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clarify TableProduct function

release/4.3a0
Varun Agrawal 2025-01-01 19:15:49 -05:00
parent bb4ee207b8
commit 2894c957b1
1 changed files with 6 additions and 8 deletions
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14
gtsam/hybrid/HybridGaussianFactorGraph.cpp
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@ -256,13 +256,12 @@ static TableFactor::shared_ptr DiscreteFactorFromErrors(
} }
/** /**
* @brief Multiply all the `factors` and normalize the * @brief Multiply all the `factors` using the machinery of the TableFactor.
* product to prevent underflow.
* *
* @param factors The factors to multiply as a DiscreteFactorGraph. * @param factors The factors to multiply as a DiscreteFactorGraph.
* @return TableFactor * @return TableFactor
*/ */
static TableFactor ProductAndNormalize(const DiscreteFactorGraph &factors) { static TableFactor TableProduct(const DiscreteFactorGraph &factors) {
// PRODUCT: multiply all factors // PRODUCT: multiply all factors
#if GTSAM_HYBRID_TIMING #if GTSAM_HYBRID_TIMING
gttic_(DiscreteProduct); gttic_(DiscreteProduct);
@ -282,14 +281,13 @@ static TableFactor ProductAndNormalize(const DiscreteFactorGraph &factors) {
gttoc_(DiscreteProduct); gttoc_(DiscreteProduct);
#endif #endif
// Max over all the potentials by pretending all keys are frontal:
auto normalizer = product.max(product.size());
#if GTSAM_HYBRID_TIMING #if GTSAM_HYBRID_TIMING
gttic_(DiscreteNormalize); gttic_(DiscreteNormalize);
#endif #endif
// Max over all the potentials by pretending all keys are frontal:
auto denominator = product.max(product.size());
// Normalize the product factor to prevent underflow. // Normalize the product factor to prevent underflow.
product = product / (*normalizer); product = product / (*denominator);
#if GTSAM_HYBRID_TIMING #if GTSAM_HYBRID_TIMING
gttoc_(DiscreteNormalize); gttoc_(DiscreteNormalize);
#endif #endif
@ -352,7 +350,7 @@ discreteElimination(const HybridGaussianFactorGraph &factors,
// so we can use the TableFactor for efficiency. // so we can use the TableFactor for efficiency.
if (separator.size() == 0) { if (separator.size() == 0) {
// Get product factor // Get product factor
TableFactor product = ProductAndNormalize(dfg); TableFactor product = TableProduct(dfg);
#if GTSAM_HYBRID_TIMING #if GTSAM_HYBRID_TIMING
gttic_(EliminateDiscreteFormDiscreteConditional); gttic_(EliminateDiscreteFormDiscreteConditional);