Merge branch 'feature/approximate_hybrid' into feature/pruning_hybrid

borglab · Jan 21, 2022 · 060638f · 060638f
2 parents 3956668 + 1c7e984
commit 060638f
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Showing 3 changed files with 10 additions and 3 deletions.
diff --git a/gtsam/hybrid/HybridFactorGraph.cpp b/gtsam/hybrid/HybridFactorGraph.cpp
@@ -162,6 +162,9 @@ pair<GaussianMixture::shared_ptr, boost::shared_ptr<Factor>> EliminateHybrid(
   // STEP 1: ELIMINATE
   // Eliminate each sum using conventional Cholesky:
   // We can use this by creating a *new* decision tree:
+
+  // Each pair is a GaussianConditional and the factor generated after
+  // elimination.
   using Pair = GaussianFactorGraph::EliminationResult;
 
   KeyVector keysOfEliminated; // Not the ordering

diff --git a/gtsam/hybrid/HybridFactorGraph.h b/gtsam/hybrid/HybridFactorGraph.h
@@ -312,8 +312,11 @@ class HybridFactorGraph : protected FactorGraph<Factor>,
    */
   DCGaussianMixtureFactor::Sum sum() const;
 
-  /// Convert the DecisionTree of (Key, GaussianFactorGraph) to (Key, Graph
-  /// Error).
+  /**
+   * @brief Convert the DecisionTree of (Key, GaussianFactorGraph) to
+   * (Key, Graph probability).
+   * @return DecisionTreeFactor::shared_ptr
+   */
   DecisionTreeFactor::shared_ptr toDecisionTreeFactor() const;
 
   /// @}

diff --git a/gtsam/hybrid/tests/testHybridFactorGraph.cpp b/gtsam/hybrid/tests/testHybridFactorGraph.cpp
@@ -319,7 +319,8 @@ GaussianFactorGraph::shared_ptr batchGFG(double between,
 /* ****************************************************************************/
 // Test elimination function by eliminating x1 and x2 in graph.
 TEST(DCGaussianElimination, EliminateHybrid_2_Variable) {
-  Switching self(2);
+  Switching self(2, 1.0, 0.1);
+
   auto factors = self.linearizedFactorGraph;
 
   // Check that sum works: