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traits

release/4.3a0
dellaert 2015-02-22 06:32:55 +01:00
parent b0974d6f41
commit c1a4409e89
1 changed files with 14 additions and 6 deletions
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20
gtsam/slam/JacobianFactorQ.h
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@ -35,15 +35,16 @@ public:
} }
/// Empty constructor with keys /// Empty constructor with keys
JacobianFactorQ(const FastVector<Key>& keys, JacobianFactorQ(const FastVector<Key>& keys, //
const SharedDiagonal& model = SharedDiagonal()) : JacobianSchurFactor<D, ZDim>() { const SharedDiagonal& model = SharedDiagonal()) :
Matrix zeroMatrix = Matrix::Zero(0,D); JacobianSchurFactor<D, ZDim>() {
Matrix zeroMatrix = Matrix::Zero(0, D);
Vector zeroVector = Vector::Zero(0); Vector zeroVector = Vector::Zero(0);
typedef std::pair<Key, Matrix> KeyMatrix; typedef std::pair<Key, Matrix> KeyMatrix;
std::vector<KeyMatrix> QF; std::vector<KeyMatrix> QF;
QF.reserve(keys.size()); QF.reserve(keys.size());
BOOST_FOREACH(const Key& key, keys) BOOST_FOREACH(const Key& key, keys)
QF.push_back(KeyMatrix(key, zeroMatrix)); QF.push_back(KeyMatrix(key, zeroMatrix));
JacobianFactor::fillTerms(QF, zeroVector, model); JacobianFactor::fillTerms(QF, zeroVector, model);
} }
@ -58,14 +59,21 @@ public:
// Calculate pre-computed Jacobian matrices // Calculate pre-computed Jacobian matrices
// TODO: can we do better ? // TODO: can we do better ?
typedef std::pair<Key, Matrix> KeyMatrix; typedef std::pair<Key, Matrix> KeyMatrix;
std::vector < KeyMatrix > QF; std::vector<KeyMatrix> QF;
QF.reserve(m); QF.reserve(m);
// Below, we compute each mZDim*D block A_j = Q_j * F_j = (mZDim*ZDim) * (Zdim*D) // Below, we compute each mZDim*D block A_j = Q_j * F_j = (mZDim*ZDim) * (Zdim*D)
BOOST_FOREACH(const typename Base::KeyMatrix2D& it, Fblocks) BOOST_FOREACH(const typename Base::KeyMatrix2D& it, Fblocks)
QF.push_back(KeyMatrix(it.first, Q.block(0, ZDim * j++, m2, ZDim) * it.second)); QF.push_back(
KeyMatrix(it.first, Q.block(0, ZDim * j++, m2, ZDim) * it.second));
// Which is then passed to the normal JacobianFactor constructor // Which is then passed to the normal JacobianFactor constructor
JacobianFactor::fillTerms(QF, Q * b, model); JacobianFactor::fillTerms(QF, Q * b, model);
} }
}; };
// end class JacobianFactorQ
// traits
template<size_t D, size_t ZDim> struct traits<JacobianFactorQ<D, ZDim> > : public Testable<
JacobianFactorQ<D, ZDim> > {
};
} }