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remove GTSAM_HYBRID_TIMING guards

release/4.3a0
Varun Agrawal 2024-12-31 14:27:20 -05:00
parent 42f8e54c2a
commit 47e76ff03b
1 changed files with 0 additions and 24 deletions
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24
gtsam/discrete/DiscreteFactorGraph.cpp
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@ -121,25 +121,13 @@ namespace gtsam {
static DecisionTreeFactor ProductAndNormalize( static DecisionTreeFactor ProductAndNormalize(
const DiscreteFactorGraph& factors) { const DiscreteFactorGraph& factors) {
// PRODUCT: multiply all factors // PRODUCT: multiply all factors
#if GTSAM_HYBRID_TIMING
gttic_(DiscreteProduct);
#endif
DecisionTreeFactor product = factors.product(); DecisionTreeFactor product = factors.product();
#if GTSAM_HYBRID_TIMING
gttoc_(DiscreteProduct);
#endif
// Max over all the potentials by pretending all keys are frontal: // Max over all the potentials by pretending all keys are frontal:
auto normalizer = product.max(product.size()); auto normalizer = product.max(product.size());
#if GTSAM_HYBRID_TIMING
gttic_(DiscreteNormalize);
#endif
// Normalize the product factor to prevent underflow. // Normalize the product factor to prevent underflow.
product = product / (*normalizer); product = product / (*normalizer);
#if GTSAM_HYBRID_TIMING
gttoc_(DiscreteNormalize);
#endif
return product; return product;
} }
@ -230,13 +218,7 @@ namespace gtsam {
DecisionTreeFactor product = ProductAndNormalize(factors); DecisionTreeFactor product = ProductAndNormalize(factors);
// sum out frontals, this is the factor on the separator // sum out frontals, this is the factor on the separator
#if GTSAM_HYBRID_TIMING
gttic_(EliminateDiscreteSum);
#endif
DecisionTreeFactor::shared_ptr sum = product.sum(frontalKeys); DecisionTreeFactor::shared_ptr sum = product.sum(frontalKeys);
#if GTSAM_HYBRID_TIMING
gttoc_(EliminateDiscreteSum);
#endif
// Ordering keys for the conditional so that frontalKeys are really in front // Ordering keys for the conditional so that frontalKeys are really in front
Ordering orderedKeys; Ordering orderedKeys;
@ -246,14 +228,8 @@ namespace gtsam {
sum->keys().end()); sum->keys().end());
// now divide product/sum to get conditional // now divide product/sum to get conditional
#if GTSAM_HYBRID_TIMING
gttic_(EliminateDiscreteToDiscreteConditional);
#endif
auto conditional = auto conditional =
std::make_shared<DiscreteConditional>(product, *sum, orderedKeys); std::make_shared<DiscreteConditional>(product, *sum, orderedKeys);
#if GTSAM_HYBRID_TIMING
gttoc_(EliminateDiscreteToDiscreteConditional);
#endif
return {conditional, sum}; return {conditional, sum};
} }