From 6f8a23fe3463f8efc415857bcac525582437aa0f Mon Sep 17 00:00:00 2001
From: Varun Agrawal <varagrawal@gmail.com>
Date: Fri, 30 Dec 2022 17:32:31 +0530
Subject: [PATCH] minor fixes

---
 gtsam/hybrid/HybridBayesNet.cpp             |  1 -
 gtsam/hybrid/HybridGaussianFactorGraph.cpp  | 16 +++++++---------
 gtsam/hybrid/tests/testHybridEstimation.cpp |  2 +-
 3 files changed, 8 insertions(+), 11 deletions(-)

diff --git a/gtsam/hybrid/HybridBayesNet.cpp b/gtsam/hybrid/HybridBayesNet.cpp
index fd78986df..8e01c0c76 100644
--- a/gtsam/hybrid/HybridBayesNet.cpp
+++ b/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();
diff --git a/gtsam/hybrid/HybridGaussianFactorGraph.cpp b/gtsam/hybrid/HybridGaussianFactorGraph.cpp
index 9d010d2a1..aac37bc24 100644
--- a/gtsam/hybrid/HybridGaussianFactorGraph.cpp
+++ b/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);
   }
 }
 
diff --git a/gtsam/hybrid/tests/testHybridEstimation.cpp b/gtsam/hybrid/tests/testHybridEstimation.cpp
index 867760e29..927f5c047 100644
--- a/gtsam/hybrid/tests/testHybridEstimation.cpp
+++ b/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();