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dead mode removal flag and new constructor

release/4.3a0
Varun Agrawal 2025-01-24 18:14:38 -05:00
parent 8ad3cb6ba1
commit 22fc8238ce
1 changed files with 16 additions and 0 deletions
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16
gtsam/hybrid/HybridSmoother.h
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@ -29,7 +29,23 @@ class GTSAM_EXPORT HybridSmoother {
HybridBayesNet hybridBayesNet_; HybridBayesNet hybridBayesNet_;
HybridGaussianFactorGraph remainingFactorGraph_; 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: 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. * Given new factors, perform an incremental update.
* The relevant densities in the `hybridBayesNet` will be added to the input * The relevant densities in the `hybridBayesNet` will be added to the input