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Merge pull request #2004 from borglab/hybrid-fixes 

Hybrid Fixes
release/4.3a0
Varun Agrawal 2025-01-26 15:51:44 -05:00 committed by GitHub
parent 131f51a30c 087c0cc525
commit 648c68d130
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GPG Key ID: B5690EEEBB952194
2 changed files with 7 additions and 1 deletions
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5
gtsam/hybrid/HybridBayesTree.cpp
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@ -202,6 +202,11 @@ VectorValues HybridBayesTree::optimize(const DiscreteValues& assignment) const {
/* ************************************************************************* */ /* ************************************************************************* */
void HybridBayesTree::prune(const size_t maxNrLeaves) { void HybridBayesTree::prune(const size_t maxNrLeaves) {
if (!this->roots_.at(0)->conditional()->asDiscrete()) {
// Root of the BayesTree is not a discrete clique, so we do nothing.
return;
}
auto prunedDiscreteProbs = auto prunedDiscreteProbs =
this->roots_.at(0)->conditional()->asDiscrete<TableDistribution>(); this->roots_.at(0)->conditional()->asDiscrete<TableDistribution>();

3
gtsam/hybrid/HybridNonlinearFactor.cpp
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@ -99,7 +99,8 @@ AlgebraicDecisionTree<Key> HybridNonlinearFactor::errorTree(
auto errorFunc = auto errorFunc =
[continuousValues](const std::pair<sharedFactor, double>& f) { [continuousValues](const std::pair<sharedFactor, double>& f) {
auto [factor, val] = f; auto [factor, val] = f;
return factor->error(continuousValues) + val; return factor ? factor->error(continuousValues) + val
: std::numeric_limits<double>::infinity();
}; };
return {factors_, errorFunc}; return {factors_, errorFunc};
} }