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Some template magic and boost:tie cleared up the compile issues in removePath

release/4.3a0
Frank Dellaert 2009-11-22 16:04:51 +00:00
parent 4449cfd30c
commit 7ce62f1626
3 changed files with 31 additions and 30 deletions
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43
cpp/BayesTree-inl.h
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@ -197,7 +197,7 @@ namespace gtsam {
BOOST_FOREACH(sharedClique child, clique->children_)
child->parent_.reset();
BOOST_FOREACH(std::string key, clique->ordering())
BOOST_FOREACH(string key, clique->ordering())
nodes_.erase(key);
}
@ -311,7 +311,7 @@ namespace gtsam {
template<class Conditional>
template<class Factor>
FactorGraph<Factor>
BayesTree<Conditional>::joint(const std::string& key1, const std::string& key2) const {
BayesTree<Conditional>::joint(const string& key1, const string& key2) const {
// get clique C1 and C2
sharedClique C1 = (*this)[key1], C2 = (*this)[key2];
@ -334,7 +334,7 @@ namespace gtsam {
template<class Conditional>
template<class Factor>
BayesNet<Conditional>
BayesTree<Conditional>::jointBayesNet(const std::string& key1, const std::string& key2) const {
BayesTree<Conditional>::jointBayesNet(const string& key1, const string& key2) const {
// calculate marginal as a factor graph
FactorGraph<Factor> fg = this->joint<Factor>(key1,key2);
@ -344,32 +344,33 @@ namespace gtsam {
ordering += key1, key2;
return eliminate<Factor,Conditional>(fg,ordering);
}
#if 0
/* ************************************************************************* */
template<class Conditional>
template<class Factor>
std::pair<FactorGraph<Factor>, std::list<sharedClique> >
pair<FactorGraph<Factor>, list<typename BayesTree<Conditional>::sharedClique> >
BayesTree<Conditional>::removePath(sharedClique clique) {
// base case is NULL, return empty factor graph
if (clique==NULL) {
list<sharedClique> orphans;
return make_pair<FactorGraph<Factor>(), orphans>;
FactorGraph<Factor> factors;
list<sharedClique> orphans;
// base case is NULL, if so we do nothing and return empties above
if (clique!=NULL) {
// remove path above me
boost::tie(factors,orphans) = removePath<Factor>(clique->parent_);
// add children to list of orphans
orphans.insert(orphans.begin(), clique->children_.begin(), clique->children_.end());
// remove me and add my factors
removeClique(clique);
factors.push_back(*clique);
}
// remove path above me
std::pair<FactorGraph<Factor>, std::list<sharedClique> > factors_orphans = removePath<Factor>(clique->parent_);
// add children to list of orphans
factors_orphans.second.insert(factors_orphans.second.begin(), clique->children_.begin(), clique->children_.end());
// remove me and add my factors
removeClique(clique);
factors.push_back(*clique);
return factors_orphans;
return make_pair(factors,orphans);
}
#endif
/* ************************************************************************* */
}

4
cpp/BayesTree.h
View File

@ -154,11 +154,11 @@ namespace gtsam {
/** return joint on two variables as a BayesNet */
template<class Factor>
BayesNet<Conditional> jointBayesNet(const std::string& key1, const std::string& key2) const;
#if 0
/** Remove path from clique to root and return that path as factors plus a list of orphaned subtree roots */
template<class Factor>
std::pair<FactorGraph<Factor>, std::list<sharedClique> > removePath(sharedClique clique);
#endif
}; // BayesTree
} /// namespace gtsam

14
cpp/testBayesTree.cpp
View File

@ -331,18 +331,18 @@ TEST( BayesTree, removePath )
expected.push_factor("A","B");
expected.push_factor("A");
expected.push_factor("A","C");
#if 0
std::pair<FactorGraph<Factor>, std::list<sharedClique> > actual =
bayesTree.removePath<SymbolicFactor>(bayesTree["C"]);
CHECK(assert_equal(expected, actual.first));
FactorGraph<SymbolicFactor> factors;
list<SymbolicBayesTree::sharedClique> orphans;
boost::tie(factors,orphans) = bayesTree.removePath<SymbolicFactor>(bayesTree["C"]);
CHECK(assert_equal((FactorGraph<SymbolicFactor>)expected, factors));
// remove E: factor graph with EB; E|B removed from second orphan tree
SymbolicFactorGraph expected3;
expected3.push_factor("B","E");
actual = bayesTree.removePath<SymbolicFactor>(bayesTree["E"]);
CHECK(assert_equal(expected3, actual.first));
#endif
boost::tie(factors,orphans) = bayesTree.removePath<SymbolicFactor>(bayesTree["E"]);
CHECK(assert_equal((FactorGraph<SymbolicFactor>)expected3, factors));
}
/* ************************************************************************* */