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fix discrete only elimination (use EliminateForMPE)

release/4.3a0
Varun Agrawal 2022-08-02 19:10:27 -04:00
parent 16124f3617
commit ee124c33c3
2 changed files with 10 additions and 13 deletions
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2
gtsam/hybrid/HybridGaussianFactorGraph.cpp
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@ -164,7 +164,7 @@ discreteElimination(const HybridGaussianFactorGraph &factors,
}
}
auto result = EliminateDiscrete(dfg, frontalKeys);
auto result = EliminateForMPE(dfg, frontalKeys);
return {boost::make_shared<HybridConditional>(result.first),
boost::make_shared<HybridDiscreteFactor>(result.second)};

21
gtsam/hybrid/tests/testHybridNonlinearFactorGraph.cpp
View File

@ -465,18 +465,15 @@ TEST(HybridFactorGraph, Full_Elimination) {
// P(m1 | m2)
EXPECT(hybridBayesNet->at(3)->frontals() == KeyVector{M(1)});
EXPECT(hybridBayesNet->at(3)->parents() == KeyVector({M(2)}));
GTSAM_PRINT(*(hybridBayesNet->at(3)));
GTSAM_PRINT(*(discreteBayesNet.at(0)));
//TODO(Varun) FIX!!
// EXPECT(
// dynamic_pointer_cast<DiscreteConditional>(hybridBayesNet->at(3)->inner())
// ->equals(*discreteBayesNet.at(0)));
// // P(m2)
// EXPECT(hybridBayesNet->at(4)->frontals() == KeyVector{M(2)});
// EXPECT_LONGS_EQUAL(0, hybridBayesNet->at(4)->nrParents());
// EXPECT(
// dynamic_pointer_cast<DiscreteConditional>(hybridBayesNet->at(4)->inner())
// ->equals(*discreteBayesNet.at(1)));
EXPECT(
dynamic_pointer_cast<DiscreteConditional>(hybridBayesNet->at(3)->inner())
->equals(*discreteBayesNet.at(0)));
// P(m2)
EXPECT(hybridBayesNet->at(4)->frontals() == KeyVector{M(2)});
EXPECT_LONGS_EQUAL(0, hybridBayesNet->at(4)->nrParents());
EXPECT(
dynamic_pointer_cast<DiscreteConditional>(hybridBayesNet->at(4)->inner())
->equals(*discreteBayesNet.at(1)));
}
/*