From 48879afce00cd036398e2f224ff6258310c5ada3 Mon Sep 17 00:00:00 2001
From: Varun Agrawal <varagrawal@gmail.com>
Date: Wed, 14 May 2025 06:43:43 -0400
Subject: [PATCH] update TableFactor to only consider values greater than 1e-11

---
 gtsam/discrete/TableFactor.cpp | 4 +++-
 1 file changed, 3 insertions(+), 1 deletion(-)

diff --git a/gtsam/discrete/TableFactor.cpp b/gtsam/discrete/TableFactor.cpp
index b5d3193e4..93359c8a7 100644
--- a/gtsam/discrete/TableFactor.cpp
+++ b/gtsam/discrete/TableFactor.cpp
@@ -108,7 +108,9 @@ static Eigen::SparseVector<double> ComputeSparseTable(
    *
    */
   auto op = [&](const Assignment<Key>& assignment, double p) {
-    if (p > 0) {
+    // Check if greater than 1e-11 because we consider
+    // smaller than that as numerically 0
+    if (p > 1e-11) {
       // Get all the keys involved in this assignment
       KeySet assignmentKeys;
       for (auto&& [k, _] : assignment) {