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Removed old indices code

release/4.3a0
Frank Dellaert 2012-09-17 00:50:15 +00:00
parent cdf45105c2
commit 75b96d9ed2
1 changed files with 1 additions and 13 deletions
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14
gtsam/inference/BayesTreeCliqueBase-inl.h
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@ -51,24 +51,12 @@ namespace gtsam {
derived_ptr B, const FactorGraph<FactorType>& p_Cp_B) const {
std::set<Index> allKeys = p_Cp_B.keys();
std::vector<Index> &indicesB = B->conditional()->keys();
std::vector<Index> keep;
#ifdef OLD_INDICES
// We do this by first merging S and B
sharedConditional p_F_S = this->conditional();
std::vector<Index> S_union_B;
std::set_union(p_F_S->beginParents(), p_F_S->endParents(),//
indicesB.begin(), indicesB.end(), back_inserter(S_union_B));
// then intersecting S_union_B with all keys in p_Cp_B
std::set_intersection(S_union_B.begin(), S_union_B.end(),//
allKeys.begin(), allKeys.end(), back_inserter(keep));
#else
std::vector<Index> S_setminus_B = separator_setminus_B(B); // TODO, get as argument?
std::vector<Index> keep;
std::set_intersection(S_setminus_B.begin(), S_setminus_B.end(), //
allKeys.begin(), allKeys.end(), back_inserter(keep));
std::set_intersection(indicesB.begin(), indicesB.end(), //
allKeys.begin(), allKeys.end(), back_inserter(keep));
#endif
// BOOST_FOREACH(Index j, keep) std::cout << j << " "; std::cout << std::endl;
return keep;
}