Merge pull request #2318 from travisdriver/add/marginals-delete-cache

Added BayesTree cache clearing for Marginals

Author: dellaert

gtsam/nonlinear/Marginals.cpp

@@ -193,6 +193,11 @@ VectorValues Marginals::optimize() const {
   return bayesTree_.optimize();
 }
 
+/* ************************************************************************* */
+void Marginals::deleteCachedShortcuts() {
+  bayesTree_.deleteCachedShortcuts();
+}
+
 /* ************************************************************************* */
 void JointMarginal::print(const std::string& s, const KeyFormatter& formatter) const {
   cout << s << "Joint marginal on keys ";

gtsam/nonlinear/Marginals.h

@@ -119,6 +119,9 @@ class GTSAM_EXPORT Marginals {
   /** Compute the joint marginal information of several variables */
   JointMarginal jointMarginalInformation(const KeyVector& variables) const;
 
+  /** Delete cached Bayes tree shortcuts created while computing marginals */
+  void deleteCachedShortcuts();
+
   /** Optimize the bayes tree */
   VectorValues optimize() const;
 

gtsam/nonlinear/nonlinear.i

@@ -169,6 +169,7 @@ class Marginals {
       const gtsam::KeyVector& variables) const;
   gtsam::JointMarginal jointMarginalInformation(
       const gtsam::KeyVector& variables) const;
+  void deleteCachedShortcuts();
 };
 
 class JointMarginal {