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Reversed adding of keys

release/4.3a0
Frank Dellaert 2015-06-20 22:11:05 -07:00
parent cab4eaa567
commit 724bcdb6a0
1 changed files with 7 additions and 0 deletions
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7
gtsam/inference/JunctionTree-inst.h
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@ -98,6 +98,7 @@ struct ConstructorTraversalData {
// Loop over children // Loop over children
int combinedProblemSize = int combinedProblemSize =
(int)(symbolicElimResult.first->size() * symbolicFactors.size()); (int)(symbolicElimResult.first->size() * symbolicFactors.size());
gttic(merge_children);
for (size_t i = 0; i < myData.childSymbolicConditionals.size(); ++i) { for (size_t i = 0; i < myData.childSymbolicConditionals.size(); ++i) {
// Check if we should merge the i^th child // Check if we should merge the i^th child
if (myNrParents + myNrFrontals == if (myNrParents + myNrFrontals ==
@ -105,6 +106,10 @@ struct ConstructorTraversalData {
// Get a reference to the i, adjusting the index to account for children // Get a reference to the i, adjusting the index to account for children
// previously merged and removed from the i list. // previously merged and removed from the i list.
const Node& child = *node->children[i - nrMergedChildren]; const Node& child = *node->children[i - nrMergedChildren];
// Merge keys. For efficiency, we add keys in reverse order at end, calling reverse after..
node->orderedFrontalKeys.insert(node->orderedFrontalKeys.end(),
child.orderedFrontalKeys.rbegin(),
child.orderedFrontalKeys.rend());
// Merge keys, factors, and children. // Merge keys, factors, and children.
node->orderedFrontalKeys.insert(node->orderedFrontalKeys.begin(), node->orderedFrontalKeys.insert(node->orderedFrontalKeys.begin(),
child.orderedFrontalKeys.begin(), child.orderedFrontalKeys.begin(),
@ -121,6 +126,8 @@ struct ConstructorTraversalData {
++nrMergedChildren; ++nrMergedChildren;
} }
} }
std::reverse(node->orderedFrontalKeys.begin(), node->orderedFrontalKeys.end());
gttoc(merge_children);
node->problemSize_ = combinedProblemSize; node->problemSize_ = combinedProblemSize;
} }
}; };