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Use TableFactor everywhere in hybrid elimination

release/4.3a0
Varun Agrawal 2024-12-31 14:16:00 -05:00
parent 02d461e359
commit f95ae52aff
1 changed files with 5 additions and 5 deletions
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10
gtsam/hybrid/HybridGaussianFactorGraph.cpp
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@ -20,12 +20,12 @@
#include <gtsam/base/utilities.h> #include <gtsam/base/utilities.h>
#include <gtsam/discrete/Assignment.h> #include <gtsam/discrete/Assignment.h>
#include <gtsam/discrete/DecisionTreeFactor.h>
#include <gtsam/discrete/DiscreteEliminationTree.h> #include <gtsam/discrete/DiscreteEliminationTree.h>
#include <gtsam/discrete/DiscreteFactorGraph.h> #include <gtsam/discrete/DiscreteFactorGraph.h>
#include <gtsam/discrete/DiscreteJunctionTree.h> #include <gtsam/discrete/DiscreteJunctionTree.h>
#include <gtsam/discrete/DiscreteKey.h> #include <gtsam/discrete/DiscreteKey.h>
#include <gtsam/discrete/DiscreteValues.h> #include <gtsam/discrete/DiscreteValues.h>
#include <gtsam/discrete/TableFactor.h>
#include <gtsam/hybrid/HybridConditional.h> #include <gtsam/hybrid/HybridConditional.h>
#include <gtsam/hybrid/HybridEliminationTree.h> #include <gtsam/hybrid/HybridEliminationTree.h>
#include <gtsam/hybrid/HybridFactor.h> #include <gtsam/hybrid/HybridFactor.h>
@ -241,18 +241,18 @@ continuousElimination(const HybridGaussianFactorGraph &factors,
/* ************************************************************************ */ /* ************************************************************************ */
/** /**
* @brief Take negative log-values, shift them so that the minimum value is 0, * @brief Take negative log-values, shift them so that the minimum value is 0,
* and then exponentiate to create a DecisionTreeFactor (not normalized yet!). * and then exponentiate to create a TableFactor (not normalized yet!).
* *
* @param errors DecisionTree of (unnormalized) errors. * @param errors DecisionTree of (unnormalized) errors.
* @return DecisionTreeFactor::shared_ptr * @return TableFactor::shared_ptr
*/ */
static DecisionTreeFactor::shared_ptr DiscreteFactorFromErrors( static TableFactor::shared_ptr DiscreteFactorFromErrors(
const DiscreteKeys &discreteKeys, const DiscreteKeys &discreteKeys,
const AlgebraicDecisionTree<Key> &errors) { const AlgebraicDecisionTree<Key> &errors) {
double min_log = errors.min(); double min_log = errors.min();
AlgebraicDecisionTree<Key> potentials( AlgebraicDecisionTree<Key> potentials(
errors, [&min_log](const double x) { return exp(-(x - min_log)); }); errors, [&min_log](const double x) { return exp(-(x - min_log)); });
return std::make_shared<DecisionTreeFactor>(discreteKeys, potentials); return std::make_shared<TableFactor>(discreteKeys, potentials);
} }
/* ************************************************************************ */ /* ************************************************************************ */