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

remove unnecessary comments

release/4.3a0
Varun Agrawal 2022-10-03 17:31:53 -04:00
parent bf2015de8f
commit 75b2599e82
1 changed files with 1 additions and 4 deletions
Show Stats Download Patch File Download Diff File Expand all files Collapse all files

5
gtsam/hybrid/HybridGaussianFactorGraph.cpp
View File

@ -285,11 +285,8 @@ hybridElimination(const HybridGaussianFactorGraph &factors,
// If there are no more continuous parents, then we should create here a // If there are no more continuous parents, then we should create here a
// DiscreteFactor, with the error for each discrete choice. // DiscreteFactor, with the error for each discrete choice.
// frontalKeys.print();
// separatorFactors.print("", GTDKeyFormatter, [](const GaussianFactor::shared_ptr &factor) { factor->print(); return "";});
// std::cout << "=====================================" << std::endl;
if (keysOfSeparator.empty()) { if (keysOfSeparator.empty()) {
VectorValues empty_values; //TODO(Varun) Shouldn't this be from the optimized leaf? VectorValues empty_values;
auto factorError = [&](const GaussianFactor::shared_ptr &factor) { auto factorError = [&](const GaussianFactor::shared_ptr &factor) {
if (!factor) return 0.0; // TODO(fan): does this make sense? if (!factor) return 0.0; // TODO(fan): does this make sense?
return exp(-factor->error(empty_values)); return exp(-factor->error(empty_values));