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minor fixes

release/4.3a0
Varun Agrawal 2022-12-30 17:32:31 +05:30
parent 1beeef840b
commit 6f8a23fe34
3 changed files with 8 additions and 11 deletions
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1
gtsam/hybrid/HybridBayesNet.cpp
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@ -128,7 +128,6 @@ std::function<double(const Assignment<Key> &, double)> prunerFunc(
} }
/* ************************************************************************* */ /* ************************************************************************* */
// TODO(dellaert): what is this non-const method used for? Abolish it?
void HybridBayesNet::updateDiscreteConditionals( void HybridBayesNet::updateDiscreteConditionals(
const DecisionTreeFactor::shared_ptr &prunedDecisionTree) { const DecisionTreeFactor::shared_ptr &prunedDecisionTree) {
KeyVector prunedTreeKeys = prunedDecisionTree->keys(); KeyVector prunedTreeKeys = prunedDecisionTree->keys();

4
gtsam/hybrid/HybridGaussianFactorGraph.cpp
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@ -397,9 +397,8 @@ EliminateHybrid(const HybridGaussianFactorGraph &factors,
if (discrete_only) { if (discrete_only) {
// Case 1: we are only dealing with discrete // Case 1: we are only dealing with discrete
return discreteElimination(factors, frontalKeys); return discreteElimination(factors, frontalKeys);
} else { } else if (mapFromKeyToDiscreteKey.empty()) {
// Case 2: we are only dealing with continuous // Case 2: we are only dealing with continuous
if (mapFromKeyToDiscreteKey.empty()) {
return continuousElimination(factors, frontalKeys); return continuousElimination(factors, frontalKeys);
} else { } else {
// Case 3: We are now in the hybrid land! // Case 3: We are now in the hybrid land!
@ -410,7 +409,6 @@ EliminateHybrid(const HybridGaussianFactorGraph &factors,
discreteSeparatorSet); discreteSeparatorSet);
} }
} }
}
/* ************************************************************************ */ /* ************************************************************************ */
void HybridGaussianFactorGraph::add(JacobianFactor &&factor) { void HybridGaussianFactorGraph::add(JacobianFactor &&factor) {

2
gtsam/hybrid/tests/testHybridEstimation.cpp
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@ -425,7 +425,7 @@ static HybridNonlinearFactorGraph createHybridNonlinearFactorGraph() {
} }
/********************************************************************************* /*********************************************************************************
// Create a hybrid nonlinear factor graph f(x0, x1, m0; z0, z1) // Create a hybrid linear factor graph f(x0, x1, m0; z0, z1)
********************************************************************************/ ********************************************************************************/
static HybridGaussianFactorGraph::shared_ptr createHybridGaussianFactorGraph() { static HybridGaussianFactorGraph::shared_ptr createHybridGaussianFactorGraph() {
HybridNonlinearFactorGraph nfg = createHybridNonlinearFactorGraph(); HybridNonlinearFactorGraph nfg = createHybridNonlinearFactorGraph();