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Updated synchronization code for CConcurrent Filter

release/4.3a0
Stephen Williams 2013-04-09 15:39:24 +00:00
parent 244ea20f9c
commit 4f064be4fa
2 changed files with 791 additions and 330 deletions
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1117
gtsam_unstable/nonlinear/ConcurrentBatchFilter.cpp
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4
gtsam_unstable/nonlinear/ConcurrentBatchFilter.h
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@ -186,6 +186,10 @@ protected:
/** Create linearized factors from any factors remaining after marginalizing out the requested keys */ /** Create linearized factors from any factors remaining after marginalizing out the requested keys */
NonlinearFactor::shared_ptr marginalizeKeysFromFactor(const NonlinearFactor::shared_ptr& factor, const std::set<Key>& remainingKeys) const; NonlinearFactor::shared_ptr marginalizeKeysFromFactor(const NonlinearFactor::shared_ptr& factor, const std::set<Key>& remainingKeys) const;
std::set<gtsam::Key> findSeparatorKeys(const gtsam::NonlinearFactorGraph& graph) const;
gtsam::Ordering computeOrdering(const gtsam::NonlinearFactorGraph& graph) const;
private: private:
typedef BayesTree<GaussianConditional,ISAM2Clique>::sharedClique Clique; typedef BayesTree<GaussianConditional,ISAM2Clique>::sharedClique Clique;
static void SymbolicPrintTree(const Clique& clique, const Ordering& ordering, const std::string indent = ""); static void SymbolicPrintTree(const Clique& clique, const Ordering& ordering, const std::string indent = "");