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

Removing extraneous commented code from ISAM

release/4.3a0
Alex Cunningham 2011-09-05 14:26:03 +00:00
parent 6da44cf80a
commit 43e3f865e9
3 changed files with 1 additions and 17 deletions
Show Stats Download Patch File Download Diff File Expand all files Collapse all files

1
gtsam/inference/BayesTree-inl.h
View File

@ -434,7 +434,6 @@ namespace gtsam {
newKeys[0] = key; newKeys[0] = key;
std::copy((*clique)->begin(), (*clique)->end(), newKeys.begin()+1); std::copy((*clique)->begin(), (*clique)->end(), newKeys.begin()+1);
clique->conditional_ = CONDITIONAL::FromKeys(newKeys, (*clique)->nrFrontals() + 1); clique->conditional_ = CONDITIONAL::FromKeys(newKeys, (*clique)->nrFrontals() + 1);
// clique->conditional_->addFrontal(conditional);
if(debug) clique->print("Expanded clique is "); if(debug) clique->print("Expanded clique is ");
clique->assertInvariants(); clique->assertInvariants();
} }

14
gtsam/inference/ISAM-inl.h
View File

@ -30,15 +30,10 @@ namespace gtsam {
using namespace std; using namespace std;
/** Create an empty Bayes Tree */ /* ************************************************************************* */
template<class CONDITIONAL> template<class CONDITIONAL>
ISAM<CONDITIONAL>::ISAM() : BayesTree<CONDITIONAL>() {} ISAM<CONDITIONAL>::ISAM() : BayesTree<CONDITIONAL>() {}
/** Create a Bayes Tree from a Bayes Net */
// template<class CONDITIONAL>
// ISAM<CONDITIONAL>::ISAM(const BayesNet<CONDITIONAL>& bayesNet) :
// BayesTree<CONDITIONAL>(bayesNet) {}
/* ************************************************************************* */ /* ************************************************************************* */
template<class CONDITIONAL> template<class CONDITIONAL>
template<class FG> void ISAM<CONDITIONAL>::update_internal( template<class FG> void ISAM<CONDITIONAL>::update_internal(
@ -53,13 +48,6 @@ namespace gtsam {
factors.push_back(newFactors); factors.push_back(newFactors);
// eliminate into a Bayes net // eliminate into a Bayes net
// GenericSequentialSolver<typename CONDITIONAL::FactorType> solver(factors);
// typename BayesNet<CONDITIONAL>::shared_ptr bayesNet = solver.eliminate(function);
//
// // insert conditionals back in, straight into the topless bayesTree
// typename BayesNet<CONDITIONAL>::const_reverse_iterator rit;
// for ( rit=bayesNet->rbegin(); rit != bayesNet->rend(); ++rit )
// BayesTree<CONDITIONAL>::insert(*this,*rit);
GenericMultifrontalSolver<typename CONDITIONAL::FactorType, JunctionTree<FG> > solver(factors); GenericMultifrontalSolver<typename CONDITIONAL::FactorType, JunctionTree<FG> > solver(factors);
boost::shared_ptr<BayesTree<CONDITIONAL> > bayesTree; boost::shared_ptr<BayesTree<CONDITIONAL> > bayesTree;
bayesTree = solver.eliminate(function); bayesTree = solver.eliminate(function);

3
gtsam/inference/ISAM.h
View File

@ -38,9 +38,6 @@ namespace gtsam {
/** Create an empty Bayes Tree */ /** Create an empty Bayes Tree */
ISAM(); ISAM();
/** Create a Bayes Tree from a Bayes Net */
ISAM(const BayesNet<CONDITIONAL>& bayesNet);
/** Copy constructor */ /** Copy constructor */
ISAM(const Base& bayesTree) : ISAM(const Base& bayesTree) :
Base(bayesTree) { Base(bayesTree) {