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Fix some CI issues

release/4.3a0
Frank Dellaert 2025-01-27 23:35:31 -05:00
parent 8d6b6055fe
commit af07409c10
2 changed files with 13 additions and 11 deletions
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2
gtsam/discrete/DiscreteJunctionTree.cpp
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@ -51,7 +51,7 @@ struct PrintForestVisitorPre {
void DiscreteJunctionTree::print(const std::string& s, void DiscreteJunctionTree::print(const std::string& s,
const KeyFormatter& keyFormatter) const { const KeyFormatter& keyFormatter) const {
PrintForestVisitorPre visitor(keyFormatter); PrintForestVisitorPre visitor(keyFormatter);
treeTraversal::DepthFirstForest(*this, s, visitor); treeTraversal::DepthFirstForest(*this, std::string(s), visitor);
} }
} // namespace gtsam } // namespace gtsam

22
gtsam/discrete/DiscreteSearch.cpp
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@ -159,7 +159,8 @@ DiscreteSearch::DiscreteSearch(const DiscreteEliminationTree& etree) {
: DiscreteFactorGraph(factors).product(); : DiscreteFactorGraph(factors).product();
const size_t cardinality = factor->cardinality(node->key); const size_t cardinality = factor->cardinality(node->key);
std::vector<std::pair<Key, size_t>> pairs{{node->key, cardinality}}; std::vector<std::pair<Key, size_t>> pairs{{node->key, cardinality}};
slots_.emplace_back(factor, DiscreteValues::CartesianProduct(pairs), 0.0); const Slot slot(factor, DiscreteValues::CartesianProduct(pairs), 0.0);
slots_.emplace_back(std::move(slot));
return data + 1; return data + 1;
}; };
@ -180,7 +181,8 @@ DiscreteSearch::DiscreteSearch(const DiscreteJunctionTree& junctionTree) {
for (Key key : cluster->orderedFrontalKeys) { for (Key key : cluster->orderedFrontalKeys) {
pairs.emplace_back(key, factor->cardinality(key)); pairs.emplace_back(key, factor->cardinality(key));
} }
slots_.emplace_back(factor, DiscreteValues::CartesianProduct(pairs), 0.0); const Slot slot(factor, DiscreteValues::CartesianProduct(pairs), 0.0);
slots_.emplace_back(std::move(slot));
return data + 1; return data + 1;
}; };
@ -205,7 +207,8 @@ DiscreteSearch DiscreteSearch::FromFactorGraph(
DiscreteSearch::DiscreteSearch(const DiscreteBayesNet& bayesNet) { DiscreteSearch::DiscreteSearch(const DiscreteBayesNet& bayesNet) {
slots_.reserve(bayesNet.size()); slots_.reserve(bayesNet.size());
for (auto& conditional : bayesNet) { for (auto& conditional : bayesNet) {
slots_.emplace_back(conditional, conditional->frontalAssignments(), 0.0); const Slot slot(conditional, conditional->frontalAssignments(), 0.0);
slots_.emplace_back(std::move(slot));
} }
lowerBound_ = computeHeuristic(); lowerBound_ = computeHeuristic();
} }
@ -216,8 +219,8 @@ DiscreteSearch::DiscreteSearch(const DiscreteBayesTree& bayesTree) {
if (!clique) return; if (!clique) return;
for (const auto& child : clique->children) collectConditionals(child); for (const auto& child : clique->children) collectConditionals(child);
auto conditional = clique->conditional(); auto conditional = clique->conditional();
slots_.emplace_back(conditional, conditional->frontalAssignments(), const Slot slot(conditional, conditional->frontalAssignments(), 0.0);
0.0); slots_.emplace_back(std::move(slot));
}; };
slots_.reserve(bayesTree.size()); slots_.reserve(bayesTree.size());
@ -300,11 +303,10 @@ std::vector<Solution> DiscreteSearch::run(size_t K) const {
// lower bound of the cost for *all* slots. // lower bound of the cost for *all* slots.
double DiscreteSearch::computeHeuristic() { double DiscreteSearch::computeHeuristic() {
double error = 0.0; double error = 0.0;
for (size_t i = 0; i < slots_.size(); ++i) { for (auto& slot : slots_) {
slots_[i].heuristic = error; slot.heuristic = error;
const auto& factor = slots_[i].factor; Ordering ordering(slot.factor->begin(), slot.factor->end());
Ordering ordering(factor->begin(), factor->end()); auto maxx = slot.factor->max(ordering);
auto maxx = factor->max(ordering);
error -= std::log(maxx->evaluate({})); error -= std::log(maxx->evaluate({}));
} }
return error; return error;