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release/4.3a0
Frank Dellaert 2009-10-24 04:07:32 +00:00
parent baef89ccf0
commit 563abc2b3f
1 changed files with 24 additions and 24 deletions
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8
cpp/LinearFactor.cpp
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@ -137,8 +137,8 @@ pair<Matrix,Vector> LinearFactor::matrix(const Ordering& ordering) const {
} }
/* ************************************************************************* */ /* ************************************************************************* */
void LinearFactor::append_factor(LinearFactor::shared_ptr f, const size_t m, const size_t pos) void LinearFactor::append_factor(LinearFactor::shared_ptr f, const size_t m,
{ const size_t pos) {
// iterate over all matrices from the factor f // iterate over all matrices from the factor f
LinearFactor::const_iterator it = f->begin(); LinearFactor::const_iterator it = f->begin();
for (; it != f->end(); it++) { for (; it != f->end(); it++) {
@ -221,9 +221,9 @@ LinearFactor::eliminate(const string& key)
// update RHS, b -= (beta * inner_prod(v,b)) * v; // update RHS, b -= (beta * inner_prod(v,b)) * v;
double inner = 0; double inner = 0;
for(size_t r = j ; r < m; r++) for(size_t r = j ; r < m; r++)
inner += vjm(r-j) * (b)(r); inner += vjm(r-j) * b(r);
for(size_t r = j ; r < m; r++) for(size_t r = j ; r < m; r++)
(b)(r) -= beta*inner*vjm(r-j); b(r) -= beta*inner*vjm(r-j);
} // column j } // column j
// create ConditionalGaussian with first n rows // create ConditionalGaussian with first n rows