Merge pull request #1832 from borglab/hybrid-enum

gtsam/hybrid/HybridConditional.cpp

@@ -28,13 +28,8 @@ HybridConditional::HybridConditional(const KeyVector &continuousFrontals,
                                      const DiscreteKeys &discreteFrontals,
                                      const KeyVector &continuousParents,
                                      const DiscreteKeys &discreteParents)
-    : HybridConditional(
+    : HybridConditional(CollectKeys(continuousFrontals, continuousParents),
-          CollectKeys(
+                        CollectDiscreteKeys(discreteFrontals, discreteParents),
-              {continuousFrontals.begin(), continuousFrontals.end()},
-              KeyVector{continuousParents.begin(), continuousParents.end()}),
-          CollectDiscreteKeys(
-              {discreteFrontals.begin(), discreteFrontals.end()},
-              {discreteParents.begin(), discreteParents.end()}),
                         continuousFrontals.size() + discreteFrontals.size()) {}
 
 /* ************************************************************************ */
@@ -56,9 +51,7 @@ HybridConditional::HybridConditional(
 /* ************************************************************************ */
 HybridConditional::HybridConditional(
     const std::shared_ptr<HybridGaussianConditional> &gaussianMixture)
-    : BaseFactor(KeyVector(gaussianMixture->keys().begin(),
+    : BaseFactor(gaussianMixture->continuousKeys(),
-                           gaussianMixture->keys().begin() +
-                               gaussianMixture->nrContinuous()),
                  gaussianMixture->discreteKeys()),
       BaseConditional(gaussianMixture->nrFrontals()) {
   inner_ = gaussianMixture;

gtsam/hybrid/HybridFactor.cpp

@@ -50,31 +50,43 @@ DiscreteKeys CollectDiscreteKeys(const DiscreteKeys &key1,
 
 /* ************************************************************************ */
 HybridFactor::HybridFactor(const KeyVector &keys)
-    : Base(keys), isContinuous_(true), continuousKeys_(keys) {}
+    : Base(keys), category_(Category::Continuous), continuousKeys_(keys) {}
+
+/* ************************************************************************ */
+HybridFactor::Category GetCategory(const KeyVector &continuousKeys,
+                                   const DiscreteKeys &discreteKeys) {
+  if ((continuousKeys.size() == 0) && (discreteKeys.size() != 0)) {
+    return HybridFactor::Category::Discrete;
+  } else if ((continuousKeys.size() != 0) && (discreteKeys.size() == 0)) {
+    return HybridFactor::Category::Continuous;
+  } else if ((continuousKeys.size() != 0) && (discreteKeys.size() != 0)) {
+    return HybridFactor::Category::Hybrid;
+  } else {
+    // Case where we have no keys. Should never happen.
+    return HybridFactor::Category::None;
+  }
+}
 
 /* ************************************************************************ */
 HybridFactor::HybridFactor(const KeyVector &continuousKeys,
                            const DiscreteKeys &discreteKeys)
     : Base(CollectKeys(continuousKeys, discreteKeys)),
-      isDiscrete_((continuousKeys.size() == 0) && (discreteKeys.size() != 0)),
+      category_(GetCategory(continuousKeys, discreteKeys)),
-      isContinuous_((continuousKeys.size() != 0) && (discreteKeys.size() == 0)),
-      isHybrid_((continuousKeys.size() != 0) && (discreteKeys.size() != 0)),
       discreteKeys_(discreteKeys),
       continuousKeys_(continuousKeys) {}
 
 /* ************************************************************************ */
 HybridFactor::HybridFactor(const DiscreteKeys &discreteKeys)
     : Base(CollectKeys({}, discreteKeys)),
-      isDiscrete_(true),
+      category_(Category::Discrete),
       discreteKeys_(discreteKeys),
       continuousKeys_({}) {}
 
 /* ************************************************************************ */
 bool HybridFactor::equals(const HybridFactor &lf, double tol) const {
   const This *e = dynamic_cast<const This *>(&lf);
-  return e != nullptr && Base::equals(*e, tol) &&
+  return e != nullptr && Base::equals(*e, tol) && category_ == e->category_ &&
-         isDiscrete_ == e->isDiscrete_ && isContinuous_ == e->isContinuous_ &&
+         continuousKeys_ == e->continuousKeys_ &&
-         isHybrid_ == e->isHybrid_ && continuousKeys_ == e->continuousKeys_ &&
          discreteKeys_ == e->discreteKeys_;
 }
 
@@ -82,9 +94,21 @@ bool HybridFactor::equals(const HybridFactor &lf, double tol) const {
 void HybridFactor::print(const std::string &s,
                          const KeyFormatter &formatter) const {
   std::cout << (s.empty() ? "" : s + "\n");
-  if (isContinuous_) std::cout << "Continuous ";
+  switch (category_) {
-  if (isDiscrete_) std::cout << "Discrete ";
+    case Category::Continuous:
-  if (isHybrid_) std::cout << "Hybrid ";
+      std::cout << "Continuous ";
+      break;
+    case Category::Discrete:
+      std::cout << "Discrete ";
+      break;
+    case Category::Hybrid:
+      std::cout << "Hybrid ";
+      break;
+    case Category::None:
+      std::cout << "None ";
+      break;
+  }
+
   std::cout << "[";
   for (size_t c = 0; c < continuousKeys_.size(); c++) {
     std::cout << formatter(continuousKeys_.at(c));

gtsam/hybrid/HybridFactor.h

@@ -52,10 +52,13 @@ DiscreteKeys CollectDiscreteKeys(const DiscreteKeys &key1,
  * @ingroup hybrid
  */
 class GTSAM_EXPORT HybridFactor : public Factor {
+ public:
+  /// Enum to help with categorizing hybrid factors.
+  enum class Category { None, Discrete, Continuous, Hybrid };
+
  private:
-  bool isDiscrete_ = false;
+  /// Record what category of HybridFactor this is.
-  bool isContinuous_ = false;
+  Category category_ = Category::None;
-  bool isHybrid_ = false;
 
  protected:
   // Set of DiscreteKeys for this factor.
@@ -116,13 +119,13 @@ class GTSAM_EXPORT HybridFactor : public Factor {
   /// @{
 
   /// True if this is a factor of discrete variables only.
-  bool isDiscrete() const { return isDiscrete_; }
+  bool isDiscrete() const { return category_ == Category::Discrete; }
 
   /// True if this is a factor of continuous variables only.
-  bool isContinuous() const { return isContinuous_; }
+  bool isContinuous() const { return category_ == Category::Continuous; }
 
   /// True is this is a Discrete-Continuous factor.
-  bool isHybrid() const { return isHybrid_; }
+  bool isHybrid() const { return category_ == Category::Hybrid; }
 
   /// Return the number of continuous variables in this factor.
   size_t nrContinuous() const { return continuousKeys_.size(); }
@@ -142,9 +145,7 @@ class GTSAM_EXPORT HybridFactor : public Factor {
   template <class ARCHIVE>
   void serialize(ARCHIVE &ar, const unsigned int /*version*/) {
     ar &BOOST_SERIALIZATION_BASE_OBJECT_NVP(Base);
-    ar &BOOST_SERIALIZATION_NVP(isDiscrete_);
+    ar &BOOST_SERIALIZATION_NVP(category_);
-    ar &BOOST_SERIALIZATION_NVP(isContinuous_);
-    ar &BOOST_SERIALIZATION_NVP(isHybrid_);
     ar &BOOST_SERIALIZATION_NVP(discreteKeys_);
     ar &BOOST_SERIALIZATION_NVP(continuousKeys_);
   }

gtsam/hybrid/HybridGaussianFactorGraph.cpp

@@ -114,10 +114,11 @@ void HybridGaussianFactorGraph::printErrors(
                     << "\n";
         } else {
           // Is hybrid
-          auto mixtureComponent =
+          auto conditionalComponent =
               hc->asMixture()->operator()(values.discrete());
-          mixtureComponent->print(ss.str(), keyFormatter);
+          conditionalComponent->print(ss.str(), keyFormatter);
-          std::cout << "error = " << mixtureComponent->error(values) << "\n";
+          std::cout << "error = " << conditionalComponent->error(values)
+                    << "\n";
         }
       }
     } else if (auto gf = std::dynamic_pointer_cast<GaussianFactor>(factor)) {
@@ -411,10 +412,10 @@ hybridElimination(const HybridGaussianFactorGraph &factors,
   // Create the HybridGaussianConditional from the conditionals
   HybridGaussianConditional::Conditionals conditionals(
       eliminationResults, [](const Result &pair) { return pair.first; });
-  auto gaussianMixture = std::make_shared<HybridGaussianConditional>(
+  auto hybridGaussian = std::make_shared<HybridGaussianConditional>(
       frontalKeys, continuousSeparator, discreteSeparator, conditionals);
 
-  return {std::make_shared<HybridConditional>(gaussianMixture), newFactor};
+  return {std::make_shared<HybridConditional>(hybridGaussian), newFactor};
 }
 
 /* ************************************************************************
@@ -465,7 +466,7 @@ EliminateHybrid(const HybridGaussianFactorGraph &factors,
   // Now we will need to know how to retrieve the corresponding continuous
   // densities for the assignment (c1,c2,c3) (OR (c2,c3,c1), note there is NO
   // defined order!). We also need to consider when there is pruning. Two
-  // mixture factors could have different pruning patterns - one could have
+  // hybrid factors could have different pruning patterns - one could have
   // (c1=0,c2=1) pruned, and another could have (c2=0,c3=1) pruned, and this
   // creates a big problem in how to identify the intersection of non-pruned
   // branches.