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Removed functions largely supersceded by newer bayes tree functionality

release/4.3a0
Alex Cunningham 2013-08-16 16:32:19 +00:00
parent 0cdb233e5f
commit 2d413e05c6
10 changed files with 197 additions and 1368 deletions
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@ -315,14 +315,6 @@
<useDefaultCommand>true</useDefaultCommand> <useDefaultCommand>true</useDefaultCommand>
<runAllBuilders>true</runAllBuilders> <runAllBuilders>true</runAllBuilders>
</target> </target>
<target name="testGaussianFactor.run" path="linear/tests" targetID="org.eclipse.cdt.build.MakeTargetBuilder">
<buildCommand>make</buildCommand>
<buildArguments>-j2</buildArguments>
<buildTarget>testGaussianFactor.run</buildTarget>
<stopOnError>true</stopOnError>
<useDefaultCommand>true</useDefaultCommand>
<runAllBuilders>true</runAllBuilders>
</target>
<target name="all" path="inference" targetID="org.eclipse.cdt.build.MakeTargetBuilder"> <target name="all" path="inference" targetID="org.eclipse.cdt.build.MakeTargetBuilder">
<buildCommand>make</buildCommand> <buildCommand>make</buildCommand>
<buildArguments>-j2</buildArguments> <buildArguments>-j2</buildArguments>
@ -349,6 +341,7 @@
</target> </target>
<target name="tests/testBayesTree.run" path="inference" targetID="org.eclipse.cdt.build.MakeTargetBuilder"> <target name="tests/testBayesTree.run" path="inference" targetID="org.eclipse.cdt.build.MakeTargetBuilder">
<buildCommand>make</buildCommand> <buildCommand>make</buildCommand>
<buildArguments/>
<buildTarget>tests/testBayesTree.run</buildTarget> <buildTarget>tests/testBayesTree.run</buildTarget>
<stopOnError>true</stopOnError> <stopOnError>true</stopOnError>
<useDefaultCommand>false</useDefaultCommand> <useDefaultCommand>false</useDefaultCommand>
@ -356,6 +349,7 @@
</target> </target>
<target name="testBinaryBayesNet.run" path="inference" targetID="org.eclipse.cdt.build.MakeTargetBuilder"> <target name="testBinaryBayesNet.run" path="inference" targetID="org.eclipse.cdt.build.MakeTargetBuilder">
<buildCommand>make</buildCommand> <buildCommand>make</buildCommand>
<buildArguments/>
<buildTarget>testBinaryBayesNet.run</buildTarget> <buildTarget>testBinaryBayesNet.run</buildTarget>
<stopOnError>true</stopOnError> <stopOnError>true</stopOnError>
<useDefaultCommand>false</useDefaultCommand> <useDefaultCommand>false</useDefaultCommand>
@ -403,6 +397,7 @@
</target> </target>
<target name="testSymbolicBayesNet.run" path="inference" targetID="org.eclipse.cdt.build.MakeTargetBuilder"> <target name="testSymbolicBayesNet.run" path="inference" targetID="org.eclipse.cdt.build.MakeTargetBuilder">
<buildCommand>make</buildCommand> <buildCommand>make</buildCommand>
<buildArguments/>
<buildTarget>testSymbolicBayesNet.run</buildTarget> <buildTarget>testSymbolicBayesNet.run</buildTarget>
<stopOnError>true</stopOnError> <stopOnError>true</stopOnError>
<useDefaultCommand>false</useDefaultCommand> <useDefaultCommand>false</useDefaultCommand>
@ -410,6 +405,7 @@
</target> </target>
<target name="tests/testSymbolicFactor.run" path="inference" targetID="org.eclipse.cdt.build.MakeTargetBuilder"> <target name="tests/testSymbolicFactor.run" path="inference" targetID="org.eclipse.cdt.build.MakeTargetBuilder">
<buildCommand>make</buildCommand> <buildCommand>make</buildCommand>
<buildArguments/>
<buildTarget>tests/testSymbolicFactor.run</buildTarget> <buildTarget>tests/testSymbolicFactor.run</buildTarget>
<stopOnError>true</stopOnError> <stopOnError>true</stopOnError>
<useDefaultCommand>false</useDefaultCommand> <useDefaultCommand>false</useDefaultCommand>
@ -417,6 +413,7 @@
</target> </target>
<target name="testSymbolicFactorGraph.run" path="inference" targetID="org.eclipse.cdt.build.MakeTargetBuilder"> <target name="testSymbolicFactorGraph.run" path="inference" targetID="org.eclipse.cdt.build.MakeTargetBuilder">
<buildCommand>make</buildCommand> <buildCommand>make</buildCommand>
<buildArguments/>
<buildTarget>testSymbolicFactorGraph.run</buildTarget> <buildTarget>testSymbolicFactorGraph.run</buildTarget>
<stopOnError>true</stopOnError> <stopOnError>true</stopOnError>
<useDefaultCommand>false</useDefaultCommand> <useDefaultCommand>false</useDefaultCommand>
@ -432,11 +429,20 @@
</target> </target>
<target name="tests/testBayesTree" path="inference" targetID="org.eclipse.cdt.build.MakeTargetBuilder"> <target name="tests/testBayesTree" path="inference" targetID="org.eclipse.cdt.build.MakeTargetBuilder">
<buildCommand>make</buildCommand> <buildCommand>make</buildCommand>
<buildArguments/>
<buildTarget>tests/testBayesTree</buildTarget> <buildTarget>tests/testBayesTree</buildTarget>
<stopOnError>true</stopOnError> <stopOnError>true</stopOnError>
<useDefaultCommand>false</useDefaultCommand> <useDefaultCommand>false</useDefaultCommand>
<runAllBuilders>true</runAllBuilders> <runAllBuilders>true</runAllBuilders>
</target> </target>
<target name="testGaussianFactor.run" path="linear/tests" targetID="org.eclipse.cdt.build.MakeTargetBuilder">
<buildCommand>make</buildCommand>
<buildArguments>-j2</buildArguments>
<buildTarget>testGaussianFactor.run</buildTarget>
<stopOnError>true</stopOnError>
<useDefaultCommand>true</useDefaultCommand>
<runAllBuilders>true</runAllBuilders>
</target>
<target name="testPoseRTV.run" path="build/gtsam_unstable/dynamics" targetID="org.eclipse.cdt.build.MakeTargetBuilder"> <target name="testPoseRTV.run" path="build/gtsam_unstable/dynamics" targetID="org.eclipse.cdt.build.MakeTargetBuilder">
<buildCommand>make</buildCommand> <buildCommand>make</buildCommand>
<buildArguments>-j5</buildArguments> <buildArguments>-j5</buildArguments>
@ -525,22 +531,6 @@
<useDefaultCommand>false</useDefaultCommand> <useDefaultCommand>false</useDefaultCommand>
<runAllBuilders>true</runAllBuilders> <runAllBuilders>true</runAllBuilders>
</target> </target>
<target name="all" path="CppUnitLite" targetID="org.eclipse.cdt.build.MakeTargetBuilder">
<buildCommand>make</buildCommand>
<buildArguments>-j2</buildArguments>
<buildTarget>all</buildTarget>
<stopOnError>true</stopOnError>
<useDefaultCommand>true</useDefaultCommand>
<runAllBuilders>true</runAllBuilders>
</target>
<target name="clean" path="CppUnitLite" targetID="org.eclipse.cdt.build.MakeTargetBuilder">
<buildCommand>make</buildCommand>
<buildArguments>-j2</buildArguments>
<buildTarget>clean</buildTarget>
<stopOnError>true</stopOnError>
<useDefaultCommand>true</useDefaultCommand>
<runAllBuilders>true</runAllBuilders>
</target>
<target name="tests/testPose2.run" path="build_retract/gtsam/geometry" targetID="org.eclipse.cdt.build.MakeTargetBuilder"> <target name="tests/testPose2.run" path="build_retract/gtsam/geometry" targetID="org.eclipse.cdt.build.MakeTargetBuilder">
<buildCommand>make</buildCommand> <buildCommand>make</buildCommand>
<buildArguments>-j2</buildArguments> <buildArguments>-j2</buildArguments>
@ -557,6 +547,22 @@
<useDefaultCommand>true</useDefaultCommand> <useDefaultCommand>true</useDefaultCommand>
<runAllBuilders>true</runAllBuilders> <runAllBuilders>true</runAllBuilders>
</target> </target>
<target name="all" path="CppUnitLite" targetID="org.eclipse.cdt.build.MakeTargetBuilder">
<buildCommand>make</buildCommand>
<buildArguments>-j2</buildArguments>
<buildTarget>all</buildTarget>
<stopOnError>true</stopOnError>
<useDefaultCommand>true</useDefaultCommand>
<runAllBuilders>true</runAllBuilders>
</target>
<target name="clean" path="CppUnitLite" targetID="org.eclipse.cdt.build.MakeTargetBuilder">
<buildCommand>make</buildCommand>
<buildArguments>-j2</buildArguments>
<buildTarget>clean</buildTarget>
<stopOnError>true</stopOnError>
<useDefaultCommand>true</useDefaultCommand>
<runAllBuilders>true</runAllBuilders>
</target>
<target name="all" path="spqr_mini" targetID="org.eclipse.cdt.build.MakeTargetBuilder"> <target name="all" path="spqr_mini" targetID="org.eclipse.cdt.build.MakeTargetBuilder">
<buildCommand>make</buildCommand> <buildCommand>make</buildCommand>
<buildArguments>-j2</buildArguments> <buildArguments>-j2</buildArguments>
@ -581,42 +587,26 @@
<useDefaultCommand>true</useDefaultCommand> <useDefaultCommand>true</useDefaultCommand>
<runAllBuilders>true</runAllBuilders> <runAllBuilders>true</runAllBuilders>
</target> </target>
<target name="testValues.run" path="build/gtsam/nonlinear" targetID="org.eclipse.cdt.build.MakeTargetBuilder"> <target name="all" path="build_wrap" targetID="org.eclipse.cdt.build.MakeTargetBuilder">
<buildCommand>make</buildCommand> <buildCommand>make</buildCommand>
<buildArguments>-j5</buildArguments> <buildArguments>-j2</buildArguments>
<buildTarget>testValues.run</buildTarget> <buildTarget>all</buildTarget>
<stopOnError>true</stopOnError> <stopOnError>true</stopOnError>
<useDefaultCommand>true</useDefaultCommand> <useDefaultCommand>true</useDefaultCommand>
<runAllBuilders>true</runAllBuilders> <runAllBuilders>true</runAllBuilders>
</target> </target>
<target name="testOrdering.run" path="build/gtsam/nonlinear" targetID="org.eclipse.cdt.build.MakeTargetBuilder"> <target name="check" path="build_wrap" targetID="org.eclipse.cdt.build.MakeTargetBuilder">
<buildCommand>make</buildCommand> <buildCommand>make</buildCommand>
<buildArguments>-j5</buildArguments> <buildArguments>-j2</buildArguments>
<buildTarget>testOrdering.run</buildTarget> <buildTarget>check</buildTarget>
<stopOnError>true</stopOnError> <stopOnError>true</stopOnError>
<useDefaultCommand>true</useDefaultCommand> <useDefaultCommand>true</useDefaultCommand>
<runAllBuilders>true</runAllBuilders> <runAllBuilders>true</runAllBuilders>
</target> </target>
<target name="testKey.run" path="build/gtsam/nonlinear" targetID="org.eclipse.cdt.build.MakeTargetBuilder"> <target name="clean" path="build_wrap" targetID="org.eclipse.cdt.build.MakeTargetBuilder">
<buildCommand>make</buildCommand> <buildCommand>make</buildCommand>
<buildArguments>-j5</buildArguments> <buildArguments>-j2</buildArguments>
<buildTarget>testKey.run</buildTarget> <buildTarget>clean</buildTarget>
<stopOnError>true</stopOnError>
<useDefaultCommand>true</useDefaultCommand>
<runAllBuilders>true</runAllBuilders>
</target>
<target name="testLinearContainerFactor.run" path="build/gtsam/nonlinear" targetID="org.eclipse.cdt.build.MakeTargetBuilder">
<buildCommand>make</buildCommand>
<buildArguments>-j5</buildArguments>
<buildTarget>testLinearContainerFactor.run</buildTarget>
<stopOnError>true</stopOnError>
<useDefaultCommand>true</useDefaultCommand>
<runAllBuilders>true</runAllBuilders>
</target>
<target name="testWhiteNoiseFactor.run" path="build/gtsam/nonlinear" targetID="org.eclipse.cdt.build.MakeTargetBuilder">
<buildCommand>make</buildCommand>
<buildArguments>-j6 -j8</buildArguments>
<buildTarget>testWhiteNoiseFactor.run</buildTarget>
<stopOnError>true</stopOnError> <stopOnError>true</stopOnError>
<useDefaultCommand>true</useDefaultCommand> <useDefaultCommand>true</useDefaultCommand>
<runAllBuilders>true</runAllBuilders> <runAllBuilders>true</runAllBuilders>
@ -661,26 +651,42 @@
<useDefaultCommand>true</useDefaultCommand> <useDefaultCommand>true</useDefaultCommand>
<runAllBuilders>true</runAllBuilders> <runAllBuilders>true</runAllBuilders>
</target> </target>
<target name="all" path="build_wrap" targetID="org.eclipse.cdt.build.MakeTargetBuilder"> <target name="testValues.run" path="build/gtsam/nonlinear" targetID="org.eclipse.cdt.build.MakeTargetBuilder">
<buildCommand>make</buildCommand> <buildCommand>make</buildCommand>
<buildArguments>-j2</buildArguments> <buildArguments>-j5</buildArguments>
<buildTarget>all</buildTarget> <buildTarget>testValues.run</buildTarget>
<stopOnError>true</stopOnError> <stopOnError>true</stopOnError>
<useDefaultCommand>true</useDefaultCommand> <useDefaultCommand>true</useDefaultCommand>
<runAllBuilders>true</runAllBuilders> <runAllBuilders>true</runAllBuilders>
</target> </target>
<target name="check" path="build_wrap" targetID="org.eclipse.cdt.build.MakeTargetBuilder"> <target name="testOrdering.run" path="build/gtsam/nonlinear" targetID="org.eclipse.cdt.build.MakeTargetBuilder">
<buildCommand>make</buildCommand> <buildCommand>make</buildCommand>
<buildArguments>-j2</buildArguments> <buildArguments>-j5</buildArguments>
<buildTarget>check</buildTarget> <buildTarget>testOrdering.run</buildTarget>
<stopOnError>true</stopOnError> <stopOnError>true</stopOnError>
<useDefaultCommand>true</useDefaultCommand> <useDefaultCommand>true</useDefaultCommand>
<runAllBuilders>true</runAllBuilders> <runAllBuilders>true</runAllBuilders>
</target> </target>
<target name="clean" path="build_wrap" targetID="org.eclipse.cdt.build.MakeTargetBuilder"> <target name="testKey.run" path="build/gtsam/nonlinear" targetID="org.eclipse.cdt.build.MakeTargetBuilder">
<buildCommand>make</buildCommand> <buildCommand>make</buildCommand>
<buildArguments>-j2</buildArguments> <buildArguments>-j5</buildArguments>
<buildTarget>clean</buildTarget> <buildTarget>testKey.run</buildTarget>
<stopOnError>true</stopOnError>
<useDefaultCommand>true</useDefaultCommand>
<runAllBuilders>true</runAllBuilders>
</target>
<target name="testLinearContainerFactor.run" path="build/gtsam/nonlinear" targetID="org.eclipse.cdt.build.MakeTargetBuilder">
<buildCommand>make</buildCommand>
<buildArguments>-j5</buildArguments>
<buildTarget>testLinearContainerFactor.run</buildTarget>
<stopOnError>true</stopOnError>
<useDefaultCommand>true</useDefaultCommand>
<runAllBuilders>true</runAllBuilders>
</target>
<target name="testWhiteNoiseFactor.run" path="build/gtsam/nonlinear" targetID="org.eclipse.cdt.build.MakeTargetBuilder">
<buildCommand>make</buildCommand>
<buildArguments>-j6 -j8</buildArguments>
<buildTarget>testWhiteNoiseFactor.run</buildTarget>
<stopOnError>true</stopOnError> <stopOnError>true</stopOnError>
<useDefaultCommand>true</useDefaultCommand> <useDefaultCommand>true</useDefaultCommand>
<runAllBuilders>true</runAllBuilders> <runAllBuilders>true</runAllBuilders>
@ -1071,6 +1077,7 @@
</target> </target>
<target name="testGraph.run" path="build/tests" targetID="org.eclipse.cdt.build.MakeTargetBuilder"> <target name="testGraph.run" path="build/tests" targetID="org.eclipse.cdt.build.MakeTargetBuilder">
<buildCommand>make</buildCommand> <buildCommand>make</buildCommand>
<buildArguments/>
<buildTarget>testGraph.run</buildTarget> <buildTarget>testGraph.run</buildTarget>
<stopOnError>true</stopOnError> <stopOnError>true</stopOnError>
<useDefaultCommand>false</useDefaultCommand> <useDefaultCommand>false</useDefaultCommand>
@ -1078,6 +1085,7 @@
</target> </target>
<target name="testJunctionTree.run" path="build/tests" targetID="org.eclipse.cdt.build.MakeTargetBuilder"> <target name="testJunctionTree.run" path="build/tests" targetID="org.eclipse.cdt.build.MakeTargetBuilder">
<buildCommand>make</buildCommand> <buildCommand>make</buildCommand>
<buildArguments/>
<buildTarget>testJunctionTree.run</buildTarget> <buildTarget>testJunctionTree.run</buildTarget>
<stopOnError>true</stopOnError> <stopOnError>true</stopOnError>
<useDefaultCommand>false</useDefaultCommand> <useDefaultCommand>false</useDefaultCommand>
@ -1085,6 +1093,7 @@
</target> </target>
<target name="testSymbolicBayesNetB.run" path="build/tests" targetID="org.eclipse.cdt.build.MakeTargetBuilder"> <target name="testSymbolicBayesNetB.run" path="build/tests" targetID="org.eclipse.cdt.build.MakeTargetBuilder">
<buildCommand>make</buildCommand> <buildCommand>make</buildCommand>
<buildArguments/>
<buildTarget>testSymbolicBayesNetB.run</buildTarget> <buildTarget>testSymbolicBayesNetB.run</buildTarget>
<stopOnError>true</stopOnError> <stopOnError>true</stopOnError>
<useDefaultCommand>false</useDefaultCommand> <useDefaultCommand>false</useDefaultCommand>
@ -1252,6 +1261,7 @@
</target> </target>
<target name="testErrors.run" path="linear" targetID="org.eclipse.cdt.build.MakeTargetBuilder"> <target name="testErrors.run" path="linear" targetID="org.eclipse.cdt.build.MakeTargetBuilder">
<buildCommand>make</buildCommand> <buildCommand>make</buildCommand>
<buildArguments/>
<buildTarget>testErrors.run</buildTarget> <buildTarget>testErrors.run</buildTarget>
<stopOnError>true</stopOnError> <stopOnError>true</stopOnError>
<useDefaultCommand>false</useDefaultCommand> <useDefaultCommand>false</useDefaultCommand>
@ -1297,14 +1307,6 @@
<useDefaultCommand>true</useDefaultCommand> <useDefaultCommand>true</useDefaultCommand>
<runAllBuilders>true</runAllBuilders> <runAllBuilders>true</runAllBuilders>
</target> </target>
<target name="testGaussianFactor.run" path="build/linear/tests" targetID="org.eclipse.cdt.build.MakeTargetBuilder">
<buildCommand>make</buildCommand>
<buildArguments>-j2</buildArguments>
<buildTarget>testGaussianFactor.run</buildTarget>
<stopOnError>true</stopOnError>
<useDefaultCommand>true</useDefaultCommand>
<runAllBuilders>true</runAllBuilders>
</target>
<target name="check" path="base" targetID="org.eclipse.cdt.build.MakeTargetBuilder"> <target name="check" path="base" targetID="org.eclipse.cdt.build.MakeTargetBuilder">
<buildCommand>make</buildCommand> <buildCommand>make</buildCommand>
<buildArguments>-j2</buildArguments> <buildArguments>-j2</buildArguments>
@ -1385,6 +1387,14 @@
<useDefaultCommand>true</useDefaultCommand> <useDefaultCommand>true</useDefaultCommand>
<runAllBuilders>true</runAllBuilders> <runAllBuilders>true</runAllBuilders>
</target> </target>
<target name="testGaussianFactor.run" path="build/linear/tests" targetID="org.eclipse.cdt.build.MakeTargetBuilder">
<buildCommand>make</buildCommand>
<buildArguments>-j2</buildArguments>
<buildTarget>testGaussianFactor.run</buildTarget>
<stopOnError>true</stopOnError>
<useDefaultCommand>true</useDefaultCommand>
<runAllBuilders>true</runAllBuilders>
</target>
<target name="check" path="build/inference" targetID="org.eclipse.cdt.build.MakeTargetBuilder"> <target name="check" path="build/inference" targetID="org.eclipse.cdt.build.MakeTargetBuilder">
<buildCommand>make</buildCommand> <buildCommand>make</buildCommand>
<buildArguments>-j2</buildArguments> <buildArguments>-j2</buildArguments>
@ -1691,7 +1701,6 @@
</target> </target>
<target name="testSimulated2DOriented.run" path="slam" targetID="org.eclipse.cdt.build.MakeTargetBuilder"> <target name="testSimulated2DOriented.run" path="slam" targetID="org.eclipse.cdt.build.MakeTargetBuilder">
<buildCommand>make</buildCommand> <buildCommand>make</buildCommand>
<buildArguments/>
<buildTarget>testSimulated2DOriented.run</buildTarget> <buildTarget>testSimulated2DOriented.run</buildTarget>
<stopOnError>true</stopOnError> <stopOnError>true</stopOnError>
<useDefaultCommand>false</useDefaultCommand> <useDefaultCommand>false</useDefaultCommand>
@ -1731,7 +1740,6 @@
</target> </target>
<target name="testSimulated2D.run" path="slam" targetID="org.eclipse.cdt.build.MakeTargetBuilder"> <target name="testSimulated2D.run" path="slam" targetID="org.eclipse.cdt.build.MakeTargetBuilder">
<buildCommand>make</buildCommand> <buildCommand>make</buildCommand>
<buildArguments/>
<buildTarget>testSimulated2D.run</buildTarget> <buildTarget>testSimulated2D.run</buildTarget>
<stopOnError>true</stopOnError> <stopOnError>true</stopOnError>
<useDefaultCommand>false</useDefaultCommand> <useDefaultCommand>false</useDefaultCommand>
@ -1739,7 +1747,6 @@
</target> </target>
<target name="testSimulated3D.run" path="slam" targetID="org.eclipse.cdt.build.MakeTargetBuilder"> <target name="testSimulated3D.run" path="slam" targetID="org.eclipse.cdt.build.MakeTargetBuilder">
<buildCommand>make</buildCommand> <buildCommand>make</buildCommand>
<buildArguments/>
<buildTarget>testSimulated3D.run</buildTarget> <buildTarget>testSimulated3D.run</buildTarget>
<stopOnError>true</stopOnError> <stopOnError>true</stopOnError>
<useDefaultCommand>false</useDefaultCommand> <useDefaultCommand>false</useDefaultCommand>
@ -1849,6 +1856,14 @@
<useDefaultCommand>true</useDefaultCommand> <useDefaultCommand>true</useDefaultCommand>
<runAllBuilders>true</runAllBuilders> <runAllBuilders>true</runAllBuilders>
</target> </target>
<target name="testGaussianBayesNetUnordered.run" path="build/gtsam/linear" targetID="org.eclipse.cdt.build.MakeTargetBuilder">
<buildCommand>make</buildCommand>
<buildArguments>-j5</buildArguments>
<buildTarget>testGaussianBayesNetUnordered.run</buildTarget>
<stopOnError>true</stopOnError>
<useDefaultCommand>true</useDefaultCommand>
<runAllBuilders>true</runAllBuilders>
</target>
<target name="SimpleRotation.run" path="build/examples" targetID="org.eclipse.cdt.build.MakeTargetBuilder"> <target name="SimpleRotation.run" path="build/examples" targetID="org.eclipse.cdt.build.MakeTargetBuilder">
<buildCommand>make</buildCommand> <buildCommand>make</buildCommand>
<buildArguments>-j2</buildArguments> <buildArguments>-j2</buildArguments>
@ -1963,7 +1978,6 @@
</target> </target>
<target name="tests/testGaussianISAM2" path="build/slam" targetID="org.eclipse.cdt.build.MakeTargetBuilder"> <target name="tests/testGaussianISAM2" path="build/slam" targetID="org.eclipse.cdt.build.MakeTargetBuilder">
<buildCommand>make</buildCommand> <buildCommand>make</buildCommand>
<buildArguments/>
<buildTarget>tests/testGaussianISAM2</buildTarget> <buildTarget>tests/testGaussianISAM2</buildTarget>
<stopOnError>true</stopOnError> <stopOnError>true</stopOnError>
<useDefaultCommand>false</useDefaultCommand> <useDefaultCommand>false</useDefaultCommand>
@ -1985,102 +1999,6 @@
<useDefaultCommand>true</useDefaultCommand> <useDefaultCommand>true</useDefaultCommand>
<runAllBuilders>true</runAllBuilders> <runAllBuilders>true</runAllBuilders>
</target> </target>
<target name="testRot3.run" path="geometry" targetID="org.eclipse.cdt.build.MakeTargetBuilder">
<buildCommand>make</buildCommand>
<buildArguments>-j2</buildArguments>
<buildTarget>testRot3.run</buildTarget>
<stopOnError>true</stopOnError>
<useDefaultCommand>true</useDefaultCommand>
<runAllBuilders>true</runAllBuilders>
</target>
<target name="testRot2.run" path="geometry" targetID="org.eclipse.cdt.build.MakeTargetBuilder">
<buildCommand>make</buildCommand>
<buildArguments>-j2</buildArguments>
<buildTarget>testRot2.run</buildTarget>
<stopOnError>true</stopOnError>
<useDefaultCommand>true</useDefaultCommand>
<runAllBuilders>true</runAllBuilders>
</target>
<target name="testPose3.run" path="geometry" targetID="org.eclipse.cdt.build.MakeTargetBuilder">
<buildCommand>make</buildCommand>
<buildArguments>-j2</buildArguments>
<buildTarget>testPose3.run</buildTarget>
<stopOnError>true</stopOnError>
<useDefaultCommand>true</useDefaultCommand>
<runAllBuilders>true</runAllBuilders>
</target>
<target name="timeRot3.run" path="geometry" targetID="org.eclipse.cdt.build.MakeTargetBuilder">
<buildCommand>make</buildCommand>
<buildArguments>-j2</buildArguments>
<buildTarget>timeRot3.run</buildTarget>
<stopOnError>true</stopOnError>
<useDefaultCommand>true</useDefaultCommand>
<runAllBuilders>true</runAllBuilders>
</target>
<target name="testPose2.run" path="geometry" targetID="org.eclipse.cdt.build.MakeTargetBuilder">
<buildCommand>make</buildCommand>
<buildArguments>-j2</buildArguments>
<buildTarget>testPose2.run</buildTarget>
<stopOnError>true</stopOnError>
<useDefaultCommand>true</useDefaultCommand>
<runAllBuilders>true</runAllBuilders>
</target>
<target name="testCal3_S2.run" path="geometry" targetID="org.eclipse.cdt.build.MakeTargetBuilder">
<buildCommand>make</buildCommand>
<buildArguments>-j2</buildArguments>
<buildTarget>testCal3_S2.run</buildTarget>
<stopOnError>true</stopOnError>
<useDefaultCommand>true</useDefaultCommand>
<runAllBuilders>true</runAllBuilders>
</target>
<target name="testSimpleCamera.run" path="geometry" targetID="org.eclipse.cdt.build.MakeTargetBuilder">
<buildCommand>make</buildCommand>
<buildArguments>-j2</buildArguments>
<buildTarget>testSimpleCamera.run</buildTarget>
<stopOnError>true</stopOnError>
<useDefaultCommand>true</useDefaultCommand>
<runAllBuilders>true</runAllBuilders>
</target>
<target name="testHomography2.run" path="geometry" targetID="org.eclipse.cdt.build.MakeTargetBuilder">
<buildCommand>make</buildCommand>
<buildArguments>-j2</buildArguments>
<buildTarget>testHomography2.run</buildTarget>
<stopOnError>true</stopOnError>
<useDefaultCommand>true</useDefaultCommand>
<runAllBuilders>true</runAllBuilders>
</target>
<target name="testCalibratedCamera.run" path="geometry" targetID="org.eclipse.cdt.build.MakeTargetBuilder">
<buildCommand>make</buildCommand>
<buildArguments>-j2</buildArguments>
<buildTarget>testCalibratedCamera.run</buildTarget>
<stopOnError>true</stopOnError>
<useDefaultCommand>true</useDefaultCommand>
<runAllBuilders>true</runAllBuilders>
</target>
<target name="check" path="geometry" targetID="org.eclipse.cdt.build.MakeTargetBuilder">
<buildCommand>make</buildCommand>
<buildArguments>-j2</buildArguments>
<buildTarget>check</buildTarget>
<stopOnError>true</stopOnError>
<useDefaultCommand>true</useDefaultCommand>
<runAllBuilders>true</runAllBuilders>
</target>
<target name="clean" path="geometry" targetID="org.eclipse.cdt.build.MakeTargetBuilder">
<buildCommand>make</buildCommand>
<buildArguments>-j2</buildArguments>
<buildTarget>clean</buildTarget>
<stopOnError>true</stopOnError>
<useDefaultCommand>true</useDefaultCommand>
<runAllBuilders>true</runAllBuilders>
</target>
<target name="testPoint2.run" path="geometry" targetID="org.eclipse.cdt.build.MakeTargetBuilder">
<buildCommand>make</buildCommand>
<buildArguments>-j2</buildArguments>
<buildTarget>testPoint2.run</buildTarget>
<stopOnError>true</stopOnError>
<useDefaultCommand>true</useDefaultCommand>
<runAllBuilders>true</runAllBuilders>
</target>
<target name="install" path="" targetID="org.eclipse.cdt.build.MakeTargetBuilder"> <target name="install" path="" targetID="org.eclipse.cdt.build.MakeTargetBuilder">
<buildCommand>make</buildCommand> <buildCommand>make</buildCommand>
<buildArguments>-j3</buildArguments> <buildArguments>-j3</buildArguments>
@ -2282,6 +2200,7 @@
</target> </target>
<target name="Generate DEB Package" path="" targetID="org.eclipse.cdt.build.MakeTargetBuilder"> <target name="Generate DEB Package" path="" targetID="org.eclipse.cdt.build.MakeTargetBuilder">
<buildCommand>cpack</buildCommand> <buildCommand>cpack</buildCommand>
<buildArguments/>
<buildTarget>-G DEB</buildTarget> <buildTarget>-G DEB</buildTarget>
<stopOnError>true</stopOnError> <stopOnError>true</stopOnError>
<useDefaultCommand>false</useDefaultCommand> <useDefaultCommand>false</useDefaultCommand>
@ -2289,6 +2208,7 @@
</target> </target>
<target name="Generate RPM Package" path="" targetID="org.eclipse.cdt.build.MakeTargetBuilder"> <target name="Generate RPM Package" path="" targetID="org.eclipse.cdt.build.MakeTargetBuilder">
<buildCommand>cpack</buildCommand> <buildCommand>cpack</buildCommand>
<buildArguments/>
<buildTarget>-G RPM</buildTarget> <buildTarget>-G RPM</buildTarget>
<stopOnError>true</stopOnError> <stopOnError>true</stopOnError>
<useDefaultCommand>false</useDefaultCommand> <useDefaultCommand>false</useDefaultCommand>
@ -2296,6 +2216,7 @@
</target> </target>
<target name="Generate TGZ Package" path="" targetID="org.eclipse.cdt.build.MakeTargetBuilder"> <target name="Generate TGZ Package" path="" targetID="org.eclipse.cdt.build.MakeTargetBuilder">
<buildCommand>cpack</buildCommand> <buildCommand>cpack</buildCommand>
<buildArguments/>
<buildTarget>-G TGZ</buildTarget> <buildTarget>-G TGZ</buildTarget>
<stopOnError>true</stopOnError> <stopOnError>true</stopOnError>
<useDefaultCommand>false</useDefaultCommand> <useDefaultCommand>false</useDefaultCommand>
@ -2303,6 +2224,7 @@
</target> </target>
<target name="Generate TGZ Source Package" path="" targetID="org.eclipse.cdt.build.MakeTargetBuilder"> <target name="Generate TGZ Source Package" path="" targetID="org.eclipse.cdt.build.MakeTargetBuilder">
<buildCommand>cpack</buildCommand> <buildCommand>cpack</buildCommand>
<buildArguments/>
<buildTarget>--config CPackSourceConfig.cmake</buildTarget> <buildTarget>--config CPackSourceConfig.cmake</buildTarget>
<stopOnError>true</stopOnError> <stopOnError>true</stopOnError>
<useDefaultCommand>false</useDefaultCommand> <useDefaultCommand>false</useDefaultCommand>
@ -2468,34 +2390,98 @@
<useDefaultCommand>true</useDefaultCommand> <useDefaultCommand>true</useDefaultCommand>
<runAllBuilders>true</runAllBuilders> <runAllBuilders>true</runAllBuilders>
</target> </target>
<target name="testSpirit.run" path="build/wrap" targetID="org.eclipse.cdt.build.MakeTargetBuilder"> <target name="testRot3.run" path="geometry" targetID="org.eclipse.cdt.build.MakeTargetBuilder">
<buildCommand>make</buildCommand> <buildCommand>make</buildCommand>
<buildArguments>-j5</buildArguments> <buildArguments>-j2</buildArguments>
<buildTarget>testSpirit.run</buildTarget> <buildTarget>testRot3.run</buildTarget>
<stopOnError>true</stopOnError> <stopOnError>true</stopOnError>
<useDefaultCommand>true</useDefaultCommand> <useDefaultCommand>true</useDefaultCommand>
<runAllBuilders>true</runAllBuilders> <runAllBuilders>true</runAllBuilders>
</target> </target>
<target name="testWrap.run" path="build/wrap" targetID="org.eclipse.cdt.build.MakeTargetBuilder"> <target name="testRot2.run" path="geometry" targetID="org.eclipse.cdt.build.MakeTargetBuilder">
<buildCommand>make</buildCommand> <buildCommand>make</buildCommand>
<buildArguments>-j5</buildArguments> <buildArguments>-j2</buildArguments>
<buildTarget>testWrap.run</buildTarget> <buildTarget>testRot2.run</buildTarget>
<stopOnError>true</stopOnError> <stopOnError>true</stopOnError>
<useDefaultCommand>true</useDefaultCommand> <useDefaultCommand>true</useDefaultCommand>
<runAllBuilders>true</runAllBuilders> <runAllBuilders>true</runAllBuilders>
</target> </target>
<target name="check.wrap" path="build/wrap" targetID="org.eclipse.cdt.build.MakeTargetBuilder"> <target name="testPose3.run" path="geometry" targetID="org.eclipse.cdt.build.MakeTargetBuilder">
<buildCommand>make</buildCommand> <buildCommand>make</buildCommand>
<buildArguments>-j5</buildArguments> <buildArguments>-j2</buildArguments>
<buildTarget>check.wrap</buildTarget> <buildTarget>testPose3.run</buildTarget>
<stopOnError>true</stopOnError> <stopOnError>true</stopOnError>
<useDefaultCommand>true</useDefaultCommand> <useDefaultCommand>true</useDefaultCommand>
<runAllBuilders>true</runAllBuilders> <runAllBuilders>true</runAllBuilders>
</target> </target>
<target name="wrap" path="build/wrap" targetID="org.eclipse.cdt.build.MakeTargetBuilder"> <target name="timeRot3.run" path="geometry" targetID="org.eclipse.cdt.build.MakeTargetBuilder">
<buildCommand>make</buildCommand> <buildCommand>make</buildCommand>
<buildArguments>-j5</buildArguments> <buildArguments>-j2</buildArguments>
<buildTarget>wrap</buildTarget> <buildTarget>timeRot3.run</buildTarget>
<stopOnError>true</stopOnError>
<useDefaultCommand>true</useDefaultCommand>
<runAllBuilders>true</runAllBuilders>
</target>
<target name="testPose2.run" path="geometry" targetID="org.eclipse.cdt.build.MakeTargetBuilder">
<buildCommand>make</buildCommand>
<buildArguments>-j2</buildArguments>
<buildTarget>testPose2.run</buildTarget>
<stopOnError>true</stopOnError>
<useDefaultCommand>true</useDefaultCommand>
<runAllBuilders>true</runAllBuilders>
</target>
<target name="testCal3_S2.run" path="geometry" targetID="org.eclipse.cdt.build.MakeTargetBuilder">
<buildCommand>make</buildCommand>
<buildArguments>-j2</buildArguments>
<buildTarget>testCal3_S2.run</buildTarget>
<stopOnError>true</stopOnError>
<useDefaultCommand>true</useDefaultCommand>
<runAllBuilders>true</runAllBuilders>
</target>
<target name="testSimpleCamera.run" path="geometry" targetID="org.eclipse.cdt.build.MakeTargetBuilder">
<buildCommand>make</buildCommand>
<buildArguments>-j2</buildArguments>
<buildTarget>testSimpleCamera.run</buildTarget>
<stopOnError>true</stopOnError>
<useDefaultCommand>true</useDefaultCommand>
<runAllBuilders>true</runAllBuilders>
</target>
<target name="testHomography2.run" path="geometry" targetID="org.eclipse.cdt.build.MakeTargetBuilder">
<buildCommand>make</buildCommand>
<buildArguments>-j2</buildArguments>
<buildTarget>testHomography2.run</buildTarget>
<stopOnError>true</stopOnError>
<useDefaultCommand>true</useDefaultCommand>
<runAllBuilders>true</runAllBuilders>
</target>
<target name="testCalibratedCamera.run" path="geometry" targetID="org.eclipse.cdt.build.MakeTargetBuilder">
<buildCommand>make</buildCommand>
<buildArguments>-j2</buildArguments>
<buildTarget>testCalibratedCamera.run</buildTarget>
<stopOnError>true</stopOnError>
<useDefaultCommand>true</useDefaultCommand>
<runAllBuilders>true</runAllBuilders>
</target>
<target name="check" path="geometry" targetID="org.eclipse.cdt.build.MakeTargetBuilder">
<buildCommand>make</buildCommand>
<buildArguments>-j2</buildArguments>
<buildTarget>check</buildTarget>
<stopOnError>true</stopOnError>
<useDefaultCommand>true</useDefaultCommand>
<runAllBuilders>true</runAllBuilders>
</target>
<target name="clean" path="geometry" targetID="org.eclipse.cdt.build.MakeTargetBuilder">
<buildCommand>make</buildCommand>
<buildArguments>-j2</buildArguments>
<buildTarget>clean</buildTarget>
<stopOnError>true</stopOnError>
<useDefaultCommand>true</useDefaultCommand>
<runAllBuilders>true</runAllBuilders>
</target>
<target name="testPoint2.run" path="geometry" targetID="org.eclipse.cdt.build.MakeTargetBuilder">
<buildCommand>make</buildCommand>
<buildArguments>-j2</buildArguments>
<buildTarget>testPoint2.run</buildTarget>
<stopOnError>true</stopOnError> <stopOnError>true</stopOnError>
<useDefaultCommand>true</useDefaultCommand> <useDefaultCommand>true</useDefaultCommand>
<runAllBuilders>true</runAllBuilders> <runAllBuilders>true</runAllBuilders>
@ -2539,6 +2525,38 @@
<useDefaultCommand>false</useDefaultCommand> <useDefaultCommand>false</useDefaultCommand>
<runAllBuilders>true</runAllBuilders> <runAllBuilders>true</runAllBuilders>
</target> </target>
<target name="testSpirit.run" path="build/wrap" targetID="org.eclipse.cdt.build.MakeTargetBuilder">
<buildCommand>make</buildCommand>
<buildArguments>-j5</buildArguments>
<buildTarget>testSpirit.run</buildTarget>
<stopOnError>true</stopOnError>
<useDefaultCommand>true</useDefaultCommand>
<runAllBuilders>true</runAllBuilders>
</target>
<target name="testWrap.run" path="build/wrap" targetID="org.eclipse.cdt.build.MakeTargetBuilder">
<buildCommand>make</buildCommand>
<buildArguments>-j5</buildArguments>
<buildTarget>testWrap.run</buildTarget>
<stopOnError>true</stopOnError>
<useDefaultCommand>true</useDefaultCommand>
<runAllBuilders>true</runAllBuilders>
</target>
<target name="check.wrap" path="build/wrap" targetID="org.eclipse.cdt.build.MakeTargetBuilder">
<buildCommand>make</buildCommand>
<buildArguments>-j5</buildArguments>
<buildTarget>check.wrap</buildTarget>
<stopOnError>true</stopOnError>
<useDefaultCommand>true</useDefaultCommand>
<runAllBuilders>true</runAllBuilders>
</target>
<target name="wrap" path="build/wrap" targetID="org.eclipse.cdt.build.MakeTargetBuilder">
<buildCommand>make</buildCommand>
<buildArguments>-j5</buildArguments>
<buildTarget>wrap</buildTarget>
<stopOnError>true</stopOnError>
<useDefaultCommand>true</useDefaultCommand>
<runAllBuilders>true</runAllBuilders>
</target>
</buildTargets> </buildTargets>
</storageModule> </storageModule>
</cproject> </cproject>

2
gtsam_unstable/CMakeLists.txt
View File

@ -4,7 +4,6 @@ set (gtsam_unstable_subdirs
base base
geometry geometry
#discrete #discrete
linear
dynamics dynamics
nonlinear nonlinear
slam slam
@ -54,7 +53,6 @@ set(gtsam_unstable_srcs
${geometry_srcs} ${geometry_srcs}
#${discrete_srcs} #${discrete_srcs}
${dynamics_srcs} ${dynamics_srcs}
${linear_srcs}
${nonlinear_srcs} ${nonlinear_srcs}
${slam_srcs} ${slam_srcs}
) )

25
gtsam_unstable/linear/CMakeLists.txt
View File

@ -1,25 +0,0 @@
# Install headers
file(GLOB linear_headers "*.h")
install(FILES ${linear_headers} DESTINATION include/gtsam_unstable/linear)
# Components to link tests in this subfolder against
set(linear_local_libs
linear_unstable
nonlinear
linear
inference
geometry
base
ccolamd
)
set (linear_full_libs
${gtsam-default}
${gtsam_unstable-default})
# Exclude tests that don't work
set (base_excluded_tests "")
# Add all tests
gtsam_add_subdir_tests(linear_unstable "${linear_local_libs}" "${linear_full_libs}" "${linear_excluded_tests}")
add_dependencies(check.unstable check.linear_unstable)

126
gtsam_unstable/linear/bayesTreeOperations.cpp
View File

@ -1,126 +0,0 @@
/**
* @file bayesTreeOperations.cpp
*
* @date Jun 22, 2012
* @author Alex Cunningham
*/
#include <gtsam_unstable/linear/bayesTreeOperations.h>
#include <boost/foreach.hpp>
using namespace std;
namespace gtsam {
/* ************************************************************************* */
GaussianFactorGraph splitFactors(const GaussianFactorGraph& fullgraph) {
GaussianFactorGraph result;
BOOST_FOREACH(const GaussianFactor::shared_ptr& factor, fullgraph) {
GaussianFactorGraph split = splitFactor(factor);
result.push_back(split);
}
return result;
}
/* ************************************************************************* */
GaussianFactorGraph splitFactor(const GaussianFactor::shared_ptr& factor) {
GaussianFactorGraph result;
if (!factor) return result;
// Needs to be a jacobian factor - just pass along hessians
JacobianFactor::shared_ptr jf = boost::dynamic_pointer_cast<JacobianFactor>(factor);
if (!jf) {
result.push_back(factor);
return result;
}
// Loop over variables and strip off factors using split conditionals
// Assumes upper triangular structure
JacobianFactor::const_iterator rowIt, colIt;
const size_t totalRows = jf->rows();
size_t rowsRemaining = totalRows;
for (rowIt = jf->begin(); rowIt != jf->end() && rowsRemaining > 0; ++rowIt) {
// get dim of current variable
size_t varDim = jf->getDim(rowIt);
size_t startRow = totalRows - rowsRemaining;
size_t nrRows = std::min(rowsRemaining, varDim);
// Extract submatrices
std::vector<std::pair<Key, Matrix> > matrices;
for (colIt = rowIt; colIt != jf->end(); ++colIt) {
Key idx = *colIt;
const Matrix subA = jf->getA(colIt).middleRows(startRow, nrRows);
matrices.push_back(make_pair(idx, subA));
}
Vector subB = jf->getb().segment(startRow, nrRows);
SharedDiagonal model;
if(jf->get_model()) {
Vector sigmas = jf->get_model()->sigmas().segment(startRow, nrRows);
if (jf->get_model()->isConstrained())
model = noiseModel::Constrained::MixedSigmas(sigmas);
else
model = noiseModel::Diagonal::Sigmas(sigmas);
}
// extract matrices from each
// assemble into new JacobianFactor
result.add(matrices, subB, model);
rowsRemaining -= nrRows;
}
return result;
}
/* ************************************************************************* */
GaussianFactorGraph removePriors(const GaussianFactorGraph& fullgraph) {
GaussianFactorGraph result;
BOOST_FOREACH(const GaussianFactor::shared_ptr& factor, fullgraph) {
JacobianFactor::shared_ptr jf = boost::dynamic_pointer_cast<JacobianFactor>(factor);
if (factor && (!jf || jf->size() > 1))
result.push_back(factor);
}
return result;
}
/* ************************************************************************* */
void findCliques(const GaussianBayesTree::sharedClique& current_clique,
std::set<GaussianConditional::shared_ptr>& result) {
// Add the current clique
result.insert(current_clique->conditional());
// Add the parent if not root
if (!current_clique->isRoot())
findCliques(current_clique->parent(), result);
}
/* ************************************************************************* */
std::set<GaussianConditional::shared_ptr> findAffectedCliqueConditionals(
const GaussianBayesTree& bayesTree, const std::set<Key>& savedIndices) {
std::set<GaussianConditional::shared_ptr> affected_cliques;
// FIXME: track previously found keys more efficiently
BOOST_FOREACH(const Key& index, savedIndices) {
GaussianBayesTree::sharedClique clique = bayesTree[index];
// add path back to root to affected set
findCliques(clique, affected_cliques);
}
return affected_cliques;
}
/* ************************************************************************* */
std::deque<GaussianBayesTree::sharedClique>
findPathCliques(const GaussianBayesTree::sharedClique& initial) {
std::deque<GaussianBayesTree::sharedClique> result, parents;
if (initial->isRoot())
return result;
result.push_back(initial->parent());
parents = findPathCliques(initial->parent());
result.insert(result.end(), parents.begin(), parents.end());
return result;
}
/* ************************************************************************* */
} // \namespace gtsam

99
gtsam_unstable/linear/bayesTreeOperations.h
View File

@ -1,99 +0,0 @@
/**
* @file bayesTreeOperations.h
*
* @brief Types and utility functions for operating on linear systems
*
* @date Jun 22, 2012
* @author Alex Cunningham
*/
#pragma once
#include <gtsam_unstable/base/dllexport.h>
#include <gtsam/linear/GaussianFactorGraph.h>
#include <gtsam/linear/GaussianBayesTree.h>
namespace gtsam {
// Linear Graph Operations
/**
* Given a graph, splits each factor into factors where the dimension is
* that of the first variable.
*/
GTSAM_UNSTABLE_EXPORT GaussianFactorGraph splitFactors(const GaussianFactorGraph& fullgraph);
/**
* Splits a factor into factors where the dimension is
* that of the first variable.
*/
GTSAM_UNSTABLE_EXPORT GaussianFactorGraph splitFactor(const GaussianFactor::shared_ptr& factor);
/** Removes prior jacobian factors from the graph */
GTSAM_UNSTABLE_EXPORT GaussianFactorGraph removePriors(const GaussianFactorGraph& fullgraph);
// Bayes Tree / Conditional operations
/**
* Given a Bayes Tree, return conditionals corresponding to cliques that have or
* are connected to a set of wanted variables.
*
* @return the set of conditionals extracted from cliques.
*/
GTSAM_UNSTABLE_EXPORT std::set<GaussianConditional::shared_ptr> findAffectedCliqueConditionals(
const GaussianBayesTree& bayesTree, const std::set<Key>& savedIndices);
/**
* Recursively traverses from a given clique in a Bayes Tree and collects all of the conditionals
* Adds any new cliques from path to root to the result set.
*
* Note the use of a set of shared_ptr: this will sort/filter on unique *pointer* locations,
* which ensures unique cliques, but the order of the cliques is meaningless
*/
GTSAM_UNSTABLE_EXPORT void findCliqueConditionals(const GaussianBayesTree::sharedClique& current_clique,
std::set<GaussianConditional::shared_ptr>& result);
/**
* Given a clique, returns a sequence of clique parents to the root, not including the
* given clique.
*/
GTSAM_UNSTABLE_EXPORT std::deque<GaussianBayesTree::sharedClique>
findPathCliques(const GaussianBayesTree::sharedClique& initial);
/**
* Liquefies a BayesTree into a GaussianFactorGraph recursively, given a
* root clique
*
* @param splitConditionals flag enables spliting multi-frontal conditionals into separate factors
*/
template <class BAYESTREE>
GaussianFactorGraph liquefy(const typename BAYESTREE::sharedClique& root, bool splitConditionals = false) {
GaussianFactorGraph result;
if (root && root->conditional()) {
GaussianConditional::shared_ptr conditional = root->conditional();
if (!splitConditionals)
result.push_back(conditional);
else
result.push_back(splitFactor(conditional));
}
BOOST_FOREACH(typename BAYESTREE::sharedClique child, root->children)
result.push_back(liquefy<BAYESTREE>(child, splitConditionals));
return result;
}
/**
* Liquefies a BayesTree into a GaussianFactorGraph recursively, from a full bayes tree.
*
* @param splitConditionals flag enables spliting multi-frontal conditionals into separate factors
*/
template <class BAYESTREE>
GaussianFactorGraph liquefy(const BAYESTREE& bayesTree, bool splitConditionals = false) {
GaussianFactorGraph result;
BOOST_FOREACH(const typename BAYESTREE::sharedClique& root, bayesTree.roots())
result.push_back(liquefy<BAYESTREE>(root, splitConditionals));
return result;
}
} // \namespace gtsam

209
gtsam_unstable/linear/conditioning.cpp
View File

@ -1,209 +0,0 @@
/**
* @file summarization.cpp
*
* @date Jun 22, 2012
* @author Alex Cunningham
*/
#include <gtsam_unstable/linear/conditioning.h>
#include <gtsam_unstable/linear/bayesTreeOperations.h>
#include <boost/assign/std/vector.hpp>
using namespace std;
using namespace boost::assign;
namespace gtsam {
/* ************************************************************************* */
GaussianConditional::shared_ptr conditionDensity(const GaussianConditional::shared_ptr& initConditional,
const std::set<Key>& saved_indices, const VectorValues& solution) {
const bool verbose = false;
if (!initConditional)
return initConditional;
if (verbose) {
cout << "backsubSummarize() Starting" << endl;
initConditional->print("Full initial conditional");
}
// Check for presence of variables to remove
std::set<Key> frontalsToRemove, parentsToRemove;
BOOST_FOREACH(const Key& frontal, initConditional->frontals())
if (!saved_indices.count(frontal))
frontalsToRemove.insert(frontal);
BOOST_FOREACH(const Key& parent, initConditional->parents())
if (!saved_indices.count(parent))
parentsToRemove.insert(parent);
// If all variables in this conditional are to be saved, just return initial conditional
if (frontalsToRemove.empty() && parentsToRemove.empty())
return initConditional;
// If none of the frontal variables are to be saved, return empty pointer
if (frontalsToRemove.size() == initConditional->nrFrontals())
return GaussianConditional::shared_ptr();
// Collect dimensions of the new conditional
if (verbose) cout << " Collecting dimensions" << endl;
size_t newTotalRows = 0, newTotalCols = 1; // Need spacing for RHS
size_t newNrFrontals = 0;
size_t oldOffset = 0;
vector<size_t> newDims, oldDims;
vector<size_t> oldColOffsets;
vector<Key> newIndices;
vector<size_t> newIdxToOldIdx; // Access to arrays, maps from new var to old var
const vector<Key>& oldIndices = initConditional->keys();
const size_t oldNrFrontals = initConditional->nrFrontals();
GaussianConditional::const_iterator varIt = initConditional->beginFrontals();
size_t oldIdx = 0;
for (; varIt != initConditional->endFrontals(); ++varIt) {
size_t varDim = initConditional->getDim(varIt);
oldDims += varDim;
if (!frontalsToRemove.count(*varIt)) {
newTotalCols += varDim;
newTotalRows += varDim;
newDims += varDim;
newIndices += *varIt;
++newNrFrontals;
newIdxToOldIdx += oldIdx;
oldColOffsets += oldOffset;
}
oldOffset += varDim;
++oldIdx;
}
varIt = initConditional->beginParents();
for (; varIt != initConditional->endParents(); ++varIt) {
size_t varDim = initConditional->getDim(varIt);
oldDims += varDim;
if (!parentsToRemove.count(*varIt)) {
newTotalCols += varDim;
newDims += varDim;
newIndices += *varIt;
}
}
newDims += 1; // For the RHS
// Initialize new conditional
Matrix full_matrix = Matrix::Zero(newTotalRows, newTotalCols);
Vector sigmas = zero(newTotalRows);
if (verbose) cout << " Initializing new conditional\nfull_matrix:\n" << full_matrix << endl;
// Fill in full matrix - iterate over rows for each sub-conditional
const size_t oldRNrCols = initConditional->get_R().cols();
size_t newColOffset = 0;
for (size_t newfrontalIdx=0; newfrontalIdx<newNrFrontals; ++newfrontalIdx) {
const size_t& dim = newDims.at(newfrontalIdx);
if (verbose) cout << " Filling in Matrix: newfrontalIdx " << newfrontalIdx
<< " frontalKey: " << newIndices[newfrontalIdx] << " dim: " << dim << endl;
size_t oldColOffset = oldColOffsets.at(newfrontalIdx);
// get R block, sliced by row
Eigen::Block<GaussianConditional::constABlock> rblock =
initConditional->get_R().block(oldColOffset, oldColOffset, dim, oldRNrCols-oldColOffset);
if (verbose) cout << " rblock\n" << rblock << endl;
// set the R matrix for this var
full_matrix.block(newColOffset, newColOffset, dim, dim) = rblock.leftCols(dim);
if (verbose) cout << " full_matrix: set R\n" << full_matrix << endl;
// set RHS
full_matrix.block(newColOffset, newTotalCols-1, dim, 1) = initConditional->get_d().segment(oldColOffset, dim);
if (verbose) cout << " full_matrix: set rhs\n" << full_matrix << endl;
// set sigmas
sigmas.segment(newColOffset, dim) = initConditional->get_model()->sigmas().segment(oldColOffset, dim);
// add parents in R block, while updating rhs
// Loop through old variable list
size_t newParentStartCol = newColOffset + dim;
size_t oldParentStartCol = dim; // Copying from Rblock - offset already accounted for
for (size_t oldIdx = newIdxToOldIdx[newfrontalIdx]+1; oldIdx<oldNrFrontals; ++oldIdx) {
Key parentKey = oldIndices[oldIdx];
size_t parentDim = oldDims[oldIdx];
if (verbose) cout << " Adding parents from R: parentKey: " << parentKey << " parentDim: " << parentDim << endl;
if (!frontalsToRemove.count(parentKey)) {
if (verbose) {
cout << " Copying block (from): oldParentStartCol " << oldParentStartCol << endl;
cout << " Copying block (to): newColOffset " << newColOffset << ", newParentStartCol " << newParentStartCol << endl;
}
full_matrix.block(newColOffset, newParentStartCol, dim, parentDim)
= rblock.middleCols(oldParentStartCol, parentDim);
newParentStartCol += parentDim;
if (verbose) cout << " full_matrix: add parent from R\n" << full_matrix << endl;
} else {
const Vector& parentSol = solution.at(parentKey);
full_matrix.block(newColOffset, newTotalCols-1, dim, 1) -=
rblock.middleCols(oldParentStartCol, parentDim) * parentSol;
if (verbose) cout << " full_matrix: update rhs from parent in R\n" << full_matrix << endl;
}
oldParentStartCol += parentDim;
}
// add parents (looping over original block structure), while updating rhs
GaussianConditional::const_iterator oldParent = initConditional->beginParents();
for (; oldParent != initConditional->endParents(); ++oldParent) {
Key parentKey = *oldParent;
size_t parentDim = initConditional->getDim(oldParent);
if (verbose) cout << " Adding parents from S: parentKey: " << parentKey << " parentDim: " << parentDim << endl;
if (parentsToRemove.count(parentKey)) {
// Solve out the variable
const Vector& parentSol = solution.at(parentKey);
assert((size_t)parentSol.size() == parentDim);
full_matrix.block(newColOffset, newTotalCols-1, dim, 1) -=
initConditional->get_S(oldParent).middleRows(oldColOffset, dim) * parentSol;
if (verbose) cout << " full_matrix: update rhs from parent in S\n" << full_matrix << endl;
} else {
// Copy the matrix block
full_matrix.block(newColOffset, newParentStartCol, dim, parentDim) =
initConditional->get_S(oldParent).middleRows(oldColOffset, dim);
if (verbose) cout << " full_matrix: add parent from S\n" << full_matrix << endl;
}
}
// Increment the rows
newColOffset += dim;
oldColOffset += dim;
}
// Construct a new conditional
if (verbose) cout << "backsubSummarize() Complete!" << endl;
// GaussianConditional::rsd_type matrices(full_matrix, newDims.begin(), newDims.end());
VerticalBlockMatrix matrices(newDims, full_matrix);
return GaussianConditional::shared_ptr(new
GaussianConditional(newIndices, newNrFrontals, matrices, noiseModel::Diagonal::Sigmas(sigmas)));
}
/* ************************************************************************* */
GaussianFactorGraph conditionDensity(const GaussianBayesTree& bayesTree,
const std::set<Key>& saved_indices) {
const bool verbose = false;
VectorValues solution = bayesTree.optimize();
// FIXME: set of conditionals does not manage possibility of solving out whole separators
std::set<GaussianConditional::shared_ptr> affected_cliques = findAffectedCliqueConditionals(bayesTree, saved_indices);
// Summarize conditionals separately
GaussianFactorGraph summarized_graph;
BOOST_FOREACH(const GaussianConditional::shared_ptr& conditional, affected_cliques) {
if (verbose) conditional->print("Initial conditional");
GaussianConditional::shared_ptr reducedConditional = conditionDensity(conditional, saved_indices, solution);
if (reducedConditional) {
if (verbose) reducedConditional->print("Final conditional");
summarized_graph.push_back(reducedConditional);
} else if (verbose) {
cout << "Conditional removed after summarization!" << endl;
}
}
return summarized_graph;
}
/* ************************************************************************* */
} // \namespace gtsam

45
gtsam_unstable/linear/conditioning.h
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/**
* @file summarization.h
*
* @brief Types and utility functions for summarization
*
* @date Jun 22, 2012
* @author Alex Cunningham
*/
#pragma once
#include <gtsam_unstable/base/dllexport.h>
#include <gtsam/linear/GaussianFactorGraph.h>
#include <gtsam/linear/GaussianBayesTree.h>
namespace gtsam {
/**
* Backsubstitution-based conditioning - reduces conditionals to
* densities on a sub-set of variables.
*
* Corner cases:
* - If no frontal vars are saved, returns a null pointer
*
* @param initConditional the conditional from which to remove a variable
* @param saved_indices is the set of indices that should appear in the result
* @param solution is a full solution for the system
*/
GTSAM_UNSTABLE_EXPORT GaussianConditional::shared_ptr conditionDensity(
const GaussianConditional::shared_ptr& initConditional,
const std::set<Key>& saved_indices, const VectorValues& solution);
/**
* Backsubstitution-based conditioning for a complete Bayes Tree - reduces
* conditionals by solving out variables to eliminate. Traverses the tree to
* add the correct dummy factors whenever a separator is eliminated.
*/
GTSAM_UNSTABLE_EXPORT GaussianFactorGraph conditionDensity(
const GaussianBayesTree& bayesTree,
const std::set<Key>& saved_indices);
} // \namespace gtsam

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gtsam_unstable/linear/corruptInitialization.h
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/**
* @file corruptInitialization.h
*
* @brief Utilities for using noisemodels to corrupt given initialization value
*
* @date Jun 22, 2012
* @author Alex Cunningham
*/
#pragma once
#include <gtsam/linear/Sampler.h>
namespace gtsam {
/** given a noisemodel and a measurement, add noise to the measurement */
template<typename T>
T corruptWithNoise(const T& init,
const noiseModel::Base::shared_ptr& model, Sampler& sampler) {
Vector n = zero(model->dim());
noiseModel::Diagonal::shared_ptr
diag_model = boost::dynamic_pointer_cast<noiseModel::Diagonal>(model);
if (diag_model)
n = sampler.sampleNewModel(diag_model);
return init.retract(n);
}
// specialization for doubles - just adds, rather than retract
template<>
inline double corruptWithNoise<double>(const double& init,
const noiseModel::Base::shared_ptr& model, Sampler& sampler) {
double n = 0.0;
noiseModel::Diagonal::shared_ptr
diag_model = boost::dynamic_pointer_cast<noiseModel::Diagonal>(model);
if (diag_model)
n = sampler.sampleNewModel(diag_model)(0);
return init + n;
}
// specialization for doubles - just adds, rather than retract
template<>
inline Vector corruptWithNoise<Vector>(const Vector& init,
const noiseModel::Base::shared_ptr& model, Sampler& sampler) {
Vector n = zero(init.size());
noiseModel::Diagonal::shared_ptr
diag_model = boost::dynamic_pointer_cast<noiseModel::Diagonal>(model);
if (diag_model)
n = sampler.sampleNewModel(diag_model);
return init + n;
}
} // \namespace gtsam

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gtsam_unstable/linear/tests/testBayesTreeOperations.cpp
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/**
* @file testLinearTools.cpp
*
* @brief
*
* @date Aug 27, 2012
* @author Alex Cunningham
*/
#include <CppUnitLite/TestHarness.h>
#include <gtsam_unstable/linear/bayesTreeOperations.h>
#include <tests/smallExample.h>
using namespace gtsam;
SharedDiagonal model2 = noiseModel::Diagonal::Sigmas(ones(2));
SharedDiagonal model4 = noiseModel::Diagonal::Sigmas(ones(4));
SharedDiagonal model6 = noiseModel::Diagonal::Sigmas(ones(6));
using namespace std;
using symbol_shorthand::X;
using symbol_shorthand::L;
static const double tol = 1e-4;
/* ************************************************************************* */
TEST( testBayesTreeOperations, splitFactor1 ) {
// Build upper-triangular system
JacobianFactor initFactor(
0,Matrix_(4, 2,
1.0, 2.0,
0.0, 3.0,
0.0, 0.0,
0.0, 0.0),
1,Matrix_(4, 2,
1.0, 2.0,
9.0, 3.0,
6.0, 8.0,
0.0, 7.0),
Vector_(4, 0.1, 0.2, 0.3, 0.4),
model4);
GaussianFactorGraph actSplit = splitFactor(initFactor.clone());
GaussianFactorGraph expSplit;
expSplit.add(
0,Matrix_(2, 2,
1.0, 2.0,
0.0, 3.0),
1,Matrix_(2, 2,
1.0, 2.0,
9.0, 3.0),
Vector_(2, 0.1, 0.2),
model2);
expSplit.add(
1,Matrix_(2, 2,
6.0, 8.0,
0.0, 7.0),
Vector_(2, 0.3, 0.4),
model2);
EXPECT(assert_equal(expSplit, actSplit));
}
/* ************************************************************************* */
TEST( testBayesTreeOperations, splitFactor2 ) {
// Build upper-triangular system
JacobianFactor initFactor(
0,Matrix_(6, 2,
1.0, 2.0,
0.0, 3.0,
0.0, 0.0,
0.0, 0.0,
0.0, 0.0,
0.0, 0.0),
1,Matrix_(6, 2,
1.0, 2.0,
9.0, 3.0,
6.0, 8.0,
0.0, 7.0,
0.0, 0.0,
0.0, 0.0),
2,Matrix_(6, 2,
1.1, 2.2,
9.1, 3.2,
6.1, 8.2,
0.1, 7.2,
0.1, 3.2,
0.0, 1.2),
Vector_(6, 0.1, 0.2, 0.3, 0.4, 0.5, 0.6),
model6);
GaussianFactorGraph actSplit = splitFactor(initFactor.clone());
GaussianFactorGraph expSplit;
expSplit.add(
0,Matrix_(2, 2,
1.0, 2.0,
0.0, 3.0),
1,Matrix_(2, 2,
1.0, 2.0,
9.0, 3.0),
2,Matrix_(2, 2,
1.1, 2.2,
9.1, 3.2),
Vector_(2, 0.1, 0.2),
model2);
expSplit.add(
1,Matrix_(2, 2,
6.0, 8.0,
0.0, 7.0),
2,Matrix_(2, 2,
6.1, 8.2,
0.1, 7.2),
Vector_(2, 0.3, 0.4),
model2);
expSplit.add(
2,Matrix_(2, 2,
0.1, 3.2,
0.0, 1.2),
Vector_(2, 0.5, 0.6),
model2);
EXPECT(assert_equal(expSplit, actSplit));
}
/* ************************************************************************* */
TEST( testBayesTreeOperations, splitFactor3 ) {
// Build upper-triangular system
JacobianFactor initFactor(
0,Matrix_(4, 2,
1.0, 2.0,
0.0, 3.0,
0.0, 0.0,
0.0, 0.0),
1,Matrix_(4, 2,
1.0, 2.0,
9.0, 3.0,
6.0, 8.0,
0.0, 7.0),
2,Matrix_(4, 2,
1.1, 2.2,
9.1, 3.2,
6.1, 8.2,
0.1, 7.2),
Vector_(4, 0.1, 0.2, 0.3, 0.4),
model4);
GaussianFactorGraph actSplit = splitFactor(initFactor.clone());
GaussianFactorGraph expSplit;
expSplit.add(
0,Matrix_(2, 2,
1.0, 2.0,
0.0, 3.0),
1,Matrix_(2, 2,
1.0, 2.0,
9.0, 3.0),
2,Matrix_(2, 2,
1.1, 2.2,
9.1, 3.2),
Vector_(2, 0.1, 0.2),
model2);
expSplit.add(
1,Matrix_(2, 2,
6.0, 8.0,
0.0, 7.0),
2,Matrix_(2, 2,
6.1, 8.2,
0.1, 7.2),
Vector_(2, 0.3, 0.4),
model2);
EXPECT(assert_equal(expSplit, actSplit));
}
/* ************************************************************************* */
// Some numbers that should be consistent among all smoother tests
//static double sigmax1 = 0.786153, /*sigmax2 = 1.0/1.47292,*/ sigmax3 = 0.671512, sigmax4 =
// 0.669534 /*, sigmax5 = sigmax3, sigmax6 = sigmax2*/, sigmax7 = sigmax1;
/* ************************************************************************* */
TEST( testBayesTreeOperations, liquefy ) {
using namespace example;
// Create smoother with 7 nodes
Ordering ordering;
ordering += X(1),X(3),X(5),X(7),X(2),X(6),X(4);
GaussianFactorGraph smoother = createSmoother(7);
// Create the Bayes tree
GaussianBayesTree bayesTree = *smoother.eliminateMultifrontal(ordering);
// bayesTree.print("Full tree");
SharedDiagonal unit6 = noiseModel::Diagonal::Sigmas(Vector_(ones(6)));
SharedDiagonal unit4 = noiseModel::Diagonal::Sigmas(Vector_(ones(4)));
SharedDiagonal unit2 = noiseModel::Diagonal::Sigmas(Vector_(ones(2)));
// Liquefy the tree back into a graph
{
GaussianFactorGraph actGraph = liquefy(bayesTree, false); // Doesn't split conditionals
GaussianFactorGraph expGraph;
Matrix A12 = Matrix_(6, 2,
1.73205081, 0.0,
0.0, 1.73205081,
0.0, 0.0,
0.0, 0.0,
0.0, 0.0,
0.0, 0.0);
Matrix A15 = Matrix_(6, 2,
-0.577350269, 0.0,
0.0, -0.577350269,
1.47196014, 0.0,
0.0, 1.47196014,
0.0, 0.0,
0.0, 0.0);
Matrix A16 = Matrix_(6, 2,
-0.577350269, 0.0,
0.0, -0.577350269,
-0.226455407, 0.0,
0.0, -0.226455407,
1.49357599, 0.0,
0.0, 1.49357599);
expGraph.add(2, A12, 5, A15, 6, A16, zeros(6,1), unit6);
Matrix A21 = Matrix_(4, 2,
1.73205081, 0.0,
0.0, 1.73205081,
0.0, 0.0,
0.0, 0.0);
Matrix A24 = Matrix_(4, 2,
-0.577350269, 0.0,
0.0, -0.577350269,
1.47196014, 0.0,
0.0, 1.47196014);
Matrix A26 = Matrix_(4, 2,
-0.577350269, 0.0,
0.0, -0.577350269,
-0.226455407, 0.0,
0.0, -0.226455407);
expGraph.add(1, A21, 4, A24, 6, A26, zeros(4,1), unit4);
Matrix A30 = Matrix_(2, 2,
1.41421356, 0.0,
0.0, 1.41421356);
Matrix A34 = Matrix_(2, 2,
-0.707106781, 0.0,
0.0, -0.707106781);
expGraph.add(0, A30, 4, A34, zeros(2,1), unit2);
Matrix A43 = Matrix_(2, 2,
1.41421356, 0.0,
0.0, 1.41421356);
Matrix A45 = Matrix_(2, 2,
-0.707106781, 0.0,
0.0, -0.707106781);
expGraph.add(3, A43, 5, A45, zeros(2,1), unit2);
EXPECT(assert_equal(expGraph, actGraph, tol));
}
// Liquefy the tree back into a graph, splitting factors
{
GaussianFactorGraph actGraph = liquefy(bayesTree, true);
GaussianFactorGraph expGraph;
// Conditional 1
{
Matrix A12 = Matrix_(2, 2,
1.73205081, 0.0,
0.0, 1.73205081);
Matrix A15 = Matrix_(2, 2,
-0.577350269, 0.0,
0.0, -0.577350269);
Matrix A16 = Matrix_(2, 2,
-0.577350269, 0.0,
0.0, -0.577350269);
expGraph.add(2, A12, 5, A15, 6, A16, zeros(2,1), unit2);
}
{
Matrix A15 = Matrix_(2, 2,
1.47196014, 0.0,
0.0, 1.47196014);
Matrix A16 = Matrix_(2, 2,
-0.226455407, 0.0,
0.0, -0.226455407);
expGraph.add(5, A15, 6, A16, zeros(2,1), unit2);
}
{
Matrix A16 = Matrix_(2, 2,
1.49357599, 0.0,
0.0, 1.49357599);
expGraph.add(6, A16, zeros(2,1), unit2);
}
// Conditional 2
{
Matrix A21 = Matrix_(2, 2,
1.73205081, 0.0,
0.0, 1.73205081);
Matrix A24 = Matrix_(2, 2,
-0.577350269, 0.0,
0.0, -0.577350269);
Matrix A26 = Matrix_(2, 2,
-0.577350269, 0.0,
0.0, -0.577350269);
expGraph.add(1, A21, 4, A24, 6, A26, zeros(2,1), unit2);
}
{
Matrix A24 = Matrix_(2, 2,
1.47196014, 0.0,
0.0, 1.47196014);
Matrix A26 = Matrix_(2, 2,
-0.226455407, 0.0,
0.0, -0.226455407);
expGraph.add(4, A24, 6, A26, zeros(2,1), unit2);
}
// Conditional 3
Matrix A30 = Matrix_(2, 2,
1.41421356, 0.0,
0.0, 1.41421356);
Matrix A34 = Matrix_(2, 2,
-0.707106781, 0.0,
0.0, -0.707106781);
expGraph.add(0, A30, 4, A34, zeros(2,1), unit2);
// Conditional 4
Matrix A43 = Matrix_(2, 2,
1.41421356, 0.0,
0.0, 1.41421356);
Matrix A45 = Matrix_(2, 2,
-0.707106781, 0.0,
0.0, -0.707106781);
expGraph.add(3, A43, 5, A45, zeros(2,1), unit2);
EXPECT(assert_equal(expGraph, actGraph, tol));
}
}
/* ************************************************************************* */
int main() { TestResult tr; return TestRegistry::runAllTests(tr); }
/* ************************************************************************* */

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/**
* @file testConditioning.cpp
*
* @brief Experiments using backsubstitution for conditioning (not summarization, it turns out)
*
* @date Sep 3, 2012
* @author Alex Cunningham
*/
#include <CppUnitLite/TestHarness.h>
#include <gtsam/base/TestableAssertions.h>
#include <boost/assign/std/set.hpp>
#include <boost/assign/std/list.hpp>
#include <boost/assign/std/vector.hpp>
#include <gtsam_unstable/linear/conditioning.h>
using namespace std;
using namespace boost::assign;
using namespace gtsam;
const double tol = 1e-5;
// Simple example
Matrix R = Matrix_(3,3,
1.0,-2.0,-3.0,
0.0, 3.0,-5.0,
0.0, 0.0, 6.0);
Vector d = Vector_(3,
0.1, 0.2, 0.3);
Vector x = Vector_(3,
0.55,
0.15,
0.05);
/* ************************************************************************* */
TEST( testConditioning, directed_elimination_example ) {
// create a 3-variable system from which to eliminate variables
// Scalar variables, pre-factorized into R,d system
// Use multifrontal representation
// Variables 0, 1, 2 - want to summarize out 1
Vector expx = R.triangularView<Eigen::Upper>().solve(d);
EXPECT(assert_equal(x, expx, tol));
EXPECT(assert_equal(Vector(R*x), d, tol));
// backsub-summarized version
Matrix Rprime = Matrix_(2,2,
1.0,-3.0,
0.0, 6.0);
Vector dprime = Vector_(2,
d(0) - R(0,1)*x(1),
d(2));
Vector xprime = Vector_(2,
x(0), // Same solution, just smaller
x(2));
EXPECT(assert_equal(Vector(Rprime*xprime), dprime, tol));
}
/* ************************************************************************* */
TEST( testConditioning, directed_elimination_singlefrontal ) {
// Gaussian conditional with a single frontal variable, parent is to be removed
// Top row from above example
Index root_key = 0, removed_key = 1, remaining_parent = 2;
Matrix R11 = Matrix_(1,1, 1.0), R22 = Matrix_(1,1, 3.0), S = Matrix_(1,1,-2.0), T = Matrix_(1,1,-3.0);
Vector d0 = d.segment(0,1), d1 = d.segment(1,1);
SharedDiagonal sigmas = noiseModel::Unit::Create(1);
GaussianConditional::shared_ptr initConditional(new
GaussianConditional(root_key, d0, R11, removed_key, S, remaining_parent, T, sigmas));
VectorValues solution;
solution.insert(0, x.segment(0,1));
solution.insert(1, x.segment(1,1));
solution.insert(2, x.segment(2,1));
std::set<Index> saved_indices;
saved_indices += root_key, remaining_parent;
GaussianConditional::shared_ptr actSummarized = conditionDensity(initConditional, saved_indices, solution);
GaussianConditional::shared_ptr expSummarized(new
GaussianConditional(root_key, d0 - S*x(1), R11, remaining_parent, T, sigmas));
CHECK(actSummarized);
EXPECT(assert_equal(*expSummarized, *actSummarized, tol));
// Simple test of base case: if target index isn't present, return clone
GaussianConditional::shared_ptr actSummarizedSimple = conditionDensity(expSummarized, saved_indices, solution);
CHECK(actSummarizedSimple);
EXPECT(assert_equal(*expSummarized, *actSummarizedSimple, tol));
// case where frontal variable is to be eliminated - return null
GaussianConditional::shared_ptr removeFrontalInit(new
GaussianConditional(removed_key, d1, R22, remaining_parent, T, sigmas));
GaussianConditional::shared_ptr actRemoveFrontal = conditionDensity(removeFrontalInit, saved_indices, solution);
EXPECT(!actRemoveFrontal);
}
///* ************************************************************************* */
//TEST( testConditioning, directed_elimination_multifrontal ) {
// // Use top two rows from the previous example
// Index root_key = 0, removed_key = 1, remaining_parent = 2;
// Matrix R11 = R.topLeftCorner(2,2), S = R.block(0,2,2,1),
// Sprime = Matrix_(1,1,-2.0), R11prime = Matrix_(1,1, 1.0);
// Vector d1 = d.segment(0,2);
// SharedDiagonal sigmas1 = noiseModel::Unit::Create(1), sigmas2 = noiseModel::Unit::Create(2);
//
//
// std::list<std::pair<Index, Matrix> > terms;
// terms += make_pair(root_key, Matrix(R11.col(0)));
// terms += make_pair(removed_key, Matrix(R11.col(1)));
// terms += make_pair(remaining_parent, S);
// GaussianConditional::shared_ptr initConditional(new GaussianConditional(terms, 2, d1, sigmas2));
//
// VectorValues solution;
// solution.insert(0, x.segment(0,1));
// solution.insert(1, x.segment(1,1));
// solution.insert(2, x.segment(2,1));
//
// std::set<Index> saved_indices;
// saved_indices += root_key, remaining_parent;
//
// GaussianConditional::shared_ptr actSummarized = conditionDensity(initConditional, saved_indices, solution);
// GaussianConditional::shared_ptr expSummarized(new
// GaussianConditional(root_key, d.segment(0,1) - Sprime*x(1), R11prime, remaining_parent, R.block(0,2,1,1), sigmas1));
//
// CHECK(actSummarized);
// EXPECT(assert_equal(*expSummarized, *actSummarized, tol));
//}
//
///* ************************************************************************* */
//TEST( testConditioning, directed_elimination_multifrontal_multidim ) {
// // use larger example, three frontal variables, dim = 2 each, two parents (one removed)
// // Vars: 0, 1, 2, 3, 4; frontal: 0, 1, 2. parents: 3, 4;
// // Remove 1, 3
// Matrix Rinit = Matrix_(6, 11,
// 1.0, 0.0, 2.0, 0.0, 3.0, 0.0, 1.0, 0.0, -1.0, 0.0, 0.1,
// 0.0, 1.0, 0.0, 2.0, 0.0, 3.0, 0.0, 1.0, 0.0, 1.0, 0.2,
// 0.0, 0.0, 3.0, 0.0, 4.0, 0.0, 0.0,-1.0, 1.0, 0.0, 0.3,
// 0.0, 0.0, 0.0, 4.0, 0.0, 4.0, 3.0, 2.0, 0.0, 9.0, 0.4,
// 0.0, 0.0, 0.0, 0.0, 5.0, 0.0, 7.0, 0.0, 3.0, 0.0, 0.5,
// 0.0, 0.0, 0.0, 0.0, 0.0, 4.0, 0.0, 8.0, 0.0, 6.0, 0.6);
//
// vector<size_t> init_dims; init_dims += 2, 2, 2, 2, 2, 1;
// VerticalBlockMatrix init_matrices(init_dims, Rinit);
// SharedDiagonal sigmas = noiseModel::Unit::Create(6);
// vector<size_t> init_keys; init_keys += 0, 1, 2, 3, 4;
// GaussianConditional::shared_ptr initConditional(new
// GaussianConditional(init_keys, 3, init_matrices, sigmas));
//
// // Construct a solution vector
// VectorValues solution;
// solution.insert(0, zero(2));
// solution.insert(1, zero(2));
// solution.insert(2, zero(2));
// solution.insert(3, Vector_(2, 1.0, 2.0));
// solution.insert(4, Vector_(2, 3.0, 4.0));
//
// solution = initConditional->solve(solution);
//
// std::set<Index> saved_indices;
// saved_indices += 0, 2, 4;
//
// GaussianConditional::shared_ptr actSummarized = conditionDensity(initConditional, saved_indices, solution);
// CHECK(actSummarized);
//
// Matrix Rexp = Matrix_(4, 7,
// 1.0, 0.0, 3.0, 0.0, -1.0, 0.0, 0.1,
// 0.0, 1.0, 0.0, 3.0, 0.0, 1.0, 0.2,
// 0.0, 0.0, 5.0, 0.0, 3.0, 0.0, 0.5,
// 0.0, 0.0, 0.0, 4.0, 0.0, 6.0, 0.6);
//
// // Update rhs
// Rexp.block(0, 6, 2, 1) -= Rinit.block(0, 2, 2, 2) * solution.at(1) + Rinit.block(0, 6, 2, 2) * solution.at(3);
// Rexp.block(2, 6, 2, 1) -= Rinit.block(4, 6, 2, 2) * solution.at(3);
//
// vector<size_t> exp_dims; exp_dims += 2, 2, 2, 1;
// VerticalBlockMatrix exp_matrices(exp_dims, Rexp);
// SharedDiagonal exp_sigmas = noiseModel::Unit::Create(4);
// vector<size_t> exp_keys; exp_keys += 0, 2, 4;
// GaussianConditional expSummarized(exp_keys, 2, exp_matrices, exp_sigmas);
//
// EXPECT(assert_equal(expSummarized, *actSummarized, tol));
//}
//
///* ************************************************************************* */
//TEST( testConditioning, directed_elimination_multifrontal_multidim2 ) {
// // Example from LinearAugmentedSystem
// // 4 variables, last two in ordering kept - should be able to do this with no computation.
//
// vector<size_t> init_dims; init_dims += 3, 3, 2, 2, 1;
//
// //Full initial conditional: density on [3] [4] [5] [6]
// Matrix Rinit = Matrix_(10, 11,
// 8.78422312, -0.0375455118, -0.0387376278, -5.059576, 0.0, 0.0, -0.0887200041, 0.00429643583, -0.130078263, 0.0193260727, 0.0,
// 0.0, 8.46951839, 9.51456887, -0.0224291821, -5.24757636, 0.0, 0.0586258904, -0.173455825, 0.11090295, -0.330696013, 0.0,
// 0.0, 0.0, 16.5539485, 0.00105159359, -2.35354497, -6.04085484, -0.0212095105, 0.0978729072, 0.00471054272, 0.0694956367, 0.0,
// 0.0, 0.0, 0.0, 10.9015885, -0.0105694572, 0.000582715469, -0.0410535006, 0.00162772139, -0.0601433772, 0.0082824087,0.0,
// 0.0, 0.0, 0.0, 0.0, 10.5531086, -1.34722553, 0.02438072, -0.0644224578, 0.0561372492, -0.148932792, 0.0,
// 0.0, 0.0, 0.0, 0.0, 0.0, 21.4870439, -0.00443305851, 0.0234766354, 0.00484572411, 0.0101997356, 0.0,
// 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 2.73892865, 0.0242046766, -0.0459727048, 0.0445071938, 0.0,
// 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 2.61246954, 0.02287419, -0.102870789, 0.0,
// 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 2.04823446, -0.302033014, 0.0,
// 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 2.24068986, 0.0);
// Vector dinit = Vector_(10,
// -0.00186915, 0.00318554, 0.000592421, -0.000861, 0.00171528, 0.000274123, -0.0284011, 0.0275465, 0.0439795, -0.0222134);
// Rinit.rightCols(1) = dinit;
// SharedDiagonal sigmas = noiseModel::Unit::Create(10);
//
// VerticalBlockMatrix init_matrices(init_dims, Rinit);
// vector<size_t> init_keys; init_keys += 3, 4, 5, 6;
// GaussianConditional::shared_ptr initConditional(new
// GaussianConditional(init_keys, 4, init_matrices, sigmas));
//
// // Calculate a solution
// VectorValues solution;
// solution.insert(0, zero(3));
// solution.insert(1, zero(3));
// solution.insert(2, zero(3));
// solution.insert(3, zero(3));
// solution.insert(4, zero(3));
// solution.insert(5, zero(2));
// solution.insert(6, zero(2));
//
// solution = initConditional->solve(solution);
//
// // Perform summarization
// std::set<Index> saved_indices;
// saved_indices += 5, 6;
//
// GaussianConditional::shared_ptr actSummarized = conditionDensity(initConditional, saved_indices, solution);
// CHECK(actSummarized);
//
// // Create expected value on [5], [6]
// Matrix Rexp = Matrix_(4, 5,
// 2.73892865, 0.0242046766, -0.0459727048, 0.0445071938, -0.0284011,
// 0.0, 2.61246954, 0.02287419, -0.102870789, 0.0275465,
// 0.0, 0.0, 2.04823446, -0.302033014, 0.0439795,
// 0.0, 0.0, 0.0, 2.24068986, -0.0222134);
// SharedDiagonal expsigmas = noiseModel::Unit::Create(4);
//
// vector<size_t> exp_dims; exp_dims += 2, 2, 1;
// VerticalBlockMatrix exp_matrices(exp_dims, Rexp);
// vector<size_t> exp_keys; exp_keys += 5, 6;
// GaussianConditional expConditional(exp_keys, 2, exp_matrices, expsigmas);
//
// EXPECT(assert_equal(expConditional, *actSummarized, tol));
//}
/* ************************************************************************* */
int main() { TestResult tr; return TestRegistry::runAllTests(tr); }
/* ************************************************************************* */