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rename of conditionals to conditional..

release/4.3a0
Frank Dellaert 2012-01-10 19:46:52 +00:00
parent 379fe4e557
commit c792a73e9f
1 changed files with 11 additions and 11 deletions
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22
gtsam/linear/GaussianFactorGraph.cpp
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@ -393,18 +393,18 @@ namespace gtsam {
toc(4, "partial Cholesky"); toc(4, "partial Cholesky");
// Extract conditionals and fill in details of the remaining factor // Extract conditional and fill in details of the remaining factor
tic(5, "split"); tic(5, "split");
GaussianConditional::shared_ptr conditionals = GaussianConditional::shared_ptr conditional =
combinedFactor->splitEliminatedFactor(nrFrontals); combinedFactor->splitEliminatedFactor(nrFrontals);
if (debug) { if (debug) {
conditionals->print("Extracted conditionals: "); conditional->print("Extracted conditional: ");
combinedFactor->print("Eliminated factor (L piece): "); combinedFactor->print("Eliminated factor (L piece): ");
} }
toc(5, "split"); toc(5, "split");
combinedFactor->assertInvariants(); combinedFactor->assertInvariants();
return make_pair(conditionals, combinedFactor); return make_pair(conditional, combinedFactor);
} }
/* ************************************************************************* */ /* ************************************************************************* */
@ -456,12 +456,12 @@ namespace gtsam {
toc(1, "convert to Jacobian"); toc(1, "convert to Jacobian");
tic(2, "Jacobian EliminateGaussian"); tic(2, "Jacobian EliminateGaussian");
GaussianConditional::shared_ptr conditionals; GaussianConditional::shared_ptr conditional;
GaussianFactor::shared_ptr factor; GaussianFactor::shared_ptr factor;
boost::tie(conditionals, factor) = EliminateJacobians(jacobians, nrFrontals); boost::tie(conditional, factor) = EliminateJacobians(jacobians, nrFrontals);
toc(2, "Jacobian EliminateGaussian"); toc(2, "Jacobian EliminateGaussian");
return make_pair(conditionals, factor); return make_pair(conditional, factor);
} // \EliminateQR } // \EliminateQR
/* ************************************************************************* */ /* ************************************************************************* */
@ -599,18 +599,18 @@ namespace gtsam {
Eigen::LDLT<Matrix>::TranspositionType permutation = combinedFactor->partialLDL(nrFrontals); Eigen::LDLT<Matrix>::TranspositionType permutation = combinedFactor->partialLDL(nrFrontals);
toc(4, "partial LDL"); toc(4, "partial LDL");
// Extract conditionals and fill in details of the remaining factor // Extract conditional and fill in details of the remaining factor
tic(5, "split"); tic(5, "split");
GaussianConditional::shared_ptr conditionals = GaussianConditional::shared_ptr conditional =
combinedFactor->splitEliminatedFactor(nrFrontals, permutation); combinedFactor->splitEliminatedFactor(nrFrontals, permutation);
if (debug) { if (debug) {
conditionals->print("Extracted conditionals: "); conditional->print("Extracted conditional: ");
combinedFactor->print("Eliminated factor (L piece): "); combinedFactor->print("Eliminated factor (L piece): ");
} }
toc(5, "split"); toc(5, "split");
combinedFactor->assertInvariants(); combinedFactor->assertInvariants();
return make_pair(conditionals, combinedFactor); return make_pair(conditional, combinedFactor);
} // \EliminateLDL } // \EliminateLDL
/* ************************************************************************* */ /* ************************************************************************* */