From beda6878aad3cf9b00b28c11a9d974f04c95cafd Mon Sep 17 00:00:00 2001
From: Frank Dellaert <dellaert@gmail.com>
Date: Fri, 30 Dec 2022 13:08:22 -0500
Subject: [PATCH] Fixed tests

---
 gtsam/hybrid/HybridGaussianFactorGraph.cpp       | 13 ++++---------
 gtsam/hybrid/HybridGaussianFactorGraph.h         |  3 ++-
 gtsam/hybrid/tests/testGaussianMixture.cpp       |  4 ++--
 gtsam/hybrid/tests/testGaussianMixtureFactor.cpp |  2 +-
 4 files changed, 9 insertions(+), 13 deletions(-)

diff --git a/gtsam/hybrid/HybridGaussianFactorGraph.cpp b/gtsam/hybrid/HybridGaussianFactorGraph.cpp
index de55114b3..5ea677ab5 100644
--- a/gtsam/hybrid/HybridGaussianFactorGraph.cpp
+++ b/gtsam/hybrid/HybridGaussianFactorGraph.cpp
@@ -206,9 +206,8 @@ hybridElimination(const HybridGaussianFactorGraph &factors,
   };
   sum = GaussianMixtureFactor::Sum(sum, emptyGaussian);
 
-  using EliminationPair =
-      std::pair<boost::shared_ptr<GaussianConditional>,
-                std::pair<boost::shared_ptr<GaussianFactor>, double>>;
+  using EliminationPair = std::pair<boost::shared_ptr<GaussianConditional>,
+                                    GaussianMixtureFactor::FactorAndConstant>;
 
   KeyVector keysOfEliminated;  // Not the ordering
   KeyVector keysOfSeparator;   // TODO(frank): Is this just (keys - ordering)?
@@ -216,7 +215,7 @@ hybridElimination(const HybridGaussianFactorGraph &factors,
   // This is the elimination method on the leaf nodes
   auto eliminate = [&](const GaussianFactorGraph &graph) -> EliminationPair {
     if (graph.empty()) {
-      return {nullptr, std::make_pair(nullptr, 0.0)};
+      return {nullptr, {nullptr, 0.0}};
     }
 
 #ifdef HYBRID_TIMING
@@ -236,11 +235,7 @@ hybridElimination(const HybridGaussianFactorGraph &factors,
     gttoc_(hybrid_eliminate);
 #endif
 
-    std::pair<boost::shared_ptr<GaussianConditional>,
-              std::pair<boost::shared_ptr<GaussianFactor>, double>>
-        result = std::make_pair(conditional_factor.first,
-                                std::make_pair(conditional_factor.second, 0.0));
-    return result;
+    return {conditional_factor.first, {conditional_factor.second, 0.0}};
   };
 
   // Perform elimination!
diff --git a/gtsam/hybrid/HybridGaussianFactorGraph.h b/gtsam/hybrid/HybridGaussianFactorGraph.h
index 3a6eaa905..c851adfe5 100644
--- a/gtsam/hybrid/HybridGaussianFactorGraph.h
+++ b/gtsam/hybrid/HybridGaussianFactorGraph.h
@@ -12,7 +12,7 @@
 /**
  * @file   HybridGaussianFactorGraph.h
  * @brief  Linearized Hybrid factor graph that uses type erasure
- * @author Fan Jiang, Varun Agrawal
+ * @author Fan Jiang, Varun Agrawal, Frank Dellaert
  * @date   Mar 11, 2022
  */
 
@@ -38,6 +38,7 @@ class HybridBayesTree;
 class HybridJunctionTree;
 class DecisionTreeFactor;
 class JacobianFactor;
+class HybridValues;
 
 /**
  * @brief Main elimination function for HybridGaussianFactorGraph.
diff --git a/gtsam/hybrid/tests/testGaussianMixture.cpp b/gtsam/hybrid/tests/testGaussianMixture.cpp
index 56dc24cf1..22c2a4621 100644
--- a/gtsam/hybrid/tests/testGaussianMixture.cpp
+++ b/gtsam/hybrid/tests/testGaussianMixture.cpp
@@ -128,9 +128,9 @@ TEST(GaussianMixture, Error) {
   // Regression for non-tree version.
   DiscreteValues assignment;
   assignment[M(1)] = 0;
-  EXPECT_DOUBLES_EQUAL(0.5, mixture.error(values, assignment), 1e-8);
+  EXPECT_DOUBLES_EQUAL(0.5, mixture.error({values, assignment}), 1e-8);
   assignment[M(1)] = 1;
-  EXPECT_DOUBLES_EQUAL(4.3252595155709335, mixture.error(values, assignment),
+  EXPECT_DOUBLES_EQUAL(4.3252595155709335, mixture.error({values, assignment}),
                        1e-8);
 }
 
diff --git a/gtsam/hybrid/tests/testGaussianMixtureFactor.cpp b/gtsam/hybrid/tests/testGaussianMixtureFactor.cpp
index ba0622ff9..ee4d4469b 100644
--- a/gtsam/hybrid/tests/testGaussianMixtureFactor.cpp
+++ b/gtsam/hybrid/tests/testGaussianMixtureFactor.cpp
@@ -188,7 +188,7 @@ TEST(GaussianMixtureFactor, Error) {
   DiscreteValues discreteValues;
   discreteValues[m1.first] = 1;
   EXPECT_DOUBLES_EQUAL(
-      4.0, mixtureFactor.error(continuousValues, discreteValues), 1e-9);
+      4.0, mixtureFactor.error({continuousValues, discreteValues}), 1e-9);
 }
 
 /* ************************************************************************* */