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Fixed confusing template naming

release/4.3a0
Frank Dellaert 2012-09-16 13:40:31 +00:00
parent 16c8cfb1cf
commit dfbb02570b
1 changed files with 17 additions and 17 deletions
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34
gtsam/inference/VariableIndex.h
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@ -64,13 +64,13 @@ public:
* of a factor graph. This constructor is used when the number of variables * of a factor graph. This constructor is used when the number of variables
* is known beforehand. * is known beforehand.
*/ */
template<class FactorGraph> VariableIndex(const FactorGraph& factorGraph, Index nVariables); template<class FG> VariableIndex(const FG& factorGraph, Index nVariables);
/** /**
* Create a VariableIndex that computes and stores the block column structure * Create a VariableIndex that computes and stores the block column structure
* of a factor graph. * of a factor graph.
*/ */
template<class FactorGraph> VariableIndex(const FactorGraph& factorGraph); template<class FG> VariableIndex(const FG& factorGraph);
/// @} /// @}
/// @name Standard Interface /// @name Standard Interface
@ -116,7 +116,7 @@ public:
* Augment the variable index with new factors. This can be used when * Augment the variable index with new factors. This can be used when
* solving problems incrementally. * solving problems incrementally.
*/ */
template<class FactorGraph> void augment(const FactorGraph& factors); template<class FG> void augment(const FG& factors);
/** /**
* Remove entries corresponding to the specified factors. * Remove entries corresponding to the specified factors.
@ -129,7 +129,7 @@ public:
* @param factors The factors being removed, which must symbolically correspond * @param factors The factors being removed, which must symbolically correspond
* exactly to the factors with the specified \c indices that were added. * exactly to the factors with the specified \c indices that were added.
*/ */
template<typename CONTAINER, class FactorGraph> void remove(const CONTAINER& indices, const FactorGraph& factors); template<typename CONTAINER, class FG> void remove(const CONTAINER& indices, const FG& factors);
/// Permute the variables in the VariableIndex according to the given permutation /// Permute the variables in the VariableIndex according to the given permutation
void permuteInPlace(const Permutation& permutation); void permuteInPlace(const Permutation& permutation);
@ -154,14 +154,14 @@ protected:
void checkVar(Index variable) const { assert(variable < index_.size()); } void checkVar(Index variable) const { assert(variable < index_.size()); }
/// Internal function to populate the variable index from a factor graph /// Internal function to populate the variable index from a factor graph
template<class FactorGraph> void fill(const FactorGraph& factorGraph); template<class FG> void fill(const FG& factorGraph);
/// @} /// @}
}; };
/* ************************************************************************* */ /* ************************************************************************* */
template<class FactorGraph> template<class FG>
void VariableIndex::fill(const FactorGraph& factorGraph) { void VariableIndex::fill(const FG& factorGraph) {
// Build index mapping from variable id to factor index // Build index mapping from variable id to factor index
for(size_t fi=0; fi<factorGraph.size(); ++fi) { for(size_t fi=0; fi<factorGraph.size(); ++fi) {
@ -178,8 +178,8 @@ void VariableIndex::fill(const FactorGraph& factorGraph) {
} }
/* ************************************************************************* */ /* ************************************************************************* */
template<class FactorGraph> template<class FG>
VariableIndex::VariableIndex(const FactorGraph& factorGraph) : VariableIndex::VariableIndex(const FG& factorGraph) :
nFactors_(0), nEntries_(0) { nFactors_(0), nEntries_(0) {
// If the factor graph is empty, return an empty index because inside this // If the factor graph is empty, return an empty index because inside this
@ -187,7 +187,7 @@ VariableIndex::VariableIndex(const FactorGraph& factorGraph) :
if(factorGraph.size() > 0) { if(factorGraph.size() > 0) {
// Find highest-numbered variable // Find highest-numbered variable
Index maxVar = 0; Index maxVar = 0;
BOOST_FOREACH(const typename FactorGraph::sharedFactor& factor, factorGraph) { BOOST_FOREACH(const typename FG::sharedFactor& factor, factorGraph) {
if(factor) { if(factor) {
BOOST_FOREACH(const Index key, factor->keys()) { BOOST_FOREACH(const Index key, factor->keys()) {
if(key > maxVar) if(key > maxVar)
@ -204,21 +204,21 @@ VariableIndex::VariableIndex(const FactorGraph& factorGraph) :
} }
/* ************************************************************************* */ /* ************************************************************************* */
template<class FactorGraph> template<class FG>
VariableIndex::VariableIndex(const FactorGraph& factorGraph, Index nVariables) : VariableIndex::VariableIndex(const FG& factorGraph, Index nVariables) :
index_(nVariables), nFactors_(0), nEntries_(0) { index_(nVariables), nFactors_(0), nEntries_(0) {
fill(factorGraph); fill(factorGraph);
} }
/* ************************************************************************* */ /* ************************************************************************* */
template<class FactorGraph> template<class FG>
void VariableIndex::augment(const FactorGraph& factors) { void VariableIndex::augment(const FG& factors) {
// If the factor graph is empty, return an empty index because inside this // If the factor graph is empty, return an empty index because inside this
// if block we assume at least one factor. // if block we assume at least one factor.
if(factors.size() > 0) { if(factors.size() > 0) {
// Find highest-numbered variable // Find highest-numbered variable
Index maxVar = 0; Index maxVar = 0;
BOOST_FOREACH(const typename FactorGraph::sharedFactor& factor, factors) { BOOST_FOREACH(const typename FG::sharedFactor& factor, factors) {
if(factor) { if(factor) {
BOOST_FOREACH(const Index key, factor->keys()) { BOOST_FOREACH(const Index key, factor->keys()) {
if(key > maxVar) if(key > maxVar)
@ -245,8 +245,8 @@ void VariableIndex::augment(const FactorGraph& factors) {
} }
/* ************************************************************************* */ /* ************************************************************************* */
template<typename CONTAINER, class FactorGraph> template<typename CONTAINER, class FG>
void VariableIndex::remove(const CONTAINER& indices, const FactorGraph& factors) { void VariableIndex::remove(const CONTAINER& indices, const FG& factors) {
// NOTE: We intentionally do not decrement nFactors_ because the factor // NOTE: We intentionally do not decrement nFactors_ because the factor
// indices need to remain consistent. Removing factors from a factor graph // indices need to remain consistent. Removing factors from a factor graph
// does not shift the indices of other factors. Also, we keep nFactors_ // does not shift the indices of other factors. Also, we keep nFactors_