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finalize renaming

release/4.3a0
Varun Agrawal 2024-09-13 05:59:56 -04:00
parent 94805798e9
commit 035c92a38f
7 changed files with 19 additions and 19 deletions
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2
doc/Hybrid.lyx
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@ -201,7 +201,7 @@ HybridGaussianConditional
\emph default \emph default
(maybe to be renamed to (maybe to be renamed to
\emph on \emph on
GaussianMixtureComponent HybridGaussianConditionalComponent
\emph default \emph default
) just indexes into a number of ) just indexes into a number of
\emph on \emph on

6
gtsam/hybrid/HybridBayesNet.cpp
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@ -182,11 +182,11 @@ HybridBayesNet HybridBayesNet::prune(size_t maxNrLeaves) {
for (auto &&conditional : *this) { for (auto &&conditional : *this) {
if (auto gm = conditional->asMixture()) { if (auto gm = conditional->asMixture()) {
// Make a copy of the Gaussian mixture and prune it! // Make a copy of the Gaussian mixture and prune it!
auto prunedGaussianMixture = std::make_shared<HybridGaussianConditional>(*gm); auto prunedHybridGaussianConditional = std::make_shared<HybridGaussianConditional>(*gm);
prunedGaussianMixture->prune(prunedDiscreteProbs); // imperative :-( prunedHybridGaussianConditional->prune(prunedDiscreteProbs); // imperative :-(
// Type-erase and add to the pruned Bayes Net fragment. // Type-erase and add to the pruned Bayes Net fragment.
prunedBayesNetFragment.push_back(prunedGaussianMixture); prunedBayesNetFragment.push_back(prunedHybridGaussianConditional);
} else { } else {
// Add the non-HybridGaussianConditional conditional // Add the non-HybridGaussianConditional conditional

4
gtsam/hybrid/HybridGaussianFactorGraph.cpp
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@ -343,7 +343,7 @@ static std::shared_ptr<Factor> createDiscreteFactor(
// Create HybridGaussianFactor on the separator, taking care to correct // Create HybridGaussianFactor on the separator, taking care to correct
// for conditional constants. // for conditional constants.
static std::shared_ptr<Factor> createGaussianMixtureFactor( static std::shared_ptr<Factor> createHybridGaussianFactor(
const DecisionTree<Key, Result> &eliminationResults, const DecisionTree<Key, Result> &eliminationResults,
const KeyVector &continuousSeparator, const KeyVector &continuousSeparator,
const DiscreteKeys &discreteSeparator) { const DiscreteKeys &discreteSeparator) {
@ -405,7 +405,7 @@ hybridElimination(const HybridGaussianFactorGraph &factors,
auto newFactor = auto newFactor =
continuousSeparator.empty() continuousSeparator.empty()
? createDiscreteFactor(eliminationResults, discreteSeparator) ? createDiscreteFactor(eliminationResults, discreteSeparator)
: createGaussianMixtureFactor(eliminationResults, continuousSeparator, : createHybridGaussianFactor(eliminationResults, continuousSeparator,
discreteSeparator); discreteSeparator);
// Create the HybridGaussianConditional from the conditionals // Create the HybridGaussianConditional from the conditionals

2
gtsam/hybrid/HybridNonlinearFactor.h
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@ -188,7 +188,7 @@ class HybridNonlinearFactor : public HybridFactor {
const KeyFormatter& keyFormatter = DefaultKeyFormatter) const override { const KeyFormatter& keyFormatter = DefaultKeyFormatter) const override {
std::cout << (s.empty() ? "" : s + " "); std::cout << (s.empty() ? "" : s + " ");
Base::print("", keyFormatter); Base::print("", keyFormatter);
std::cout << "\nMixtureFactor\n"; std::cout << "\nHybridNonlinearFactor\n";
auto valueFormatter = [](const sharedFactor& v) { auto valueFormatter = [](const sharedFactor& v) {
if (v) { if (v) {
return "Nonlinear factor on " + std::to_string(v->size()) + " keys"; return "Nonlinear factor on " + std::to_string(v->size()) + " keys";

2
gtsam/hybrid/tests/testHybridGaussianConditional.cpp
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@ -10,7 +10,7 @@
* -------------------------------------------------------------------------- */ * -------------------------------------------------------------------------- */
/** /**
* @file testGaussianMixture.cpp * @file testHybridGaussianConditional.cpp
* @brief Unit tests for HybridGaussianConditional class * @brief Unit tests for HybridGaussianConditional class
* @author Varun Agrawal * @author Varun Agrawal
* @author Fan Jiang * @author Fan Jiang

6
gtsam/hybrid/tests/testHybridNonlinearFactor.cpp
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@ -73,7 +73,7 @@ HybridNonlinearFactor
} }
/* ************************************************************************* */ /* ************************************************************************* */
static HybridNonlinearFactor getMixtureFactor() { static HybridNonlinearFactor getHybridNonlinearFactor() {
DiscreteKey m1(1, 2); DiscreteKey m1(1, 2);
double between0 = 0.0; double between0 = 0.0;
@ -94,7 +94,7 @@ static HybridNonlinearFactor getMixtureFactor() {
/* ************************************************************************* */ /* ************************************************************************* */
// Test the error of the HybridNonlinearFactor // Test the error of the HybridNonlinearFactor
TEST(HybridNonlinearFactor, Error) { TEST(HybridNonlinearFactor, Error) {
auto mixtureFactor = getMixtureFactor(); auto mixtureFactor = getHybridNonlinearFactor();
Values continuousValues; Values continuousValues;
continuousValues.insert<double>(X(1), 0); continuousValues.insert<double>(X(1), 0);
@ -114,7 +114,7 @@ TEST(HybridNonlinearFactor, Error) {
/* ************************************************************************* */ /* ************************************************************************* */
// Test dim of the HybridNonlinearFactor // Test dim of the HybridNonlinearFactor
TEST(HybridNonlinearFactor, Dim) { TEST(HybridNonlinearFactor, Dim) {
auto mixtureFactor = getMixtureFactor(); auto mixtureFactor = getHybridNonlinearFactor();
EXPECT_LONGS_EQUAL(1, mixtureFactor.dim()); EXPECT_LONGS_EQUAL(1, mixtureFactor.dim());
} }

16
gtsam/hybrid/tests/testSerializationHybrid.cpp
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@ -51,21 +51,21 @@ BOOST_CLASS_EXPORT_GUID(ADT, "gtsam_AlgebraicDecisionTree");
BOOST_CLASS_EXPORT_GUID(ADT::Leaf, "gtsam_AlgebraicDecisionTree_Leaf"); BOOST_CLASS_EXPORT_GUID(ADT::Leaf, "gtsam_AlgebraicDecisionTree_Leaf");
BOOST_CLASS_EXPORT_GUID(ADT::Choice, "gtsam_AlgebraicDecisionTree_Choice") BOOST_CLASS_EXPORT_GUID(ADT::Choice, "gtsam_AlgebraicDecisionTree_Choice")
BOOST_CLASS_EXPORT_GUID(HybridGaussianFactor, "gtsam_GaussianMixtureFactor"); BOOST_CLASS_EXPORT_GUID(HybridGaussianFactor, "gtsam_HybridGaussianFactor");
BOOST_CLASS_EXPORT_GUID(HybridGaussianFactor::Factors, BOOST_CLASS_EXPORT_GUID(HybridGaussianFactor::Factors,
"gtsam_GaussianMixtureFactor_Factors"); "gtsam_HybridGaussianFactor_Factors");
BOOST_CLASS_EXPORT_GUID(HybridGaussianFactor::Factors::Leaf, BOOST_CLASS_EXPORT_GUID(HybridGaussianFactor::Factors::Leaf,
"gtsam_GaussianMixtureFactor_Factors_Leaf"); "gtsam_HybridGaussianFactor_Factors_Leaf");
BOOST_CLASS_EXPORT_GUID(HybridGaussianFactor::Factors::Choice, BOOST_CLASS_EXPORT_GUID(HybridGaussianFactor::Factors::Choice,
"gtsam_GaussianMixtureFactor_Factors_Choice"); "gtsam_HybridGaussianFactor_Factors_Choice");
BOOST_CLASS_EXPORT_GUID(HybridGaussianConditional, "gtsam_GaussianMixture"); BOOST_CLASS_EXPORT_GUID(HybridGaussianConditional, "gtsam_HybridGaussianConditional");
BOOST_CLASS_EXPORT_GUID(HybridGaussianConditional::Conditionals, BOOST_CLASS_EXPORT_GUID(HybridGaussianConditional::Conditionals,
"gtsam_GaussianMixture_Conditionals"); "gtsam_HybridGaussianConditional_Conditionals");
BOOST_CLASS_EXPORT_GUID(HybridGaussianConditional::Conditionals::Leaf, BOOST_CLASS_EXPORT_GUID(HybridGaussianConditional::Conditionals::Leaf,
"gtsam_GaussianMixture_Conditionals_Leaf"); "gtsam_HybridGaussianConditional_Conditionals_Leaf");
BOOST_CLASS_EXPORT_GUID(HybridGaussianConditional::Conditionals::Choice, BOOST_CLASS_EXPORT_GUID(HybridGaussianConditional::Conditionals::Choice,
"gtsam_GaussianMixture_Conditionals_Choice"); "gtsam_HybridGaussianConditional_Conditionals_Choice");
// Needed since GaussianConditional::FromMeanAndStddev uses it // Needed since GaussianConditional::FromMeanAndStddev uses it
BOOST_CLASS_EXPORT_GUID(noiseModel::Isotropic, "gtsam_noiseModel_Isotropic"); BOOST_CLASS_EXPORT_GUID(noiseModel::Isotropic, "gtsam_noiseModel_Isotropic");