Some re-factoring (using BOOST_FOREACH to loop over string list), root is now NULL after removing root clique
Frank Dellaert
parent
1fd0404ec9
commit
82aae3c161
36
.cproject
36
.cproject
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@ -300,6 +300,7 @@
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<buildTargets>
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<target name="install" path="wrap" targetID="org.eclipse.cdt.build.MakeTargetBuilder">
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<buildCommand>make</buildCommand>
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<buildArguments/>
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<buildTarget>install</buildTarget>
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<stopOnError>true</stopOnError>
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<useDefaultCommand>true</useDefaultCommand>
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@ -307,6 +308,7 @@
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</target>
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<target name="check" path="wrap" targetID="org.eclipse.cdt.build.MakeTargetBuilder">
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<buildCommand>make</buildCommand>
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<buildArguments/>
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<buildTarget>check</buildTarget>
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<stopOnError>true</stopOnError>
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<useDefaultCommand>true</useDefaultCommand>
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@ -322,6 +324,7 @@
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</target>
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<target name="testSimpleCamera.run" path="cpp" targetID="org.eclipse.cdt.build.MakeTargetBuilder">
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<buildCommand>make</buildCommand>
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<buildArguments/>
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<buildTarget>testSimpleCamera.run</buildTarget>
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<stopOnError>true</stopOnError>
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<useDefaultCommand>true</useDefaultCommand>
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@ -337,7 +340,6 @@
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</target>
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<target name="testVSLAMFactor.run" path="cpp" targetID="org.eclipse.cdt.build.MakeTargetBuilder">
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<buildCommand>make</buildCommand>
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<buildArguments/>
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<buildTarget>testVSLAMFactor.run</buildTarget>
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<stopOnError>true</stopOnError>
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<useDefaultCommand>true</useDefaultCommand>
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@ -345,6 +347,7 @@
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</target>
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<target name="testCalibratedCamera.run" path="cpp" targetID="org.eclipse.cdt.build.MakeTargetBuilder">
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<buildCommand>make</buildCommand>
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<buildArguments/>
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<buildTarget>testCalibratedCamera.run</buildTarget>
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<stopOnError>true</stopOnError>
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<useDefaultCommand>true</useDefaultCommand>
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@ -352,7 +355,6 @@
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</target>
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<target name="testGaussianConditional.run" path="cpp" targetID="org.eclipse.cdt.build.MakeTargetBuilder">
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<buildCommand>make</buildCommand>
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<buildArguments/>
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<buildTarget>testGaussianConditional.run</buildTarget>
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<stopOnError>true</stopOnError>
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<useDefaultCommand>true</useDefaultCommand>
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@ -360,6 +362,7 @@
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</target>
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<target name="testPose2.run" path="cpp" targetID="org.eclipse.cdt.build.MakeTargetBuilder">
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<buildCommand>make</buildCommand>
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<buildArguments/>
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<buildTarget>testPose2.run</buildTarget>
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<stopOnError>true</stopOnError>
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<useDefaultCommand>true</useDefaultCommand>
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@ -367,6 +370,7 @@
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</target>
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<target name="testRot3.run" path="cpp" targetID="org.eclipse.cdt.build.MakeTargetBuilder">
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<buildCommand>make</buildCommand>
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<buildArguments/>
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<buildTarget>testRot3.run</buildTarget>
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<stopOnError>true</stopOnError>
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<useDefaultCommand>true</useDefaultCommand>
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@ -374,7 +378,6 @@
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</target>
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<target name="testNonlinearOptimizer.run" path="cpp" targetID="org.eclipse.cdt.build.MakeTargetBuilder">
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<buildCommand>make</buildCommand>
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<buildArguments/>
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<buildTarget>testNonlinearOptimizer.run</buildTarget>
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<stopOnError>true</stopOnError>
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<useDefaultCommand>true</useDefaultCommand>
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@ -382,6 +385,7 @@
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</target>
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<target name="testGaussianFactor.run" path="cpp" targetID="org.eclipse.cdt.build.MakeTargetBuilder">
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<buildCommand>make</buildCommand>
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<buildArguments/>
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<buildTarget>testGaussianFactor.run</buildTarget>
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<stopOnError>true</stopOnError>
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<useDefaultCommand>true</useDefaultCommand>
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@ -389,6 +393,7 @@
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</target>
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<target name="testGaussianFactorGraph.run" path="cpp" targetID="org.eclipse.cdt.build.MakeTargetBuilder">
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<buildCommand>make</buildCommand>
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<buildArguments/>
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<buildTarget>testGaussianFactorGraph.run</buildTarget>
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<stopOnError>true</stopOnError>
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<useDefaultCommand>true</useDefaultCommand>
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@ -396,7 +401,6 @@
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</target>
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<target name="testNonlinearFactorGraph.run" path="cpp" targetID="org.eclipse.cdt.build.MakeTargetBuilder">
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<buildCommand>make</buildCommand>
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<buildArguments/>
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<buildTarget>testNonlinearFactorGraph.run</buildTarget>
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<stopOnError>true</stopOnError>
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<useDefaultCommand>true</useDefaultCommand>
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@ -404,6 +408,7 @@
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</target>
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<target name="testPose3.run" path="cpp" targetID="org.eclipse.cdt.build.MakeTargetBuilder">
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<buildCommand>make</buildCommand>
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<buildArguments/>
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<buildTarget>testPose3.run</buildTarget>
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<stopOnError>true</stopOnError>
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<useDefaultCommand>true</useDefaultCommand>
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@ -411,7 +416,6 @@
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</target>
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<target name="testVectorConfig.run" path="cpp" targetID="org.eclipse.cdt.build.MakeTargetBuilder">
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<buildCommand>make</buildCommand>
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<buildArguments/>
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<buildTarget>testVectorConfig.run</buildTarget>
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<stopOnError>true</stopOnError>
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<useDefaultCommand>true</useDefaultCommand>
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@ -419,7 +423,6 @@
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</target>
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<target name="testPoint2.run" path="cpp" targetID="org.eclipse.cdt.build.MakeTargetBuilder">
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<buildCommand>make</buildCommand>
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<buildArguments/>
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<buildTarget>testPoint2.run</buildTarget>
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<stopOnError>true</stopOnError>
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<useDefaultCommand>true</useDefaultCommand>
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@ -427,6 +430,7 @@
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</target>
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<target name="testNonlinearFactor.run" path="cpp" targetID="org.eclipse.cdt.build.MakeTargetBuilder">
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<buildCommand>make</buildCommand>
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<buildArguments/>
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<buildTarget>testNonlinearFactor.run</buildTarget>
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<stopOnError>true</stopOnError>
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<useDefaultCommand>true</useDefaultCommand>
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@ -434,6 +438,7 @@
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</target>
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<target name="timeGaussianFactor.run" path="cpp" targetID="org.eclipse.cdt.build.MakeTargetBuilder">
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<buildCommand>make</buildCommand>
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<buildArguments/>
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<buildTarget>timeGaussianFactor.run</buildTarget>
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<stopOnError>true</stopOnError>
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<useDefaultCommand>true</useDefaultCommand>
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@ -441,6 +446,7 @@
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</target>
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<target name="timeGaussianFactorGraph.run" path="cpp" targetID="org.eclipse.cdt.build.MakeTargetBuilder">
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<buildCommand>make</buildCommand>
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<buildArguments/>
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<buildTarget>timeGaussianFactorGraph.run</buildTarget>
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<stopOnError>true</stopOnError>
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<useDefaultCommand>true</useDefaultCommand>
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@ -448,6 +454,7 @@
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</target>
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<target name="testGaussianBayesNet.run" path="cpp" targetID="org.eclipse.cdt.build.MakeTargetBuilder">
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<buildCommand>make</buildCommand>
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<buildArguments/>
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<buildTarget>testGaussianBayesNet.run</buildTarget>
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<stopOnError>true</stopOnError>
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<useDefaultCommand>true</useDefaultCommand>
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@ -455,7 +462,6 @@
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</target>
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<target name="testBayesTree.run" path="cpp" targetID="org.eclipse.cdt.build.MakeTargetBuilder">
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<buildCommand>make</buildCommand>
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<buildArguments/>
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<buildTarget>testBayesTree.run</buildTarget>
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<stopOnError>true</stopOnError>
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<useDefaultCommand>false</useDefaultCommand>
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@ -463,6 +469,7 @@
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</target>
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<target name="testSymbolicBayesNet.run" path="cpp" targetID="org.eclipse.cdt.build.MakeTargetBuilder">
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<buildCommand>make</buildCommand>
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<buildArguments/>
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<buildTarget>testSymbolicBayesNet.run</buildTarget>
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<stopOnError>true</stopOnError>
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<useDefaultCommand>false</useDefaultCommand>
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@ -470,7 +477,6 @@
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</target>
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<target name="testSymbolicFactorGraph.run" path="cpp" targetID="org.eclipse.cdt.build.MakeTargetBuilder">
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<buildCommand>make</buildCommand>
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<buildArguments/>
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<buildTarget>testSymbolicFactorGraph.run</buildTarget>
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<stopOnError>true</stopOnError>
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<useDefaultCommand>false</useDefaultCommand>
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@ -478,6 +484,7 @@
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</target>
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<target name="testVector.run" path="cpp" targetID="org.eclipse.cdt.build.MakeTargetBuilder">
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<buildCommand>make</buildCommand>
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<buildArguments/>
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<buildTarget>testVector.run</buildTarget>
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<stopOnError>true</stopOnError>
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<useDefaultCommand>true</useDefaultCommand>
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@ -485,22 +492,21 @@
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</target>
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<target name="testMatrix.run" path="cpp" targetID="org.eclipse.cdt.build.MakeTargetBuilder">
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<buildCommand>make</buildCommand>
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<buildArguments/>
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<buildTarget>testMatrix.run</buildTarget>
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<stopOnError>true</stopOnError>
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<useDefaultCommand>true</useDefaultCommand>
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<runAllBuilders>true</runAllBuilders>
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</target>
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<target name="testInference.run" path="cpp" targetID="org.eclipse.cdt.build.MakeTargetBuilder">
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<target name="testIncremental.run" path="cpp" targetID="org.eclipse.cdt.build.MakeTargetBuilder">
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<buildCommand>make</buildCommand>
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<buildArguments/>
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<buildTarget>testInference.run</buildTarget>
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<buildTarget>testIncremental.run</buildTarget>
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<stopOnError>true</stopOnError>
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<useDefaultCommand>true</useDefaultCommand>
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<runAllBuilders>true</runAllBuilders>
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</target>
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<target name="testVSLAMGraph.run" path="cpp" targetID="org.eclipse.cdt.build.MakeTargetBuilder">
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<buildCommand>make</buildCommand>
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<buildArguments/>
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<buildTarget>testVSLAMGraph.run</buildTarget>
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<stopOnError>true</stopOnError>
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<useDefaultCommand>true</useDefaultCommand>
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@ -508,7 +514,6 @@
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</target>
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<target name="testNonlinearEquality.run" path="cpp" targetID="org.eclipse.cdt.build.MakeTargetBuilder">
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<buildCommand>make</buildCommand>
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<buildArguments/>
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<buildTarget>testNonlinearEquality.run</buildTarget>
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<stopOnError>true</stopOnError>
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<useDefaultCommand>true</useDefaultCommand>
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@ -516,6 +521,7 @@
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</target>
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<target name="testSQP.run" path="cpp" targetID="org.eclipse.cdt.build.MakeTargetBuilder">
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<buildCommand>make</buildCommand>
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<buildArguments/>
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<buildTarget>testSQP.run</buildTarget>
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<stopOnError>true</stopOnError>
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<useDefaultCommand>true</useDefaultCommand>
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@ -523,7 +529,6 @@
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</target>
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<target name="testNonlinearConstraint.run" path="cpp" targetID="org.eclipse.cdt.build.MakeTargetBuilder">
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<buildCommand>make</buildCommand>
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<buildArguments/>
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<buildTarget>testNonlinearConstraint.run</buildTarget>
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<stopOnError>true</stopOnError>
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<useDefaultCommand>true</useDefaultCommand>
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@ -531,7 +536,6 @@
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</target>
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<target name="install" path="" targetID="org.eclipse.cdt.build.MakeTargetBuilder">
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<buildCommand>make</buildCommand>
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<buildArguments/>
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<buildTarget>install</buildTarget>
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<stopOnError>true</stopOnError>
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<useDefaultCommand>true</useDefaultCommand>
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@ -539,7 +543,6 @@
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</target>
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<target name="clean" path="" targetID="org.eclipse.cdt.build.MakeTargetBuilder">
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<buildCommand>make</buildCommand>
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<buildArguments/>
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<buildTarget>clean</buildTarget>
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<stopOnError>true</stopOnError>
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<useDefaultCommand>true</useDefaultCommand>
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@ -547,7 +550,6 @@
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</target>
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<target name="check" path="" targetID="org.eclipse.cdt.build.MakeTargetBuilder">
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<buildCommand>make</buildCommand>
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<buildArguments/>
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<buildTarget>check</buildTarget>
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<stopOnError>true</stopOnError>
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<useDefaultCommand>true</useDefaultCommand>
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@ -187,17 +187,16 @@ namespace gtsam {
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/* ************************************************************************* */
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template<class Conditional>
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void BayesTree<Conditional>::removeClique(sharedClique clique) {
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if (!clique->isRoot())
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if (clique->isRoot())
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root_.reset();
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else // detach clique from parent
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clique->parent_->children_.remove(clique);
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else {
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// we remove the root clique: have to make another clique the root
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if (clique->children_.empty())
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root_.reset();
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else
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root_ = *(clique->children_.begin());
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}
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BOOST_FOREACH(sharedClique child, clique->children_)
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// orphan my children
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BOOST_FOREACH(sharedClique child, clique->children_)
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child->parent_.reset();
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BOOST_FOREACH(std::string key, clique->ordering())
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nodes_.erase(key);
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}
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@ -18,6 +18,7 @@ using namespace boost::assign;
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#include "BayesTree-inl.h"
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#include "smallExample.h"
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using namespace std;
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using namespace gtsam;
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typedef BayesTree<SymbolicConditional> SymbolicBayesTree;
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@ -32,7 +33,7 @@ SymbolicBayesTree update(const SymbolicBayesTree& initial,
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SymbolicFactorGraph factorGraph;
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// the list of orphaned subtrees
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std::list<SymbolicBayesTree::sharedClique> orphans;
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list<SymbolicBayesTree::sharedClique> orphans;
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// process each key of the new factor
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BOOST_FOREACH(string key, newFactor->keys()) {
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@ -73,27 +74,26 @@ SymbolicBayesTree update(const SymbolicBayesTree& initial,
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// add orphans to the bottom of the new tree
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BOOST_FOREACH(SymbolicBayesTree::sharedClique orphan, orphans) {
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std::list<std::string>::const_iterator it = orphan->separator_.begin();
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for (; it != orphan->separator_.end(); it++) {
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BOOST_FOREACH(string key1, orphan->separator_) {
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// get clique from new tree to attach to
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SymbolicBayesTree::sharedClique clique = newTree[*it];
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SymbolicBayesTree::sharedClique candidateParent = newTree[key1];
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// check if all conditionals in there, only add once
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bool is_subset = true;
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std::list<std::string>::const_iterator it2 = orphan->separator_.begin();
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for (; it2 != orphan->separator_.end(); it2++) {
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// if any one is not included, then we have to stop and search for another clique
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std::list<std::string> keys = clique->keys();
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if (find(keys.begin(), keys.end(), *it2) == keys.end()) {
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BOOST_FOREACH(string key2, orphan->separator_) {
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// if any one not included, then we have to stop and search for another clique
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list<string> keys = candidateParent->keys();
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if (find(keys.begin(), keys.end(), key2) == keys.end()) {
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is_subset = false;
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break;
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}
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}
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// this clique contains all the keys of the orphan, so we can add the orphan as a child todo: what about the tree below the orphan?
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// this clique contains all the keys of the orphan,
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// so we can add the orphan as a child
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// todo: what about the tree below the orphan?
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if (is_subset) {
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clique->children_ += orphan;
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candidateParent->children_ += orphan;
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break;
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}
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}
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Reference in New Issue