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Tweaks to fix syntax on boost 1.4

release/4.3a0
Richard Roberts 2010-10-23 06:12:02 +00:00
parent 3bb1f26916
commit dd05b45a59
2 changed files with 14 additions and 6 deletions
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10
linear/GaussianMultifrontalSolver.cpp
View File

@ -20,6 +20,10 @@
#include <gtsam/inference/GenericMultifrontalSolver-inl.h> #include <gtsam/inference/GenericMultifrontalSolver-inl.h>
#include <boost/numeric/ublas/matrix.hpp>
namespace ublas = boost::numeric::ublas;
namespace gtsam { namespace gtsam {
/* ************************************************************************* */ /* ************************************************************************* */
@ -57,9 +61,9 @@ GaussianFactor::shared_ptr GaussianMultifrontalSolver::marginal(Index j) const {
/* ************************************************************************* */ /* ************************************************************************* */
std::pair<Vector, Matrix> GaussianMultifrontalSolver::marginalStandard(Index j) const { std::pair<Vector, Matrix> GaussianMultifrontalSolver::marginalStandard(Index j) const {
GaussianConditional::shared_ptr conditional = Base::marginal(j)->eliminateFirst(); GaussianConditional::shared_ptr conditional = Base::marginal(j)->eliminateFirst();
Matrix R = conditional->get_R(); Matrix R = conditional->get_R();
return make_pair(conditional->get_d(), inverse(prod(trans(R),R))); return make_pair(conditional->get_d(), inverse(ublas::prod(ublas::trans(R), R)));
} }
} }

10
linear/GaussianSequentialSolver.cpp
View File

@ -20,6 +20,10 @@
#include <gtsam/inference/GenericSequentialSolver-inl.h> #include <gtsam/inference/GenericSequentialSolver-inl.h>
#include <boost/numeric/ublas/matrix.hpp>
namespace ublas = boost::numeric::ublas;
namespace gtsam { namespace gtsam {
/* ************************************************************************* */ /* ************************************************************************* */
@ -73,9 +77,9 @@ GaussianFactor::shared_ptr GaussianSequentialSolver::marginal(Index j) const {
} }
std::pair<Vector, Matrix> GaussianSequentialSolver::marginalStandard(Index j) const { std::pair<Vector, Matrix> GaussianSequentialSolver::marginalStandard(Index j) const {
GaussianConditional::shared_ptr conditional = Base::marginal(j)->eliminateFirst(); GaussianConditional::shared_ptr conditional = Base::marginal(j)->eliminateFirst();
Matrix R = conditional->get_R(); Matrix R = conditional->get_R();
return make_pair(conditional->get_d(), inverse(prod(trans(R),R))); return make_pair(conditional->get_d(), inverse(ublas::prod(ublas::trans(R), R)));
} }