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added one line comments for variables.

release/4.3a0
Yoonwoo Kim 2023-05-29 00:28:03 +09:00
parent c55772801f
commit 361f9fa391
1 changed files with 7 additions and 7 deletions
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14
gtsam/discrete/TableFactor.h
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@ -36,23 +36,23 @@ namespace gtsam {
/** /**
* A discrete probabilistic factor optimized for sparsity. * A discrete probabilistic factor optimized for sparsity.
* Uses sparse_table_ to store only the non-zero probabilities. * Uses sparse_table_ to store only the nonzero probabilities.
* Computes the assigned value for the key using the ordering which the * Computes the assigned value for the key using the ordering which the
* non-zero probabilties are stored in. * nonzero probabilties are stored in. (lazy cartesian product)
* *
* @ingroup discrete * @ingroup discrete
*/ */
class GTSAM_EXPORT TableFactor : public DiscreteFactor { class GTSAM_EXPORT TableFactor : public DiscreteFactor {
protected: protected:
std::map<Key, size_t> cardinalities_; std::map<Key, size_t> cardinalities_; /// Map of Keys and their cardinalities.
Eigen::SparseVector<double> sparse_table_; Eigen::SparseVector<double> sparse_table_; /// SparseVector of nonzero probabilities.
private: private:
std::map<Key, size_t> denominators_; std::map<Key, size_t> denominators_; /// Map of Keys and their denominators used in keyValueForIndex.
DiscreteKeys sorted_dkeys_; DiscreteKeys sorted_dkeys_; /// Sorted DiscreteKeys to use internally.
/** /**
* @brief Finds nth entry in the cartesian product of arrays in O(1) * @brief Uses lazy cartesian product to find nth entry in the cartesian product of arrays in O(1)
* Example) * Example)
* v0 | v1 | val * v0 | v1 | val
* 0 | 0 | 10 * 0 | 0 | 10