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DefaultOrderingFunc in EliminationTraits #1373

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merged 7 commits into from
Jan 8, 2023
Merged

DefaultOrderingFunc in EliminationTraits #1373

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d82fcc0
DefaultOrderingFunc in EliminationTraits
varunagrawal Jan 6, 2023
e43fd3e
Make HybridOrdering a function and use it for Hybrid DefaultOrderingFunc
varunagrawal Jan 6, 2023
7499833
update tests
varunagrawal Jan 6, 2023
7133236
common return statements
varunagrawal Jan 6, 2023
2f6d541
Revert "common return statements"
varunagrawal Jan 6, 2023
3f201f3
specify ordering to match that of HybridGaussianISAM
varunagrawal Jan 6, 2023
ec51492
remove extraneous file
varunagrawal Jan 7, 2023
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DefaultOrderingFunc in EliminationTraits
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@varunagrawal
varunagrawal committed Jan 6, 2023
commit d82fcc0aa901bd47b4ae8a5345b6973a9f140104
12 changes: 10 additions & 2 deletions gtsam/discrete/DiscreteFactorGraph.h
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Expand Up @@ -62,9 +62,17 @@ template<> struct EliminationTraits<DiscreteFactorGraph>
typedef DiscreteBayesTree BayesTreeType; ///< Type of Bayes tree
typedef DiscreteJunctionTree JunctionTreeType; ///< Type of Junction tree
/// The default dense elimination function
static std::pair<boost::shared_ptr<ConditionalType>, boost::shared_ptr<FactorType> >
static std::pair<boost::shared_ptr<ConditionalType>,
boost::shared_ptr<FactorType> >
DefaultEliminate(const FactorGraphType& factors, const Ordering& keys) {
return EliminateDiscrete(factors, keys); }
return EliminateDiscrete(factors, keys);
}
/// The default ordering generation function
static Ordering DefaultOrderingFunc(
const FactorGraphType& graph,
boost::optional<const VariableIndex&> variableIndex) {
return Ordering::Colamd(*variableIndex);
}
};

/* ************************************************************************* */
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18 changes: 16 additions & 2 deletions gtsam/inference/EliminateableFactorGraph-inst.h
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Expand Up @@ -44,9 +44,16 @@ namespace gtsam {
if (orderingType == Ordering::METIS) {
Ordering computedOrdering = Ordering::Metis(asDerived());
return eliminateSequential(computedOrdering, function, variableIndex);
} else {
} else if (orderingType == Ordering::COLAMD) {
Ordering computedOrdering = Ordering::Colamd(*variableIndex);
return eliminateSequential(computedOrdering, function, variableIndex);
} else if (orderingType == Ordering::NATURAL) {
Ordering computedOrdering = Ordering::Natural(asDerived());
return eliminateSequential(computedOrdering, function, variableIndex);
} else {
Ordering computedOrdering = EliminationTraitsType::DefaultOrderingFunc(
asDerived(), variableIndex);
return eliminateSequential(computedOrdering, function, variableIndex);
}
}
}
Expand Down Expand Up @@ -100,9 +107,16 @@ namespace gtsam {
if (orderingType == Ordering::METIS) {
Ordering computedOrdering = Ordering::Metis(asDerived());
return eliminateMultifrontal(computedOrdering, function, variableIndex);
} else {
} else if (orderingType == Ordering::COLAMD) {
Ordering computedOrdering = Ordering::Colamd(*variableIndex);
return eliminateMultifrontal(computedOrdering, function, variableIndex);
} else if (orderingType == Ordering::NATURAL) {
Ordering computedOrdering = Ordering::Natural(asDerived());
return eliminateMultifrontal(computedOrdering, function, variableIndex);
} else {
Ordering computedOrdering = EliminationTraitsType::DefaultOrderingFunc(
asDerived(), variableIndex);
return eliminateMultifrontal(computedOrdering, function, variableIndex);
}
}
}
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6 changes: 6 additions & 0 deletions gtsam/linear/GaussianFactorGraph.h
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Expand Up @@ -54,6 +54,12 @@ namespace gtsam {
static std::pair<boost::shared_ptr<ConditionalType>, boost::shared_ptr<FactorType> >
DefaultEliminate(const FactorGraphType& factors, const Ordering& keys) {
return EliminatePreferCholesky(factors, keys); }
/// The default ordering generation function
static Ordering DefaultOrderingFunc(
const FactorGraphType& graph,
boost::optional<const VariableIndex&> variableIndex) {
return Ordering::Colamd(*variableIndex);
}
};

/* ************************************************************************* */
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6 changes: 6 additions & 0 deletions gtsam/symbolic/SymbolicFactorGraph.h
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Expand Up @@ -46,6 +46,12 @@ namespace gtsam {
static std::pair<boost::shared_ptr<ConditionalType>, boost::shared_ptr<FactorType> >
DefaultEliminate(const FactorGraphType& factors, const Ordering& keys) {
return EliminateSymbolic(factors, keys); }
/// The default ordering generation function
static Ordering DefaultOrderingFunc(
const FactorGraphType& graph,
boost::optional<const VariableIndex&> variableIndex) {
return Ordering::Colamd(*variableIndex);
}
};

/* ************************************************************************* */
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