From 7557bd990a2844803186f98c6ea461122a682d76 Mon Sep 17 00:00:00 2001
From: Frank Dellaert <dellaert@gmail.com>
Date: Tue, 18 Jan 2022 17:33:46 -0500
Subject: [PATCH] Some reformatting/docs/using

---
 gtsam/discrete/DiscreteFactorGraph.h | 43 +++++++++++++++-------------
 1 file changed, 23 insertions(+), 20 deletions(-)

diff --git a/gtsam/discrete/DiscreteFactorGraph.h b/gtsam/discrete/DiscreteFactorGraph.h
index 08c3d893d..1da840eb8 100644
--- a/gtsam/discrete/DiscreteFactorGraph.h
+++ b/gtsam/discrete/DiscreteFactorGraph.h
@@ -64,33 +64,35 @@ template<> struct EliminationTraits<DiscreteFactorGraph>
  * A Discrete Factor Graph is a factor graph where all factors are Discrete, i.e.
  *   Factor == DiscreteFactor
  */
-class GTSAM_EXPORT DiscreteFactorGraph: public FactorGraph<DiscreteFactor>,
-public EliminateableFactorGraph<DiscreteFactorGraph> {
-public:
+class GTSAM_EXPORT DiscreteFactorGraph
+    : public FactorGraph<DiscreteFactor>,
+      public EliminateableFactorGraph<DiscreteFactorGraph> {
+ public:
+  using This = DiscreteFactorGraph;          ///< this class
+  using Base = FactorGraph<DiscreteFactor>;  ///< base factor graph type
+  using BaseEliminateable =
+      EliminateableFactorGraph<This>;          ///< for elimination
+  using shared_ptr = boost::shared_ptr<This>;  ///< shared_ptr to This
 
-  typedef DiscreteFactorGraph This; ///< Typedef to this class
-  typedef FactorGraph<DiscreteFactor> Base; ///< Typedef to base factor graph type
-  typedef EliminateableFactorGraph<This> BaseEliminateable; ///< Typedef to base elimination class
-  typedef boost::shared_ptr<This> shared_ptr; ///< shared_ptr to this class
+  using Values = DiscreteValues;  ///< backwards compatibility
 
-  using Values = DiscreteValues; ///< backwards compatibility
-
-  /** A map from keys to values */
-  typedef KeyVector Indices;
+  using Indices = KeyVector;  ///> map from keys to values
 
   /** Default constructor */
   DiscreteFactorGraph() {}
 
   /** Construct from iterator over factors */
-  template<typename ITERATOR>
-  DiscreteFactorGraph(ITERATOR firstFactor, ITERATOR lastFactor) : Base(firstFactor, lastFactor) {}
+  template <typename ITERATOR>
+  DiscreteFactorGraph(ITERATOR firstFactor, ITERATOR lastFactor)
+      : Base(firstFactor, lastFactor) {}
 
   /** Construct from container of factors (shared_ptr or plain objects) */
-  template<class CONTAINER>
+  template <class CONTAINER>
   explicit DiscreteFactorGraph(const CONTAINER& factors) : Base(factors) {}
 
-  /** Implicit copy/downcast constructor to override explicit template container constructor */
-  template<class DERIVEDFACTOR>
+  /** Implicit copy/downcast constructor to override explicit template container
+   * constructor */
+  template <class DERIVEDFACTOR>
   DiscreteFactorGraph(const FactorGraph<DERIVEDFACTOR>& graph) : Base(graph) {}
 
   /// Destructor
@@ -108,7 +110,7 @@ public:
   void add(Args&&... args) {
     emplace_shared<DecisionTreeFactor>(std::forward<Args>(args)...);
   }
-      
+
   /** Return the set of variables involved in the factors (set union) */
   KeySet keys() const;
 
@@ -163,9 +165,10 @@ public:
                    const DiscreteFactor::Names& names = {}) const;
 
   /// @}
-}; // \ DiscreteFactorGraph
+};  // \ DiscreteFactorGraph
 
 /// traits
-template<> struct traits<DiscreteFactorGraph> : public Testable<DiscreteFactorGraph> {};
+template <>
+struct traits<DiscreteFactorGraph> : public Testable<DiscreteFactorGraph> {};
 
-} // \ namespace gtsam
+}  // namespace gtsam