Merge remote-tracking branch 'origin/fix/Bayestree_in_out' into feature/iSAM2_refactor
# Conflicts: # gtsam/inference/BayesTree-inst.h # gtsam/nonlinear/ISAM2.cpprelease/4.3a0
Frank Dellaert
commit
d385c1e698
18
.travis.sh
18
.travis.sh
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@ -22,19 +22,8 @@ function build_and_test ()
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sudo update-alternatives --set gcc /usr/bin/gcc-$GCC_VERSION
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fi
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# gcc is too slow and we have a time limit in Travis CI: selective builds.
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if [ "$BUILD_EXAMPLES" == "1" ]; then
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GTSAM_BUILD_EXAMPLES_ALWAYS=ON
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else
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GTSAM_BUILD_EXAMPLES_ALWAYS=OFF
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fi
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if [ "$RUN_TESTS" == "1" ]; then
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GTSAM_BUILD_TESTS=ON
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else
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GTSAM_BUILD_TESTS=OFF
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fi
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cmake $SOURCE_DIR \
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-DGTSAM_BUILD_UNSTABLE=$GTSAM_BUILD_UNSTABLE \
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-DGTSAM_BUILD_EXAMPLES_ALWAYS=$GTSAM_BUILD_EXAMPLES_ALWAYS \
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-DGTSAM_BUILD_TESTS=$GTSAM_BUILD_TESTS
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@ -42,10 +31,13 @@ function build_and_test ()
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make -j2
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# Run tests:
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if [ "$RUN_TESTS" == "1" ]; then
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if [ "$GTSAM_BUILD_TESTS" == "ON" ]; then
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make check
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fi
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# Print ccache stats
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ccache -s
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cd $SOURCE_DIR
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}
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25
.travis.yml
25
.travis.yml
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@ -16,8 +16,12 @@ addons:
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- libpython-dev python-numpy
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- libboost-all-dev
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before_install:
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- if [ "$TRAVIS_OS_NAME" == "osx" ]; then brew update ; fi
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# before_install:
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# - if [ "$TRAVIS_OS_NAME" == "osx" ]; then brew update ; fi
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install:
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- if [ "$TRAVIS_OS_NAME" == "osx" ]; then HOMEBREW_NO_AUTO_UPDATE=1 brew install ccache ; fi
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- if [ "$TRAVIS_OS_NAME" == "osx" ]; then export PATH="/usr/local/opt/ccache/libexec:$PATH" ; fi
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script:
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- bash .travis.sh
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@ -27,23 +31,24 @@ env:
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- MAKEFLAGS="-j 2"
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- CCACHE_SLOPPINESS=pch_defines,time_macros
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# gcc is too slow and we have a time limit in Travis CI: selective builds.
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matrix:
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include:
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- compiler: gcc
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os: linux
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env: BUILD_EXAMPLES=1
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env: GTSAM_BUILD_UNSTABLE=ON GTSAM_BUILD_EXAMPLES_ALWAYS=ON GTSAM_BUILD_TESTS=OFF
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- compiler: gcc
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os: linux
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env: RUN_TESTS=1
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env: GTSAM_BUILD_UNSTABLE=OFF GTSAM_BUILD_EXAMPLES_ALWAYS=OFF GTSAM_BUILD_TESTS=ON # gcc too slow for all tests
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- compiler: gcc
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os: linux
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env: BUILD_EXAMPLES=1 GCC_VERSION="8"
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env: GTSAM_BUILD_UNSTABLE=ON GTSAM_BUILD_EXAMPLES_ALWAYS=ON GTSAM_BUILD_TESTS=OFF GCC_VERSION="8"
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- compiler: clang
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os: linux
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env: BUILD_EXAMPLES=1
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- compiler: gcc
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os: osx
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env: BUILD_EXAMPLES=1
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env: GTSAM_BUILD_UNSTABLE=ON GTSAM_BUILD_EXAMPLES_ALWAYS=ON GTSAM_BUILD_TESTS=OFF
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# - compiler: gcc
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# os: osx
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# env: GTSAM_BUILD_UNSTABLE=ON GTSAM_BUILD_EXAMPLES_ALWAYS=ON GTSAM_BUILD_TESTS=OFF
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- compiler: clang
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os: osx
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env: RUN_TESTS=1
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env: GTSAM_BUILD_UNSTABLE=ON GTSAM_BUILD_EXAMPLES_ALWAYS=OFF GTSAM_BUILD_TESTS=ON
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@ -314,6 +314,29 @@ else()
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set(GTSAM_EIGEN_INCLUDE_FOR_BUILD "${CMAKE_SOURCE_DIR}/gtsam/3rdparty/Eigen/")
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endif()
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# Detect Eigen version:
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set(EIGEN_VER_H "${GTSAM_EIGEN_INCLUDE_FOR_BUILD}/Eigen/src/Core/util/Macros.h")
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if (EXISTS ${EIGEN_VER_H})
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file(READ "${EIGEN_VER_H}" STR_EIGEN_VERSION)
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# Extract the Eigen version from the Macros.h file, lines "#define EIGEN_WORLD_VERSION XX", etc...
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string(REGEX MATCH "EIGEN_WORLD_VERSION[ ]+[0-9]+" GTSAM_EIGEN_VERSION_WORLD "${STR_EIGEN_VERSION}")
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string(REGEX MATCH "[0-9]+" GTSAM_EIGEN_VERSION_WORLD "${GTSAM_EIGEN_VERSION_WORLD}")
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string(REGEX MATCH "EIGEN_MAJOR_VERSION[ ]+[0-9]+" GTSAM_EIGEN_VERSION_MAJOR "${STR_EIGEN_VERSION}")
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string(REGEX MATCH "[0-9]+" GTSAM_EIGEN_VERSION_MAJOR "${GTSAM_EIGEN_VERSION_MAJOR}")
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string(REGEX MATCH "EIGEN_MINOR_VERSION[ ]+[0-9]+" GTSAM_EIGEN_VERSION_MINOR "${STR_EIGEN_VERSION}")
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string(REGEX MATCH "[0-9]+" GTSAM_EIGEN_VERSION_MINOR "${GTSAM_EIGEN_VERSION_MINOR}")
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set(GTSAM_EIGEN_VERSION "${GTSAM_EIGEN_VERSION_WORLD}.${GTSAM_EIGEN_VERSION_MAJOR}.${GTSAM_EIGEN_VERSION_MINOR}")
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message(STATUS "Found Eigen version: ${GTSAM_EIGEN_VERSION}")
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else()
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message(WARNING "Cannot determine Eigen version, missing file: `${EIGEN_VER_H}`")
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endif ()
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if (MSVC)
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if (BUILD_SHARED_LIBS)
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# mute eigen static assert to avoid errors in shared lib
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@ -499,11 +522,7 @@ if(NOT MSVC AND NOT XCODE_VERSION)
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message(STATUS " C compilation flags : ${CMAKE_C_FLAGS} ${CMAKE_C_FLAGS_${cmake_build_type_toupper}}")
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message(STATUS " C++ compilation flags : ${CMAKE_CXX_FLAGS} ${CMAKE_CXX_FLAGS_${cmake_build_type_toupper}}")
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endif()
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if(GTSAM_USE_SYSTEM_EIGEN)
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message(STATUS " Use System Eigen : Yes")
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else()
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message(STATUS " Use System Eigen : No")
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endif()
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message(STATUS " Use System Eigen : ${GTSAM_USE_SYSTEM_EIGEN} (Using version: ${GTSAM_EIGEN_VERSION})")
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if(GTSAM_USE_TBB)
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message(STATUS " Use Intel TBB : Yes")
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elseif(TBB_FOUND)
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@ -8,7 +8,6 @@
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%% Saved with string encoding Unicode (UTF-8)
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@webpage{Hauser06lecture,
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Author = {Raphael Hauser},
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Date-Added = {2011-10-10 15:21:22 +0000},
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@ -16,11 +15,5 @@
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Title = {Lecture Notes on Unconstrained Optimization},
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Url = {http://www.numerical.rl.ac.uk/nimg/oupartc/lectures/raphael/},
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Year = {2006},
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Bdsk-Url-1 = {http://www.numerical.rl.ac.uk/nimg/oupartc/lectures/raphael/},
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|
||||
howpublished = {\href{http://www.numerical.rl.ac.uk/nimg/oupartc/lectures/raphael/}{link}},
|
||||
}
|
||||
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@ -1,10 +1,11 @@
|
|||
#LyX 2.0 created this file. For more info see http://www.lyx.org/
|
||||
\lyxformat 413
|
||||
#LyX 2.1 created this file. For more info see http://www.lyx.org/
|
||||
\lyxformat 474
|
||||
\begin_document
|
||||
\begin_header
|
||||
\textclass article
|
||||
\begin_preamble
|
||||
\usepackage{amssymb}
|
||||
\usepackage{url}
|
||||
\usepackage{hyperref}
|
||||
\end_preamble
|
||||
\use_default_options true
|
||||
\maintain_unincluded_children false
|
||||
|
|
@ -15,13 +16,13 @@
|
|||
\font_roman default
|
||||
\font_sans default
|
||||
\font_typewriter default
|
||||
\font_math auto
|
||||
\font_default_family default
|
||||
\use_non_tex_fonts false
|
||||
\font_sc false
|
||||
\font_osf false
|
||||
\font_sf_scale 100
|
||||
\font_tt_scale 100
|
||||
|
||||
\graphics default
|
||||
\default_output_format default
|
||||
\output_sync 0
|
||||
|
|
@ -32,15 +33,24 @@
|
|||
\use_hyperref false
|
||||
\papersize default
|
||||
\use_geometry false
|
||||
\use_amsmath 1
|
||||
\use_esint 1
|
||||
\use_mhchem 1
|
||||
\use_mathdots 1
|
||||
\use_package amsmath 1
|
||||
\use_package amssymb 2
|
||||
\use_package cancel 1
|
||||
\use_package esint 1
|
||||
\use_package mathdots 1
|
||||
\use_package mathtools 1
|
||||
\use_package mhchem 1
|
||||
\use_package stackrel 0
|
||||
\use_package stmaryrd 1
|
||||
\use_package undertilde 1
|
||||
\cite_engine basic
|
||||
\cite_engine_type default
|
||||
\biblio_style plain
|
||||
\use_bibtopic false
|
||||
\use_indices false
|
||||
\paperorientation portrait
|
||||
\suppress_date false
|
||||
\justification true
|
||||
\use_refstyle 1
|
||||
\index Index
|
||||
\shortcut idx
|
||||
|
|
@ -231,7 +241,7 @@ key "Hauser06lecture"
|
|||
|
||||
\end_inset
|
||||
|
||||
(in our /net/hp223/borg/Literature folder).
|
||||
.
|
||||
\end_layout
|
||||
|
||||
\begin_layout Standard
|
||||
|
|
@ -465,22 +475,39 @@ where
|
|||
\end_inset
|
||||
|
||||
.
|
||||
A typical update rule [
|
||||
\color blue
|
||||
see where this came from in paper
|
||||
\color inherit
|
||||
] is
|
||||
A typical update rule, as per Lec.
|
||||
7-1.2 of
|
||||
\begin_inset CommandInset citation
|
||||
LatexCommand cite
|
||||
key "Hauser06lecture"
|
||||
|
||||
\end_inset
|
||||
|
||||
is:
|
||||
\begin_inset Formula
|
||||
\[
|
||||
\Delta\leftarrow\begin{cases}
|
||||
\max\left(\Delta,3\norm{\delta x_{d}}\right)\text{,} & \rho>0.75\\
|
||||
\Delta & 0.75>\rho>0.25\\
|
||||
\Delta/2 & 0.25>\rho
|
||||
\Delta_{k+1}\leftarrow\begin{cases}
|
||||
\Delta_{k}/4 & \rho<0.25\\
|
||||
\min\left(2\Delta_{k},\Delta_{max}\right)\text{,} & \rho>0.75\\
|
||||
\Delta_{k} & 0.75>\rho>0.25
|
||||
\end{cases}
|
||||
\]
|
||||
|
||||
\end_inset
|
||||
|
||||
where
|
||||
\begin_inset Formula $\Delta_{k}\triangleq\norm{\delta x_{d}}$
|
||||
\end_inset
|
||||
|
||||
.
|
||||
Note that the rule is designed to ensure that
|
||||
\begin_inset Formula $\Delta_{k}$
|
||||
\end_inset
|
||||
|
||||
never exceeds the maximum trust region size
|
||||
\begin_inset Formula $\Delta_{max}.$
|
||||
\end_inset
|
||||
|
||||
|
||||
\end_layout
|
||||
|
||||
|
|
@ -593,9 +620,9 @@ To find the intersection of the line between
|
|||
\begin{align*}
|
||||
\Delta & =\norm{\left(1-\tau\right)\delta x_{u}+\tau\delta x_{n}}\\
|
||||
\Delta^{2} & =\left(1-\tau\right)^{2}\delta x_{u}^{\t}\delta x_{u}+2\tau\left(1-\tau\right)\delta x_{u}^{\t}\delta x_{n}+\tau^{2}\delta x_{n}^{\t}\delta x_{n}\\
|
||||
0 & =uu-2\tau uu+\tau^{2}uu+2\tau un-2\tau^{2}un+\tau^{2}nn-\Delta^{2}\\
|
||||
0 & =\left(uu-2un+nn\right)\tau^{2}+\left(2un-2uu\right)\tau-\Delta^{2}+uu\\
|
||||
\tau & =\frac{-\left(2un-2uu\right)\pm\sqrt{\left(2un-2uu\right)^{2}-4\left(uu-2un+nn\right)\left(uu-\Delta^{2}\right)}}{2\left(uu-un+nn\right)}
|
||||
0 & =\delta x_{u}^{\t}\delta x_{u}-2\tau\delta x_{u}^{\t}\delta x_{u}+\tau^{2}\delta x_{u}^{\t}\delta x_{u}+2\tau\delta x_{u}^{\t}\delta x_{n}-2\tau^{2}\delta x_{u}^{\t}\delta x_{n}+\tau^{2}\delta x_{n}^{\t}\delta x_{n}-\Delta^{2}\\
|
||||
0 & =\left(\delta x_{u}^{\t}\delta x_{u}-2\delta x_{u}^{\t}\delta x_{n}+\delta x_{n}^{\t}\delta x_{n}\right)\tau^{2}+\left(2\delta x_{u}^{\t}\delta x_{n}-2\delta x_{u}^{\t}\delta x_{u}\right)\tau-\Delta^{2}+\delta x_{u}^{\t}\delta x_{u}\\
|
||||
\tau & =\frac{-\left(2\delta x_{u}^{\t}\delta x_{n}-2\delta x_{u}^{\t}\delta x_{u}\right)\pm\sqrt{\left(2\delta x_{u}^{\t}\delta x_{n}-2\delta x_{u}^{\t}\delta x_{u}\right)^{2}-4\left(\delta x_{u}^{\t}\delta x_{u}-2\delta x_{u}^{\t}\delta x_{n}+\delta x_{n}^{\t}\delta x_{n}\right)\left(\delta x_{u}^{\t}\delta x_{u}-\Delta^{2}\right)}}{2\left(\delta x_{u}^{\t}\delta x_{u}-\delta x_{u}^{\t}\delta x_{n}+\delta x_{n}^{\t}\delta x_{n}\right)}
|
||||
\end{align*}
|
||||
|
||||
\end_inset
|
||||
|
|
@ -641,7 +668,7 @@ Thus, mathematically, we can write the dogleg update
|
|||
\begin_inset Formula
|
||||
\[
|
||||
\delta x_{d}^{\left(k\right)}=\begin{cases}
|
||||
-\frac{\Delta}{\norm{g^{\left(k\right)}}}g^{\left(k\right)}\text{,} & \Delta<\norm{\delta x_{u}^{\left(k\right)}}\\
|
||||
-\frac{\Delta}{\norm{\delta x_{u}^{\left(k\right)}}}\delta x_{u}^{\left(k\right)}\text{,} & \Delta<\norm{\delta x_{u}^{\left(k\right)}}\\
|
||||
\left(1-\tau^{\left(k\right)}\right)\delta x_{u}^{\left(k\right)}+\tau^{\left(k\right)}\delta x_{n}^{\left(k\right)}\text{,} & \norm{\delta x_{u}^{\left(k\right)}}<\Delta<\norm{\delta x_{n}^{\left(k\right)}}\\
|
||||
\delta x_{n}^{\left(k\right)}\text{,} & \norm{\delta x_{n}^{\left(k\right)}}<\Delta
|
||||
\end{cases}
|
||||
|
|
|
|||
Binary file not shown.
|
|
@ -63,6 +63,19 @@ GTSAM_MAKE_VECTOR_DEFS(12);
|
|||
typedef Eigen::VectorBlock<Vector> SubVector;
|
||||
typedef Eigen::VectorBlock<const Vector> ConstSubVector;
|
||||
|
||||
/**
|
||||
* Ensure we are not including a different version of Eigen in user code than
|
||||
* while compiling gtsam, since it can lead to hard-to-understand runtime
|
||||
* crashes.
|
||||
*/
|
||||
#if defined(GTSAM_EIGEN_VERSION_WORLD)
|
||||
static_assert(
|
||||
GTSAM_EIGEN_VERSION_WORLD==EIGEN_WORLD_VERSION &&
|
||||
GTSAM_EIGEN_VERSION_MAJOR==EIGEN_MAJOR_VERSION &&
|
||||
GTSAM_EIGEN_VERSION_MINOR==EIGEN_MINOR_VERSION,
|
||||
"Error: GTSAM was built against a different version of Eigen");
|
||||
#endif
|
||||
|
||||
/**
|
||||
* print without optional string, must specify cout yourself
|
||||
*/
|
||||
|
|
|
|||
|
|
@ -52,6 +52,12 @@
|
|||
// Whether Eigen with MKL will use OpenMP (if OpenMP was found, Eigen uses MKL, and GTSAM_WITH_EIGEN_MKL_OPENMP is enabled in CMake)
|
||||
#cmakedefine GTSAM_USE_EIGEN_MKL_OPENMP
|
||||
|
||||
// Eigen library version (needed to avoid mixing versions, which often leads
|
||||
// to segfaults)
|
||||
#cmakedefine GTSAM_EIGEN_VERSION_WORLD @GTSAM_EIGEN_VERSION_WORLD@
|
||||
#cmakedefine GTSAM_EIGEN_VERSION_MAJOR @GTSAM_EIGEN_VERSION_MAJOR@
|
||||
#cmakedefine GTSAM_EIGEN_VERSION_MINOR @GTSAM_EIGEN_VERSION_MINOR@
|
||||
|
||||
// The default allocator to use
|
||||
#cmakedefine GTSAM_ALLOCATOR_BOOSTPOOL
|
||||
#cmakedefine GTSAM_ALLOCATOR_TBB
|
||||
|
|
|
|||
|
|
@ -36,19 +36,20 @@ namespace gtsam {
|
|||
/* ************************************************************************* */
|
||||
template<class CLIQUE>
|
||||
BayesTreeCliqueData BayesTree<CLIQUE>::getCliqueData() const {
|
||||
BayesTreeCliqueData data;
|
||||
for(const sharedClique& root: roots_)
|
||||
getCliqueData(data, root);
|
||||
return data;
|
||||
BayesTreeCliqueData stats;
|
||||
for (const sharedClique& root : roots_) getCliqueData(root, &stats);
|
||||
return stats;
|
||||
}
|
||||
|
||||
/* ************************************************************************* */
|
||||
template<class CLIQUE>
|
||||
void BayesTree<CLIQUE>::getCliqueData(BayesTreeCliqueData& data, sharedClique clique) const {
|
||||
data.conditionalSizes.push_back(clique->conditional()->nrFrontals());
|
||||
data.separatorSizes.push_back(clique->conditional()->nrParents());
|
||||
for(sharedClique c: clique->children) {
|
||||
getCliqueData(data, c);
|
||||
template <class CLIQUE>
|
||||
void BayesTree<CLIQUE>::getCliqueData(sharedClique clique,
|
||||
BayesTreeCliqueData* stats) const {
|
||||
const auto conditional = clique->conditional();
|
||||
stats->conditionalSizes.push_back(conditional->nrFrontals());
|
||||
stats->separatorSizes.push_back(conditional->nrParents());
|
||||
for (sharedClique c : clique->children) {
|
||||
getCliqueData(c, stats);
|
||||
}
|
||||
}
|
||||
|
||||
|
|
@ -133,34 +134,26 @@ namespace gtsam {
|
|||
}
|
||||
|
||||
/* ************************************************************************* */
|
||||
// TODO: Clean up
|
||||
namespace {
|
||||
template<class FACTOR, class CLIQUE>
|
||||
int _pushClique(FactorGraph<FACTOR>& fg, const boost::shared_ptr<CLIQUE>& clique) {
|
||||
fg.push_back(clique->conditional_);
|
||||
return 0;
|
||||
}
|
||||
|
||||
template<class FACTOR, class CLIQUE>
|
||||
template <class FACTOR, class CLIQUE>
|
||||
struct _pushCliqueFunctor {
|
||||
_pushCliqueFunctor(FactorGraph<FACTOR>& graph_) : graph(graph_) {}
|
||||
FactorGraph<FACTOR>& graph;
|
||||
_pushCliqueFunctor(FactorGraph<FACTOR>* graph_) : graph(graph_) {}
|
||||
FactorGraph<FACTOR>* graph;
|
||||
int operator()(const boost::shared_ptr<CLIQUE>& clique, int dummy) {
|
||||
graph.push_back(clique->conditional_);
|
||||
graph->push_back(clique->conditional_);
|
||||
return 0;
|
||||
}
|
||||
};
|
||||
}
|
||||
} // namespace
|
||||
|
||||
/* ************************************************************************* */
|
||||
template<class CLIQUE>
|
||||
void BayesTree<CLIQUE>::addFactorsToGraph(FactorGraph<FactorType>& graph) const
|
||||
{
|
||||
template <class CLIQUE>
|
||||
void BayesTree<CLIQUE>::addFactorsToGraph(
|
||||
FactorGraph<FactorType>* graph) const {
|
||||
// Traverse the BayesTree and add all conditionals to this graph
|
||||
int data = 0; // Unused
|
||||
_pushCliqueFunctor<FactorType,CLIQUE> functor(graph);
|
||||
treeTraversal::DepthFirstForest(*this, data, functor); // FIXME: sort of works?
|
||||
// treeTraversal::DepthFirstForest(*this, data, boost::bind(&_pushClique<FactorType,CLIQUE>, boost::ref(graph), _1));
|
||||
_pushCliqueFunctor<FactorType, CLIQUE> functor(graph);
|
||||
treeTraversal::DepthFirstForest(*this, data, functor);
|
||||
}
|
||||
|
||||
/* ************************************************************************* */
|
||||
|
|
@ -434,51 +427,51 @@ namespace gtsam {
|
|||
}
|
||||
|
||||
/* ************************************************************************* */
|
||||
template<class CLIQUE>
|
||||
void BayesTree<CLIQUE>::removePath(sharedClique clique, BayesNetType& bn, Cliques& orphans)
|
||||
{
|
||||
template <class CLIQUE>
|
||||
void BayesTree<CLIQUE>::removePath(sharedClique clique, BayesNetType* bn,
|
||||
Cliques* orphans) {
|
||||
// base case is NULL, if so we do nothing and return empties above
|
||||
if (clique) {
|
||||
|
||||
// remove the clique from orphans in case it has been added earlier
|
||||
orphans.remove(clique);
|
||||
orphans->remove(clique);
|
||||
|
||||
// remove me
|
||||
this->removeClique(clique);
|
||||
|
||||
// remove path above me
|
||||
this->removePath(typename Clique::shared_ptr(clique->parent_.lock()), bn, orphans);
|
||||
this->removePath(typename Clique::shared_ptr(clique->parent_.lock()), bn,
|
||||
orphans);
|
||||
|
||||
// add children to list of orphans (splice also removed them from clique->children_)
|
||||
orphans.insert(orphans.begin(), clique->children.begin(), clique->children.end());
|
||||
// add children to list of orphans (splice also removed them from
|
||||
// clique->children_)
|
||||
orphans->insert(orphans->begin(), clique->children.begin(),
|
||||
clique->children.end());
|
||||
clique->children.clear();
|
||||
|
||||
bn.push_back(clique->conditional_);
|
||||
|
||||
bn->push_back(clique->conditional_);
|
||||
}
|
||||
}
|
||||
|
||||
/* ************************************************************************* */
|
||||
template<class CLIQUE>
|
||||
void BayesTree<CLIQUE>::removeTop(const KeyVector& keys, BayesNetType& bn, Cliques& orphans)
|
||||
{
|
||||
/* *************************************************************************
|
||||
*/
|
||||
template <class CLIQUE>
|
||||
void BayesTree<CLIQUE>::removeTop(const KeyVector& keys, BayesNetType* bn,
|
||||
Cliques* orphans) {
|
||||
gttic(removetop);
|
||||
// process each key of the new factor
|
||||
for(const Key& j: keys)
|
||||
{
|
||||
for (const Key& j : keys) {
|
||||
// get the clique
|
||||
// TODO: Nodes will be searched again in removeClique
|
||||
// TODO(frank): Nodes will be searched again in removeClique
|
||||
typename Nodes::const_iterator node = nodes_.find(j);
|
||||
if(node != nodes_.end()) {
|
||||
if (node != nodes_.end()) {
|
||||
// remove path from clique to root
|
||||
this->removePath(node->second, bn, orphans);
|
||||
}
|
||||
}
|
||||
|
||||
// Delete cachedShortcuts for each orphan subtree
|
||||
//TODO: Consider Improving
|
||||
for(sharedClique& orphan: orphans)
|
||||
orphan->deleteCachedShortcuts();
|
||||
// TODO(frank): Consider Improving
|
||||
for (sharedClique& orphan : *orphans) orphan->deleteCachedShortcuts();
|
||||
}
|
||||
|
||||
/* ************************************************************************* */
|
||||
|
|
|
|||
|
|
@ -208,13 +208,13 @@ namespace gtsam {
|
|||
* Remove path from clique to root and return that path as factors
|
||||
* plus a list of orphaned subtree roots. Used in removeTop below.
|
||||
*/
|
||||
void removePath(sharedClique clique, BayesNetType& bn, Cliques& orphans);
|
||||
void removePath(sharedClique clique, BayesNetType* bn, Cliques* orphans);
|
||||
|
||||
/**
|
||||
* Given a list of indices, turn "contaminated" part of the tree back into a factor graph.
|
||||
* Factors and orphans are added to the in/out arguments.
|
||||
*/
|
||||
void removeTop(const KeyVector& keys, BayesNetType& bn, Cliques& orphans);
|
||||
void removeTop(const KeyVector& keys, BayesNetType* bn, Cliques* orphans);
|
||||
|
||||
/**
|
||||
* Remove the requested subtree. */
|
||||
|
|
@ -229,7 +229,7 @@ namespace gtsam {
|
|||
void addClique(const sharedClique& clique, const sharedClique& parent_clique = sharedClique());
|
||||
|
||||
/** Add all cliques in this BayesTree to the specified factor graph */
|
||||
void addFactorsToGraph(FactorGraph<FactorType>& graph) const;
|
||||
void addFactorsToGraph(FactorGraph<FactorType>* graph) const;
|
||||
|
||||
protected:
|
||||
|
||||
|
|
@ -238,7 +238,7 @@ namespace gtsam {
|
|||
int parentnum = 0) const;
|
||||
|
||||
/** Gather data on a single clique */
|
||||
void getCliqueData(BayesTreeCliqueData& stats, sharedClique clique) const;
|
||||
void getCliqueData(sharedClique clique, BayesTreeCliqueData* stats) const;
|
||||
|
||||
/** remove a clique: warning, can result in a forest */
|
||||
void removeClique(sharedClique clique);
|
||||
|
|
@ -249,6 +249,25 @@ namespace gtsam {
|
|||
// Friend JunctionTree because it directly fills roots and nodes index.
|
||||
template<class BAYESRTEE, class GRAPH> friend class EliminatableClusterTree;
|
||||
|
||||
#ifdef GTSAM_ALLOW_DEPRECATED_SINCE_V4
|
||||
public:
|
||||
/// @name Deprecated
|
||||
/// @{
|
||||
void removePath(sharedClique clique, BayesNetType& bn, Cliques& orphans) {
|
||||
removePath(clique, &bn, &orphans);
|
||||
}
|
||||
void removeTop(const KeyVector& keys, BayesNetType& bn, Cliques& orphans) {
|
||||
removeTop(keys, &bn, &orphans);
|
||||
}
|
||||
void getCliqueData(BayesTreeCliqueData& stats, sharedClique clique) const {
|
||||
getCliqueData(clique, &stats);
|
||||
}
|
||||
void addFactorsToGraph(FactorGraph<FactorType>& graph) const{
|
||||
addFactorsToGraph(& graph);
|
||||
}
|
||||
/// @}
|
||||
#endif
|
||||
|
||||
private:
|
||||
/** Serialization function */
|
||||
friend class boost::serialization::access;
|
||||
|
|
|
|||
|
|
@ -270,7 +270,7 @@ class FactorGraph {
|
|||
typename std::enable_if<
|
||||
std::is_base_of<This, typename CLIQUE::FactorGraphType>::value>::type
|
||||
push_back(const BayesTree<CLIQUE>& bayesTree) {
|
||||
bayesTree.addFactorsToGraph(*this);
|
||||
bayesTree.addFactorsToGraph(this);
|
||||
}
|
||||
|
||||
/**
|
||||
|
|
|
|||
|
|
@ -24,14 +24,14 @@ namespace gtsam {
|
|||
|
||||
/* ************************************************************************* */
|
||||
template<class BAYESTREE>
|
||||
void ISAM<BAYESTREE>::update_internal(const FactorGraphType& newFactors,
|
||||
Cliques& orphans, const Eliminate& function) {
|
||||
void ISAM<BAYESTREE>::updateInternal(const FactorGraphType& newFactors,
|
||||
Cliques* orphans, const Eliminate& function) {
|
||||
// Remove the contaminated part of the Bayes tree
|
||||
BayesNetType bn;
|
||||
const KeySet newFactorKeys = newFactors.keys();
|
||||
if (!this->empty()) {
|
||||
KeyVector keyVector(newFactorKeys.begin(), newFactorKeys.end());
|
||||
this->removeTop(keyVector, bn, orphans);
|
||||
this->removeTop(keyVector, &bn, orphans);
|
||||
}
|
||||
|
||||
// Add the removed top and the new factors
|
||||
|
|
@ -40,7 +40,7 @@ void ISAM<BAYESTREE>::update_internal(const FactorGraphType& newFactors,
|
|||
factors += newFactors;
|
||||
|
||||
// Add the orphaned subtrees
|
||||
for (const sharedClique& orphan : orphans)
|
||||
for (const sharedClique& orphan : *orphans)
|
||||
factors += boost::make_shared<BayesTreeOrphanWrapper<Clique> >(orphan);
|
||||
|
||||
// Get an ordering where the new keys are eliminated last
|
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|
|
@ -62,7 +62,7 @@ template<class BAYESTREE>
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void ISAM<BAYESTREE>::update(const FactorGraphType& newFactors,
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const Eliminate& function) {
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Cliques orphans;
|
||||
this->update_internal(newFactors, orphans, function);
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||||
this->updateInternal(newFactors, &orphans, function);
|
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}
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|
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}
|
||||
|
|
|
|||
|
|
@ -22,16 +22,14 @@
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|||
|
||||
namespace gtsam {
|
||||
|
||||
/**
|
||||
/**
|
||||
* A Bayes tree with an update methods that implements the iSAM algorithm.
|
||||
* Given a set of new factors, it re-eliminates the invalidated part of the tree.
|
||||
* \nosubgrouping
|
||||
* Given a set of new factors, it re-eliminates the invalidated part of the
|
||||
* tree. \nosubgrouping
|
||||
*/
|
||||
template<class BAYESTREE>
|
||||
class ISAM: public BAYESTREE
|
||||
{
|
||||
template <class BAYESTREE>
|
||||
class ISAM : public BAYESTREE {
|
||||
public:
|
||||
|
||||
typedef BAYESTREE Base;
|
||||
typedef typename Base::BayesNetType BayesNetType;
|
||||
typedef typename Base::FactorGraphType FactorGraphType;
|
||||
|
|
@ -40,12 +38,10 @@ namespace gtsam {
|
|||
typedef typename Base::Cliques Cliques;
|
||||
|
||||
private:
|
||||
|
||||
typedef typename Base::Eliminate Eliminate;
|
||||
typedef typename Base::EliminationTraitsType EliminationTraitsType;
|
||||
|
||||
public:
|
||||
|
||||
/// @name Standard Constructors
|
||||
/// @{
|
||||
|
||||
|
|
@ -53,25 +49,40 @@ namespace gtsam {
|
|||
ISAM() {}
|
||||
|
||||
/** Copy constructor */
|
||||
ISAM(const Base& bayesTree) : Base(bayesTree) {}
|
||||
explicit ISAM(const Base& bayesTree) : Base(bayesTree) {}
|
||||
|
||||
/// @}
|
||||
/// @name Advanced Interface Interface
|
||||
/// @{
|
||||
|
||||
/**
|
||||
* update the Bayes tree with a set of new factors, typically derived from measurements
|
||||
* update the Bayes tree with a set of new factors, typically derived from
|
||||
* measurements
|
||||
* @param newFactors is a factor graph that contains the new factors
|
||||
* @param function an elimination routine
|
||||
*/
|
||||
void update(const FactorGraphType& newFactors, const Eliminate& function = EliminationTraitsType::DefaultEliminate);
|
||||
void update(
|
||||
const FactorGraphType& newFactors,
|
||||
const Eliminate& function = EliminationTraitsType::DefaultEliminate);
|
||||
|
||||
/** update_internal provides access to list of orphans for drawing purposes */
|
||||
void update_internal(const FactorGraphType& newFactors, Cliques& orphans,
|
||||
/** updateInternal provides access to list of orphans for drawing purposes
|
||||
*/
|
||||
void updateInternal(
|
||||
const FactorGraphType& newFactors, Cliques* orphans,
|
||||
const Eliminate& function = EliminationTraitsType::DefaultEliminate);
|
||||
|
||||
/// @}
|
||||
|
||||
};
|
||||
#ifdef GTSAM_ALLOW_DEPRECATED_SINCE_V4
|
||||
/// @name Deprecated
|
||||
/// @{
|
||||
void update_internal(
|
||||
const FactorGraphType& newFactors, Cliques& orphans,
|
||||
const Eliminate& function = EliminationTraitsType::DefaultEliminate) {
|
||||
updateInternal(newFactors, &orphans, function);
|
||||
}
|
||||
/// @}
|
||||
#endif
|
||||
};
|
||||
|
||||
}/// namespace gtsam
|
||||
} // namespace gtsam
|
||||
|
|
|
|||
Loading…
Reference in New Issue