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Commented marginalGaussian() due to compile error

release/4.3a0
Alex Cunningham 2010-03-04 22:40:01 +00:00
parent 5f8b0e9341
commit 4ae9b72a35
2 changed files with 31 additions and 31 deletions
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60
cpp/inference-inl.h
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@ -85,36 +85,36 @@ namespace gtsam {
} }
/* ************************************************************************* */ /* ************************************************************************* */
pair<Vector,Matrix> marginalGaussian(const GaussianFactorGraph& fg, const Symbol& key) { // pair<Vector,Matrix> marginalGaussian(const GaussianFactorGraph& fg, const Symbol& key) {
//
// todo: this does not use colamd! // // todo: this does not use colamd!
//
list<Symbol> ord; // list<Symbol> ord;
BOOST_FOREACH(const Symbol& k, fg.keys()) { // BOOST_FOREACH(const Symbol& k, fg.keys()) {
if(k != key) // if(k != key)
ord.push_back(k); // ord.push_back(k);
} // }
Ordering ordering(ord); // Ordering ordering(ord);
//
// Now make another factor graph where we eliminate all the other variables // // Now make another factor graph where we eliminate all the other variables
GaussianFactorGraph marginal(fg); // GaussianFactorGraph marginal(fg);
marginal.eliminate(ordering); // marginal.eliminate(ordering);
//
GaussianFactor::shared_ptr factor; // GaussianFactor::shared_ptr factor;
for(size_t i=0; i<marginal.size(); i++) // for(size_t i=0; i<marginal.size(); i++)
if(marginal[i] != NULL) { // if(marginal[i] != NULL) {
factor = marginal[i]; // factor = marginal[i];
break; // break;
} // }
//
if(factor->keys().size() != 1 || factor->keys().front() != key) // if(factor->keys().size() != 1 || factor->keys().front() != key)
throw runtime_error("Didn't get the right marginal!"); // throw runtime_error("Didn't get the right marginal!");
//
VectorConfig mean_cfg(marginal.optimize(Ordering(key))); // VectorConfig mean_cfg(marginal.optimize(Ordering(key)));
Matrix A(factor->get_A(key)); // Matrix A(factor->get_A(key));
//
return make_pair(mean_cfg[key], inverse(trans(A)*A)); // return make_pair(mean_cfg[key], inverse(prod(trans(A), A)));
} // }
/* ************************************************************************* */ /* ************************************************************************* */

2
cpp/inference.h
View File

@ -55,6 +55,6 @@ namespace gtsam {
* Hacked-together function to compute a Gaussian marginal for the given variable. * Hacked-together function to compute a Gaussian marginal for the given variable.
* todo: This is inefficient! * todo: This is inefficient!
*/ */
std::pair<Vector,Matrix> marginalGaussian(const GaussianFactorGraph& fg, const Symbol& key); //std::pair<Vector,Matrix> marginalGaussian(const GaussianFactorGraph& fg, const Symbol& key);
} /// namespace gtsam } /// namespace gtsam