minor fixes

gtsam/hybrid/HybridBayesNet.cpp

@@ -128,7 +128,6 @@ std::function<double(const Assignment<Key> &, double)> prunerFunc(
 }
 
 /* ************************************************************************* */
-// TODO(dellaert): what is this non-const method used for? Abolish it?
 void HybridBayesNet::updateDiscreteConditionals(
     const DecisionTreeFactor::shared_ptr &prunedDecisionTree) {
   KeyVector prunedTreeKeys = prunedDecisionTree->keys();

gtsam/hybrid/HybridGaussianFactorGraph.cpp

@@ -397,18 +397,16 @@ EliminateHybrid(const HybridGaussianFactorGraph &factors,
   if (discrete_only) {
     // Case 1: we are only dealing with discrete
     return discreteElimination(factors, frontalKeys);
-  } else {
+  } else if (mapFromKeyToDiscreteKey.empty()) {
     // Case 2: we are only dealing with continuous
-    if (mapFromKeyToDiscreteKey.empty()) {
-      return continuousElimination(factors, frontalKeys);
-    } else {
-      // Case 3: We are now in the hybrid land!
+    return continuousElimination(factors, frontalKeys);
+  } else {
+    // Case 3: We are now in the hybrid land!
 #ifdef HYBRID_TIMING
-      tictoc_reset_();
+    tictoc_reset_();
 #endif
-      return hybridElimination(factors, frontalKeys, continuousSeparator,
-                               discreteSeparatorSet);
-    }
+    return hybridElimination(factors, frontalKeys, continuousSeparator,
+                             discreteSeparatorSet);
   }
 }
 

gtsam/hybrid/tests/testHybridEstimation.cpp

@@ -425,7 +425,7 @@ static HybridNonlinearFactorGraph createHybridNonlinearFactorGraph() {
 }
 
 /*********************************************************************************
-  // Create a hybrid nonlinear factor graph f(x0, x1, m0; z0, z1)
+  // Create a hybrid linear factor graph f(x0, x1, m0; z0, z1)
  ********************************************************************************/
 static HybridGaussianFactorGraph::shared_ptr createHybridGaussianFactorGraph() {
   HybridNonlinearFactorGraph nfg = createHybridNonlinearFactorGraph();