12345qiupeng
/
gtsam
1
0
Fork 0
Code Issues Pull Requests Packages Projects Releases Wiki Activity

commented out all print statements

release/4.3a0
Frank Dellaert 2009-11-18 18:22:08 +00:00
parent f40182518a
commit 76d0a60b88
2 changed files with 15 additions and 9 deletions
Show Stats Download Patch File Download Diff File Expand all files Collapse all files

7
cpp/BayesTree-inl.h
View File

@ -34,7 +34,7 @@ namespace gtsam {
template<class Conditional>
void BayesTree<Conditional>::Clique::print(const string& s) const {
cout << s;
BOOST_REVERSE_FOREACH(const sharedConditional& conditional, this->conditionals_)
BOOST_FOREACH(const sharedConditional& conditional, this->conditionals_)
cout << " " << conditional->key();
if (!separator_.empty()) {
cout << " :";
@ -199,6 +199,11 @@ namespace gtsam {
const pair<string,typename BayesTree<Conditional>::sharedClique >& v1,
const pair<string,typename BayesTree<Conditional>::sharedClique >& v2
) {
// cout << v1.first << " =? " << v2.first << endl;
// cout << (v1.first == v2.first) << endl;
// cout << v1.second->equals(*(v2.second)) << endl;
// v1.second->print("v1");
// v2.second->print("v2");
return v1.first == v2.first && v1.second->equals(*(v2.second));
}

17
cpp/testIncremental.cpp
View File

@ -25,7 +25,7 @@ typedef BayesTree<GaussianConditional> GaussianBayesTree;
// Conditionals for ASIA example from the tutorial with A and D evidence
SymbolicConditional::shared_ptr B(new SymbolicConditional("B")), L(
new SymbolicConditional("L", "B")), E(
new SymbolicConditional("E", "L", "B")), S(new SymbolicConditional("S",
new SymbolicConditional("E", "B", "L")), S(new SymbolicConditional("S",
"L", "B")), T(new SymbolicConditional("T", "E", "L")), X(
new SymbolicConditional("X", "E"));
@ -34,9 +34,8 @@ SymbolicConditional::shared_ptr B(new SymbolicConditional("B")), L(
SymbolicBayesTree update(const SymbolicBayesTree& initial,
const boost::shared_ptr<SymbolicFactor>& newFactor) {
// create a factor graph with the new factor in it
// create an empty factor graph
SymbolicFactorGraph factorGraph;
factorGraph.push_back(newFactor);
// get the ELB clique
SymbolicBayesTree::sharedClique ELB = initial["B"];
@ -52,6 +51,9 @@ SymbolicBayesTree update(const SymbolicBayesTree& initial,
// add it to the factor graph
factorGraph = combine(factorGraph, SLB_factors);
// now add the new factor
factorGraph.push_back(newFactor);
// create an ordering ESLB
Ordering ordering;
ordering += "E","S","L","B";
@ -62,13 +64,14 @@ SymbolicBayesTree update(const SymbolicBayesTree& initial,
// turn back into a Bayes Tree
BayesTree<SymbolicConditional> newTree(bayesNet);
// add orphans to the bottom of the new tree
// get the ophan cliques
// get the orphan cliques
SymbolicBayesTree::sharedClique TEL = initial["T"];
SymbolicBayesTree::sharedClique XE = initial["X"];
// get clique from new tree to attach to
SymbolicBayesTree::sharedClique new_ELB = newTree["E"];
// add orphans to the bottom of the new tree
new_ELB->children_ += TEL,XE;
return newTree;
@ -85,7 +88,6 @@ TEST( BayesTree, iSAM )
bayesTree.insert(S);
bayesTree.insert(T);
bayesTree.insert(X);
//bayesTree.print("bayesTree");
// Create expected Bayes tree
SymbolicBayesTree expected;
@ -95,7 +97,6 @@ TEST( BayesTree, iSAM )
expected.insert(E);
expected.insert(T);
expected.insert(X);
//expected.print("expected");
// create a new factor to be inserted
list<string> keys;
@ -106,7 +107,7 @@ TEST( BayesTree, iSAM )
SymbolicBayesTree actual = update(bayesTree, newFactor);
// Check whether the same
// CHECK(assert_equal(expected,actual));
//CHECK(assert_equal(expected,actual));
}
/* ************************************************************************* */