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rename from exponentiateLogProbabilities to probabilitiesFromLogValues

release/4.3a0
Varun Agrawal 2024-08-28 12:47:24 -04:00
parent e81272b078
commit 3dab868ef0
1 changed files with 9 additions and 10 deletions
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19
gtsam/hybrid/HybridGaussianFactorGraph.cpp
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@ -235,19 +235,18 @@ continuousElimination(const HybridGaussianFactorGraph &factors,
/* ************************************************************************ */
/**
* @brief Exponential log-probabilities after performing
* the necessary normalizations.
* @brief Exponentiate log-values, not necessarily normalized, normalize, and
* return as AlgebraicDecisionTree<Key>.
*
* @param logProbabilities DecisionTree of log-probabilities.
* @param logValues DecisionTree of (unnormalized) log values.
* @return AlgebraicDecisionTree<Key>
*/
static AlgebraicDecisionTree<Key> exponentiateLogProbabilities(
const AlgebraicDecisionTree<Key> &logProbabilities) {
static AlgebraicDecisionTree<Key> probabilitiesFromLogValues(
const AlgebraicDecisionTree<Key> &logValues) {
// Perform normalization
double max_log = logProbabilities.max();
double max_log = logValues.max();
AlgebraicDecisionTree<Key> probabilities = DecisionTree<Key, double>(
logProbabilities,
[&max_log](const double x) { return exp(x - max_log); });
logValues, [&max_log](const double x) { return exp(x - max_log); });
probabilities = probabilities.normalize(probabilities.sum());
return probabilities;
@ -274,7 +273,7 @@ discreteElimination(const HybridGaussianFactorGraph &factors,
DecisionTree<Key, double>(gmf->factors(), logProbability);
AlgebraicDecisionTree<Key> probabilities =
exponentiateLogProbabilities(logProbabilities);
probabilitiesFromLogValues(logProbabilities);
dfg.emplace_shared<DecisionTreeFactor>(gmf->discreteKeys(),
probabilities);
@ -340,7 +339,7 @@ static std::shared_ptr<Factor> createDiscreteFactor(
AlgebraicDecisionTree<Key> logProbabilities(
DecisionTree<Key, double>(eliminationResults, logProbability));
AlgebraicDecisionTree<Key> probabilities =
exponentiateLogProbabilities(logProbabilities);
probabilitiesFromLogValues(logProbabilities);
return std::make_shared<DecisionTreeFactor>(discreteSeparator, probabilities);
}