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Renamed experimentalMarginalizeLeaves to marginalizeLeaves and added comment

release/4.3a0
Richard Roberts 2013-03-26 20:46:08 +00:00
parent dc29424633
commit f773a34834
4 changed files with 1042 additions and 1034 deletions
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2
gtsam/nonlinear/ISAM2.cpp
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@ -786,7 +786,7 @@ ISAM2Result ISAM2::update(
} }
/* ************************************************************************* */ /* ************************************************************************* */
void ISAM2::experimentalMarginalizeLeaves(const FastList<Key>& leafKeys) void ISAM2::marginalizeLeaves(const FastList<Key>& leafKeys)
{ {
// Convert set of keys into a set of indices // Convert set of keys into a set of indices
FastSet<Index> indices; FastSet<Index> indices;

10
gtsam/nonlinear/ISAM2.h
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@ -549,7 +549,15 @@ public:
const boost::optional<FastList<Key> >& noRelinKeys = boost::none, const boost::optional<FastList<Key> >& noRelinKeys = boost::none,
bool force_relinearize = false); bool force_relinearize = false);
GTSAM_EXPORT void experimentalMarginalizeLeaves(const FastList<Key>& leafKeys); /** Marginalize out variables listed in leafKeys. These keys must be leaves
* in the BayesTree. Throws MarginalizeNonleafException if non-leaves are
* requested to be marginalized. Marginalization leaves a linear
* approximation of the marginal in the system, and the linearization points
* of any variables involved in this linear marginal become fixed. The set
* fixed variables will include any involved with the marginalized variables
* in the original factors, and possibly additional ones due to fill-in.
*/
GTSAM_EXPORT void marginalizeLeaves(const FastList<Key>& leafKeys);
/** Access the current linearization point */ /** Access the current linearization point */
const Values& getLinearizationPoint() const { return theta_; } const Values& getLinearizationPoint() const { return theta_; }

2
gtsam_unstable/nonlinear/IncrementalFixedLagSmoother.cpp
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@ -88,7 +88,7 @@ bool checkMarginalizeLeaves(ISAM2& isam, const FastList<Key>& leafKeys) {
// Do marginalization // Do marginalization
isam.experimentalMarginalizeLeaves(leafKeys); isam.marginalizeLeaves(leafKeys);
// Check // Check

2
tests/testGaussianISAM2.cpp
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@ -860,7 +860,7 @@ namespace {
expected3AugmentedHessian = solver3.jointFactorGraph(toKeep)->augmentedHessian(); expected3AugmentedHessian = solver3.jointFactorGraph(toKeep)->augmentedHessian();
// Do marginalization // Do marginalization
isam.experimentalMarginalizeLeaves(leafKeys); isam.marginalizeLeaves(leafKeys);
// Check // Check
GaussianFactorGraph actualMarginalGraph(isam); GaussianFactorGraph actualMarginalGraph(isam);