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Two more patches after last checkin - removed numCachedShortcuts from MATLAB wrapper, and added EliminateQR as default argument to GaussianFactorGraph eliminate functions

release/4.3a0
Richard Roberts 2012-10-28 06:43:05 +00:00
parent b3ba46241c
commit cb5f186031
2 changed files with 7 additions and 5 deletions
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2
gtsam.h
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@ -810,7 +810,6 @@ virtual class BayesTree {
void clear(); void clear();
void deleteCachedShortcuts(); void deleteCachedShortcuts();
void insert(const CLIQUE* subtree); void insert(const CLIQUE* subtree);
size_t numCachedShortcuts() const;
size_t numCachedSeparatorMarginals() const; size_t numCachedSeparatorMarginals() const;
}; };
@ -824,7 +823,6 @@ virtual class BayesTreeClique {
void print(string s) const; void print(string s) const;
void printTree() const; // Default indent of "" void printTree() const; // Default indent of ""
void printTree(string indent) const; void printTree(string indent) const;
size_t numCachedShortcuts() const;
size_t numCachedSeparatorMarginals() const; size_t numCachedSeparatorMarginals() const;
CONDITIONAL* conditional() const; CONDITIONAL* conditional() const;

10
gtsam/linear/GaussianFactorGraph.h
View File

@ -31,6 +31,10 @@
namespace gtsam { namespace gtsam {
// Forward declaration to use as default argument, documented declaration below.
FactorGraph<GaussianFactor>::EliminationResult
EliminateQR(const FactorGraph<GaussianFactor>& factors, size_t nrFrontals);
/** /**
* A Linear Factor Graph is a factor graph where all factors are Gaussian, i.e. * A Linear Factor Graph is a factor graph where all factors are Gaussian, i.e.
* Factor == GaussianFactor * Factor == GaussianFactor
@ -122,7 +126,7 @@ namespace gtsam {
* FactorGraph<GaussianFactor>::eliminateFrontals with EliminateQR as the * FactorGraph<GaussianFactor>::eliminateFrontals with EliminateQR as the
* eliminate function argument. * eliminate function argument.
*/ */
std::pair<sharedConditional, GaussianFactorGraph> eliminateFrontals(size_t nFrontals, const Eliminate& function) const { std::pair<sharedConditional, GaussianFactorGraph> eliminateFrontals(size_t nFrontals, const Eliminate& function = EliminateQR) const {
return Base::eliminateFrontals(nFrontals, function); } return Base::eliminateFrontals(nFrontals, function); }
/** Factor the factor graph into a conditional and a remaining factor graph. /** Factor the factor graph into a conditional and a remaining factor graph.
@ -141,11 +145,11 @@ namespace gtsam {
* FactorGraph<GaussianFactor>::eliminate with EliminateQR as the eliminate * FactorGraph<GaussianFactor>::eliminate with EliminateQR as the eliminate
* function argument. * function argument.
*/ */
std::pair<sharedConditional, GaussianFactorGraph> eliminate(const std::vector<Index>& variables, const Eliminate& function) { std::pair<sharedConditional, GaussianFactorGraph> eliminate(const std::vector<Index>& variables, const Eliminate& function = EliminateQR) {
return Base::eliminate(variables, function); } return Base::eliminate(variables, function); }
/** Eliminate a single variable, by calling GaussianFactorGraph::eliminate. */ /** Eliminate a single variable, by calling GaussianFactorGraph::eliminate. */
std::pair<sharedConditional, GaussianFactorGraph> eliminateOne(Index variable, const Eliminate& function) { std::pair<sharedConditional, GaussianFactorGraph> eliminateOne(Index variable, const Eliminate& function = EliminateQR) {
return Base::eliminateOne(variable, function); } return Base::eliminateOne(variable, function); }
/** Permute the variables in the factors */ /** Permute the variables in the factors */