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handle nullptrsin GaussianMixture::error

release/4.3a0
Varun Agrawal 2023-11-20 13:28:05 -05:00
parent 7695fd6de3
commit 39f7ac20a1
1 changed files with 9 additions and 2 deletions
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11
gtsam/hybrid/GaussianMixture.cpp
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@ -316,8 +316,15 @@ AlgebraicDecisionTree<Key> GaussianMixture::logProbability(
AlgebraicDecisionTree<Key> GaussianMixture::error( AlgebraicDecisionTree<Key> GaussianMixture::error(
const VectorValues &continuousValues) const { const VectorValues &continuousValues) const {
auto errorFunc = [&](const GaussianConditional::shared_ptr &conditional) { auto errorFunc = [&](const GaussianConditional::shared_ptr &conditional) {
return conditional->error(continuousValues) + // // Check if valid pointer
logConstant_ - conditional->logNormalizationConstant(); if (conditional) {
return conditional->error(continuousValues) + //
logConstant_ - conditional->logNormalizationConstant();
} else {
// If not valid, pointer, it means this conditional was pruned,
// so we return maximum error.
return std::numeric_limits<double>::max();
}
}; };
DecisionTree<Key, double> errorTree(conditionals_, errorFunc); DecisionTree<Key, double> errorTree(conditionals_, errorFunc);
return errorTree; return errorTree;