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

Add all discrete keys

release/4.3a0
Frank Dellaert 2023-01-07 08:11:44 -08:00
parent 4e8dc6e34b
commit 84037e173f
1 changed files with 6 additions and 2 deletions
Show Stats Download Patch File Download Diff File Expand all files Collapse all files

8
gtsam/hybrid/HybridJunctionTree.cpp
View File

@ -62,8 +62,12 @@ struct HybridConstructorTraversalData {
// Add all the discrete keys in the hybrid factors to the current data // Add all the discrete keys in the hybrid factors to the current data
for (const auto& f : node->factors) { for (const auto& f : node->factors) {
if (auto p = boost::dynamic_pointer_cast<HybridFactor>(f)) { if (auto hf = boost::dynamic_pointer_cast<HybridFactor>(f)) {
for (auto& k : p->discreteKeys()) { for (auto& k : hf->discreteKeys()) {
data.discreteKeys.insert(k.first);
}
} else if (auto hf = boost::dynamic_pointer_cast<DecisionTreeFactor>(f)) {
for (auto& k : hf->discreteKeys()) {
data.discreteKeys.insert(k.first); data.discreteKeys.insert(k.first);
} }
} }