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Fix HybridFactorGraph::continuousKeys #1852

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merged 2 commits into from
Sep 29, 2024
Merged

Fix HybridFactorGraph::continuousKeys #1852

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b2c73af
get keys from NonlinearFactors as well
varunagrawal Sep 28, 2024
8904f5f
better docstring for prunerFunc and added dividers
varunagrawal Sep 28, 2024
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3 changes: 3 additions & 0 deletions gtsam/hybrid/HybridFactorGraph.cpp
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Original file line number Diff line number Diff line change
Expand Up @@ -18,6 +18,7 @@
*/

#include <gtsam/hybrid/HybridFactorGraph.h>
#include <gtsam/nonlinear/NonlinearFactor.h>

namespace gtsam {

Expand Down Expand Up @@ -58,6 +59,8 @@ const KeySet HybridFactorGraph::continuousKeySet() const {
}
} else if (auto p = std::dynamic_pointer_cast<GaussianFactor>(factor)) {
keys.insert(p->keys().begin(), p->keys().end());
} else if (auto p = std::dynamic_pointer_cast<NonlinearFactor>(factor)) {
keys.insert(p->keys().begin(), p->keys().end());
}
}
return keys;
Expand Down
9 changes: 2 additions & 7 deletions gtsam/hybrid/HybridGaussianConditional.cpp
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Expand Up @@ -69,12 +69,14 @@ HybridGaussianConditional::HybridGaussianConditional(
conditionals_(conditionals),
negLogConstant_(helper.minNegLogConstant) {}

/* *******************************************************************************/
HybridGaussianConditional::HybridGaussianConditional(
const DiscreteKeys &discreteParents,
const HybridGaussianConditional::Conditionals &conditionals)
: HybridGaussianConditional(discreteParents, conditionals,
ConstructorHelper(conditionals)) {}

/* *******************************************************************************/
HybridGaussianConditional::HybridGaussianConditional(
const DiscreteKey &discreteParent,
const std::vector<GaussianConditional::shared_ptr> &conditionals)
Expand Down Expand Up @@ -242,13 +244,6 @@ std::set<DiscreteKey> DiscreteKeysAsSet(const DiscreteKeys &discreteKeys) {
}

/* ************************************************************************* */
/**
* @brief Helper function to get the pruner functional.
*
* @param discreteProbs The probabilities of only discrete keys.
* @return std::function<GaussianConditional::shared_ptr(
* const Assignment<Key> &, const GaussianConditional::shared_ptr &)>
*/
std::function<GaussianConditional::shared_ptr(
const Assignment<Key> &, const GaussianConditional::shared_ptr &)>
HybridGaussianConditional::prunerFunc(const DecisionTreeFactor &discreteProbs) {
Expand Down
8 changes: 7 additions & 1 deletion gtsam/hybrid/HybridGaussianConditional.h
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Expand Up @@ -194,7 +194,13 @@ class GTSAM_EXPORT HybridGaussianConditional
/// Convert to a DecisionTree of Gaussian factor graphs.
GaussianFactorGraphTree asGaussianFactorGraphTree() const;

//// Get the pruner functor from pruned discrete probabilities.
/**
* @brief Get the pruner function from discrete probabilities.
*
* @param discreteProbs The probabilities of only discrete keys.
* @return std::function<GaussianConditional::shared_ptr(
* const Assignment<Key> &, const GaussianConditional::shared_ptr &)>
*/
std::function<GaussianConditional::shared_ptr(
const Assignment<Key> &, const GaussianConditional::shared_ptr &)>
prunerFunc(const DecisionTreeFactor &prunedProbabilities);
Expand Down
4 changes: 4 additions & 0 deletions gtsam/hybrid/HybridGaussianFactor.cpp
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Expand Up @@ -126,16 +126,19 @@ HybridGaussianFactor::HybridGaussianFactor(const ConstructorHelper &helper)
factors_(helper.factorsTree.empty() ? augment(helper.pairs)
: helper.factorsTree) {}

/* *******************************************************************************/
HybridGaussianFactor::HybridGaussianFactor(
const DiscreteKey &discreteKey,
const std::vector<GaussianFactor::shared_ptr> &factors)
: HybridGaussianFactor(ConstructorHelper(discreteKey, factors)) {}

/* *******************************************************************************/
HybridGaussianFactor::HybridGaussianFactor(
const DiscreteKey &discreteKey,
const std::vector<GaussianFactorValuePair> &factorPairs)
: HybridGaussianFactor(ConstructorHelper(discreteKey, factorPairs)) {}

/* *******************************************************************************/
HybridGaussianFactor::HybridGaussianFactor(const DiscreteKeys &discreteKeys,
const FactorValuePairs &factors)
: HybridGaussianFactor(ConstructorHelper(discreteKeys, factors)) {}
Expand Down Expand Up @@ -223,6 +226,7 @@ double HybridGaussianFactor::potentiallyPrunedComponentError(
return std::numeric_limits<double>::max();
}
}

/* *******************************************************************************/
AlgebraicDecisionTree<Key> HybridGaussianFactor::errorTree(
const VectorValues &continuousValues) const {
Expand Down
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