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Restored some functions to make ISAM2 compile

release/4.3a0
Richard Roberts 2011-07-04 12:08:30 +00:00
parent 247005f83c
commit 19014eb60e
4 changed files with 16 additions and 14 deletions
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18
gtsam/inference/BayesNet-inl.h
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@ -82,15 +82,15 @@ namespace gtsam {
push_front(conditional); push_front(conditional);
} }
// /* ************************************************************************* */ /* ************************************************************************* */
// template<class CONDITIONAL> template<class CONDITIONAL>
// FastList<Index> BayesNet<CONDITIONAL>::ordering() const { FastList<Index> BayesNet<CONDITIONAL>::ordering() const {
// FastList<Index> ord; FastList<Index> ord;
// BOOST_FOREACH(sharedConditional conditional,conditionals_) BOOST_FOREACH(sharedConditional conditional,conditionals_)
// ord.push_back(conditional->key()); ord.insert(ord.begin(), conditional->beginFrontals(), conditional->endFrontals());
// return ord; return ord;
// } }
//
// /* ************************************************************************* */ // /* ************************************************************************* */
// template<class CONDITIONAL> // template<class CONDITIONAL>
// void BayesNet<CONDITIONAL>::saveGraph(const std::string &s) const { // void BayesNet<CONDITIONAL>::saveGraph(const std::string &s) const {

8
gtsam/inference/BayesNet.h
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@ -116,10 +116,10 @@ namespace gtsam {
return conditionals_.size(); return conditionals_.size();
} }
// /** return keys in reverse topological sort order, i.e., elimination order */ /** return keys in reverse topological sort order, i.e., elimination order */
// FastList<Index> ordering() const; FastList<Index> ordering() const;
//
// /** SLOW O(n) random access to Conditional by key */ /** SLOW O(n) random access to Conditional by key */
sharedConditional operator[](Index key) const; sharedConditional operator[](Index key) const;
/** return last node in ordering */ /** return last node in ordering */

3
gtsam/inference/BayesTree.h
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@ -42,6 +42,7 @@ namespace gtsam {
typedef boost::shared_ptr<BayesTree<CONDITIONAL> > shared_ptr; typedef boost::shared_ptr<BayesTree<CONDITIONAL> > shared_ptr;
typedef boost::shared_ptr<CONDITIONAL> sharedConditional; typedef boost::shared_ptr<CONDITIONAL> sharedConditional;
typedef boost::shared_ptr<BayesNet<CONDITIONAL> > sharedBayesNet; typedef boost::shared_ptr<BayesNet<CONDITIONAL> > sharedBayesNet;
typedef CONDITIONAL ConditionalType;
typedef typename CONDITIONAL::FactorType FactorType; typedef typename CONDITIONAL::FactorType FactorType;
typedef typename FactorGraph<FactorType>::Eliminate Eliminate; typedef typename FactorGraph<FactorType>::Eliminate Eliminate;
@ -59,7 +60,7 @@ namespace gtsam {
void assertInvariants() const; void assertInvariants() const;
public: public:
typedef CONDITIONAL Base; typedef CONDITIONAL ConditionalType;
typedef typename boost::shared_ptr<Clique> shared_ptr; typedef typename boost::shared_ptr<Clique> shared_ptr;
typedef typename boost::weak_ptr<Clique> weak_ptr; typedef typename boost::weak_ptr<Clique> weak_ptr;
sharedConditional conditional_; sharedConditional conditional_;

1
gtsam/linear/GaussianConditional.h
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@ -152,6 +152,7 @@ public:
size_t dim(const_iterator variable) const { return rsd_(variable - this->begin()).cols(); } size_t dim(const_iterator variable) const { return rsd_(variable - this->begin()).cols(); }
rsd_type::constBlock get_S(const_iterator variable) const { return rsd_(variable - this->begin()); } rsd_type::constBlock get_S(const_iterator variable) const { return rsd_(variable - this->begin()); }
rsd_type::constBlock get_S() const { return rsd_.range(nrFrontals(), size()); }
const Vector& get_sigmas() const {return sigmas_;} const Vector& get_sigmas() const {return sigmas_;}
protected: protected: