Merge pull request #1954 from borglab/hybrid-with-tablefactor

borglab · Jan 1, 2025 · 30670ab · 30670ab
2 parents 02d461e + 71ea8c5
commit 30670ab
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Showing 3 changed files with 9 additions and 10 deletions.
diff --git a/gtsam/hybrid/HybridGaussianFactorGraph.cpp b/gtsam/hybrid/HybridGaussianFactorGraph.cpp
@@ -20,12 +20,12 @@
 
 #include <gtsam/base/utilities.h>
 #include <gtsam/discrete/Assignment.h>
-#include <gtsam/discrete/DecisionTreeFactor.h>
 #include <gtsam/discrete/DiscreteEliminationTree.h>
 #include <gtsam/discrete/DiscreteFactorGraph.h>
 #include <gtsam/discrete/DiscreteJunctionTree.h>
 #include <gtsam/discrete/DiscreteKey.h>
 #include <gtsam/discrete/DiscreteValues.h>
+#include <gtsam/discrete/TableFactor.h>
 #include <gtsam/hybrid/HybridConditional.h>
 #include <gtsam/hybrid/HybridEliminationTree.h>
 #include <gtsam/hybrid/HybridFactor.h>
@@ -241,18 +241,18 @@ continuousElimination(const HybridGaussianFactorGraph &factors,
 /* ************************************************************************ */
 /**
  * @brief Take negative log-values, shift them so that the minimum value is 0,
- * and then exponentiate to create a DecisionTreeFactor (not normalized yet!).
+ * and then exponentiate to create a TableFactor (not normalized yet!).
  *
  * @param errors DecisionTree of (unnormalized) errors.
- * @return DecisionTreeFactor::shared_ptr
+ * @return TableFactor::shared_ptr
  */
-static DecisionTreeFactor::shared_ptr DiscreteFactorFromErrors(
+static TableFactor::shared_ptr DiscreteFactorFromErrors(
     const DiscreteKeys &discreteKeys,
     const AlgebraicDecisionTree<Key> &errors) {
   double min_log = errors.min();
   AlgebraicDecisionTree<Key> potentials(
       errors, [&min_log](const double x) { return exp(-(x - min_log)); });
-  return std::make_shared<DecisionTreeFactor>(discreteKeys, potentials);
+  return std::make_shared<TableFactor>(discreteKeys, potentials);
 }
 
 /* ************************************************************************ */

diff --git a/gtsam/hybrid/tests/testHybridGaussianFactorGraph.cpp b/gtsam/hybrid/tests/testHybridGaussianFactorGraph.cpp
@@ -114,10 +114,10 @@ TEST(HybridGaussianFactorGraph, hybridEliminationOneFactor) {
   EXPECT(HybridConditional::CheckInvariants(*result.first, values));
 
   // Check that factor is discrete and correct
-  auto factor = std::dynamic_pointer_cast<DecisionTreeFactor>(result.second);
+  auto factor = std::dynamic_pointer_cast<TableFactor>(result.second);
   CHECK(factor);
   // regression test
-  EXPECT(assert_equal(DecisionTreeFactor{m1, "1 1"}, *factor, 1e-5));
+  EXPECT(assert_equal(TableFactor{m1, "1 1"}, *factor, 1e-5));
 }
 
 /* ************************************************************************* */
@@ -329,7 +329,7 @@ TEST(HybridBayesNet, Switching) {
 
   // Check the remaining factor for x1
   CHECK(factor_x1);
-  auto phi_x1 = std::dynamic_pointer_cast<DecisionTreeFactor>(factor_x1);
+  auto phi_x1 = std::dynamic_pointer_cast<TableFactor>(factor_x1);
   CHECK(phi_x1);
   EXPECT_LONGS_EQUAL(1, phi_x1->keys().size());  // m0
   // We can't really check the error of the decision tree factor phi_x1, because

diff --git a/gtsam/hybrid/tests/testHybridNonlinearFactorGraph.cpp b/gtsam/hybrid/tests/testHybridNonlinearFactorGraph.cpp
@@ -368,10 +368,9 @@ TEST(HybridGaussianElimination, EliminateHybrid_2_Variable) {
   EXPECT_LONGS_EQUAL(1, hybridGaussianConditional->nrParents());
 
   // This is now a discreteFactor
-  auto discreteFactor = dynamic_pointer_cast<DecisionTreeFactor>(factorOnModes);
+  auto discreteFactor = dynamic_pointer_cast<TableFactor>(factorOnModes);
   CHECK(discreteFactor);
   EXPECT_LONGS_EQUAL(1, discreteFactor->discreteKeys().size());
-  EXPECT(discreteFactor->root_->isLeaf() == false);
 }
 
 /****************************************************************************