rename GaussianMixtureConditional to GaussianMixture

gtsam/hybrid/GaussianMixture.cpp

@@ -10,7 +10,7 @@
  * -------------------------------------------------------------------------- */
 
 /**
- * @file   GaussianMixtureConditional.cpp
+ * @file   GaussianMixture.cpp
  * @brief  A hybrid conditional in the Conditional Linear Gaussian scheme
  * @author Fan Jiang
  * @author Varun Agrawal
@@ -20,41 +20,41 @@
 
 #include <gtsam/base/utilities.h>
 #include <gtsam/discrete/DecisionTree-inl.h>
-#include <gtsam/hybrid/GaussianMixtureConditional.h>
+#include <gtsam/hybrid/GaussianMixture.h>
 #include <gtsam/inference/Conditional-inst.h>
 #include <gtsam/linear/GaussianFactorGraph.h>
 
 namespace gtsam {
 
-GaussianMixtureConditional::GaussianMixtureConditional(
+GaussianMixture::GaussianMixture(
     const KeyVector &continuousFrontals, const KeyVector &continuousParents,
     const DiscreteKeys &discreteParents,
-    const GaussianMixtureConditional::Conditionals &conditionals)
+    const GaussianMixture::Conditionals &conditionals)
     : BaseFactor(CollectKeys(continuousFrontals, continuousParents),
                  discreteParents),
       BaseConditional(continuousFrontals.size()),
       conditionals_(conditionals) {}
 
 /* *******************************************************************************/
-const GaussianMixtureConditional::Conditionals &
-GaussianMixtureConditional::conditionals() {
+const GaussianMixture::Conditionals &
+GaussianMixture::conditionals() {
   return conditionals_;
 }
 
 /* *******************************************************************************/
-GaussianMixtureConditional GaussianMixtureConditional::FromConditionals(
+GaussianMixture GaussianMixture::FromConditionals(
     const KeyVector &continuousFrontals, const KeyVector &continuousParents,
     const DiscreteKeys &discreteParents,
     const std::vector<GaussianConditional::shared_ptr> &conditionalsList) {
   Conditionals dt(discreteParents, conditionalsList);
 
-  return GaussianMixtureConditional(continuousFrontals, continuousParents,
+  return GaussianMixture(continuousFrontals, continuousParents,
                                     discreteParents, dt);
 }
 
 /* *******************************************************************************/
-GaussianMixtureConditional::Sum GaussianMixtureConditional::add(
-    const GaussianMixtureConditional::Sum &sum) const {
+GaussianMixture::Sum GaussianMixture::add(
+    const GaussianMixture::Sum &sum) const {
   using Y = GaussianFactorGraph;
   auto add = [](const Y &graph1, const Y &graph2) {
     auto result = graph1;
@@ -66,8 +66,8 @@ GaussianMixtureConditional::Sum GaussianMixtureConditional::add(
 }
 
 /* *******************************************************************************/
-GaussianMixtureConditional::Sum
-GaussianMixtureConditional::asGaussianFactorGraphTree() const {
+GaussianMixture::Sum
+GaussianMixture::asGaussianFactorGraphTree() const {
   auto lambda = [](const GaussianFactor::shared_ptr &factor) {
     GaussianFactorGraph result;
     result.push_back(factor);
@@ -77,13 +77,13 @@ GaussianMixtureConditional::asGaussianFactorGraphTree() const {
 }
 
 /* *******************************************************************************/
-bool GaussianMixtureConditional::equals(const HybridFactor &lf,
+bool GaussianMixture::equals(const HybridFactor &lf,
                                         double tol) const {
   return BaseFactor::equals(lf, tol);
 }
 
 /* *******************************************************************************/
-void GaussianMixtureConditional::print(const std::string &s,
+void GaussianMixture::print(const std::string &s,
                                        const KeyFormatter &formatter) const {
   std::cout << s;
   if (isContinuous()) std::cout << "Continuous ";

gtsam/hybrid/GaussianMixture.h

@@ -10,7 +10,7 @@
  * -------------------------------------------------------------------------- */
 
 /**
- * @file   GaussianMixtureConditional.h
+ * @file   GaussianMixture.h
  * @brief  A hybrid conditional in the Conditional Linear Gaussian scheme
  * @author Fan Jiang
  * @author Varun Agrawal
@@ -39,14 +39,14 @@ namespace gtsam {
  * coefficient.
  *
  */
-class GTSAM_EXPORT GaussianMixtureConditional
+class GTSAM_EXPORT GaussianMixture
     : public HybridFactor,
-      public Conditional<HybridFactor, GaussianMixtureConditional> {
+      public Conditional<HybridFactor, GaussianMixture> {
  public:
-  using This = GaussianMixtureConditional;
-  using shared_ptr = boost::shared_ptr<GaussianMixtureConditional>;
+  using This = GaussianMixture;
+  using shared_ptr = boost::shared_ptr<GaussianMixture>;
   using BaseFactor = HybridFactor;
-  using BaseConditional = Conditional<HybridFactor, GaussianMixtureConditional>;
+  using BaseConditional = Conditional<HybridFactor, GaussianMixture>;
 
   /// Alias for DecisionTree of GaussianFactorGraphs
   using Sum = DecisionTree<Key, GaussianFactorGraph>;
@@ -67,10 +67,10 @@ class GTSAM_EXPORT GaussianMixtureConditional
   /// @{
 
   /// Defaut constructor, mainly for serialization.
-  GaussianMixtureConditional() = default;
+  GaussianMixture() = default;
 
   /**
-   * @brief Construct a new GaussianMixtureConditional object.
+   * @brief Construct a new GaussianMixture object.
    *
    * @param continuousFrontals the continuous frontals.
    * @param continuousParents the continuous parents.
@@ -80,7 +80,7 @@ class GTSAM_EXPORT GaussianMixtureConditional
    * cardinality of the DiscreteKeys in discreteParents, since the
    * discreteParents will be used as the labels in the decision tree.
    */
-  GaussianMixtureConditional(const KeyVector &continuousFrontals,
+  GaussianMixture(const KeyVector &continuousFrontals,
                              const KeyVector &continuousParents,
                              const DiscreteKeys &discreteParents,
                              const Conditionals &conditionals);
@@ -107,7 +107,7 @@ class GTSAM_EXPORT GaussianMixtureConditional
 
   /* print utility */
   void print(
-      const std::string &s = "GaussianMixtureConditional\n",
+      const std::string &s = "GaussianMixture\n",
       const KeyFormatter &formatter = DefaultKeyFormatter) const override;
 
   /// @}

gtsam/hybrid/HybridConditional.cpp

@@ -54,7 +54,7 @@ HybridConditional::HybridConditional(
 
 /* ************************************************************************ */
 HybridConditional::HybridConditional(
-    boost::shared_ptr<GaussianMixtureConditional> gaussianMixture)
+    boost::shared_ptr<GaussianMixture> gaussianMixture)
     : BaseFactor(KeyVector(gaussianMixture->keys().begin(),
                            gaussianMixture->keys().begin() +
                                gaussianMixture->nrContinuous()),

gtsam/hybrid/HybridConditional.h

@@ -18,7 +18,7 @@
 #pragma once
 
 #include <gtsam/discrete/DiscreteConditional.h>
-#include <gtsam/hybrid/GaussianMixtureConditional.h>
+#include <gtsam/hybrid/GaussianMixture.h>
 #include <gtsam/hybrid/HybridFactor.h>
 #include <gtsam/hybrid/HybridGaussianFactorGraph.h>
 #include <gtsam/inference/Conditional.h>
@@ -42,7 +42,7 @@ class HybridGaussianFactorGraph;
  * As a type-erased variant of:
  * - DiscreteConditional
  * - GaussianConditional
- * - GaussianMixtureConditional
+ * - GaussianMixture
  *
  * The reason why this is important is that `Conditional<T>` is a CRTP class.
  * CRTP is static polymorphism such that all CRTP classes, while bearing the
@@ -128,16 +128,16 @@ class GTSAM_EXPORT HybridConditional
    * HybridConditional.
    */
   HybridConditional(
-      boost::shared_ptr<GaussianMixtureConditional> gaussianMixture);
+      boost::shared_ptr<GaussianMixture> gaussianMixture);
 
   /**
-   * @brief Return HybridConditional as a GaussianMixtureConditional
+   * @brief Return HybridConditional as a GaussianMixture
    *
-   * @return GaussianMixtureConditional::shared_ptr
+   * @return GaussianMixture::shared_ptr
    */
-  GaussianMixtureConditional::shared_ptr asMixture() {
+  GaussianMixture::shared_ptr asMixture() {
     if (!isHybrid()) throw std::invalid_argument("Not a mixture");
-    return boost::static_pointer_cast<GaussianMixtureConditional>(inner_);
+    return boost::static_pointer_cast<GaussianMixture>(inner_);
   }
 
   /**

gtsam/hybrid/HybridGaussianFactorGraph.cpp

@@ -23,7 +23,7 @@
 #include <gtsam/discrete/DiscreteEliminationTree.h>
 #include <gtsam/discrete/DiscreteFactorGraph.h>
 #include <gtsam/discrete/DiscreteJunctionTree.h>
-#include <gtsam/hybrid/GaussianMixtureConditional.h>
+#include <gtsam/hybrid/GaussianMixture.h>
 #include <gtsam/hybrid/GaussianMixtureFactor.h>
 #include <gtsam/hybrid/HybridConditional.h>
 #include <gtsam/hybrid/HybridDiscreteFactor.h>
@@ -207,8 +207,8 @@ hybridElimination(const HybridGaussianFactorGraph &factors,
 
   const GaussianMixtureFactor::Factors &separatorFactors = pair.second;
 
-  // Create the GaussianMixtureConditional from the conditionals
-  auto conditional = boost::make_shared<GaussianMixtureConditional>(
+  // Create the GaussianMixture from the conditionals
+  auto conditional = boost::make_shared<GaussianMixture>(
       frontalKeys, keysOfSeparator, discreteSeparator, pair.first);
 
   // If there are no more continuous parents, then we should create here a
@@ -262,7 +262,7 @@ EliminateHybrid(const HybridGaussianFactorGraph &factors,
   // Because of all these reasons, we carefully consider how to
   // implement the hybrid factors so that we do not get poor performance.
 
-  // The first thing is how to represent the GaussianMixtureConditional.
+  // The first thing is how to represent the GaussianMixture.
   // A very possible scenario is that the incoming factors will have different
   // levels of discrete keys. For example, imagine we are going to eliminate the
   // fragment: $\phi(x1,c1,c2)$, $\phi(x1,c2,c3)$, which is perfectly valid.

gtsam/hybrid/hybrid.i

@@ -38,16 +38,16 @@ class GaussianMixtureFactor : gtsam::HybridFactor {
                  gtsam::DefaultKeyFormatter) const;
 };
 
-#include <gtsam/hybrid/GaussianMixtureConditional.h>
-class GaussianMixtureConditional : gtsam::HybridFactor {
-  static GaussianMixtureConditional FromConditionals(
+#include <gtsam/hybrid/GaussianMixture.h>
+class GaussianMixture : gtsam::HybridFactor {
+  static GaussianMixture FromConditionals(
       const gtsam::KeyVector& continuousFrontals,
       const gtsam::KeyVector& continuousParents,
       const gtsam::DiscreteKeys& discreteParents,
       const std::vector<gtsam::GaussianConditional::shared_ptr>&
           conditionalsList);
 
-  void print(string s = "GaussianMixtureConditional\n",
+  void print(string s = "GaussianMixture\n",
              const gtsam::KeyFormatter& keyFormatter =
                  gtsam::DefaultKeyFormatter) const;
 };

gtsam/hybrid/tests/testGaussianHybridFactorGraph.cpp

@@ -20,7 +20,7 @@
 #include <gtsam/discrete/DecisionTreeFactor.h>
 #include <gtsam/discrete/DiscreteKey.h>
 #include <gtsam/discrete/DiscreteValues.h>
-#include <gtsam/hybrid/GaussianMixtureConditional.h>
+#include <gtsam/hybrid/GaussianMixture.h>
 #include <gtsam/hybrid/GaussianMixtureFactor.h>
 #include <gtsam/hybrid/HybridBayesNet.h>
 #include <gtsam/hybrid/HybridBayesTree.h>
@@ -65,9 +65,9 @@ TEST(HybridGaussianFactorGraph, creation) {
 
   hfg.add(HybridGaussianFactor(JacobianFactor(0, I_3x3, Z_3x1)));
 
-  GaussianMixtureConditional clgc(
+  GaussianMixture clgc(
       {X(0)}, {X(1)}, DiscreteKeys(DiscreteKey{C(0), 2}),
-      GaussianMixtureConditional::Conditionals(
+      GaussianMixture::Conditionals(
           C(0),
           boost::make_shared<GaussianConditional>(X(0), Z_3x1, I_3x3, X(1),
                                                   I_3x3),