Merge branch 'hybrid-custom-discrete' into discrete-table-conditional

gtsam/discrete/DiscreteConditional.cpp

@@ -47,6 +47,15 @@ DiscreteConditional::DiscreteConditional(const size_t nrFrontals,
                                          const DecisionTreeFactor& f)
     : BaseFactor(f / (*f.sum(nrFrontals))), BaseConditional(nrFrontals) {}
 
+/* ************************************************************************** */
+DiscreteConditional::DiscreteConditional(size_t nrFrontals,
+                                         const DecisionTreeFactor& f,
+                                         const Ordering& orderedKeys)
+    : BaseFactor(f), BaseConditional(nrFrontals) {
+  keys_.clear();
+  keys_.insert(keys_.end(), orderedKeys.begin(), orderedKeys.end());
+}
+
 /* ************************************************************************** */
 DiscreteConditional::DiscreteConditional(size_t nrFrontals,
                                          const DiscreteKeys& keys,

gtsam/discrete/DiscreteConditional.h

@@ -56,6 +56,17 @@ class GTSAM_EXPORT DiscreteConditional
   /// Construct from factor, taking the first `nFrontals` keys as frontals.
   DiscreteConditional(size_t nFrontals, const DecisionTreeFactor& f);
 
+  /**
+   * @brief Construct from DecisionTreeFactor,
+   * taking the first `nrFrontals` from `orderedKeys`.
+   *
+   * @param nrFrontals The number of frontal variables.
+   * @param f The DecisionTreeFactor to construct from.
+   * @param orderedKeys Ordered list of keys involved in the conditional.
+   */
+  DiscreteConditional(size_t nrFrontals, const DecisionTreeFactor& f,
+                      const Ordering& orderedKeys);
+
   /**
    * Construct from DiscreteKeys and AlgebraicDecisionTree, taking the first
    * `nFrontals` keys as frontals, in the order given.

gtsam/discrete/TableFactor.cpp

@@ -252,6 +252,15 @@ DecisionTreeFactor TableFactor::operator*(const DecisionTreeFactor& f) const {
 DecisionTreeFactor TableFactor::toDecisionTreeFactor() const {
   DiscreteKeys dkeys = discreteKeys();
 
+  // If no keys, then return empty DecisionTreeFactor
+  if (dkeys.size() == 0) {
+    AlgebraicDecisionTree<Key> tree;
+    if (sparse_table_.size() != 0) {
+      tree = AlgebraicDecisionTree<Key>(sparse_table_.coeff(0));
+    }
+    return DecisionTreeFactor(dkeys, tree);
+  }
+
   std::vector<double> table;
   for (auto i = 0; i < sparse_table_.size(); i++) {
     table.push_back(sparse_table_.coeff(i));

gtsam/hybrid/HybridGaussianFactorGraph.cpp

@@ -360,12 +360,16 @@ discreteElimination(const HybridGaussianFactorGraph &factors,
   // All the discrete variables should form a single clique,
   // so we can sum out on all the variables as frontals.
   // This should give an empty separator.
-  Ordering orderedKeys(product.keys());
+  TableFactor::shared_ptr sum = product.sum(frontalKeys);
-  TableFactor::shared_ptr sum = product.sum(orderedKeys);
 #if GTSAM_HYBRID_TIMING
   gttoc_(EliminateDiscreteSum);
 #endif
 
+  // Ordering keys for the conditional so that frontalKeys are really in front
+  Ordering orderedKeys;
+  orderedKeys.insert(orderedKeys.end(), frontalKeys.begin(), frontalKeys.end());
+  orderedKeys.insert(orderedKeys.end(), sum->keys().begin(), sum->keys().end());
+
 #if GTSAM_HYBRID_TIMING
   gttic_(EliminateDiscreteFormDiscreteConditional);
 #endif

gtsam/hybrid/tests/testGaussianMixture.cpp

@@ -169,6 +169,7 @@ TEST(GaussianMixture, GaussianMixtureModel2) {
     EXPECT_DOUBLES_EQUAL(expected, posterior2(m1Assignment), 1e-8);
   }
 }
+
 /* ************************************************************************* */
 int main() {
   TestResult tr;