new scaledProduct method instead of DiscreteProduct
parent
90825b96af
commit
82dba6322f
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@ -124,11 +124,10 @@ namespace gtsam {
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* @param factors The factors to multiply as a DiscreteFactorGraph.
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* @return DiscreteFactor::shared_ptr
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*/
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static DiscreteFactor::shared_ptr DiscreteProduct(
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const DiscreteFactorGraph& factors) {
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DiscreteFactor::shared_ptr DiscreteFactorGraph::scaledProduct() const {
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// PRODUCT: multiply all factors
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gttic(product);
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DiscreteFactor::shared_ptr product = factors.product();
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DiscreteFactor::shared_ptr product = this->product();
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gttoc(product);
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// Max over all the potentials by pretending all keys are frontal:
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@ -145,7 +144,7 @@ namespace gtsam {
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std::pair<DiscreteConditional::shared_ptr, DiscreteFactor::shared_ptr> //
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EliminateForMPE(const DiscreteFactorGraph& factors,
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const Ordering& frontalKeys) {
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DiscreteFactor::shared_ptr product = DiscreteProduct(factors);
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DiscreteFactor::shared_ptr product = factors.scaledProduct();
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// max out frontals, this is the factor on the separator
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gttic(max);
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@ -223,7 +222,7 @@ namespace gtsam {
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std::pair<DiscreteConditional::shared_ptr, DiscreteFactor::shared_ptr> //
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EliminateDiscrete(const DiscreteFactorGraph& factors,
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const Ordering& frontalKeys) {
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DiscreteFactor::shared_ptr product = DiscreteProduct(factors);
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DiscreteFactor::shared_ptr product = factors.scaledProduct();
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// sum out frontals, this is the factor on the separator
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gttic(sum);
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@ -150,6 +150,11 @@ class GTSAM_EXPORT DiscreteFactorGraph
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/** return product of all factors as a single factor */
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DiscreteFactor::shared_ptr product() const;
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/** Return product of all factors as a single factor,
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* which is scaled by the max to prevent underflow
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*/
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DiscreteFactor::shared_ptr scaledProduct() const;
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/**
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* Evaluates the factor graph given values, returns the joint probability of
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* the factor graph given specific instantiation of values
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