Code

Hybrid/simplify#1388

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Merged

dellaert merged 29 commits intodevelopborglab/gtsam:developfrom hybrid/simplifyborglab/gtsam:hybrid/simplifyCopy head branch name to clipboardJan 17, 2023

+1,309-502

Commits

Commits on Jan 16, 2023

• normalizationConstants returns all constants as a DecisionTreeFactor

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  34a9aef

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• All tests still work with zero constant!

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• Removed FactorAndConstant, no longer needed

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• Add discrete contribution to logProbability

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• Expose toFactorGraph to wrapper

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• Simplify elimination

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• insert_or_assign

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• Some test refactoring

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  96e3eb7

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• Improved docs

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  c22b2ca

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• Check for error>0 and proper normalization constant

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  5b0408c

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• Fix print

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  191e614

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• Compute log-normalization constant as the max of the individual normalization constants.

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  57e59d1

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• Refactored tests and removed incorrect (R not upper-triangular) test.

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Commits on Jan 17, 2023

• Implemented the "hidden constant" scheme.

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  207c9b7

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• Explicitly implement logNormalizationConstant

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  3a446d7

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• Fixed toFactorGraph and added test to verify

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  202a5a3

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• Fixed test to work with "hidden constant" scheme

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  a5951d8

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• Fix python tests (and expose HybridBayesNet.error)

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  8357fc7

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• Eradicated GraphAndConstant

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• Added DEBUG_MARGINALS flag

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• Added comment

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  519b2bb

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• Trap if conditional==null.

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  32d69a3

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• Fix logProbability tests

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  f4859f0

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• Ratio test succeeds on fg, but not on posterior yet,

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  4283925

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• Removed obsolete normalizationConstants method

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  b494a61

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• Add math related to hybrid classes

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  892759e

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• Added partial elimination test

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• Added correction with the normalization constant in the second elimination path.

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• Merge branch 'develop' into hybrid/simplify

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