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timing guards for HybridSmoother

release/4.3a0
Varun Agrawal 2025-01-29 01:40:49 -05:00
parent 847df02c17
commit 12ba0b70b8
1 changed files with 12 additions and 0 deletions
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12
gtsam/hybrid/HybridSmoother.cpp
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@ -74,14 +74,26 @@ void HybridSmoother::update(const HybridGaussianFactorGraph &graph,
ordering = *given_ordering; ordering = *given_ordering;
} }
#if GTSAM_HYBRID_TIMING
gttic_(HybridSmootherEliminate);
#endif
// Eliminate. // Eliminate.
HybridBayesNet bayesNetFragment = *updatedGraph.eliminateSequential(ordering); HybridBayesNet bayesNetFragment = *updatedGraph.eliminateSequential(ordering);
#if GTSAM_HYBRID_TIMING
gttoc_(HybridSmootherEliminate);
#endif
/// Prune /// Prune
if (maxNrLeaves) { if (maxNrLeaves) {
#if GTSAM_HYBRID_TIMING
gttic_(HybridSmootherPrune);
#endif
// `pruneBayesNet` sets the leaves with 0 in discreteFactor to nullptr in // `pruneBayesNet` sets the leaves with 0 in discreteFactor to nullptr in
// all the conditionals with the same keys in bayesNetFragment. // all the conditionals with the same keys in bayesNetFragment.
bayesNetFragment = bayesNetFragment.prune(*maxNrLeaves, deadModeThreshold_); bayesNetFragment = bayesNetFragment.prune(*maxNrLeaves, deadModeThreshold_);
#if GTSAM_HYBRID_TIMING
gttoc_(HybridSmootherPrune);
#endif
} }
// Add the partial bayes net to the posterior bayes net. // Add the partial bayes net to the posterior bayes net.