12345qiupeng
/
gtsam
1
0
Fork 0
Code Issues Pull Requests Packages Projects Releases Wiki Activity

normalize potentials

release/4.3a0
Varun Agrawal 2024-10-08 15:09:33 -04:00
parent a9ffbf5299
commit 024e50f9f7
1 changed files with 9 additions and 4 deletions
Show Stats Download Patch File Download Diff File Expand all files Collapse all files

13
gtsam/hybrid/HybridGaussianFactorGraph.cpp
View File

@ -229,8 +229,13 @@ continuousElimination(const HybridGaussianFactorGraph &factors,
} }
/* ************************************************************************ */ /* ************************************************************************ */
/// Take negative log-values, shift them so that the minimum value is 0, and /**
/// then exponentiate to create a DecisionTreeFactor (not normalized yet!). * @brief Take negative log-values, shift them so that the minimum value is 0,
* and then exponentiate to create a DecisionTreeFactor (not normalized yet!).
*
* @param errors DecisionTree of (unnormalized) errors.
* @return AlgebraicDecisionTree<Key>
*/
static DecisionTreeFactor::shared_ptr DiscreteFactorFromErrors( static DecisionTreeFactor::shared_ptr DiscreteFactorFromErrors(
const DiscreteKeys &discreteKeys, const DiscreteKeys &discreteKeys,
const AlgebraicDecisionTree<Key> &errors) { const AlgebraicDecisionTree<Key> &errors) {
@ -258,7 +263,7 @@ discreteElimination(const HybridGaussianFactorGraph &factors,
if (!factor) return std::numeric_limits<double>::infinity(); if (!factor) return std::numeric_limits<double>::infinity();
return scalar + factor->error(kEmpty); return scalar + factor->error(kEmpty);
}; };
DecisionTree<Key, double> errors(gmf->factors(), calculateError); AlgebraicDecisionTree<Key> errors(gmf->factors(), calculateError);
dfg.push_back(DiscreteFactorFromErrors(gmf->discreteKeys(), errors)); dfg.push_back(DiscreteFactorFromErrors(gmf->discreteKeys(), errors));
} else if (auto orphan = dynamic_pointer_cast<OrphanWrapper>(f)) { } else if (auto orphan = dynamic_pointer_cast<OrphanWrapper>(f)) {
@ -307,7 +312,7 @@ static std::shared_ptr<Factor> createDiscreteFactor(
} }
}; };
DecisionTree<Key, double> errors(eliminationResults, calculateError); AlgebraicDecisionTree<Key> errors(eliminationResults, calculateError);
return DiscreteFactorFromErrors(discreteSeparator, errors); return DiscreteFactorFromErrors(discreteSeparator, errors);
} }