Removed leftover Ordered file

release/4.3a0
Richard Roberts 2013-11-07 21:41:18 +00:00
parent 1be1731c9b
commit cdbdea8e67
1 changed files with 0 additions and 59 deletions

View File

@ -1,59 +0,0 @@
/* ----------------------------------------------------------------------------
* GTSAM Copyright 2010, Georgia Tech Research Corporation,
* Atlanta, Georgia 30332-0415
* All Rights Reserved
* Authors: Frank Dellaert, et al. (see THANKS for the full author list)
* See LICENSE for the license information
* -------------------------------------------------------------------------- */
/**
* @file GaussianBayesTree-inl.h
* @brief Gaussian Bayes Tree, the result of eliminating a GaussianJunctionTree
* @brief GaussianBayesTree
* @author Frank Dellaert
* @author Richard Roberts
*/
#pragma once
#include <boost/foreach.hpp>
#include <gtsam/linear/GaussianBayesTree.h> // Only to help Eclipse
#include <stdarg.h>
namespace gtsam {
/* ************************************************************************* */
namespace internal {
template<class BAYESTREE>
void optimizeInPlace(const typename BAYESTREE::sharedClique& clique, VectorValues& result) {
// parents are assumed to already be solved and available in result
clique->conditional()->solveInPlace(result);
// starting from the root, call optimize on each conditional
BOOST_FOREACH(const typename BAYESTREE::sharedClique& child, clique->children_)
optimizeInPlace<BAYESTREE>(child, result);
}
/* ************************************************************************* */
template<class BAYESTREE>
double logDeterminant(const typename BAYESTREE::sharedClique& clique) {
double result = 0.0;
// this clique
result += clique->conditional()->get_R().diagonal().unaryExpr(std::ptr_fun<double,double>(log)).sum();
// sum of children
BOOST_FOREACH(const typename BAYESTREE::sharedClique& child, clique->children_)
result += logDeterminant<BAYESTREE>(child);
return result;
}
/* ************************************************************************* */
} // \namespace internal
} // \namespace gtsam