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Various fixes for Hybrid #1369

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merged 6 commits into from
Jan 4, 2023
Merged

Various fixes for Hybrid #1369

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bb31956
enable previously failing test, now works!!
varunagrawal Jan 4, 2023
ed16c33
add check in GaussianMixtureFactor::likelihood
varunagrawal Jan 4, 2023
34daecd
remove deferredFactors
varunagrawal Jan 4, 2023
7dd4bc9
implement dim() for MixtureFactor
varunagrawal Jan 4, 2023
b16480b
simplify code
varunagrawal Jan 4, 2023
25fd618
rename getAssignment to assignment, fix printing
varunagrawal Jan 4, 2023
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add check in GaussianMixtureFactor::likelihood
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@varunagrawal
varunagrawal committed Jan 4, 2023
commit ed16c335c1286eb16c81bc934412ce2df88fef96
11 changes: 8 additions & 3 deletions gtsam/hybrid/GaussianMixture.cpp
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Original file line number Diff line number Diff line change
Expand Up @@ -69,8 +69,7 @@ GaussianFactorGraphTree GaussianMixture::asGaussianFactorGraphTree() const {
GaussianFactorGraph result;
result.push_back(conditional);
if (conditional) {
return GraphAndConstant(
result, conditional->logNormalizationConstant());
return GraphAndConstant(result, conditional->logNormalizationConstant());
} else {
return GraphAndConstant(result, 0.0);
}
Expand Down Expand Up @@ -163,7 +162,13 @@ KeyVector GaussianMixture::continuousParents() const {
/* ************************************************************************* */
boost::shared_ptr<GaussianMixtureFactor> GaussianMixture::likelihood(
const VectorValues &frontals) const {
// TODO(dellaert): check that values has all frontals
// Check that values has all frontals
for (auto &&kv : frontals) {
if (frontals.find(kv.first) == frontals.end()) {
throw std::runtime_error("GaussianMixture: frontals missing factor key.");
}
}

const DiscreteKeys discreteParentKeys = discreteKeys();
const KeyVector continuousParentKeys = continuousParents();
const GaussianMixtureFactor::Factors likelihoods(
Expand Down