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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,
const KeyFormatter& keyFormatter) const {
PrintForestVisitorPre visitor(keyFormatter);
treeTraversal::DepthFirstForest(*this, s, visitor);
treeTraversal::DepthFirstForest(*this, std::string(s), visitor);
}
} // namespace gtsam

22
gtsam/discrete/DiscreteSearch.cpp
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@ -159,7 +159,8 @@ DiscreteSearch::DiscreteSearch(const DiscreteEliminationTree& etree) {
: DiscreteFactorGraph(factors).product();
const size_t cardinality = factor->cardinality(node->key);
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;
};
@ -180,7 +181,8 @@ DiscreteSearch::DiscreteSearch(const DiscreteJunctionTree& junctionTree) {
for (Key key : cluster->orderedFrontalKeys) {
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;
};
@ -205,7 +207,8 @@ DiscreteSearch DiscreteSearch::FromFactorGraph(
DiscreteSearch::DiscreteSearch(const DiscreteBayesNet& bayesNet) {
slots_.reserve(bayesNet.size());
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();
}
@ -216,8 +219,8 @@ DiscreteSearch::DiscreteSearch(const DiscreteBayesTree& bayesTree) {
if (!clique) return;
for (const auto& child : clique->children) collectConditionals(child);
auto conditional = clique->conditional();
slots_.emplace_back(conditional, conditional->frontalAssignments(),
0.0);
const Slot slot(conditional, conditional->frontalAssignments(), 0.0);
slots_.emplace_back(std::move(slot));
};
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.
double DiscreteSearch::computeHeuristic() {
double error = 0.0;
for (size_t i = 0; i < slots_.size(); ++i) {
slots_[i].heuristic = error;
const auto& factor = slots_[i].factor;
Ordering ordering(factor->begin(), factor->end());
auto maxx = factor->max(ordering);
for (auto& slot : slots_) {
slot.heuristic = error;
Ordering ordering(slot.factor->begin(), slot.factor->end());
auto maxx = slot.factor->max(ordering);
error -= std::log(maxx->evaluate({}));
}
return error;