more functional form of involved function
parent
d48740fa22
commit
fbe893eb2c
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@ -171,7 +171,7 @@ HybridSmoother::addConditionals(const HybridGaussianFactorGraph &newFactors,
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HybridBayesNet updatedHybridBayesNet(hybridBayesNet);
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KeySet involvedKeys = newFactors.keys();
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auto involved = [&involvedKeys](const Key &key) {
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auto involved = [](const KeySet &involvedKeys, const Key &key) {
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return involvedKeys.find(key) != involvedKeys.end();
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};
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@ -195,7 +195,7 @@ HybridSmoother::addConditionals(const HybridGaussianFactorGraph &newFactors,
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auto conditional = hybridBayesNet.at(i);
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for (auto &key : conditional->frontals()) {
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if (involved(key)) {
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if (involved(involvedKeys, key)) {
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// Add the conditional parents to involvedKeys
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// so we add those conditionals too.
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for (auto &&parentKey : conditional->parents()) {
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@ -214,7 +214,7 @@ HybridSmoother::addConditionals(const HybridGaussianFactorGraph &newFactors,
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auto conditional = hybridBayesNet.at(i);
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for (auto &key : conditional->frontals()) {
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if (involved(key)) {
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if (involved(involvedKeys, key)) {
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newConditionals.push_back(conditional);
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// Remove the conditional from the updated Bayes net
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