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

Removed commented-out code

release/4.3a0
Richard Roberts 2012-08-22 22:40:31 +00:00
parent dc884edceb
commit a5d7695fac
1 changed files with 0 additions and 53 deletions
Show Stats Download Patch File Download Diff File Expand all files Collapse all files

53
gtsam/linear/JacobianFactor.cpp
View File

@ -501,59 +501,6 @@ namespace gtsam {
// Start of next part
model_ = noiseModel;
return splitConditional(nrFrontals);
// // Check for singular factor
// if(noiseModel->dim() < frontalDim) {
// throw domain_error((boost::format(
// "JacobianFactor is singular in variable %1%, discovered while attempting\n"
// "to eliminate this variable.") % front()).str());
// }
//
// // Extract conditional
// tic(3, "cond Rd");
//
// // Restrict the matrix to be in the first nrFrontals variables
// Ab_.rowEnd() = Ab_.rowStart() + frontalDim;
// const Eigen::VectorBlock<const Vector> sigmas = noiseModel->sigmas().segment(Ab_.rowStart(), Ab_.rowEnd()-Ab_.rowStart());
// GaussianConditional::shared_ptr conditional(new GaussianConditional(begin(), end(), nrFrontals, Ab_, sigmas));
// if(debug) conditional->print("Extracted conditional: ");
// Ab_.rowStart() += frontalDim;
// Ab_.firstBlock() += nrFrontals;
// toc(3, "cond Rd");
//
// if(debug) conditional->print("Extracted conditionals: ");
//
// tic(4, "remaining factor");
// // Take lower-right block of Ab to get the new factor
// Ab_.rowEnd() = noiseModel->dim();
// keys_.erase(begin(), begin() + nrFrontals);
// // Set sigmas with the right model
// if (noiseModel->isConstrained())
// model_ = noiseModel::Constrained::MixedSigmas(sub(noiseModel->sigmas(), frontalDim, noiseModel->dim()));
// else
// model_ = noiseModel::Diagonal::Sigmas(sub(noiseModel->sigmas(), frontalDim, noiseModel->dim()));
// if(debug) this->print("Eliminated factor: ");
// assert(Ab_.rows() <= Ab_.cols()-1);
// toc(4, "remaining factor");
//
// // todo SL: deal with "dead" pivot columns!!!
// tic(5, "rowstarts");
// size_t varpos = 0;
// firstNonzeroBlocks_.resize(this->rows());
// for(size_t row=0; row<rows(); ++row) {
// if(debug) cout << "row " << row << " varpos " << varpos << " Ab_.offset(varpos)=" << Ab_.offset(varpos) << " Ab_.offset(varpos+1)=" << Ab_.offset(varpos+1) << endl;
// while(varpos < this->size() && Ab_.offset(varpos+1)-Ab_.offset(0) <= row)
// ++ varpos;
// firstNonzeroBlocks_[row] = varpos;
// if(debug) cout << "firstNonzeroVars_[" << row << "] = " << firstNonzeroBlocks_[row] << endl;
// }
// toc(5, "rowstarts");
//
// if(debug) print("Eliminated factor: ");
//
// assertInvariants();
//
// return conditional;
}
/* ************************************************************************* */