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remove duplicate method

release/4.3a0
Varun Agrawal 2024-09-20 02:34:40 -04:00
parent 5c72b5d0bc
commit 97a7121c37
2 changed files with 3 additions and 25 deletions
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15
gtsam/hybrid/HybridGaussianConditional.cpp
View File

@ -78,21 +78,6 @@ HybridGaussianConditional::HybridGaussianConditional(
DiscreteKeys{discreteParent}, DiscreteKeys{discreteParent},
Conditionals({discreteParent}, conditionals)) {} Conditionals({discreteParent}, conditionals)) {}
/* *******************************************************************************/
// TODO(dellaert): This is copy/paste: HybridGaussianConditional should be
// derived from HybridGaussianFactor, no?
GaussianFactorGraphTree HybridGaussianConditional::add(
const GaussianFactorGraphTree &sum) const {
using Y = GaussianFactorGraph;
auto add = [](const Y &graph1, const Y &graph2) {
auto result = graph1;
result.push_back(graph2);
return result;
};
const auto tree = asGaussianFactorGraphTree();
return sum.empty() ? tree : sum.apply(tree, add);
}
/* *******************************************************************************/ /* *******************************************************************************/
GaussianFactorGraphTree HybridGaussianConditional::asGaussianFactorGraphTree() GaussianFactorGraphTree HybridGaussianConditional::asGaussianFactorGraphTree()
const { const {

13
gtsam/hybrid/HybridGaussianConditional.h
View File

@ -108,8 +108,9 @@ class GTSAM_EXPORT HybridGaussianConditional
const Conditionals &conditionals); const Conditionals &conditionals);
/** /**
* @brief Make a Hybrid Gaussian Conditional from a vector of Gaussian conditionals. * @brief Make a Hybrid Gaussian Conditional from a vector of Gaussian
* The DecisionTree-based constructor is preferred over this one. * conditionals. The DecisionTree-based constructor is preferred over this
* one.
* *
* @param continuousFrontals The continuous frontal variables * @param continuousFrontals The continuous frontal variables
* @param continuousParents The continuous parent variables * @param continuousParents The continuous parent variables
@ -233,14 +234,6 @@ class GTSAM_EXPORT HybridGaussianConditional
*/ */
void prune(const DecisionTreeFactor &discreteProbs); void prune(const DecisionTreeFactor &discreteProbs);
/**
* @brief Merge the Gaussian Factor Graphs in `this` and `sum` while
* maintaining the decision tree structure.
*
* @param sum Decision Tree of Gaussian Factor Graphs
* @return GaussianFactorGraphTree
*/
GaussianFactorGraphTree add(const GaussianFactorGraphTree &sum) const;
/// @} /// @}
private: private: