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Cleaned up some remaining JacobinaFactorGraph remnants

release/4.3a0
Frank Dellaert 2012-09-05 03:52:01 +00:00
parent c4c5dec9a3
commit 7266293a61
1 changed files with 5 additions and 10 deletions
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15
tests/smallExample.cpp
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@ -459,12 +459,7 @@ namespace example {
// linearize around zero // linearize around zero
boost::shared_ptr<GaussianFactorGraph> gfg = nlfg.linearize(zeros, ordering); boost::shared_ptr<GaussianFactorGraph> gfg = nlfg.linearize(zeros, ordering);
return boost::make_tuple(*gfg, xtrue);
GaussianFactorGraph jfg;
BOOST_FOREACH(GaussianFactorGraph::sharedFactor factor, *gfg)
jfg.push_back(boost::dynamic_pointer_cast<JacobianFactor>(factor));
return boost::make_tuple(jfg, xtrue);
} }
/* ************************************************************************* */ /* ************************************************************************* */
@ -482,21 +477,21 @@ namespace example {
GaussianFactorGraph T, C; GaussianFactorGraph T, C;
// Add the x11 constraint to the tree // Add the x11 constraint to the tree
T.push_back(boost::dynamic_pointer_cast<JacobianFactor>(original[0])); T.push_back(original[0]);
// Add all horizontal constraints to the tree // Add all horizontal constraints to the tree
size_t i = 1; size_t i = 1;
for (size_t x = 1; x < N; x++) for (size_t x = 1; x < N; x++)
for (size_t y = 1; y <= N; y++, i++) for (size_t y = 1; y <= N; y++, i++)
T.push_back(boost::dynamic_pointer_cast<JacobianFactor>(original[i])); T.push_back(original[i]);
// Add first vertical column of constraints to T, others to C // Add first vertical column of constraints to T, others to C
for (size_t x = 1; x <= N; x++) for (size_t x = 1; x <= N; x++)
for (size_t y = 1; y < N; y++, i++) for (size_t y = 1; y < N; y++, i++)
if (x == 1) if (x == 1)
T.push_back(boost::dynamic_pointer_cast<JacobianFactor>(original[i])); T.push_back(original[i]);
else else
C.push_back(boost::dynamic_pointer_cast<JacobianFactor>(original[i])); C.push_back(original[i]);
return make_pair(T, C); return make_pair(T, C);
} }