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Added flag to default Factorization for old or new elimination, defaulting to old code.

release/4.3a0
Alex Cunningham 2010-02-25 21:07:35 +00:00
parent 5b60511505
commit 9d704bb977
1 changed files with 4 additions and 2 deletions
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6
cpp/GaussianFactorGraph.h
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@ -262,16 +262,18 @@ namespace gtsam {
class Factorization { class Factorization {
private: private:
boost::shared_ptr<const Ordering> ordering_; boost::shared_ptr<const Ordering> ordering_;
bool useOldEliminate_;
public: public:
Factorization(boost::shared_ptr<const Ordering> ordering) : ordering_(ordering) {} Factorization(boost::shared_ptr<const Ordering> ordering, bool old=true)
: ordering_(ordering), useOldEliminate_(old) {}
/** /**
* solve for the optimal displacement in the tangent space, and then solve * solve for the optimal displacement in the tangent space, and then solve
* the resulted linear system * the resulted linear system
*/ */
VectorConfig optimize(GaussianFactorGraph& fg) const { VectorConfig optimize(GaussianFactorGraph& fg) const {
return fg.optimize(*ordering_); return fg.optimize(*ordering_, useOldEliminate_);
} }
/** /**