remove GaussianBayesNetTree methods

gtsam/hybrid/GaussianMixture.cpp

@@ -93,35 +93,6 @@ GaussianFactorGraphTree GaussianMixture::asGaussianFactorGraphTree() const {
   return {conditionals_, wrap};
 }
 
-/*
-*******************************************************************************/
-GaussianBayesNetTree GaussianMixture::add(
-    const GaussianBayesNetTree &sum) const {
-  using Y = GaussianBayesNet;
-  auto add = [](const Y &graph1, const Y &graph2) {
-    auto result = graph1;
-    if (graph2.size() == 0) {
-      return GaussianBayesNet();
-    }
-    result.push_back(graph2);
-    return result;
-  };
-  const auto tree = asGaussianBayesNetTree();
-  return sum.empty() ? tree : sum.apply(tree, add);
-}
-
-/* *******************************************************************************/
-GaussianBayesNetTree GaussianMixture::asGaussianBayesNetTree() const {
-  auto wrap = [](const GaussianConditional::shared_ptr &gc) {
-    if (gc) {
-      return GaussianBayesNet{gc};
-    } else {
-      return GaussianBayesNet();
-    }
-  };
-  return {conditionals_, wrap};
-}
-
 /* *******************************************************************************/
 size_t GaussianMixture::nrComponents() const {
   size_t total = 0;

gtsam/hybrid/GaussianMixture.h

@@ -67,17 +67,11 @@ class GTSAM_EXPORT GaussianMixture
   double logConstant_;         ///< log of the normalization constant.
 
   /**
-   * @brief Convert a DecisionTree of factors into
+   * @brief Convert a GaussianMixture of conditionals into
    * a DecisionTree of Gaussian factor graphs.
    */
   GaussianFactorGraphTree asGaussianFactorGraphTree() const;
 
-  /**
-   * @brief Convert a DecisionTree of conditionals into
-   * a DecisionTree of Gaussian Bayes nets.
-   */
-  GaussianBayesNetTree asGaussianBayesNetTree() const;
-
   /**
    * @brief Helper function to get the pruner functor.
    *
@@ -256,15 +250,6 @@ class GTSAM_EXPORT GaussianMixture
    * @return GaussianFactorGraphTree
    */
   GaussianFactorGraphTree add(const GaussianFactorGraphTree &sum) const;
-
-  /**
-   * @brief Merge the Gaussian Bayes Nets in `this` and `sum` while
-   * maintaining the decision tree structure.
-   *
-   * @param sum Decision Tree of Gaussian Bayes Nets
-   * @return GaussianBayesNetTree
-   */
-  GaussianBayesNetTree add(const GaussianBayesNetTree &sum) const;
   /// @}
 
  private:

gtsam/hybrid/HybridFactor.h

@@ -34,8 +34,6 @@ class HybridValues;
 
 /// Alias for DecisionTree of GaussianFactorGraphs
 using GaussianFactorGraphTree = DecisionTree<Key, GaussianFactorGraph>;
-/// Alias for DecisionTree of GaussianBayesNets
-using GaussianBayesNetTree = DecisionTree<Key, GaussianBayesNet>;
 
 KeyVector CollectKeys(const KeyVector &continuousKeys,
                       const DiscreteKeys &discreteKeys);