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separate function to collect discrete factors

release/4.3a0
Varun Agrawal 2025-01-02 16:07:46 -05:00
parent 02d9959033
commit 113492f8b5
1 changed files with 12 additions and 3 deletions
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15
gtsam/hybrid/HybridGaussianFactorGraph.cpp
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@ -296,14 +296,14 @@ static TableFactor TableProduct(const DiscreteFactorGraph &factors) {
}
/* ************************************************************************ */
static std::pair<HybridConditional::shared_ptr, std::shared_ptr<Factor>>
discreteElimination(const HybridGaussianFactorGraph &factors,
const Ordering &frontalKeys) {
static DiscreteFactorGraph CollectDiscreteFactors(
const HybridGaussianFactorGraph &factors) {
DiscreteFactorGraph dfg;
for (auto &f : factors) {
if (auto df = dynamic_pointer_cast<DiscreteFactor>(f)) {
dfg.push_back(df);
} else if (auto gmf = dynamic_pointer_cast<HybridGaussianFactor>(f)) {
// Case where we have a HybridGaussianFactor with no continuous keys.
// In this case, compute a discrete factor from the remaining error.
@ -336,6 +336,15 @@ discreteElimination(const HybridGaussianFactorGraph &factors,
}
}
return dfg;
}
/* ************************************************************************ */
static std::pair<HybridConditional::shared_ptr, std::shared_ptr<Factor>>
discreteElimination(const HybridGaussianFactorGraph &factors,
const Ordering &frontalKeys) {
DiscreteFactorGraph dfg = CollectDiscreteFactors(factors);
#if GTSAM_HYBRID_TIMING
gttic_(EliminateDiscrete);
#endif