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

removed typename because MacOS gcc 4.2 complained

release/4.3a0
Chris Beall 2011-09-01 20:28:24 +00:00
parent 71a7ddb354
commit 872b145b16
2 changed files with 11 additions and 11 deletions
Show Stats Download Patch File Download Diff File Expand all files Collapse all files

16
gtsam/nonlinear/GaussianISAM2.cpp
View File

@ -15,7 +15,7 @@ using namespace gtsam;
namespace gtsam { namespace gtsam {
/* ************************************************************************* */ /* ************************************************************************* */
void optimize2(const typename BayesTree<GaussianConditional>::sharedClique& clique, double threshold, void optimize2(const BayesTree<GaussianConditional>::sharedClique& clique, double threshold,
vector<bool>& changed, const vector<bool>& replaced, Permuted<VectorValues>& delta, int& count) { vector<bool>& changed, const vector<bool>& replaced, Permuted<VectorValues>& delta, int& count) {
// if none of the variables in this clique (frontal and separator!) changed // if none of the variables in this clique (frontal and separator!) changed
// significantly, then by the running intersection property, none of the // significantly, then by the running intersection property, none of the
@ -85,7 +85,7 @@ void optimize2(const typename BayesTree<GaussianConditional>::sharedClique& cliq
} }
// Recurse to children // Recurse to children
BOOST_FOREACH(const typename BayesTree<GaussianConditional>::sharedClique& child, clique->children_) { BOOST_FOREACH(const BayesTree<GaussianConditional>::sharedClique& child, clique->children_) {
optimize2(child, threshold, changed, replaced, delta, count); optimize2(child, threshold, changed, replaced, delta, count);
} }
} }
@ -93,14 +93,14 @@ void optimize2(const typename BayesTree<GaussianConditional>::sharedClique& cliq
/* ************************************************************************* */ /* ************************************************************************* */
// fast full version without threshold // fast full version without threshold
void optimize2(const typename BayesTree<GaussianConditional>::sharedClique& clique, VectorValues& delta) { void optimize2(const BayesTree<GaussianConditional>::sharedClique& clique, VectorValues& delta) {
// parents are assumed to already be solved and available in result // parents are assumed to already be solved and available in result
(*clique)->rhs(delta); (*clique)->rhs(delta);
(*clique)->solveInPlace(delta); (*clique)->solveInPlace(delta);
// Solve chilren recursively // Solve chilren recursively
BOOST_FOREACH(const typename BayesTree<GaussianConditional>::sharedClique& child, clique->children_) { BOOST_FOREACH(const BayesTree<GaussianConditional>::sharedClique& child, clique->children_) {
optimize2(child, delta); optimize2(child, delta);
} }
} }
@ -115,7 +115,7 @@ void optimize2(const typename BayesTree<GaussianConditional>::sharedClique& cliq
//} //}
/* ************************************************************************* */ /* ************************************************************************* */
int optimize2(const typename BayesTree<GaussianConditional>::sharedClique& root, double threshold, const vector<bool>& keys, Permuted<VectorValues>& delta) { int optimize2(const BayesTree<GaussianConditional>::sharedClique& root, double threshold, const vector<bool>& keys, Permuted<VectorValues>& delta) {
vector<bool> changed(keys.size(), false); vector<bool> changed(keys.size(), false);
int count = 0; int count = 0;
// starting from the root, call optimize on each conditional // starting from the root, call optimize on each conditional
@ -124,18 +124,18 @@ int optimize2(const typename BayesTree<GaussianConditional>::sharedClique& root,
} }
/* ************************************************************************* */ /* ************************************************************************* */
void nnz_internal(const typename BayesTree<GaussianConditional>::sharedClique& clique, int& result) { void nnz_internal(const BayesTree<GaussianConditional>::sharedClique& clique, int& result) {
int dimR = (*clique)->dim(); int dimR = (*clique)->dim();
int dimSep = (*clique)->get_S().cols() - dimR; int dimSep = (*clique)->get_S().cols() - dimR;
result += ((dimR+1)*dimR)/2 + dimSep*dimR; result += ((dimR+1)*dimR)/2 + dimSep*dimR;
// traverse the children // traverse the children
BOOST_FOREACH(const typename BayesTree<GaussianConditional>::sharedClique& child, clique->children_) { BOOST_FOREACH(const BayesTree<GaussianConditional>::sharedClique& child, clique->children_) {
nnz_internal(child, result); nnz_internal(child, result);
} }
} }
/* ************************************************************************* */ /* ************************************************************************* */
int calculate_nnz(const typename BayesTree<GaussianConditional>::sharedClique& clique) { int calculate_nnz(const BayesTree<GaussianConditional>::sharedClique& clique) {
int result = 0; int result = 0;
// starting from the root, add up entries of frontal and conditional matrices of each conditional // starting from the root, add up entries of frontal and conditional matrices of each conditional
nnz_internal(clique, result); nnz_internal(clique, result);

6
gtsam/nonlinear/GaussianISAM2.h
View File

@ -30,7 +30,7 @@ template <class VALUES>
class GaussianISAM2 : public ISAM2<GaussianConditional, VALUES> {}; class GaussianISAM2 : public ISAM2<GaussianConditional, VALUES> {};
// optimize the BayesTree, starting from the root // optimize the BayesTree, starting from the root
void optimize2(const typename BayesTree<GaussianConditional>::sharedClique& root, VectorValues& delta); void optimize2(const BayesTree<GaussianConditional>::sharedClique& root, VectorValues& delta);
// optimize the BayesTree, starting from the root; "replaced" needs to contain // optimize the BayesTree, starting from the root; "replaced" needs to contain
// all variables that are contained in the top of the Bayes tree that has been // all variables that are contained in the top of the Bayes tree that has been
@ -40,10 +40,10 @@ void optimize2(const typename BayesTree<GaussianConditional>::sharedClique& root
// and recursive backsubstitution might eventually stop if none of the changed // and recursive backsubstitution might eventually stop if none of the changed
// variables are contained in the subtree. // variables are contained in the subtree.
// returns the number of variables that were solved for // returns the number of variables that were solved for
int optimize2(const typename BayesTree<GaussianConditional>::sharedClique& root, int optimize2(const BayesTree<GaussianConditional>::sharedClique& root,
double threshold, const std::vector<bool>& replaced, Permuted<VectorValues>& delta); double threshold, const std::vector<bool>& replaced, Permuted<VectorValues>& delta);
// calculate the number of non-zero entries for the tree starting at clique (use root for complete matrix) // calculate the number of non-zero entries for the tree starting at clique (use root for complete matrix)
int calculate_nnz(const typename BayesTree<GaussianConditional>::sharedClique& clique); int calculate_nnz(const BayesTree<GaussianConditional>::sharedClique& clique);
}/// namespace gtsam }/// namespace gtsam