Fix Hybrid Elimination with empty discrete factors#2090
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varunagrawal merged 8 commits intodevelopfrom Apr 13, 2025
Merged
Fix Hybrid Elimination with empty discrete factors#2090varunagrawal merged 8 commits intodevelopfrom
varunagrawal merged 8 commits intodevelopfrom
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dellaert
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Apr 13, 2025
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Approve modulo improving source doc to help our future selves :-) (and me - I don't fully understand how the code changes relate to the PR comment)
| ADT restricted_tree = ADT::restrict(assignment); | ||
| return std::make_shared<DecisionTreeFactor>(this->discreteKeys(), | ||
| restricted_tree); | ||
| DiscreteKeys restricted_keys = this->discreteKeys(); |
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When applying
HybridNonlinearFactorGraph::restrict, if we have discrete priors, we restrict them. However, the factors get reintroduced as uniform priors in the relinearization step.This adds unnecessary expense to the hybrid elimination.
This PR fixes this issue so we have constant time updates.