From 3eb91a4ba06cf0bf3a0d1a4af40f210d64b13bca Mon Sep 17 00:00:00 2001 From: Varun Agrawal Date: Sun, 15 Sep 2024 09:16:31 -0400 Subject: [PATCH] address some PR comments --- gtsam/hybrid/HybridNonlinearFactor.h | 2 +- gtsam/hybrid/tests/testHybridGaussianFactor.cpp | 8 ++++---- 2 files changed, 5 insertions(+), 5 deletions(-) diff --git a/gtsam/hybrid/HybridNonlinearFactor.h b/gtsam/hybrid/HybridNonlinearFactor.h index 6cfce6bc0..d8e3990f0 100644 --- a/gtsam/hybrid/HybridNonlinearFactor.h +++ b/gtsam/hybrid/HybridNonlinearFactor.h @@ -110,7 +110,7 @@ class HybridNonlinearFactor : public HybridFactor { std::inserter(factor_keys_set, factor_keys_set.end())); if (auto nf = std::dynamic_pointer_cast(f)) { - nonlinear_factors.push_back(std::make_pair(nf, val)); + nonlinear_factors.emplace_back(nf, val); } else { throw std::runtime_error( "Factors passed into HybridNonlinearFactor need to be nonlinear!"); diff --git a/gtsam/hybrid/tests/testHybridGaussianFactor.cpp b/gtsam/hybrid/tests/testHybridGaussianFactor.cpp index 8837e84a7..11226e19d 100644 --- a/gtsam/hybrid/tests/testHybridGaussianFactor.cpp +++ b/gtsam/hybrid/tests/testHybridGaussianFactor.cpp @@ -616,15 +616,15 @@ TEST(HybridGaussianFactor, TwoStateModel2) { /* ************************************************************************* */ /** - * Test a model P(z0|x0)P(x1|x0,m1)P(z1|x1)P(m1). + * Test a model p(z0|x0)p(x1|x0,m1)p(z1|x1)p(m1). * - * P(x1|x0,m1) has the same means but different covariances. + * p(x1|x0,m1) has the same means but different covariances. * * Converting to a factor graph gives us - * ϕ(x0)ϕ(x1,x0,m1)ϕ(x1)P(m1) + * ϕ(x0)ϕ(x1,x0,m1)ϕ(x1)p(m1) * * If we only have a measurement on z0, then - * the P(m1) should be 0.5/0.5. + * the p(m1) should be 0.5/0.5. * Getting a measurement on z1 gives use more information. */ TEST(HybridGaussianFactor, TwoStateModel3) {