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handle Gaussian conditionals in the BayesTree

release/4.3a0
Varun Agrawal 2022-08-31 10:36:07 -04:00
parent 8c41f63167
commit ca4293b70d
2 changed files with 11 additions and 6 deletions
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1
gtsam/hybrid/HybridBayesNet.cpp
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@ -138,7 +138,6 @@ GaussianBayesNet HybridBayesNet::choose(
} else if (factors_.at(idx)->isContinuous()) { } else if (factors_.at(idx)->isContinuous()) {
// If continuous only, add gaussian conditional. // If continuous only, add gaussian conditional.
factors_.at(idx)->print();
gbn.push_back((this->atGaussian(idx))); gbn.push_back((this->atGaussian(idx)));
} else if (factors_.at(idx)->isDiscrete()) { } else if (factors_.at(idx)->isDiscrete()) {

16
gtsam/hybrid/HybridBayesTree.cpp
View File

@ -57,12 +57,14 @@ HybridValues HybridBayesTree::optimize() const {
added_keys.insert(added_keys.end(), conditional->frontals().begin(), added_keys.insert(added_keys.end(), conditional->frontals().begin(),
conditional->frontals().end()); conditional->frontals().end());
if (conditional->isHybrid()) { if (conditional->isDiscrete()) {
// If conditional is hybrid, add it to a Hybrid Bayes net. // If discrete, we use it to compute the MPE
hbn.push_back(conditional);
} else if (conditional->isDiscrete()) {
// Else if discrete, we use it to compute the MPE
dbn.push_back(conditional->asDiscreteConditional()); dbn.push_back(conditional->asDiscreteConditional());
} else {
// Else conditional is hybrid or continuous-only,
// so we directly add it to the Hybrid Bayes net.
hbn.push_back(conditional);
} }
} }
} }
@ -109,6 +111,10 @@ VectorValues HybridBayesTree::optimize(const DiscreteValues& assignment) const {
(*gm)(assignment); (*gm)(assignment);
gbn.push_back(gaussian_conditional); gbn.push_back(gaussian_conditional);
} else if (conditional->isContinuous()) {
// If conditional is Gaussian, we simply add it to the Bayes net.
gbn.push_back(conditional->asGaussian());
} }
} }
} }