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

Disabled problematic joint marginal code in BayesTree for now

release/4.3a0
Richard Roberts 2012-10-09 13:12:33 +00:00
parent 360f0e9d6b
commit 25870f5797
2 changed files with 4 additions and 0 deletions
Show Stats Download Patch File Download Diff File Expand all files Collapse all files

2
gtsam/inference/BayesTreeCliqueBase-inl.h
View File

@ -364,6 +364,7 @@ namespace gtsam {
return p_C;
}
#ifdef SHORTCUT_JOINTS
/* ************************************************************************* */
// P(C1,C2) = \int_R P(F1|S1) P(S1|R) P(F2|S1) P(S2|R) P(R)
/* ************************************************************************* */
@ -408,6 +409,7 @@ namespace gtsam {
GenericSequentialSolver<FactorType> solver(joint);
return *solver.jointFactorGraph(keys12, function);
}
#endif
/* ************************************************************************* */
template<class DERIVED, class CONDITIONAL>

2
gtsam/inference/BayesTreeCliqueBase.h
View File

@ -203,11 +203,13 @@ namespace gtsam {
/** return the marginal P(C) of the clique, using marginal caching */
FactorGraph<FactorType> marginal2(derived_ptr root, Eliminate function) const;
#ifdef SHORTCUT_JOINTS
/**
* return the joint P(C1,C2), where C1==this. TODO: not a method?
* Limitation: can only calculate joint if cliques are disjoint or one of them is root
*/
FactorGraph<FactorType> joint(derived_ptr C2, derived_ptr root, Eliminate function) const;
#endif
/**
* This deletes the cached shortcuts of all cliques (subtree) below this clique.