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Made error a method again: all checks, let me know if project throw errors

release/4.3a0
Frank Dellaert 2011-10-21 05:36:30 +00:00
parent ce5751e454
commit 8535b13809
2 changed files with 21 additions and 24 deletions
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21
gtsam/linear/GaussianFactorGraph.h
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@ -32,17 +32,6 @@ namespace gtsam {
struct SharedDiagonal; struct SharedDiagonal;
/** unnormalized error
* \todo Make this a member function - affects SubgraphPreconditioner */
template<class FACTOR>
double gaussianError(const FactorGraph<FACTOR>& fg, const VectorValues& x) {
double total_error = 0.;
BOOST_FOREACH(const typename FACTOR::shared_ptr& factor, fg) {
total_error += factor->error(x);
}
return total_error;
}
/** return A*x-b /** return A*x-b
* \todo Make this a member function - affects SubgraphPreconditioner */ * \todo Make this a member function - affects SubgraphPreconditioner */
template<class FACTOR> template<class FACTOR>
@ -131,9 +120,17 @@ namespace gtsam {
/** Permute the variables in the factors */ /** Permute the variables in the factors */
void permuteWithInverse(const Permutation& inversePermutation); void permuteWithInverse(const Permutation& inversePermutation);
/** unnormalized error */
double error(const VectorValues& x) const {
double total_error = 0.;
BOOST_FOREACH(const sharedFactor& factor, *this)
total_error += factor->error(x);
return total_error;
}
/** Unnormalized probability. O(n) */ /** Unnormalized probability. O(n) */
double probPrime(const VectorValues& c) const { double probPrime(const VectorValues& c) const {
return exp(-0.5 * gaussianError(*this, c)); return exp(-0.5 * error(c));
} }
/** /**

24
tests/testGaussianFactorGraph.cpp
View File

@ -54,17 +54,17 @@ TEST( GaussianFactorGraph, equals ) {
} }
/* ************************************************************************* */ /* ************************************************************************* */
TEST( GaussianFactorGraph, error ) { //TEST( GaussianFactorGraph, error ) {
Ordering ordering; ordering += "x1","x2","l1"; // Ordering ordering; ordering += "x1","x2","l1";
FactorGraph<JacobianFactor> fg = createGaussianFactorGraph(ordering); // FactorGraph<JacobianFactor> fg = createGaussianFactorGraph(ordering);
VectorValues cfg = createZeroDelta(ordering); // VectorValues cfg = createZeroDelta(ordering);
//
// note the error is the same as in testNonlinearFactorGraph as a // // note the error is the same as in testNonlinearFactorGraph as a
// zero delta config in the linear graph is equivalent to noisy in // // zero delta config in the linear graph is equivalent to noisy in
// non-linear, which is really linear under the hood // // non-linear, which is really linear under the hood
double actual = gaussianError(fg, cfg); // double actual = fg.error(cfg);
DOUBLES_EQUAL( 5.625, actual, 1e-9 ); // DOUBLES_EQUAL( 5.625, actual, 1e-9 );
} //}
/* ************************************************************************* */ /* ************************************************************************* */
/* unit test for find seperator */ /* unit test for find seperator */
@ -666,7 +666,7 @@ double error(const VectorValues& x) {
Ordering ord; ord += "x2","l1","x1"; Ordering ord; ord += "x2","l1","x1";
GaussianFactorGraph fg = createGaussianFactorGraph(ord); GaussianFactorGraph fg = createGaussianFactorGraph(ord);
return gaussianError(fg,x); return fg.error(x);
} }
///* ************************************************************************* */ ///* ************************************************************************* */