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Better DiscreteConditional #1037

Merged
merged 7 commits into from
Jan 16, 2022
Merged

Better DiscreteConditional #1037

merged 7 commits into from
Jan 16, 2022

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dellaert
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This PR has

  • creation of joint densities using operator*. It replaces the very poorly tested and confusing Compose, which was not used anywhere.
  • extensive testing
  • removed toFactor, which is a remnant from when we did not inherit from factors
  • exposes creation of a DiscretePrior from a vector of floats.
  • added a constructor from an ADT
  • some smaller documentation improvements

@dellaert dellaert requested a review from varunagrawal January 16, 2022 14:36
@dellaert dellaert added the high-priority Need this done quickly label Jan 16, 2022
@dellaert dellaert self-assigned this Jan 16, 2022
@dellaert dellaert added the quick-review Quick and easy PR to review label Jan 16, 2022
varunagrawal
varunagrawal approved these changes Jan 16, 2022
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LGTM sans one comment

python/gtsam/tests/test_DiscreteConditional.py Outdated
pAB = prior * conditional
self.gtsamAssertEquals(prior, pAB.marginal(B[0]))

pA = DiscreteConditional(A % "5/4")
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What is happening over here? We have (0, 2) % "5/4", not sure if this should be (0, 2), "5/4".

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Yeah, will fix that

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I am making fixes since other stuff is also breaking. 🙂

@varunagrawal varunagrawal force-pushed the feature/discrete_operators branch from 7d78a64 to 0b11b12 Compare January 16, 2022 17:07
@dellaert
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Thanks! Now I'm behind a CI traffic jam, though, so I'd prefer if you just comment in future? :-)

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It'll be fast enough. Go enjoy a hot cup of coffee in this weather and it will be done before you know it. :)

@dellaert
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It'll be fast enough. Go enjoy a hot cup of coffee in this weather and it will be done before you know it. :)

pretty please. I need to get this release out.

@dellaert dellaert merged commit f3d9486 into develop Jan 16, 2022
@dellaert dellaert deleted the feature/discrete_operators branch January 16, 2022 21:43
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@varunagrawal varunagrawal varunagrawal approved these changes

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@dellaert @varunagrawal