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Some refactoring and new test #1349

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merged 5 commits into from
Dec 27, 2022
Merged

Some refactoring and new test #1349

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76e838b
Implement printing rather than calling factor graph version
dellaert Dec 25, 2022
4ad482a
Small comments
dellaert Dec 26, 2022
a7573e8
Refactor elimination setup to not use C declaration style
dellaert Dec 26, 2022
8a319c5
Separated out NFG setup and added test.
dellaert Dec 26, 2022
db17a04
Fix print test
dellaert Dec 26, 2022
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Small comments
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@dellaert
dellaert committed Dec 26, 2022
commit 4ad482aa70913719b71a706a36de2579946763c3
5 changes: 2 additions & 3 deletions gtsam/hybrid/HybridBayesNet.cpp
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Expand Up @@ -99,6 +99,7 @@ std::function<double(const Assignment<Key> &, double)> prunerFunc(
}

/* ************************************************************************* */
// TODO(dellaert): what is this non-const method used for? Abolish it?
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This is used internally to update the BayesNet with the pruned conditionals after pruning them based on the prunedDecisionTree.

void HybridBayesNet::updateDiscreteConditionals(
const DecisionTreeFactor::shared_ptr &prunedDecisionTree) {
KeyVector prunedTreeKeys = prunedDecisionTree->keys();
Expand Down Expand Up @@ -150,9 +151,7 @@ HybridBayesNet HybridBayesNet::prune(size_t maxNrLeaves) {

// Go through all the conditionals in the
// Bayes Net and prune them as per decisionTree.
for (size_t i = 0; i < this->size(); i++) {
HybridConditional::shared_ptr conditional = this->at(i);

for (auto &&conditional : *this) {
if (conditional->isHybrid()) {
GaussianMixture::shared_ptr gaussianMixture = conditional->asMixture();

Expand Down