Simplified Cluster class, commented out JT stuff in GFG to not trigger big recompiles

inference/ClusterTree.h

@@ -8,8 +8,8 @@
 
 #pragma once
 
-#include <set>
 #include <boost/shared_ptr.hpp>
+#include "Ordering.h"
 
 namespace gtsam {
 
@@ -24,41 +24,23 @@ namespace gtsam {
 	public:
 
 		// the class for subgraphs that also include the pointers to the parents and two children
-		class Cluster : public FG {
-
-		public:
+		struct Cluster : public FG {
 
 			typedef typename boost::shared_ptr<Cluster> shared_ptr;
 
-		/* commented private out to make compile but needs to be addressed */
-
-			shared_ptr parent_;                  // the parent subgraph node
+			shared_ptr parent_;                  // the parent cluster
 			std::vector<shared_ptr> children_;   // the child clusters
 			Ordering frontal_;                   // the frontal variables
 			Unordered separator_;                // the separator variables
 
-		public:
-
 			// empty constructor
 			Cluster() {}
 
-			// constructor with all the information
-			Cluster(const FG& fgLocal, const Ordering& frontal, const Unordered& separator,
-					 const shared_ptr& parent)
-				: frontal_(frontal), separator_(separator), FG(fgLocal), parent_(parent) {}
-
-			// constructor for an empty graph
-			Cluster(const Ordering& frontal, const Unordered& separator, const shared_ptr& parent)
-				: frontal_(frontal), separator_(separator), parent_(parent) {}
-
 			// return the members
 			const Ordering& frontal() const            { return frontal_;}
 			const Unordered& separator() const         { return separator_;}
 			const std::vector<shared_ptr>& children()  { return children_; }
 
-			// add a child node
-			void addChild(const shared_ptr& child) { children_.push_back(child); }
-
 			// print the object
 			void print(const std::string& indent) const;
 			void printTree(const std::string& indent) const;

inference/JunctionTree.h

@@ -23,34 +23,37 @@ namespace gtsam {
 	 * represent the clique tree associated with a Bayes net, and the JunctionTree is
 	 * used to collect the factors associated with each clique during the elimination process.
 	 */
-	template <class FG>
-	class JunctionTree : public ClusterTree<FG> {
+	template<class FG>
+	class JunctionTree: public ClusterTree<FG> {
 
 	public:
 
-		/**
-		 * In a junction tree each cluster is associated with a clique
-		 */
+		// In a junction tree each cluster is associated with a clique
 		typedef typename ClusterTree<FG>::Cluster Clique;
 		typedef typename Clique::shared_ptr sharedClique;
 
+		// And we will frequently refer to a symbolic Bayes tree
+		typedef BayesTree<SymbolicConditional> SymbolicBayesTree;
+
 	private:
 		// distribute the factors along the Bayes tree
-		sharedClique distributeFactors(FG& fg, const BayesTree<SymbolicConditional>::sharedClique clique);
+		sharedClique distributeFactors(FG& fg,
+				const SymbolicBayesTree::sharedClique clique);
 
 		// utility function called by eliminate
-		template <class Conditional>
+		template<class Conditional>
 		std::pair<FG, BayesTree<Conditional> > eliminateOneClique(sharedClique fg_);
 
 	public:
 		// constructor
-		JunctionTree() {}
+		JunctionTree() {
+		}
 
 		// constructor given a factor graph and the elimination ordering
 		JunctionTree(FG& fg, const Ordering& ordering);
 
 		// eliminate the factors in the subgraphs
-		template <class Conditional>
+		template<class Conditional>
 		BayesTree<Conditional> eliminate();
 
 	}; // JunctionTree

linear/GaussianFactorGraph.cpp

@@ -16,7 +16,7 @@
 #include "FactorGraph-inl.h"
 #include "inference-inl.h"
 #include "iterative.h"
-#include "GaussianJunctionTree.h"
+//#include "GaussianJunctionTree.h"
 
 using namespace std;
 using namespace gtsam;
@@ -297,12 +297,12 @@ VectorConfig GaussianFactorGraph::optimize(const Ordering& ordering, bool old)
 }
 
 /* ************************************************************************* */
-VectorConfig GaussianFactorGraph::optimizeMultiFrontals(const Ordering& ordering)
-{
-	GaussianJunctionTree junctionTree(*this, ordering);
-
-	return junctionTree.optimize();
-}
+//VectorConfig GaussianFactorGraph::optimizeMultiFrontals(const Ordering& ordering)
+//{
+//	GaussianJunctionTree junctionTree(*this, ordering);
+//
+//	return junctionTree.optimize();
+//}
 
 /* ************************************************************************* */
 boost::shared_ptr<GaussianBayesNet>