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renaming

release/4.3a0
Varun Agrawal 2024-09-16 13:28:29 -04:00
parent 3a7a0b84fe
commit 97eb6bc8b9
1 changed files with 7 additions and 6 deletions
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13
gtsam/hybrid/HybridGaussianFactorGraph.cpp
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@ -114,10 +114,11 @@ void HybridGaussianFactorGraph::printErrors(
<< "\n"; << "\n";
} else { } else {
// Is hybrid // Is hybrid
auto mixtureComponent = auto conditionalComponent =
hc->asMixture()->operator()(values.discrete()); hc->asMixture()->operator()(values.discrete());
mixtureComponent->print(ss.str(), keyFormatter); conditionalComponent->print(ss.str(), keyFormatter);
std::cout << "error = " << mixtureComponent->error(values) << "\n"; std::cout << "error = " << conditionalComponent->error(values)
<< "\n";
} }
} }
} else if (auto gf = std::dynamic_pointer_cast<GaussianFactor>(factor)) { } else if (auto gf = std::dynamic_pointer_cast<GaussianFactor>(factor)) {
@ -411,10 +412,10 @@ hybridElimination(const HybridGaussianFactorGraph &factors,
// Create the HybridGaussianConditional from the conditionals // Create the HybridGaussianConditional from the conditionals
HybridGaussianConditional::Conditionals conditionals( HybridGaussianConditional::Conditionals conditionals(
eliminationResults, [](const Result &pair) { return pair.first; }); eliminationResults, [](const Result &pair) { return pair.first; });
auto gaussianMixture = std::make_shared<HybridGaussianConditional>( auto hybridGaussian = std::make_shared<HybridGaussianConditional>(
frontalKeys, continuousSeparator, discreteSeparator, conditionals); frontalKeys, continuousSeparator, discreteSeparator, conditionals);
return {std::make_shared<HybridConditional>(gaussianMixture), newFactor}; return {std::make_shared<HybridConditional>(hybridGaussian), newFactor};
} }
/* ************************************************************************ /* ************************************************************************
@ -465,7 +466,7 @@ EliminateHybrid(const HybridGaussianFactorGraph &factors,
// Now we will need to know how to retrieve the corresponding continuous // Now we will need to know how to retrieve the corresponding continuous
// densities for the assignment (c1,c2,c3) (OR (c2,c3,c1), note there is NO // densities for the assignment (c1,c2,c3) (OR (c2,c3,c1), note there is NO
// defined order!). We also need to consider when there is pruning. Two // defined order!). We also need to consider when there is pruning. Two
// mixture factors could have different pruning patterns - one could have // hybrid factors could have different pruning patterns - one could have
// (c1=0,c2=1) pruned, and another could have (c2=0,c3=1) pruned, and this // (c1=0,c2=1) pruned, and another could have (c2=0,c3=1) pruned, and this
// creates a big problem in how to identify the intersection of non-pruned // creates a big problem in how to identify the intersection of non-pruned
// branches. // branches.