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base repository: filtering-library/fl
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head repository: stanford-iprl-lab/fl
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compare: master
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  • 3 commits
  • 2 files changed
  • 1 contributor

Commits on Jul 22, 2019

  1. Fix undefined difference operation

    @tmigimatsu
    tmigimatsu committed Jul 22, 2019
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    dc34369 View commit details

Commits on Sep 23, 2020

  1. Add fl cmake flag for building tests

    @tmigimatsu
    tmigimatsu committed Sep 23, 2020
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    9ff4960 View commit details

  2. Remove dependency on catkin

    @tmigimatsu
    tmigimatsu committed Sep 23, 2020
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    d4c146d View commit details
Showing with 33 additions and 20 deletions.
  1. +31 −17 CMakeLists.txt
  2. +2 −3 include/fl/distribution/gaussian.hpp
48 changes: 31 additions & 17 deletions CMakeLists.txt
View file
Original file line number Diff line number Diff line change
@@ -7,6 +7,7 @@ project(fl)
option(fl_USE_CATKIN "Use catkin build system" ON)
option(fl_USE_RANDOM_SEED "Use random seeds for number generators" ON)
set(fl_FLOATING_POINT_TYPE "double" CACHE STRING "fl::Real floating point type")
option(fl_BUILD_TESTS "Compile tests" OFF)

############################
# Flags #
@@ -49,12 +50,16 @@ include(${fl_MODULE_PATH}/definitions.cmake)
############################
# Dependencies ##
############################
find_package(Eigen REQUIRED)
include_directories(${Eigen_INCLUDE_DIRS})
add_definitions(${Eigen_DEFINITIONS})
if(NOT TARGET Eigen3::Eigen)
find_package(Eigen REQUIRED)
include_directories(${Eigen_INCLUDE_DIRS})
add_definitions(${Eigen_DEFINITIONS})
else()
get_target_property(EIGEN3_INCLUDE_DIR Eigen3::Eigen
INTERFACE_INCLUDE_DIRECTORIES)
endif()

find_package(Boost REQUIRED)
include_directories(${Boost_INCLUDE_DIRS})

#find_package(OpenMP)
#if(OPENMP_FOUND)
@@ -66,16 +71,16 @@ include_directories(${Boost_INCLUDE_DIRS})
############################
## catkin #
############################
if(fl_USE_CATKIN)
find_package(catkin REQUIRED)
endif(fl_USE_CATKIN)
# if(fl_USE_CATKIN)
# find_package(catkin REQUIRED)
# endif(fl_USE_CATKIN)

if(catkin_FOUND AND fl_USE_CATKIN)
set(fl_USING_CATKIN YES)
catkin_package(INCLUDE_DIRS include DEPENDS Eigen Boost)
else(catkin_FOUND AND fl_USE_CATKIN)
set(fl_USING_CATKIN NO)
endif(catkin_FOUND AND fl_USE_CATKIN)
# if(catkin_FOUND AND fl_USE_CATKIN)
# set(fl_USING_CATKIN YES)
# catkin_package(INCLUDE_DIRS include DEPENDS Eigen Boost)
# else(catkin_FOUND AND fl_USE_CATKIN)
# set(fl_USING_CATKIN NO)
# endif(catkin_FOUND AND fl_USE_CATKIN)

############################
# Documentation Generation #
@@ -111,18 +116,27 @@ include(${fl_MODULE_PATH}/doxygen.cmake)
############################
# Build #
############################
include_directories(include)
file(GLOB_RECURSE header_files include/${PROJECT_NAME}/*.hpp
include/${PROJECT_NAME}/*.h
include/ff/*.hpp
include/ff/*.h)

add_library(${PROJECT_NAME} ${header_files})

target_include_directories(${PROJECT_NAME} PUBLIC
${Boost_INCLUDE_DIRS}
include
)

add_library(${PROJECT_NAME}::${PROJECT_NAME} ALIAS ${PROJECT_NAME})

set_target_properties(${PROJECT_NAME} PROPERTIES LINKER_LANGUAGE CXX)

############################
# Tests #
############################
enable_testing()
include(${fl_MODULE_PATH}/gtest.cmake)
add_subdirectory(test)
if(fl_BUILD_TESTS)
enable_testing()
include(${fl_MODULE_PATH}/gtest.cmake)
add_subdirectory(test)
endif()
5 changes: 2 additions & 3 deletions include/fl/distribution/gaussian.hpp
View file
Original file line number Diff line number Diff line change
@@ -461,10 +461,9 @@ class Gaussian

if(has_full_rank())
{
const Variate dx = vector - mean();
return log_normalizer() - 0.5
* (vector - mean()).transpose()
* precision()
* (vector - mean());
* (dx.transpose() * precision() * dx)(0);
}

return -std::numeric_limits<Real>::infinity();