dead mode removal flag and new constructor
							parent
							
								
									8ad3cb6ba1
								
							
						
					
					
						commit
						22fc8238ce
					
				|  | @ -29,7 +29,23 @@ class GTSAM_EXPORT HybridSmoother { | |||
|   HybridBayesNet hybridBayesNet_; | ||||
|   HybridGaussianFactorGraph remainingFactorGraph_; | ||||
| 
 | ||||
|   /// Flag indicating that we should remove dead discrete modes.
 | ||||
|   bool removeDeadModes_; | ||||
|   /// The threshold above which we make a decision about a mode.
 | ||||
|   double deadModeThreshold_; | ||||
| 
 | ||||
|  public: | ||||
|   /**
 | ||||
|    * @brief Constructor | ||||
|    * | ||||
|    * @param removeDeadModes Flag indicating whether to remove dead modes. | ||||
|    * @param deadModeThreshold The threshold above which a mode gets assigned a | ||||
|    * value and is considered "dead". | ||||
|    */ | ||||
|   HybridSmoother(bool removeDeadModes = false, double deadModeThreshold = 0.99) | ||||
|       : removeDeadModes_(removeDeadModes), | ||||
|         deadModeThreshold_(deadModeThreshold) {} | ||||
| 
 | ||||
|   /**
 | ||||
|    * Given new factors, perform an incremental update. | ||||
|    * The relevant densities in the `hybridBayesNet` will be added to the input | ||||
|  |  | |||
		Loading…
	
		Reference in New Issue