From 9818f89ceca8000e24b7eb0e81bb5d05685718ca Mon Sep 17 00:00:00 2001
From: Varun Agrawal <varagrawal@gmail.com>
Date: Tue, 20 Aug 2024 17:48:04 -0400
Subject: [PATCH] remove GaussianBayesNetTree methods

---
 gtsam/hybrid/GaussianMixture.cpp | 29 -----------------------------
 gtsam/hybrid/GaussianMixture.h   | 17 +----------------
 gtsam/hybrid/HybridFactor.h      |  2 --
 3 files changed, 1 insertion(+), 47 deletions(-)

diff --git a/gtsam/hybrid/GaussianMixture.cpp b/gtsam/hybrid/GaussianMixture.cpp
index 36a34226b..1411ede8d 100644
--- a/gtsam/hybrid/GaussianMixture.cpp
+++ b/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;
diff --git a/gtsam/hybrid/GaussianMixture.h b/gtsam/hybrid/GaussianMixture.h
index bfa342dcf..41692bb1c 100644
--- a/gtsam/hybrid/GaussianMixture.h
+++ b/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:
diff --git a/gtsam/hybrid/HybridFactor.h b/gtsam/hybrid/HybridFactor.h
index 418489d66..a9c0e53d2 100644
--- a/gtsam/hybrid/HybridFactor.h
+++ b/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);