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solve is now const

release/4.3a0
Frank Dellaert 2009-08-27 01:23:05 +00:00
parent 4911fbd6ff
commit af6d98253f
3 changed files with 19 additions and 13 deletions
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8
.cproject
View File

@ -335,6 +335,14 @@
<useDefaultCommand>true</useDefaultCommand> <useDefaultCommand>true</useDefaultCommand>
<runAllBuilders>true</runAllBuilders> <runAllBuilders>true</runAllBuilders>
</target> </target>
<target name="testConditionalGaussian.run" path="cpp" targetID="org.eclipse.cdt.build.MakeTargetBuilder">
<buildCommand>make</buildCommand>
<buildArguments></buildArguments>
<buildTarget>testConditionalGaussian.run</buildTarget>
<stopOnError>true</stopOnError>
<useDefaultCommand>true</useDefaultCommand>
<runAllBuilders>true</runAllBuilders>
</target>
<target name="install" path="" targetID="org.eclipse.cdt.build.MakeTargetBuilder"> <target name="install" path="" targetID="org.eclipse.cdt.build.MakeTargetBuilder">
<buildCommand>make</buildCommand> <buildCommand>make</buildCommand>
<buildArguments></buildArguments> <buildArguments></buildArguments>

22
cpp/ConditionalGaussian.cpp
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@ -54,18 +54,16 @@ void ConditionalGaussian::print(const string &s) const
} }
/* ************************************************************************* */ /* ************************************************************************* */
Vector ConditionalGaussian::solve(const FGConfig& x) Vector ConditionalGaussian::solve(const FGConfig& x) const {
{ Vector rhs = d_;
Vector rhs = d_; for (map<string, Matrix>::const_iterator it = parents_.begin(); it
for(map<string, Matrix>::const_iterator it = parents_.begin() ; it != parents_.end() ; it++ ) { != parents_.end(); it++) {
const string& j = it->first; const string& j = it->first;
const Matrix& Aj = it->second; const Matrix& Aj = it->second;
rhs -= Aj*x[j]; rhs -= Aj * x[j];
}
} Vector result = backsubstitution(R_, rhs);
Vector result = backsubstitution(R_, rhs); return result;
return result;
} }
/* ************************************************************************* */ /* ************************************************************************* */

2
cpp/ConditionalGaussian.h
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@ -107,7 +107,7 @@ namespace gtsam {
* @param x configuration in which the parents values (y,z,...) are known * @param x configuration in which the parents values (y,z,...) are known
* @return solution x = R \ (d - Sy - Tz - ...) * @return solution x = R \ (d - Sy - Tz - ...)
*/ */
Vector solve(const FGConfig& x); Vector solve(const FGConfig& x) const;
/** /**
* adds a parent * adds a parent