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release/4.3a0
Varun Agrawal 2024-12-31 14:50:51 -05:00
parent 47e76ff03b
commit 0820fcb7b2
1 changed files with 6 additions and 6 deletions
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12
gtsam/hybrid/HybridGaussianFactorGraph.cpp
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@ -268,7 +268,7 @@ static TableFactor ProductAndNormalize(const DiscreteFactorGraph &factors) {
gttic_(DiscreteProduct); gttic_(DiscreteProduct);
#endif #endif
TableFactor product; TableFactor product;
for (const sharedFactor &factor : factors) { for (auto &&factor : factors) {
if (factor) { if (factor) {
if (auto f = std::dynamic_pointer_cast<TableFactor>(factor)) { if (auto f = std::dynamic_pointer_cast<TableFactor>(factor)) {
product = product * (*f); product = product * (*f);
@ -343,7 +343,7 @@ discreteElimination(const HybridGaussianFactorGraph &factors,
#endif #endif
/**** NOTE: This does sum-product. ****/ /**** NOTE: This does sum-product. ****/
// Get product factor // Get product factor
TableFactor product = ProductAndNormalize(factors); TableFactor product = ProductAndNormalize(dfg);
#if GTSAM_HYBRID_TIMING #if GTSAM_HYBRID_TIMING
gttic_(EliminateDiscreteSum); gttic_(EliminateDiscreteSum);
@ -352,26 +352,26 @@ discreteElimination(const HybridGaussianFactorGraph &factors,
// so we can sum out on all the variables as frontals. // so we can sum out on all the variables as frontals.
// This should give an empty separator. // This should give an empty separator.
Ordering orderedKeys(product.keys()); Ordering orderedKeys(product.keys());
DecisionTreeFactor::shared_ptr sum = product.sum(orderedKeys); TableFactor::shared_ptr sum = product.sum(orderedKeys);
#if GTSAM_HYBRID_TIMING #if GTSAM_HYBRID_TIMING
gttoc_(EliminateDiscreteSum); gttoc_(EliminateDiscreteSum);
#endif #endif
#if GTSAM_HYBRID_TIMING #if GTSAM_HYBRID_TIMING
gttic_(EliminateDiscreteToDiscreteConditional); gttic_(EliminateDiscreteFormDiscreteConditional);
#endif #endif
// Finally, get the conditional // Finally, get the conditional
auto conditional = auto conditional =
std::make_shared<DiscreteConditional>(product, *sum, orderedKeys); std::make_shared<DiscreteConditional>(product, *sum, orderedKeys);
#if GTSAM_HYBRID_TIMING #if GTSAM_HYBRID_TIMING
gttoc_(EliminateDiscreteToDiscreteConditional); gttoc_(EliminateDiscreteFormDiscreteConditional);
#endif #endif
#if GTSAM_HYBRID_TIMING #if GTSAM_HYBRID_TIMING
gttoc_(EliminateDiscrete); gttoc_(EliminateDiscrete);
#endif #endif
return {std::make_shared<HybridConditional>(result.first), result.second}; return {std::make_shared<HybridConditional>(conditional), sum};
} }
/* ************************************************************************ */ /* ************************************************************************ */