56 lines
1.9 KiB
C++
56 lines
1.9 KiB
C++
/**
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* @file VariableSlots-inl.h
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* @brief
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* @author Richard Roberts
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* @created Oct 5, 2010
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*/
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#pragma once
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#include <gtsam/inference/VariableSlots.h>
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#include <iostream>
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#include <boost/foreach.hpp>
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#include <boost/tuple/tuple.hpp>
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namespace gtsam {
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using namespace std;
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/* ************************************************************************* */
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template<class FG>
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VariableSlots::VariableSlots(const FG& factorGraph) {
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static const bool debug = false;
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// Compute a mapping (called variableSlots) *from* each involved
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// variable that will be in the new joint factor *to* the slot in each
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// removed factor in which that variable appears. For each variable,
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// this is stored as a vector of slot numbers, stored in order of the
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// removed factors. The slot number is the max integer value if the
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// factor does not involve that variable.
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size_t jointFactorPos = 0;
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BOOST_FOREACH(const typename FG::sharedFactor& factor, factorGraph) {
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assert(factor);
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Index factorVarSlot = 0;
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BOOST_FOREACH(const Index involvedVariable, *factor) {
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// Set the slot in this factor for this variable. If the
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// variable was not already discovered, create an array for it
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// that we'll fill with the slot indices for each factor that
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// we're combining. Initially we put the max integer value in
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// the array entry for each factor that will indicate the factor
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// does not involve the variable.
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iterator thisVarSlots; bool inserted;
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boost::tie(thisVarSlots, inserted) = this->insert(make_pair(involvedVariable, vector<Index>()));
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if(inserted)
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thisVarSlots->second.resize(factorGraph.size(), numeric_limits<Index>::max());
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thisVarSlots->second[jointFactorPos] = factorVarSlot;
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if(debug) cout << " var " << involvedVariable << " rowblock " << jointFactorPos << " comes from factor's slot " << factorVarSlot << endl;
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++ factorVarSlot;
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}
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++ jointFactorPos;
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}
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}
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}
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