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Hybrid Elimination #1339

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merged 12 commits into from
Dec 10, 2022
Merged

Hybrid Elimination #1339

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05b2d31
better printing
varunagrawal Dec 3, 2022
3eaf4cc
move multifrontal optimize test to testHybridBayesTree and update doc…
varunagrawal Dec 3, 2022
cd3cfa0
moved sequential elimination code to HybridEliminationTree
varunagrawal Dec 3, 2022
15fffeb
add getters to HybridEliminationTree
varunagrawal Dec 4, 2022
addbe2a
override eliminate in HybridJunctionTree
varunagrawal Dec 4, 2022
ae0b3e3
split up the eliminate method to constituent parts
varunagrawal Dec 4, 2022
bed56e0
mark helper methods as protected and add docstrings
varunagrawal Dec 4, 2022
5fc114f
more unit tests
varunagrawal Dec 4, 2022
22e4a73
Add details about the role of the HybridEliminationTree in hybrid eli…
varunagrawal Dec 4, 2022
0596b2f
remove unrequired code
varunagrawal Dec 10, 2022
62bc9f2
update hybrid elimination and corresponding tests
varunagrawal Dec 10, 2022
6beffeb
remove commented out code
varunagrawal Dec 10, 2022
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remove commented out code
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@varunagrawal
varunagrawal committed Dec 10, 2022
commit 6beffeb0c1d0eb4d098aef7ac88d198e9b3bd9c6
7 changes: 1 addition & 6 deletions gtsam/hybrid/HybridGaussianFactorGraph.cpp
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Expand Up @@ -172,13 +172,8 @@ discreteElimination(const HybridGaussianFactorGraph &factors,
}
}

// std::cout << "Eliminate For MPE" << std::endl;
auto result = EliminateForMPE(dfg, frontalKeys);
// std::cout << "discrete elimination done!" << std::endl;
// dfg.print();
// std::cout << "\n\n\n" << std::endl;
// result.first->print();
// result.second->print();

return {boost::make_shared<HybridConditional>(result.first),
boost::make_shared<HybridDiscreteFactor>(result.second)};
}
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