Better prune

gtsam/discrete/DecisionTreeFactor.h

@@ -131,7 +131,7 @@ namespace gtsam {
 
     /// Calculate probability for given values `x`, 
     /// is just look up in AlgebraicDecisionTree.
-    double evaluate(const DiscreteValues& values) const  {
+    double evaluate(const Assignment<Key>& values) const  {
       return ADT::operator()(values);
     }
 
@@ -155,7 +155,7 @@ namespace gtsam {
       return apply(f, safe_div);
     }
 
-    /// Convert into a decisiontree
+    /// Convert into a decision tree
     DecisionTreeFactor toDecisionTreeFactor() const override { return *this; }
 
     /// Create new factor by summing all values with the same separator values

gtsam/hybrid/HybridGaussianConditional.cpp

@@ -291,45 +291,24 @@ std::set<DiscreteKey> DiscreteKeysAsSet(const DiscreteKeys &discreteKeys) {
 /* *******************************************************************************/
 HybridGaussianConditional::shared_ptr HybridGaussianConditional::prune(
     const DecisionTreeFactor &discreteProbs) const {
-  auto discreteProbsKeySet = DiscreteKeysAsSet(discreteProbs.discreteKeys());
-  auto hybridGaussianCondKeySet = DiscreteKeysAsSet(this->discreteKeys());
+  // Find keys in discreteProbs.keys() but not in this->keys():
+  std::set<Key> mine(this->keys().begin(), this->keys().end());
+  std::set<Key> theirs(discreteProbs.keys().begin(),
+                       discreteProbs.keys().end());
+  std::vector<Key> diff;
+  std::set_difference(theirs.begin(), theirs.end(), mine.begin(), mine.end(),
+                      std::back_inserter(diff));
 
-  // Functional which loops over all assignments and create a set of
-  // GaussianConditionals
+  // Find maximum probability value for every combination of our keys.
+  Ordering keys(diff);
+  auto max = discreteProbs.max(keys);
+
+  // Check the max value for every combination of our keys.
+  // If the max value is 0.0, we can prune the corresponding conditional.
   auto pruner = [&](const Assignment<Key> &choices,
                     const GaussianConditional::shared_ptr &conditional)
       -> GaussianConditional::shared_ptr {
-    // typecast so we can use this to get probability value
-    const DiscreteValues values(choices);
-
-    // Case where the hybrid gaussian conditional has the same
-    // discrete keys as the decision tree.
-    if (hybridGaussianCondKeySet == discreteProbsKeySet) {
-      return (discreteProbs(values) == 0.0) ? nullptr : conditional;
-    } else {
-      // TODO(Frank): It might be faster to "choose" based on values
-      // and then check whether the resulting tree has non-nullptrs.
-      std::vector<DiscreteKey> set_diff;
-      std::set_difference(
-          discreteProbsKeySet.begin(), discreteProbsKeySet.end(),
-          hybridGaussianCondKeySet.begin(), hybridGaussianCondKeySet.end(),
-          std::back_inserter(set_diff));
-
-      const std::vector<DiscreteValues> assignments =
-          DiscreteValues::CartesianProduct(set_diff);
-      for (const DiscreteValues &assignment : assignments) {
-        DiscreteValues augmented_values(values);
-        augmented_values.insert(assignment);
-
-        // If any one of the sub-branches are non-zero,
-        // we need this conditional.
-        if (discreteProbs(augmented_values) > 0.0) {
-          return conditional;
-        }
-      }
-      // If we are here, it means that all the sub-branches are 0, so we prune.
-      return nullptr;
-    }
+    return (max->evaluate(choices) == 0.0) ? nullptr : conditional;
   };
 
   auto pruned_conditionals = conditionals_.apply(pruner);