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use DiscreteFactorGraph directly

release/4.3a0
Varun Agrawal 2024-08-20 16:22:34 -04:00
parent ccad6f6c48
commit 2007ef53de
1 changed files with 4 additions and 3 deletions
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7
gtsam/hybrid/HybridBayesNet.cpp
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@ -220,15 +220,16 @@ GaussianBayesNet HybridBayesNet::choose(
/* ************************************************************************* */
HybridValues HybridBayesNet::optimize() const {
// Collect all the discrete factors to compute MPE
DiscreteBayesNet discrete_bn;
DiscreteFactorGraph discrete_fg;
for (auto &&conditional : *this) {
if (conditional->isDiscrete()) {
discrete_bn.push_back(conditional->asDiscrete());
discrete_fg.push_back(conditional->asDiscrete());
}
}
// Solve for the MPE
DiscreteValues mpe = DiscreteFactorGraph(discrete_bn).optimize();
DiscreteValues mpe = discrete_fg.optimize();
// Given the MPE, compute the optimal continuous values.
return HybridValues(optimize(mpe), mpe);