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Added removeUnusedAtEnd function to VariableIndex and added notes to comments

release/4.3a0
Richard Roberts 2012-06-30 19:18:11 +00:00
parent ad53c20b0d
commit ac2d4f9fa0
3 changed files with 29 additions and 1 deletions
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11
gtsam/inference/VariableIndex.cpp
View File

@ -76,4 +76,15 @@ void VariableIndex::permuteInPlace(const Permutation& permutation) {
index_.swap(newIndex);
}
/* ************************************************************************* */
void VariableIndex::removeUnusedAtEnd(size_t nToRemove) {
#ifndef NDEBUG
for(size_t i = this->size() - nToRemove; i < this->size(); ++i)
if(!(*this)[i].empty())
throw std::invalid_argument("Attempting to remove non-empty variables with VariableIndex::removeUnusedAtEnd()");
#endif
index_.resize(this->size() - nToRemove);
}
}

15
gtsam/inference/VariableIndex.h
View File

@ -119,6 +119,11 @@ public:
/**
* Remove entries corresponding to the specified factors.
* NOTE: We intentionally do not decrement nFactors_ because the factor
* indices need to remain consistent. Removing factors from a factor graph
* does not shift the indices of other factors. Also, we keep nFactors_
* one greater than the highest-numbered factor referenced in a VariableIndex.
*
* @param indices The indices of the factors to remove, which must match \c factors
* @param factors The factors being removed, which must symbolically correspond
* exactly to the factors with the specified \c indices that were added.
@ -128,6 +133,12 @@ public:
/// Permute the variables in the VariableIndex according to the given permutation
void permuteInPlace(const Permutation& permutation);
/** Remove unused empty variables at the end of the ordering (in debug mode
* verifies they are empty).
* @param nToRemove The number of unused variables at the end to remove
*/
void removeUnusedAtEnd(size_t nToRemove);
protected:
Factor_iterator factorsBegin(Index variable) { checkVar(variable); return index_[variable].begin(); } ///<TODO: comment
Factor_iterator factorsEnd(Index variable) { checkVar(variable); return index_[variable].end(); } ///<TODO: comment
@ -235,6 +246,10 @@ void VariableIndex::augment(const FactorGraph& factors) {
/* ************************************************************************* */
template<typename CONTAINER, class FactorGraph>
void VariableIndex::remove(const CONTAINER& indices, const FactorGraph& factors) {
// NOTE: We intentionally do not decrement nFactors_ because the factor
// indices need to remain consistent. Removing factors from a factor graph
// does not shift the indices of other factors. Also, we keep nFactors_
// one greater than the highest-numbered factor referenced in a VariableIndex.
for(size_t fi=0; fi<factors.size(); ++fi)
if(factors[fi]) {
for(size_t ji = 0; ji < factors[fi]->keys().size(); ++ji) {

4
gtsam/inference/tests/testVariableIndex.cpp
View File

@ -44,7 +44,9 @@ TEST(VariableIndex, augment) {
VariableIndex actual(fg1);
actual.augment(fg2);
CHECK(assert_equal(expected, actual));
LONGS_EQUAL(16, actual.nEntries());
LONGS_EQUAL(8, actual.nFactors());
EXPECT(assert_equal(expected, actual));
}
/* ************************************************************************* */