36 lines
1.1 KiB
C++
36 lines
1.1 KiB
C++
/**
|
|
* @file summarization.cpp
|
|
*
|
|
* @date Jun 22, 2012
|
|
* @author Alex Cunningham
|
|
*/
|
|
|
|
#include <gtsam/linear/GaussianSequentialSolver.h>
|
|
#include <gtsam_unstable/nonlinear/summarization.h>
|
|
|
|
#include <boost/foreach.hpp>
|
|
|
|
using namespace std;
|
|
|
|
namespace gtsam {
|
|
|
|
/* ************************************************************************* */
|
|
GaussianFactorGraph::shared_ptr summarizeGraphSequential(
|
|
const GaussianFactorGraph& full_graph, const std::vector<Index>& indices, bool useQR) {
|
|
GaussianSequentialSolver solver(full_graph, useQR);
|
|
return solver.jointFactorGraph(indices);
|
|
}
|
|
|
|
/* ************************************************************************* */
|
|
GaussianFactorGraph::shared_ptr summarizeGraphSequential(
|
|
const GaussianFactorGraph& full_graph, const Ordering& ordering, const KeySet& saved_keys, bool useQR) {
|
|
std::vector<Index> indices;
|
|
BOOST_FOREACH(const Key& k, saved_keys)
|
|
indices.push_back(ordering[k]);
|
|
return summarizeGraphSequential(full_graph, indices, useQR);
|
|
}
|
|
|
|
/* ************************************************************************* */
|
|
} // \namespace gtsam
|
|
|