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DefaultOrderingFunc in EliminationTraits

release/4.3a0
Varun Agrawal 2023-01-06 09:50:47 -05:00
parent a3b177c604
commit d82fcc0aa9
4 changed files with 38 additions and 4 deletions
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12
gtsam/discrete/DiscreteFactorGraph.h
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@ -62,9 +62,17 @@ template<> struct EliminationTraits<DiscreteFactorGraph>
typedef DiscreteBayesTree BayesTreeType; ///< Type of Bayes tree typedef DiscreteBayesTree BayesTreeType; ///< Type of Bayes tree
typedef DiscreteJunctionTree JunctionTreeType; ///< Type of Junction tree typedef DiscreteJunctionTree JunctionTreeType; ///< Type of Junction tree
/// The default dense elimination function /// The default dense elimination function
static std::pair<boost::shared_ptr<ConditionalType>, boost::shared_ptr<FactorType> > static std::pair<boost::shared_ptr<ConditionalType>,
boost::shared_ptr<FactorType> >
DefaultEliminate(const FactorGraphType& factors, const Ordering& keys) { DefaultEliminate(const FactorGraphType& factors, const Ordering& keys) {
return EliminateDiscrete(factors, keys); } return EliminateDiscrete(factors, keys);
}
/// The default ordering generation function
static Ordering DefaultOrderingFunc(
const FactorGraphType& graph,
boost::optional<const VariableIndex&> variableIndex) {
return Ordering::Colamd(*variableIndex);
}
}; };
/* ************************************************************************* */ /* ************************************************************************* */

18
gtsam/inference/EliminateableFactorGraph-inst.h
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@ -44,9 +44,16 @@ namespace gtsam {
if (orderingType == Ordering::METIS) { if (orderingType == Ordering::METIS) {
Ordering computedOrdering = Ordering::Metis(asDerived()); Ordering computedOrdering = Ordering::Metis(asDerived());
return eliminateSequential(computedOrdering, function, variableIndex); return eliminateSequential(computedOrdering, function, variableIndex);
} else { } else if (orderingType == Ordering::COLAMD) {
Ordering computedOrdering = Ordering::Colamd(*variableIndex); Ordering computedOrdering = Ordering::Colamd(*variableIndex);
return eliminateSequential(computedOrdering, function, variableIndex); return eliminateSequential(computedOrdering, function, variableIndex);
} else if (orderingType == Ordering::NATURAL) {
Ordering computedOrdering = Ordering::Natural(asDerived());
return eliminateSequential(computedOrdering, function, variableIndex);
} else {
Ordering computedOrdering = EliminationTraitsType::DefaultOrderingFunc(
asDerived(), variableIndex);
return eliminateSequential(computedOrdering, function, variableIndex);
} }
} }
} }
@ -100,9 +107,16 @@ namespace gtsam {
if (orderingType == Ordering::METIS) { if (orderingType == Ordering::METIS) {
Ordering computedOrdering = Ordering::Metis(asDerived()); Ordering computedOrdering = Ordering::Metis(asDerived());
return eliminateMultifrontal(computedOrdering, function, variableIndex); return eliminateMultifrontal(computedOrdering, function, variableIndex);
} else { } else if (orderingType == Ordering::COLAMD) {
Ordering computedOrdering = Ordering::Colamd(*variableIndex); Ordering computedOrdering = Ordering::Colamd(*variableIndex);
return eliminateMultifrontal(computedOrdering, function, variableIndex); return eliminateMultifrontal(computedOrdering, function, variableIndex);
} else if (orderingType == Ordering::NATURAL) {
Ordering computedOrdering = Ordering::Natural(asDerived());
return eliminateMultifrontal(computedOrdering, function, variableIndex);
} else {
Ordering computedOrdering = EliminationTraitsType::DefaultOrderingFunc(
asDerived(), variableIndex);
return eliminateMultifrontal(computedOrdering, function, variableIndex);
} }
} }
} }

6
gtsam/linear/GaussianFactorGraph.h
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@ -54,6 +54,12 @@ namespace gtsam {
static std::pair<boost::shared_ptr<ConditionalType>, boost::shared_ptr<FactorType> > static std::pair<boost::shared_ptr<ConditionalType>, boost::shared_ptr<FactorType> >
DefaultEliminate(const FactorGraphType& factors, const Ordering& keys) { DefaultEliminate(const FactorGraphType& factors, const Ordering& keys) {
return EliminatePreferCholesky(factors, keys); } return EliminatePreferCholesky(factors, keys); }
/// The default ordering generation function
static Ordering DefaultOrderingFunc(
const FactorGraphType& graph,
boost::optional<const VariableIndex&> variableIndex) {
return Ordering::Colamd(*variableIndex);
}
}; };
/* ************************************************************************* */ /* ************************************************************************* */

6
gtsam/symbolic/SymbolicFactorGraph.h
View File

@ -46,6 +46,12 @@ namespace gtsam {
static std::pair<boost::shared_ptr<ConditionalType>, boost::shared_ptr<FactorType> > static std::pair<boost::shared_ptr<ConditionalType>, boost::shared_ptr<FactorType> >
DefaultEliminate(const FactorGraphType& factors, const Ordering& keys) { DefaultEliminate(const FactorGraphType& factors, const Ordering& keys) {
return EliminateSymbolic(factors, keys); } return EliminateSymbolic(factors, keys); }
/// The default ordering generation function
static Ordering DefaultOrderingFunc(
const FactorGraphType& graph,
boost::optional<const VariableIndex&> variableIndex) {
return Ordering::Colamd(*variableIndex);
}
}; };
/* ************************************************************************* */ /* ************************************************************************* */