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allow for GaussianMixtureFactors with 0 continuous keys

release/4.3a0
Varun Agrawal 2024-08-25 00:49:28 -04:00
parent 1f373fd136
commit 7358effe03
1 changed files with 12 additions and 0 deletions
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12
gtsam/hybrid/HybridGaussianFactorGraph.cpp
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@ -242,6 +242,18 @@ discreteElimination(const HybridGaussianFactorGraph &factors,
for (auto &f : factors) { for (auto &f : factors) {
if (auto df = dynamic_pointer_cast<DiscreteFactor>(f)) { if (auto df = dynamic_pointer_cast<DiscreteFactor>(f)) {
dfg.push_back(df); dfg.push_back(df);
} else if (auto gmf = dynamic_pointer_cast<GaussianMixtureFactor>(f)) {
// Case where we have a GaussianMixtureFactor with no continuous keys.
// In this case, compute discrete probabilities.
auto probability =
[&](const GaussianFactor::shared_ptr &factor) -> double {
if (!factor) return 0.0;
return exp(-factor->error(VectorValues()));
};
dfg.emplace_shared<DecisionTreeFactor>(
gmf->discreteKeys(),
DecisionTree<Key, double>(gmf->factors(), probability));
} else if (auto orphan = dynamic_pointer_cast<OrphanWrapper>(f)) { } else if (auto orphan = dynamic_pointer_cast<OrphanWrapper>(f)) {
// Ignore orphaned clique. // Ignore orphaned clique.
// TODO(dellaert): is this correct? If so explain here. // TODO(dellaert): is this correct? If so explain here.