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Merge branch 'hybrid/optimize' into hybrid/optimize-2

release/4.3a0
Varun Agrawal 2022-08-27 19:24:35 -04:00
parent 31bbf513f4 72722686ba
commit f165559f91
1 changed files with 7 additions and 0 deletions
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7
gtsam/hybrid/HybridBayesTree.cpp
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@ -104,6 +104,13 @@ VectorValues HybridBayesTree::optimize(const DiscreteValues& assignment) const {
} }
} }
} }
// If TBB is enabled, the bayes net order gets reversed,
// so we pre-reverse it
#ifdef GTSAM_USE_TBB
auto reversed = boost::adaptors::reverse(gbn);
gbn = GaussianBayesNet(reversed.begin(), reversed.end());
#endif
// Return the optimized bayes net. // Return the optimized bayes net.
return gbn.optimize(); return gbn.optimize();
} }