From 60e10d7380b4647e84f520db204e8f60b1b076b0 Mon Sep 17 00:00:00 2001
From: Richard Roberts <richard.jw.roberts@gmail.com>
Date: Wed, 3 Nov 2010 22:35:02 +0000
Subject: [PATCH] Added timeSequentialOnDataset and timeMultifrontalOnDataset,
 removed timeLinearOnDataset

---
 tests/Makefile.am                             |  2 +-
 tests/timeMultifrontalOnDataset.cpp           | 59 +++++++++++++++++++
 ...ataset.cpp => timeSequentialOnDataset.cpp} |  7 +--
 3 files changed, 63 insertions(+), 5 deletions(-)
 create mode 100644 tests/timeMultifrontalOnDataset.cpp
 rename tests/{timeLinearOnDataset.cpp => timeSequentialOnDataset.cpp} (89%)

diff --git a/tests/Makefile.am b/tests/Makefile.am
index b1def099a..905473259 100644
--- a/tests/Makefile.am
+++ b/tests/Makefile.am
@@ -26,7 +26,7 @@ check_PROGRAMS += testSerialization
 endif
 
 # Timing tests
-noinst_PROGRAMS = timeGaussianFactorGraph timeLinearOnDataset
+noinst_PROGRAMS = timeGaussianFactorGraph timeSequentialOnDataset timeMultifrontalOnDataset
 
 #----------------------------------------------------------------------------------------------------
 # rules to build unit tests
diff --git a/tests/timeMultifrontalOnDataset.cpp b/tests/timeMultifrontalOnDataset.cpp
new file mode 100644
index 000000000..6ba5503be
--- /dev/null
+++ b/tests/timeMultifrontalOnDataset.cpp
@@ -0,0 +1,59 @@
+/* ----------------------------------------------------------------------------
+
+ * GTSAM Copyright 2010, Georgia Tech Research Corporation, 
+ * Atlanta, Georgia 30332-0415
+ * All Rights Reserved
+ * Authors: Frank Dellaert, et al. (see THANKS for the full author list)
+
+ * See LICENSE for the license information
+
+ * -------------------------------------------------------------------------- */
+
+/**
+ * @file    timeSequentialOnDataset.cpp
+ * @brief   
+ * @author  Richard Roberts
+ * @created Oct 7, 2010
+ */
+
+#include <gtsam/base/timing.h>
+#include <gtsam/slam/dataset.h>
+#include <gtsam/linear/GaussianFactorGraph.h>
+#include <gtsam/linear/GaussianMultifrontalSolver.h>
+
+using namespace std;
+using namespace gtsam;
+using namespace boost;
+
+int main(int argc, char *argv[]) {
+
+  string datasetname;
+  if(argc > 1)
+    datasetname = argv[1];
+  else
+    datasetname = "intel";
+
+  pair<shared_ptr<Pose2Graph>, shared_ptr<Pose2Values> > data = load2D(dataset(datasetname));
+
+  tic_("Z 1 order");
+  Ordering::shared_ptr ordering(data.first->orderingCOLAMD(*data.second));
+  toc_("Z 1 order");
+  tictoc_print_();
+
+  tic_("Z 2 linearize");
+  GaussianFactorGraph::shared_ptr gfg(data.first->linearize(*data.second, *ordering));
+  toc_("Z 2 linearize");
+  tictoc_print_();
+
+  for(size_t trial = 0; trial < 100; ++trial) {
+
+    tic_("Z 3 solve");
+    VectorValues soln(*GaussianMultifrontalSolver(*gfg).optimize());
+    toc_("Z 3 solve");
+
+    tictoc_print_();
+  }
+
+  return 0;
+
+}
diff --git a/tests/timeLinearOnDataset.cpp b/tests/timeSequentialOnDataset.cpp
similarity index 89%
rename from tests/timeLinearOnDataset.cpp
rename to tests/timeSequentialOnDataset.cpp
index 82a7a08dc..2850e2e32 100644
--- a/tests/timeLinearOnDataset.cpp
+++ b/tests/timeSequentialOnDataset.cpp
@@ -10,7 +10,7 @@
  * -------------------------------------------------------------------------- */
 
 /**
- * @file    timeLinearOnDataset.cpp
+ * @file    timeSequentialOnDataset.cpp
  * @brief   
  * @author  Richard Roberts
  * @created Oct 7, 2010
@@ -19,7 +19,7 @@
 #include <gtsam/base/timing.h>
 #include <gtsam/slam/dataset.h>
 #include <gtsam/linear/GaussianFactorGraph.h>
-#include <gtsam/linear/GaussianJunctionTree.h>
+#include <gtsam/linear/GaussianSequentialSolver.h>
 
 using namespace std;
 using namespace gtsam;
@@ -48,8 +48,7 @@ int main(int argc, char *argv[]) {
   for(size_t trial = 0; trial < 100; ++trial) {
 
     tic_("Z 3 solve");
-    GaussianJunctionTree gjt(*gfg);
-    VectorValues soln(gjt.optimize());
+    VectorValues soln(*GaussianSequentialSolver(*gfg).optimize());
     toc_("Z 3 solve");
 
     tictoc_print_();