Some Hybrid Improvements #1387

varunagrawal · 2023-01-15T06:57:42Z

HybridFactorGraph::discreteKeys returns a discrete key vector aka DiscreteKeys since they are the main workhorse in discrete.
Made discreteKeySet more efficient by using a STL-style container transform instead of a loop. This also makes the transformation more functional.
Implement MixtureFactor::error(HybridValues) since it was low hanging fruit.
Pass in the formatter when printing the mean of a GaussianConditional. Found this while debugging since I use GTD keys.

dellaert

I’m requesting to leave the keys methods as they are.

gtsam/hybrid/HybridFactorGraph.cpp

varunagrawal added 4 commits January 12, 2023 10:54

return DiscreteKeys as a vector instead of a set

abe9b28

STL-based efficient transformation

b010a24

implement MixtureFactor::error

35d560f

add formatter to GaussianConditional mean printing

86bfdf7

varunagrawal requested a review from dellaert January 15, 2023 06:57

varunagrawal self-assigned this Jan 15, 2023

dellaert reviewed Jan 15, 2023

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gtsam/hybrid/HybridFactorGraph.cpp Outdated Show resolved Hide resolved

switch to boost::shared_ptr

64743ef

varunagrawal mentioned this pull request Jan 16, 2023

Incomplete type 'gtsam::HybridGaussianFactorGraph' #1382

Closed

switch from DiscreteKeys back to std::set<DiscreteKey>

5e1de8c

dellaert approved these changes Jan 16, 2023

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varunagrawal merged commit 7cd3600 into develop Jan 17, 2023

varunagrawal deleted the discreteKeys-vector branch January 17, 2023 09:00

dellaert added this to the Hybrid Inference milestone Feb 7, 2023

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