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Non-loop versions for checking sigma values #1842

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merged 3 commits into from
Sep 25, 2024
Merged

Non-loop versions for checking sigma values #1842

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6d3bc21
non-loop versions for checking sigma values
varunagrawal Sep 23, 2024
2682cde
re-add the gotos
varunagrawal Sep 24, 2024
9243655
simplify
varunagrawal Sep 25, 2024
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35 changes: 18 additions & 17 deletions gtsam/linear/NoiseModel.cpp
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Original file line number Diff line number Diff line change
Expand Up @@ -270,10 +270,7 @@ double Gaussian::logNormalizationConstant() const {
/* ************************************************************************* */
// Diagonal
/* ************************************************************************* */
Diagonal::Diagonal() :
Gaussian(1) // TODO: Frank asks: really sure about this?
{
}
Diagonal::Diagonal() : Gaussian() {}
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/* ************************************************************************* */
Diagonal::Diagonal(const Vector& sigmas)
Expand All @@ -287,36 +284,40 @@ Diagonal::Diagonal(const Vector& sigmas)
Diagonal::shared_ptr Diagonal::Variances(const Vector& variances, bool smart) {
if (smart) {
// check whether all the same entry
size_t n = variances.size();
for (size_t j = 1; j < n; j++)
if (variances(j) != variances(0)) goto full;
return Isotropic::Variance(n, variances(0), true);
if ((variances.array() == variances(0)).all()) {
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return Isotropic::Variance(variances.size(), variances(0), true);
} else {
return shared_ptr(new Diagonal(variances.cwiseSqrt()));
}
}
full: return shared_ptr(new Diagonal(variances.cwiseSqrt()));
return shared_ptr(new Diagonal(variances.cwiseSqrt()));
}

/* ************************************************************************* */
Diagonal::shared_ptr Diagonal::Sigmas(const Vector& sigmas, bool smart) {
if (smart) {
size_t n = sigmas.size();
if (n==0) goto full;
if (n == 0) return Diagonal::shared_ptr(new Diagonal(sigmas));

// look for zeros to make a constraint
for (size_t j=0; j< n; ++j)
if (sigmas(j)<1e-8)
return Constrained::MixedSigmas(sigmas);
if ((sigmas.array() < 1e-8).any()) {
return Constrained::MixedSigmas(sigmas);
}

// check whether all the same entry
for (size_t j = 1; j < n; j++)
if (sigmas(j) != sigmas(0)) goto full;
return Isotropic::Sigma(n, sigmas(0), true);
if ((sigmas.array() == sigmas(0)).all()) {
return Isotropic::Sigma(n, sigmas(0), true);
}
}
full: return Diagonal::shared_ptr(new Diagonal(sigmas));
return Diagonal::shared_ptr(new Diagonal(sigmas));
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}

/* ************************************************************************* */
Diagonal::shared_ptr Diagonal::Precisions(const Vector& precisions,
bool smart) {
return Variances(precisions.array().inverse(), smart);
}

/* ************************************************************************* */
void Diagonal::print(const string& name) const {
gtsam::print(sigmas_, name + "diagonal sigmas ");
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