Renamed double-templated functions to _eliminate and _eliminateOne, and created FactorGraph-specific eliminateOne methods to make life easier

cpp/BayesTree-inl.h

@@ -54,7 +54,7 @@ namespace gtsam {
 		sharedBayesNet p_S_R(new BayesNet<Conditional>);
 		if (parent_==NULL || parent_->parent_==NULL) return p_S_R;
 
-		// If not, calculate the parent shortcut P(S_p|R)
+		// If not the base case, calculate the parent shortcut P(S_p|R)
 		sharedBayesNet p_Sp_R = parent_->shortcut();
 
 		return p_S_R;
@@ -160,7 +160,7 @@ namespace gtsam {
 		ordering.reverse();
 
 		// eliminate to get marginal
-		sharedBayesNet chordalBayesNet = eliminate<Factor,Conditional>(graph,ordering);
+		sharedBayesNet chordalBayesNet = _eliminate<Factor,Conditional>(graph,ordering);
 
 		return chordalBayesNet->back(); // the root is the marginal
 	}

cpp/ConstrainedLinearFactorGraph.cpp

@@ -83,8 +83,7 @@ GaussianBayesNet::shared_ptr ConstrainedLinearFactorGraph::eliminate(const Order
 		}
 		else
 		{
-			ConditionalGaussian::shared_ptr cg =
+			ConditionalGaussian::shared_ptr cg = eliminateOne(key);
-					eliminateOne<LinearFactor,ConditionalGaussian>(*this,key);
 			cbn->push_back(cg);
 		}
 	}

cpp/FactorGraph-inl.h

@@ -221,7 +221,7 @@ FactorGraph<Factor>::removeAndCombineFactors(const string& key)
 /* eliminate one node from the factor graph                           */
 /* ************************************************************************* */
 template<class Factor,class Conditional>
-boost::shared_ptr<Conditional> eliminateOne(FactorGraph<Factor>& graph, const string& key) {
+boost::shared_ptr<Conditional> _eliminateOne(FactorGraph<Factor>& graph, const string& key) {
 
 	// combine the factors of all nodes connected to the variable to be eliminated
 	// if no factors are connected to key, returns an empty factor
@@ -247,12 +247,12 @@ boost::shared_ptr<Conditional> eliminateOne(FactorGraph<Factor>& graph, const st
 /* ************************************************************************* */
 template<class Factor,class Conditional>
 boost::shared_ptr<BayesNet<Conditional> >
-eliminate(FactorGraph<Factor>& factorGraph, const Ordering& ordering)
+_eliminate(FactorGraph<Factor>& factorGraph, const Ordering& ordering)
 {
 	boost::shared_ptr<BayesNet<Conditional> > bayesNet (new BayesNet<Conditional>()); // empty
 
 	BOOST_FOREACH(string key, ordering) {
-		boost::shared_ptr<Conditional> cg = eliminateOne<Factor,Conditional>(factorGraph,key);
+		boost::shared_ptr<Conditional> cg = _eliminateOne<Factor,Conditional>(factorGraph,key);
 		bayesNet->push_back(cg);
 	}
 

cpp/FactorGraph.h

@@ -130,7 +130,7 @@ namespace gtsam {
    * and adds a new factor on the separator to the factor graph
    */
 	template<class Factor, class Conditional>
-	boost::shared_ptr<Conditional> eliminateOne(FactorGraph<Factor>& factorGraph, const std::string& key);
+	boost::shared_ptr<Conditional> _eliminateOne(FactorGraph<Factor>& factorGraph, const std::string& key);
 
 	/**
 	 * eliminate factor graph using the given (not necessarily complete)
@@ -138,7 +138,7 @@ namespace gtsam {
 	 */
 	template<class Factor, class Conditional>
 	boost::shared_ptr<BayesNet<Conditional> >
-	eliminate(FactorGraph<Factor>& factorGraph, const Ordering& ordering);
+	_eliminate(FactorGraph<Factor>& factorGraph, const Ordering& ordering);
 
 } // namespace gtsam
 

cpp/LinearFactorGraph.cpp

@@ -46,8 +46,7 @@ LinearFactorGraph::eliminate(const Ordering& ordering)
 {
 	GaussianBayesNet::shared_ptr chordalBayesNet (new GaussianBayesNet()); // empty
 	BOOST_FOREACH(string key, ordering) {
-		ConditionalGaussian::shared_ptr cg =
+		ConditionalGaussian::shared_ptr cg = eliminateOne(key);
-				eliminateOne<LinearFactor,ConditionalGaussian>(*this, key);
 		chordalBayesNet->push_back(cg);
 	}
 	return chordalBayesNet;

cpp/LinearFactorGraph.h

@@ -61,6 +61,15 @@ namespace gtsam {
      */
     std::set<std::string> find_separator(const std::string& key) const;
 
+  	/**
+     * Eliminate a single node yielding a conditional Gaussian
+     * Eliminates the factors from the factor graph through findAndRemoveFactors
+     * and adds a new factor on the separator to the factor graph
+     */
+    inline ConditionalGaussian::shared_ptr eliminateOne(const std::string& key){
+			return _eliminateOne<LinearFactor,ConditionalGaussian>(*this, key);
+    }
+
     /**
      * eliminate factor graph in place(!) in the given order, yielding
      * a chordal Bayes net. Allows for passing an incomplete ordering

cpp/SymbolicFactorGraph.cpp

@@ -26,7 +26,7 @@ namespace gtsam {
 
 		BOOST_FOREACH(string key, ordering) {
 			SymbolicConditional::shared_ptr conditional =
-					eliminateOne<SymbolicFactor,SymbolicConditional>(*this,key);
+					_eliminateOne<SymbolicFactor,SymbolicConditional>(*this,key);
 			bayesNet->push_back(conditional);
 		}
 

cpp/SymbolicFactorGraph.h

@@ -16,6 +16,7 @@
 namespace gtsam {
 
 	class SymbolicBayesNet;
+	class SymbolicConditional;
 
 	/** Symbolic Factor Graph */
 	class SymbolicFactorGraph: public FactorGraph<SymbolicFactor> {
@@ -41,6 +42,15 @@ namespace gtsam {
 		}
 
   	/**
+     * Eliminate a single node yielding a conditional Gaussian
+     * Eliminates the factors from the factor graph through findAndRemoveFactors
+     * and adds a new factor on the separator to the factor graph
+     */
+    inline boost::shared_ptr<SymbolicConditional> eliminateOne(const std::string& key){
+			return _eliminateOne<SymbolicFactor,SymbolicConditional>(*this, key);
+    }
+
+		/**
 		 * eliminate factor graph in place(!) in the given order, yielding
 		 * a chordal Bayes net
 		 */

cpp/testConstrainedLinearFactorGraph.cpp

@@ -256,8 +256,7 @@ TEST( ConstrainedLinearFactorGraph, eliminate_multi_constraint )
 	CHECK(fg.nrFactors() == 0);
 
 	// eliminate the linear factor
-	ConditionalGaussian::shared_ptr cg3 =
+	ConditionalGaussian::shared_ptr cg3 = fg.eliminateOne("z");
-			eliminateOne<LinearFactor,ConditionalGaussian>(fg,"z");
 	CHECK(cg3->nrParents() == 0);
 	CHECK(fg.size() == 0);
 

cpp/testLinearFactorGraph.cpp

@@ -190,8 +190,7 @@ TEST( LinearFactorGraph, combine_factors_x2 )
 TEST( LinearFactorGraph, eliminateOne_x1 )
 {
   LinearFactorGraph fg = createLinearFactorGraph();
-  ConditionalGaussian::shared_ptr actual =
+  ConditionalGaussian::shared_ptr actual = fg.eliminateOne("x1");
-  		eliminateOne<LinearFactor,ConditionalGaussian>(fg,"x1");
 
   // create expected Conditional Gaussian
   Matrix R11 = Matrix_(2,2,
@@ -219,8 +218,7 @@ TEST( LinearFactorGraph, eliminateOne_x1 )
 TEST( LinearFactorGraph, eliminateOne_x2 )
 {
   LinearFactorGraph fg = createLinearFactorGraph();
-  ConditionalGaussian::shared_ptr actual =
+  ConditionalGaussian::shared_ptr actual = fg.eliminateOne("x2");
-  		eliminateOne<LinearFactor,ConditionalGaussian>(fg,"x2");
 
   // create expected Conditional Gaussian
   Matrix R11 = Matrix_(2,2,
@@ -247,8 +245,7 @@ TEST( LinearFactorGraph, eliminateOne_x2 )
 TEST( LinearFactorGraph, eliminateOne_l1 )
 {
   LinearFactorGraph fg = createLinearFactorGraph();
-  ConditionalGaussian::shared_ptr actual =
+  ConditionalGaussian::shared_ptr actual = fg.eliminateOne("l1");
-  		eliminateOne<LinearFactor,ConditionalGaussian>(fg,"l1");
 
   // create expected Conditional Gaussian
   Matrix R11 = Matrix_(2,2,
@@ -424,7 +421,7 @@ TEST( LinearFactorGraph, CONSTRUCTOR_GaussianBayesNet )
   // Base FactorGraph only
   FactorGraph<LinearFactor> fg3(*CBN);
   boost::shared_ptr<BayesNet<ConditionalGaussian> > CBN3 =
-  		eliminate<LinearFactor,ConditionalGaussian>(fg3,ord);
+  		_eliminate<LinearFactor,ConditionalGaussian>(fg3,ord);
   CHECK(CBN->equals(*CBN3));
 }
 

cpp/testSymbolicFactorGraph.cpp

@@ -111,8 +111,7 @@ TEST( LinearFactorGraph, eliminateOne )
 	SymbolicFactorGraph fg(factorGraph);
 
 	// eliminate
-	SymbolicConditional::shared_ptr actual =
+	SymbolicConditional::shared_ptr actual = fg.eliminateOne("x1");
-  		eliminateOne<SymbolicFactor,SymbolicConditional>(fg,"x1");
 
   // create expected symbolic Conditional
   SymbolicConditional expected("x1","l1","x2");