From 5145b8c47a39a1ad41596c3a5469d6a884b21010 Mon Sep 17 00:00:00 2001
From: Frank Dellaert <dellaert@gmail.com>
Date: Tue, 22 Oct 2024 13:50:39 -0700
Subject: [PATCH] formatting/spelling only

---
 gtsam/hybrid/HybridGaussianISAM.cpp         |  2 +-
 gtsam/hybrid/HybridNonlinearISAM.cpp        |  8 ++++----
 gtsam/hybrid/HybridNonlinearISAM.h          | 10 +++++-----
 gtsam/hybrid/tests/testHybridEstimation.cpp | 16 ++++------------
 4 files changed, 14 insertions(+), 22 deletions(-)

diff --git a/gtsam/hybrid/HybridGaussianISAM.cpp b/gtsam/hybrid/HybridGaussianISAM.cpp
index 6f8b7b9ff..28116df45 100644
--- a/gtsam/hybrid/HybridGaussianISAM.cpp
+++ b/gtsam/hybrid/HybridGaussianISAM.cpp
@@ -10,7 +10,7 @@
  * -------------------------------------------------------------------------- */
 
 /**
- * @file HybridGaussianISAM.h
+ * @file HybridGaussianISAM.cpp
  * @date March 31, 2022
  * @author Fan Jiang
  * @author Frank Dellaert
diff --git a/gtsam/hybrid/HybridNonlinearISAM.cpp b/gtsam/hybrid/HybridNonlinearISAM.cpp
index ec6ebf4d0..503afaa72 100644
--- a/gtsam/hybrid/HybridNonlinearISAM.cpp
+++ b/gtsam/hybrid/HybridNonlinearISAM.cpp
@@ -39,8 +39,8 @@ void HybridNonlinearISAM::update(const HybridNonlinearFactorGraph& newFactors,
   if (newFactors.size() > 0) {
     // Reorder and relinearize every reorderInterval updates
     if (reorderInterval_ > 0 && ++reorderCounter_ >= reorderInterval_) {
-      // TODO(Varun) Relinearization doesn't take into account pruning
-      reorder_relinearize();
+      // TODO(Varun) Re-linearization doesn't take into account pruning
+      reorderRelinearize();
       reorderCounter_ = 0;
     }
 
@@ -60,7 +60,7 @@ void HybridNonlinearISAM::update(const HybridNonlinearFactorGraph& newFactors,
 }
 
 /* ************************************************************************* */
-void HybridNonlinearISAM::reorder_relinearize() {
+void HybridNonlinearISAM::reorderRelinearize() {
   if (factors_.size() > 0) {
     // Obtain the new linearization point
     const Values newLinPoint = estimate();
@@ -69,7 +69,7 @@ void HybridNonlinearISAM::reorder_relinearize() {
 
     // Just recreate the whole BayesTree
     // TODO: allow for constrained ordering here
-    // TODO: decouple relinearization and reordering to avoid
+    // TODO: decouple re-linearization and reordering to avoid
     isam_.update(*factors_.linearize(newLinPoint), {}, {},
                  eliminationFunction_);
 
diff --git a/gtsam/hybrid/HybridNonlinearISAM.h b/gtsam/hybrid/HybridNonlinearISAM.h
index e41b4ebe1..686a08327 100644
--- a/gtsam/hybrid/HybridNonlinearISAM.h
+++ b/gtsam/hybrid/HybridNonlinearISAM.h
@@ -37,7 +37,7 @@ class GTSAM_EXPORT HybridNonlinearISAM {
   /// The discrete assignment
   DiscreteValues assignment_;
 
-  /** The original factors, used when relinearizing */
+  /** The original factors, used when re-linearizing */
   HybridNonlinearFactorGraph factors_;
 
   /** The reordering interval and counter */
@@ -52,8 +52,8 @@ class GTSAM_EXPORT HybridNonlinearISAM {
   /// @{
 
   /**
-   * Periodically reorder and relinearize
-   * @param reorderInterval is the number of updates between reorderings,
+   * Periodically reorder and re-linearize
+   * @param reorderInterval is the number of updates between re-orderings,
    *   0 never reorders (and is dangerous for memory consumption)
    *  1 (default) reorders every time, in worse case is batch every update
    *  typical values are 50 or 100
@@ -124,8 +124,8 @@ class GTSAM_EXPORT HybridNonlinearISAM {
               const std::optional<size_t>& maxNrLeaves = {},
               const std::optional<Ordering>& ordering = {});
 
-  /** Relinearization and reordering of variables */
-  void reorder_relinearize();
+  /** Re-linearization and reordering of variables */
+  void reorderRelinearize();
 
   /// @}
 };
diff --git a/gtsam/hybrid/tests/testHybridEstimation.cpp b/gtsam/hybrid/tests/testHybridEstimation.cpp
index 6206e5f45..f972e7cac 100644
--- a/gtsam/hybrid/tests/testHybridEstimation.cpp
+++ b/gtsam/hybrid/tests/testHybridEstimation.cpp
@@ -339,12 +339,8 @@ TEST(HybridEstimation, Probability) {
   HybridValues hybrid_values = bayesNet->optimize();
 
   // This is the correct sequence as designed
-  DiscreteValues discrete_seq;
-  discrete_seq[M(0)] = 1;
-  discrete_seq[M(1)] = 1;
-  discrete_seq[M(2)] = 0;
-
-  EXPECT(assert_equal(discrete_seq, hybrid_values.discrete()));
+  DiscreteValues expectedSequence{{M(0), 1}, {M(1), 1}, {M(2), 0}};
+  EXPECT(assert_equal(expectedSequence, hybrid_values.discrete()));
 }
 
 /****************************************************************************/
@@ -411,12 +407,8 @@ TEST(HybridEstimation, ProbabilityMultifrontal) {
   HybridValues hybrid_values = discreteBayesTree->optimize();
 
   // This is the correct sequence as designed
-  DiscreteValues discrete_seq;
-  discrete_seq[M(0)] = 1;
-  discrete_seq[M(1)] = 1;
-  discrete_seq[M(2)] = 0;
-
-  EXPECT(assert_equal(discrete_seq, hybrid_values.discrete()));
+  DiscreteValues expectedSequence{{M(0), 1}, {M(1), 1}, {M(2), 0}};
+  EXPECT(assert_equal(expectedSequence, hybrid_values.discrete()));
 }
 
 /*********************************************************************************