Marginalize Discrete Modes #1985
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dellaert
approved these changes
Jan 22, 2025
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Add a flag to
HybridBayesNet::prunewhich enables dead mode removal.Here, we check if a certain discrete mode is only a single value. If so, we remove it from the pruned joint discrete conditional, as well as convert all
HybridGaussianConditionals which only depend on the dead modes to aGaussianConditional.