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Minor change to shortcut

release/4.3a0
Abhijit Kundu 2012-06-24 04:13:49 +00:00
parent 2d0ce1c3ca
commit bfc033d3f7
1 changed files with 88 additions and 90 deletions
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14
gtsam/inference/BayesTreeCliqueBase-inl.h
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@ -113,7 +113,7 @@ namespace gtsam {
static const bool debug = false; static const bool debug = false;
BayesNet<ConditionalType> p_S_R; //shortcut P(S|R) BayesNet<ConditionalType> p_S_R; //shortcut P(S|R) This is empty now
//Check if the ShortCut already exists //Check if the ShortCut already exists
if(!cachedShortcut_){ if(!cachedShortcut_){
@ -122,11 +122,7 @@ namespace gtsam {
// in which case we return an empty Bayes net. // in which case we return an empty Bayes net.
derived_ptr parent(parent_.lock()); derived_ptr parent(parent_.lock());
if (R.get() != this && parent != R) {
if (R.get() == this || parent == R) {
BayesNet<ConditionalType> empty;
return empty;
}
// The root conditional // The root conditional
FactorGraph<FactorType> p_R(BayesNet<ConditionalType>(R->conditional())); FactorGraph<FactorType> p_R(BayesNet<ConditionalType>(R->conditional()));
@ -201,12 +197,14 @@ namespace gtsam {
// Undo the permutation // Undo the permutation
if(debug) toBack.print("toBack: "); if(debug) toBack.print("toBack: ");
p_S_R.permuteWithInverse(toBack); p_S_R.permuteWithInverse(toBack);
}
assertInvariants();
cachedShortcut_ = p_S_R; cachedShortcut_ = p_S_R;
} }
else else
p_S_R = *cachedShortcut_; p_S_R = *cachedShortcut_; // return the cached version
assertInvariants();
// return the shortcut P(S|R) // return the shortcut P(S|R)
return p_S_R; return p_S_R;