HybridDiscreteFactor docs and minor refactor

gtsam/hybrid/HybridDiscreteFactor.cpp

@@ -24,25 +24,28 @@
 
 namespace gtsam {
 
+/* ************************************************************************ */
 // TODO(fan): THIS IS VERY VERY DIRTY! We need to get DiscreteFactor right!
 HybridDiscreteFactor::HybridDiscreteFactor(DiscreteFactor::shared_ptr other)
     : Base(boost::dynamic_pointer_cast<DecisionTreeFactor>(other)
-               ->discreteKeys()) {
-  inner = other;
-}
+               ->discreteKeys()),
+      inner_(other) {}
 
+/* ************************************************************************ */
 HybridDiscreteFactor::HybridDiscreteFactor(DecisionTreeFactor &&dtf)
     : Base(dtf.discreteKeys()),
-      inner(boost::make_shared<DecisionTreeFactor>(std::move(dtf))) {}
+      inner_(boost::make_shared<DecisionTreeFactor>(std::move(dtf))) {}
 
+/* ************************************************************************ */
 bool HybridDiscreteFactor::equals(const HybridFactor &lf, double tol) const {
-  return false;
+  return Base::equals(lf, tol);
 }
 
+/* ************************************************************************ */
 void HybridDiscreteFactor::print(const std::string &s,
                                  const KeyFormatter &formatter) const {
   HybridFactor::print(s, formatter);
-  inner->print("inner: ", formatter);
+  inner_->print("inner: ", formatter);
 };
 
 }  // namespace gtsam

gtsam/hybrid/HybridDiscreteFactor.h

@@ -13,6 +13,7 @@
  *  @file HybridDiscreteFactor.h
  *  @date Mar 11, 2022
  *  @author Fan Jiang
+ *  @author Varun Agrawal
  */
 
 #pragma once
@@ -29,12 +30,16 @@ namespace gtsam {
  * inheritance.
  */
 class HybridDiscreteFactor : public HybridFactor {
+ private:
+  DiscreteFactor::shared_ptr inner_;
+
  public:
   using Base = HybridFactor;
   using This = HybridDiscreteFactor;
   using shared_ptr = boost::shared_ptr<This>;
 
-  DiscreteFactor::shared_ptr inner;
+  /// @name Constructors
+  /// @{
 
   // Implicit conversion from a shared ptr of DF
   HybridDiscreteFactor(DiscreteFactor::shared_ptr other);
@@ -42,11 +47,18 @@ class HybridDiscreteFactor : public HybridFactor {
   // Forwarding constructor from concrete DecisionTreeFactor
   HybridDiscreteFactor(DecisionTreeFactor &&dtf);
 
- public:
+  /// @}
+  /// @name Testable
+  /// @{
   virtual bool equals(const HybridFactor &lf, double tol) const override;
 
   void print(
       const std::string &s = "HybridFactor\n",
       const KeyFormatter &formatter = DefaultKeyFormatter) const override;
+
+  /// @}
+
+  /// Return pointer to the internal discrete factor
+  DiscreteFactor::shared_ptr inner() const { return inner_; }
 };
 }  // namespace gtsam