@ -36,9 +36,9 @@ TEST(VectorValues, constructor) {
VectorValues actual(dims, v);
LONGS_EQUAL(3, actual.size());
DOUBLES_EQUAL(1., *actual.ptr(0), 1e-15);
DOUBLES_EQUAL(2., *actual.ptr(1), 1e-15);
DOUBLES_EQUAL(4., *actual.ptr(2), 1e-15);
DOUBLES_EQUAL(1., actual[0][0], 1e-15);
DOUBLES_EQUAL(2., actual[1][0], 1e-15);
DOUBLES_EQUAL(4., actual[2][0], 1e-15);
}
/* ************************************************************************* */