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Reverted default elimination code to older implementation - use switch in optimize() or eliminate() to use newer code.

release/4.3a0
Alex Cunningham 2010-02-25 20:43:59 +00:00
parent c56ee9ea0d
commit 5b60511505
2 changed files with 4 additions and 4 deletions
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6
cpp/GaussianFactorGraph.h
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@ -123,7 +123,7 @@ namespace gtsam {
* @param enableJoinFactor uses the older joint factor combine process when true, * @param enableJoinFactor uses the older joint factor combine process when true,
* and when false uses the newer single matrix combine * and when false uses the newer single matrix combine
*/ */
GaussianConditional::shared_ptr eliminateOne(const Symbol& key, bool enableJoinFactor = false); GaussianConditional::shared_ptr eliminateOne(const Symbol& key, bool enableJoinFactor = true);
/** /**
* Peforms a supposedly-faster (fewer matrix copy) version of elimination * Peforms a supposedly-faster (fewer matrix copy) version of elimination
@ -138,7 +138,7 @@ namespace gtsam {
* @param enableJoinFactor uses the older joint factor combine process when true, * @param enableJoinFactor uses the older joint factor combine process when true,
* and when false uses the newer single matrix combine * and when false uses the newer single matrix combine
*/ */
GaussianBayesNet eliminate(const Ordering& ordering, bool enableJoinFactor = false); GaussianBayesNet eliminate(const Ordering& ordering, bool enableJoinFactor = true);
/** /**
* optimize a linear factor graph * optimize a linear factor graph
@ -146,7 +146,7 @@ namespace gtsam {
* @param enableJoinFactor uses the older joint factor combine process when true, * @param enableJoinFactor uses the older joint factor combine process when true,
* and when false uses the newer single matrix combine * and when false uses the newer single matrix combine
*/ */
VectorConfig optimize(const Ordering& ordering, bool enableJoinFactor = false); VectorConfig optimize(const Ordering& ordering, bool enableJoinFactor = true);
/** /**
* shared pointer versions for MATLAB * shared pointer versions for MATLAB

2
cpp/testGaussianFactor.cpp
View File

@ -786,7 +786,7 @@ TEST ( GaussianFactor, exploding_MAST_factor ) {
fg.push_back(f2); fg.push_back(f2);
// works when using the newer implementation of eliminate // works when using the newer implementation of eliminate
GaussianConditional::shared_ptr cg = fg.eliminateOne(lA2); GaussianConditional::shared_ptr cg = fg.eliminateOne(lA2, false);
CHECK(true); CHECK(true);
} }