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cleaner assignment in augment()

release/4.3a0
Varun Agrawal 2024-09-16 19:46:00 -04:00
parent f9031f53b4
commit ef2ffd4115
1 changed files with 5 additions and 3 deletions
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8
gtsam/hybrid/HybridGaussianFactor.cpp
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@ -42,9 +42,11 @@ HybridGaussianFactor::Factors augment(
const HybridGaussianFactor::FactorValuePairs &factors) { const HybridGaussianFactor::FactorValuePairs &factors) {
// Find the minimum value so we can "proselytize" to positive values. // Find the minimum value so we can "proselytize" to positive values.
// Done because we can't have sqrt of negative numbers. // Done because we can't have sqrt of negative numbers.
auto unzipped_pair = unzip(factors); HybridGaussianFactor::Factors gaussianFactors;
const HybridGaussianFactor::Factors gaussianFactors = unzipped_pair.first; AlgebraicDecisionTree<Key> valueTree;
const AlgebraicDecisionTree<Key> valueTree = unzipped_pair.second; std::tie(gaussianFactors, valueTree) = unzip(factors);
// Normalize
double min_value = valueTree.min(); double min_value = valueTree.min();
AlgebraicDecisionTree<Key> values = AlgebraicDecisionTree<Key> values =
valueTree.apply([&min_value](double n) { return n - min_value; }); valueTree.apply([&min_value](double n) { return n - min_value; });