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add fix

release/4.3a0
Varun Agrawal 2025-01-02 15:33:20 -05:00
parent bd32eb8203
commit f9a7eb0937
1 changed files with 10 additions and 0 deletions
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10
gtsam/discrete/TableFactor.cpp
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@ -258,6 +258,16 @@ DecisionTreeFactor TableFactor::operator*(const DecisionTreeFactor& f) const {
DecisionTreeFactor TableFactor::toDecisionTreeFactor() const {
DiscreteKeys dkeys = discreteKeys();
// If no keys, then return empty DecisionTreeFactor
if (dkeys.size() == 0) {
AlgebraicDecisionTree<Key> tree;
// We can have an empty sparse_table_ or one with a single value.
if (sparse_table_.size() != 0) {
tree = AlgebraicDecisionTree<Key>(sparse_table_.coeff(0));
}
return DecisionTreeFactor(dkeys, tree);
}
std::vector<double> table(sparse_table_.size(), 0.0);
for (SparseIt it(sparse_table_); it; ++it) {
table[it.index()] = it.value();