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use DiscreteTableConditional in EliminateDiscrete

release/4.3a0
Varun Agrawal 2024-12-31 00:20:09 -05:00
parent 60945c8e32
commit e46e9d67c5
1 changed files with 6 additions and 11 deletions
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17
gtsam/discrete/DiscreteFactorGraph.cpp
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@ -19,6 +19,7 @@
#include <gtsam/discrete/DiscreteBayesTree.h>
#include <gtsam/discrete/DiscreteConditional.h>
#include <gtsam/discrete/DiscreteTableConditional.h>
#include <gtsam/discrete/DiscreteEliminationTree.h>
#include <gtsam/discrete/DiscreteFactorGraph.h>
#include <gtsam/discrete/DiscreteJunctionTree.h>
@ -70,8 +71,7 @@ namespace gtsam {
if (factor) {
if (auto f = std::dynamic_pointer_cast<TableFactor>(factor)) {
result = result * (*f);
}
else if (auto dtf =
} else if (auto dtf =
std::dynamic_pointer_cast<DecisionTreeFactor>(factor)) {
result = TableFactor(result * (*dtf));
}
@ -253,18 +253,13 @@ namespace gtsam {
sum->keys().end());
// now divide product/sum to get conditional
#if GTSAM_HYBRID_TIMING
gttic_(EliminateDiscreteDivide);
#endif
auto c = product / (*sum);
#if GTSAM_HYBRID_TIMING
gttoc_(EliminateDiscreteDivide);
#endif
#if GTSAM_HYBRID_TIMING
gttic_(EliminateDiscreteToDiscreteConditional);
#endif
auto conditional = std::make_shared<DiscreteConditional>(
orderedKeys.size(), c.toDecisionTreeFactor());
// auto conditional = std::make_shared<DiscreteConditional>(
// orderedKeys.size(), (product / (*sum)).toDecisionTreeFactor());
auto conditional =
std::make_shared<DiscreteTableConditional>(product, *sum, orderedKeys);
#if GTSAM_HYBRID_TIMING
gttoc_(EliminateDiscreteToDiscreteConditional);
#endif