Fixing compile problems
Alex Cunningham
parent
dde245ef3b
commit
cee0a234ac
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@ -23,6 +23,7 @@
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#include <vector>
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#include <string>
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#include <boost/shared_ptr.hpp>
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#include <boost/make_shared.hpp>
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#include <boost/foreach.hpp>
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#include <boost/bind.hpp>
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@ -77,7 +78,7 @@ namespace gtsam {
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treeNode(treeNode), myData(myData), visitorPre(visitorPre), visitorPost(visitorPost),
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problemSizeThreshold(problemSizeThreshold), makeNewTasks(makeNewTasks) {}
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typedef ParallelTraversalNode<NODE, DATA> ParallelTraversalNode;
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typedef ParallelTraversalNode<NODE, DATA> ParallelTraversalNodeType;
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tbb::task* execute()
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{
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@ -20,10 +20,12 @@
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#pragma once
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#include <gtsam/inference/Ordering.h>
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#include <gtsam/inference/BayesTree.h>
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#include <gtsam/base/treeTraversal-inst.h>
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#include <gtsam/base/timing.h>
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#include <boost/optional.hpp>
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#include <boost/foreach.hpp>
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#include <boost/assign/list_of.hpp>
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#include <fstream>
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@ -22,6 +22,7 @@
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#include <gtsam/base/timing.h>
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#include <gtsam/base/treeTraversal-inst.h>
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#include <gtsam/inference/BayesTree.h>
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#include <gtsam/inference/JunctionTree.h>
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#include <gtsam/symbolic/SymbolicConditional.h>
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#include <gtsam/symbolic/SymbolicFactorGraph.h>
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@ -217,7 +218,7 @@ namespace gtsam {
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/* ************************************************************************* */
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template<class BAYESTREE, class GRAPH>
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void JunctionTree<BAYESTREE,GRAPH>::print(
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const std::string& s = "", const KeyFormatter& keyFormatter = DefaultKeyFormatter) const
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const std::string& s, const KeyFormatter& keyFormatter) const
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{
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treeTraversal::PrintForest(*this, s, keyFormatter);
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}
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@ -1,94 +0,0 @@
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/* ----------------------------------------------------------------------------
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* GTSAM Copyright 2010, Georgia Tech Research Corporation,
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* Atlanta, Georgia 30332-0415
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* All Rights Reserved
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* Authors: Frank Dellaert, et al. (see THANKS for the full author list)
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* See LICENSE for the license information
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* -------------------------------------------------------------------------- */
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/**
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* @file GaussianConditional-inl.h
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* @brief Conditional Gaussian Base class
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* @author Christian Potthast
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*/
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// \callgraph
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#pragma once
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#include <boost/range/join.hpp>
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#include <boost/assign/list_of.hpp>
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namespace gtsam {
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/* ************************************************************************* */
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template<class PARENTS>
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GaussianConditional::GaussianConditional(Index key, const Vector& d,
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const Matrix& R, const PARENTS& parents, const SharedDiagonal& sigmas, const typename PARENTS::value_type*) :
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BaseFactor(boost::join(boost::assign::cref_list_of<1,typename PARENTS::value_type>(std::make_pair(key, R)), parents), d, sigmas),
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BaseConditional(1) {}
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/* ************************************************************************* */
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template<typename TERMS>
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GaussianConditional::GaussianConditional(const TERMS& terms,
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size_t nrFrontals, const Vector& d, const SharedDiagonal& sigmas) :
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BaseFactor(terms, d, sigmas), BaseConditional(nrFrontals) {}
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/* ************************************************************************* */
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template<typename KEYS>
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GaussianConditional::GaussianConditional(
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const KEYS& keys, size_t nrFrontals, const VerticalBlockMatrix& augmentedMatrix, const SharedDiagonal& sigmas) :
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BaseFactor(keys, augmentedMatrix, sigmas), BaseConditional(nrFrontals) {}
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/* ************************************************************************* */
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template<typename ITERATOR>
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GaussianConditional::shared_ptr GaussianConditional::Combine(ITERATOR firstConditional, ITERATOR lastConditional)
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{
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// TODO: check for being a clique
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// Get dimensions from first conditional
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std::vector<size_t> dims; dims.reserve((*firstConditional)->size() + 1);
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for(const_iterator j = (*firstConditional)->begin(); j != (*firstConditional)->end(); ++j)
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dims.push_back((*firstConditional)->dim(j));
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dims.push_back(1);
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// We assume the conditionals form clique, so the first n variables will be
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// frontal variables in the new conditional.
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size_t nFrontals = 0;
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size_t nRows = 0;
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for(ITERATOR c = firstConditional; c != lastConditional; ++c) {
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nRows += dims[nFrontals];
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++ nFrontals;
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}
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// Allocate combined conditional, has same keys as firstConditional
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Matrix tempCombined;
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VerticalBlockView<Matrix> tempBlockView(tempCombined, dims.begin(), dims.end(), 0);
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GaussianConditional::shared_ptr combinedConditional =
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boost::make_shared<GaussianConditional>(
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(*firstConditional)->begin(), (*firstConditional)->end(), nFrontals, tempBlockView, Vector::Zero(nRows));
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// Resize to correct number of rows
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combinedConditional->matrix_.resize(nRows, combinedConditional->matrix_.cols());
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combinedConditional->rsd_.rowEnd() = combinedConditional->matrix_.rows();
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// Copy matrix and sigmas
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const size_t totalDims = combinedConditional->matrix_.cols();
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size_t currentSlot = 0;
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for(ITERATOR c = firstConditional; c != lastConditional; ++c) {
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const size_t startRow = combinedConditional->rsd_.offset(currentSlot); // Start row is same as start column
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combinedConditional->rsd_.range(0, currentSlot).block(startRow, 0, dims[currentSlot], combinedConditional->rsd_.offset(currentSlot)).operator=(
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Matrix::Zero(dims[currentSlot], combinedConditional->rsd_.offset(currentSlot)));
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combinedConditional->rsd_.range(currentSlot, dims.size()).block(startRow, 0, dims[currentSlot], totalDims - startRow).operator=(
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(*c)->matrix_);
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combinedConditional->sigmas_.segment(startRow, dims[currentSlot]) = (*c)->sigmas_;
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++ currentSlot;
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}
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return combinedConditional;
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}
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} // gtsam
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@ -16,6 +16,7 @@
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*/
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#include <string.h>
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#include <functional>
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#include <boost/format.hpp>
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#ifdef __GNUC__
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#pragma GCC diagnostic push
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@ -117,6 +118,7 @@ namespace gtsam {
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Vector soln = get_R().triangularView<Eigen::Upper>().solve(xS);
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// Check for indeterminant solution
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// FIXME: can't use std::isfinite() as a templated function with gcc
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if(soln.unaryExpr(!boost::lambda::bind(ptr_fun(isfinite<double>), boost::lambda::_1)).any())
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throw IndeterminantLinearSystemException(keys().front());
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@ -162,8 +164,9 @@ namespace gtsam {
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frontalVec = gtsam::backSubstituteUpper(frontalVec, Matrix(get_R()));
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// Check for indeterminant solution
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if(frontalVec.unaryExpr(!boost::lambda::bind(ptr_fun(isfinite<double>), boost::lambda::_1)).any())
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throw IndeterminantLinearSystemException(this->keys().front());
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// FIXME: can't use isfinite() as a templated function with gcc
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// if(frontalVec.unaryExpr(!boost::lambda::bind(std::ptr_fun(isfinite<double>), boost::lambda::_1)).any())
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// throw IndeterminantLinearSystemException(this->keys().front());
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for (const_iterator it = beginParents(); it!= endParents(); it++)
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gtsam::transposeMultiplyAdd(-1.0, Matrix(getA(it)), frontalVec, gy[*it]);
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@ -136,7 +136,8 @@ namespace gtsam {
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/** Scale the values in \c gy according to the sigmas for the frontal variables in this
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* conditional. */
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__declspec(deprecated) void scaleFrontalsBySigma(VectorValues& gy) const;
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void scaleFrontalsBySigma(VectorValues& gy) const;
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// __declspec(deprecated) void scaleFrontalsBySigma(VectorValues& gy) const; // FIXME: depreciated flag doesn't appear to exist?
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private:
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@ -151,5 +152,3 @@ namespace gtsam {
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} // gtsam
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#include <gtsam/linear/GaussianConditional-inl.h>
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@ -24,6 +24,7 @@
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#include <gtsam/linear/GaussianConditional.h>
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#include <gtsam/linear/GaussianFactor.h>
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#include <gtsam/linear/HessianFactor.h>
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#include <gtsam/linear/JacobianFactor.h>
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#include <gtsam/linear/GaussianFactorGraph.h>
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#include <boost/foreach.hpp>
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@ -117,7 +117,7 @@ SharedDiagonal Gaussian::QR(Matrix& Ab) const {
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// get size(A) and maxRank
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// TODO: really no rank problems ?
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size_t m = Ab.rows(), n = Ab.cols()-1;
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size_t maxRank = min(m,n);
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// size_t maxRank = min(m,n);
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// pre-whiten everything (cheaply if possible)
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WhitenInPlace(Ab);
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@ -272,9 +272,9 @@ double Constrained::distance(const Vector& v) const {
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Vector w = Diagonal::whiten(v); // get noisemodel for constrained elements
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// TODO Find a better way of doing these checks
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for (size_t i=0; i<dim_; ++i) { // add mu weights on constrained variables
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if (isinf(w[i])) // whiten makes constrained variables infinite
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if (std::isinf(w[i])) // whiten makes constrained variables infinite
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w[i] = v[i] * sqrt(mu_[i]); // TODO: may want to store sqrt rather than rebuild
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if (isnan(w[i])) // ensure no other invalid values make it through
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if (std::isnan(w[i])) // ensure no other invalid values make it through
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w[i] = v[i];
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}
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return w.dot(w);
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