From 82c25d887c21c31f3d4478732a6688c92ce11754 Mon Sep 17 00:00:00 2001
From: Frank Dellaert <dellaert@gmail.com>
Date: Tue, 24 Sep 2024 11:23:50 -0700
Subject: [PATCH] Address comments on PR #1843

(cherry picked from commit 7e587e4eb396cadf67799e968cb0cf153af9750a)
---
 gtsam/hybrid/HybridNonlinearFactor.cpp | 9 ++-------
 gtsam/hybrid/HybridNonlinearFactor.h   | 4 ++--
 2 files changed, 4 insertions(+), 9 deletions(-)

diff --git a/gtsam/hybrid/HybridNonlinearFactor.cpp b/gtsam/hybrid/HybridNonlinearFactor.cpp
index a541722c4..f5be6ded8 100644
--- a/gtsam/hybrid/HybridNonlinearFactor.cpp
+++ b/gtsam/hybrid/HybridNonlinearFactor.cpp
@@ -22,7 +22,7 @@ namespace gtsam {
 
 /* *******************************************************************************/
 static void checkKeys(const KeyVector& continuousKeys,
-                      std::vector<NonlinearFactorValuePair>& pairs) {
+                      const std::vector<NonlinearFactorValuePair>& pairs) {
   KeySet factor_keys_set;
   for (const auto& pair : pairs) {
     auto f = pair.first;
@@ -55,14 +55,9 @@ HybridNonlinearFactor::HybridNonlinearFactor(
 /* *******************************************************************************/
 HybridNonlinearFactor::HybridNonlinearFactor(
     const KeyVector& continuousKeys, const DiscreteKey& discreteKey,
-    const std::vector<NonlinearFactorValuePair>& factors)
+    const std::vector<NonlinearFactorValuePair>& pairs)
     : Base(continuousKeys, {discreteKey}) {
-  std::vector<NonlinearFactorValuePair> pairs;
   KeySet continuous_keys_set(continuousKeys.begin(), continuousKeys.end());
-  KeySet factor_keys_set;
-  for (auto&& [f, val] : factors) {
-    pairs.emplace_back(f, val);
-  }
   checkKeys(continuousKeys, pairs);
   factors_ = FactorValuePairs({discreteKey}, pairs);
 }
diff --git a/gtsam/hybrid/HybridNonlinearFactor.h b/gtsam/hybrid/HybridNonlinearFactor.h
index 766467518..7843afc83 100644
--- a/gtsam/hybrid/HybridNonlinearFactor.h
+++ b/gtsam/hybrid/HybridNonlinearFactor.h
@@ -106,11 +106,11 @@ class GTSAM_EXPORT HybridNonlinearFactor : public HybridFactor {
    *
    * @param continuousKeys Vector of keys for continuous factors.
    * @param discreteKey The discrete key for the "mode", indexing components.
-   * @param factors Vector of gaussian factor-scalar pairs, one per mode.
+   * @param pairs Vector of gaussian factor-scalar pairs, one per mode.
    */
   HybridNonlinearFactor(const KeyVector& continuousKeys,
                         const DiscreteKey& discreteKey,
-                        const std::vector<NonlinearFactorValuePair>& factors);
+                        const std::vector<NonlinearFactorValuePair>& pairs);
 
   /**
    * @brief Construct a new HybridNonlinearFactor on a several discrete keys M,