12345qiupeng
/
gtsam
1
0
Fork 0
Code Issues Pull Requests Packages Projects Releases Wiki Activity

fix gbn optimize everywhere for HybridBayesTree

release/4.3a0
Varun Agrawal 2022-08-28 09:55:44 -04:00
parent f165559f91
commit 496ddf886f
1 changed files with 9 additions and 0 deletions
Show Stats Download Patch File Download Diff File Expand all files Collapse all files

9
gtsam/hybrid/HybridBayesTree.cpp
View File

@ -70,6 +70,14 @@ HybridValues HybridBayesTree::optimize() const {
DiscreteValues mpe = DiscreteFactorGraph(dbn).optimize();
// Given the MPE, compute the optimal continuous values.
GaussianBayesNet gbn = hbn.choose(mpe);
// If TBB is enabled, the bayes net order gets reversed,
// so we pre-reverse it
#ifdef GTSAM_USE_TBB
auto reversed = boost::adaptors::reverse(gbn);
gbn = GaussianBayesNet(reversed.begin(), reversed.end());
#endif
return HybridValues(mpe, gbn.optimize());
}
@ -104,6 +112,7 @@ VectorValues HybridBayesTree::optimize(const DiscreteValues& assignment) const {
}
}
}
// If TBB is enabled, the bayes net order gets reversed,
// so we pre-reverse it
#ifdef GTSAM_USE_TBB