12345qiupeng
/
gtsam
1
0
Fork 0
Code Issues Pull Requests Packages Projects Releases Wiki Activity

Cherry-pick Varun's bugfix

release/4.3a0
Frank Dellaert 2024-10-07 09:19:35 +09:00
parent e1c0d0e227
commit 04cfb063ae
1 changed files with 5 additions and 2 deletions
Show Stats Download Patch File Download Diff File Expand all files Collapse all files

7
gtsam/hybrid/HybridGaussianFactorGraph.cpp
View File

@ -247,7 +247,8 @@ static std::pair<HybridConditional::shared_ptr, std::shared_ptr<Factor>> discret
// In this case, compute discrete probabilities. // In this case, compute discrete probabilities.
auto logProbability = [&](const auto& pair) -> double { auto logProbability = [&](const auto& pair) -> double {
auto [factor, _] = pair; auto [factor, _] = pair;
if (!factor) return 0.0; // If the factor is null, it is has been pruned hence return ∞
// so that the exp(-∞)=0.
return factor->error(VectorValues()); return factor->error(VectorValues());
}; };
AlgebraicDecisionTree<Key> logProbabilities = AlgebraicDecisionTree<Key> logProbabilities =
@ -299,7 +300,9 @@ static std::shared_ptr<Factor> createDiscreteFactor(const ResultTree& eliminatio
// which is `-log(k) = log(1/k) = log(\sqrt{|2πΣ|})`. // which is `-log(k) = log(1/k) = log(\sqrt{|2πΣ|})`.
return factor->error(kEmpty) - conditional->negLogConstant(); return factor->error(kEmpty) - conditional->negLogConstant();
} else if (!conditional && !factor) { } else if (!conditional && !factor) {
return 1.0; // TODO(dellaert): not loving this, what should this be?? // If the factor is null, it has been pruned, hence return ∞
// so that the exp(-∞)=0.
return std::numeric_limits<double>::infinity();
} else { } else {
throw std::runtime_error("createDiscreteFactor has mixed NULLs"); throw std::runtime_error("createDiscreteFactor has mixed NULLs");
} }