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Helper method can be static

release/4.3a0
Frank Dellaert 2024-09-30 00:32:06 -07:00
parent 5b909e3c29
commit 12349b9201
2 changed files with 8 additions and 13 deletions
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17
gtsam/hybrid/HybridGaussianFactor.cpp
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@ -212,16 +212,15 @@ GaussianFactorGraphTree HybridGaussianFactor::asGaussianFactorGraphTree()
} }
/* *******************************************************************************/ /* *******************************************************************************/
double HybridGaussianFactor::potentiallyPrunedComponentError( /// Helper method to compute the error of a component.
const sharedFactor &gf, const VectorValues &values) const { static double PotentiallyPrunedComponentError(
const GaussianFactor::shared_ptr &gf, const VectorValues &values) {
// Check if valid pointer // Check if valid pointer
if (gf) { if (gf) {
return gf->error(values); return gf->error(values);
} else { } else {
// If not valid, pointer, it means this component was pruned, // If nullptr this component was pruned, so we return maximum error. This
// so we return maximum error. // way the negative exponential will give a probability value close to 0.0.
// This way the negative exponential will give
// a probability value close to 0.0.
return std::numeric_limits<double>::max(); return std::numeric_limits<double>::max();
} }
} }
@ -230,8 +229,8 @@ double HybridGaussianFactor::potentiallyPrunedComponentError(
AlgebraicDecisionTree<Key> HybridGaussianFactor::errorTree( AlgebraicDecisionTree<Key> HybridGaussianFactor::errorTree(
const VectorValues &continuousValues) const { const VectorValues &continuousValues) const {
// functor to convert from sharedFactor to double error value. // functor to convert from sharedFactor to double error value.
auto errorFunc = [this, &continuousValues](const sharedFactor &gf) { auto errorFunc = [&continuousValues](const sharedFactor &gf) {
return this->potentiallyPrunedComponentError(gf, continuousValues); return PotentiallyPrunedComponentError(gf, continuousValues);
}; };
DecisionTree<Key, double> error_tree(factors_, errorFunc); DecisionTree<Key, double> error_tree(factors_, errorFunc);
return error_tree; return error_tree;
@ -241,7 +240,7 @@ AlgebraicDecisionTree<Key> HybridGaussianFactor::errorTree(
double HybridGaussianFactor::error(const HybridValues &values) const { double HybridGaussianFactor::error(const HybridValues &values) const {
// Directly index to get the component, no need to build the whole tree. // Directly index to get the component, no need to build the whole tree.
const sharedFactor gf = factors_(values.discrete()); const sharedFactor gf = factors_(values.discrete());
return potentiallyPrunedComponentError(gf, values.continuous()); return PotentiallyPrunedComponentError(gf, values.continuous());
} }
} // namespace gtsam } // namespace gtsam

4
gtsam/hybrid/HybridGaussianFactor.h
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@ -189,10 +189,6 @@ class GTSAM_EXPORT HybridGaussianFactor : public HybridFactor {
*/ */
static Factors augment(const FactorValuePairs &factors); static Factors augment(const FactorValuePairs &factors);
/// Helper method to compute the error of a component.
double potentiallyPrunedComponentError(
const sharedFactor &gf, const VectorValues &continuousValues) const;
/// Helper struct to assist private constructor below. /// Helper struct to assist private constructor below.
struct ConstructorHelper; struct ConstructorHelper;