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release/4.3a0
Varun Agrawal 2024-12-07 19:40:20 -05:00
parent 0b3477fc5a
commit 1d79188417
2 changed files with 11 additions and 2 deletions
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6
gtsam/discrete/DiscreteFactorGraph.cpp
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@ -170,8 +170,10 @@ namespace gtsam {
// Make lookup with product // Make lookup with product
gttic(lookup); gttic(lookup);
size_t nrFrontals = frontalKeys.size(); size_t nrFrontals = frontalKeys.size();
auto lookup = std::make_shared<DiscreteLookupTable>(nrFrontals, //TODO(Varun): Should accept a DiscreteFactor::shared_ptr
orderedKeys, product); auto lookup = std::make_shared<DiscreteLookupTable>(
nrFrontals, orderedKeys,
*std::dynamic_pointer_cast<TableFactor>(product));
gttoc(lookup); gttoc(lookup);
return {std::dynamic_pointer_cast<DiscreteConditional>(lookup), max}; return {std::dynamic_pointer_cast<DiscreteConditional>(lookup), max};

7
gtsam/discrete/DiscreteLookupDAG.h
View File

@ -18,6 +18,7 @@
#pragma once #pragma once
#include <gtsam/discrete/DiscreteDistribution.h> #include <gtsam/discrete/DiscreteDistribution.h>
#include <gtsam/discrete/TableFactor.h>
#include <gtsam/inference/BayesNet.h> #include <gtsam/inference/BayesNet.h>
#include <gtsam/inference/FactorGraph.h> #include <gtsam/inference/FactorGraph.h>
@ -54,6 +55,12 @@ class GTSAM_EXPORT DiscreteLookupTable : public DiscreteConditional {
const ADT& potentials) const ADT& potentials)
: DiscreteConditional(nFrontals, keys, potentials) {} : DiscreteConditional(nFrontals, keys, potentials) {}
//TODO(Varun): Should accept a DiscreteFactor::shared_ptr
DiscreteLookupTable(size_t nFrontals, const DiscreteKeys& keys,
const TableFactor& potentials)
: DiscreteConditional(nFrontals, keys,
potentials.toDecisionTreeFactor()) {}
/// GTSAM-style print /// GTSAM-style print
void print( void print(
const std::string& s = "Discrete Lookup Table: ", const std::string& s = "Discrete Lookup Table: ",