12345qiupeng
/
gtsam
1
0
Fork 0
Code Issues Pull Requests Packages Projects Releases Wiki Activity

generalize DiscreteFactorGraph::product to DiscreteFactor

release/4.3a0
Varun Agrawal 2024-12-07 11:10:24 -05:00
parent a09b77ef40
commit 27bbce150a
1 changed files with 10 additions and 4 deletions
Show Stats Download Patch File Download Diff File Expand all files Collapse all files

14
gtsam/discrete/DiscreteFactorGraph.cpp
View File

@ -64,10 +64,16 @@ namespace gtsam {
} }
/* ************************************************************************* */ /* ************************************************************************* */
DecisionTreeFactor DiscreteFactorGraph::product() const { DiscreteFactor::shared_ptr DiscreteFactorGraph::product() const {
DecisionTreeFactor result; sharedFactor result = this->at(0);
for(const sharedFactor& factor: *this) for (size_t i = 1; i < this->size(); ++i) {
if (factor) result = (*factor) * result; const sharedFactor factor = this->at(i);
if (factor) {
// Predicated on the fact that all discrete factors are of a single type
// so there is no type-conversion happening which can be expensive.
result = result->operator*(factor);
}
}
return result; return result;
} }