diff --git a/gtsam/hybrid/HybridGaussianFactorGraph.cpp b/gtsam/hybrid/HybridGaussianFactorGraph.cpp index 5c83fe514..49f3be776 100644 --- a/gtsam/hybrid/HybridGaussianFactorGraph.cpp +++ b/gtsam/hybrid/HybridGaussianFactorGraph.cpp @@ -229,8 +229,13 @@ continuousElimination(const HybridGaussianFactorGraph &factors, } /* ************************************************************************ */ -/// Take negative log-values, shift them so that the minimum value is 0, and -/// then exponentiate to create a DecisionTreeFactor (not normalized yet!). +/** + * @brief Take negative log-values, shift them so that the minimum value is 0, + * and then exponentiate to create a DecisionTreeFactor (not normalized yet!). + * + * @param errors DecisionTree of (unnormalized) errors. + * @return AlgebraicDecisionTree + */ static DecisionTreeFactor::shared_ptr DiscreteFactorFromErrors( const DiscreteKeys &discreteKeys, const AlgebraicDecisionTree &errors) { @@ -258,7 +263,7 @@ discreteElimination(const HybridGaussianFactorGraph &factors, if (!factor) return std::numeric_limits::infinity(); return scalar + factor->error(kEmpty); }; - DecisionTree errors(gmf->factors(), calculateError); + AlgebraicDecisionTree errors(gmf->factors(), calculateError); dfg.push_back(DiscreteFactorFromErrors(gmf->discreteKeys(), errors)); } else if (auto orphan = dynamic_pointer_cast(f)) { @@ -307,7 +312,7 @@ static std::shared_ptr createDiscreteFactor( } }; - DecisionTree errors(eliminationResults, calculateError); + AlgebraicDecisionTree errors(eliminationResults, calculateError); return DiscreteFactorFromErrors(discreteSeparator, errors); }