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

15
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 // Conditionals for ASIA example from the tutorial with A and D evidence
SymbolicConditional::shared_ptr B(new SymbolicConditional("B")), L( SymbolicConditional::shared_ptr B(new SymbolicConditional("B")), L(
new SymbolicConditional("L", "B")), E( 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( "L", "B")), T(new SymbolicConditional("T", "E", "L")), X(
new SymbolicConditional("X", "E")); new SymbolicConditional("X", "E"));
@ -34,9 +34,8 @@ SymbolicConditional::shared_ptr B(new SymbolicConditional("B")), L(
SymbolicBayesTree update(const SymbolicBayesTree& initial, SymbolicBayesTree update(const SymbolicBayesTree& initial,
const boost::shared_ptr<SymbolicFactor>& newFactor) { const boost::shared_ptr<SymbolicFactor>& newFactor) {
// create a factor graph with the new factor in it // create an empty factor graph
SymbolicFactorGraph factorGraph; SymbolicFactorGraph factorGraph;
factorGraph.push_back(newFactor);
// get the ELB clique // get the ELB clique
SymbolicBayesTree::sharedClique ELB = initial["B"]; SymbolicBayesTree::sharedClique ELB = initial["B"];
@ -52,6 +51,9 @@ SymbolicBayesTree update(const SymbolicBayesTree& initial,
// add it to the factor graph // add it to the factor graph
factorGraph = combine(factorGraph, SLB_factors); factorGraph = combine(factorGraph, SLB_factors);
// now add the new factor
factorGraph.push_back(newFactor);
// create an ordering ESLB // create an ordering ESLB
Ordering ordering; Ordering ordering;
ordering += "E","S","L","B"; ordering += "E","S","L","B";
@ -62,13 +64,14 @@ SymbolicBayesTree update(const SymbolicBayesTree& initial,
// turn back into a Bayes Tree // turn back into a Bayes Tree
BayesTree<SymbolicConditional> newTree(bayesNet); BayesTree<SymbolicConditional> newTree(bayesNet);
// add orphans to the bottom of the new tree // get the orphan cliques
// get the ophan cliques
SymbolicBayesTree::sharedClique TEL = initial["T"]; SymbolicBayesTree::sharedClique TEL = initial["T"];
SymbolicBayesTree::sharedClique XE = initial["X"]; SymbolicBayesTree::sharedClique XE = initial["X"];
// get clique from new tree to attach to // get clique from new tree to attach to
SymbolicBayesTree::sharedClique new_ELB = newTree["E"]; SymbolicBayesTree::sharedClique new_ELB = newTree["E"];
// add orphans to the bottom of the new tree
new_ELB->children_ += TEL,XE; new_ELB->children_ += TEL,XE;
return newTree; return newTree;
@ -85,7 +88,6 @@ TEST( BayesTree, iSAM )
bayesTree.insert(S); bayesTree.insert(S);
bayesTree.insert(T); bayesTree.insert(T);
bayesTree.insert(X); bayesTree.insert(X);
//bayesTree.print("bayesTree");
// Create expected Bayes tree // Create expected Bayes tree
SymbolicBayesTree expected; SymbolicBayesTree expected;
@ -95,7 +97,6 @@ TEST( BayesTree, iSAM )
expected.insert(E); expected.insert(E);
expected.insert(T); expected.insert(T);
expected.insert(X); expected.insert(X);
//expected.print("expected");
// create a new factor to be inserted // create a new factor to be inserted
list<string> keys; list<string> keys;