Address Varun's comments

gtsam/hybrid/GaussianMixture.cpp

@@ -50,7 +50,7 @@ GaussianMixture GaussianMixture::FromConditionalList(
 }
 
 /* *******************************************************************************/
-GaussianMixture::Sum GaussianMixture::addTo(
+GaussianMixture::Sum GaussianMixture::add(
     const GaussianMixture::Sum &sum) const {
   using Y = GaussianFactorGraph;
   auto add = [](const Y &graph1, const Y &graph2) {
@@ -58,20 +58,21 @@ GaussianMixture::Sum GaussianMixture::addTo(
     result.push_back(graph2);
     return result;
   };
-  const Sum wrapped = wrappedConditionals();
+  const Sum wrapped = asGraph();
   return sum.empty() ? wrapped : sum.apply(wrapped, add);
 }
 
 /* *******************************************************************************/
-GaussianMixture::Sum GaussianMixture::wrappedConditionals() const {
-  auto wrap = [](const GaussianFactor::shared_ptr &factor) {
+GaussianMixture::Sum GaussianMixture::asGraph() const {
+  auto lambda = [](const GaussianFactor::shared_ptr &factor) {
     GaussianFactorGraph result;
     result.push_back(factor);
     return result;
   };
-  return {conditionals_, wrap};
+  return {conditionals_, lambda};
 }
 
+/* TODO(fan): this (for Testable) is not implemented! */
 bool GaussianMixture::equals(const HybridFactor &lf, double tol) const {
   return false;
 }

gtsam/hybrid/GaussianMixture.h

@@ -13,6 +13,7 @@
  * @file   GaussianMixture.h
  * @brief  A hybrid conditional in the Conditional Linear Gaussian scheme
  * @author Fan Jiang
+ * @author Varun Agrawal
  * @date   Mar 12, 2022
  */
 
@@ -55,10 +56,10 @@ class GaussianMixture : public HybridFactor,
   const Conditionals &conditionals();
 
   /* *******************************************************************************/
-  Sum addTo(const Sum &sum) const;
+  Sum add(const Sum &sum) const;
 
   /* *******************************************************************************/
-  Sum wrappedConditionals() const;
+  Sum asGraph() const;
 
   static This FromConditionalList(
       const KeyVector &continuousFrontals, const KeyVector &continuousParents,
@@ -71,4 +72,4 @@ class GaussianMixture : public HybridFactor,
       const std::string &s = "GaussianMixture\n",
       const KeyFormatter &formatter = DefaultKeyFormatter) const override;
 };
-}  // namespace gtsam
+}  // namespace gtsam

gtsam/hybrid/GaussianMixtureFactor.cpp

@@ -62,7 +62,7 @@ const GaussianMixtureFactor::Factors &GaussianMixtureFactor::factors() {
 }
 
 /* *******************************************************************************/
-GaussianMixtureFactor::Sum GaussianMixtureFactor::addTo(
+GaussianMixtureFactor::Sum GaussianMixtureFactor::add(
     const GaussianMixtureFactor::Sum &sum) const {
   using Y = GaussianFactorGraph;
   auto add = [](const Y &graph1, const Y &graph2) {

gtsam/hybrid/GaussianMixtureFactor.h

@@ -56,7 +56,7 @@ class GaussianMixtureFactor : public HybridFactor {
       const std::vector<GaussianFactor::shared_ptr> &factors);
 
   /* *******************************************************************************/
-  Sum addTo(const Sum &sum) const;
+  Sum add(const Sum &sum) const;
 
   /* *******************************************************************************/
   Sum wrappedFactors() const;

gtsam/hybrid/HybridFactor.cpp

@@ -76,4 +76,4 @@ void HybridFactor::print(
 
 HybridFactor::~HybridFactor() = default;
 
-}  // namespace gtsam
+}  // namespace gtsam

gtsam/hybrid/HybridFactorGraph.cpp

@@ -286,12 +286,12 @@ EliminateHybrid(const HybridFactorGraph &factors, const Ordering &frontalKeys) {
     if (f->isHybrid_) {
       auto cgmf = boost::dynamic_pointer_cast<GaussianMixtureFactor>(f);
       if (cgmf) {
-        sum = cgmf->addTo(sum);
+        sum = cgmf->add(sum);
       }
 
       auto gm = boost::dynamic_pointer_cast<HybridConditional>(f);
       if (gm) {
-        sum = gm->asMixture()->addTo(sum);
+        sum = gm->asMixture()->add(sum);
       }
 
     } else if (f->isContinuous_) {

gtsam/hybrid/HybridGaussianFactor.h

@@ -24,7 +24,7 @@
 namespace gtsam {
 
 /**
- * A HybridGaussianFactor is a wrapper for GaussianFactor so that we do not have
+ * A HybridGaussianFactor is a layer over GaussianFactor so that we do not have
  * a diamond inheritance.
  */
 class HybridGaussianFactor : public HybridFactor {

gtsam/hybrid/tests/Switching.h

@@ -1,3 +1,21 @@
+/* ----------------------------------------------------------------------------
+
+ * GTSAM Copyright 2010, Georgia Tech Research Corporation,
+ * Atlanta, Georgia 30332-0415
+ * All Rights Reserved
+ * Authors: Frank Dellaert, et al. (see THANKS for the full author list)
+
+ * See LICENSE for the license information
+
+ * -------------------------------------------------------------------------- */
+
+/*
+ *  @file Switching.h
+ *  @date Mar 11, 2022
+ *  @author Varun Agrawal
+ *  @author Fan Jiang
+ */
+
 #include <gtsam/base/Matrix.h>
 #include <gtsam/discrete/DecisionTreeFactor.h>
 #include <gtsam/hybrid/GaussianMixtureFactor.h>
@@ -65,4 +83,4 @@ inline std::pair<KeyVector, std::vector<int>> makeBinaryOrdering(
   return {new_order, levels};
 }
 
-}  // namespace gtsam
+}  // namespace gtsam

gtsam/hybrid/tests/testHybridFactorGraph.cpp

@@ -10,7 +10,7 @@
  * -------------------------------------------------------------------------- */
 
 /*
- *  @file testHybridConditional.cpp
+ *  @file testHybridFactorGraph.cpp
  *  @date Mar 11, 2022
  *  @author Fan Jiang
  */