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Made private some members that should not have been public

release/4.3a0
Richard Roberts 2010-11-06 20:57:07 +00:00
parent 4a23971b80
commit 05b0110ac2
2 changed files with 10 additions and 19 deletions
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5
gtsam/linear/GaussianFactor.h
View File

@ -65,7 +65,6 @@ protected:
typedef VerticalBlockView<AbMatrix> BlockAb; typedef VerticalBlockView<AbMatrix> BlockAb;
public: public:
typedef GaussianConditional Conditional; typedef GaussianConditional Conditional;
typedef boost::shared_ptr<GaussianFactor> shared_ptr; typedef boost::shared_ptr<GaussianFactor> shared_ptr;
typedef BlockAb::Block ABlock; typedef BlockAb::Block ABlock;
@ -73,6 +72,7 @@ public:
typedef BlockAb::Column BVector; typedef BlockAb::Column BVector;
typedef BlockAb::constColumn constBVector; typedef BlockAb::constColumn constBVector;
protected:
SharedDiagonal model_; // Gaussian noise model with diagonal covariance matrix SharedDiagonal model_; // Gaussian noise model with diagonal covariance matrix
std::vector<size_t> firstNonzeroBlocks_; std::vector<size_t> firstNonzeroBlocks_;
AbMatrix matrix_; // the full matrix correponding to the factor AbMatrix matrix_; // the full matrix correponding to the factor
@ -229,9 +229,6 @@ public:
void set_firstNonzeroBlocks(size_t row, size_t varpos) { firstNonzeroBlocks_[row] = varpos; } void set_firstNonzeroBlocks(size_t row, size_t varpos) { firstNonzeroBlocks_[row] = varpos; }
friend class GaussianFactorGraph;
friend class Inference;
}; // GaussianFactor }; // GaussianFactor

24
gtsam/linear/GaussianFactorGraph.cpp
View File

@ -180,8 +180,8 @@ bool GaussianFactorGraph::split(const std::map<Index, Index> &M, GaussianFactorG
Ab2.push_back(factor); Ab2.push_back(factor);
continue; continue;
} }
Index key1 = factor->keys_[0]; Index key1 = factor->keys()[0];
Index key2 = factor->keys_[1]; Index key2 = factor->keys()[1];
if ((M.find(key1) != M.end() && M.find(key1)->second == key2) || if ((M.find(key1) != M.end() && M.find(key1)->second == key2) ||
(M.find(key2) != M.end() && M.find(key2)->second == key1)) (M.find(key2) != M.end() && M.find(key2)->second == key1))
@ -210,11 +210,9 @@ bool GaussianFactorGraph::getDiagonalOfHessian(VectorValues &values) const {
values.makeZero() ; values.makeZero() ;
BOOST_FOREACH( const sharedFactor& factor, factors_) { BOOST_FOREACH( const sharedFactor& factor, factors_) {
Index i = 0 ; for(GaussianFactor::const_iterator j = factor->begin(); j != factor->end(); ++j) {
BOOST_FOREACH( const Index& idx, factor->keys_) { Vector v = columnNormSquare(factor->getA(j));
Vector v = columnNormSquare(factor->Ab_(i)) ; values[*j] += v;
values[idx] += v;
++i ;
} }
} }
return true ; return true ;
@ -233,10 +231,8 @@ void GaussianFactorGraph::multiply(const VectorValues &x, VectorValues &r) const
r.makeZero() ; r.makeZero() ;
Index i = 0 ; Index i = 0 ;
BOOST_FOREACH(const sharedFactor& factor, factors_) { BOOST_FOREACH(const sharedFactor& factor, factors_) {
Index j = 0 ; for(GaussianFactor::const_iterator j = factor->begin(); j != factor->end(); ++j) {
BOOST_FOREACH( const Index& idx, factor->keys_ ) { r[i] += prod(factor->getA(j), x[*j]);
r[i] += prod(factor->Ab_(j), x[idx]) ;
++j ;
} }
++i ; ++i ;
} }
@ -246,10 +242,8 @@ void GaussianFactorGraph::transposeMultiply(const VectorValues &r, VectorValues
x.makeZero() ; x.makeZero() ;
Index i = 0 ; Index i = 0 ;
BOOST_FOREACH(const sharedFactor& factor, factors_) { BOOST_FOREACH(const sharedFactor& factor, factors_) {
Index j = 0 ; for(GaussianFactor::const_iterator j = factor->begin(); j != factor->end(); ++j) {
BOOST_FOREACH( const Index& idx, factor->keys_ ) { x[*j] += prod(trans(factor->getA(j)), r[i]) ;
x[idx] += prod(trans(factor->Ab_(j)), r[i]) ;
++j ;
} }
++i ; ++i ;
} }