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release/4.3a0
Varun Agrawal 2024-12-07 21:45:22 -05:00
parent 1d79188417
commit 77578512f8
2 changed files with 14 additions and 7 deletions
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11
gtsam/discrete/DiscreteFactorGraph.cpp
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@ -22,7 +22,6 @@
#include <gtsam/discrete/DiscreteFactorGraph.h> #include <gtsam/discrete/DiscreteFactorGraph.h>
#include <gtsam/discrete/DiscreteJunctionTree.h> #include <gtsam/discrete/DiscreteJunctionTree.h>
#include <gtsam/discrete/DiscreteLookupDAG.h> #include <gtsam/discrete/DiscreteLookupDAG.h>
#include <gtsam/discrete/TableFactor.h>
#include <gtsam/inference/EliminateableFactorGraph-inst.h> #include <gtsam/inference/EliminateableFactorGraph-inst.h>
#include <gtsam/inference/FactorGraph-inst.h> #include <gtsam/inference/FactorGraph-inst.h>
@ -127,14 +126,14 @@ namespace gtsam {
static DiscreteFactor::shared_ptr Normalize( static DiscreteFactor::shared_ptr Normalize(
const DiscreteFactor::shared_ptr& product) { const DiscreteFactor::shared_ptr& product) {
// Max over all the potentials by pretending all keys are frontal: // Max over all the potentials by pretending all keys are frontal:
gttic(DiscreteFindMax); gttic_(DiscreteFindMax);
auto normalization = product->max(product->size()); auto normalization = product->max(product->size());
gttoc(DiscreteFindMax); gttoc_(DiscreteFindMax);
gttic(DiscreteNormalization); gttic_(DiscreteNormalization);
// Normalize the product factor to prevent underflow. // Normalize the product factor to prevent underflow.
auto normalized_product = product->operator/(normalization); auto normalized_product = product->operator/(normalization);
gttoc(DiscreteNormalization); gttoc_(DiscreteNormalization);
return normalized_product; return normalized_product;
} }
@ -260,7 +259,7 @@ namespace gtsam {
gttic_(divide); gttic_(divide);
auto conditional = auto conditional =
std::make_shared<DiscreteConditional>(product, sum, orderedKeys); std::make_shared<DiscreteConditional>(product, sum, orderedKeys);
gttoc(divide); gttoc_(divide);
return {conditional, sum}; return {conditional, sum};
} }

10
gtsam/discrete/DiscreteLookupDAG.h
View File

@ -55,7 +55,15 @@ class GTSAM_EXPORT DiscreteLookupTable : public DiscreteConditional {
const ADT& potentials) const ADT& potentials)
: DiscreteConditional(nFrontals, keys, potentials) {} : DiscreteConditional(nFrontals, keys, potentials) {}
//TODO(Varun): Should accept a DiscreteFactor::shared_ptr /**
* @brief Construct a new Discrete Lookup Table object
*
* @param nFrontals number of frontal variables
* @param keys a sorted list of gtsam::Keys
* @param potentials Discrete potentials as a TableFactor.
*
* //TODO(Varun): Should accept a DiscreteFactor::shared_ptr
*/
DiscreteLookupTable(size_t nFrontals, const DiscreteKeys& keys, DiscreteLookupTable(size_t nFrontals, const DiscreteKeys& keys,
const TableFactor& potentials) const TableFactor& potentials)
: DiscreteConditional(nFrontals, keys, : DiscreteConditional(nFrontals, keys,