12345qiupeng
/
gtsam
1
0
Fork 0
Code Issues Pull Requests Packages Projects Releases Wiki Activity

When erasing cached shortcut conditionals in the Bayes Tree, only erase the chains of shortcuts that exist instead of the whole tree.

release/4.3a0
Stephen Williams 2012-08-03 19:05:48 +00:00
parent b211c1070d
commit f39bad0d13
1 changed files with 13 additions and 6 deletions
Show Stats Download Patch File Download Diff File Expand all files Collapse all files

19
gtsam/inference/BayesTreeCliqueBase-inl.h
View File

@ -268,12 +268,19 @@ namespace gtsam {
/* ************************************************************************* */ /* ************************************************************************* */
template<class DERIVED, class CONDITIONAL> template<class DERIVED, class CONDITIONAL>
void BayesTreeCliqueBase<DERIVED, CONDITIONAL>::deleteCachedShorcuts() { void BayesTreeCliqueBase<DERIVED, CONDITIONAL>::deleteCachedShorcuts() {
//Delete CachedShortcut for this clique
this->resetCachedShortcut(); // When a shortcut is requested, all of the shortcuts between it and the
// Recursive call over all child cliques // root are also generated. So, if this clique's cached shortcut is set,
BOOST_FOREACH(derived_ptr& child, children_) { // recursively call over all child cliques. Otherwise, it is unnecessary.
child->deleteCachedShorcuts(); if(cachedShortcut_) {
} BOOST_FOREACH(derived_ptr& child, children_) {
child->deleteCachedShorcuts();
}
//Delete CachedShortcut for this clique
this->resetCachedShortcut();
}
} }
} }