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rename to negLogProbability

release/4.3a0
Varun Agrawal 2024-09-23 15:09:37 -04:00
parent 5da7588b66
commit 31519f48b4
1 changed files with 4 additions and 4 deletions
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8
gtsam/hybrid/HybridGaussianFactorGraph.cpp
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@ -321,7 +321,7 @@ using Result = std::pair<std::shared_ptr<GaussianConditional>,
static std::shared_ptr<Factor> createDiscreteFactor( static std::shared_ptr<Factor> createDiscreteFactor(
const DecisionTree<Key, Result> &eliminationResults, const DecisionTree<Key, Result> &eliminationResults,
const DiscreteKeys &discreteSeparator) { const DiscreteKeys &discreteSeparator) {
auto logProbability = [&](const Result &pair) -> double { auto negLogProbability = [&](const Result &pair) -> double {
const auto &[conditional, factor] = pair; const auto &[conditional, factor] = pair;
static const VectorValues kEmpty; static const VectorValues kEmpty;
// If the factor is not null, it has no keys, just contains the residual. // If the factor is not null, it has no keys, just contains the residual.
@ -334,10 +334,10 @@ static std::shared_ptr<Factor> createDiscreteFactor(
return factor->error(kEmpty) - conditional->negLogConstant(); return factor->error(kEmpty) - conditional->negLogConstant();
}; };
AlgebraicDecisionTree<Key> logProbabilities( AlgebraicDecisionTree<Key> negLogProbabilities(
DecisionTree<Key, double>(eliminationResults, logProbability)); DecisionTree<Key, double>(eliminationResults, negLogProbability));
AlgebraicDecisionTree<Key> probabilities = AlgebraicDecisionTree<Key> probabilities =
probabilitiesFromLogValues(logProbabilities); probabilitiesFromLogValues(negLogProbabilities);
return std::make_shared<DecisionTreeFactor>(discreteSeparator, probabilities); return std::make_shared<DecisionTreeFactor>(discreteSeparator, probabilities);
} }