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

minor cleanup

release/4.3a0
Varun Agrawal 2022-12-21 15:08:24 +05:30
parent da5d3a242b
commit 812bf52c11
2 changed files with 2 additions and 5 deletions
Show Stats Download Patch File Download Diff File Expand all files Collapse all files

4
gtsam/hybrid/HybridBayesTree.cpp
View File

@ -14,7 +14,7 @@
* @brief Hybrid Bayes Tree, the result of eliminating a
* HybridJunctionTree
* @date Mar 11, 2022
* @author Fan Jiang
* @author Fan Jiang, Varun Agrawal
*/
#include <gtsam/base/treeTraversal-inst.h>
@ -166,8 +166,6 @@ void HybridBayesTree::prune(const size_t maxNrLeaves) {
DecisionTreeFactor prunedDecisionTree = decisionTree->prune(maxNrLeaves);
decisionTree->root_ = prunedDecisionTree.root_;
// this->print();
// decisionTree->print("", DefaultKeyFormatter);
/// Helper struct for pruning the hybrid bayes tree.
struct HybridPrunerData {

3
gtsam/hybrid/HybridGaussianFactorGraph.cpp
View File

@ -92,7 +92,6 @@ GaussianMixtureFactor::Sum sumFrontals(
if (auto cgmf = boost::dynamic_pointer_cast<GaussianMixtureFactor>(f)) {
sum = cgmf->add(sum);
}
if (auto gm = boost::dynamic_pointer_cast<HybridConditional>(f)) {
sum = gm->asMixture()->add(sum);
}
@ -189,7 +188,7 @@ hybridElimination(const HybridGaussianFactorGraph &factors,
DiscreteKeys discreteSeparator(discreteSeparatorSet.begin(),
discreteSeparatorSet.end());
// sum out frontals, this is the factor on the separator
// sum out frontals, this is the factor 𝜏 on the separator
GaussianMixtureFactor::Sum sum = sumFrontals(factors);
// If a tree leaf contains nullptr,