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Fixed noise model bugs and default arguments in GaussianConditionalUnordered

release/4.3a0
Richard Roberts 2013-07-12 22:27:36 +00:00
parent 9c48415128
commit 2f228a5da8
2 changed files with 14 additions and 9 deletions
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6
gtsam/linear/GaussianConditionalUnordered.cpp
View File

@ -44,13 +44,13 @@ namespace gtsam {
GaussianConditionalUnordered::GaussianConditionalUnordered(
Key key, const Vector& d, const Matrix& R,
Key name1, const Matrix& S, const SharedDiagonal& sigmas) :
BaseFactor(key, R, name1, S, d, sigmas) {}
BaseFactor(key, R, name1, S, d, sigmas), BaseConditional(1) {}
/* ************************************************************************* */
GaussianConditionalUnordered::GaussianConditionalUnordered(
Key key, const Vector& d, const Matrix& R,
Key name1, const Matrix& S, Key name2, const Matrix& T, const SharedDiagonal& sigmas) :
BaseFactor(key, R, name1, S, name2, T, d, sigmas) {}
BaseFactor(key, R, name1, S, name2, T, d, sigmas), BaseConditional(1) {}
/* ************************************************************************* */
void GaussianConditionalUnordered::print(const string &s, const IndexFormatter& formatter) const
@ -97,7 +97,7 @@ namespace gtsam {
// check if sigmas are equal
if ((model_ && !c.model_) || (!model_ && c.model_)
|| !model_->equals(*c.model_, tol))
|| (model_ && c.model_ && !model_->equals(*c.model_, tol)))
return false;
return true;

17
gtsam/linear/GaussianConditionalUnordered.h
View File

@ -49,31 +49,35 @@ namespace gtsam {
/** constructor with no parents
* |Rx-d|
*/
GaussianConditionalUnordered(Key key, const Vector& d, const Matrix& R, const SharedDiagonal& sigmas);
GaussianConditionalUnordered(Key key, const Vector& d, const Matrix& R,
const SharedDiagonal& sigmas = SharedDiagonal());
/** constructor with only one parent
* |Rx+Sy-d| */
GaussianConditionalUnordered(Key key, const Vector& d, const Matrix& R,
Key name1, const Matrix& S, const SharedDiagonal& sigmas);
Key name1, const Matrix& S, const SharedDiagonal& sigmas = SharedDiagonal());
/** constructor with two parents
* |Rx+Sy+Tz-d| */
GaussianConditionalUnordered(Key key, const Vector& d, const Matrix& R,
Key name1, const Matrix& S, Key name2, const Matrix& T, const SharedDiagonal& sigmas);
Key name1, const Matrix& S, Key name2, const Matrix& T,
const SharedDiagonal& sigmas = SharedDiagonal());
/** Constructor with number of arbitrary parents. \f$ |Rx+sum(Ai*xi)-d| \f$
* @tparam PARENTS A container whose value type is std::pair<Key, Matrix>, specifying the
* collection of parent keys and matrices. */
template<typename PARENTS>
GaussianConditionalUnordered(Key key, const Vector& d,
const Matrix& R, const PARENTS& parents, const SharedDiagonal& sigmas);
const Matrix& R, const PARENTS& parents,
const SharedDiagonal& sigmas = SharedDiagonal());
/** Constructor with arbitrary number of frontals and parents.
* @tparam TERMS A container whose value type is std::pair<Key, Matrix>, specifying the
* collection of keys and matrices making up the conditional. */
template<typename TERMS>
GaussianConditionalUnordered(const TERMS& terms,
size_t nrFrontals, const Vector& d, const SharedDiagonal& sigmas);
size_t nrFrontals, const Vector& d,
const SharedDiagonal& sigmas = SharedDiagonal());
/** Constructor with arbitrary number keys, and where the augmented matrix is given all together
* instead of in block terms. Note that only the active view of the provided augmented matrix
@ -81,7 +85,8 @@ namespace gtsam {
* factor. */
template<typename KEYS>
GaussianConditionalUnordered(
const KEYS& keys, size_t nrFrontals, const VerticalBlockMatrix& augmentedMatrix, const SharedDiagonal& sigmas);
const KEYS& keys, size_t nrFrontals, const VerticalBlockMatrix& augmentedMatrix,
const SharedDiagonal& sigmas = SharedDiagonal());
/** Combine several GaussianConditional into a single dense GC. The conditionals enumerated by
* \c first and \c last must be in increasing order, meaning that the parents of any