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undo some more

release/4.3a0
Varun Agrawal 2023-07-23 17:12:27 -04:00
parent 2df3cc80a9
commit a4462a0a3e
4 changed files with 8 additions and 7 deletions
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4
gtsam/hybrid/GaussianMixture.cpp
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@ -234,7 +234,7 @@ std::set<DiscreteKey> DiscreteKeysAsSet(const DiscreteKeys &discreteKeys) {
*/ */
std::function<GaussianConditional::shared_ptr( std::function<GaussianConditional::shared_ptr(
const Assignment<Key> &, const GaussianConditional::shared_ptr &)> const Assignment<Key> &, const GaussianConditional::shared_ptr &)>
GaussianMixture::prunerFunc(const TableFactor &discreteProbs) { GaussianMixture::prunerFunc(const DecisionTreeFactor &discreteProbs) {
// Get the discrete keys as sets for the decision tree // Get the discrete keys as sets for the decision tree
// and the gaussian mixture. // and the gaussian mixture.
auto discreteProbsKeySet = DiscreteKeysAsSet(discreteProbs.discreteKeys()); auto discreteProbsKeySet = DiscreteKeysAsSet(discreteProbs.discreteKeys());
@ -285,7 +285,7 @@ GaussianMixture::prunerFunc(const TableFactor &discreteProbs) {
} }
/* *******************************************************************************/ /* *******************************************************************************/
void GaussianMixture::prune(const TableFactor &discreteProbs) { void GaussianMixture::prune(const DecisionTreeFactor &discreteProbs) {
// Functional which loops over all assignments and create a set of // Functional which loops over all assignments and create a set of
// GaussianConditionals // GaussianConditionals
auto pruner = prunerFunc(discreteProbs); auto pruner = prunerFunc(discreteProbs);

5
gtsam/hybrid/GaussianMixture.h
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@ -23,7 +23,6 @@
#include <gtsam/discrete/DecisionTree.h> #include <gtsam/discrete/DecisionTree.h>
#include <gtsam/discrete/DecisionTreeFactor.h> #include <gtsam/discrete/DecisionTreeFactor.h>
#include <gtsam/discrete/DiscreteKey.h> #include <gtsam/discrete/DiscreteKey.h>
#include <gtsam/discrete/TableFactor.h>
#include <gtsam/hybrid/GaussianMixtureFactor.h> #include <gtsam/hybrid/GaussianMixtureFactor.h>
#include <gtsam/hybrid/HybridFactor.h> #include <gtsam/hybrid/HybridFactor.h>
#include <gtsam/inference/Conditional.h> #include <gtsam/inference/Conditional.h>
@ -81,7 +80,7 @@ class GTSAM_EXPORT GaussianMixture
*/ */
std::function<GaussianConditional::shared_ptr( std::function<GaussianConditional::shared_ptr(
const Assignment<Key> &, const GaussianConditional::shared_ptr &)> const Assignment<Key> &, const GaussianConditional::shared_ptr &)>
prunerFunc(const TableFactor &discreteProbs); prunerFunc(const DecisionTreeFactor &discreteProbs);
public: public:
/// @name Constructors /// @name Constructors
@ -239,7 +238,7 @@ class GTSAM_EXPORT GaussianMixture
* *
* @param discreteProbs A pruned set of probabilities for the discrete keys. * @param discreteProbs A pruned set of probabilities for the discrete keys.
*/ */
void prune(const TableFactor &discreteProbs); void prune(const DecisionTreeFactor &discreteProbs);
/** /**
* @brief Merge the Gaussian Factor Graphs in `this` and `sum` while * @brief Merge the Gaussian Factor Graphs in `this` and `sum` while

2
gtsam/hybrid/HybridBayesNet.cpp
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@ -64,7 +64,7 @@ DecisionTreeFactor::shared_ptr HybridBayesNet::discreteConditionals() const {
* @return std::function<double(const Assignment<Key> &, double)> * @return std::function<double(const Assignment<Key> &, double)>
*/ */
std::function<double(const Assignment<Key> &, double)> prunerFunc( std::function<double(const Assignment<Key> &, double)> prunerFunc(
const TableFactor &prunedDiscreteProbs, const DecisionTreeFactor &prunedDiscreteProbs,
const HybridConditional &conditional) { const HybridConditional &conditional) {
// Get the discrete keys as sets for the decision tree // Get the discrete keys as sets for the decision tree
// and the Gaussian mixture. // and the Gaussian mixture.

4
gtsam/hybrid/HybridBayesNet.h
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@ -17,6 +17,7 @@
#pragma once #pragma once
#include <gtsam/discrete/DecisionTreeFactor.h>
#include <gtsam/global_includes.h> #include <gtsam/global_includes.h>
#include <gtsam/hybrid/HybridConditional.h> #include <gtsam/hybrid/HybridConditional.h>
#include <gtsam/hybrid/HybridValues.h> #include <gtsam/hybrid/HybridValues.h>
@ -225,7 +226,8 @@ class GTSAM_EXPORT HybridBayesNet : public BayesNet<HybridConditional> {
* *
* @param prunedDiscreteProbs * @param prunedDiscreteProbs
*/ */
void updateDiscreteConditionals(const DecisionTreeFactor &prunedDiscreteProbs); void updateDiscreteConditionals(
const DecisionTreeFactor &prunedDiscreteProbs);
#ifdef GTSAM_ENABLE_BOOST_SERIALIZATION #ifdef GTSAM_ENABLE_BOOST_SERIALIZATION
/** Serialization function */ /** Serialization function */