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release/4.3a0
Varun Agrawal 2024-09-29 10:26:14 -04:00
parent cc79d0432d
commit cfebf0cca0
2 changed files with 6 additions and 0 deletions
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5
gtsam/hybrid/HybridGaussianConditional.cpp
View File

@ -96,18 +96,21 @@ HybridGaussianConditional::HybridGaussianConditional(
conditionals_(helper.conditionals), conditionals_(helper.conditionals),
negLogConstant_(helper.minNegLogConstant) {} negLogConstant_(helper.minNegLogConstant) {}
/* *******************************************************************************/
HybridGaussianConditional::HybridGaussianConditional( HybridGaussianConditional::HybridGaussianConditional(
const DiscreteKey &mode, const DiscreteKey &mode,
const std::vector<GaussianConditional::shared_ptr> &conditionals) const std::vector<GaussianConditional::shared_ptr> &conditionals)
: HybridGaussianConditional(DiscreteKeys{mode}, : HybridGaussianConditional(DiscreteKeys{mode},
Conditionals({mode}, conditionals)) {} Conditionals({mode}, conditionals)) {}
/* *******************************************************************************/
HybridGaussianConditional::HybridGaussianConditional( HybridGaussianConditional::HybridGaussianConditional(
const DiscreteKey &mode, Key key, // const DiscreteKey &mode, Key key, //
const std::vector<std::pair<Vector, double>> &parameters) const std::vector<std::pair<Vector, double>> &parameters)
: HybridGaussianConditional(DiscreteKeys{mode}, : HybridGaussianConditional(DiscreteKeys{mode},
Helper(mode, parameters, key)) {} Helper(mode, parameters, key)) {}
/* *******************************************************************************/
HybridGaussianConditional::HybridGaussianConditional( HybridGaussianConditional::HybridGaussianConditional(
const DiscreteKey &mode, Key key, // const DiscreteKey &mode, Key key, //
const Matrix &A, Key parent, const Matrix &A, Key parent,
@ -115,6 +118,7 @@ HybridGaussianConditional::HybridGaussianConditional(
: HybridGaussianConditional(DiscreteKeys{mode}, : HybridGaussianConditional(DiscreteKeys{mode},
Helper(mode, parameters, key, A, parent)) {} Helper(mode, parameters, key, A, parent)) {}
/* *******************************************************************************/
HybridGaussianConditional::HybridGaussianConditional( HybridGaussianConditional::HybridGaussianConditional(
const DiscreteKey &mode, Key key, // const DiscreteKey &mode, Key key, //
const Matrix &A1, Key parent1, const Matrix &A2, Key parent2, const Matrix &A1, Key parent1, const Matrix &A2, Key parent2,
@ -123,6 +127,7 @@ HybridGaussianConditional::HybridGaussianConditional(
DiscreteKeys{mode}, DiscreteKeys{mode},
Helper(mode, parameters, key, A1, parent1, A2, parent2)) {} Helper(mode, parameters, key, A1, parent1, A2, parent2)) {}
/* *******************************************************************************/
HybridGaussianConditional::HybridGaussianConditional( HybridGaussianConditional::HybridGaussianConditional(
const DiscreteKeys &discreteParents, const DiscreteKeys &discreteParents,
const HybridGaussianConditional::Conditionals &conditionals) const HybridGaussianConditional::Conditionals &conditionals)

1
gtsam/hybrid/HybridGaussianFactorGraph.cpp
View File

@ -366,6 +366,7 @@ static std::shared_ptr<Factor> createHybridGaussianFactor(
return std::make_shared<HybridGaussianFactor>(discreteSeparator, newFactors); return std::make_shared<HybridGaussianFactor>(discreteSeparator, newFactors);
} }
/* *******************************************************************************/
std::pair<HybridConditional::shared_ptr, std::shared_ptr<Factor>> std::pair<HybridConditional::shared_ptr, std::shared_ptr<Factor>>
HybridGaussianFactorGraph::eliminate(const Ordering &keys) const { HybridGaussianFactorGraph::eliminate(const Ordering &keys) const {
// Since we eliminate all continuous variables first, // Since we eliminate all continuous variables first,