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

Commented marginalGaussian() due to compile error

release/4.3a0
Alex Cunningham 2010-03-04 22:40:01 +00:00
parent 5f8b0e9341
commit 4ae9b72a35
2 changed files with 31 additions and 31 deletions
Show Stats Download Patch File Download Diff File Expand all files Collapse all files

60
cpp/inference-inl.h
View File

@ -85,36 +85,36 @@ namespace gtsam {
}
/* ************************************************************************* */
pair<Vector,Matrix> marginalGaussian(const GaussianFactorGraph& fg, const Symbol& key) {
// todo: this does not use colamd!
list<Symbol> ord;
BOOST_FOREACH(const Symbol& k, fg.keys()) {
if(k != key)
ord.push_back(k);
}
Ordering ordering(ord);
// Now make another factor graph where we eliminate all the other variables
GaussianFactorGraph marginal(fg);
marginal.eliminate(ordering);
GaussianFactor::shared_ptr factor;
for(size_t i=0; i<marginal.size(); i++)
if(marginal[i] != NULL) {
factor = marginal[i];
break;
}
if(factor->keys().size() != 1 || factor->keys().front() != key)
throw runtime_error("Didn't get the right marginal!");
VectorConfig mean_cfg(marginal.optimize(Ordering(key)));
Matrix A(factor->get_A(key));
return make_pair(mean_cfg[key], inverse(trans(A)*A));
}
// pair<Vector,Matrix> marginalGaussian(const GaussianFactorGraph& fg, const Symbol& key) {
//
// // todo: this does not use colamd!
//
// list<Symbol> ord;
// BOOST_FOREACH(const Symbol& k, fg.keys()) {
// if(k != key)
// ord.push_back(k);
// }
// Ordering ordering(ord);
//
// // Now make another factor graph where we eliminate all the other variables
// GaussianFactorGraph marginal(fg);
// marginal.eliminate(ordering);
//
// GaussianFactor::shared_ptr factor;
// for(size_t i=0; i<marginal.size(); i++)
// if(marginal[i] != NULL) {
// factor = marginal[i];
// break;
// }
//
// if(factor->keys().size() != 1 || factor->keys().front() != key)
// throw runtime_error("Didn't get the right marginal!");
//
// VectorConfig mean_cfg(marginal.optimize(Ordering(key)));
// Matrix A(factor->get_A(key));
//
// return make_pair(mean_cfg[key], inverse(prod(trans(A), A)));
// }
/* ************************************************************************* */

2
cpp/inference.h
View File

@ -55,6 +55,6 @@ namespace gtsam {
* Hacked-together function to compute a Gaussian marginal for the given variable.
* todo: This is inefficient!
*/
std::pair<Vector,Matrix> marginalGaussian(const GaussianFactorGraph& fg, const Symbol& key);
//std::pair<Vector,Matrix> marginalGaussian(const GaussianFactorGraph& fg, const Symbol& key);
} /// namespace gtsam