fix bug in TableFactor when trying to convert to DecisionTreeFactor

2024-12-31 17:06:57 -05:00 · 2024-12-31 17:06:57 -05:00 · 094b76df2d
parent 0820fcb7b2
commit 094b76df2d
1 changed files with 5 additions and 0 deletions
--- a/gtsam/discrete/TableFactor.cpp
+++ b/gtsam/discrete/TableFactor.cpp
@ -252,6 +252,11 @@ DecisionTreeFactor TableFactor::operator*(const DecisionTreeFactor& f) const {
 DecisionTreeFactor TableFactor::toDecisionTreeFactor() const {
  DiscreteKeys dkeys = discreteKeys();

+  // If no keys, then return empty DecisionTreeFactor
+  if (dkeys.size() == 0) {
+    return DecisionTreeFactor(dkeys, AlgebraicDecisionTree<Key>());
+  }
+
  std::vector<double> table;
  for (auto i = 0; i < sparse_table_.size(); i++) {
    table.push_back(sparse_table_.coeff(i));