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simplify discrete conditional computation

release/4.3a0
Varun Agrawal 2024-12-31 20:36:07 -05:00
parent a71008d7fd
commit 57c426a870
1 changed files with 2 additions and 12 deletions
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14
gtsam/hybrid/HybridGaussianFactorGraph.cpp
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@ -364,19 +364,9 @@ discreteElimination(const HybridGaussianFactorGraph &factors,
#if GTSAM_HYBRID_TIMING #if GTSAM_HYBRID_TIMING
gttic_(EliminateDiscreteFormDiscreteConditional); gttic_(EliminateDiscreteFormDiscreteConditional);
#endif #endif
DecisionTreeFactor joint; auto c = product / (*sum);
// Normalize if we have only 1 key
// Needed due to conversion from TableFactor
if (product.discreteKeys().size() == 1) {
joint = DecisionTreeFactor(product.discreteKeys(),
product.toDecisionTreeFactor().normalize());
} else {
joint = product.toDecisionTreeFactor();
}
// Finally, get the conditional
auto conditional = std::make_shared<DiscreteConditional>( auto conditional = std::make_shared<DiscreteConditional>(
joint, sum->toDecisionTreeFactor(), orderedKeys); c.toDecisionTreeFactor(), frontalKeys.size(), orderedKeys);
#if GTSAM_HYBRID_TIMING #if GTSAM_HYBRID_TIMING
gttoc_(EliminateDiscreteFormDiscreteConditional); gttoc_(EliminateDiscreteFormDiscreteConditional);
#endif #endif