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

new scaledProduct method instead of DiscreteProduct

release/4.3a0
Varun Agrawal 2025-01-06 22:14:59 -05:00
parent 90825b96af
commit 82dba6322f
2 changed files with 9 additions and 5 deletions
Show Stats Download Patch File Download Diff File Expand all files Collapse all files

9
gtsam/discrete/DiscreteFactorGraph.cpp
View File

@ -124,11 +124,10 @@ namespace gtsam {
* @param factors The factors to multiply as a DiscreteFactorGraph. * @param factors The factors to multiply as a DiscreteFactorGraph.
* @return DiscreteFactor::shared_ptr * @return DiscreteFactor::shared_ptr
*/ */
static DiscreteFactor::shared_ptr DiscreteProduct( DiscreteFactor::shared_ptr DiscreteFactorGraph::scaledProduct() const {
const DiscreteFactorGraph& factors) {
// PRODUCT: multiply all factors // PRODUCT: multiply all factors
gttic(product); gttic(product);
DiscreteFactor::shared_ptr product = factors.product(); DiscreteFactor::shared_ptr product = this->product();
gttoc(product); gttoc(product);
// Max over all the potentials by pretending all keys are frontal: // Max over all the potentials by pretending all keys are frontal:
@ -145,7 +144,7 @@ namespace gtsam {
std::pair<DiscreteConditional::shared_ptr, DiscreteFactor::shared_ptr> // std::pair<DiscreteConditional::shared_ptr, DiscreteFactor::shared_ptr> //
EliminateForMPE(const DiscreteFactorGraph& factors, EliminateForMPE(const DiscreteFactorGraph& factors,
const Ordering& frontalKeys) { const Ordering& frontalKeys) {
DiscreteFactor::shared_ptr product = DiscreteProduct(factors); DiscreteFactor::shared_ptr product = factors.scaledProduct();
// max out frontals, this is the factor on the separator // max out frontals, this is the factor on the separator
gttic(max); gttic(max);
@ -223,7 +222,7 @@ namespace gtsam {
std::pair<DiscreteConditional::shared_ptr, DiscreteFactor::shared_ptr> // std::pair<DiscreteConditional::shared_ptr, DiscreteFactor::shared_ptr> //
EliminateDiscrete(const DiscreteFactorGraph& factors, EliminateDiscrete(const DiscreteFactorGraph& factors,
const Ordering& frontalKeys) { const Ordering& frontalKeys) {
DiscreteFactor::shared_ptr product = DiscreteProduct(factors); DiscreteFactor::shared_ptr product = factors.scaledProduct();
// sum out frontals, this is the factor on the separator // sum out frontals, this is the factor on the separator
gttic(sum); gttic(sum);

5
gtsam/discrete/DiscreteFactorGraph.h
View File

@ -150,6 +150,11 @@ class GTSAM_EXPORT DiscreteFactorGraph
/** return product of all factors as a single factor */ /** return product of all factors as a single factor */
DiscreteFactor::shared_ptr product() const; DiscreteFactor::shared_ptr product() const;
/** Return product of all factors as a single factor,
* which is scaled by the max to prevent underflow
*/
DiscreteFactor::shared_ptr scaledProduct() const;
/** /**
* Evaluates the factor graph given values, returns the joint probability of * Evaluates the factor graph given values, returns the joint probability of
* the factor graph given specific instantiation of values * the factor graph given specific instantiation of values