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refactor and better document prune method

release/4.3a0
Varun Agrawal 2023-07-25 11:11:55 -04:00
parent df0c5d7ca0
commit cb3c35b81a
1 changed files with 14 additions and 3 deletions
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17
gtsam/discrete/DecisionTreeFactor.cpp
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@ -201,8 +201,14 @@ namespace gtsam {
std::vector<double> probs;
// Go through the tree
this->apply([&](const Assignment<Key> a, double p) {
/* An operation that takes each leaf probability, and computes the
* nrAssignments by checking the difference between the keys in the factor
* and the keys in the assignment.
* The nrAssignments is then used to append
* the correct number of leaf probability values to the `probs` vector
* defined above.
*/
auto op = [&](const Assignment<Key>& a, double p) {
// Get all the keys in the current assignment
std::set<Key> assignment_keys;
for (auto&& [k, _] : a) {
@ -220,9 +226,14 @@ namespace gtsam {
for (auto&& k : diff) {
nrAssignments *= cardinalities_.at(k);
}
// Add p `nrAssignments` times to the probs vector.
probs.insert(probs.end(), nrAssignments, p);
return p;
});
};
// Go through the tree
this->apply(op);
return probs;
}