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release/4.3a0
Richard Roberts 2012-05-24 20:11:45 +00:00
parent 9cf1d8649d
commit 8f43298d21
2 changed files with 18 additions and 18 deletions
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20
gtsam/linear/JacobianFactor.h
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@ -154,16 +154,16 @@ namespace gtsam {
Vector unweighted_error(const VectorValues& c) const; /** (A*x-b) */
Vector error_vector(const VectorValues& c) const; /** (A*x-b)/sigma */
virtual double error(const VectorValues& c) const; /** 0.5*(A*x-b)'*D*(A*x-b) */
/** Return the augmented information matrix represented by this GaussianFactor.
* The augmented information matrix contains the information matrix with an
* additional column holding the information vector, and an additional row
* holding the transpose of the information vector. The lower-right entry
* contains the constant error term (when \f$ \delta x = 0 \f$). The
* augmented information matrix is described in more detail in HessianFactor,
* which in fact stores an augmented information matrix.
*/
virtual Matrix computeInformation() const;
/** Return the augmented information matrix represented by this GaussianFactor.
* The augmented information matrix contains the information matrix with an
* additional column holding the information vector, and an additional row
* holding the transpose of the information vector. The lower-right entry
* contains the constant error term (when \f$ \delta x = 0 \f$). The
* augmented information matrix is described in more detail in HessianFactor,
* which in fact stores an augmented information matrix.
*/
virtual Matrix computeInformation() const;
/** Check if the factor contains no information, i.e. zero rows. This does
* not necessarily mean that the factor involves no variables (to check for

16
gtsam/nonlinear/ISAM2.cpp
View File

@ -348,7 +348,7 @@ boost::shared_ptr<FastSet<Index> > ISAM2::recalculate(
// Reeliminated keys for detailed results
if(params_.enableDetailedResults) {
BOOST_FOREACH(Key key, theta_.keys()) {
result.detail->variableStatus[key].isReeliminated = true;
result.detail->variableStatus[key].isReeliminated = true;
}
}
@ -372,7 +372,7 @@ boost::shared_ptr<FastSet<Index> > ISAM2::recalculate(
// Reeliminated keys for detailed results
if(params_.enableDetailedResults) {
BOOST_FOREACH(Index index, affectedAndNewKeys) {
result.detail->variableStatus[inverseOrdering_->at(index)].isReeliminated = true;
result.detail->variableStatus[inverseOrdering_->at(index)].isReeliminated = true;
}
}
@ -485,7 +485,7 @@ boost::shared_ptr<FastSet<Index> > ISAM2::recalculate(
// Root clique variables for detailed results
if(params_.enableDetailedResults) {
BOOST_FOREACH(Index index, this->root()->conditional()->frontals()) {
result.detail->variableStatus[inverseOrdering_->at(index)].inRootClique = true;
result.detail->variableStatus[inverseOrdering_->at(index)].inRootClique = true;
}
}
@ -572,7 +572,7 @@ ISAM2Result ISAM2::update(
// Observed keys for detailed results
if(params_.enableDetailedResults) {
BOOST_FOREACH(Index index, markedKeys) {
result.detail->variableStatus[inverseOrdering_->at(index)].isObserved = true;
result.detail->variableStatus[inverseOrdering_->at(index)].isObserved = true;
}
}
// NOTE: we use assign instead of the iterator constructor here because this
@ -732,10 +732,10 @@ Values ISAM2::calculateEstimate() const {
// We use ExpmapMasked here instead of regular expmap because the former
// handles Permuted<VectorValues>
tic(1, "Copy Values");
Values ret(theta_);
toc(1, "Copy Values");
tic(2, "getDelta");
const Permuted<VectorValues>& delta(getDelta());
Values ret(theta_);
toc(1, "Copy Values");
tic(2, "getDelta");
const Permuted<VectorValues>& delta(getDelta());
toc(2, "getDelta");
tic(3, "Expmap");
vector<bool> mask(ordering_.nVars(), true);