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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
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14
gtsam/discrete/DiscreteFactorGraph.cpp
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@ -64,10 +64,16 @@ namespace gtsam {
}
/* ************************************************************************* */
DecisionTreeFactor DiscreteFactorGraph::product() const {
DecisionTreeFactor result;
for(const sharedFactor& factor: *this)
if (factor) result = (*factor) * result;
DiscreteFactor::shared_ptr DiscreteFactorGraph::product() const {
sharedFactor result = this->at(0);
for (size_t i = 1; i < this->size(); ++i) {
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;
}