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Added copyright block and removed commented code

release/4.3a0
Richard Roberts 2011-10-12 07:51:37 +00:00
parent 9f21f01153
commit d343c1f09a
3 changed files with 33 additions and 11 deletions
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11
gtsam/nonlinear/ISAM2-impl-inl.h
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@ -1,3 +1,14 @@
/* ----------------------------------------------------------------------------
* 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 ISAM2-impl-inl.h * @file ISAM2-impl-inl.h
* @brief Incremental update functionality (ISAM2) for BayesTree, with fluid relinearization. * @brief Incremental update functionality (ISAM2) for BayesTree, with fluid relinearization.

22
gtsam/nonlinear/ISAM2-inl.h
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@ -1,3 +1,14 @@
/* ----------------------------------------------------------------------------
* 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 ISAM2-inl.h * @file ISAM2-inl.h
* @brief Incremental update functionality (ISAM2) for BayesTree, with fluid relinearization. * @brief Incremental update functionality (ISAM2) for BayesTree, with fluid relinearization.
@ -46,17 +57,6 @@ template<class Conditional, class Values>
ISAM2<Conditional, Values>::ISAM2(): ISAM2<Conditional, Values>::ISAM2():
delta_(Permutation(), deltaUnpermuted_) {} delta_(Permutation(), deltaUnpermuted_) {}
/** Create a Bayes Tree from a nonlinear factor graph */
//template<class Conditional, class Values>
//ISAM2<Conditional, Values>::ISAM2(const NonlinearFactorGraph<Values>& nlfg, const Ordering& ordering, const Values& config) :
//BayesTree<Conditional>(nlfg.linearize(config)->eliminate(ordering)), theta_(config),
//variableIndex_(nlfg.symbolic(config, ordering), config.dims(ordering)), deltaUnpermuted_(variableIndex_.dims()),
//delta_(Permutation::Identity(variableIndex_.size())), nonlinearFactors_(nlfg), ordering_(ordering) {
// // todo: repeats calculation above, just to set "cached"
// // De-referencing shared pointer can be quite expensive because creates temporary
// _eliminate_const(*nlfg.linearize(config, ordering), cached_, ordering);
//}
/* ************************************************************************* */ /* ************************************************************************* */
template<class Conditional, class Values> template<class Conditional, class Values>
FastList<size_t> ISAM2<Conditional, Values>::getAffectedFactors(const FastList<Index>& keys) const { FastList<size_t> ISAM2<Conditional, Values>::getAffectedFactors(const FastList<Index>& keys) const {

11
gtsam/nonlinear/ISAM2.h
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@ -1,3 +1,14 @@
/* ----------------------------------------------------------------------------
* 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 ISAM2.h * @file ISAM2.h
* @brief Incremental update functionality (ISAM2) for BayesTree, with fluid relinearization. * @brief Incremental update functionality (ISAM2) for BayesTree, with fluid relinearization.