From 1936f34f22d2e675b30882d6217657101bb5f724 Mon Sep 17 00:00:00 2001 From: Richard Roberts Date: Thu, 18 Aug 2011 15:45:20 +0000 Subject: [PATCH] (in branch) disabled key ordering checks for ISAM2 --- gtsam/inference/BayesTree-inl.h | 10 +++++----- gtsam/inference/IndexConditional.cpp | 4 ++-- 2 files changed, 7 insertions(+), 7 deletions(-) diff --git a/gtsam/inference/BayesTree-inl.h b/gtsam/inference/BayesTree-inl.h index 6973088bf..2c04ebec9 100644 --- a/gtsam/inference/BayesTree-inl.h +++ b/gtsam/inference/BayesTree-inl.h @@ -47,11 +47,11 @@ namespace gtsam { void BayesTree::Clique::assertInvariants() const { #ifndef NDEBUG // We rely on the keys being sorted - FastVector sortedUniqueKeys(conditional_->begin(), conditional_->end()); - std::sort(sortedUniqueKeys.begin(), sortedUniqueKeys.end()); - std::unique(sortedUniqueKeys.begin(), sortedUniqueKeys.end()); - assert(sortedUniqueKeys.size() == conditional_->size() && - std::equal(sortedUniqueKeys.begin(), sortedUniqueKeys.end(), conditional_->begin())); +// FastVector sortedUniqueKeys(conditional_->begin(), conditional_->end()); +// std::sort(sortedUniqueKeys.begin(), sortedUniqueKeys.end()); +// std::unique(sortedUniqueKeys.begin(), sortedUniqueKeys.end()); +// assert(sortedUniqueKeys.size() == conditional_->size() && +// std::equal(sortedUniqueKeys.begin(), sortedUniqueKeys.end(), conditional_->begin())); #endif } diff --git a/gtsam/inference/IndexConditional.cpp b/gtsam/inference/IndexConditional.cpp index a7e4d0890..532e79248 100644 --- a/gtsam/inference/IndexConditional.cpp +++ b/gtsam/inference/IndexConditional.cpp @@ -36,8 +36,8 @@ namespace gtsam { FastSet uniquesorted(beginFrontals(), endFrontals()); assert(uniquesorted.size() == nrFrontals() && std::equal(uniquesorted.begin(), uniquesorted.end(), beginFrontals())); // Check that separator keys are less than parent keys - BOOST_FOREACH(Index j, frontals()) { - assert(find_if(beginParents(), endParents(), _1 < j) == endParents()); } + //BOOST_FOREACH(Index j, frontals()) { + // assert(find_if(beginParents(), endParents(), _1 < j) == endParents()); } #endif }