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release/4.3a0
Varun Agrawal 2022-06-02 22:50:44 -04:00
parent dd877479fa
commit 92176db645
1 changed files with 3 additions and 0 deletions
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gtsam/hybrid/HybridGaussianFactorGraph.cpp
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@ -183,6 +183,7 @@ hybridElimination(const HybridGaussianFactorGraph &factors,
KeyVector keysOfEliminated; // Not the ordering KeyVector keysOfEliminated; // Not the ordering
KeyVector keysOfSeparator; // TODO(frank): Is this just (keys - ordering)? KeyVector keysOfSeparator; // TODO(frank): Is this just (keys - ordering)?
// This is the elimination method on the leaf nodes
auto eliminate = [&](const GaussianFactorGraph &graph) auto eliminate = [&](const GaussianFactorGraph &graph)
-> GaussianFactorGraph::EliminationResult { -> GaussianFactorGraph::EliminationResult {
if (graph.empty()) { if (graph.empty()) {
@ -200,8 +201,10 @@ hybridElimination(const HybridGaussianFactorGraph &factors,
return result; return result;
}; };
// Perform elimination!
DecisionTree<Key, EliminationPair> eliminationResults(sum, eliminate); DecisionTree<Key, EliminationPair> eliminationResults(sum, eliminate);
// Separate out decision tree into conditionals and remaining factors.
auto pair = unzip(eliminationResults); auto pair = unzip(eliminationResults);
const GaussianMixtureFactor::Factors &separatorFactors = pair.second; const GaussianMixtureFactor::Factors &separatorFactors = pair.second;