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update TableFactor to only consider values greater than 1e-11

release/4.3a0
Varun Agrawal 2025-05-14 06:43:43 -04:00
parent c254e4cd79
commit 48879afce0
1 changed files with 3 additions and 1 deletions
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4
gtsam/discrete/TableFactor.cpp
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@ -108,7 +108,9 @@ static Eigen::SparseVector<double> ComputeSparseTable(
* *
*/ */
auto op = [&](const Assignment<Key>& assignment, double p) { 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 // Get all the keys involved in this assignment
KeySet assignmentKeys; KeySet assignmentKeys;
for (auto&& [k, _] : assignment) { for (auto&& [k, _] : assignment) {