format DiscreteMarginals.h

gtsam/discrete/DiscreteMarginals.h

@@ -20,9 +20,9 @@
 
 #pragma once
 
-#include <gtsam/discrete/DiscreteFactorGraph.h>
-#include <gtsam/discrete/DiscreteBayesTree.h>
 #include <gtsam/base/Vector.h>
+#include <gtsam/discrete/DiscreteBayesTree.h>
+#include <gtsam/discrete/DiscreteFactorGraph.h>
 
 namespace gtsam {
 
@@ -31,17 +31,15 @@ namespace gtsam {
  * @ingroup discrete
  */
 class DiscreteMarginals {
-
  protected:
-
   DiscreteBayesTree::shared_ptr bayesTree_;
 
  public:
-
   DiscreteMarginals() {}
 
   /** Construct a marginals class.
-   * @param graph The factor graph defining the full joint distribution on all variables.
+   * @param graph The factor graph defining the full joint 
+   * distribution on all variables.
    */
   DiscreteMarginals(const DiscreteFactorGraph& graph) {
     bayesTree_ = graph.eliminateMultifrontal();
@@ -50,8 +48,8 @@ class DiscreteMarginals {
   /** Compute the marginal of a single variable */
   DiscreteFactor::shared_ptr operator()(Key variable) const {
     // Compute marginal
-    DiscreteFactor::shared_ptr marginalFactor;
-    marginalFactor = bayesTree_->marginalFactor(variable, &EliminateDiscrete);
+    DiscreteFactor::shared_ptr marginalFactor =
+        bayesTree_->marginalFactor(variable, &EliminateDiscrete);
     return marginalFactor;
   }
 
@@ -61,8 +59,7 @@ class DiscreteMarginals {
    */
   Vector marginalProbabilities(const DiscreteKey& key) const {
     // Compute marginal
-    DiscreteFactor::shared_ptr marginalFactor;
-    marginalFactor = bayesTree_->marginalFactor(key.first, &EliminateDiscrete);
+    DiscreteFactor::shared_ptr marginalFactor = this->operator()(key.first);
 
     // Create result
     Vector vResult(key.second);
@@ -73,7 +70,6 @@ class DiscreteMarginals {
     }
     return vResult;
   }
-
 };
 
 } /* namespace gtsam */