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update HybridSmoother to use std::optional deadModeThreshold

release/4.3a0
Varun Agrawal 2025-01-24 23:15:40 -05:00
parent 1764b58e8c
commit 4fcfe6493f
2 changed files with 5 additions and 9 deletions
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3
gtsam/hybrid/HybridSmoother.cpp
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@ -81,8 +81,7 @@ void HybridSmoother::update(const HybridGaussianFactorGraph &graph,
if (maxNrLeaves) { if (maxNrLeaves) {
// `pruneBayesNet` sets the leaves with 0 in discreteFactor to nullptr in // `pruneBayesNet` sets the leaves with 0 in discreteFactor to nullptr in
// all the conditionals with the same keys in bayesNetFragment. // all the conditionals with the same keys in bayesNetFragment.
bayesNetFragment = bayesNetFragment.prune(*maxNrLeaves, removeDeadModes_, bayesNetFragment = bayesNetFragment.prune(*maxNrLeaves, deadModeThreshold_);
deadModeThreshold_);
} }
// Add the partial bayes net to the posterior bayes net. // Add the partial bayes net to the posterior bayes net.

11
gtsam/hybrid/HybridSmoother.h
View File

@ -29,10 +29,8 @@ class GTSAM_EXPORT HybridSmoother {
HybridBayesNet hybridBayesNet_; HybridBayesNet hybridBayesNet_;
HybridGaussianFactorGraph remainingFactorGraph_; HybridGaussianFactorGraph remainingFactorGraph_;
/// Flag indicating that we should remove dead discrete modes.
bool removeDeadModes_;
/// The threshold above which we make a decision about a mode. /// The threshold above which we make a decision about a mode.
double deadModeThreshold_; std::optional<double> deadModeThreshold_;
public: public:
/** /**
@ -40,11 +38,10 @@ class GTSAM_EXPORT HybridSmoother {
* *
* @param removeDeadModes Flag indicating whether to remove dead modes. * @param removeDeadModes Flag indicating whether to remove dead modes.
* @param deadModeThreshold The threshold above which a mode gets assigned a * @param deadModeThreshold The threshold above which a mode gets assigned a
* value and is considered "dead". * value and is considered "dead". 0.99 is a good starting value.
*/ */
HybridSmoother(bool removeDeadModes = false, double deadModeThreshold = 0.99) HybridSmoother(const std::optional<double> deadModeThreshold)
: removeDeadModes_(removeDeadModes), : deadModeThreshold_(deadModeThreshold) {}
deadModeThreshold_(deadModeThreshold) {}
/** /**
* Given new factors, perform an incremental update. * Given new factors, perform an incremental update.