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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);
#endif
TableFactor product;
for (const sharedFactor &factor : factors) {
for (auto &&factor : factors) {
if (factor) {
if (auto f = std::dynamic_pointer_cast<TableFactor>(factor)) {
product = product * (*f);
@ -343,7 +343,7 @@ discreteElimination(const HybridGaussianFactorGraph &factors,
#endif
/**** NOTE: This does sum-product. ****/
// Get product factor
TableFactor product = ProductAndNormalize(factors);
TableFactor product = ProductAndNormalize(dfg);
#if GTSAM_HYBRID_TIMING
gttic_(EliminateDiscreteSum);
@ -352,26 +352,26 @@ discreteElimination(const HybridGaussianFactorGraph &factors,
// so we can sum out on all the variables as frontals.
// This should give an empty separator.
Ordering orderedKeys(product.keys());
DecisionTreeFactor::shared_ptr sum = product.sum(orderedKeys);
TableFactor::shared_ptr sum = product.sum(orderedKeys);
#if GTSAM_HYBRID_TIMING
gttoc_(EliminateDiscreteSum);
#endif
#if GTSAM_HYBRID_TIMING
gttic_(EliminateDiscreteToDiscreteConditional);
gttic_(EliminateDiscreteFormDiscreteConditional);
#endif
// Finally, get the conditional
auto conditional =
std::make_shared<DiscreteConditional>(product, *sum, orderedKeys);
#if GTSAM_HYBRID_TIMING
gttoc_(EliminateDiscreteToDiscreteConditional);
gttoc_(EliminateDiscreteFormDiscreteConditional);
#endif
#if GTSAM_HYBRID_TIMING
gttoc_(EliminateDiscrete);
#endif
return {std::make_shared<HybridConditional>(result.first), result.second};
return {std::make_shared<HybridConditional>(conditional), sum};
}
/* ************************************************************************ */