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release/4.3a0
Varun Agrawal 2024-12-10 11:05:50 -05:00
parent 162f61061c
commit 372b133366
1 changed files with 13 additions and 14 deletions
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27
gtsam/discrete/DiscreteFactorGraph.cpp
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@ -36,13 +36,12 @@ namespace gtsam {
template class FactorGraph<DiscreteFactor>;
template class EliminateableFactorGraph<DiscreteFactorGraph>;
/* ************************************************************************* */
bool DiscreteFactorGraph::equals(const This& fg, double tol) const
{
/* ************************************************************************ */
bool DiscreteFactorGraph::equals(const This& fg, double tol) const {
return Base::equals(fg, tol);
}
/* ************************************************************************* */
/* ************************************************************************ */
KeySet DiscreteFactorGraph::keys() const {
KeySet keys;
for (const sharedFactor& factor : *this) {
@ -51,7 +50,7 @@ namespace gtsam {
return keys;
}
/* ************************************************************************* */
/* ************************************************************************ */
DiscreteKeys DiscreteFactorGraph::discreteKeys() const {
DiscreteKeys result;
for (auto&& factor : *this) {
@ -64,7 +63,7 @@ namespace gtsam {
return result;
}
/* ************************************************************************* */
/* ************************************************************************ */
DecisionTreeFactor DiscreteFactorGraph::product() const {
DecisionTreeFactor result;
for (const sharedFactor& factor : *this) {
@ -73,9 +72,8 @@ namespace gtsam {
return result;
}
/* ************************************************************************* */
double DiscreteFactorGraph::operator()(
const DiscreteValues &values) const {
/* ************************************************************************ */
double DiscreteFactorGraph::operator()(const DiscreteValues& values) const {
double product = 1.0;
for (const sharedFactor& factor : factors_) {
product *= (*factor)(values);
@ -83,9 +81,9 @@ namespace gtsam {
return product;
}
/* ************************************************************************* */
/* ************************************************************************ */
void DiscreteFactorGraph::print(const string& s,
const KeyFormatter& formatter) const {
const KeyFormatter& formatter) const {
std::cout << s << std::endl;
std::cout << "size: " << size() << std::endl;
for (size_t i = 0; i < factors_.size(); i++) {
@ -120,7 +118,8 @@ namespace gtsam {
* @param factors The factors to multiply as a DiscreteFactorGraph.
* @return DecisionTreeFactor
*/
static DecisionTreeFactor ProductAndNormalize(const DiscreteFactorGraph& factors) {
static DecisionTreeFactor ProductAndNormalize(
const DiscreteFactorGraph& factors) {
// PRODUCT: multiply all factors
gttic(product);
DecisionTreeFactor product = factors.product();
@ -155,8 +154,8 @@ namespace gtsam {
// Make lookup with product
gttic(lookup);
size_t nrFrontals = frontalKeys.size();
auto lookup = std::make_shared<DiscreteLookupTable>(nrFrontals,
orderedKeys, product);
auto lookup =
std::make_shared<DiscreteLookupTable>(nrFrontals, orderedKeys, product);
gttoc(lookup);
return {std::dynamic_pointer_cast<DiscreteConditional>(lookup), max};