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Cleaned up commented code from iSAM2 chain optimizations

release/4.3a0
Richard Roberts 2013-02-05 02:12:56 +00:00
parent 9a23c2936a
commit f2a371e6c1
5 changed files with 0 additions and 66 deletions
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12
gtsam/inference/BayesNet-inl.h
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@ -117,18 +117,6 @@ namespace gtsam {
}
}
/* ************************************************************************* */
//template<class CONDITIONAL>
//bool BayesNet<CONDITIONAL>::permuteSeparatorWithInverse(
// const Permutation& inversePermutation) {
// bool separatorChanged = false;
// BOOST_FOREACH(sharedConditional conditional, conditionals_) {
// if (conditional->permuteSeparatorWithInverse(inversePermutation))
// separatorChanged = true;
// }
// return separatorChanged;
//}
/* ************************************************************************* */
template<class CONDITIONAL>
void BayesNet<CONDITIONAL>::push_back(const BayesNet<CONDITIONAL>& bn) {

7
gtsam/inference/BayesNet.h
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@ -220,13 +220,6 @@ public:
/** Permute the variables in the BayesNet */
void permuteWithInverse(const Permutation& inversePermutation);
/**
* Permute the variables when only separator variables need to be permuted.
* Returns true if any reordered variables appeared in the separator and
* false if not.
*/
//bool permuteSeparatorWithInverse(const Permutation& inversePermutation);
iterator begin() {return conditionals_.begin();} ///<TODO: comment
iterator end() {return conditionals_.end();} ///<TODO: comment
reverse_iterator rbegin() {return conditionals_.rbegin();} ///<TODO: comment

23
gtsam/inference/BayesTreeCliqueBase-inl.h
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@ -132,29 +132,6 @@ namespace gtsam {
assertInvariants();
}
/* ************************************************************************* */
// template<class DERIVED, class CONDITIONAL>
// bool BayesTreeCliqueBase<DERIVED, CONDITIONAL>::permuteSeparatorWithInverse(
// const Permutation& inversePermutation) {
// bool changed = conditional_->permuteSeparatorWithInverse(
// inversePermutation);
//#ifndef NDEBUG
// if(!changed) {
// BOOST_FOREACH(Index& separatorKey, conditional_->parents()) {assert(separatorKey == inversePermutation[separatorKey]);}
// BOOST_FOREACH(const derived_ptr& child, children_) {
// assert(child->permuteSeparatorWithInverse(inversePermutation) == false);
// }
// }
//#endif
// if (changed) {
// BOOST_FOREACH(const derived_ptr& child, children_) {
// (void) child->permuteSeparatorWithInverse(inversePermutation);
// }
// }
// assertInvariants();
// return changed;
// }
/* ************************************************************************* */
template<class DERIVED, class CONDITIONAL>
bool BayesTreeCliqueBase<DERIVED, CONDITIONAL>::reduceSeparatorWithInverse(

7
gtsam/inference/BayesTreeCliqueBase.h
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@ -178,13 +178,6 @@ namespace gtsam {
/** Permute the variables in the whole subtree rooted at this clique */
void permuteWithInverse(const Permutation& inversePermutation);
/** Permute variables when they only appear in the separators. In this
* case the running intersection property will be used to prevent always
* traversing the whole tree. Returns whether any separator variables in
* this subtree were reordered.
*/
//bool permuteSeparatorWithInverse(const Permutation& inversePermutation);
/** Permute variables when they only appear in the separators. In this
* case the running intersection property will be used to prevent always
* traversing the whole tree. Returns whether any separator variables in

17
gtsam/inference/IndexConditional.cpp
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@ -43,23 +43,6 @@ namespace gtsam {
#endif
}
/* ************************************************************************* */
//bool IndexConditional::permuteSeparatorWithInverse(const Permutation& inversePermutation) {
//#ifndef NDEBUG
// BOOST_FOREACH(KeyType key, frontals()) { assert(key == inversePermutation[key]); }
//#endif
// bool parentChanged = false;
// BOOST_FOREACH(KeyType& parent, parents()) {
// KeyType newParent = inversePermutation[parent];
// if(parent != newParent) {
// parentChanged = true;
// parent = newParent;
// }
// }
// assertInvariants();
// return parentChanged;
//}
/* ************************************************************************* */
bool IndexConditional::reduceSeparatorWithInverse(const internal::Reduction& inverseReduction) {
#ifndef NDEBUG