12345qiupeng
/
gtsam
1
0
Fork 0
Code Issues Pull Requests Packages Projects Releases Wiki Activity

HybridValues: continuous then discrete

release/4.3a0
Varun Agrawal 2022-12-29 23:59:34 +05:30
parent 706a8a42bc
commit 69bb4db42d
3 changed files with 13 additions and 13 deletions
Show Stats Download Patch File Download Diff File Expand all files Collapse all files

4
gtsam/hybrid/HybridBayesNet.cpp
View File

@ -218,7 +218,7 @@ HybridValues HybridBayesNet::optimize() const {
// Given the MPE, compute the optimal continuous values.
GaussianBayesNet gbn = choose(mpe);
return HybridValues(mpe, gbn.optimize());
return HybridValues(gbn.optimize(), mpe);
}
/* ************************************************************************* */
@ -267,7 +267,7 @@ HybridValues HybridBayesNet::sample(const HybridValues &given,
GaussianBayesNet gbn = choose(assignment);
// Sample from the Gaussian Bayes net.
VectorValues sample = gbn.sample(given.continuous(), rng);
return {assignment, sample};
return {sample, assignment};
}
/* ************************************************************************* */

2
gtsam/hybrid/HybridBayesTree.cpp
View File

@ -58,7 +58,7 @@ HybridValues HybridBayesTree::optimize() const {
}
VectorValues values = optimize(mpe);
return HybridValues(mpe, values);
return HybridValues(values, mpe);
}
/* ************************************************************************* */

20
gtsam/hybrid/HybridValues.h
View File

@ -37,12 +37,12 @@ namespace gtsam {
*/
class GTSAM_EXPORT HybridValues {
private:
// DiscreteValue stored the discrete components of the HybridValues.
DiscreteValues discrete_;
// VectorValue stored the continuous components of the HybridValues.
VectorValues continuous_;
// DiscreteValue stored the discrete components of the HybridValues.
DiscreteValues discrete_;
public:
/// @name Standard Constructors
/// @{
@ -51,8 +51,8 @@ class GTSAM_EXPORT HybridValues {
HybridValues() = default;
/// Construct from DiscreteValues and VectorValues.
HybridValues(const DiscreteValues& dv, const VectorValues& cv)
: discrete_(dv), continuous_(cv){};
HybridValues(const VectorValues& cv, const DiscreteValues& dv)
: continuous_(cv), discrete_(dv){};
/// @}
/// @name Testable
@ -62,15 +62,15 @@ class GTSAM_EXPORT HybridValues {
void print(const std::string& s = "HybridValues",
const KeyFormatter& keyFormatter = DefaultKeyFormatter) const {
std::cout << s << ": \n";
discrete_.print(" Discrete", keyFormatter); // print discrete components
continuous_.print(" Continuous",
keyFormatter); // print continuous components
keyFormatter); // print continuous components
discrete_.print(" Discrete", keyFormatter); // print discrete components
};
/// equals required by Testable for unit testing
bool equals(const HybridValues& other, double tol = 1e-9) const {
return discrete_.equals(other.discrete_, tol) &&
continuous_.equals(other.continuous_, tol);
return continuous_.equals(other.continuous_, tol) &&
discrete_.equals(other.discrete_, tol);
}
/// @}
@ -130,8 +130,8 @@ class GTSAM_EXPORT HybridValues {
std::string html(
const KeyFormatter& keyFormatter = DefaultKeyFormatter) const {
std::stringstream ss;
ss << this->discrete_.html(keyFormatter);
ss << this->continuous_.html(keyFormatter);
ss << this->discrete_.html(keyFormatter);
return ss.str();
};