diff --git a/gtsam/hybrid/CGMixtureFactor.cpp b/gtsam/hybrid/GaussianMixtureFactor.cpp
similarity index 77%
rename from gtsam/hybrid/CGMixtureFactor.cpp
rename to gtsam/hybrid/GaussianMixtureFactor.cpp
index 08ae8b6e9..61cfb1d70 100644
--- a/gtsam/hybrid/CGMixtureFactor.cpp
+++ b/gtsam/hybrid/GaussianMixtureFactor.cpp
@@ -10,7 +10,7 @@
  * -------------------------------------------------------------------------- */
 
 /**
- * @file   CGMixtureFactor.cpp
+ * @file   GaussianMixtureFactor.cpp
  * @brief  A set of Gaussian factors indexed by a set of discrete keys.
  * @author Fan Jiang
  * @author Varun Agrawal
@@ -18,7 +18,7 @@
  * @date   Mar 12, 2022
  */
 
-#include <gtsam/hybrid/CGMixtureFactor.h>
+#include <gtsam/hybrid/GaussianMixtureFactor.h>
 
 #include <gtsam/discrete/DecisionTree.h>
 #include <gtsam/discrete/DecisionTree-inl.h>
@@ -27,15 +27,15 @@
 
 namespace gtsam {
 
-CGMixtureFactor::CGMixtureFactor(const KeyVector &continuousKeys,
+GaussianMixtureFactor::GaussianMixtureFactor(const KeyVector &continuousKeys,
                                  const DiscreteKeys &discreteKeys,
                                  const Factors &factors) : Base(continuousKeys, discreteKeys),
                                                            factors_(factors) {}
-bool CGMixtureFactor::equals(const HybridFactor &lf, double tol) const {
+bool GaussianMixtureFactor::equals(const HybridFactor &lf, double tol) const {
   return false;
 }
 
-void CGMixtureFactor::print(const std::string &s, const KeyFormatter &formatter) const {
+void GaussianMixtureFactor::print(const std::string &s, const KeyFormatter &formatter) const {
   HybridFactor::print(s, formatter);
   factors_.print(
       "mixture = ",
@@ -49,12 +49,12 @@ void CGMixtureFactor::print(const std::string &s, const KeyFormatter &formatter)
       });
 }
 
-const CGMixtureFactor::Factors& CGMixtureFactor::factors() {
+const GaussianMixtureFactor::Factors& GaussianMixtureFactor::factors() {
   return factors_;
 }
 
 /* *******************************************************************************/
-CGMixtureFactor::Sum CGMixtureFactor::addTo(const CGMixtureFactor::Sum &sum) const {
+GaussianMixtureFactor::Sum GaussianMixtureFactor::addTo(const GaussianMixtureFactor::Sum &sum) const {
   using Y = GaussianFactorGraph;
   auto add = [](const Y &graph1, const Y &graph2) {
     auto result = graph1;
@@ -66,7 +66,7 @@ CGMixtureFactor::Sum CGMixtureFactor::addTo(const CGMixtureFactor::Sum &sum) con
 }
 
 /* *******************************************************************************/
-CGMixtureFactor::Sum CGMixtureFactor::wrappedFactors() const {
+GaussianMixtureFactor::Sum GaussianMixtureFactor::wrappedFactors() const {
   auto wrap = [](const GaussianFactor::shared_ptr &factor) {
     GaussianFactorGraph result;
     result.push_back(factor);
@@ -74,4 +74,4 @@ CGMixtureFactor::Sum CGMixtureFactor::wrappedFactors() const {
   };
   return {factors_, wrap};
 }
-}
\ No newline at end of file
+}
diff --git a/gtsam/hybrid/CGMixtureFactor.h b/gtsam/hybrid/GaussianMixtureFactor.h
similarity index 87%
rename from gtsam/hybrid/CGMixtureFactor.h
rename to gtsam/hybrid/GaussianMixtureFactor.h
index fd81cdd91..4cd5e71de 100644
--- a/gtsam/hybrid/CGMixtureFactor.h
+++ b/gtsam/hybrid/GaussianMixtureFactor.h
@@ -10,7 +10,7 @@
  * -------------------------------------------------------------------------- */
 
 /**
- * @file   CGMixtureFactor.h
+ * @file   GaussianMixtureFactor.h
  * @brief  A set of Gaussian factors indexed by a set of discrete keys.
  * @author Fan Jiang
  * @author Varun Agrawal
@@ -29,19 +29,19 @@ namespace gtsam {
 
 class GaussianFactorGraph;
 
-class CGMixtureFactor : public HybridFactor {
+class GaussianMixtureFactor : public HybridFactor {
  public:
   using Base = HybridFactor;
-  using This = CGMixtureFactor;
+  using This = GaussianMixtureFactor;
   using shared_ptr = boost::shared_ptr<This>;
 
   using Factors = DecisionTree<Key, GaussianFactor::shared_ptr>;
 
   Factors factors_;
 
-  CGMixtureFactor() = default;
+  GaussianMixtureFactor() = default;
 
-  CGMixtureFactor(const KeyVector &continuousKeys,
+  GaussianMixtureFactor(const KeyVector &continuousKeys,
                   const DiscreteKeys &discreteKeys, const Factors &factors);
 
   using Sum = DecisionTree<Key, GaussianFactorGraph>;
diff --git a/gtsam/hybrid/HybridBayesNet.h b/gtsam/hybrid/HybridBayesNet.h
index 53d10518f..d7e2f33af 100644
--- a/gtsam/hybrid/HybridBayesNet.h
+++ b/gtsam/hybrid/HybridBayesNet.h
@@ -25,8 +25,8 @@
 namespace gtsam {
 
 /**
- * A hybrid Bayes net can have discrete conditionals, Gaussian mixtures,
- * or pure Gaussian conditionals.
+ * A hybrid Bayes net is a collection of HybridConditionals, which can have
+ * discrete conditionals, Gaussian mixtures, or pure Gaussian conditionals.
  */
 class GTSAM_EXPORT HybridBayesNet : public BayesNet<HybridConditional> {
  public:
@@ -40,4 +40,4 @@ class GTSAM_EXPORT HybridBayesNet : public BayesNet<HybridConditional> {
   HybridBayesNet() : Base() {}
 };
 
-}  // namespace gtsam
\ No newline at end of file
+}  // namespace gtsam
diff --git a/gtsam/hybrid/HybridBayesTree.h b/gtsam/hybrid/HybridBayesTree.h
index 74b967fc8..ee51bdd6c 100644
--- a/gtsam/hybrid/HybridBayesTree.h
+++ b/gtsam/hybrid/HybridBayesTree.h
@@ -33,7 +33,9 @@ class HybridConditional;
 class VectorValues;
 
 /* ************************************************************************* */
-/** A clique in a HybridBayesTree */
+/** A clique in a HybridBayesTree
+ * which is a HybridConditional internally.
+ */
 class GTSAM_EXPORT HybridBayesTreeClique
     : public BayesTreeCliqueBase<HybridBayesTreeClique, HybridFactorGraph> {
  public:
diff --git a/gtsam/hybrid/HybridDiscreteFactor.h b/gtsam/hybrid/HybridDiscreteFactor.h
index f182f90a9..c55c5ecf0 100644
--- a/gtsam/hybrid/HybridDiscreteFactor.h
+++ b/gtsam/hybrid/HybridDiscreteFactor.h
@@ -23,6 +23,10 @@
 
 namespace gtsam {
 
+/**
+ * A HybridDiscreteFactor is a wrapper for DiscreteFactor, so we hide the
+ * implementation of DiscreteFactor, and thus avoiding diamond inheritance.
+ */
 class HybridDiscreteFactor : public HybridFactor {
  public:
   using Base = HybridFactor;
diff --git a/gtsam/hybrid/HybridFactor.h b/gtsam/hybrid/HybridFactor.h
index 653d4270a..3d5bd7b21 100644
--- a/gtsam/hybrid/HybridFactor.h
+++ b/gtsam/hybrid/HybridFactor.h
@@ -34,6 +34,11 @@ DiscreteKeys CollectDiscreteKeys(const DiscreteKeys &key1,
 
 /**
  * Base class for hybrid probabilistic factors
+ * Examples:
+ *  - HybridGaussianFactor
+ *  - HybridDiscreteFactor
+ *  - GaussianMixtureFactor
+ *  - GaussianMixture
  */
 class GTSAM_EXPORT HybridFactor : public Factor {
  public:
diff --git a/gtsam/hybrid/HybridFactorGraph.cpp b/gtsam/hybrid/HybridFactorGraph.cpp
index 735b8cfa9..574c3b781 100644
--- a/gtsam/hybrid/HybridFactorGraph.cpp
+++ b/gtsam/hybrid/HybridFactorGraph.cpp
@@ -21,7 +21,7 @@
 #include <gtsam/base/utilities.h>
 #include <gtsam/discrete/Assignment.h>
 #include <gtsam/discrete/DiscreteFactorGraph.h>
-#include <gtsam/hybrid/CGMixtureFactor.h>
+#include <gtsam/hybrid/GaussianMixtureFactor.h>
 #include <gtsam/hybrid/GaussianMixture.h>
 #include <gtsam/hybrid/HybridConditional.h>
 #include <gtsam/hybrid/HybridDiscreteFactor.h>
@@ -56,14 +56,14 @@ static std::string GREEN = "\033[0;32m";
 static std::string GREEN_BOLD = "\033[1;32m";
 static std::string RESET = "\033[0m";
 
-static CGMixtureFactor::Sum &addGaussian(
-    CGMixtureFactor::Sum &sum, const GaussianFactor::shared_ptr &factor) {
+static GaussianMixtureFactor::Sum &addGaussian(
+    GaussianMixtureFactor::Sum &sum, const GaussianFactor::shared_ptr &factor) {
   using Y = GaussianFactorGraph;
   // If the decision tree is not intiialized, then intialize it.
   if (sum.empty()) {
     GaussianFactorGraph result;
     result.push_back(factor);
-    sum = CGMixtureFactor::Sum(result);
+    sum = GaussianMixtureFactor::Sum(result);
 
   } else {
     auto add = [&factor](const Y &graph) {
@@ -307,7 +307,7 @@ EliminateHybrid(const HybridFactorGraph &factors, const Ordering &frontalKeys) {
   //         continue;
   //       }
 
-  //       auto ptr_mf = boost::dynamic_pointer_cast<CGMixtureFactor>(factor);
+  //       auto ptr_mf = boost::dynamic_pointer_cast<GaussianMixtureFactor>(factor);
   //       if (ptr_mf) gf.push_back(ptr_mf->factors_(new_assignment));
 
   //       auto ptr_gm = boost::dynamic_pointer_cast<GaussianMixture>(factor);
@@ -329,13 +329,13 @@ EliminateHybrid(const HybridFactorGraph &factors, const Ordering &frontalKeys) {
 
   std::cout << RED_BOLD << "HYBRID ELIM." << RESET << "\n";
 
-  CGMixtureFactor::Sum sum;
+  GaussianMixtureFactor::Sum sum;
 
   std::vector<GaussianFactor::shared_ptr> deferredFactors;
 
   for (auto &f : factors) {
     if (f->isHybrid_) {
-      auto cgmf = boost::dynamic_pointer_cast<CGMixtureFactor>(f);
+      auto cgmf = boost::dynamic_pointer_cast<GaussianMixtureFactor>(f);
       if (cgmf) {
         sum = cgmf->addTo(sum);
       }
@@ -395,7 +395,7 @@ EliminateHybrid(const HybridFactorGraph &factors, const Ordering &frontalKeys) {
   auto pair = unzip(eliminationResults);
 
   const GaussianMixture::Conditionals &conditionals = pair.first;
-  const CGMixtureFactor::Factors &separatorFactors = pair.second;
+  const GaussianMixtureFactor::Factors &separatorFactors = pair.second;
 
   // Create the GaussianMixture from the conditionals
   auto conditional = boost::make_shared<GaussianMixture>(
@@ -429,7 +429,7 @@ EliminateHybrid(const HybridFactorGraph &factors, const Ordering &frontalKeys) {
 
   } else {
     // Create a resulting DCGaussianMixture on the separator.
-    auto factor = boost::make_shared<CGMixtureFactor>(
+    auto factor = boost::make_shared<GaussianMixtureFactor>(
         frontalKeys, discreteSeparator, separatorFactors);
     return {boost::make_shared<HybridConditional>(conditional), factor};
   }
diff --git a/gtsam/hybrid/HybridGaussianFactor.h b/gtsam/hybrid/HybridGaussianFactor.h
index 03c49564e..86c87a0ec 100644
--- a/gtsam/hybrid/HybridGaussianFactor.h
+++ b/gtsam/hybrid/HybridGaussianFactor.h
@@ -23,6 +23,10 @@
 
 namespace gtsam {
 
+/**
+ * A HybridGaussianFactor is a wrapper for GaussianFactor so that we do not have
+ * a diamond inheritance.
+ */
 class HybridGaussianFactor : public HybridFactor {
  public:
   using Base = HybridFactor;
diff --git a/gtsam/hybrid/tests/CMakeLists.txt b/gtsam/hybrid/tests/CMakeLists.txt
index b52e18586..06ad2c505 100644
--- a/gtsam/hybrid/tests/CMakeLists.txt
+++ b/gtsam/hybrid/tests/CMakeLists.txt
@@ -1 +1 @@
-gtsamAddTestsGlob(hybrid "test*.cpp" "" "gtsam")
\ No newline at end of file
+gtsamAddTestsGlob(hybrid "test*.cpp" "" "gtsam")
diff --git a/gtsam/hybrid/tests/testHybridConditional.cpp b/gtsam/hybrid/tests/testHybridConditional.cpp
index 32cb05325..876105510 100644
--- a/gtsam/hybrid/tests/testHybridConditional.cpp
+++ b/gtsam/hybrid/tests/testHybridConditional.cpp
@@ -17,7 +17,7 @@
 
 #include <CppUnitLite/Test.h>
 #include <CppUnitLite/TestHarness.h>
-#include <gtsam/hybrid/CGMixtureFactor.h>
+#include <gtsam/hybrid/GaussianMixtureFactor.h>
 #include <gtsam/hybrid/GaussianMixture.h>
 #include <gtsam/hybrid/HybridBayesNet.h>
 #include <gtsam/hybrid/HybridBayesTree.h>
@@ -108,8 +108,8 @@ TEST(HybridFactorGraph, eliminateFullSequentialSimple) {
       C(1), boost::make_shared<JacobianFactor>(X(1), I_3x3, Z_3x1),
       boost::make_shared<JacobianFactor>(X(1), I_3x3, Vector3::Ones()));
 
-  hfg.add(CGMixtureFactor({X(1)}, {c1}, dt));
-  // hfg.add(CGMixtureFactor({X(0)}, {c1}, dt));
+  hfg.add(GaussianMixtureFactor({X(1)}, {c1}, dt));
+  // hfg.add(GaussianMixtureFactor({X(0)}, {c1}, dt));
   hfg.add(HybridDiscreteFactor(DecisionTreeFactor(c1, {2, 8})));
   hfg.add(HybridDiscreteFactor(
       DecisionTreeFactor({{C(1), 2}, {C(2), 2}}, "1 2 3 4")));
@@ -137,8 +137,8 @@ TEST(HybridFactorGraph, eliminateFullMultifrontalSimple) {
       C(1), boost::make_shared<JacobianFactor>(X(1), I_3x3, Z_3x1),
       boost::make_shared<JacobianFactor>(X(1), I_3x3, Vector3::Ones()));
 
-  hfg.add(CGMixtureFactor({X(1)}, {c1}, dt));
-  // hfg.add(CGMixtureFactor({X(0)}, {c1}, dt));
+  hfg.add(GaussianMixtureFactor({X(1)}, {c1}, dt));
+  // hfg.add(GaussianMixtureFactor({X(0)}, {c1}, dt));
   hfg.add(HybridDiscreteFactor(DecisionTreeFactor(c1, {2, 8})));
   hfg.add(HybridDiscreteFactor(
       DecisionTreeFactor({{C(1), 2}, {C(2), 2}}, "1 2 3 4")));
@@ -167,7 +167,7 @@ TEST_DISABLED(HybridFactorGraph, eliminateFullMultifrontalCLG) {
       C(1), boost::make_shared<JacobianFactor>(X(1), I_3x3, Z_3x1),
       boost::make_shared<JacobianFactor>(X(1), I_3x3, Vector3::Ones()));
 
-  hfg.add(CGMixtureFactor({X(1)}, {c}, dt));
+  hfg.add(GaussianMixtureFactor({X(1)}, {c}, dt));
   hfg.add(HybridDiscreteFactor(DecisionTreeFactor(c, {2, 8})));
   //  hfg.add(HybridDiscreteFactor(DecisionTreeFactor({{C(1), 2}, {C(2), 2}}, "1
   //  2 3 4")));
@@ -203,13 +203,13 @@ TEST_DISABLED(HybridFactorGraph, eliminateFullMultifrontalTwoClique) {
         C(0), boost::make_shared<JacobianFactor>(X(0), I_3x3, Z_3x1),
         boost::make_shared<JacobianFactor>(X(0), I_3x3, Vector3::Ones()));
 
-    hfg.add(CGMixtureFactor({X(0)}, {{C(0), 2}}, dt));
+    hfg.add(GaussianMixtureFactor({X(0)}, {{C(0), 2}}, dt));
 
     DecisionTree<Key, GaussianFactor::shared_ptr> dt1(
         C(1), boost::make_shared<JacobianFactor>(X(2), I_3x3, Z_3x1),
         boost::make_shared<JacobianFactor>(X(2), I_3x3, Vector3::Ones()));
 
-    hfg.add(CGMixtureFactor({X(2)}, {{C(1), 2}}, dt1));
+    hfg.add(GaussianMixtureFactor({X(2)}, {{C(1), 2}}, dt1));
   }
 
   // hfg.add(HybridDiscreteFactor(DecisionTreeFactor(c, {2, 8})));
@@ -224,13 +224,13 @@ TEST_DISABLED(HybridFactorGraph, eliminateFullMultifrontalTwoClique) {
         C(3), boost::make_shared<JacobianFactor>(X(3), I_3x3, Z_3x1),
         boost::make_shared<JacobianFactor>(X(3), I_3x3, Vector3::Ones()));
 
-    hfg.add(CGMixtureFactor({X(3)}, {{C(3), 2}}, dt));
+    hfg.add(GaussianMixtureFactor({X(3)}, {{C(3), 2}}, dt));
 
     DecisionTree<Key, GaussianFactor::shared_ptr> dt1(
         C(2), boost::make_shared<JacobianFactor>(X(5), I_3x3, Z_3x1),
         boost::make_shared<JacobianFactor>(X(5), I_3x3, Vector3::Ones()));
 
-    hfg.add(CGMixtureFactor({X(5)}, {{C(2), 2}}, dt1));
+    hfg.add(GaussianMixtureFactor({X(5)}, {{C(2), 2}}, dt1));
   }
 
   auto ordering_full =