From 293ef614acc01156bdbb767761a7f5dba42b998b Mon Sep 17 00:00:00 2001
From: Fan Jiang <prof.fan@foxmail.com>
Date: Wed, 23 Mar 2022 20:42:26 -0400
Subject: [PATCH] Address comments

---
 gtsam/hybrid/HybridEliminationTree.h  |  3 +++
 gtsam/hybrid/HybridFactorGraph.h      | 10 ++++++++--
 gtsam/hybrid/HybridGaussianFactor.cpp |  2 +-
 3 files changed, 12 insertions(+), 3 deletions(-)

diff --git a/gtsam/hybrid/HybridEliminationTree.h b/gtsam/hybrid/HybridEliminationTree.h
index b72bbcad9..902beb279 100644
--- a/gtsam/hybrid/HybridEliminationTree.h
+++ b/gtsam/hybrid/HybridEliminationTree.h
@@ -23,6 +23,9 @@
 
 namespace gtsam {
 
+/**
+ * Elimination Tree type for Hybrid
+ */
 class GTSAM_EXPORT HybridEliminationTree
     : public EliminationTree<HybridBayesNet, HybridFactorGraph> {
  public:
diff --git a/gtsam/hybrid/HybridFactorGraph.h b/gtsam/hybrid/HybridFactorGraph.h
index 92f98c8f2..21332d80a 100644
--- a/gtsam/hybrid/HybridFactorGraph.h
+++ b/gtsam/hybrid/HybridFactorGraph.h
@@ -37,8 +37,8 @@ class JacobianFactor;
 
 /** Main elimination function for HybridFactorGraph */
 GTSAM_EXPORT
-    std::pair<boost::shared_ptr<HybridConditional>, HybridFactor::shared_ptr>
-    EliminateHybrid(const HybridFactorGraph& factors, const Ordering& keys);
+std::pair<boost::shared_ptr<HybridConditional>, HybridFactor::shared_ptr>
+EliminateHybrid(const HybridFactorGraph& factors, const Ordering& keys);
 
 /* ************************************************************************* */
 template <>
@@ -62,6 +62,12 @@ struct EliminationTraits<HybridFactorGraph> {
   }
 };
 
+/**
+ * Hybrid Factor Graph
+ * -----------------------
+ * This is the linear version of a hybrid factor graph. Everything inside needs
+ * to be hybrid factor or hybrid conditional.
+ */
 class HybridFactorGraph : public FactorGraph<HybridFactor>,
                           public EliminateableFactorGraph<HybridFactorGraph> {
  public:
diff --git a/gtsam/hybrid/HybridGaussianFactor.cpp b/gtsam/hybrid/HybridGaussianFactor.cpp
index d83f90024..5fa4b555a 100644
--- a/gtsam/hybrid/HybridGaussianFactor.cpp
+++ b/gtsam/hybrid/HybridGaussianFactor.cpp
@@ -39,4 +39,4 @@ void HybridGaussianFactor::print(const std::string &s,
   inner->print("inner: ", formatter);
 };
 
-}  // namespace gtsam
\ No newline at end of file
+}  // namespace gtsam