Fix HybridBayesTree Optimize #1287
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ProfFan
approved these changes
Sep 13, 2022
| @@ -24,6 +24,7 @@ | |||
| #include <gtsam/hybrid/HybridBayesTree.h> | |||
| #include <gtsam/inference/BayesTree-inst.h> | |||
| #include <gtsam/inference/BayesTreeCliqueBase-inst.h> | |||
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I tried but the formatter keeps moving it back 😕
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This PR fixes an issue in the HybridBayesTree optimization by traversing the tree rather than looping over all the nodes.
Doing this ensures we don't optimize a child before its parent aka we maintain the reverse topological sort of the BayesTree.