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Removed obsolete optimize call and documented better

release/4.3a0
Frank Dellaert 2009-10-27 14:14:36 +00:00
parent 4d9ff77249
commit 626d06905c
3 changed files with 17 additions and 18 deletions
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8
.cproject
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@ -474,6 +474,14 @@
<useDefaultCommand>true</useDefaultCommand> <useDefaultCommand>true</useDefaultCommand>
<runAllBuilders>true</runAllBuilders> <runAllBuilders>true</runAllBuilders>
</target> </target>
<target name="testChordalBayesNet.run" path="cpp" targetID="org.eclipse.cdt.build.MakeTargetBuilder">
<buildCommand>make</buildCommand>
<buildArguments/>
<buildTarget>testChordalBayesNet.run</buildTarget>
<stopOnError>true</stopOnError>
<useDefaultCommand>true</useDefaultCommand>
<runAllBuilders>true</runAllBuilders>
</target>
<target name="install" path="" targetID="org.eclipse.cdt.build.MakeTargetBuilder"> <target name="install" path="" targetID="org.eclipse.cdt.build.MakeTargetBuilder">
<buildCommand>make</buildCommand> <buildCommand>make</buildCommand>
<buildTarget>install</buildTarget> <buildTarget>install</buildTarget>

17
cpp/ChordalBayesNet.cpp
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@ -7,7 +7,9 @@
#include <stdarg.h> #include <stdarg.h>
#include <boost/foreach.hpp> #include <boost/foreach.hpp>
#include <boost/tuple/tuple.hpp> #include <boost/tuple/tuple.hpp>
#include "ChordalBayesNet.h" #include "ChordalBayesNet.h"
#include "VectorConfig.h"
using namespace std; using namespace std;
using namespace gtsam; using namespace gtsam;
@ -58,27 +60,16 @@ void ChordalBayesNet::erase(const string& key)
nodes.erase(key); nodes.erase(key);
} }
/* ************************************************************************* */
// optimize, i.e. return x = inv(R)*d
/* ************************************************************************* */ /* ************************************************************************* */
boost::shared_ptr<VectorConfig> ChordalBayesNet::optimize() const boost::shared_ptr<VectorConfig> ChordalBayesNet::optimize() const
{ {
boost::shared_ptr<VectorConfig> result(new VectorConfig); boost::shared_ptr<VectorConfig> result(new VectorConfig);
result = optimize(result);
return result;
}
/* ************************************************************************* */
boost::shared_ptr<VectorConfig> ChordalBayesNet::optimize(const boost::shared_ptr<VectorConfig> &c) const
{
boost::shared_ptr<VectorConfig> result(new VectorConfig);
result = c;
/** solve each node in turn in topological sort order (parents first)*/ /** solve each node in turn in topological sort order (parents first)*/
BOOST_FOREACH(string key, keys) { BOOST_FOREACH(string key, keys) {
const_iterator cg = nodes.find(key); // get node const_iterator cg = nodes.find(key); // get node
assert( cg != nodes.end() ); assert( cg != nodes.end() ); // make sure it exists
Vector x = cg->second->solve(*result); // Solve it Vector x = cg->second->solve(*result); // Solve for that variable
result->insert(key,x); // store result in partial solution result->insert(key,x); // store result in partial solution
} }
return result; return result;

6
cpp/ChordalBayesNet.h
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@ -14,7 +14,6 @@
#include <boost/serialization/list.hpp> #include <boost/serialization/list.hpp>
#include "ConditionalGaussian.h" #include "ConditionalGaussian.h"
#include "VectorConfig.h"
#include "Testable.h" #include "Testable.h"
namespace gtsam { namespace gtsam {
@ -77,9 +76,10 @@ public:
const_iterator const begin() const {return nodes.begin();} const_iterator const begin() const {return nodes.begin();}
const_iterator const end() const {return nodes.end();} const_iterator const end() const {return nodes.end();}
/** optimize */ /**
* optimize, i.e. return x = inv(R)*d
*/
boost::shared_ptr<VectorConfig> optimize() const; boost::shared_ptr<VectorConfig> optimize() const;
boost::shared_ptr<VectorConfig> optimize(const boost::shared_ptr<VectorConfig> &c) const;
/** size is the number of nodes */ /** size is the number of nodes */
size_t size() const {return nodes.size();} size_t size() const {return nodes.size();}