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Correct the second term in the pruner value so that the minNegLogConstant term is set correctly

release/4.3a0
Varun Agrawal 2024-11-01 19:58:23 -04:00
parent 67495babae
commit 9be3f41ca2
2 changed files with 13 additions and 2 deletions
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7
gtsam/hybrid/HybridGaussianConditional.cpp
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@ -322,8 +322,11 @@ HybridGaussianConditional::shared_ptr HybridGaussianConditional::prune(
const GaussianFactorValuePair &pair) -> GaussianFactorValuePair { const GaussianFactorValuePair &pair) -> GaussianFactorValuePair {
if (max->evaluate(choices) == 0.0) if (max->evaluate(choices) == 0.0)
return {nullptr, std::numeric_limits<double>::infinity()}; return {nullptr, std::numeric_limits<double>::infinity()};
else else {
return pair; // Add negLogConstant_ back so that the minimum negLogConstant in the
// HybridGaussianConditional is set correctly.
return {pair.first, pair.second + negLogConstant_};
}
}; };
FactorValuePairs prunedConditionals = factors().apply(pruner); FactorValuePairs prunedConditionals = factors().apply(pruner);

8
gtsam/hybrid/tests/testHybridGaussianConditional.cpp
View File

@ -275,6 +275,11 @@ TEST(HybridGaussianConditional, Prune) {
// Check that the pruned HybridGaussianConditional has 2 conditionals // Check that the pruned HybridGaussianConditional has 2 conditionals
EXPECT_LONGS_EQUAL(2, pruned->nrComponents()); EXPECT_LONGS_EQUAL(2, pruned->nrComponents());
// Check that the minimum negLogConstant is set correctly
EXPECT_DOUBLES_EQUAL(
hgc.conditionals()({{M(1), 0}, {M(2), 1}})->negLogConstant(),
pruned->negLogConstant(), 1e-9);
} }
{ {
const std::vector<double> potentials{0.2, 0, 0.3, 0, // const std::vector<double> potentials{0.2, 0, 0.3, 0, //
@ -285,6 +290,9 @@ TEST(HybridGaussianConditional, Prune) {
// Check that the pruned HybridGaussianConditional has 3 conditionals // Check that the pruned HybridGaussianConditional has 3 conditionals
EXPECT_LONGS_EQUAL(3, pruned->nrComponents()); EXPECT_LONGS_EQUAL(3, pruned->nrComponents());
// Check that the minimum negLogConstant is correct
EXPECT_DOUBLES_EQUAL(hgc.negLogConstant(), pruned->negLogConstant(), 1e-9);
} }
} }