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use non underscore functions

release/4.3a0
dellaert 2014-05-31 15:18:45 -04:00
parent 3425a8a37c
commit 385dfd8ad6
1 changed files with 4 additions and 4 deletions
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8
gtsam/nonlinear/lago.cpp
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@ -200,7 +200,7 @@ GaussianFactorGraph buildLinearOrientationGraph(
/* ************************************************************************* */ /* ************************************************************************* */
// Select the subgraph of betweenFactors and transforms priors into between wrt a fictitious node // Select the subgraph of betweenFactors and transforms priors into between wrt a fictitious node
static NonlinearFactorGraph buildPose2graph(const NonlinearFactorGraph& graph) { static NonlinearFactorGraph buildPose2graph(const NonlinearFactorGraph& graph) {
gttic_(lago_buildPose2graph); gttic(lago_buildPose2graph);
NonlinearFactorGraph pose2Graph; NonlinearFactorGraph pose2Graph;
BOOST_FOREACH(const boost::shared_ptr<NonlinearFactor>& factor, graph) { BOOST_FOREACH(const boost::shared_ptr<NonlinearFactor>& factor, graph) {
@ -253,7 +253,7 @@ static PredecessorMap<Key> findOdometricPath(
// Return the orientations of a graph including only BetweenFactors<Pose2> // Return the orientations of a graph including only BetweenFactors<Pose2>
static VectorValues computeOrientations(const NonlinearFactorGraph& pose2Graph, static VectorValues computeOrientations(const NonlinearFactorGraph& pose2Graph,
bool useOdometricPath) { bool useOdometricPath) {
gttic_(lago_computeOrientations); gttic(lago_computeOrientations);
// Find a minimum spanning tree // Find a minimum spanning tree
PredecessorMap<Key> tree; PredecessorMap<Key> tree;
@ -297,7 +297,7 @@ VectorValues initializeOrientations(const NonlinearFactorGraph& graph,
/* ************************************************************************* */ /* ************************************************************************* */
Values computePoses(const NonlinearFactorGraph& pose2graph, Values computePoses(const NonlinearFactorGraph& pose2graph,
VectorValues& orientationsLago) { VectorValues& orientationsLago) {
gttic_(lago_computePoses); gttic(lago_computePoses);
// Linearized graph on full poses // Linearized graph on full poses
GaussianFactorGraph linearPose2graph; GaussianFactorGraph linearPose2graph;
@ -367,7 +367,7 @@ Values computePoses(const NonlinearFactorGraph& pose2graph,
/* ************************************************************************* */ /* ************************************************************************* */
Values initialize(const NonlinearFactorGraph& graph, bool useOdometricPath) { Values initialize(const NonlinearFactorGraph& graph, bool useOdometricPath) {
gttic_(lago_initialize); gttic(lago_initialize);
// We "extract" the Pose2 subgraph of the original graph: this // We "extract" the Pose2 subgraph of the original graph: this
// is done to properly model priors and avoiding operating on a larger graph // is done to properly model priors and avoiding operating on a larger graph