Remove error checking

borglab · Sep 26, 2024 · 83fae8e · 83fae8e
1 parent 69b1313
commit 83fae8e
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Showing 2 changed files with 7 additions and 19 deletions.
diff --git a/gtsam/hybrid/HybridGaussianConditional.cpp b/gtsam/hybrid/HybridGaussianConditional.cpp
@@ -37,14 +37,9 @@ HybridGaussianConditional::ConstructorHelper::ConstructorHelper(
       [&](const GaussianConditional::shared_ptr &c) -> GaussianFactorValuePair {
     double value = 0.0;
     if (c) {
-      KeyVector cf(c->frontals().begin(), c->frontals().end());
-      KeyVector cp(c->parents().begin(), c->parents().end());
       if (frontals.empty()) {
-        frontals = cf;
-        parents = cp;
-      } else if (cf != frontals || cp != parents) {
-        throw std::invalid_argument(
-            "All conditionals must have the same frontals and parents");
+        frontals = KeyVector(c->frontals().begin(), c->frontals().end());
+        parents = KeyVector(c->parents().begin(), c->parents().end());
       }
       value = c->negLogConstant();
       negLogConstant = std::min(negLogConstant, value);

diff --git a/gtsam/hybrid/HybridGaussianFactor.cpp b/gtsam/hybrid/HybridGaussianFactor.cpp
@@ -76,11 +76,9 @@ HybridGaussianFactor::ConstructorHelper::ConstructorHelper(
     : discreteKeys({discreteKey}) {
   // Extract continuous keys from the first non-null factor
   for (const auto &factor : factors) {
-    if (!factor) continue;  // Skip null factors
-    if (continuousKeys.empty()) {
+    if (factor && continuousKeys.empty()) {
       continuousKeys = factor->keys();
-    } else if (factor->keys() != continuousKeys) {
-      throw std::invalid_argument("All factors must have the same keys");
+      break;
     }
   }
 
@@ -95,11 +93,9 @@ HybridGaussianFactor::ConstructorHelper::ConstructorHelper(
     : discreteKeys({discreteKey}) {
   // Extract continuous keys from the first non-null factor
   for (const auto &pair : factorPairs) {
-    if (!pair.first) continue;  // Skip null factors
-    if (continuousKeys.empty()) {
+    if (pair.first && continuousKeys.empty()) {
       continuousKeys = pair.first->keys();
-    } else if (pair.first->keys() != continuousKeys) {
-      throw std::invalid_argument("All factors must have the same keys");
+      break;
     }
   }
 
@@ -113,11 +109,8 @@ HybridGaussianFactor::ConstructorHelper::ConstructorHelper(
     : discreteKeys(discreteKeys) {
   // Extract continuous keys from the first non-null factor
   factorPairs.visit([&](const GaussianFactorValuePair &pair) {
-    if (!pair.first) return;  // Skip null factors
-    if (continuousKeys.empty()) {
+    if (pair.first && continuousKeys.empty()) {
       continuousKeys = pair.first->keys();
-    } else if (pair.first->keys() != continuousKeys) {
-      throw std::invalid_argument("All factors must have the same keys");
     }
   });