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Added number of factors recalculated to ISAM2Result

release/4.3a0
Richard Roberts 2013-04-02 17:36:50 +00:00
parent 67e36febf2
commit 2c53a58c9f
2 changed files with 5 additions and 0 deletions
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2
gtsam/nonlinear/ISAM2.cpp
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@ -382,6 +382,7 @@ boost::shared_ptr<FastSet<Index> > ISAM2::recalculate(const FastSet<Index>& mark
gttoc(insert);
result.variablesReeliminated = affectedKeysSet->size();
result.factorsRecalculated = nonlinearFactors_.size();
lastAffectedMarkedCount = markedKeys.size();
lastAffectedVariableCount = affectedKeysSet->size();
@ -419,6 +420,7 @@ boost::shared_ptr<FastSet<Index> > ISAM2::recalculate(const FastSet<Index>& mark
}
result.variablesReeliminated = affectedAndNewKeys.size();
result.factorsRecalculated = factors.size();
lastAffectedMarkedCount = markedKeys.size();
lastAffectedVariableCount = affectedKeys.size();
lastAffectedFactorCount = factors.size();

3
gtsam/nonlinear/ISAM2.h
View File

@ -285,6 +285,9 @@ struct GTSAM_EXPORT ISAM2Result {
*/
size_t variablesReeliminated;
/** The number of factors that were included in reelimination of the Bayes' tree. */
size_t factorsRecalculated;
/** The number of cliques in the Bayes' Tree */
size_t cliques;