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use existing cardinalities

release/4.3a0
Varun Agrawal 2023-07-22 01:09:55 -04:00
parent 3d24d0128f
commit 5f83464f0d
1 changed files with 3 additions and 9 deletions
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12
gtsam/discrete/DecisionTreeFactor.cpp
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@ -196,18 +196,12 @@ namespace gtsam {
/* ************************************************************************ */
std::vector<double> DecisionTreeFactor::probabilities() const {
std::vector<double> probs;
// Get all the key cardinalities
std::map<Key, size_t> cardins;
for (auto [key, cardinality] : discreteKeys()) {
cardins[key] = cardinality;
}
// Set of all keys
std::set<Key> allKeys(keys().begin(), keys().end());
std::vector<double> probs;
// Go through the tree
std::vector<double> ys;
this->apply([&](const Assignment<Key> a, double p) {
// Get all the keys in the current assignment
std::set<Key> assignment_keys;
@ -224,7 +218,7 @@ namespace gtsam {
// Compute the total number of assignments in the (pruned) subtree
size_t nrAssignments = 1;
for (auto&& k : diff) {
nrAssignments *= cardins.at(k);
nrAssignments *= cardinalities_.at(k);
}
probs.insert(probs.end(), nrAssignments, p);
return p;