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return DiscreteTableConditional from hybrid elimination

release/4.3a0
Varun Agrawal 2024-12-31 15:53:44 -05:00
parent 34eb0fce9b
commit 462a5b8b3a
1 changed files with 6 additions and 3 deletions
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9
gtsam/hybrid/HybridGaussianFactorGraph.cpp
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@ -271,11 +271,14 @@ static TableFactor ProductAndNormalize(const DiscreteFactorGraph &factors) {
TableFactor product;
for (auto &&factor : factors) {
if (factor) {
if (auto f = std::dynamic_pointer_cast<TableFactor>(factor)) {
if (auto dtc =
std::dynamic_pointer_cast<DiscreteTableConditional>(factor)) {
product = product * dtc->table();
} else if (auto f = std::dynamic_pointer_cast<TableFactor>(factor)) {
product = product * (*f);
} else if (auto dtf =
std::dynamic_pointer_cast<DecisionTreeFactor>(factor)) {
product = TableFactor(product * (*dtf));
product = product * TableFactor(*dtf);
}
}
}
@ -368,7 +371,7 @@ discreteElimination(const HybridGaussianFactorGraph &factors,
#endif
// Finally, get the conditional
auto conditional =
std::make_shared<DiscreteConditional>(product, *sum, orderedKeys);
std::make_shared<DiscreteTableConditional>(product, *sum, orderedKeys);
#if GTSAM_HYBRID_TIMING
gttoc_(EliminateDiscreteFormDiscreteConditional);
#endif