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max returns DiscreteFactor

release/4.3a0
Varun Agrawal 2025-01-04 16:12:09 -05:00
parent 2410d4f442
commit 5e4cf89ba9
4 changed files with 10 additions and 15 deletions
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5
gtsam/discrete/DiscreteConditional.cpp
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@ -479,10 +479,9 @@ double DiscreteConditional::evaluate(const HybridValues& x) const {
} }
/* ************************************************************************* */ /* ************************************************************************* */
DiscreteConditional::shared_ptr DiscreteConditional::max( DiscreteFactor::shared_ptr DiscreteConditional::max(
const Ordering& keys) const { const Ordering& keys) const {
auto m = *BaseFactor::max(keys); return BaseFactor::max(keys);
return std::make_shared<DiscreteConditional>(m.discreteKeys().size(), m);
} }
/* ************************************************************************* */ /* ************************************************************************* */

6
gtsam/discrete/DiscreteConditional.h
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@ -215,13 +215,13 @@ class GTSAM_EXPORT DiscreteConditional
size_t argmax(const DiscreteValues& parentsValues = DiscreteValues()) const; size_t argmax(const DiscreteValues& parentsValues = DiscreteValues()) const;
/** /**
* @brief Create new conditional by maximizing over all * @brief Create new factor by maximizing over all
* values with the same separator. * values with the same separator.
* *
* @param keys The keys to sum over. * @param keys The keys to sum over.
* @return DiscreteConditional::shared_ptr * @return DiscreteFactor::shared_ptr
*/ */
virtual DiscreteConditional::shared_ptr max(const Ordering& keys) const; virtual DiscreteFactor::shared_ptr max(const Ordering& keys) const;
/// @} /// @}
/// @name Advanced Interface /// @name Advanced Interface

7
gtsam/discrete/TableDistribution.cpp
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@ -114,11 +114,8 @@ bool TableDistribution::equals(const DiscreteFactor& other, double tol) const {
} }
/* ****************************************************************************/ /* ****************************************************************************/
DiscreteConditional::shared_ptr TableDistribution::max( DiscreteFactor::shared_ptr TableDistribution::max(const Ordering& keys) const {
const Ordering& keys) const { return table_.max(keys);
auto m = *table_.max(keys);
return std::make_shared<TableDistribution>(m);
} }
/* ************************************************************************ */ /* ************************************************************************ */

7
gtsam/discrete/TableDistribution.h
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@ -132,14 +132,13 @@ class GTSAM_EXPORT TableDistribution : public DiscreteConditional {
} }
/** /**
* @brief Create new conditional by maximizing over all * @brief Create new factor by maximizing over all
* values with the same separator. * values with the same separator.
* *
* @param keys The keys to sum over. * @param keys The keys to sum over.
* @return DiscreteConditional::shared_ptr * @return DiscreteFactor::shared_ptr
*/ */
virtual DiscreteConditional::shared_ptr max( virtual DiscreteFactor::shared_ptr max(const Ordering& keys) const override;
const Ordering& keys) const override;
/** /**
* @brief Return assignment that maximizes value. * @brief Return assignment that maximizes value.