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release/4.3a0
Varun Agrawal 2024-09-13 05:59:09 -04:00
parent aef273bce8
commit 94805798e9
8 changed files with 6 additions and 6 deletions
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8
gtsam/hybrid/GaussianMixture.cpp → gtsam/hybrid/HybridGaussianConditional.cpp
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@ -72,7 +72,7 @@ HybridGaussianConditional::HybridGaussianConditional(
/* *******************************************************************************/ /* *******************************************************************************/
// TODO(dellaert): This is copy/paste: HybridGaussianConditional should be derived from // TODO(dellaert): This is copy/paste: HybridGaussianConditional should be derived from
// GaussianMixtureFactor, no? // HybridGaussianFactor, no?
GaussianFactorGraphTree HybridGaussianConditional::add( GaussianFactorGraphTree HybridGaussianConditional::add(
const GaussianFactorGraphTree &sum) const { const GaussianFactorGraphTree &sum) const {
using Y = GaussianFactorGraph; using Y = GaussianFactorGraph;
@ -203,7 +203,7 @@ bool HybridGaussianConditional::allFrontalsGiven(const VectorValues &given) cons
} }
/* ************************************************************************* */ /* ************************************************************************* */
std::shared_ptr<GaussianMixtureFactor> HybridGaussianConditional::likelihood( std::shared_ptr<HybridGaussianFactor> HybridGaussianConditional::likelihood(
const VectorValues &given) const { const VectorValues &given) const {
if (!allFrontalsGiven(given)) { if (!allFrontalsGiven(given)) {
throw std::runtime_error( throw std::runtime_error(
@ -212,7 +212,7 @@ std::shared_ptr<GaussianMixtureFactor> HybridGaussianConditional::likelihood(
const DiscreteKeys discreteParentKeys = discreteKeys(); const DiscreteKeys discreteParentKeys = discreteKeys();
const KeyVector continuousParentKeys = continuousParents(); const KeyVector continuousParentKeys = continuousParents();
const GaussianMixtureFactor::Factors likelihoods( const HybridGaussianFactor::Factors likelihoods(
conditionals_, [&](const GaussianConditional::shared_ptr &conditional) { conditionals_, [&](const GaussianConditional::shared_ptr &conditional) {
const auto likelihood_m = conditional->likelihood(given); const auto likelihood_m = conditional->likelihood(given);
const double Cgm_Kgcm = const double Cgm_Kgcm =
@ -231,7 +231,7 @@ std::shared_ptr<GaussianMixtureFactor> HybridGaussianConditional::likelihood(
return std::make_shared<JacobianFactor>(gfg); return std::make_shared<JacobianFactor>(gfg);
} }
}); });
return std::make_shared<GaussianMixtureFactor>( return std::make_shared<HybridGaussianFactor>(
continuousParentKeys, discreteParentKeys, likelihoods); continuousParentKeys, discreteParentKeys, likelihoods);
} }

0
gtsam/hybrid/GaussianMixture.h → gtsam/hybrid/HybridGaussianConditional.h
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0
gtsam/hybrid/GaussianMixtureFactor.cpp → gtsam/hybrid/HybridGaussianFactor.cpp
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0
gtsam/hybrid/GaussianMixtureFactor.h → gtsam/hybrid/HybridGaussianFactor.h
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0
gtsam/hybrid/MixtureFactor.h → gtsam/hybrid/HybridNonlinearFactor.h
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0
gtsam/hybrid/tests/testGaussianMixture.cpp → gtsam/hybrid/tests/testHybridGaussianConditional.cpp
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2
gtsam/hybrid/tests/testGaussianMixtureFactor.cpp → gtsam/hybrid/tests/testHybridGaussianFactor.cpp
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@ -10,7 +10,7 @@
* -------------------------------------------------------------------------- */ * -------------------------------------------------------------------------- */
/** /**
* @file testGaussianMixtureFactor.cpp * @file testHybridGaussianFactor.cpp
* @brief Unit tests for HybridGaussianFactor * @brief Unit tests for HybridGaussianFactor
* @author Varun Agrawal * @author Varun Agrawal
* @author Fan Jiang * @author Fan Jiang

2
gtsam/hybrid/tests/testMixtureFactor.cpp → gtsam/hybrid/tests/testHybridNonlinearFactor.cpp
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@ -10,7 +10,7 @@
* -------------------------------------------------------------------------- */ * -------------------------------------------------------------------------- */
/** /**
* @file testMixtureFactor.cpp * @file testHybridNonlinearFactor.cpp
* @brief Unit tests for HybridNonlinearFactor * @brief Unit tests for HybridNonlinearFactor
* @author Varun Agrawal * @author Varun Agrawal
* @date October 2022 * @date October 2022