From 8aacfa95f32ab6459d7888146b406820a25bade0 Mon Sep 17 00:00:00 2001
From: Varun Agrawal <varagrawal@gmail.com>
Date: Fri, 1 Nov 2024 20:24:36 -0400
Subject: [PATCH] add docstrings for elimination results

---
 gtsam/hybrid/HybridGaussianFactorGraph.cpp | 7 ++++---
 1 file changed, 4 insertions(+), 3 deletions(-)

diff --git a/gtsam/hybrid/HybridGaussianFactorGraph.cpp b/gtsam/hybrid/HybridGaussianFactorGraph.cpp
index ceabe0871..9ca7a3938 100644
--- a/gtsam/hybrid/HybridGaussianFactorGraph.cpp
+++ b/gtsam/hybrid/HybridGaussianFactorGraph.cpp
@@ -59,10 +59,11 @@ using OrphanWrapper = BayesTreeOrphanWrapper<HybridBayesTree::Clique>;
 
 /// Result from elimination.
 struct Result {
+  // Gaussian conditional resulting from elimination.
   GaussianConditional::shared_ptr conditional;
-  double negLogK;
-  GaussianFactor::shared_ptr factor;
-  double scalar;
+  double negLogK;  // Negative log of the normalization constant K.
+  GaussianFactor::shared_ptr factor;  // Leftover factor 𝜏.
+  double scalar;                      // Scalar value associated with factor 𝜏.
 
   bool operator==(const Result &other) const {
     return conditional == other.conditional && negLogK == other.negLogK &&