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Added optional ordering to GFG::optimize()

release/4.3a0
Richard Roberts 2013-08-01 21:57:24 +00:00
parent 12de12f045
commit 2b9105b0ce
2 changed files with 4 additions and 3 deletions
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4
gtsam/linear/GaussianFactorGraph.cpp
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@ -196,10 +196,10 @@ namespace gtsam {
//}
/* ************************************************************************* */
VectorValues GaussianFactorGraph::optimize(const Eliminate& function) const
VectorValues GaussianFactorGraph::optimize(OptionalOrdering ordering, const Eliminate& function) const
{
gttic(GaussianFactorGraph_optimize);
return BaseEliminateable::eliminateMultifrontal(boost::none, function)->optimize();
return BaseEliminateable::eliminateMultifrontal(ordering, function)->optimize();
}
/* ************************************************************************* */

3
gtsam/linear/GaussianFactorGraph.h
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@ -207,7 +207,8 @@ namespace gtsam {
* the dense elimination function specified in \c function (default EliminatePreferCholesky),
* followed by back-substitution in the Bayes tree resulting from elimination. Is equivalent
* to calling graph.eliminateMultifrontal()->optimize(). */
VectorValues optimize(const Eliminate& function = EliminationTraits::DefaultEliminate) const;
VectorValues optimize(OptionalOrdering ordering = boost::none,
const Eliminate& function = EliminationTraits::DefaultEliminate) const;
/**
* Compute the gradient of the energy function,