From c2ca426acce0bf60eb14f66267b08b029abc28fb Mon Sep 17 00:00:00 2001
From: Varun Agrawal <varagrawal@gmail.com>
Date: Tue, 20 Sep 2022 05:16:26 -0400
Subject: [PATCH] rename allDiscreteKeys and allContinuousKeys to discreteKeys
 and continuousKeys respectively

---
 gtsam/hybrid/HybridFactorGraph.h           | 4 ++--
 gtsam/hybrid/HybridGaussianFactorGraph.cpp | 2 +-
 gtsam/hybrid/HybridGaussianISAM.cpp        | 7 +------
 3 files changed, 4 insertions(+), 9 deletions(-)

diff --git a/gtsam/hybrid/HybridFactorGraph.h b/gtsam/hybrid/HybridFactorGraph.h
index ea071a020..05a17b000 100644
--- a/gtsam/hybrid/HybridFactorGraph.h
+++ b/gtsam/hybrid/HybridFactorGraph.h
@@ -137,7 +137,7 @@ class HybridFactorGraph : public FactorGraph<HybridFactor> {
   }
 
   /// Get all the discrete keys in the factor graph.
-  const KeySet allDiscreteKeys() const {
+  const KeySet discreteKeys() const {
     KeySet discrete_keys;
     for (auto& factor : factors_) {
       for (const DiscreteKey& k : factor->discreteKeys()) {
@@ -148,7 +148,7 @@ class HybridFactorGraph : public FactorGraph<HybridFactor> {
   }
 
   /// Get all the continuous keys in the factor graph.
-  const KeySet allContinuousKeys() const {
+  const KeySet continuousKeys() const {
     KeySet keys;
     for (auto& factor : factors_) {
       for (const Key& key : factor->continuousKeys()) {
diff --git a/gtsam/hybrid/HybridGaussianFactorGraph.cpp b/gtsam/hybrid/HybridGaussianFactorGraph.cpp
index c08e774f2..ddb776ff4 100644
--- a/gtsam/hybrid/HybridGaussianFactorGraph.cpp
+++ b/gtsam/hybrid/HybridGaussianFactorGraph.cpp
@@ -406,7 +406,7 @@ void HybridGaussianFactorGraph::add(DecisionTreeFactor::shared_ptr factor) {
 
 /* ************************************************************************ */
 const Ordering HybridGaussianFactorGraph::getHybridOrdering() const {
-  KeySet discrete_keys = allDiscreteKeys();
+  KeySet discrete_keys = discreteKeys();
   for (auto &factor : factors_) {
     for (const DiscreteKey &k : factor->discreteKeys()) {
       discrete_keys.insert(k.first);
diff --git a/gtsam/hybrid/HybridGaussianISAM.cpp b/gtsam/hybrid/HybridGaussianISAM.cpp
index 1a95c0c93..57e50104d 100644
--- a/gtsam/hybrid/HybridGaussianISAM.cpp
+++ b/gtsam/hybrid/HybridGaussianISAM.cpp
@@ -63,12 +63,7 @@ void HybridGaussianISAM::updateInternal(
     factors += boost::make_shared<BayesTreeOrphanWrapper<Node> >(orphan);
 
   // Get all the discrete keys from the factors
-  KeySet allDiscrete;
-  for (auto& factor : factors) {
-    for (auto& k : factor->discreteKeys()) {
-      allDiscrete.insert(k.first);
-    }
-  }
+  KeySet allDiscrete = factors.discreteKeys();
 
   // Create KeyVector with continuous keys followed by discrete keys.
   KeyVector newKeysDiscreteLast;