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remove redundancy from HybridConditional constructors

release/4.3a0
Varun Agrawal 2024-09-16 13:31:03 -04:00
parent 4302ee33c9
commit 8cb95d5b5a
1 changed files with 4 additions and 11 deletions
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15
gtsam/hybrid/HybridConditional.cpp
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@ -28,14 +28,9 @@ HybridConditional::HybridConditional(const KeyVector &continuousFrontals,
const DiscreteKeys &discreteFrontals,
const KeyVector &continuousParents,
const DiscreteKeys &discreteParents)
: HybridConditional(
CollectKeys(
{continuousFrontals.begin(), continuousFrontals.end()},
KeyVector{continuousParents.begin(), continuousParents.end()}),
CollectDiscreteKeys(
{discreteFrontals.begin(), discreteFrontals.end()},
{discreteParents.begin(), discreteParents.end()}),
continuousFrontals.size() + discreteFrontals.size()) {}
: HybridConditional(CollectKeys(continuousFrontals, continuousParents),
CollectDiscreteKeys(discreteFrontals, discreteParents),
continuousFrontals.size() + discreteFrontals.size()) {}
/* ************************************************************************ */
HybridConditional::HybridConditional(
@ -56,9 +51,7 @@ HybridConditional::HybridConditional(
/* ************************************************************************ */
HybridConditional::HybridConditional(
const std::shared_ptr<HybridGaussianConditional> &gaussianMixture)
: BaseFactor(KeyVector(gaussianMixture->keys().begin(),
gaussianMixture->keys().begin() +
gaussianMixture->nrContinuous()),
: BaseFactor(gaussianMixture->continuousKeys(),
gaussianMixture->discreteKeys()),
BaseConditional(gaussianMixture->nrFrontals()) {
inner_ = gaussianMixture;