add to hybrid group

gtsam/hybrid/GaussianMixture.h

@@ -41,6 +41,7 @@ namespace gtsam {
  * where i indexes the components and k_i is a component-wise normalization
  * constant.
  *
+ * @ingroup hybrid
  */
 class GTSAM_EXPORT GaussianMixture
     : public HybridFactor,

gtsam/hybrid/GaussianMixtureFactor.h

@@ -40,6 +40,7 @@ using GaussianFactorVector = std::vector<gtsam::GaussianFactor::shared_ptr>;
  * Represents the underlying Gaussian Mixture as a Decision Tree, where the set
  * of discrete variables indexes to the continuous gaussian distribution.
  *
+ * @ingroup hybrid
  */
 class GTSAM_EXPORT GaussianMixtureFactor : public HybridFactor {
  public:

gtsam/hybrid/HybridBayesNet.h

@@ -25,6 +25,8 @@ namespace gtsam {
 /**
  * A hybrid Bayes net is a collection of HybridConditionals, which can have
  * discrete conditionals, Gaussian mixtures, or pure Gaussian conditionals.
+ *
+ * @ingroup hybrid
  */
 class GTSAM_EXPORT HybridBayesNet : public BayesNet<HybridConditional> {
  public:

gtsam/hybrid/HybridBayesTree.h

@@ -34,8 +34,11 @@ class HybridConditional;
 class VectorValues;
 
 /* ************************************************************************* */
-/** A clique in a HybridBayesTree
+/**
+ * @brief A clique in a HybridBayesTree
  * which is a HybridConditional internally.
+ *
+ * @ingroup hybrid
  */
 class GTSAM_EXPORT HybridBayesTreeClique
     : public BayesTreeCliqueBase<HybridBayesTreeClique,

gtsam/hybrid/HybridConditional.h

@@ -56,6 +56,8 @@ class HybridGaussianFactorGraph;
  *
  * A great reference to the type-erasure pattern is Eduaado Madrid's CppCon
  * talk (https://www.youtube.com/watch?v=s082Qmd_nHs).
+ *
+ * @ingroup hybrid
  */
 class GTSAM_EXPORT HybridConditional
     : public HybridFactor,

gtsam/hybrid/HybridDiscreteFactor.h

@@ -28,6 +28,8 @@ namespace gtsam {
  * A HybridDiscreteFactor is a thin container for DiscreteFactor, which allows
  * us to hide the implementation of DiscreteFactor and thus avoid diamond
  * inheritance.
+ *
+ * @ingroup hybrid
  */
 class GTSAM_EXPORT HybridDiscreteFactor : public HybridFactor {
  private:

gtsam/hybrid/HybridEliminationTree.h

@@ -25,6 +25,8 @@ namespace gtsam {
 
 /**
  * Elimination Tree type for Hybrid
+ *
+ * @ingroup hybrid
  */
 class GTSAM_EXPORT HybridEliminationTree
     : public EliminationTree<HybridBayesNet, HybridGaussianFactorGraph> {

gtsam/hybrid/HybridFactor.h

@@ -40,6 +40,8 @@ DiscreteKeys CollectDiscreteKeys(const DiscreteKeys &key1,
  *  - HybridDiscreteFactor
  *  - GaussianMixtureFactor
  *  - GaussianMixture
+ *
+ * @ingroup hybrid
  */
 class GTSAM_EXPORT HybridFactor : public Factor {
  private:

gtsam/hybrid/HybridGaussianFactor.h

@@ -27,6 +27,8 @@ namespace gtsam {
  * A HybridGaussianFactor is a layer over GaussianFactor so that we do not have
  * a diamond inheritance i.e. an extra factor type that inherits from both
  * HybridFactor and GaussianFactor.
+ *
+ * @ingroup hybrid
  */
 class GTSAM_EXPORT HybridGaussianFactor : public HybridFactor {
  private:

gtsam/hybrid/HybridGaussianFactorGraph.h

@@ -36,7 +36,14 @@ class DecisionTreeFactor;
 
 class JacobianFactor;
 
-/** Main elimination function for HybridGaussianFactorGraph */
+/**
+ * @brief Main elimination function for HybridGaussianFactorGraph.
+ * 
+ * @param factors The factor graph to eliminate.
+ * @param keys The elimination ordering.
+ * @return The conditional on the ordering keys and the remaining factors.
+ * @ingroup hybrid
+ */
 GTSAM_EXPORT
 std::pair<boost::shared_ptr<HybridConditional>, HybridFactor::shared_ptr>
 EliminateHybrid(const HybridGaussianFactorGraph& factors, const Ordering& keys);
@@ -66,10 +73,12 @@ struct EliminationTraits<HybridGaussianFactorGraph> {
 };
 
 /**
- * Gaussian Hybrid Factor Graph
+ * Hybrid Gaussian Factor Graph
  * -----------------------
  * This is the linearized version of a hybrid factor graph.
  * Everything inside needs to be hybrid factor or hybrid conditional.
+ *
+ * @ingroup hybrid
  */
 class GTSAM_EXPORT HybridGaussianFactorGraph
     : public FactorGraph<HybridFactor>,

gtsam/hybrid/HybridGaussianISAM.h

@@ -26,6 +26,11 @@
 
 namespace gtsam {
 
+/**
+ * @brief 
+ *
+ * @ingroup hybrid
+ */
 class GTSAM_EXPORT HybridGaussianISAM : public ISAM<HybridBayesTree> {
  public:
   typedef ISAM<HybridBayesTree> Base;

gtsam/hybrid/HybridJunctionTree.h

@@ -45,7 +45,8 @@ class HybridEliminationTree;
  * EliminationTree, except that in the JunctionTree, at each node multiple
  * variables are eliminated at a time.
  *
- * \addtogroup Multifrontal
+ * \ingroup Multifrontal
+ * \ingroup hybrid
  * \nosubgrouping
  */
 class GTSAM_EXPORT HybridJunctionTree