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

39 lines
1.2 KiB
C++
Raw Normal View History

Change that may be reverted again soon - templated factor base type on key and make IndexFactor and IndexConditional for all current code. Did this to experiment with using symbols on the linear side in an efficient way but am putting this on hold for now because of complications. Will revisit and either fix or revert to int-only later in the week. Also moved some files to experimental and templating EliminationTree on FACTOR instead of FACTORGRAPH.
2010-10-20 05:31:13 +08:00
/* ----------------------------------------------------------------------------
* GTSAM Copyright 2010, Georgia Tech Research Corporation,
* Atlanta, Georgia 30332-0415
* All Rights Reserved
* Authors: Frank Dellaert, et al. (see THANKS for the full author list)
* See LICENSE for the license information
* -------------------------------------------------------------------------- */
/**
* @file IndexFactor.cpp
* @brief
* @author Richard Roberts
* @created Oct 17, 2010
*/
Code cleanup: lean and mean VariableIndex (got rid of different types for different FG's, slots, and storage template), renamed Conditional.h and Factor.h to match class names ConditionalBase and FactorBase (not ideal names but prevents conflict with typedefs), added typedef for symbolic multifrontal solver.
2010-10-23 02:02:55 +08:00
#include <gtsam/inference/FactorBase-inl.h>
Change that may be reverted again soon - templated factor base type on key and make IndexFactor and IndexConditional for all current code. Did this to experiment with using symbols on the linear side in an efficient way but am putting this on hold for now because of complications. Will revisit and either fix or revert to int-only later in the week. Also moved some files to experimental and templating EliminationTree on FACTOR instead of FACTORGRAPH.
2010-10-20 05:31:13 +08:00
#include <gtsam/inference/IndexFactor.h>
namespace gtsam {
template class FactorBase<Index>;
IndexFactor::IndexFactor(const IndexConditional& c) : Base(static_cast<const Base>(c)) {}
IndexFactor::shared_ptr IndexFactor::Combine(
const FactorGraph<This>& factors, const FastMap<Index, std::vector<Index> >& variableSlots) {
return Base::Combine<This>(factors, variableSlots); }
boost::shared_ptr<IndexConditional> IndexFactor::eliminateFirst() {
return Base::eliminateFirst<IndexConditional>(); }
boost::shared_ptr<BayesNet<IndexConditional> > IndexFactor::eliminate(size_t nrFrontals) {
return Base::eliminate<IndexConditional>(nrFrontals); }
}