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fix naming

release/4.3a0
Varun Agrawal 2025-01-01 19:23:12 -05:00
parent 795780d647
commit ebd523eea4
1 changed files with 6 additions and 7 deletions
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13
gtsam/discrete/DiscreteFactorGraph.cpp
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@ -112,13 +112,12 @@ namespace gtsam {
// } // }
/** /**
* @brief Multiply all the `factors` and normalize the * @brief Multiply all the `factors`.
* product to prevent underflow.
* *
* @param factors The factors to multiply as a DiscreteFactorGraph. * @param factors The factors to multiply as a DiscreteFactorGraph.
* @return DecisionTreeFactor * @return DecisionTreeFactor
*/ */
static DecisionTreeFactor ProductAndNormalize( static DecisionTreeFactor DiscreteProduct(
const DiscreteFactorGraph& factors) { const DiscreteFactorGraph& factors) {
// PRODUCT: multiply all factors // PRODUCT: multiply all factors
gttic(product); gttic(product);
@ -126,10 +125,10 @@ namespace gtsam {
gttoc(product); gttoc(product);
// Max over all the potentials by pretending all keys are frontal: // Max over all the potentials by pretending all keys are frontal:
auto normalizer = product.max(product.size()); auto denominator = product.max(product.size());
// Normalize the product factor to prevent underflow. // Normalize the product factor to prevent underflow.
product = product / (*normalizer); product = product / (*denominator);
return product; return product;
} }
@ -139,7 +138,7 @@ namespace gtsam {
std::pair<DiscreteConditional::shared_ptr, DiscreteFactor::shared_ptr> // std::pair<DiscreteConditional::shared_ptr, DiscreteFactor::shared_ptr> //
EliminateForMPE(const DiscreteFactorGraph& factors, EliminateForMPE(const DiscreteFactorGraph& factors,
const Ordering& frontalKeys) { const Ordering& frontalKeys) {
DecisionTreeFactor product = ProductAndNormalize(factors); DecisionTreeFactor product = DiscreteProduct(factors);
// max out frontals, this is the factor on the separator // max out frontals, this is the factor on the separator
gttic(max); gttic(max);
@ -217,7 +216,7 @@ namespace gtsam {
std::pair<DiscreteConditional::shared_ptr, DiscreteFactor::shared_ptr> // std::pair<DiscreteConditional::shared_ptr, DiscreteFactor::shared_ptr> //
EliminateDiscrete(const DiscreteFactorGraph& factors, EliminateDiscrete(const DiscreteFactorGraph& factors,
const Ordering& frontalKeys) { const Ordering& frontalKeys) {
DecisionTreeFactor product = ProductAndNormalize(factors); DecisionTreeFactor product = DiscreteProduct(factors);
// sum out frontals, this is the factor on the separator // sum out frontals, this is the factor on the separator
gttic(sum); gttic(sum);