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ifdef to make BayesTree joint marginals fall back on sequential solver joints to avoid duplicate information problem

release/4.3a0
Richard Roberts 2012-10-09 13:09:47 +00:00
parent ec3392c4e7
commit 360f0e9d6b
1 changed files with 8 additions and 0 deletions
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8
gtsam/inference/BayesTree-inl.h
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@ -565,6 +565,7 @@ namespace gtsam {
typename FactorGraph<typename CONDITIONAL::FactorType>::shared_ptr
BayesTree<CONDITIONAL,CLIQUE>::joint(Index j1, Index j2, Eliminate function) const {
#ifdef SHORTCUT_JOINTS
// get clique C1 and C2
sharedClique C1 = (*this)[j1], C2 = (*this)[j2];
@ -575,6 +576,13 @@ namespace gtsam {
std::vector<Index> j12(2); j12[0] = j1; j12[1] = j2;
GenericSequentialSolver<FactorType> solver(p_C1C2);
return solver.jointFactorGraph(j12,function);
#else
std::vector<Index> indices(2);
indices[0] = j1;
indices[1] = j2;
GenericSequentialSolver<FactorType> solver(FactorGraph<FactorType>(*this));
return solver.jointFactorGraph(indices, function);
#endif
}
/* ************************************************************************* */