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Hybrid Bayes Net/Tree Optimize #1280

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merged 7 commits into from
Aug 29, 2022
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Hybrid Bayes Net/Tree Optimize #1280

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a6101b2
fix filename in docstring
varunagrawal Aug 26, 2022
f0df82a
HybridBayesNet::optimize
varunagrawal Aug 26, 2022
cb2d2e6
HybridBayesTree::optimize
varunagrawal Aug 26, 2022
86320ff
extra test for HybridBayesNet optimize
varunagrawal Aug 26, 2022
74bddd9
finish HybridBayesTree test
varunagrawal Aug 26, 2022
129fa68
use Switching constructor arguments for noise covariances
varunagrawal Aug 26, 2022
7272268
fix issue with TBB
varunagrawal Aug 27, 2022
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7 changes: 7 additions & 0 deletions gtsam/hybrid/HybridBayesTree.cpp
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Expand Up @@ -68,6 +68,13 @@ VectorValues HybridBayesTree::optimize(const DiscreteValues& assignment) const {
}
}
}
// If TBB is enabled, the bayes net order gets reversed,
// so we pre-reverse it
#ifdef GTSAM_USE_TBB
auto reversed = boost::adaptors::reverse(gbn);
gbn = GaussianBayesNet(reversed.begin(), reversed.end());
#endif

// Return the optimized bayes net.
return gbn.optimize();
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Does this mean that gbn.optimize does not work when the bayes net has non sequential order?

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The GBN needs to be topologically sorted so that it optimizes parents before children, and for some reason, the GBN is reverse topologically sorted only when TBB is enabled.

}
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