12345qiupeng
/
gtsam
1
0
Fork 0
Code Issues Pull Requests Packages Projects Releases Wiki Activity

Removed obsolete commented-out debug code

release/4.3a0
Richard Roberts 2013-02-05 21:52:48 +00:00
parent 5b96d1abf9
commit 97a6c3d94a
3 changed files with 0 additions and 28 deletions
Show Stats Download Patch File Download Diff File Expand all files Collapse all files

16
gtsam/inference/IndexConditional.cpp
View File

@ -33,14 +33,6 @@ namespace gtsam {
void IndexConditional::assertInvariants() const { void IndexConditional::assertInvariants() const {
// Checks for uniqueness of keys // Checks for uniqueness of keys
Base::assertInvariants(); Base::assertInvariants();
#ifndef NDEBUG
// Check that frontal keys are sorted
//FastSet<Index> uniquesorted(beginFrontals(), endFrontals());
//assert(uniquesorted.size() == nrFrontals() && std::equal(uniquesorted.begin(), uniquesorted.end(), beginFrontals()));
//// Check that separator keys are less than parent keys
////BOOST_FOREACH(Index j, frontals()) {
//// assert(find_if(beginParents(), endParents(), _1 < j) == endParents()); }
#endif
} }
/* ************************************************************************* */ /* ************************************************************************* */
@ -62,14 +54,6 @@ namespace gtsam {
/* ************************************************************************* */ /* ************************************************************************* */
void IndexConditional::permuteWithInverse(const Permutation& inversePermutation) { void IndexConditional::permuteWithInverse(const Permutation& inversePermutation) {
// The permutation may not move the separators into the frontals
// #ifndef NDEBUG
// BOOST_FOREACH(const KeyType frontal, this->frontals()) {
// BOOST_FOREACH(const KeyType separator, this->parents()) {
// assert(inversePermutation[frontal] < inversePermutation[separator]);
// }
// }
// #endif
BOOST_FOREACH(Index& key, keys()) BOOST_FOREACH(Index& key, keys())
key = inversePermutation[key]; key = inversePermutation[key];
assertInvariants(); assertInvariants();

6
gtsam/inference/IndexConditional.h
View File

@ -108,12 +108,6 @@ namespace gtsam {
/// @name Advanced Interface /// @name Advanced Interface
/// @{ /// @{
/** Permute the variables when only separator variables need to be permuted.
* Returns true if any reordered variables appeared in the separator and
* false if not.
*/
//bool permuteSeparatorWithInverse(const Permutation& inversePermutation);
/** Permute the variables when only separator variables need to be permuted. /** Permute the variables when only separator variables need to be permuted.
* Returns true if any reordered variables appeared in the separator and * Returns true if any reordered variables appeared in the separator and
* false if not. * false if not.

6
gtsam/nonlinear/ISAM2.h
View File

@ -405,12 +405,6 @@ public:
Base::permuteWithInverse(inversePermutation); Base::permuteWithInverse(inversePermutation);
} }
//bool permuteSeparatorWithInverse(const Permutation& inversePermutation) {
// bool changed = Base::permuteSeparatorWithInverse(inversePermutation);
// if(changed) if(cachedFactor_) cachedFactor_->permuteWithInverse(inversePermutation);
// return changed;
//}
bool reduceSeparatorWithInverse(const internal::Reduction& inverseReduction) { bool reduceSeparatorWithInverse(const internal::Reduction& inverseReduction) {
bool changed = Base::reduceSeparatorWithInverse(inverseReduction); bool changed = Base::reduceSeparatorWithInverse(inverseReduction);
if(changed) if(cachedFactor_) cachedFactor_->reduceWithInverse(inverseReduction); if(changed) if(cachedFactor_) cachedFactor_->reduceWithInverse(inverseReduction);