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re-format + comments only

release/4.3a0
Frank Dellaert 2011-03-21 15:03:03 +00:00
parent 1829e31ca8
commit a923c8f1b3
1 changed files with 50 additions and 45 deletions
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17
gtsam/inference/GenericSequentialSolver.h
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@ -53,27 +53,32 @@ public:
* VariableIndex. The solver will store these pointers, so this constructor
* is the fastest.
*/
GenericSequentialSolver(const typename FactorGraph<FACTOR>::shared_ptr& factorGraph, const VariableIndex::shared_ptr& variableIndex);
GenericSequentialSolver(
const typename FactorGraph<FACTOR>::shared_ptr& factorGraph,
const VariableIndex::shared_ptr& variableIndex);
/**
* Replace the factor graph with a new one having the same structure. The
* This function can be used if the numerical part of the factors changes,
* such as during relinearization or adjusting of noise models.
*/
void replaceFactors(const typename FactorGraph<FACTOR>::shared_ptr& factorGraph);
void replaceFactors(
const typename FactorGraph<FACTOR>::shared_ptr& factorGraph);
/**
* Eliminate the factor graph sequentially. Uses a column elimination tree
* to recursively eliminate.
*/
typename BayesNet<typename FACTOR::ConditionalType>::shared_ptr eliminate() const;
typename BayesNet<typename FACTOR::ConditionalType>::shared_ptr
eliminate() const;
/**
* Compute the marginal joint over a set of variables, by integrating out
* all of the other variables. This function returns the result as a factor
* graph.
*/
typename FactorGraph<FACTOR>::shared_ptr jointFactorGraph(const std::vector<Index>& js) const;
typename FactorGraph<FACTOR>::shared_ptr jointFactorGraph(
const std::vector<Index>& js) const;
/**
* Compute the marginal Gaussian density over a variable, by integrating out
@ -81,7 +86,7 @@ public:
*/
typename FACTOR::shared_ptr marginalFactor(Index j) const;
};
}; // GenericSequentialSolver
}
} // namespace gtsam