Merge remote-tracking branch 'svn/trunk' into NLO

Conflicts:
	.cproject

.cproject

@@ -21,7 +21,7 @@
 					<folderInfo id="cdt.managedbuild.toolchain.gnu.macosx.base.1359703544.2031210194" name="/" resourcePath="">
 						<toolChain id="cdt.managedbuild.toolchain.gnu.macosx.base.677243255" name="cdt.managedbuild.toolchain.gnu.macosx.base" superClass="cdt.managedbuild.toolchain.gnu.macosx.base">
 							<targetPlatform archList="all" binaryParser="org.eclipse.cdt.core.ELF;org.eclipse.cdt.core.MachO64" id="cdt.managedbuild.target.gnu.platform.macosx.base.752782918" name="Debug Platform" osList="macosx" superClass="cdt.managedbuild.target.gnu.platform.macosx.base"/>
-							<builder arguments="" buildPath="${ProjDirPath}/build" command="make" id="cdt.managedbuild.target.gnu.builder.macosx.base.319933862" keepEnvironmentInBuildfile="false" managedBuildOn="false" name="Gnu Make Builder" parallelBuildOn="true" parallelizationNumber="8" superClass="cdt.managedbuild.target.gnu.builder.macosx.base"/>
+							<builder arguments="" buildPath="${ProjDirPath}/build" command="make" id="cdt.managedbuild.target.gnu.builder.macosx.base.319933862" keepEnvironmentInBuildfile="false" managedBuildOn="false" name="Gnu Make Builder" parallelBuildOn="true" parallelizationNumber="5" superClass="cdt.managedbuild.target.gnu.builder.macosx.base"/>
 							<tool id="cdt.managedbuild.tool.macosx.c.linker.macosx.base.457360678" name="MacOS X C Linker" superClass="cdt.managedbuild.tool.macosx.c.linker.macosx.base"/>
 							<tool id="cdt.managedbuild.tool.macosx.cpp.linker.macosx.base.1011140787" name="MacOS X C++ Linker" superClass="cdt.managedbuild.tool.macosx.cpp.linker.macosx.base">
 								<inputType id="cdt.managedbuild.tool.macosx.cpp.linker.input.1032375444" superClass="cdt.managedbuild.tool.macosx.cpp.linker.input">
@@ -149,57 +149,6 @@
 			<storageModule moduleId="org.eclipse.cdt.core.language.mapping"/>
 			<storageModule moduleId="org.eclipse.cdt.internal.ui.text.commentOwnerProjectMappings"/>
 		</cconfiguration>
-		<cconfiguration id="cdt.managedbuild.toolchain.gnu.macosx.base.1359703544.1113830107">
-			<storageModule buildSystemId="org.eclipse.cdt.managedbuilder.core.configurationDataProvider" id="cdt.managedbuild.toolchain.gnu.macosx.base.1359703544.1113830107" moduleId="org.eclipse.cdt.core.settings" name="Release">
-				<externalSettings/>
-				<extensions>
-					<extension id="org.eclipse.cdt.core.ELF" point="org.eclipse.cdt.core.BinaryParser"/>
-					<extension id="org.eclipse.cdt.core.MachO64" point="org.eclipse.cdt.core.BinaryParser"/>
-					<extension id="org.eclipse.cdt.core.GASErrorParser" point="org.eclipse.cdt.core.ErrorParser"/>
-					<extension id="org.eclipse.cdt.core.GLDErrorParser" point="org.eclipse.cdt.core.ErrorParser"/>
-					<extension id="org.eclipse.cdt.core.GCCErrorParser" point="org.eclipse.cdt.core.ErrorParser"/>
-					<extension id="org.eclipse.cdt.core.GmakeErrorParser" point="org.eclipse.cdt.core.ErrorParser"/>
-					<extension id="org.eclipse.cdt.core.CWDLocator" point="org.eclipse.cdt.core.ErrorParser"/>
-				</extensions>
-			</storageModule>
-			<storageModule moduleId="cdtBuildSystem" version="4.0.0">
-				<configuration artifactName="gtsam" buildProperties="" description="" id="cdt.managedbuild.toolchain.gnu.macosx.base.1359703544.1113830107" name="Release" parent="org.eclipse.cdt.build.core.emptycfg">
-					<folderInfo id="cdt.managedbuild.toolchain.gnu.macosx.base.1359703544.1113830107." name="/" resourcePath="">
-						<toolChain id="cdt.managedbuild.toolchain.gnu.macosx.base.112152768" name="cdt.managedbuild.toolchain.gnu.macosx.base" superClass="cdt.managedbuild.toolchain.gnu.macosx.base">
-							<targetPlatform archList="all" binaryParser="org.eclipse.cdt.core.ELF;org.eclipse.cdt.core.MachO64" id="cdt.managedbuild.target.gnu.platform.macosx.base.520183569" name="Debug Platform" osList="macosx" superClass="cdt.managedbuild.target.gnu.platform.macosx.base"/>
-							<builder arguments="" buildPath="${ProjDirPath}/build-release" command="make" id="cdt.managedbuild.target.gnu.builder.macosx.base.1584625067" keepEnvironmentInBuildfile="false" managedBuildOn="false" name="Gnu Make Builder" parallelBuildOn="true" parallelizationNumber="8" superClass="cdt.managedbuild.target.gnu.builder.macosx.base"/>
-							<tool id="cdt.managedbuild.tool.macosx.c.linker.macosx.base.1693289539" name="MacOS X C Linker" superClass="cdt.managedbuild.tool.macosx.c.linker.macosx.base"/>
-							<tool id="cdt.managedbuild.tool.macosx.cpp.linker.macosx.base.445516979" name="MacOS X C++ Linker" superClass="cdt.managedbuild.tool.macosx.cpp.linker.macosx.base">
-								<inputType id="cdt.managedbuild.tool.macosx.cpp.linker.input.520547179" superClass="cdt.managedbuild.tool.macosx.cpp.linker.input">
-									<additionalInput kind="additionalinputdependency" paths="$(USER_OBJS)"/>
-									<additionalInput kind="additionalinput" paths="$(LIBS)"/>
-								</inputType>
-							</tool>
-							<tool id="cdt.managedbuild.tool.gnu.assembler.macosx.base.2037529941" name="GCC Assembler" superClass="cdt.managedbuild.tool.gnu.assembler.macosx.base">
-								<inputType id="cdt.managedbuild.tool.gnu.assembler.input.1986939833" superClass="cdt.managedbuild.tool.gnu.assembler.input"/>
-							</tool>
-							<tool id="cdt.managedbuild.tool.gnu.archiver.macosx.base.981720742" name="GCC Archiver" superClass="cdt.managedbuild.tool.gnu.archiver.macosx.base"/>
-							<tool id="cdt.managedbuild.tool.gnu.cpp.compiler.macosx.base.164695058" name="GCC C++ Compiler" superClass="cdt.managedbuild.tool.gnu.cpp.compiler.macosx.base">
-								<option id="gnu.cpp.compiler.option.include.paths.740748252" name="Include paths (-I)" superClass="gnu.cpp.compiler.option.include.paths" valueType="includePath">
-									<listOptionValue builtIn="false" value="&quot;${workspace_loc:/gtsam}&quot;"/>
-									<listOptionValue builtIn="false" value="/usr/include/c++/4.6.1"/>
-									<listOptionValue builtIn="false" value="/usr/include/c++/4.6"/>
-									<listOptionValue builtIn="false" value="/usr/include/c++/4.6/backward"/>
-									<listOptionValue builtIn="false" value="&quot;${ProjDirPath}&quot;"/>
-								</option>
-								<inputType id="cdt.managedbuild.tool.gnu.cpp.compiler.input.1418357370" superClass="cdt.managedbuild.tool.gnu.cpp.compiler.input"/>
-							</tool>
-							<tool id="cdt.managedbuild.tool.gnu.c.compiler.macosx.base.257069922" name="GCC C Compiler" superClass="cdt.managedbuild.tool.gnu.c.compiler.macosx.base">
-								<inputType id="cdt.managedbuild.tool.gnu.c.compiler.input.1085424637" superClass="cdt.managedbuild.tool.gnu.c.compiler.input"/>
-							</tool>
-						</toolChain>
-					</folderInfo>
-				</configuration>
-			</storageModule>
-			<storageModule moduleId="org.eclipse.cdt.core.externalSettings"/>
-			<storageModule moduleId="org.eclipse.cdt.core.language.mapping"/>
-			<storageModule moduleId="org.eclipse.cdt.internal.ui.text.commentOwnerProjectMappings"/>
-		</cconfiguration>
 	</storageModule>
 	<storageModule moduleId="cdtBuildSystem" version="4.0.0">
 		<project id="gtsam.null.1344331286" name="gtsam"/>
@@ -644,6 +593,38 @@
 				<useDefaultCommand>true</useDefaultCommand>
 				<runAllBuilders>true</runAllBuilders>
 			</target>
+			<target name="testBTree.run" path="build/gtsam_unstable/base" targetID="org.eclipse.cdt.build.MakeTargetBuilder">
+				<buildCommand>make</buildCommand>
+				<buildArguments>-j5</buildArguments>
+				<buildTarget>testBTree.run</buildTarget>
+				<stopOnError>true</stopOnError>
+				<useDefaultCommand>true</useDefaultCommand>
+				<runAllBuilders>true</runAllBuilders>
+			</target>
+			<target name="testDSF.run" path="build/gtsam_unstable/base" targetID="org.eclipse.cdt.build.MakeTargetBuilder">
+				<buildCommand>make</buildCommand>
+				<buildArguments>-j5</buildArguments>
+				<buildTarget>testDSF.run</buildTarget>
+				<stopOnError>true</stopOnError>
+				<useDefaultCommand>true</useDefaultCommand>
+				<runAllBuilders>true</runAllBuilders>
+			</target>
+			<target name="testDSFVector.run" path="build/gtsam_unstable/base" targetID="org.eclipse.cdt.build.MakeTargetBuilder">
+				<buildCommand>make</buildCommand>
+				<buildArguments>-j5</buildArguments>
+				<buildTarget>testDSFVector.run</buildTarget>
+				<stopOnError>true</stopOnError>
+				<useDefaultCommand>true</useDefaultCommand>
+				<runAllBuilders>true</runAllBuilders>
+			</target>
+			<target name="testFixedVector.run" path="build/gtsam_unstable/base" targetID="org.eclipse.cdt.build.MakeTargetBuilder">
+				<buildCommand>make</buildCommand>
+				<buildArguments>-j5</buildArguments>
+				<buildTarget>testFixedVector.run</buildTarget>
+				<stopOnError>true</stopOnError>
+				<useDefaultCommand>true</useDefaultCommand>
+				<runAllBuilders>true</runAllBuilders>
+			</target>
 			<target name="all" path="release" targetID="org.eclipse.cdt.build.MakeTargetBuilder">
 				<buildCommand>make</buildCommand>
 				<buildArguments>-j2</buildArguments>
@@ -796,18 +777,58 @@
 				<useDefaultCommand>true</useDefaultCommand>
 				<runAllBuilders>true</runAllBuilders>
 			</target>
-			<target name="nonlinear.testValues.run" path="build/gtsam/nonlinear" targetID="org.eclipse.cdt.build.MakeTargetBuilder">
+			<target name="testValues.run" path="build/gtsam/nonlinear" targetID="org.eclipse.cdt.build.MakeTargetBuilder">
 				<buildCommand>make</buildCommand>
 				<buildArguments>-j5</buildArguments>
-				<buildTarget>nonlinear.testValues.run</buildTarget>
+				<buildTarget>testValues.run</buildTarget>
 				<stopOnError>true</stopOnError>
 				<useDefaultCommand>true</useDefaultCommand>
 				<runAllBuilders>true</runAllBuilders>
 			</target>
-			<target name="nonlinear.testOrdering.run" path="build/gtsam/nonlinear" targetID="org.eclipse.cdt.build.MakeTargetBuilder">
+			<target name="testOrdering.run" path="build/gtsam/nonlinear" targetID="org.eclipse.cdt.build.MakeTargetBuilder">
 				<buildCommand>make</buildCommand>
 				<buildArguments>-j5</buildArguments>
-				<buildTarget>nonlinear.testOrdering.run</buildTarget>
+				<buildTarget>testOrdering.run</buildTarget>
+				<stopOnError>true</stopOnError>
+				<useDefaultCommand>true</useDefaultCommand>
+				<runAllBuilders>true</runAllBuilders>
+			</target>
+			<target name="schedulingExample.run" path="build/gtsam_unstable/discrete" targetID="org.eclipse.cdt.build.MakeTargetBuilder">
+				<buildCommand>make</buildCommand>
+				<buildArguments>-j5</buildArguments>
+				<buildTarget>schedulingExample.run</buildTarget>
+				<stopOnError>true</stopOnError>
+				<useDefaultCommand>true</useDefaultCommand>
+				<runAllBuilders>true</runAllBuilders>
+			</target>
+			<target name="testCSP.run" path="build/gtsam_unstable/discrete" targetID="org.eclipse.cdt.build.MakeTargetBuilder">
+				<buildCommand>make</buildCommand>
+				<buildArguments>-j5</buildArguments>
+				<buildTarget>testCSP.run</buildTarget>
+				<stopOnError>true</stopOnError>
+				<useDefaultCommand>true</useDefaultCommand>
+				<runAllBuilders>true</runAllBuilders>
+			</target>
+			<target name="testScheduler.run" path="build/gtsam_unstable/discrete" targetID="org.eclipse.cdt.build.MakeTargetBuilder">
+				<buildCommand>make</buildCommand>
+				<buildArguments>-j5</buildArguments>
+				<buildTarget>testScheduler.run</buildTarget>
+				<stopOnError>true</stopOnError>
+				<useDefaultCommand>true</useDefaultCommand>
+				<runAllBuilders>true</runAllBuilders>
+			</target>
+			<target name="schedulingQuals12.run" path="build/gtsam_unstable/discrete" targetID="org.eclipse.cdt.build.MakeTargetBuilder">
+				<buildCommand>make</buildCommand>
+				<buildArguments>-j5</buildArguments>
+				<buildTarget>schedulingQuals12.run</buildTarget>
+				<stopOnError>true</stopOnError>
+				<useDefaultCommand>true</useDefaultCommand>
+				<runAllBuilders>true</runAllBuilders>
+			</target>
+			<target name="testSudoku.run" path="build/gtsam_unstable/discrete" targetID="org.eclipse.cdt.build.MakeTargetBuilder">
+				<buildCommand>make</buildCommand>
+				<buildArguments>-j5</buildArguments>
+				<buildTarget>testSudoku.run</buildTarget>
 				<stopOnError>true</stopOnError>
 				<useDefaultCommand>true</useDefaultCommand>
 				<runAllBuilders>true</runAllBuilders>
@@ -844,26 +865,10 @@
 				<useDefaultCommand>true</useDefaultCommand>
 				<runAllBuilders>true</runAllBuilders>
 			</target>
-			<target name="install" path="wrap" targetID="org.eclipse.cdt.build.MakeTargetBuilder">
+			<target name="testDiscreteFactor.run" path="build/gtsam/discrete" targetID="org.eclipse.cdt.build.MakeTargetBuilder">
 				<buildCommand>make</buildCommand>
-				<buildArguments>-j2</buildArguments>
+				<buildArguments>-j5</buildArguments>
-				<buildTarget>install</buildTarget>
+				<buildTarget>testDiscreteFactor.run</buildTarget>
-				<stopOnError>true</stopOnError>
-				<useDefaultCommand>true</useDefaultCommand>
-				<runAllBuilders>true</runAllBuilders>
-			</target>
-			<target name="check" path="wrap" targetID="org.eclipse.cdt.build.MakeTargetBuilder">
-				<buildCommand>make</buildCommand>
-				<buildArguments>-j2</buildArguments>
-				<buildTarget>check</buildTarget>
-				<stopOnError>true</stopOnError>
-				<useDefaultCommand>true</useDefaultCommand>
-				<runAllBuilders>true</runAllBuilders>
-			</target>
-			<target name="clean" path="wrap" targetID="org.eclipse.cdt.build.MakeTargetBuilder">
-				<buildCommand>make</buildCommand>
-				<buildArguments>-j2</buildArguments>
-				<buildTarget>clean</buildTarget>
 				<stopOnError>true</stopOnError>
 				<useDefaultCommand>true</useDefaultCommand>
 				<runAllBuilders>true</runAllBuilders>
@@ -1044,14 +1049,6 @@
 				<useDefaultCommand>true</useDefaultCommand>
 				<runAllBuilders>true</runAllBuilders>
 			</target>
-			<target name="SimpleRotation.run" path="examples" targetID="org.eclipse.cdt.build.MakeTargetBuilder">
-				<buildCommand>make</buildCommand>
-				<buildArguments>-j2</buildArguments>
-				<buildTarget>SimpleRotation.run</buildTarget>
-				<stopOnError>true</stopOnError>
-				<useDefaultCommand>true</useDefaultCommand>
-				<runAllBuilders>true</runAllBuilders>
-			</target>
 			<target name="all" path="linear" targetID="org.eclipse.cdt.build.MakeTargetBuilder">
 				<buildCommand>make</buildCommand>
 				<buildArguments>-j2</buildArguments>
@@ -1657,82 +1654,82 @@
 				<useDefaultCommand>true</useDefaultCommand>
 				<runAllBuilders>true</runAllBuilders>
 			</target>
-			<target name="tests/testVectorValues.run" path="build/gtsam/linear" targetID="org.eclipse.cdt.build.MakeTargetBuilder">
+			<target name="testVector.run" path="build/gtsam/base" targetID="org.eclipse.cdt.build.MakeTargetBuilder">
-				<buildCommand>make</buildCommand>
-				<buildArguments>-j2</buildArguments>
-				<buildTarget>tests/testVectorValues.run</buildTarget>
-				<stopOnError>true</stopOnError>
-				<useDefaultCommand>true</useDefaultCommand>
-				<runAllBuilders>true</runAllBuilders>
-			</target>
-			<target name="linear.testNoiseModel.run" path="build/gtsam/linear" targetID="org.eclipse.cdt.build.MakeTargetBuilder">
 				<buildCommand>make</buildCommand>
 				<buildArguments>-j5</buildArguments>
-				<buildTarget>linear.testNoiseModel.run</buildTarget>
+				<buildTarget>testVector.run</buildTarget>
 				<stopOnError>true</stopOnError>
 				<useDefaultCommand>true</useDefaultCommand>
 				<runAllBuilders>true</runAllBuilders>
 			</target>
-			<target name="tests/testGaussianFactor.run" path="build/gtsam/linear" targetID="org.eclipse.cdt.build.MakeTargetBuilder">
+			<target name="testVectorValues.run" path="build/gtsam/linear" targetID="org.eclipse.cdt.build.MakeTargetBuilder">
-				<buildCommand>make</buildCommand>
-				<buildArguments>-j2</buildArguments>
-				<buildTarget>tests/testGaussianFactor.run</buildTarget>
-				<stopOnError>true</stopOnError>
-				<useDefaultCommand>true</useDefaultCommand>
-				<runAllBuilders>true</runAllBuilders>
-			</target>
-			<target name="tests/testHessianFactor.run" path="build/gtsam/linear" targetID="org.eclipse.cdt.build.MakeTargetBuilder">
-				<buildCommand>make</buildCommand>
-				<buildArguments>-j2</buildArguments>
-				<buildTarget>tests/testHessianFactor.run</buildTarget>
-				<stopOnError>true</stopOnError>
-				<useDefaultCommand>true</useDefaultCommand>
-				<runAllBuilders>true</runAllBuilders>
-			</target>
-			<target name="tests/testGaussianConditional.run" path="build/gtsam/linear" targetID="org.eclipse.cdt.build.MakeTargetBuilder">
-				<buildCommand>make</buildCommand>
-				<buildArguments>-j2</buildArguments>
-				<buildTarget>tests/testGaussianConditional.run</buildTarget>
-				<stopOnError>true</stopOnError>
-				<useDefaultCommand>true</useDefaultCommand>
-				<runAllBuilders>true</runAllBuilders>
-			</target>
-			<target name="tests/testGaussianFactorGraph.run" path="build/gtsam/linear" targetID="org.eclipse.cdt.build.MakeTargetBuilder">
-				<buildCommand>make</buildCommand>
-				<buildArguments>-j2</buildArguments>
-				<buildTarget>tests/testGaussianFactorGraph.run</buildTarget>
-				<stopOnError>true</stopOnError>
-				<useDefaultCommand>true</useDefaultCommand>
-				<runAllBuilders>true</runAllBuilders>
-			</target>
-			<target name="tests/testGaussianJunctionTree.run" path="build/gtsam/linear" targetID="org.eclipse.cdt.build.MakeTargetBuilder">
-				<buildCommand>make</buildCommand>
-				<buildArguments>-j2</buildArguments>
-				<buildTarget>tests/testGaussianJunctionTree.run</buildTarget>
-				<stopOnError>true</stopOnError>
-				<useDefaultCommand>true</useDefaultCommand>
-				<runAllBuilders>true</runAllBuilders>
-			</target>
-			<target name="tests/testKalmanFilter.run" path="build/gtsam/linear" targetID="org.eclipse.cdt.build.MakeTargetBuilder">
-				<buildCommand>make</buildCommand>
-				<buildArguments>-j2</buildArguments>
-				<buildTarget>tests/testKalmanFilter.run</buildTarget>
-				<stopOnError>true</stopOnError>
-				<useDefaultCommand>true</useDefaultCommand>
-				<runAllBuilders>true</runAllBuilders>
-			</target>
-			<target name="tests/testGaussianDensity.run" path="build/gtsam/linear" targetID="org.eclipse.cdt.build.MakeTargetBuilder">
-				<buildCommand>make</buildCommand>
-				<buildArguments>-j2</buildArguments>
-				<buildTarget>tests/testGaussianDensity.run</buildTarget>
-				<stopOnError>true</stopOnError>
-				<useDefaultCommand>true</useDefaultCommand>
-				<runAllBuilders>true</runAllBuilders>
-			</target>
-			<target name="linear.testSerializationLinear.run" path="build/gtsam/linear" targetID="org.eclipse.cdt.build.MakeTargetBuilder">
 				<buildCommand>make</buildCommand>
 				<buildArguments>-j5</buildArguments>
-				<buildTarget>linear.testSerializationLinear.run</buildTarget>
+				<buildTarget>testVectorValues.run</buildTarget>
+				<stopOnError>true</stopOnError>
+				<useDefaultCommand>true</useDefaultCommand>
+				<runAllBuilders>true</runAllBuilders>
+			</target>
+			<target name="testNoiseModel.run" path="build/gtsam/linear" targetID="org.eclipse.cdt.build.MakeTargetBuilder">
+				<buildCommand>make</buildCommand>
+				<buildArguments>-j5</buildArguments>
+				<buildTarget>testNoiseModel.run</buildTarget>
+				<stopOnError>true</stopOnError>
+				<useDefaultCommand>true</useDefaultCommand>
+				<runAllBuilders>true</runAllBuilders>
+			</target>
+			<target name="testHessianFactor.run" path="build/gtsam/linear" targetID="org.eclipse.cdt.build.MakeTargetBuilder">
+				<buildCommand>make</buildCommand>
+				<buildArguments>-j5</buildArguments>
+				<buildTarget>testHessianFactor.run</buildTarget>
+				<stopOnError>true</stopOnError>
+				<useDefaultCommand>true</useDefaultCommand>
+				<runAllBuilders>true</runAllBuilders>
+			</target>
+			<target name="testGaussianConditional.run" path="build/gtsam/linear" targetID="org.eclipse.cdt.build.MakeTargetBuilder">
+				<buildCommand>make</buildCommand>
+				<buildArguments>-j5</buildArguments>
+				<buildTarget>testGaussianConditional.run</buildTarget>
+				<stopOnError>true</stopOnError>
+				<useDefaultCommand>true</useDefaultCommand>
+				<runAllBuilders>true</runAllBuilders>
+			</target>
+			<target name="testGaussianFactorGraph.run" path="build/gtsam/linear" targetID="org.eclipse.cdt.build.MakeTargetBuilder">
+				<buildCommand>make</buildCommand>
+				<buildArguments>-j5</buildArguments>
+				<buildTarget>testGaussianFactorGraph.run</buildTarget>
+				<stopOnError>true</stopOnError>
+				<useDefaultCommand>true</useDefaultCommand>
+				<runAllBuilders>true</runAllBuilders>
+			</target>
+			<target name="testGaussianJunctionTree.run" path="build/gtsam/linear" targetID="org.eclipse.cdt.build.MakeTargetBuilder">
+				<buildCommand>make</buildCommand>
+				<buildArguments>-j5</buildArguments>
+				<buildTarget>testGaussianJunctionTree.run</buildTarget>
+				<stopOnError>true</stopOnError>
+				<useDefaultCommand>true</useDefaultCommand>
+				<runAllBuilders>true</runAllBuilders>
+			</target>
+			<target name="testKalmanFilter.run" path="build/gtsam/linear" targetID="org.eclipse.cdt.build.MakeTargetBuilder">
+				<buildCommand>make</buildCommand>
+				<buildArguments>-j5</buildArguments>
+				<buildTarget>testKalmanFilter.run</buildTarget>
+				<stopOnError>true</stopOnError>
+				<useDefaultCommand>true</useDefaultCommand>
+				<runAllBuilders>true</runAllBuilders>
+			</target>
+			<target name="testGaussianDensity.run" path="build/gtsam/linear" targetID="org.eclipse.cdt.build.MakeTargetBuilder">
+				<buildCommand>make</buildCommand>
+				<buildArguments>-j5</buildArguments>
+				<buildTarget>testGaussianDensity.run</buildTarget>
+				<stopOnError>true</stopOnError>
+				<useDefaultCommand>true</useDefaultCommand>
+				<runAllBuilders>true</runAllBuilders>
+			</target>
+			<target name="testSerializationLinear.run" path="build/gtsam/linear" targetID="org.eclipse.cdt.build.MakeTargetBuilder">
+				<buildCommand>make</buildCommand>
+				<buildArguments>-j5</buildArguments>
+				<buildTarget>testSerializationLinear.run</buildTarget>
 				<stopOnError>true</stopOnError>
 				<useDefaultCommand>true</useDefaultCommand>
 				<runAllBuilders>true</runAllBuilders>
@@ -1817,6 +1814,14 @@
 				<useDefaultCommand>true</useDefaultCommand>
 				<runAllBuilders>true</runAllBuilders>
 			</target>
+			<target name="UGM_small.run" path="build/examples" targetID="org.eclipse.cdt.build.MakeTargetBuilder">
+				<buildCommand>make</buildCommand>
+				<buildArguments>-j5</buildArguments>
+				<buildTarget>UGM_small.run</buildTarget>
+				<stopOnError>true</stopOnError>
+				<useDefaultCommand>true</useDefaultCommand>
+				<runAllBuilders>true</runAllBuilders>
+			</target>
 			<target name="check" path="build/slam" targetID="org.eclipse.cdt.build.MakeTargetBuilder">
 				<buildCommand>make</buildCommand>
 				<buildArguments>-j2</buildArguments>
@@ -2031,18 +2036,58 @@
 				<useDefaultCommand>true</useDefaultCommand>
 				<runAllBuilders>true</runAllBuilders>
 			</target>
-			<target name="testMarginals.run" path="" targetID="org.eclipse.cdt.build.MakeTargetBuilder">
+			<target name="wrap_gtsam" path="" targetID="org.eclipse.cdt.build.MakeTargetBuilder">
 				<buildCommand>make</buildCommand>
-				<buildArguments>-j8</buildArguments>
+				<buildArguments>-j5</buildArguments>
-				<buildTarget>testMarginals.run</buildTarget>
+				<buildTarget>wrap_gtsam</buildTarget>
 				<stopOnError>true</stopOnError>
 				<useDefaultCommand>true</useDefaultCommand>
 				<runAllBuilders>true</runAllBuilders>
 			</target>
-			<target name="testNonlinearOptimizer.run" path="" targetID="org.eclipse.cdt.build.MakeTargetBuilder">
+			<target name="verbose wrap_gtsam" path="" targetID="org.eclipse.cdt.build.MakeTargetBuilder">
 				<buildCommand>make</buildCommand>
-				<buildArguments>-j8</buildArguments>
+				<buildArguments>VERBOSE=1</buildArguments>
-				<buildTarget>testNonlinearOptimizer.run</buildTarget>
+				<buildTarget>wrap_gtsam</buildTarget>
+				<stopOnError>true</stopOnError>
+				<useDefaultCommand>false</useDefaultCommand>
+				<runAllBuilders>true</runAllBuilders>
+			</target>
+			<target name="Generate DEB Package" path="" targetID="org.eclipse.cdt.build.MakeTargetBuilder">
+				<buildCommand>cpack</buildCommand>
+				<buildArguments/>
+				<buildTarget>-G DEB</buildTarget>
+				<stopOnError>true</stopOnError>
+				<useDefaultCommand>false</useDefaultCommand>
+				<runAllBuilders>true</runAllBuilders>
+			</target>
+			<target name="Generate RPM Package" path="" targetID="org.eclipse.cdt.build.MakeTargetBuilder">
+				<buildCommand>cpack</buildCommand>
+				<buildArguments/>
+				<buildTarget>-G RPM</buildTarget>
+				<stopOnError>true</stopOnError>
+				<useDefaultCommand>false</useDefaultCommand>
+				<runAllBuilders>true</runAllBuilders>
+			</target>
+			<target name="Generate TGZ Package" path="" targetID="org.eclipse.cdt.build.MakeTargetBuilder">
+				<buildCommand>cpack</buildCommand>
+				<buildArguments/>
+				<buildTarget>-G TGZ</buildTarget>
+				<stopOnError>true</stopOnError>
+				<useDefaultCommand>false</useDefaultCommand>
+				<runAllBuilders>true</runAllBuilders>
+			</target>
+			<target name="Generate TGZ Source Package" path="" targetID="org.eclipse.cdt.build.MakeTargetBuilder">
+				<buildCommand>cpack</buildCommand>
+				<buildArguments/>
+				<buildTarget>--config CPackSourceConfig.cmake</buildTarget>
+				<stopOnError>true</stopOnError>
+				<useDefaultCommand>false</useDefaultCommand>
+				<runAllBuilders>true</runAllBuilders>
+			</target>
+			<target name="check.discrete" path="" targetID="org.eclipse.cdt.build.MakeTargetBuilder">
+				<buildCommand>make</buildCommand>
+				<buildArguments>-j5</buildArguments>
+				<buildTarget>check.discrete</buildTarget>
 				<stopOnError>true</stopOnError>
 				<useDefaultCommand>true</useDefaultCommand>
 				<runAllBuilders>true</runAllBuilders>

CMakeLists.txt

@@ -2,8 +2,8 @@ project(GTSAM CXX C)
 cmake_minimum_required(VERSION 2.6)
 
 # Set the version number for the library
-set (GTSAM_VERSION_MAJOR 1)
+set (GTSAM_VERSION_MAJOR 2)
-set (GTSAM_VERSION_MINOR 9)
+set (GTSAM_VERSION_MINOR 0)
 set (GTSAM_VERSION_PATCH 0)
 
 # Set the default install path to home

README

@@ -1,7 +1,18 @@
 README - Georgia Tech Smoothing and Mapping library
 ---------------------------------------------------
 
-What is GTSAM ?
+Quickstart
+
+In the root library folder execute:
+
+$] mkdir build
+$] cd build
+$] cmake ..
+$] make check (optional, runs unit tests)
+$] make install
+
+---------------------------------------------------
+What is GTSAM?
 
   GTSAM is a library of C++ classes that implement smoothing and
   mapping (SAM) in robotics and vision, using factor graphs and Bayes
@@ -11,10 +22,7 @@ What is GTSAM ?
 GTSAM is not (yet) open source: See COPYING & LICENSE
 Please see USAGE for an example on how to use GTSAM.
 
-The core GTSAM code within the folder gtsam, with source, headers, and 
+The library is organized according to the following directory structure:
-unit tests. After building, this will generate a single library "libgtsam"
-
-The libgtsam code is organized according to the following directory structure:
  
   3rdparty      local copies of third party libraries - Eigen3 and CCOLAMD
   base          provides some base Math and data structures, as well as test-related utilities
@@ -24,12 +32,6 @@ The libgtsam code is organized according to the following directory structure:
   nonlinear     non-linear factor graphs and non-linear optimization
   slam          SLAM and visual SLAM application code
 
-Additionally, in the SVN development version of GTSAM, there is an area for 
-unstable code directly under development in the folder gtsam_unstable, which contains 
-a directory structuring mirroring the libgtsam structure as necessary.  This section produces
-a single library "libgtsam_unstable".  Building of gtsam_unstable is disabled by default, see
-CMake configuration options for information on enabling building.
-
 This library contains unchanged copies of two third party libraries, with documentation 
 of licensing in LICENSE and as follows: 
   - CCOLAMD 2.73: Tim Davis' constrained column approximate minimum degree ordering library
@@ -38,26 +40,19 @@ of licensing in LICENSE and as follows:
   - Eigen 3.0.5:  General C++ matrix and linear algebra library
     - Licenced under LGPL v3, provided in gtsam/3rdparty/Eigen/COPYING.LGPL
 
-After this is built, you can also run the more involved tests, which test the entire library:  
-  
-  tests         More involved unit tests that depend on slam
-  examples      Demo applications as a tutorial for using gtsam
-  cmake         CMake scripts used within the library, as well as for finding GTSAM by dependent projects
 
-Finally, there are some local libraries built needed in the rest of the code:
+There are two supporting libraries:
 
   CppUnitLite   unit test library customized for use with gtsam
   wrap          code generation utility for the Matlab interface to gtsam
 
-Important Installation Notes Specific to GTSAM
+Important Installation Notes
-----------------------------------------------
+----------------------------
 
 1)
 GTSAM requires the following libraries to be installed on your system:
  - BOOST version 1.40 or greater (install through Linux repositories or MacPorts)
-
+ - Cmake version 2.6 or higher
-GTSAM uses CMake (http://www.cmake.org/) for build automation
- - Installed cmake version must be 2.6 or higher
 
 Tested compilers
  - gcc
@@ -65,44 +60,20 @@ Tested compilers
  - OSX gcc
 
 2)
-GTSAM makes extensive use of debug assertions, even for checking input of
+GTSAM makes extensive use of debug assertions, and we highly recommend you work
-the functions you will call.  These assertions are disabled when NDEBUG is
+in Debug mode while developing (enabled by default). Likewise, it is imperative
-defined.  Thus, we strongly recommend compiling GTSAM and your own code without
+that you switch to release mode when running finished code and for timing. GTSAM
-this symbol during debugging.
+will run up to 10x faster in Release mode! See the end of this document for 
-
+additional debugging tips.
-After debugging, GTSAM will run much faster when compiled with NDEBUG defined,
-so that debug checks are disabled.
-
-Another useful debugging symbol is _GLIBCXX_DEBUG, which enables debug checks
-and safe containers in the standard C++ library and makes problems much easier
-to find.
-
-NOTE:  The native Snow Leopard g++ compiler/library contains a bug that makes
-it impossible to use _GLIBCXX_DEBUG.  MacPorts g++ compilers do work with it though.
-
-NOTE:  If _GLIBCXX_DEBUG is used to compile gtsam, anything that links against
-gtsam will need to be compiled with _GLIBCXX_DEBUG as well, due to the use of
-header-only Eigen.  
 
 3)
-GTSAM has been written to support the creation of API documentation using
+GTSAM has Doxygen documentation. To generate, run the the script 
-doxygen.  To create html documentation for GTSAM, run the the script 
 makedoc.sh.  
 
 4)
-For developers, we primarily use the Eclipse IDE for development, and provide
+The instructions below install the library to the default system install path and
-an Eclipse project file with a variety of make targets to build and debug 
+build all components. From a terminal, starting in the root library folder, 
-from within Eclipse. 
+execute commands as follows for an out-of-source build:
-
-5)
-After installing prerequisites for building GTSAM, you can configure and build
-GTSAM using CMake with the default options with the quickstart options. For 
-details on the full functionality of CMake, see the CMake documentation.  
-
-- CMake Quickstart
-Installs to the default system install path and builds all components.  From a terminal, 
-starting in the root library folder, execute commands as follows for an out-of-source
-build:
 
 $] mkdir build
 $] cd build
@@ -110,47 +81,33 @@ $] cmake ..
 $] make check (optional, runs unit tests)
 $] make install
 
-This will build the library and unit tests, run all of the unit tests, and then install
+This will build the library and unit tests, run all of the unit tests, 
-the library itself, as well as the Matlab toolbox.
+and then install the library itself.
 
-- Additional CMake Options and Details
+- CMake Configuration Options and Details
 
-The cmake scripts force a out-of-source build, so inside gtsam, 
+GTSAM has a number of options that can be configured, which is best done with
-create a new folder called "build", and run cmake. From the command line:
+one of the following:
 
-$] mkdir build
+  ccmake      the curses GUI for cmake
-$] cd build
+  cmake-gui   a real GUI for cmake
-$] cmake ..
 
-Note the ".." after the cmake command - it tells cmake to look for the 
+Important Options: 
-root CMakeLists.txt file in the root gtsam folder instead of in the build folder. 
-This is a necessary argument for starting cmake in all of its variations. 
-There a few ways of actually doing the configuration to make adjusting options easier.
 
-  cmake       the regular command-line version of cmake, allows configuration with scripts
+CMAKE_BUILD_TYPE: We support several build configurations for GTSAM (case insensitive)
-  ccmake      the curses GUI for cmake, which lets you see the various options, change them, and run configuration.
+  Debug (default)  All error checking options on, no optimization. Use for development.
-  cmake-gui   a real GUI for cmake, which has a similar interface to ccmake, but with easier controls. 
+  Release          Optimizations turned on, no debug symbols.           
+  Timing           Adds ENABLE_TIMING flag to provide statistics on operation 
+  Profiling        Standard configuration for use during profiling
+  RelWithDebInfo   Same as Release, but with the -g flag for debug symbols
 
-Note that during configuration, the settings get cached so if you rerun cmake later, 
+CMAKE_INSTALL_PREFIX: The install folder. The default is typically /usr/local/
-it will keep your previous settings. In particular, you can use the "cmake" build target 
+To configure to install to your home directory, you could execute:
-within the Eclipse project to update the configuration, which will be necessary 
-when file structures change.  
-
-While it is possible to use command-line arguments to cmake to change configuration 
-options, it is usually easier to use cmake-gui or ccmake to set parameters and use the other flags.
-
-Important CMake configuration options: 
-
-CMAKE_INSTALL_PREFIX: this is the folder where installed files will go, and for 
-our development purposes, should be set to the home folder, like so
 $] cmake -DCMAKE_INSTALL_PREFIX:PATH=$HOME ..
 
-GTSAM_TOOLBOX_INSTALL_PATH: When the library is installed with "make install", 
+GTSAM_TOOLBOX_INSTALL_PATH: The Matlab toolbox will be installed in a subdirectory
-the generated matlab toolbox code (created by wrap) gets installed as well in 
+of this folder, called 'gtsam'.
-this path. For example, use "/home/username/borg/toolbox" to install the 
+$] cmake -DGTSAM_TOOLBOX_INSTALL_PATH:PATH=$HOME/toolbox ..
-toolbox in your borg/toolbox folder. The matlab toolbox will get installed 
-into borg/toolbox/gtsam.
-$] cmake -DGTSAM_TOOLBOX_INSTALL_PATH:PATH=$HOME/borg/toolbox ..
 
 GTSAM_BUILD_CONVENIENCE_LIBRARIES: This is a build option to allow for tests in 
 subfolders to be linked against convenience libraries rather than the full libgtsam. 
@@ -176,35 +133,25 @@ $] cmake -DGTSAM_BUILD_UNSTABLE:OPTION=ON ..
                  folder called "gtsam_unstable".
   OFF (Default)  If disabled, no gtsam_unstable code will be included in build or install. 
 
-CMAKE_BUILD_TYPE: We support several build configurations for GTSAM (case insensitive)
-  Debug (default)  All error checking options on, no optimization. Use for development.
-  Release          Optimizations turned on, no debug symbols.           
-  Timing           Adds ENABLE_TIMING flag to provide statistics on operation 
-  Profiling        Standard configuration for use during profiling
-  RelWithDebInfo   Same as Release, but with the -g flag for debug symbols
-
-
-Build and Install
-
-After configuring, you use make just as you normally would, and the all, check and 
-install targets work as in autotools. Note that all targets are at the root level 
-of the build folder. You can also build any of the subfolders individually as 
-individual targets, such as "make geometry slam" to build both geometry and slam. 
-Running "make install" will install the library to the prefix location.
-
 Check
 
-As with autotools, "make check" will build and run all of the tests. Note that the 
+"make check" will build and run all of the tests. Note that the tests will only be 
-tests will only be built when using the "check" targets, to prevent "make install" from
+built when using the "check" targets, to prevent "make install" from building the tests
-building the tests unnecessarily. You can also run "make timing" to build all of 
+unnecessarily. You can also run "make timing" to build all of the timing scripts. 
-the timing scripts. To run check on a particular subsection, there is a convention 
+To run check on a particular module only, run "make check.[subfolder]", so to run
-of "make check.[subfolder]", so to run just the geometry tests, 
+just the geometry tests, run "make check.geometry". Individual tests can be run by
-run "make check.geometry". Individual tests can be run by appending ".run" to the
+appending ".run" to the name of the test, for example, to run testMatrix, run 
-name of the test, for example, to run testMatrix, run "make testMatrix.run". 
+"make testMatrix.run". 
 
-The make target "wrap" will build the wrap binary, and the "wrap_gtsam" target will 
+Debugging tips:
-generate code for the toolbox. By default, the toolbox will be created and installed 
-by the install target for the library. To change the install folder for the toolbox, 
-choose a different setting during cmake settings for the toolbox install path. 
 
+Another useful debugging symbol is _GLIBCXX_DEBUG, which enables debug checks
+and safe containers in the standard C++ library and makes problems much easier
+to find.
 
+NOTE:  The native Snow Leopard g++ compiler/library contains a bug that makes
+it impossible to use _GLIBCXX_DEBUG.  MacPorts g++ compilers do work with it though.
+
+NOTE:  If _GLIBCXX_DEBUG is used to compile gtsam, anything that links against
+gtsam will need to be compiled with _GLIBCXX_DEBUG as well, due to the use of
+header-only Eigen.  

gtsam/CMakeLists.txt

@@ -1,5 +1,6 @@
-# Build full gtsam library as a single library
+# We split the library in to separate subfolders, each containing
-# and also build tests 
+# tests, timing, and an optional convenience library.
+# The following variable is the master list of subdirs to add
 set (gtsam_subdirs 
     base 
     geometry 
@@ -26,12 +27,14 @@ if (GTSAM_BUILD_CONVENIENCE_LIBRARIES)
     add_library(ccolamd STATIC ${3rdparty_srcs})
 endif()
 
+# To exclude a source from the library build (in any subfolder)
+# Add the full name to this list, as in the following example
 # Sources to remove from builds
-set (excluded_sources
+set (excluded_sources "")
-    "${CMAKE_CURRENT_SOURCE_DIR}/discrete/TypedDiscreteFactor.cpp" 
+#    "${CMAKE_CURRENT_SOURCE_DIR}/discrete/TypedDiscreteFactor.cpp" 
-    "${CMAKE_CURRENT_SOURCE_DIR}/discrete/TypedDiscreteFactorGraph.cpp" 
+#    "${CMAKE_CURRENT_SOURCE_DIR}/discrete/TypedDiscreteFactorGraph.cpp" 
-    "${CMAKE_CURRENT_SOURCE_DIR}/discrete/parseUAI.cpp" 
+#    "${CMAKE_CURRENT_SOURCE_DIR}/discrete/parseUAI.cpp" 
-    "${CMAKE_CURRENT_SOURCE_DIR}/discrete/PotentialTable.cpp")
+#    "${CMAKE_CURRENT_SOURCE_DIR}/discrete/PotentialTable.cpp")
     
 if(GTSAM_USE_QUATERNIONS)
     set(excluded_sources ${excluded_sources} "${CMAKE_CURRENT_SOURCE_DIR}/geometry/Rot3M.cpp")
@@ -55,7 +58,8 @@ foreach(subdir ${gtsam_subdirs})
     add_subdirectory(${subdir})
 endforeach(subdir)
  
-# assemble gtsam components
+# To add additional sources to gtsam when building the full library (static or shared)
+# Add the subfolder with _srcs appended to the end to this list
 set(gtsam_srcs
     ${3rdparty_srcs}
     ${base_srcs}

gtsam/discrete/AlgebraicDecisionTree.h

@@ -1,4 +1,15 @@
-/*
+/* ----------------------------------------------------------------------------
+
+ * GTSAM Copyright 2010, Georgia Tech Research Corporation,
+ * Atlanta, Georgia 30332-0415
+ * All Rights Reserved
+ * Authors: Frank Dellaert, et al. (see THANKS for the full author list)
+
+ * See LICENSE for the license information
+
+ * -------------------------------------------------------------------------- */
+
+/**
  * @file		AlgebraicDecisionTree.h
  * @brief		Algebraic Decision Trees
  * @author	Frank Dellaert

gtsam/discrete/Assignment.h

@@ -1,4 +1,15 @@
-/*
+/* ----------------------------------------------------------------------------
+
+ * GTSAM Copyright 2010, Georgia Tech Research Corporation,
+ * Atlanta, Georgia 30332-0415
+ * All Rights Reserved
+ * Authors: Frank Dellaert, et al. (see THANKS for the full author list)
+
+ * See LICENSE for the license information
+
+ * -------------------------------------------------------------------------- */
+
+/**
  * @file		Assignment.h
  * @brief		An assignment from labels to a discrete value index (size_t)
  * @author	Frank Dellaert

gtsam/discrete/CMakeLists.txt

@@ -13,24 +13,13 @@ set (discrete_local_libs
 )
 
 # Exclude tests that don't work
-set (discrete_excluded_tests
+set (discrete_excluded_tests "")
-"${CMAKE_CURRENT_SOURCE_DIR}/tests/testTypedDiscreteFactor.cpp"
-"${CMAKE_CURRENT_SOURCE_DIR}/tests/testTypedDiscreteFactorGraph.cpp"
-"${CMAKE_CURRENT_SOURCE_DIR}/tests/testPotentialTable.cpp")
 
 # Add all tests
 if (GTSAM_BUILD_TESTS)
     gtsam_add_subdir_tests(discrete "${discrete_local_libs}" "gtsam-static" "${discrete_excluded_tests}")
 endif()
 
-# add examples
-foreach(example schedulingExample schedulingQuals12)
-	add_executable(${example} "examples/${example}.cpp")
-	add_dependencies(${example} gtsam-static)
-	target_link_libraries(${example} gtsam-static)
-	add_custom_target(${example}.run ${EXECUTABLE_OUTPUT_PATH}${example} ${ARGN})
-endforeach(example)
-
 # Build timing scripts
 #if (GTSAM_BUILD_TIMING)
 #    gtsam_add_timing(discrete "${discrete_local_libs}")

gtsam/discrete/DecisionTree-inl.h

@@ -1,4 +1,15 @@
-/*
+/* ----------------------------------------------------------------------------
+
+ * GTSAM Copyright 2010, Georgia Tech Research Corporation,
+ * Atlanta, Georgia 30332-0415
+ * All Rights Reserved
+ * Authors: Frank Dellaert, et al. (see THANKS for the full author list)
+
+ * See LICENSE for the license information
+
+ * -------------------------------------------------------------------------- */
+
+/**
  * @file		DecisionTree.h
  * @brief		Decision Tree for use in DiscreteFactors
  * @author	Frank Dellaert

gtsam/discrete/DecisionTree.h

@@ -1,4 +1,15 @@
-/*
+/* ----------------------------------------------------------------------------
+
+ * GTSAM Copyright 2010, Georgia Tech Research Corporation,
+ * Atlanta, Georgia 30332-0415
+ * All Rights Reserved
+ * Authors: Frank Dellaert, et al. (see THANKS for the full author list)
+
+ * See LICENSE for the license information
+
+ * -------------------------------------------------------------------------- */
+
+/**
  * @file		DecisionTree.h
  * @brief		Decision Tree for use in DiscreteFactors
  * @author	Frank Dellaert

gtsam/discrete/DecisionTreeFactor.cpp

@@ -1,6 +1,17 @@
-/*
+/* ----------------------------------------------------------------------------
- * DecisionTreeFactor.cpp
+
- * @brief: discrete factor
+ * GTSAM Copyright 2010, Georgia Tech Research Corporation,
+ * Atlanta, Georgia 30332-0415
+ * All Rights Reserved
+ * Authors: Frank Dellaert, et al. (see THANKS for the full author list)
+
+ * See LICENSE for the license information
+
+ * -------------------------------------------------------------------------- */
+
+/**
+ * @file DecisionTreeFactor.cpp
+ * @brief discrete factor
  * @date Feb 14, 2011
  * @author Duy-Nguyen Ta
  * @author Frank Dellaert

gtsam/discrete/DecisionTreeFactor.h

@@ -1,8 +1,19 @@
-/*
+/* ----------------------------------------------------------------------------
- * DecisionTreeFactor.h
+
- *
+ * GTSAM Copyright 2010, Georgia Tech Research Corporation,
- *  @date Feb 14, 2011
+ * Atlanta, Georgia 30332-0415
- *  @author Duy-Nguyen Ta
+ * All Rights Reserved
+ * Authors: Frank Dellaert, et al. (see THANKS for the full author list)
+
+ * See LICENSE for the license information
+
+ * -------------------------------------------------------------------------- */
+
+/**
+ * @file DecisionTreeFactor.h
+ * @date Feb 14, 2011
+ * @author Duy-Nguyen Ta
+ * @author Frank Dellaert
  */
 
 #pragma once
@@ -116,28 +127,6 @@ namespace gtsam {
 		 */
 		shared_ptr combine(size_t nrFrontals, ADT::Binary op) const;
 
-		/*
-		 * Ensure Arc-consistency
-		 * @param j domain to be checked
-		 * @param domains all other domains
-		 */
-		///
-		bool ensureArcConsistency(size_t j, std::vector<Domain>& domains) const {
-//			throw std::runtime_error(
-//					"DecisionTreeFactor::ensureArcConsistency not implemented");
-			return false;
-		}
-
-		/// Partially apply known values
-		virtual DiscreteFactor::shared_ptr partiallyApply(const Values&) const {
-			throw std::runtime_error("DecisionTreeFactor::partiallyApply not implemented");
-		}
-
-		/// Partially apply known values, domain version
-		virtual DiscreteFactor::shared_ptr partiallyApply(
-				const std::vector<Domain>&) const {
-			throw std::runtime_error("DecisionTreeFactor::partiallyApply not implemented");
-		}
 		/// @}
 	};
 // DecisionTreeFactor

gtsam/discrete/DiscreteBayesNet.cpp

@@ -1,9 +1,19 @@
-/*
+/* ----------------------------------------------------------------------------
- * DiscreteBayesNet.cpp
+
- *
+ * GTSAM Copyright 2010, Georgia Tech Research Corporation,
- *  @date Feb 15, 2011
+ * Atlanta, Georgia 30332-0415
- *  @author Duy-Nguyen Ta
+ * All Rights Reserved
- *  @author Frank Dellaert
+ * Authors: Frank Dellaert, et al. (see THANKS for the full author list)
+
+ * See LICENSE for the license information
+
+ * -------------------------------------------------------------------------- */
+
+/**
+ * @file DiscreteBayesNet.cpp
+ * @date Feb 15, 2011
+ * @author Duy-Nguyen Ta
+ * @author Frank Dellaert
  */
 
 #include <gtsam/discrete/DiscreteBayesNet.h>

gtsam/discrete/DiscreteBayesNet.h

@@ -1,8 +1,18 @@
-/*
+/* ----------------------------------------------------------------------------
- * DiscreteBayesNet.h
+
- *
+ * GTSAM Copyright 2010, Georgia Tech Research Corporation,
- *  @date Feb 15, 2011
+ * Atlanta, Georgia 30332-0415
- *  @author Duy-Nguyen Ta
+ * All Rights Reserved
+ * Authors: Frank Dellaert, et al. (see THANKS for the full author list)
+
+ * See LICENSE for the license information
+
+ * -------------------------------------------------------------------------- */
+
+/**
+ * @file DiscreteBayesNet.h
+ * @date Feb 15, 2011
+ * @author Duy-Nguyen Ta
  */
 
 #pragma once

gtsam/discrete/DiscreteConditional.cpp

@@ -1,6 +1,16 @@
-/*
+/* ----------------------------------------------------------------------------
- * DiscreteConditional.cpp
+
- *
+ * GTSAM Copyright 2010, Georgia Tech Research Corporation,
+ * Atlanta, Georgia 30332-0415
+ * All Rights Reserved
+ * Authors: Frank Dellaert, et al. (see THANKS for the full author list)
+
+ * See LICENSE for the license information
+
+ * -------------------------------------------------------------------------- */
+
+/**
+ *  @file DiscreteConditional.cpp
  *  @date Feb 14, 2011
  *  @author Duy-Nguyen Ta
  *  @author Frank Dellaert

gtsam/discrete/DiscreteConditional.h

@@ -1,6 +1,16 @@
-/*
+/* ----------------------------------------------------------------------------
- * DiscreteConditional.h
+
- *
+ * GTSAM Copyright 2010, Georgia Tech Research Corporation,
+ * Atlanta, Georgia 30332-0415
+ * All Rights Reserved
+ * Authors: Frank Dellaert, et al. (see THANKS for the full author list)
+
+ * See LICENSE for the license information
+
+ * -------------------------------------------------------------------------- */
+
+/**
+ *  @file DiscreteConditional.h
  *  @date Feb 14, 2011
  *  @author Duy-Nguyen Ta
  *  @author Frank Dellaert

gtsam/discrete/DiscreteFactor.cpp

@@ -1,6 +1,17 @@
-/*
+/* ----------------------------------------------------------------------------
- * DiscreteFactor.cpp
+
- * @brief: discrete factor
+ * GTSAM Copyright 2010, Georgia Tech Research Corporation,
+ * Atlanta, Georgia 30332-0415
+ * All Rights Reserved
+ * Authors: Frank Dellaert, et al. (see THANKS for the full author list)
+
+ * See LICENSE for the license information
+
+ * -------------------------------------------------------------------------- */
+
+/**
+ * @file DiscreteFactor.cpp
+ * @brief discrete factor
  * @date Feb 14, 2011
  * @author Duy-Nguyen Ta
  * @author Frank Dellaert

gtsam/discrete/DiscreteFactor.h

@@ -1,8 +1,19 @@
-/*
+/* ----------------------------------------------------------------------------
- * DiscreteFactor.h
+
- *
+ * GTSAM Copyright 2010, Georgia Tech Research Corporation,
+ * Atlanta, Georgia 30332-0415
+ * All Rights Reserved
+ * Authors: Frank Dellaert, et al. (see THANKS for the full author list)
+
+ * See LICENSE for the license information
+
+ * -------------------------------------------------------------------------- */
+
+/**
+ *  @file DiscreteFactor.h
  *  @date Feb 14, 2011
  *  @author Duy-Nguyen Ta
+ *  @author Frank Dellaert
  */
 
 #pragma once
@@ -14,7 +25,6 @@ namespace gtsam {
 
 	class DecisionTreeFactor;
 	class DiscreteConditional;
-	class Domain;
 
 	/**
 	 * Base class for discrete probabilistic factors
@@ -88,19 +98,6 @@ namespace gtsam {
 
 		virtual operator DecisionTreeFactor() const = 0;
 
-		/*
-		 * Ensure Arc-consistency
-		 * @param j domain to be checked
-		 * @param domains all other domains
-		 */
-		virtual bool ensureArcConsistency(size_t j, std::vector<Domain>& domains) const = 0;
-
-		/// Partially apply known values
-		virtual shared_ptr partiallyApply(const Values&) const = 0;
-
-
-		/// Partially apply known values, domain version
-		virtual shared_ptr partiallyApply(const std::vector<Domain>&) const = 0;
 		/// @}
 	};
 // DiscreteFactor

gtsam/discrete/DiscreteFactorGraph.cpp

@@ -1,8 +1,19 @@
-/*
+/* ----------------------------------------------------------------------------
- * DiscreteFactorGraph.cpp
+
- *
+ * GTSAM Copyright 2010, Georgia Tech Research Corporation,
+ * Atlanta, Georgia 30332-0415
+ * All Rights Reserved
+ * Authors: Frank Dellaert, et al. (see THANKS for the full author list)
+
+ * See LICENSE for the license information
+
+ * -------------------------------------------------------------------------- */
+
+/**
+ *  @file DiscreteFactorGraph.cpp
  *  @date Feb 14, 2011
  *  @author Duy-Nguyen Ta
+ *  @author Frank Dellaert
  */
 
 //#define ENABLE_TIMING

gtsam/discrete/DiscreteFactorGraph.h

@@ -1,8 +1,19 @@
-/*
+/* ----------------------------------------------------------------------------
- * DiscreteFactorGraph.h
+
- *
+ * GTSAM Copyright 2010, Georgia Tech Research Corporation,
- *  @date Feb 14, 2011
+ * Atlanta, Georgia 30332-0415
- *  @author Duy-Nguyen Ta
+ * All Rights Reserved
+ * Authors: Frank Dellaert, et al. (see THANKS for the full author list)
+
+ * See LICENSE for the license information
+
+ * -------------------------------------------------------------------------- */
+
+/**
+ * @file DiscreteFactorGraph.h
+ * @date Feb 14, 2011
+ * @author Duy-Nguyen Ta
+ * @author Frank Dellaert
  */
 
 #pragma once

gtsam/discrete/DiscreteKey.cpp

@@ -1,5 +1,16 @@
-/*
+/* ----------------------------------------------------------------------------
- * DiscreteKey.h
+
+ * GTSAM Copyright 2010, Georgia Tech Research Corporation,
+ * Atlanta, Georgia 30332-0415
+ * All Rights Reserved
+ * Authors: Frank Dellaert, et al. (see THANKS for the full author list)
+
+ * See LICENSE for the license information
+
+ * -------------------------------------------------------------------------- */
+
+/**
+ * @file DiscreteKey.h
  * @brief specialized key for discrete variables
  * @author Frank Dellaert
  * @date Feb 28, 2011

gtsam/discrete/DiscreteKey.h

@@ -1,5 +1,16 @@
-/*
+/* ----------------------------------------------------------------------------
- * DiscreteKey.h
+
+ * GTSAM Copyright 2010, Georgia Tech Research Corporation,
+ * Atlanta, Georgia 30332-0415
+ * All Rights Reserved
+ * Authors: Frank Dellaert, et al. (see THANKS for the full author list)
+
+ * See LICENSE for the license information
+
+ * -------------------------------------------------------------------------- */
+
+/**
+ * @file DiscreteKey.h
  * @brief specialized key for discrete variables
  * @author Frank Dellaert
  * @date Feb 28, 2011

gtsam/discrete/DiscreteSequentialSolver.cpp

@@ -1,13 +1,23 @@
-/*
+/* ----------------------------------------------------------------------------
- * DiscreteSequentialSolver.cpp
+
- *
+ * GTSAM Copyright 2010, Georgia Tech Research Corporation,
- *  @date Feb 16, 2011
+ * Atlanta, Georgia 30332-0415
- *  @author Duy-Nguyen Ta
+ * All Rights Reserved
+ * Authors: Frank Dellaert, et al. (see THANKS for the full author list)
+
+ * See LICENSE for the license information
+
+ * -------------------------------------------------------------------------- */
+
+/**
+ * @file DiscreteSequentialSolver.cpp
+ * @date Feb 16, 2011
+ * @author Duy-Nguyen Ta
+ * @author Frank Dellaert
  */
 
 //#define ENABLE_TIMING
 #include <gtsam/discrete/DiscreteSequentialSolver.h>
-#include <gtsam/discrete/PotentialTable.h>
 #include <gtsam/inference/GenericSequentialSolver-inl.h>
 #include <gtsam/base/timing.h>
 

gtsam/discrete/DiscreteSequentialSolver.h

@@ -1,8 +1,19 @@
-/*
+/* ----------------------------------------------------------------------------
- * DiscreteSequentialSolver.h
+
- *
+ * GTSAM Copyright 2010, Georgia Tech Research Corporation,
- *  @date Feb 16, 2011
+ * Atlanta, Georgia 30332-0415
- *  @author Duy-Nguyen Ta
+ * All Rights Reserved
+ * Authors: Frank Dellaert, et al. (see THANKS for the full author list)
+
+ * See LICENSE for the license information
+
+ * -------------------------------------------------------------------------- */
+
+/**
+ * @file DiscreteSequentialSolver.h
+ * @date Feb 16, 2011
+ * @author Duy-Nguyen Ta
+ * @author Frank Dellaert
  */
 
 #pragma once

gtsam/discrete/Potentials.cpp

@@ -1,5 +1,16 @@
-/*
+/* ----------------------------------------------------------------------------
- * Potentials.cpp
+
+ * GTSAM Copyright 2010, Georgia Tech Research Corporation,
+ * Atlanta, Georgia 30332-0415
+ * All Rights Reserved
+ * Authors: Frank Dellaert, et al. (see THANKS for the full author list)
+
+ * See LICENSE for the license information
+
+ * -------------------------------------------------------------------------- */
+
+/**
+ * @file Potentials.cpp
  * @date March 24, 2011
  * @author Frank Dellaert
  */

gtsam/discrete/Potentials.h

@@ -1,5 +1,16 @@
-/*
+/* ----------------------------------------------------------------------------
- * Potentials.h
+
+ * GTSAM Copyright 2010, Georgia Tech Research Corporation,
+ * Atlanta, Georgia 30332-0415
+ * All Rights Reserved
+ * Authors: Frank Dellaert, et al. (see THANKS for the full author list)
+
+ * See LICENSE for the license information
+
+ * -------------------------------------------------------------------------- */
+
+/**
+ * @file Potentials.h
  * @date March 24, 2011
  * @author Frank Dellaert
  */

gtsam/discrete/Signature.cpp

@@ -1,7 +1,18 @@
-/*
+/* ----------------------------------------------------------------------------
- * Signature.cpp
+
- * @brief: signatures for conditional densities
+ * GTSAM Copyright 2010, Georgia Tech Research Corporation,
- * @author: Frank dellaert
+ * Atlanta, Georgia 30332-0415
+ * All Rights Reserved
+ * Authors: Frank Dellaert, et al. (see THANKS for the full author list)
+
+ * See LICENSE for the license information
+
+ * -------------------------------------------------------------------------- */
+
+/**
+ * @file Signature.cpp
+ * @brief signatures for conditional densities
+ * @author Frank dellaert
  * @date Feb 27, 2011
  */
 

gtsam/discrete/Signature.h

@@ -1,7 +1,18 @@
-/*
+/* ----------------------------------------------------------------------------
- * Signature.h
+
- * @brief: signatures for conditional densities
+ * GTSAM Copyright 2010, Georgia Tech Research Corporation,
- * @author: Frank dellaert
+ * Atlanta, Georgia 30332-0415
+ * All Rights Reserved
+ * Authors: Frank Dellaert, et al. (see THANKS for the full author list)
+
+ * See LICENSE for the license information
+
+ * -------------------------------------------------------------------------- */
+
+/**
+ * @file Signature.h
+ * @brief signatures for conditional densities
+ * @author Frank dellaert
  * @date Feb 27, 2011
  */
 

gtsam/unstable/discrete/TypedDiscreteFactor.cpp

@@ -5,10 +5,10 @@
  * @date	Mar 5, 2011
  */
 
-#include <boost/make_shared.hpp>
+#include <gtsam_unstable/discrete/TypedDiscreteFactor.h>
-#include <gtsam/discrete/TypedDiscreteFactor.h>
+#include <gtsam/discrete/DecisionTree.h>
 #include <gtsam/inference/Factor-inl.h>
-#include <gtsam/discrete/DecisionDiagram-inl.h>
+#include <boost/make_shared.hpp>
 
 using namespace std;
 

gtsam/unstable/discrete/TypedDiscreteFactor.h

@@ -7,10 +7,10 @@
 
 #pragma once
 
-#include <map>
-#include <gtsam/inference/Factor.h>
 #include <gtsam/discrete/DiscreteFactor.h>
-#include <gtsam/discrete/AlgebraicDecisionDiagram.h>
+#include <gtsam/discrete/AlgebraicDecisionTree.h>
+#include <gtsam/inference/Factor.h>
+#include <map>
 
 namespace gtsam {
 

gtsam/unstable/discrete/TypedDiscreteFactorGraph.cpp

@@ -5,16 +5,15 @@
  * @date	Mar 1, 2011
  */
 
+#include <gtsam_unstable/discrete/TypedDiscreteFactorGraph.h>
+#include <gtsam/discrete/parseUAI.h>
+#include <gtsam/discrete/DiscreteFactor.h>
+#include <gtsam/inference/FactorGraph.h>
+#include <boost/lexical_cast.hpp>
+#include <boost/foreach.hpp>
 #include <iostream>
 #include <fstream>
 #include <stdexcept>
-#include <boost/lexical_cast.hpp>
-#include <boost/foreach.hpp>
-#include <gtsam/discrete/DiscreteFactor.h>
-#include <gtsam/discrete/TypedDiscreteFactorGraph.h>
-#include <gtsam/discrete/parseUAI.h>
-
-#include <gtsam/inference/FactorGraph.h>
 
 using namespace std;
 

gtsam/unstable/discrete/TypedDiscreteFactorGraph.h

@@ -8,10 +8,10 @@
 
 #pragma once
 
+#include <gtsam_unstable/discrete/TypedDiscreteFactor.h>
+#include <gtsam/inference/FactorGraph.h>
 #include <vector>
 #include <set>
-#include <gtsam/inference/FactorGraph.h>
-#include <gtsam/discrete/TypedDiscreteFactor.h>
 
 namespace gtsam {
 

gtsam/unstable/discrete/tests/testTypedDiscreteFactor.cpp

@@ -5,13 +5,12 @@
  * @date	Mar 5, 2011
  */
 
+#include <gtsam_unstable/discrete/TypedDiscreteFactor.h>
+#include <gtsam/base/Testable.h>
+#include <CppUnitLite/TestHarness.h>
 #include <boost/assign/std/vector.hpp>
 using namespace boost::assign;
 
-#include <CppUnitLite/TestHarness.h>
-#include <gtsam/base/Testable.h>
-#include <gtsam/discrete/TypedDiscreteFactor.h>
-
 using namespace std;
 using namespace gtsam;
 

gtsam/unstable/discrete/tests/testTypedDiscreteFactorGraph.cpp

@@ -6,16 +6,9 @@
  * @date Feb 14, 2011
  */
 
-//#include <map>
+#include <gtsam_unstable/discrete/TypedDiscreteFactorGraph.h>
-//#include <fstream>
-
-#include <boost/foreach.hpp>
 #include <CppUnitLite/TestHarness.h>
-//#include <gtsam/inference/JunctionTree.h>
+#include <boost/foreach.hpp>
-//#include <gtsam/inference/JunctionTree-inl.h>
-
-#include <gtsam/discrete/TypedDiscreteFactorGraph.h>
-//#include <gtsam/discrete/DiscreteSequentialSolver.h>
 
 using namespace std;
 using namespace gtsam;

gtsam_unstable/CMakeLists.txt

@@ -2,6 +2,7 @@
 # and also build tests 
 set (gtsam_unstable_subdirs
     base 
+    discrete 
     dynamics
     slam 
 )

gtsam_unstable/discrete/AllDiff.cpp

@@ -5,8 +5,8 @@
  * @author Frank Dellaert
  */
 
-#include <gtsam/discrete/Domain.h>
+#include <gtsam_unstable/discrete/Domain.h>
-#include <gtsam/discrete/AllDiff.h>
+#include <gtsam_unstable/discrete/AllDiff.h>
 #include <gtsam/base/Testable.h>
 #include <boost/make_shared.hpp>
 
@@ -14,7 +14,7 @@ namespace gtsam {
 
 	/* ************************************************************************* */
 	AllDiff::AllDiff(const DiscreteKeys& dkeys) :
-		DiscreteFactor(dkeys.indices()) {
+		Constraint(dkeys.indices()) {
 		BOOST_FOREACH(const DiscreteKey& dkey, dkeys)
 				cardinalities_.insert(dkey);
 	}
@@ -84,7 +84,7 @@ namespace gtsam {
 	}
 
 	/* ************************************************************************* */
-	DiscreteFactor::shared_ptr AllDiff::partiallyApply(const Values& values) const {
+	Constraint::shared_ptr AllDiff::partiallyApply(const Values& values) const {
 		DiscreteKeys newKeys;
 		// loop over keys and add them only if they do not appear in values
 		BOOST_FOREACH(Index k, keys_)
@@ -95,7 +95,7 @@ namespace gtsam {
 	}
 
 	/* ************************************************************************* */
-	DiscreteFactor::shared_ptr AllDiff::partiallyApply(
+	Constraint::shared_ptr AllDiff::partiallyApply(
 			const std::vector<Domain>& domains) const {
 		DiscreteFactor::Values known;
 		BOOST_FOREACH(Index k, keys_) {

gtsam_unstable/discrete/AllDiff.h

@@ -7,8 +7,8 @@
 
 #pragma once
 
+#include <gtsam_unstable/discrete/BinaryAllDiff.h>
 #include <gtsam/discrete/DiscreteKey.h>
-#include <gtsam/discrete/BinaryAllDiff.h>
 
 namespace gtsam {
 
@@ -19,7 +19,7 @@ namespace gtsam {
 	 * for each variable we have a Index and an Index. In this factor, we
 	 * keep the Indices locally, and the Indices are stored in IndexFactor.
 	 */
-	class AllDiff: public DiscreteFactor {
+	class AllDiff: public Constraint {
 
 		std::map<Index,size_t> cardinalities_;
 
@@ -55,10 +55,10 @@ namespace gtsam {
 		bool ensureArcConsistency(size_t j, std::vector<Domain>& domains) const;
 
 		/// Partially apply known values
-		virtual DiscreteFactor::shared_ptr partiallyApply(const Values&) const;
+		virtual Constraint::shared_ptr partiallyApply(const Values&) const;
 
 		/// Partially apply known values, domain version
-		virtual DiscreteFactor::shared_ptr partiallyApply(const std::vector<Domain>&) const;
+		virtual Constraint::shared_ptr partiallyApply(const std::vector<Domain>&) const;
 	};
 
 } // namespace gtsam

gtsam_unstable/discrete/BinaryAllDiff.h

@@ -7,6 +7,8 @@
 
 #pragma once
 
+#include <gtsam_unstable/discrete/Domain.h>
+#include <gtsam_unstable/discrete/Constraint.h>
 #include <gtsam/discrete/DecisionTreeFactor.h>
 
 namespace gtsam {
@@ -18,7 +20,7 @@ namespace gtsam {
 	 * for each variable we have a Index and an Index. In this factor, we
 	 * keep the Indices locally, and the Indices are stored in IndexFactor.
 	 */
-	class BinaryAllDiff: public DiscreteFactor {
+	class BinaryAllDiff: public Constraint {
 
 		size_t cardinality0_, cardinality1_; /// cardinality
 
@@ -26,7 +28,7 @@ namespace gtsam {
 
 		/// Constructor
 		BinaryAllDiff(const DiscreteKey& key1, const DiscreteKey& key2) :
-				DiscreteFactor(key1.first, key2.first),
+			Constraint(key1.first, key2.first),
 				cardinality0_(key1.second), cardinality1_(key2.second) {
 		}
 
@@ -73,12 +75,12 @@ namespace gtsam {
 		}
 
 		/// Partially apply known values
-		virtual DiscreteFactor::shared_ptr partiallyApply(const Values&) const {
+		virtual Constraint::shared_ptr partiallyApply(const Values&) const {
 			throw std::runtime_error("BinaryAllDiff::partiallyApply not implemented");
 		}
 
 		/// Partially apply known values, domain version
-		virtual DiscreteFactor::shared_ptr partiallyApply(
+		virtual Constraint::shared_ptr partiallyApply(
 				const std::vector<Domain>&) const {
 			throw std::runtime_error("BinaryAllDiff::partiallyApply not implemented");
 		}

gtsam_unstable/discrete/CMakeLists.txt

@@ -0,0 +1,31 @@
+# Install headers
+file(GLOB discrete_headers "*.h")
+install(FILES ${discrete_headers} DESTINATION include/gtsam_unstable/discrete)
+
+# Components to link tests in this subfolder against
+set(discrete_local_libs 
+   discrete_unstable
+   discrete
+   inference
+   base
+   ccolamd
+)
+
+set (discrete_full_libs
+    gtsam-static
+    gtsam_unstable-static)
+
+# Exclude tests that don't work
+set (discrete_excluded_tests "${CMAKE_CURRENT_SOURCE_DIR}/tests/testScheduler.cpp")
+
+# Add all tests
+gtsam_add_subdir_tests(discrete_unstable "${discrete_local_libs}" "${discrete_full_libs}" "${discrete_excluded_tests}") 
+
+# add examples
+foreach(example schedulingExample schedulingQuals12)
+	add_executable(${example} "examples/${example}.cpp")
+	add_dependencies(${example} gtsam-static gtsam_unstable-static)
+	target_link_libraries(${example} gtsam-static gtsam_unstable-static)
+	add_custom_target(${example}.run ${EXECUTABLE_OUTPUT_PATH}${example} ${ARGN})
+endforeach(example)
+

gtsam_unstable/discrete/CSP.cpp

@@ -5,8 +5,8 @@
  * @author Frank Dellaert
  */
 
-#include <gtsam/discrete/Domain.h>
+#include <gtsam_unstable/discrete/Domain.h>
-#include <gtsam/discrete/CSP.h>
+#include <gtsam_unstable/discrete/CSP.h>
 #include <gtsam/discrete/DiscreteSequentialSolver.h>
 #include <gtsam/base/Testable.h>
 #include <boost/foreach.hpp>
@@ -49,7 +49,7 @@ namespace gtsam {
 					// if not already a singleton
 					if (!domains[v].isSingleton()) {
 						// get the constraint and call its ensureArcConsistency method
-						DiscreteFactor::shared_ptr factor = (*this)[f];
+						Constraint::shared_ptr factor = (*this)[f];
 						changed[v] = factor->ensureArcConsistency(v,domains) || changed[v];
 					}
 				} // f
@@ -84,8 +84,8 @@ namespace gtsam {
 		// TODO: create a new ordering as we go, to ensure a connected graph
 		// KeyOrdering ordering;
 		// vector<Index> dkeys;
-		BOOST_FOREACH(const DiscreteFactor::shared_ptr& factor, factors_) {
+		BOOST_FOREACH(const Constraint::shared_ptr& factor, factors_) {
-			DiscreteFactor::shared_ptr reduced = factor->partiallyApply(domains);
+			Constraint::shared_ptr reduced = factor->partiallyApply(domains);
 			if (print) reduced->print();
 		}
 #endif

gtsam_unstable/discrete/CSP.h

@@ -7,8 +7,8 @@
 
 #pragma once
 
-#include <gtsam/discrete/AllDiff.h>
+#include <gtsam_unstable/discrete/AllDiff.h>
-#include <gtsam/discrete/SingleValue.h>
+#include <gtsam_unstable/discrete/SingleValue.h>
 #include <gtsam/discrete/DiscreteFactorGraph.h>
 
 namespace gtsam {
@@ -18,13 +18,40 @@ namespace gtsam {
 	 * A specialization of a DiscreteFactorGraph.
 	 * It knows about CSP-specific constraints and algorithms
 	 */
-	class CSP: public DiscreteFactorGraph {
+	class CSP: public FactorGraph<Constraint> {
+	public:
+
+		/** A map from keys to values */
+		typedef std::vector<Index> Indices;
+		typedef Assignment<Index> Values;
+		typedef boost::shared_ptr<Values> sharedValues;
 
 	public:
 		/// Constructor
 		CSP() {
 		}
 
+		template<class SOURCE>
+		void add(const DiscreteKey& j, SOURCE table) {
+			DiscreteKeys keys;
+			keys.push_back(j);
+			push_back(boost::make_shared<DecisionTreeFactor>(keys, table));
+		}
+
+		template<class SOURCE>
+		void add(const DiscreteKey& j1, const DiscreteKey& j2, SOURCE table) {
+			DiscreteKeys keys;
+			keys.push_back(j1);
+			keys.push_back(j2);
+			push_back(boost::make_shared<DecisionTreeFactor>(keys, table));
+		}
+
+		/** add shared discreteFactor immediately from arguments */
+		template<class SOURCE>
+		void add(const DiscreteKeys& keys, SOURCE table) {
+			push_back(boost::make_shared<DecisionTreeFactor>(keys, table));
+		}
+
 		/// Add a unary constraint, allowing only a single value
 		void addSingleValue(const DiscreteKey& dkey, size_t value) {
 			boost::shared_ptr<SingleValue> factor(new SingleValue(dkey, value));

gtsam_unstable/discrete/Constraint.h

@@ -0,0 +1,91 @@
+/* ----------------------------------------------------------------------------
+
+ * GTSAM Copyright 2010, Georgia Tech Research Corporation,
+ * Atlanta, Georgia 30332-0415
+ * All Rights Reserved
+ * Authors: Frank Dellaert, et al. (see THANKS for the full author list)
+
+ * See LICENSE for the license information
+
+ * -------------------------------------------------------------------------- */
+
+/**
+ *  @file Constraint.h
+ *  @date May 15, 2012
+ *  @author Frank Dellaert
+ */
+
+#pragma once
+
+#include <gtsam/discrete/DiscreteFactor.h>
+
+namespace gtsam {
+
+	class Domain;
+
+	/**
+	 * Base class for discrete probabilistic factors
+	 * The most general one is the derived DecisionTreeFactor
+	 */
+	class Constraint : public DiscreteFactor {
+
+	public:
+
+		typedef boost::shared_ptr<Constraint> shared_ptr;
+
+	protected:
+
+		/// Construct n-way factor
+		Constraint(const std::vector<Index>& js) :
+			DiscreteFactor(js) {
+		}
+
+		/// Construct unary factor
+		Constraint(Index j) :
+			DiscreteFactor(j) {
+		}
+
+		/// Construct binary factor
+		Constraint(Index j1, Index j2) :
+			DiscreteFactor(j1, j2) {
+		}
+
+		/// construct from container
+		template<class KeyIterator>
+		Constraint(KeyIterator beginKey, KeyIterator endKey) :
+			DiscreteFactor(beginKey, endKey) {
+		}
+
+	public:
+
+		/// @name Standard Constructors
+		/// @{
+
+		/// Default constructor for I/O
+		Constraint();
+
+		/// Virtual destructor
+		virtual ~Constraint() {}
+
+		/// @}
+		/// @name Standard Interface
+		/// @{
+
+		/*
+		 * Ensure Arc-consistency
+		 * @param j domain to be checked
+		 * @param domains all other domains
+		 */
+		virtual bool ensureArcConsistency(size_t j, std::vector<Domain>& domains) const = 0;
+
+		/// Partially apply known values
+		virtual shared_ptr partiallyApply(const Values&) const = 0;
+
+
+		/// Partially apply known values, domain version
+		virtual shared_ptr partiallyApply(const std::vector<Domain>&) const = 0;
+		/// @}
+	};
+// DiscreteFactor
+
+}// namespace gtsam

gtsam_unstable/discrete/Domain.cpp

@@ -5,7 +5,7 @@
  * @author Frank Dellaert
  */
 
-#include <gtsam/discrete/Domain.h>
+#include <gtsam_unstable/discrete/Domain.h>
 #include <gtsam/discrete/DecisionTreeFactor.h>
 #include <gtsam/base/Testable.h>
 #include <boost/make_shared.hpp>
@@ -74,7 +74,7 @@ namespace gtsam {
 	}
 
 	/* ************************************************************************* */
-	DiscreteFactor::shared_ptr Domain::partiallyApply(
+	Constraint::shared_ptr Domain::partiallyApply(
 			const Values& values) const {
 		Values::const_iterator it = values.find(keys_[0]);
 		if (it != values.end() && !contains(it->second)) throw runtime_error(
@@ -83,7 +83,7 @@ namespace gtsam {
 	}
 
 	/* ************************************************************************* */
-	DiscreteFactor::shared_ptr Domain::partiallyApply(
+	Constraint::shared_ptr Domain::partiallyApply(
 			const vector<Domain>& domains) const {
 		const Domain& Dk = domains[keys_[0]];
 		if (Dk.isSingleton() && !contains(*Dk.begin())) throw runtime_error(

gtsam_unstable/discrete/Domain.h

@@ -7,15 +7,15 @@
 
 #pragma once
 
+#include <gtsam_unstable/discrete/Constraint.h>
 #include <gtsam/discrete/DiscreteKey.h>
-#include <gtsam/discrete/DiscreteFactor.h>
 
 namespace gtsam {
 
 	/**
 	 * Domain restriction constraint
 	 */
-	class Domain: public DiscreteFactor {
+	class Domain: public Constraint {
 
 		size_t cardinality_; /// Cardinality
 		std::set<size_t> values_; /// allowed values
@@ -26,7 +26,7 @@ namespace gtsam {
 
 		// Constructor on Discrete Key initializes an "all-allowed" domain
 		Domain(const DiscreteKey& dkey) :
-			DiscreteFactor(dkey.first), cardinality_(dkey.second) {
+			Constraint(dkey.first), cardinality_(dkey.second) {
 			for (size_t v = 0; v < cardinality_; v++)
 				values_.insert(v);
 		}
@@ -34,13 +34,13 @@ namespace gtsam {
 		// Constructor on Discrete Key with single allowed value
 		// Consider SingleValue constraint
 		Domain(const DiscreteKey& dkey, size_t v) :
-			DiscreteFactor(dkey.first), cardinality_(dkey.second) {
+			Constraint(dkey.first), cardinality_(dkey.second) {
 			values_.insert(v);
 		}
 
 		/// Constructor
 		Domain(const Domain& other) :
-				DiscreteFactor(other.keys_[0]), values_(other.values_) {
+			Constraint(other.keys_[0]), values_(other.values_) {
 		}
 
 		/// insert a value, non const :-(
@@ -96,11 +96,11 @@ namespace gtsam {
 		bool checkAllDiff(const std::vector<Index> keys, std::vector<Domain>& domains);
 
 		/// Partially apply known values
-		virtual DiscreteFactor::shared_ptr partiallyApply(
+		virtual Constraint::shared_ptr partiallyApply(
 				const Values& values) const;
 
 		/// Partially apply known values, domain version
-		virtual DiscreteFactor::shared_ptr partiallyApply(
+		virtual Constraint::shared_ptr partiallyApply(
 				const std::vector<Domain>& domains) const;
 	};
 

gtsam_unstable/discrete/Scheduler.cpp

@@ -5,7 +5,7 @@
  * @author Frank Dellaert
  */
 
-#include <gtsam/discrete/Scheduler.h>
+#include <gtsam_unstable/discrete/Scheduler.h>
 #include <gtsam/discrete/DiscreteFactorGraph.h>
 #include <gtsam/discrete/DiscreteSequentialSolver.h>
 #include <gtsam/base/debug.h>
@@ -29,6 +29,10 @@ namespace gtsam {
 
 		// open file
 		ifstream is(filename.c_str());
+		if (!is) {
+			cerr << "Scheduler: could not open file " << filename << endl;
+			throw runtime_error("Scheduler: could not open file " + filename);
+		}
 
 		string line; // buffer
 
@@ -101,6 +105,7 @@ namespace gtsam {
 
 	/** Add student-specific constraints to the graph */
 	void Scheduler::addStudentSpecificConstraints(size_t i, boost::optional<size_t> slot) {
+#ifdef BROKEN
 		bool debug = ISDEBUG("Scheduler::buildGraph");
 
 		assert(i<nrStudents());
@@ -108,7 +113,7 @@ namespace gtsam {
 
 		if (!slot && !slotsAvailable_.empty()) {
 			if (debug) cout << "Adding availability of slots" << endl;
-			DiscreteFactorGraph::add(s.key_, slotsAvailable_);
+			CSP::add(s.key_, slotsAvailable_);
 		}
 
 		// For all areas
@@ -118,10 +123,10 @@ namespace gtsam {
 			const string& areaName = s.areaName_[area];
 
 			if (debug) cout << "Area constraints " << areaName << endl;
-			DiscreteFactorGraph::add(areaKey, facultyInArea_[areaName]);
+			CSP::add(areaKey, facultyInArea_[areaName]);
 
 			if (debug) cout << "Advisor constraint " << areaName << endl;
-			DiscreteFactorGraph::add(areaKey, s.advisor_);
+			CSP::add(areaKey, s.advisor_);
 
 			if (debug) cout << "Availability of faculty " << areaName << endl;
 			if (slot) {
@@ -129,22 +134,25 @@ namespace gtsam {
 				DiscreteKey dummy(0, nrTimeSlots());
 				Potentials::ADT p(dummy & areaKey, available_);
 				Potentials::ADT q = p.choose(0, *slot);
-				DecisionTreeFactor::shared_ptr f(new DecisionTreeFactor(areaKey, q));
+				Constraint::shared_ptr f(new DecisionTreeFactor(areaKey, q));
-				DiscreteFactorGraph::push_back(f);
+				CSP::push_back(f);
 			} else {
-				DiscreteFactorGraph::add(s.key_, areaKey, available_);
+				CSP::add(s.key_, areaKey, available_);
 			}
 		}
 
 		// add mutex
 		if (debug) cout << "Mutex for faculty" << endl;
 		addAllDiff(s.keys_[0] & s.keys_[1] & s.keys_[2]);
-	} // students loop
+#else
+				throw runtime_error("addStudentSpecificConstraints is broken");
+#endif
+	}
 
 
 	/** Main routine that builds factor graph */
 	void Scheduler::buildGraph(size_t mutexBound) {
-
+#ifdef BROKEN
 		bool debug = ISDEBUG("Scheduler::buildGraph");
 
 		if (debug) cout << "Adding student-specific constraints" << endl;
@@ -152,7 +160,7 @@ namespace gtsam {
 			addStudentSpecificConstraints(i);
 
 		// special constraint for MN
-		if (studentName(0) == "Michael N") DiscreteFactorGraph::add(studentKey(0),
+		if (studentName(0) == "Michael N") CSP::add(studentKey(0),
 				"0 0 0 0  1 1 1 1  1 1 1 1  1 1 1 1  1 1 1 1");
 
 		if (!mutexBound) {
@@ -170,6 +178,9 @@ namespace gtsam {
 				}
 			}
 		}
+#else
+				throw runtime_error("buildGraph is broken");
+#endif
 
 	} // buildGraph
 
@@ -204,7 +215,7 @@ namespace gtsam {
 						student.print();
 		cout << endl;
 
-		DiscreteFactorGraph::print(s + " Factor graph");
+		CSP::print(s + " Factor graph");
 		cout << endl;
 	} // print
 

gtsam_unstable/discrete/Scheduler.h

@@ -7,7 +7,7 @@
 
 #pragma once
 
-#include <gtsam/discrete/CSP.h>
+#include <gtsam_unstable/discrete/CSP.h>
 
 namespace gtsam {
 

gtsam_unstable/discrete/SingleValue.cpp

@@ -5,8 +5,8 @@
  * @author Frank Dellaert
  */
 
-#include <gtsam/discrete/SingleValue.h>
+#include <gtsam_unstable/discrete/SingleValue.h>
-#include <gtsam/discrete/Domain.h>
+#include <gtsam_unstable/discrete/Domain.h>
 #include <gtsam/discrete/DecisionTreeFactor.h>
 #include <gtsam/base/Testable.h>
 #include <boost/make_shared.hpp>
@@ -58,7 +58,7 @@ namespace gtsam {
 	}
 
 	/* ************************************************************************* */
-	DiscreteFactor::shared_ptr SingleValue::partiallyApply(const Values& values) const {
+	Constraint::shared_ptr SingleValue::partiallyApply(const Values& values) const {
 		Values::const_iterator it = values.find(keys_[0]);
 		if (it != values.end() && it->second != value_) throw runtime_error(
 				"SingleValue::partiallyApply: unsatisfiable");
@@ -66,7 +66,7 @@ namespace gtsam {
 	}
 
 	/* ************************************************************************* */
-	DiscreteFactor::shared_ptr SingleValue::partiallyApply(
+	Constraint::shared_ptr SingleValue::partiallyApply(
 			const vector<Domain>& domains) const {
 		const Domain& Dk = domains[keys_[0]];
 		if (Dk.isSingleton() && !Dk.contains(value_)) throw runtime_error(

gtsam_unstable/discrete/SingleValue.h

@@ -7,15 +7,15 @@
 
 #pragma once
 
+#include <gtsam_unstable/discrete/Constraint.h>
 #include <gtsam/discrete/DiscreteKey.h>
-#include <gtsam/discrete/DiscreteFactor.h>
 
 namespace gtsam {
 
 	/**
 	 * SingleValue constraint
 	 */
-	class SingleValue: public DiscreteFactor {
+	class SingleValue: public Constraint {
 
 		/// Number of values
 		size_t cardinality_;
@@ -33,12 +33,12 @@ namespace gtsam {
 
 		/// Constructor
 		SingleValue(Index key, size_t n, size_t value) :
-				DiscreteFactor(key), cardinality_(n), value_(value) {
+			Constraint(key), cardinality_(n), value_(value) {
 		}
 
 		/// Constructor
 		SingleValue(const DiscreteKey& dkey, size_t value) :
-				DiscreteFactor(dkey.first), cardinality_(dkey.second), value_(value) {
+			Constraint(dkey.first), cardinality_(dkey.second), value_(value) {
 		}
 
 		// print
@@ -61,11 +61,11 @@ namespace gtsam {
 		bool ensureArcConsistency(size_t j, std::vector<Domain>& domains) const;
 
 		/// Partially apply known values
-		virtual DiscreteFactor::shared_ptr partiallyApply(
+		virtual Constraint::shared_ptr partiallyApply(
 				const Values& values) const;
 
 		/// Partially apply known values, domain version
-		virtual DiscreteFactor::shared_ptr partiallyApply(
+		virtual Constraint::shared_ptr partiallyApply(
 				const std::vector<Domain>& domains) const;
 	};
 

gtsam_unstable/discrete/examples/schedulingExample.cpp

@@ -8,7 +8,7 @@
 //#define ENABLE_TIMING
 #define ADD_NO_CACHING
 #define ADD_NO_PRUNING
-#include <gtsam/discrete/Scheduler.h>
+#include <gtsam_unstable/discrete/Scheduler.h>
 #include <gtsam/base/debug.h>
 #include <gtsam/base/timing.h>
 
@@ -53,7 +53,7 @@ void addStudent(Scheduler& s, size_t i) {
 }
 /* ************************************************************************* */
 Scheduler largeExample(size_t nrStudents = 7) {
-	string path("/Users/dellaert/borg/gtsam/gtsam/discrete/examples/");
+	string path("../../../gtsam_unstable/discrete/examples/");
 	Scheduler s(nrStudents, path + "Doodle.csv");
 
 	s.addArea("Harvey Lipkin", "Mechanics");

gtsam_unstable/discrete/examples/schedulingQuals12.cpp

@@ -8,7 +8,7 @@
 #define ENABLE_TIMING
 #define ADD_NO_CACHING
 #define ADD_NO_PRUNING
-#include <gtsam/discrete/Scheduler.h>
+#include <gtsam_unstable/discrete/Scheduler.h>
 #include <gtsam/base/debug.h>
 #include <gtsam/base/timing.h>
 
@@ -65,7 +65,7 @@ void addStudent(Scheduler& s, size_t i) {
 
 /* ************************************************************************* */
 Scheduler largeExample(size_t nrStudents = NRSTUDENTS) {
-	string path("/Users/dellaert/borg/gtsam/gtsam/discrete/examples/");
+	string path("../../../gtsam_unstable/discrete/examples/");
 	Scheduler s(nrStudents, path + "Doodle2012.csv");
 
 	s.addArea("Harvey Lipkin", "Mechanics");

gtsam_unstable/discrete/tests/testCSP.cpp

@@ -5,8 +5,8 @@
  * @author Frank Dellaert
  */
 
-#include <gtsam/discrete/CSP.h>
+#include <gtsam_unstable/discrete/CSP.h>
-#include <gtsam/discrete/Domain.h>
+#include <gtsam_unstable/discrete/Domain.h>
 #include <CppUnitLite/TestHarness.h>
 #include <iostream>
 #include <fstream>

gtsam_unstable/discrete/tests/testScheduler.cpp

@@ -5,7 +5,7 @@
  */
 
 //#define ENABLE_TIMING
-#include <gtsam/discrete/Scheduler.h>
+#include <gtsam_unstable/discrete/Scheduler.h>
 #include <gtsam/base/Testable.h>
 #include <gtsam/base/timing.h>
 
@@ -149,7 +149,7 @@ TEST( schedulingExample, test)
 /* ************************************************************************* */
 TEST( schedulingExample, smallFromFile)
 {
-	string path("../../../gtsam/discrete/examples/");
+	string path("../../../gtsam_unstable/discrete/examples/");
 	Scheduler s(2, path + "small.csv");
 
 	// add areas

gtsam_unstable/discrete/tests/testSudoku.cpp

@@ -5,7 +5,7 @@
  * @author Frank Dellaert
  */
 
-#include <gtsam/discrete/CSP.h>
+#include <gtsam_unstable/discrete/CSP.h>
 #include <CppUnitLite/TestHarness.h>
 #include <iostream>
 #include <sstream>