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Fixed GaussianConditional equals hiding warning

release/4.3a0
Richard Roberts 2013-09-03 13:51:24 +00:00
parent e1e0591b38
commit 95f8b3bf2e
2 changed files with 32 additions and 25 deletions
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55
gtsam/linear/GaussianConditional.cpp
View File

@ -74,39 +74,46 @@ namespace gtsam {
}
/* ************************************************************************* */
bool GaussianConditional::equals(const GaussianConditional &c, double tol) const
bool GaussianConditional::equals(const GaussianFactor& f, double tol) const
{
// check if the size of the parents_ map is the same
if (parents().size() != c.parents().size())
return false;
if (const GaussianConditional* c = dynamic_cast<const GaussianConditional*>(&f))
{
// check if the size of the parents_ map is the same
if (parents().size() != c->parents().size())
return false;
// check if R_ and d_ are linear independent
for (DenseIndex i=0; i<Ab_.rows(); i++) {
list<Vector> rows1; rows1.push_back(Vector(get_R().row(i)));
list<Vector> rows2; rows2.push_back(Vector(c.get_R().row(i)));
// check if R_ and d_ are linear independent
for (DenseIndex i = 0; i < Ab_.rows(); i++) {
list<Vector> rows1; rows1.push_back(Vector(get_R().row(i)));
list<Vector> rows2; rows2.push_back(Vector(c->get_R().row(i)));
// check if the matrices are the same
// iterate over the parents_ map
for (const_iterator it = beginParents(); it != endParents(); ++it) {
const_iterator it2 = c.beginParents() + (it-beginParents());
if(*it != *(it2))
// check if the matrices are the same
// iterate over the parents_ map
for (const_iterator it = beginParents(); it != endParents(); ++it) {
const_iterator it2 = c->beginParents() + (it - beginParents());
if (*it != *(it2))
return false;
rows1.push_back(row(getA(it), i));
rows2.push_back(row(c->getA(it2), i));
}
Vector row1 = concatVectors(rows1);
Vector row2 = concatVectors(rows2);
if (!linear_dependent(row1, row2, tol))
return false;
rows1.push_back(row(getA(it), i));
rows2.push_back(row(c.getA(it2), i));
}
Vector row1 = concatVectors(rows1);
Vector row2 = concatVectors(rows2);
if (!linear_dependent(row1, row2, tol))
// check if sigmas are equal
if ((model_ && !c->model_) || (!model_ && c->model_)
|| (model_ && c->model_ && !model_->equals(*c->model_, tol)))
return false;
return true;
}
// check if sigmas are equal
if ((model_ && !c.model_) || (!model_ && c.model_)
|| (model_ && c.model_ && !model_->equals(*c.model_, tol)))
else
{
return false;
return true;
}
}
/* ************************************************************************* */

2
gtsam/linear/GaussianConditional.h
View File

@ -91,7 +91,7 @@ namespace gtsam {
const KeyFormatter& formatter = DefaultKeyFormatter) const;
/** equals function */
bool equals(const GaussianConditional&cg, double tol = 1e-9) const;
bool equals(const GaussianFactor&cg, double tol = 1e-9) const;
/** Return a view of the upper-triangular R block of the conditional */
constABlock get_R() const { return Ab_.range(0, nrFrontals()); }