use optional DiscreteValues

borglab · Nov 3, 2024 · 5c63ac8 · 5c63ac8
1 parent 8aacfa9
commit 5c63ac8
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Showing 2 changed files with 18 additions and 30 deletions.
diff --git a/gtsam/hybrid/HybridBayesNet.cpp b/gtsam/hybrid/HybridBayesNet.cpp
@@ -198,29 +198,24 @@ AlgebraicDecisionTree<Key> HybridBayesNet::errorTree(
 }
 
 /* ************************************************************************* */
-double HybridBayesNet::negLogConstant() const {
+double HybridBayesNet::negLogConstant(
+    const std::optional<DiscreteValues> &discrete) const {
   double negLogNormConst = 0.0;
   // Iterate over each conditional.
   for (auto &&conditional : *this) {
-    negLogNormConst += conditional->negLogConstant();
-  }
-  return negLogNormConst;
-}
-
-/* ************************************************************************* */
-double HybridBayesNet::negLogConstant(const DiscreteValues &discrete) const {
-  double negLogNormConst = 0.0;
-  // Iterate over each conditional.
-  for (auto &&conditional : *this) {
-    if (auto gm = conditional->asHybrid()) {
-      negLogNormConst += gm->choose(discrete)->negLogConstant();
-    } else if (auto gc = conditional->asGaussian()) {
-      negLogNormConst += gc->negLogConstant();
-    } else if (auto dc = conditional->asDiscrete()) {
-      negLogNormConst += dc->choose(discrete)->negLogConstant();
+    if (discrete.has_value()) {
+      if (auto gm = conditional->asHybrid()) {
+        negLogNormConst += gm->choose(*discrete)->negLogConstant();
+      } else if (auto gc = conditional->asGaussian()) {
+        negLogNormConst += gc->negLogConstant();
+      } else if (auto dc = conditional->asDiscrete()) {
+        negLogNormConst += dc->choose(*discrete)->negLogConstant();
+      } else {
+        throw std::runtime_error(
+            "Unknown conditional type when computing negLogConstant");
+      }
     } else {
-      throw std::runtime_error(
-          "Unknown conditional type when computing negLogConstant");
+      negLogNormConst += conditional->negLogConstant();
     }
   }
   return negLogNormConst;

diff --git a/gtsam/hybrid/HybridBayesNet.h b/gtsam/hybrid/HybridBayesNet.h
@@ -237,22 +237,15 @@ class GTSAM_EXPORT HybridBayesNet : public BayesNet<HybridConditional> {
 
   using BayesNet::logProbability;  // expose HybridValues version
 
-  /**
-   * @brief Get the negative log of the normalization constant corresponding
-   * to the joint density represented by this Bayes net.
-   *
-   * @return double
-   */
-  double negLogConstant() const;
-
   /**
    * @brief Get the negative log of the normalization constant
-   * corresponding to the joint Gaussian density represented by
-   * this Bayes net indexed by `discrete`.
+   * corresponding to the joint density represented by this Bayes net.
+   * Optionally index by `discrete`.
    *
+   * @param discrete Optional DiscreteValues
    * @return double
    */
-  double negLogConstant(const DiscreteValues &discrete) const;
+  double negLogConstant(const std::optional<DiscreteValues> &discrete) const;
 
   /**
    * @brief Compute normalized posterior P(M|X=x) and return as a tree.