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better docstring for prunerFunc and added dividers

release/4.3a0
Varun Agrawal 2024-09-28 18:54:55 -04:00
parent b2c73af2a2
commit 8904f5f3ff
3 changed files with 13 additions and 8 deletions
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9
gtsam/hybrid/HybridGaussianConditional.cpp
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@ -69,12 +69,14 @@ HybridGaussianConditional::HybridGaussianConditional(
conditionals_(conditionals), conditionals_(conditionals),
negLogConstant_(helper.minNegLogConstant) {} negLogConstant_(helper.minNegLogConstant) {}
/* *******************************************************************************/
HybridGaussianConditional::HybridGaussianConditional( HybridGaussianConditional::HybridGaussianConditional(
const DiscreteKeys &discreteParents, const DiscreteKeys &discreteParents,
const HybridGaussianConditional::Conditionals &conditionals) const HybridGaussianConditional::Conditionals &conditionals)
: HybridGaussianConditional(discreteParents, conditionals, : HybridGaussianConditional(discreteParents, conditionals,
ConstructorHelper(conditionals)) {} ConstructorHelper(conditionals)) {}
/* *******************************************************************************/
HybridGaussianConditional::HybridGaussianConditional( HybridGaussianConditional::HybridGaussianConditional(
const DiscreteKey &discreteParent, const DiscreteKey &discreteParent,
const std::vector<GaussianConditional::shared_ptr> &conditionals) const std::vector<GaussianConditional::shared_ptr> &conditionals)
@ -242,13 +244,6 @@ std::set<DiscreteKey> DiscreteKeysAsSet(const DiscreteKeys &discreteKeys) {
} }
/* ************************************************************************* */ /* ************************************************************************* */
/**
* @brief Helper function to get the pruner functional.
*
* @param discreteProbs The probabilities of only discrete keys.
* @return std::function<GaussianConditional::shared_ptr(
* const Assignment<Key> &, const GaussianConditional::shared_ptr &)>
*/
std::function<GaussianConditional::shared_ptr( std::function<GaussianConditional::shared_ptr(
const Assignment<Key> &, const GaussianConditional::shared_ptr &)> const Assignment<Key> &, const GaussianConditional::shared_ptr &)>
HybridGaussianConditional::prunerFunc(const DecisionTreeFactor &discreteProbs) { HybridGaussianConditional::prunerFunc(const DecisionTreeFactor &discreteProbs) {

8
gtsam/hybrid/HybridGaussianConditional.h
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@ -194,7 +194,13 @@ class GTSAM_EXPORT HybridGaussianConditional
/// Convert to a DecisionTree of Gaussian factor graphs. /// Convert to a DecisionTree of Gaussian factor graphs.
GaussianFactorGraphTree asGaussianFactorGraphTree() const; GaussianFactorGraphTree asGaussianFactorGraphTree() const;
//// Get the pruner functor from pruned discrete probabilities. /**
* @brief Get the pruner function from discrete probabilities.
*
* @param discreteProbs The probabilities of only discrete keys.
* @return std::function<GaussianConditional::shared_ptr(
* const Assignment<Key> &, const GaussianConditional::shared_ptr &)>
*/
std::function<GaussianConditional::shared_ptr( std::function<GaussianConditional::shared_ptr(
const Assignment<Key> &, const GaussianConditional::shared_ptr &)> const Assignment<Key> &, const GaussianConditional::shared_ptr &)>
prunerFunc(const DecisionTreeFactor &prunedProbabilities); prunerFunc(const DecisionTreeFactor &prunedProbabilities);

4
gtsam/hybrid/HybridGaussianFactor.cpp
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@ -126,16 +126,19 @@ HybridGaussianFactor::HybridGaussianFactor(const ConstructorHelper &helper)
factors_(helper.factorsTree.empty() ? augment(helper.pairs) factors_(helper.factorsTree.empty() ? augment(helper.pairs)
: helper.factorsTree) {} : helper.factorsTree) {}
/* *******************************************************************************/
HybridGaussianFactor::HybridGaussianFactor( HybridGaussianFactor::HybridGaussianFactor(
const DiscreteKey &discreteKey, const DiscreteKey &discreteKey,
const std::vector<GaussianFactor::shared_ptr> &factors) const std::vector<GaussianFactor::shared_ptr> &factors)
: HybridGaussianFactor(ConstructorHelper(discreteKey, factors)) {} : HybridGaussianFactor(ConstructorHelper(discreteKey, factors)) {}
/* *******************************************************************************/
HybridGaussianFactor::HybridGaussianFactor( HybridGaussianFactor::HybridGaussianFactor(
const DiscreteKey &discreteKey, const DiscreteKey &discreteKey,
const std::vector<GaussianFactorValuePair> &factorPairs) const std::vector<GaussianFactorValuePair> &factorPairs)
: HybridGaussianFactor(ConstructorHelper(discreteKey, factorPairs)) {} : HybridGaussianFactor(ConstructorHelper(discreteKey, factorPairs)) {}
/* *******************************************************************************/
HybridGaussianFactor::HybridGaussianFactor(const DiscreteKeys &discreteKeys, HybridGaussianFactor::HybridGaussianFactor(const DiscreteKeys &discreteKeys,
const FactorValuePairs &factors) const FactorValuePairs &factors)
: HybridGaussianFactor(ConstructorHelper(discreteKeys, factors)) {} : HybridGaussianFactor(ConstructorHelper(discreteKeys, factors)) {}
@ -223,6 +226,7 @@ double HybridGaussianFactor::potentiallyPrunedComponentError(
return std::numeric_limits<double>::max(); return std::numeric_limits<double>::max();
} }
} }
/* *******************************************************************************/ /* *******************************************************************************/
AlgebraicDecisionTree<Key> HybridGaussianFactor::errorTree( AlgebraicDecisionTree<Key> HybridGaussianFactor::errorTree(
const VectorValues &continuousValues) const { const VectorValues &continuousValues) const {