clean up
Rahul Sawhney
parent
0245ab06d2
commit
c7248a2b13
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@ -139,36 +139,7 @@ bool GaussianConditional::equals(const GaussianConditional &c, double tol) const
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return true;
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}
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///* ************************************************************************* */
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//void GaussianConditional::permuteWithInverse(const Permutation& inversePermutation) {
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// Conditional::permuteWithInverse(inversePermutation);
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// BOOST_FOREACH(Parents::value_type& parent, parents_) {
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// parent.first = inversePermutation[parent.first];
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// }
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//#ifndef NDEBUG
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// const_iterator parent = parents_.begin();
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// Conditional::const_iterator baseParent = Conditional::parents_.begin();
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// while(parent != parents_.end())
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// assert((parent++)->first == *(baseParent++));
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// assert(baseParent == Conditional::parents_.end());
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//#endif
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//}
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//
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///* ************************************************************************* */
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//bool GaussianConditional::permuteSeparatorWithInverse(const Permutation& inversePermutation) {
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// bool separatorChanged = Conditional::permuteSeparatorWithInverse(inversePermutation);
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// BOOST_FOREACH(Parents::value_type& parent, parents_) {
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// parent.first = inversePermutation[parent.first];
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// }
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//#ifndef NDEBUG
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// const_iterator parent = parents_.begin();
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// Conditional::const_iterator baseParent = Conditional::parents_.begin();
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// while(parent != parents_.end())
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// assert((parent++)->first == *(baseParent++));
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// assert(baseParent == Conditional::parents_.end());
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//#endif
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// return separatorChanged;
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//}
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/* ************************************************************************* */
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Vector GaussianConditional::solve(const VectorValues& x) const {
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@ -177,7 +148,7 @@ Vector GaussianConditional::solve(const VectorValues& x) const {
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Vector rhs(get_d());
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for (const_iterator parent = beginParents(); parent != endParents(); ++parent) {
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ublas::axpy_prod(-get_S(parent), x[*parent], rhs, false);
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// multiplyAdd(-1.0, get_S(parent), x[*parent], rhs);
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}
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if(debug) gtsam::print(get_R(), "Calling backSubstituteUpper on ");
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if(debug) gtsam::print(rhs, "rhs: ");
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@ -194,7 +165,7 @@ Vector GaussianConditional::solve(const Permuted<VectorValues>& x) const {
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Vector rhs(get_d());
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for (const_iterator parent = beginParents(); parent != endParents(); ++parent) {
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ublas::axpy_prod(-get_S(parent), x[*parent], rhs, false);
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// multiplyAdd(-1.0, get_S(parent), x[*parent], rhs);
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}
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return backSubstituteUpper(get_R(), rhs, false);
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}
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@ -109,15 +109,6 @@ public:
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/** equals function */
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bool equals(const GaussianConditional &cg, double tol = 1e-9) const;
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// /** permute the variables in the conditional */
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// void permuteWithInverse(const Permutation& inversePermutation);
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//
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// /** Permute the variables when only separator variables need to be permuted.
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// * Returns true if any reordered variables appeared in the separator and
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// * false if not.
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// */
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// bool permuteSeparatorWithInverse(const Permutation& inversePermutation);
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/** dimension of multivariate variable */
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size_t dim() const { return rsd_.size1(); }
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@ -36,7 +36,7 @@
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#include <gtsam/linear/GaussianFactorGraph.h>
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using namespace std;
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//using namespace boost::assign;
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namespace ublas = boost::numeric::ublas;
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using namespace boost::lambda;
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@ -247,21 +247,6 @@ double GaussianFactor::error(const VectorValues& c) const {
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return 0.5 * inner_prod(weighted,weighted);
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}
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///* ************************************************************************* */
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//Dimensions GaussianFactor::dimensions() const {
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// Dimensions result;
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// BOOST_FOREACH(const NamedMatrix& jA, As_)
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// result.insert(std::pair<Index,size_t>(jA.first,jA.second.size2()));
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// return result;
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//}
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//
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///* ************************************************************************* */
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//void GaussianFactor::tally_separator(Index key, set<Index>& separator) const {
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// if(involves(key)) {
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// BOOST_FOREACH(const NamedMatrix& jA, As_)
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// if(jA.first != key) separator.insert(jA.first);
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// }
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//}
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/* ************************************************************************* */
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Vector GaussianFactor::operator*(const VectorValues& x) const {
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@ -271,23 +256,10 @@ Vector GaussianFactor::operator*(const VectorValues& x) const {
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// Just iterate over all A matrices and multiply in correct config part
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for(size_t pos=0; pos<keys_.size(); ++pos)
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Ax += ublas::prod(Ab_(pos), x[keys_[pos]]);
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// BOOST_FOREACH(const NamedMatrix& jA, As_)
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// Ax += (jA.second * x[jA.first]);
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return model_->whiten(Ax);
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}
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///* ************************************************************************* */
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//VectorValues GaussianFactor::operator^(const Vector& e) const {
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// Vector E = model_->whiten(e);
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// VectorValues x;
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// // Just iterate over all A matrices and insert Ai^e into VectorValues
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// for(size_t pos=0; pos<keys_.size(); ++pos)
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// x.insert(keys_[pos], ARange(pos)^E);
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//// BOOST_FOREACH(const NamedMatrix& jA, As_)
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//// x.insert(jA.first,jA.second^E);
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// return x;
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//}
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/* ************************************************************************* */
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void GaussianFactor::transposeMultiplyAdd(double alpha, const Vector& e,
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@ -296,8 +268,6 @@ void GaussianFactor::transposeMultiplyAdd(double alpha, const Vector& e,
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// Just iterate over all A matrices and insert Ai^e into VectorValues
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for(size_t pos=0; pos<keys_.size(); ++pos)
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gtsam::transposeMultiplyAdd(1.0, Ab_(pos), E, x[keys_[pos]]);
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// BOOST_FOREACH(const NamedMatrix& jA, As_)
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// gtsam::transposeMultiplyAdd(1.0, jA.second, E, x[jA.first]);
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}
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/* ************************************************************************* */
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@ -392,8 +362,7 @@ GaussianConditional::shared_ptr GaussianFactor::eliminateFirst() {
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for(size_t j=0; j<matrix_.size2(); ++j)
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for(size_t i=j+1; i<noiseModel->dim(); ++i)
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matrix_(i,j) = 0.0;
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// ublas::triangular_adaptor<matrix_type, ublas::strict_lower> AbLower(Ab_);
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// fill(AbLower.begin1(), AbLower.end1(), 0.0);
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}
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if(debug) gtsam::print(matrix_, "QR result: ");
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@ -509,8 +478,6 @@ GaussianBayesNet::shared_ptr GaussianFactor::eliminate(size_t nrFrontals) {
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for(size_t j=0; j<matrix_.size2(); ++j)
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for(size_t i=j+1; i<noiseModel->dim(); ++i)
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matrix_(i,j) = 0.0;
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// ublas::triangular_adaptor<matrix_type, ublas::strict_lower> AbLower(Ab_);
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// fill(AbLower.begin1(), AbLower.end1(), 0.0);
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}
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if(debug) gtsam::print(matrix_, "QR result: ");
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@ -22,7 +22,6 @@
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#include <boost/shared_ptr.hpp>
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#include <boost/tuple/tuple.hpp>
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//#include <boost/serialization/map.hpp>
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#include <boost/foreach.hpp>
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#include <boost/lambda/lambda.hpp>
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#include <boost/bind.hpp>
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@ -110,8 +109,6 @@ public:
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/** Construct from Conditional Gaussian */
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GaussianFactor(const GaussianConditional& cg);
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// /** Constructor that combines a set of factors */
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// GaussianFactor(const std::vector<shared_ptr> & factors);
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// Implementing Testable interface
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void print(const std::string& s = "") const;
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@ -191,8 +188,6 @@ public:
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/** Return A*x */
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Vector operator*(const VectorValues& x) const;
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// /** Return A'*e */
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// VectorValues operator^(const Vector& e) const;
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/** x += A'*e */
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void transposeMultiplyAdd(double alpha, const Vector& e, VectorValues& x) const;
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