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Moved pre-sync code to the update() call for the cuncurrent smoother

release/4.3a0
Stephen Williams 2013-05-09 18:59:22 +00:00
parent 93149ae5f2
commit 7d03d3c502
1 changed files with 10 additions and 9 deletions
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19
gtsam_unstable/nonlinear/ConcurrentBatchSmoother.cpp
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@ -87,6 +87,16 @@ ConcurrentBatchSmoother::Result ConcurrentBatchSmoother::update(const NonlinearF
gttoc(optimize);
}
// TODO: The following code does considerable work, much of which could be redundant given the previous optimization step
// Refactor this code to reduce computational burden
// Calculate the marginal on the separator from the smoother factors
if(separatorValues_.size() > 0) {
gttic(presync);
updateSmootherSummarization();
gttoc(presync);
}
gttoc(update);
return result;
@ -97,15 +107,6 @@ void ConcurrentBatchSmoother::presync() {
gttic(presync);
// TODO: Don't let the length of this code fool you. There is considerable work being done here.
// When we start multi-threading the filter and smoother, it would be ideal if the pre-sync stage
// could happen before the filter is stopped.
// Calculate the marginal on the separator from the smoother factors
if(separatorValues_.size() > 0) {
updateSmootherSummarization();
}
gttoc(presync);
}