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Renamed arguments for consistency

release/4.3a0
Richard Roberts 2012-10-01 16:12:34 +00:00
parent 784e9f5755
commit d7af0b9b5b
2 changed files with 9 additions and 9 deletions
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14
gtsam/nonlinear/ISAM2-impl.cpp
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@ -30,7 +30,7 @@ namespace gtsam {
/* ************************************************************************* */ /* ************************************************************************* */
void ISAM2::Impl::AddVariables( void ISAM2::Impl::AddVariables(
const Values& newTheta, Values& theta, VectorValues& delta, const Values& newTheta, Values& theta, VectorValues& delta,
VectorValues& deltaNewton, VectorValues& deltaGradSearch, vector<bool>& replacedKeys, VectorValues& deltaNewton, VectorValues& RgProd, vector<bool>& replacedKeys,
Ordering& ordering, const KeyFormatter& keyFormatter) { Ordering& ordering, const KeyFormatter& keyFormatter) {
const bool debug = ISDEBUG("ISAM2 AddVariables"); const bool debug = ISDEBUG("ISAM2 AddVariables");
@ -46,8 +46,8 @@ void ISAM2::Impl::AddVariables(
delta.vector().segment(originalDim, newDim).operator=(Vector::Zero(newDim)); delta.vector().segment(originalDim, newDim).operator=(Vector::Zero(newDim));
deltaNewton.append(dims); deltaNewton.append(dims);
deltaNewton.vector().segment(originalDim, newDim).operator=(Vector::Zero(newDim)); deltaNewton.vector().segment(originalDim, newDim).operator=(Vector::Zero(newDim));
deltaGradSearch.append(dims); RgProd.append(dims);
deltaGradSearch.vector().segment(originalDim, newDim).operator=(Vector::Zero(newDim)); RgProd.vector().segment(originalDim, newDim).operator=(Vector::Zero(newDim));
{ {
Index nextVar = originalnVars; Index nextVar = originalnVars;
BOOST_FOREACH(const Values::ConstKeyValuePair& key_value, newTheta) { BOOST_FOREACH(const Values::ConstKeyValuePair& key_value, newTheta) {
@ -64,7 +64,7 @@ void ISAM2::Impl::AddVariables(
/* ************************************************************************* */ /* ************************************************************************* */
void ISAM2::Impl::RemoveVariables(const FastSet<Key>& unusedKeys, const ISAM2Clique::shared_ptr& root, void ISAM2::Impl::RemoveVariables(const FastSet<Key>& unusedKeys, const ISAM2Clique::shared_ptr& root,
Values& theta, VariableIndex& variableIndex, Values& theta, VariableIndex& variableIndex,
VectorValues& delta, VectorValues& deltaNewton, VectorValues& deltaGradSearch, VectorValues& delta, VectorValues& deltaNewton, VectorValues& RgProd,
std::vector<bool>& replacedKeys, Ordering& ordering, Base::Nodes& nodes, std::vector<bool>& replacedKeys, Ordering& ordering, Base::Nodes& nodes,
GaussianFactorGraph& linearFactors) { GaussianFactorGraph& linearFactors) {
@ -101,7 +101,7 @@ void ISAM2::Impl::RemoveVariables(const FastSet<Key>& unusedKeys, const ISAM2Cli
for(size_t j = 0; j < dims.size(); ++j) { for(size_t j = 0; j < dims.size(); ++j) {
newDelta[j] = delta[unusedToEnd[j]]; newDelta[j] = delta[unusedToEnd[j]];
newDeltaNewton[j] = deltaNewton[unusedToEnd[j]]; newDeltaNewton[j] = deltaNewton[unusedToEnd[j]];
newDeltaGradSearch[j] = deltaGradSearch[unusedToEnd[j]]; newDeltaGradSearch[j] = RgProd[unusedToEnd[j]];
newReplacedKeys[j] = replacedKeys[unusedToEnd[j]]; newReplacedKeys[j] = replacedKeys[unusedToEnd[j]];
newNodes[j] = nodes[unusedToEnd[j]]; newNodes[j] = nodes[unusedToEnd[j]];
} }
@ -109,7 +109,7 @@ void ISAM2::Impl::RemoveVariables(const FastSet<Key>& unusedKeys, const ISAM2Cli
// Swap the new data structures with the outputs of this function // Swap the new data structures with the outputs of this function
delta.swap(newDelta); delta.swap(newDelta);
deltaNewton.swap(newDeltaNewton); deltaNewton.swap(newDeltaNewton);
deltaGradSearch.swap(newDeltaGradSearch); RgProd.swap(newDeltaGradSearch);
replacedKeys.swap(newReplacedKeys); replacedKeys.swap(newReplacedKeys);
nodes.swap(newNodes); nodes.swap(newNodes);
} }
@ -438,7 +438,7 @@ size_t ISAM2::Impl::UpdateDelta(const boost::shared_ptr<ISAM2Clique>& root, std:
/* ************************************************************************* */ /* ************************************************************************* */
namespace internal { namespace internal {
void updateDoglegDeltas(const boost::shared_ptr<ISAM2Clique>& clique, std::vector<bool>& replacedKeys, void updateDoglegDeltas(const boost::shared_ptr<ISAM2Clique>& clique, const std::vector<bool>& replacedKeys,
const VectorValues& grad, VectorValues& deltaNewton, VectorValues& RgProd, size_t& varsUpdated) { const VectorValues& grad, VectorValues& deltaNewton, VectorValues& RgProd, size_t& varsUpdated) {
// Check if any frontal or separator keys were recalculated, if so, we need // Check if any frontal or separator keys were recalculated, if so, we need

4
gtsam/nonlinear/ISAM2-impl.h
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@ -47,7 +47,7 @@ struct ISAM2::Impl {
* @param keyFormatter Formatter for printing nonlinear keys during debugging * @param keyFormatter Formatter for printing nonlinear keys during debugging
*/ */
static void AddVariables(const Values& newTheta, Values& theta, VectorValues& delta, static void AddVariables(const Values& newTheta, Values& theta, VectorValues& delta,
VectorValues& deltaNewton, VectorValues& deltaGradSearch, std::vector<bool>& replacedKeys, VectorValues& deltaNewton, VectorValues& RgProd, std::vector<bool>& replacedKeys,
Ordering& ordering, const KeyFormatter& keyFormatter = DefaultKeyFormatter); Ordering& ordering, const KeyFormatter& keyFormatter = DefaultKeyFormatter);
/** /**
@ -55,7 +55,7 @@ struct ISAM2::Impl {
*/ */
static void RemoveVariables(const FastSet<Key>& unusedKeys, const ISAM2Clique::shared_ptr& root, static void RemoveVariables(const FastSet<Key>& unusedKeys, const ISAM2Clique::shared_ptr& root,
Values& theta, VariableIndex& variableIndex, VectorValues& delta, VectorValues& deltaNewton, Values& theta, VariableIndex& variableIndex, VectorValues& delta, VectorValues& deltaNewton,
VectorValues& deltaGradSearch, std::vector<bool>& replacedKeys, Ordering& ordering, Base::Nodes& nodes, VectorValues& RgProd, std::vector<bool>& replacedKeys, Ordering& ordering, Base::Nodes& nodes,
GaussianFactorGraph& linearFactors); GaussianFactorGraph& linearFactors);
/** /**