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use STL to make DecisionTreeFactor::combine more efficient

release/4.3a0
Varun Agrawal 2023-09-18 22:57:59 -04:00
parent 8255ad596c
commit 3779f5280d
1 changed files with 16 additions and 8 deletions
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24
gtsam/discrete/DecisionTreeFactor.cpp
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@ -164,15 +164,23 @@ namespace gtsam {
}
// create new factor, note we collect keys that are not in frontalKeys
// TODO(frank): why do we need this??? result should contain correct keys!!!
/*
Due to branch merging, the labels in `result` may be missing some keys
E.g. After branch merging, we may get a ADT like:
Leaf [2] 1.0204082
This is missing the key values used for branching.
*/
KeyVector difference, frontalKeys_(frontalKeys), keys_(keys());
// Get the difference of the frontalKeys and the factor keys using set_difference
std::sort(keys_.begin(), keys_.end());
std::sort(frontalKeys_.begin(), frontalKeys_.end());
std::set_difference(keys_.begin(), keys_.end(), frontalKeys_.begin(),
frontalKeys_.end(), back_inserter(difference));
DiscreteKeys dkeys;
for (i = 0; i < keys().size(); i++) {
Key j = keys()[i];
// TODO(frank): inefficient!
if (std::find(frontalKeys.begin(), frontalKeys.end(), j) !=
frontalKeys.end())
continue;
dkeys.push_back(DiscreteKey(j, cardinality(j)));
for (Key key : difference) {
dkeys.push_back(DiscreteKey(key, cardinality(key)));
}
return std::make_shared<DecisionTreeFactor>(dkeys, result);
}