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Remove error checking

release/4.3a0
Frank Dellaert 2024-09-26 13:34:03 -07:00
parent 69b1313eed
commit 83fae8ecf8
2 changed files with 7 additions and 19 deletions
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9
gtsam/hybrid/HybridGaussianConditional.cpp
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@ -37,14 +37,9 @@ HybridGaussianConditional::ConstructorHelper::ConstructorHelper(
[&](const GaussianConditional::shared_ptr &c) -> GaussianFactorValuePair { [&](const GaussianConditional::shared_ptr &c) -> GaussianFactorValuePair {
double value = 0.0; double value = 0.0;
if (c) { if (c) {
KeyVector cf(c->frontals().begin(), c->frontals().end());
KeyVector cp(c->parents().begin(), c->parents().end());
if (frontals.empty()) { if (frontals.empty()) {
frontals = cf; frontals = KeyVector(c->frontals().begin(), c->frontals().end());
parents = cp; parents = KeyVector(c->parents().begin(), c->parents().end());
} else if (cf != frontals || cp != parents) {
throw std::invalid_argument(
"All conditionals must have the same frontals and parents");
} }
value = c->negLogConstant(); value = c->negLogConstant();
negLogConstant = std::min(negLogConstant, value); negLogConstant = std::min(negLogConstant, value);

17
gtsam/hybrid/HybridGaussianFactor.cpp
View File

@ -76,11 +76,9 @@ HybridGaussianFactor::ConstructorHelper::ConstructorHelper(
: discreteKeys({discreteKey}) { : discreteKeys({discreteKey}) {
// Extract continuous keys from the first non-null factor // Extract continuous keys from the first non-null factor
for (const auto &factor : factors) { for (const auto &factor : factors) {
if (!factor) continue; // Skip null factors if (factor && continuousKeys.empty()) {
if (continuousKeys.empty()) {
continuousKeys = factor->keys(); continuousKeys = factor->keys();
} else if (factor->keys() != continuousKeys) { break;
throw std::invalid_argument("All factors must have the same keys");
} }
} }
@ -95,11 +93,9 @@ HybridGaussianFactor::ConstructorHelper::ConstructorHelper(
: discreteKeys({discreteKey}) { : discreteKeys({discreteKey}) {
// Extract continuous keys from the first non-null factor // Extract continuous keys from the first non-null factor
for (const auto &pair : factorPairs) { for (const auto &pair : factorPairs) {
if (!pair.first) continue; // Skip null factors if (pair.first && continuousKeys.empty()) {
if (continuousKeys.empty()) {
continuousKeys = pair.first->keys(); continuousKeys = pair.first->keys();
} else if (pair.first->keys() != continuousKeys) { break;
throw std::invalid_argument("All factors must have the same keys");
} }
} }
@ -113,11 +109,8 @@ HybridGaussianFactor::ConstructorHelper::ConstructorHelper(
: discreteKeys(discreteKeys) { : discreteKeys(discreteKeys) {
// Extract continuous keys from the first non-null factor // Extract continuous keys from the first non-null factor
factorPairs.visit([&](const GaussianFactorValuePair &pair) { factorPairs.visit([&](const GaussianFactorValuePair &pair) {
if (!pair.first) return; // Skip null factors if (pair.first && continuousKeys.empty()) {
if (continuousKeys.empty()) {
continuousKeys = pair.first->keys(); continuousKeys = pair.first->keys();
} else if (pair.first->keys() != continuousKeys) {
throw std::invalid_argument("All factors must have the same keys");
} }
}); });