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JunctionTree keeps track of "problem size" at each node

release/4.3a0
Richard Roberts 2013-07-26 01:10:16 +00:00
parent e6eb0b928e
commit 3118f6bb9f
2 changed files with 10 additions and 2 deletions
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9
gtsam/inference/JunctionTreeUnordered-inst.h
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@ -96,6 +96,7 @@ namespace gtsam {
size_t nrMergedChildren = 0; size_t nrMergedChildren = 0;
assert(myData.myJTNode->children.size() == myData.childSymbolicConditionals.size()); assert(myData.myJTNode->children.size() == myData.childSymbolicConditionals.size());
// Loop over children // Loop over children
int combinedProblemSize = symbolicElimResult.first->size();
for(size_t child = 0; child < myData.childSymbolicConditionals.size(); ++child) { for(size_t child = 0; child < myData.childSymbolicConditionals.size(); ++child) {
// Check if we should merge the child // Check if we should merge the child
if(myNrParents + 1 == myData.childSymbolicConditionals[child]->nrParents()) { if(myNrParents + 1 == myData.childSymbolicConditionals[child]->nrParents()) {
@ -111,8 +112,11 @@ namespace gtsam {
myData.myJTNode->children.erase(myData.myJTNode->children.begin() + child - nrMergedChildren); myData.myJTNode->children.erase(myData.myJTNode->children.begin() + child - nrMergedChildren);
// Increment number of merged children // Increment number of merged children
++ nrMergedChildren; ++ nrMergedChildren;
// Increment problem size
combinedProblemSize = std::max(combinedProblemSize, childToMerge.problemSize_);
} }
} }
myData.myJTNode->problemSize_ = combinedProblemSize;
} }
/* ************************************************************************* */ /* ************************************************************************* */
@ -263,8 +267,9 @@ namespace gtsam {
// that contains all of the roots as its children. rootsContainer also stores the remaining // that contains all of the roots as its children. rootsContainer also stores the remaining
// uneliminated factors passed up from the roots. // uneliminated factors passed up from the roots.
EliminationData<This> rootsContainer(0, roots_.size()); EliminationData<This> rootsContainer(0, roots_.size());
treeTraversal::DepthFirstForest(*this, rootsContainer, eliminationPreOrderVisitor<This>, //tbb::task_scheduler_init init(1);
boost::bind(eliminationPostOrderVisitor<This>, _1, _2, function)); treeTraversal::DepthFirstForestParallel(*this, rootsContainer, eliminationPreOrderVisitor<This>,
boost::bind(eliminationPostOrderVisitor<This>, _1, _2, function), -10000);
// Create BayesTree from roots stored in the dummy BayesTree node. // Create BayesTree from roots stored in the dummy BayesTree node.
boost::shared_ptr<BayesTreeType> result = boost::make_shared<BayesTreeType>(); boost::shared_ptr<BayesTreeType> result = boost::make_shared<BayesTreeType>();

3
gtsam/inference/JunctionTreeUnordered.h
View File

@ -68,6 +68,9 @@ namespace gtsam {
Keys keys; ///< Frontal keys of this node Keys keys; ///< Frontal keys of this node
Factors factors; ///< Factors associated with this node Factors factors; ///< Factors associated with this node
Children children; ///< sub-trees Children children; ///< sub-trees
int problemSize_;
int problemSize() const { return problemSize_; }
/** print this node */ /** print this node */
void print(const std::string& s = "", const KeyFormatter& keyFormatter = DefaultKeyFormatter) const; void print(const std::string& s = "", const KeyFormatter& keyFormatter = DefaultKeyFormatter) const;