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