Add forwarding constructors and document better.

gtsam/hybrid/HybridGaussianFactor.cpp

@@ -16,20 +16,30 @@
  */
 
 #include <gtsam/hybrid/HybridGaussianFactor.h>
+#include <gtsam/linear/HessianFactor.h>
+#include <gtsam/linear/JacobianFactor.h>
 
 #include <boost/make_shared.hpp>
 
 namespace gtsam {
 
 /* ************************************************************************* */
-HybridGaussianFactor::HybridGaussianFactor(GaussianFactor::shared_ptr other)
+HybridGaussianFactor::HybridGaussianFactor(
-    : Base(other->keys()), inner_(other) {}
+    const boost::shared_ptr<GaussianFactor> &ptr)
+    : Base(ptr->keys()), inner_(ptr) {}
+
+HybridGaussianFactor::HybridGaussianFactor(
+    boost::shared_ptr<GaussianFactor> &&ptr)
+    : Base(ptr->keys()), inner_(std::move(ptr)) {}
 
-/* ************************************************************************* */
 HybridGaussianFactor::HybridGaussianFactor(JacobianFactor &&jf)
     : Base(jf.keys()),
       inner_(boost::make_shared<JacobianFactor>(std::move(jf))) {}
 
+HybridGaussianFactor::HybridGaussianFactor(HessianFactor &&hf)
+    : Base(hf.keys()),
+      inner_(boost::make_shared<HessianFactor>(std::move(hf))) {}
+
 /* ************************************************************************* */
 bool HybridGaussianFactor::equals(const HybridFactor &other, double tol) const {
   const This *e = dynamic_cast<const This *>(&other);

gtsam/hybrid/HybridGaussianFactor.h

@@ -19,10 +19,13 @@
 
 #include <gtsam/hybrid/HybridFactor.h>
 #include <gtsam/linear/GaussianFactor.h>
-#include <gtsam/linear/JacobianFactor.h>
 
 namespace gtsam {
 
+// Forward declarations
+class JacobianFactor;
+class HessianFactor;
+
 /**
  * A HybridGaussianFactor is a layer over GaussianFactor so that we do not have
  * a diamond inheritance i.e. an extra factor type that inherits from both
@@ -41,12 +44,41 @@ class GTSAM_EXPORT HybridGaussianFactor : public HybridFactor {
 
   HybridGaussianFactor() = default;
 
-  // Explicit conversion from a shared ptr of GF
+  /**
-  explicit HybridGaussianFactor(GaussianFactor::shared_ptr other);
+   * Constructor from shared_ptr of GaussianFactor.
+   * Example:
+   *  boost::shared_ptr<GaussianFactor> ptr =
+   * boost::make_shared<JacobianFactor>(...);
+   *
+   */
+  explicit HybridGaussianFactor(const boost::shared_ptr<GaussianFactor> &ptr);
 
-  // Forwarding constructor from concrete JacobianFactor
+  /**
+   * Forwarding constructor from shared_ptr of GaussianFactor.
+   * Examples:
+   *   HybridGaussianFactor factor = boost::make_shared<JacobianFactor>(...);
+   *   HybridGaussianFactor factor(boost::make_shared<JacobianFactor>(...));
+   */
+  explicit HybridGaussianFactor(boost::shared_ptr<GaussianFactor> &&ptr);
+
+  /**
+   * Forwarding constructor from rvalue reference of JacobianFactor.
+   *
+   * Examples:
+   *   HybridGaussianFactor factor = JacobianFactor(...);
+   *   HybridGaussianFactor factor(JacobianFactor(...));
+   */
   explicit HybridGaussianFactor(JacobianFactor &&jf);
 
+  /**
+   * Forwarding constructor from rvalue reference of JacobianFactor.
+   *
+   * Examples:
+   *   HybridGaussianFactor factor = HessianFactor(...);
+   *   HybridGaussianFactor factor(HessianFactor(...));
+   */
+  explicit HybridGaussianFactor(HessianFactor &&hf);
+
  public:
   /// @name Testable
   /// @{

gtsam/hybrid/HybridGaussianFactorGraph.cpp

@@ -394,7 +394,7 @@ void HybridGaussianFactorGraph::add(JacobianFactor &&factor) {
 }
 
 /* ************************************************************************ */
-void HybridGaussianFactorGraph::add(JacobianFactor::shared_ptr factor) {
+void HybridGaussianFactorGraph::add(boost::shared_ptr<JacobianFactor> &factor) {
   FactorGraph::add(boost::make_shared<HybridGaussianFactor>(factor));
 }
 

gtsam/hybrid/HybridGaussianFactorGraph.h

@@ -36,7 +36,6 @@ class HybridEliminationTree;
 class HybridBayesTree;
 class HybridJunctionTree;
 class DecisionTreeFactor;
-
 class JacobianFactor;
 
 /**
@@ -130,7 +129,7 @@ class GTSAM_EXPORT HybridGaussianFactorGraph
   void add(JacobianFactor&& factor);
 
   /// Add a Jacobian factor as a shared ptr.
-  void add(JacobianFactor::shared_ptr factor);
+  void add(boost::shared_ptr<JacobianFactor>& factor);
 
   /// Add a DecisionTreeFactor to the factor graph.
   void add(DecisionTreeFactor&& factor);