From c3045c097d06e260e51436bb08a290134393b894 Mon Sep 17 00:00:00 2001
From: Ankur Roy Chowdhury <ankur.roy@verdantrobotics.com>
Date: Sat, 4 Feb 2023 20:54:08 -0800
Subject: [PATCH] cleanup some formatting and comments

---
 gtsam/base/kruskal-inl.h         |  2 +-
 gtsam/inference/graph-inl.h      |  2 +-
 gtsam/linear/SubgraphBuilder.cpp | 20 ++++++++++----------
 gtsam/linear/SubgraphBuilder.h   |  5 ++---
 gtsam/slam/lago.cpp              |  3 +--
 5 files changed, 15 insertions(+), 17 deletions(-)

diff --git a/gtsam/base/kruskal-inl.h b/gtsam/base/kruskal-inl.h
index 25932301a..4b66a905f 100644
--- a/gtsam/base/kruskal-inl.h
+++ b/gtsam/base/kruskal-inl.h
@@ -10,7 +10,7 @@
  * -------------------------------------------------------------------------- */
 
 /**
- * @file SubgraphBuilder-inl.h
+ * @file kruskal-inl.h
  * @date Dec 31, 2009
  * @author Frank Dellaert, Yong-Dian Jian
  */
diff --git a/gtsam/inference/graph-inl.h b/gtsam/inference/graph-inl.h
index 49668fc59..ceae2e3ab 100644
--- a/gtsam/inference/graph-inl.h
+++ b/gtsam/inference/graph-inl.h
@@ -234,7 +234,7 @@ PredecessorMap<KEY> findMinimumSpanningTree(const G& fg) {
   // Convert to a graph that boost understands
   SDGraph<KEY> g = gtsam::toBoostGraph<G, FACTOR2, KEY>(fg);
 
-  // // find minimum spanning tree
+  // find minimum spanning tree
   std::vector<typename SDGraph<KEY>::Vertex> p_map(boost::num_vertices(g));
   prim_minimum_spanning_tree(g, &p_map[0]);
 
diff --git a/gtsam/linear/SubgraphBuilder.cpp b/gtsam/linear/SubgraphBuilder.cpp
index 27eec198b..bf9343c81 100644
--- a/gtsam/linear/SubgraphBuilder.cpp
+++ b/gtsam/linear/SubgraphBuilder.cpp
@@ -362,44 +362,44 @@ SubgraphBuilder::Weights SubgraphBuilder::weights(
   using Weights = std::vector<double>;
 
   const size_t m = gfg.size();
-  Weights weights;
-  weights.reserve(m);
+  Weights weight;
+  weight.reserve(m);
 
   for (const GaussianFactor::shared_ptr &gf : gfg) {
     switch (parameters_.skeletonWeight) {
       case SubgraphBuilderParameters::EQUAL:
-        weights.push_back(1.0);
+        weight.push_back(1.0);
         break;
       case SubgraphBuilderParameters::RHS_2NORM: {
         if (JacobianFactor::shared_ptr jf =
                 std::dynamic_pointer_cast<JacobianFactor>(gf)) {
-          weights.push_back(jf->getb().norm());
+          weight.push_back(jf->getb().norm());
         } else if (HessianFactor::shared_ptr hf =
                        std::dynamic_pointer_cast<HessianFactor>(gf)) {
-          weights.push_back(hf->linearTerm().norm());
+          weight.push_back(hf->linearTerm().norm());
         }
       } break;
       case SubgraphBuilderParameters::LHS_FNORM: {
         if (JacobianFactor::shared_ptr jf =
                 std::dynamic_pointer_cast<JacobianFactor>(gf)) {
-          weights.push_back(std::sqrt(jf->getA().squaredNorm()));
+          weight.push_back(std::sqrt(jf->getA().squaredNorm()));
         } else if (HessianFactor::shared_ptr hf =
                        std::dynamic_pointer_cast<HessianFactor>(gf)) {
-          weights.push_back(std::sqrt(hf->information().squaredNorm()));
+          weight.push_back(std::sqrt(hf->information().squaredNorm()));
         }
       } break;
 
       case SubgraphBuilderParameters::RANDOM:
-        weights.push_back(std::rand() % 100 + 1.0);
+        weight.push_back(std::rand() % 100 + 1.0);
         break;
 
       default:
         throw std::invalid_argument(
-            "SubgraphBuilder::weights(): undefined weight scheme ");
+            "SubgraphBuilder::weights: undefined weight scheme ");
         break;
     }
   }
-  return weights;
+  return weight;
 }
 
 /*****************************************************************************/
diff --git a/gtsam/linear/SubgraphBuilder.h b/gtsam/linear/SubgraphBuilder.h
index c4f8702ea..606f13e9b 100644
--- a/gtsam/linear/SubgraphBuilder.h
+++ b/gtsam/linear/SubgraphBuilder.h
@@ -167,12 +167,11 @@ class GTSAM_EXPORT SubgraphBuilder {
   std::vector<size_t> unary(const GaussianFactorGraph &gfg) const;
   std::vector<size_t> natural_chain(const GaussianFactorGraph &gfg) const;
   std::vector<size_t> bfs(const GaussianFactorGraph &gfg) const;
-  std::vector<size_t> sample(const std::vector<double> &weights,
-                             const size_t t) const;
   std::vector<size_t> kruskal(const GaussianFactorGraph &gfg,
                               const std::vector<double> &weights) const;
+  std::vector<size_t> sample(const std::vector<double> &weights,
+                             const size_t t) const;
   Weights weights(const GaussianFactorGraph &gfg) const ;
-
   SubgraphBuilderParameters parameters_;
 };
 
diff --git a/gtsam/slam/lago.cpp b/gtsam/slam/lago.cpp
index d63d2b8ea..5407e60a2 100644
--- a/gtsam/slam/lago.cpp
+++ b/gtsam/slam/lago.cpp
@@ -270,9 +270,8 @@ static VectorValues computeOrientations(const NonlinearFactorGraph& pose2Graph,
   // Find a minimum spanning tree
   if (useOdometricPath)
     tree = findOdometricPath(pose2Graph);
-  else {
+  else
     tree = findMinimumSpanningTree(pose2Graph);
-  }
 
   // Create a linear factor graph (LFG) of scalars
   key2doubleMap deltaThetaMap;