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use faster key storage

release/4.3a0
Varun Agrawal 2025-01-02 14:35:13 -05:00
parent 6c516cc404
commit f42ed21137
1 changed files with 3 additions and 3 deletions
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6
gtsam/discrete/TableFactor.cpp
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@ -87,7 +87,7 @@ static Eigen::SparseVector<double> ComputeSparseTable(
}); });
sparseTable.reserve(nrValues); sparseTable.reserve(nrValues);
std::set<Key> allKeys(dt.keys().begin(), dt.keys().end()); KeySet allKeys(dt.keys().begin(), dt.keys().end());
/** /**
* @brief Functor which is called by the DecisionTree for each leaf. * @brief Functor which is called by the DecisionTree for each leaf.
@ -102,13 +102,13 @@ static Eigen::SparseVector<double> ComputeSparseTable(
auto op = [&](const Assignment<Key>& assignment, double p) { auto op = [&](const Assignment<Key>& assignment, double p) {
if (p > 0) { if (p > 0) {
// Get all the keys involved in this assignment // Get all the keys involved in this assignment
std::set<Key> assignmentKeys; KeySet assignmentKeys;
for (auto&& [k, _] : assignment) { for (auto&& [k, _] : assignment) {
assignmentKeys.insert(k); assignmentKeys.insert(k);
} }
// Find the keys missing in the assignment // Find the keys missing in the assignment
std::vector<Key> diff; KeyVector diff;
std::set_difference(allKeys.begin(), allKeys.end(), std::set_difference(allKeys.begin(), allKeys.end(),
assignmentKeys.begin(), assignmentKeys.end(), assignmentKeys.begin(), assignmentKeys.end(),
std::back_inserter(diff)); std::back_inserter(diff));