make functional

gtsam/hybrid/HybridBayesNet.h

@@ -35,7 +35,7 @@ class GTSAM_EXPORT HybridBayesNet : public BayesNet<HybridConditional> {
   using sharedConditional = boost::shared_ptr<ConditionalType>;
 
   /** Construct empty bayes net */
-  HybridBayesNet() : Base() {}
+  HybridBayesNet() = default;
 };
 
 }  // namespace gtsam

gtsam/hybrid/HybridBayesTree.cpp

@@ -33,5 +33,4 @@ bool HybridBayesTree::equals(const This& other, double tol) const {
   return Base::equals(other, tol);
 }
 
-/* **************************************************************************/
 }  // namespace gtsam

gtsam/hybrid/HybridBayesTree.h

@@ -70,7 +70,13 @@ class GTSAM_EXPORT HybridBayesTree : public BayesTree<HybridBayesTreeClique> {
   /// @}
 };
 
-/* This does special stuff for the hybrid case */
+/**
+ * @brief Class for Hybrid Bayes tree orphan subtrees.
+ *
+ * This does special stuff for the hybrid case
+ *
+ * @tparam CLIQUE
+ */
 template <class CLIQUE>
 class BayesTreeOrphanWrapper<
     CLIQUE, typename std::enable_if<
@@ -82,16 +88,22 @@ class BayesTreeOrphanWrapper<
 
   boost::shared_ptr<CliqueType> clique;
 
+  /**
+   * @brief Construct a new Bayes Tree Orphan Wrapper object.
+   *
+   * @param clique Bayes tree clique.
+   */
   BayesTreeOrphanWrapper(const boost::shared_ptr<CliqueType>& clique)
       : clique(clique) {
     // Store parent keys in our base type factor so that eliminating those
     // parent keys will pull this subtree into the elimination.
     this->keys_.assign(clique->conditional()->beginParents(),
                        clique->conditional()->endParents());
-    this->discreteKeys_.assign(clique->conditional()->discreteKeys_.begin(),
+    this->discreteKeys_.assign(clique->conditional()->discreteKeys().begin(),
-                               clique->conditional()->discreteKeys_.end());
+                               clique->conditional()->discreteKeys().end());
   }
 
+  /// print utility
   void print(
       const std::string& s = "",
       const KeyFormatter& formatter = DefaultKeyFormatter) const override {

gtsam/hybrid/HybridEliminationTree.h

@@ -28,12 +28,18 @@ namespace gtsam {
  */
 class GTSAM_EXPORT HybridEliminationTree
     : public EliminationTree<HybridBayesNet, HybridFactorGraph> {
+ private:
+  friend class ::EliminationTreeTester;
+
  public:
   typedef EliminationTree<HybridBayesNet, HybridFactorGraph>
       Base;                                    ///< Base class
   typedef HybridEliminationTree This;          ///< This class
   typedef boost::shared_ptr<This> shared_ptr;  ///< Shared pointer to this class
 
+  /// @name Constructors
+  /// @{
+
   /**
    * Build the elimination tree of a factor graph using pre-computed column
    * structure.
@@ -54,11 +60,10 @@ class GTSAM_EXPORT HybridEliminationTree
   HybridEliminationTree(const HybridFactorGraph& factorGraph,
                         const Ordering& order);
 
+  /// @}
+
   /** Test whether the tree is equal to another */
   bool equals(const This& other, double tol = 1e-9) const;
-
- private:
-  friend class ::EliminationTreeTester;
 };
 
 }  // namespace gtsam

gtsam/hybrid/HybridFactorGraph.cpp

@@ -150,8 +150,8 @@ EliminateHybrid(const HybridFactorGraph &factors, const Ordering &frontalKeys) {
       std::cout << RESET;
     }
     separatorKeys.insert(factor->begin(), factor->end());
-    if (!factor->isContinuous_) {
+    if (!factor->isContinuous()) {
-      for (auto &k : factor->discreteKeys_) {
+      for (auto &k : factor->discreteKeys()) {
         mapFromKeyToDiscreteKey[k.first] = k;
       }
     }
@@ -223,9 +223,9 @@ EliminateHybrid(const HybridFactorGraph &factors, const Ordering &frontalKeys) {
     for (auto &fp : factors) {
       auto ptr = boost::dynamic_pointer_cast<HybridGaussianFactor>(fp);
       if (ptr) {
-        gfg.push_back(ptr->inner);
+        gfg.push_back(ptr->inner());
       } else {
-        auto p = boost::static_pointer_cast<HybridConditional>(fp)->inner;
+        auto p = boost::static_pointer_cast<HybridConditional>(fp)->inner();
         if (p) {
           gfg.push_back(boost::static_pointer_cast<GaussianConditional>(p));
         } else {
@@ -251,9 +251,9 @@ EliminateHybrid(const HybridFactorGraph &factors, const Ordering &frontalKeys) {
     for (auto &fp : factors) {
       auto ptr = boost::dynamic_pointer_cast<HybridDiscreteFactor>(fp);
       if (ptr) {
-        dfg.push_back(ptr->inner);
+        dfg.push_back(ptr->inner());
       } else {
-        auto p = boost::static_pointer_cast<HybridConditional>(fp)->inner;
+        auto p = boost::static_pointer_cast<HybridConditional>(fp)->inner();
         if (p) {
           dfg.push_back(boost::static_pointer_cast<DiscreteConditional>(p));
         } else {
@@ -288,7 +288,7 @@ EliminateHybrid(const HybridFactorGraph &factors, const Ordering &frontalKeys) {
   std::vector<GaussianFactor::shared_ptr> deferredFactors;
 
   for (auto &f : factors) {
-    if (f->isHybrid_) {
+    if (f->isHybrid()) {
       auto cgmf = boost::dynamic_pointer_cast<GaussianMixtureFactor>(f);
       if (cgmf) {
         sum = cgmf->add(sum);
@@ -299,9 +299,9 @@ EliminateHybrid(const HybridFactorGraph &factors, const Ordering &frontalKeys) {
         sum = gm->asMixture()->add(sum);
       }
 
-    } else if (f->isContinuous_) {
+    } else if (f->isContinuous()) {
       deferredFactors.push_back(
-          boost::dynamic_pointer_cast<HybridGaussianFactor>(f)->inner);
+          boost::dynamic_pointer_cast<HybridGaussianFactor>(f)->inner());
     } else {
       // We need to handle the case where the object is actually an
       // BayesTreeOrphanWrapper!

gtsam/hybrid/HybridISAM.cpp

@@ -58,7 +58,7 @@ void HybridISAM::updateInternal(const HybridFactorGraph& newFactors,
 
   KeySet allDiscrete;
   for (auto& factor : factors) {
-    for (auto& k : factor->discreteKeys_) {
+    for (auto& k : factor->discreteKeys()) {
       allDiscrete.insert(k.first);
     }
   }

gtsam/hybrid/HybridJunctionTree.cpp

@@ -63,7 +63,7 @@ struct HybridConstructorTraversalData {
     std::cout << "Getting discrete info: ";
 #endif
     for (HybridFactor::shared_ptr& f : node->factors) {
-      for (auto& k : f->discreteKeys_) {
+      for (auto& k : f->discreteKeys()) {
 #ifdef GTSAM_HYBRID_JUNCTIONTREE_DEBUG
         std::cout << "DK: " << DefaultKeyFormatter(k.first) << "\n";
 #endif