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return tau factor as DiscreteFactor for discrete elimination

release/4.3a0
Varun Agrawal 2024-12-10 10:52:15 -05:00
parent dea9c7f765
commit 590293bb92
2 changed files with 6 additions and 4 deletions
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5
gtsam/discrete/DiscreteFactorGraph.cpp
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@ -14,6 +14,7 @@
* @date Feb 14, 2011 * @date Feb 14, 2011
* @author Duy-Nguyen Ta * @author Duy-Nguyen Ta
* @author Frank Dellaert * @author Frank Dellaert
* @author Varun Agrawal
*/ */
#include <gtsam/discrete/DiscreteBayesTree.h> #include <gtsam/discrete/DiscreteBayesTree.h>
@ -134,7 +135,7 @@ namespace gtsam {
/* ************************************************************************ */ /* ************************************************************************ */
// Alternate eliminate function for MPE // Alternate eliminate function for MPE
std::pair<DiscreteConditional::shared_ptr, DecisionTreeFactor::shared_ptr> // std::pair<DiscreteConditional::shared_ptr, DiscreteFactor::shared_ptr> //
EliminateForMPE(const DiscreteFactorGraph& factors, EliminateForMPE(const DiscreteFactorGraph& factors,
const Ordering& frontalKeys) { const Ordering& frontalKeys) {
DecisionTreeFactor product = ProductAndNormalize(factors); DecisionTreeFactor product = ProductAndNormalize(factors);
@ -213,7 +214,7 @@ namespace gtsam {
} }
/* ************************************************************************ */ /* ************************************************************************ */
std::pair<DiscreteConditional::shared_ptr, DecisionTreeFactor::shared_ptr> // std::pair<DiscreteConditional::shared_ptr, DiscreteFactor::shared_ptr> //
EliminateDiscrete(const DiscreteFactorGraph& factors, EliminateDiscrete(const DiscreteFactorGraph& factors,
const Ordering& frontalKeys) { const Ordering& frontalKeys) {
DecisionTreeFactor product = ProductAndNormalize(factors); DecisionTreeFactor product = ProductAndNormalize(factors);

5
gtsam/discrete/DiscreteFactorGraph.h
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@ -14,6 +14,7 @@
* @date Feb 14, 2011 * @date Feb 14, 2011
* @author Duy-Nguyen Ta * @author Duy-Nguyen Ta
* @author Frank Dellaert * @author Frank Dellaert
* @author Varun Agrawal
*/ */
#pragma once #pragma once
@ -48,7 +49,7 @@ class DiscreteJunctionTree;
* @ingroup discrete * @ingroup discrete
*/ */
GTSAM_EXPORT GTSAM_EXPORT
std::pair<DiscreteConditional::shared_ptr, DecisionTreeFactor::shared_ptr> std::pair<DiscreteConditional::shared_ptr, DiscreteFactor::shared_ptr>
EliminateDiscrete(const DiscreteFactorGraph& factors, EliminateDiscrete(const DiscreteFactorGraph& factors,
const Ordering& frontalKeys); const Ordering& frontalKeys);
@ -61,7 +62,7 @@ EliminateDiscrete(const DiscreteFactorGraph& factors,
* @ingroup discrete * @ingroup discrete
*/ */
GTSAM_EXPORT GTSAM_EXPORT
std::pair<DiscreteConditional::shared_ptr, DecisionTreeFactor::shared_ptr> std::pair<DiscreteConditional::shared_ptr, DiscreteFactor::shared_ptr>
EliminateForMPE(const DiscreteFactorGraph& factors, EliminateForMPE(const DiscreteFactorGraph& factors,
const Ordering& frontalKeys); const Ordering& frontalKeys);