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Switch to EliminateDiscrete for max-product

release/4.3a0
Frank Dellaert 2022-12-31 02:06:51 -05:00
parent a23322350c
commit efd8eb1984
1 changed files with 2 additions and 1 deletions
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3
gtsam/hybrid/HybridGaussianFactorGraph.cpp
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@ -174,7 +174,8 @@ discreteElimination(const HybridGaussianFactorGraph &factors,
} }
} }
auto result = EliminateForMPE(dfg, frontalKeys); // TODO(dellaert): This does sum-product. For max-product, use EliminateForMPE
auto result = EliminateDiscrete(dfg, frontalKeys);
return {boost::make_shared<HybridConditional>(result.first), return {boost::make_shared<HybridConditional>(result.first),
boost::make_shared<HybridDiscreteFactor>(result.second)}; boost::make_shared<HybridDiscreteFactor>(result.second)};