From 92496dc88658cc83292fb995341da1c641336399 Mon Sep 17 00:00:00 2001
From: Frank Dellaert <dellaert@gmail.com>
Date: Fri, 24 Jan 2025 14:15:21 -0500
Subject: [PATCH] Address comments in #1991

---
 gtsam/inference/BayesTree-inst.h           | 3 ++-
 gtsam/inference/BayesTreeCliqueBase-inst.h | 5 +++--
 2 files changed, 5 insertions(+), 3 deletions(-)

diff --git a/gtsam/inference/BayesTree-inst.h b/gtsam/inference/BayesTree-inst.h
index c65e2ddc2..f97972e5a 100644
--- a/gtsam/inference/BayesTree-inst.h
+++ b/gtsam/inference/BayesTree-inst.h
@@ -338,6 +338,7 @@ namespace gtsam {
 
   /* ************************************************************************* */
   // Find the lowest common ancestor of two cliques
+  // TODO(Varun): consider implementing this as a Range Minimum Query
   template <class CLIQUE>
   static std::shared_ptr<CLIQUE> findLowestCommonAncestor(
       const std::shared_ptr<CLIQUE>& C1, const std::shared_ptr<CLIQUE>& C2) {
@@ -360,7 +361,7 @@ namespace gtsam {
 
   /* ************************************************************************* */
   // Given the clique P(F:S) and the ancestor clique B
-  // Return the Bayes tree P(S\B | S \cap B)
+  // Return the Bayes tree P(S\B | S \cap B), where \cap is intersection
   template <class CLIQUE>
   static auto factorInto(
       const std::shared_ptr<CLIQUE>& p_F_S, const std::shared_ptr<CLIQUE>& B,
diff --git a/gtsam/inference/BayesTreeCliqueBase-inst.h b/gtsam/inference/BayesTreeCliqueBase-inst.h
index 9e687be6b..40fa5b9a4 100644
--- a/gtsam/inference/BayesTreeCliqueBase-inst.h
+++ b/gtsam/inference/BayesTreeCliqueBase-inst.h
@@ -107,7 +107,7 @@ namespace gtsam {
   // The shortcut density is a conditional P(S|B) of the separator of this
   // clique on the root or common ancestor B. We can compute it recursively from
   // the parent shortcut P(Sp|B) as \int P(Fp|Sp) P(Sp|B), where Fp are the
-  // frontal nodes in p
+  // frontal nodes in pthe parent p, and Sp the separator of the parent.
   /* *************************************************************************
    */
   template <class DERIVED, class FACTORGRAPH>
@@ -141,7 +141,8 @@ namespace gtsam {
   /* *********************************************************************** */
   // Separator marginal, uses separator marginal of parent recursively
   // Calculates P(S) = \int P(Cp) = \int P(Fp|Sp) P(Sp)
-  // if P(Sp) is not cached, it will call separatorMarginal on the parent
+  // if P(Sp) is not cached, it will call separatorMarginal on the parent.
+  // Here again, Fp and Sp are the frontal nodes and separator in the parent p.
   /* *********************************************************************** */
   template <class DERIVED, class FACTORGRAPH>
   typename BayesTreeCliqueBase<DERIVED, FACTORGRAPH>::FactorGraphType