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Moved [factors] to FactorGraph

release/4.3a0
Frank Dellaert 2009-10-29 04:49:13 +00:00
parent b6cee73571
commit f0c23a2828
5 changed files with 56 additions and 17 deletions
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11
cpp/FactorGraph-inl.h
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@ -64,8 +64,8 @@ size_t FactorGraph<Factor>::nrFactors() const {
/* ************************************************************************* */
template<class Factor>
void FactorGraph<Factor>::push_back(shared_factor factor) {
factors_.push_back(factor); // add the actual factor
if (factor==NULL) return;
int i = factors_.size() - 1; // index of factor
list<string> keys = factor->keys(); // get keys for factor
@ -157,6 +157,15 @@ Ordering FactorGraph<Factor>::getOrdering() const {
return colamd(n_col, n_row, nrNonZeros, columns);
}
/* ************************************************************************* */
/** O(1) */
/* ************************************************************************* */
template<class Factor>
list<int> FactorGraph<Factor>::factors(const string& key) const {
Indices::const_iterator it = indices_.find(key);
return it->second;
}
/* ************************************************************************* */
/** find all non-NULL factors for a variable, then set factors to NULL */
/* ************************************************************************* */

6
cpp/FactorGraph.h
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@ -82,6 +82,12 @@ namespace gtsam {
*/
Ordering getOrdering() const;
/**
* Return indices for all factors that involve the given node
* @param key the key for the given node
*/
std::list<int> factors(const std::string& key) const;
/**
* find all the factors that involve the given node and remove them
* from the factor graph

8
cpp/LinearFactorGraph.cpp
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@ -47,14 +47,6 @@ set<string> LinearFactorGraph::find_separator(const string& key) const
return separator;
}
/* ************************************************************************* */
/** O(1) */
/* ************************************************************************* */
list<int> LinearFactorGraph::factors(const string& key) const {
Indices::const_iterator it = indices_.find(key);
return it->second;
}
/* ************************************************************************* */
/* find factors and remove them from the factor graph: O(n) */
/* ************************************************************************* */

6
cpp/LinearFactorGraph.h
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@ -67,12 +67,6 @@ namespace gtsam {
*/
std::set<std::string> find_separator(const std::string& key) const;
/**
* Return indices for all factors that involve the given node
* @param key the key for the given node
*/
std::list<int> factors(const std::string& key) const;
/**
* extract and combine all the factors that involve a given node
* NOTE: the combined factor will be depends on a system-dependent

42
cpp/testSymbolicBayesChain.cpp
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@ -72,7 +72,7 @@ using namespace std;
using namespace gtsam;
/* ************************************************************************* */
TEST( SymbolicBayesChain, symbolicFactorGraph )
TEST( SymbolicFactorGraph, symbolicFactorGraph )
{
// construct expected symbolic graph
SymbolicFactorGraph expected;
@ -98,8 +98,46 @@ TEST( SymbolicBayesChain, symbolicFactorGraph )
SymbolicFactorGraph actual(factorGraph);
CHECK(assert_equal(expected, actual));
}
//symbolicGraph.find_factors_and_remove("x");
/* ************************************************************************* */
TEST( SymbolicFactorGraph, find_factors_and_remove )
{
// construct it from the factor graph graph
LinearFactorGraph factorGraph = createLinearFactorGraph();
SymbolicFactorGraph actual(factorGraph);
SymbolicFactor::shared_ptr f1 = actual[0];
SymbolicFactor::shared_ptr f3 = actual[2];
actual.find_factors_and_remove("x2");
// construct expected graph after find_factors_and_remove
SymbolicFactorGraph expected;
SymbolicFactor::shared_ptr null;
expected.push_back(f1);
expected.push_back(null);
expected.push_back(f3);
expected.push_back(null);
CHECK(assert_equal(expected, actual));
}
/* ************************************************************************* */
TEST( SymbolicFactorGraph, factor_lookup)
{
// create a test graph
LinearFactorGraph factorGraph = createLinearFactorGraph();
SymbolicFactorGraph fg(factorGraph);
// ask for all factor indices connected to x1
list<int> x1_factors = fg.factors("x1");
int x1_indices[] = { 0, 1, 2 };
list<int> x1_expected(x1_indices, x1_indices + 3);
CHECK(x1_factors==x1_expected);
// ask for all factor indices connected to x2
list<int> x2_factors = fg.factors("x2");
int x2_indices[] = { 1, 3 };
list<int> x2_expected(x2_indices, x2_indices + 2);
CHECK(x2_factors==x2_expected);
}
/* ************************************************************************* */