bool OptimizableGraph::addEdge(HyperGraph::Edge* e_)
{
OptimizableGraph::Edge* e = dynamic_cast<OptimizableGraph::Edge*>(e_);
assert(e && "Edge does not inherit from OptimizableGraph::Edge");
// std::cerr << "subclass of OptimizableGraph::Edge confirmed";
if (! e)
return false;
bool eresult = HyperGraph::addEdge(e);
if (! eresult)
return false;
// std::cerr << "called HyperGraph::addEdge" << std::endl;
e->_internalId = _nextEdgeId++;
if (e->numUndefinedVertices())
return true;
// std::cerr << "internalId set" << std::endl;
if (! e->resolveParameters()){
cerr << __FUNCTION__ << ": FATAL, cannot resolve parameters for edge " << e << endl;
return false;
}
// std::cerr << "parameters set" << std::endl;
if (! e->resolveCaches()){
cerr << __FUNCTION__ << ": FATAL, cannot resolve caches for edge " << e << endl;
return false;
}
// std::cerr << "updating jacobian size" << std::endl;
_jacobianWorkspace.updateSize(e);
// std::cerr << "about to return true" << std::endl;
return true;
}
bool OptimizableGraph::addEdge(HyperGraph::Edge* e_)
{
OptimizableGraph::Edge* e = dynamic_cast<OptimizableGraph::Edge*>(e_);
assert(e && "Edge does not inherit from OptimizableGraph::Edge");
if (! e)
return false;
bool eresult = HyperGraph::addEdge(e);
if (! eresult)
return false;
e->_internalId = _nextEdgeId++;
if (! e->resolveParameters()){
cerr << __FUNCTION__ << ": FATAL, cannot resolve parameters for edge " << e << endl;
return false;
}
if (! e->resolveCaches()){
cerr << __FUNCTION__ << ": FATAL, cannot resolve caches for edge " << e << endl;
return false;
}
_jacobianWorkspace.updateSize(e);
return true;
}
bool OptimizableGraph::setEdgeVertex(HyperGraph::Edge* e, int pos, HyperGraph::Vertex* v){
if (! HyperGraph::setEdgeVertex(e,pos,v)){
return false;
}
if (!e->numUndefinedVertices()){
#ifndef NDEBUG
OptimizableGraph::Edge* ee = dynamic_cast<OptimizableGraph::Edge*>(e);
assert(ee && "Edge is not a OptimizableGraph::Edge");
#else
OptimizableGraph::Edge* ee = static_cast<OptimizableGraph::Edge*>(e);
#endif
if (! ee->resolveParameters()){
cerr << __FUNCTION__ << ": FATAL, cannot resolve parameters for edge " << e << endl;
return false;
}
if (! ee->resolveCaches()){
cerr << __FUNCTION__ << ": FATAL, cannot resolve caches for edge " << e << endl;
return false;
}
_jacobianWorkspace.updateSize(e);
}
return true;
}