From cce2722c4dcaed69ad736e660e433752c1135abc Mon Sep 17 00:00:00 2001
From: Varun Agrawal <varagrawal@gmail.com>
Date: Tue, 26 Jul 2022 18:02:09 -0400
Subject: [PATCH] add to hybrid group

---
 gtsam/hybrid/GaussianMixture.h           |  1 +
 gtsam/hybrid/GaussianMixtureFactor.h     |  1 +
 gtsam/hybrid/HybridBayesNet.h            |  2 ++
 gtsam/hybrid/HybridBayesTree.h           |  5 ++++-
 gtsam/hybrid/HybridConditional.h         |  2 ++
 gtsam/hybrid/HybridDiscreteFactor.h      |  2 ++
 gtsam/hybrid/HybridEliminationTree.h     |  2 ++
 gtsam/hybrid/HybridFactor.h              |  2 ++
 gtsam/hybrid/HybridGaussianFactor.h      |  2 ++
 gtsam/hybrid/HybridGaussianFactorGraph.h | 13 +++++++++++--
 gtsam/hybrid/HybridGaussianISAM.h        |  5 +++++
 gtsam/hybrid/HybridJunctionTree.h        |  3 ++-
 12 files changed, 36 insertions(+), 4 deletions(-)

diff --git a/gtsam/hybrid/GaussianMixture.h b/gtsam/hybrid/GaussianMixture.h
index fc1eb0f06..d065a16cd 100644
--- a/gtsam/hybrid/GaussianMixture.h
+++ b/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,
diff --git a/gtsam/hybrid/GaussianMixtureFactor.h b/gtsam/hybrid/GaussianMixtureFactor.h
index 6c90ee6a7..0e6ea29a9 100644
--- a/gtsam/hybrid/GaussianMixtureFactor.h
+++ b/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:
diff --git a/gtsam/hybrid/HybridBayesNet.h b/gtsam/hybrid/HybridBayesNet.h
index 43eead280..04be5153a 100644
--- a/gtsam/hybrid/HybridBayesNet.h
+++ b/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:
diff --git a/gtsam/hybrid/HybridBayesTree.h b/gtsam/hybrid/HybridBayesTree.h
index 0b89ca8c4..09e7425cf 100644
--- a/gtsam/hybrid/HybridBayesTree.h
+++ b/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,
diff --git a/gtsam/hybrid/HybridConditional.h b/gtsam/hybrid/HybridConditional.h
index 3ba5da393..0b82ccb2f 100644
--- a/gtsam/hybrid/HybridConditional.h
+++ b/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,
diff --git a/gtsam/hybrid/HybridDiscreteFactor.h b/gtsam/hybrid/HybridDiscreteFactor.h
index 9cbea8170..015dc46f8 100644
--- a/gtsam/hybrid/HybridDiscreteFactor.h
+++ b/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:
diff --git a/gtsam/hybrid/HybridEliminationTree.h b/gtsam/hybrid/HybridEliminationTree.h
index 77a84fea8..b2dd1bd9c 100644
--- a/gtsam/hybrid/HybridEliminationTree.h
+++ b/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> {
diff --git a/gtsam/hybrid/HybridFactor.h b/gtsam/hybrid/HybridFactor.h
index 3e91e2487..d139f8a9f 100644
--- a/gtsam/hybrid/HybridFactor.h
+++ b/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:
diff --git a/gtsam/hybrid/HybridGaussianFactor.h b/gtsam/hybrid/HybridGaussianFactor.h
index 2a92c717c..8bffead94 100644
--- a/gtsam/hybrid/HybridGaussianFactor.h
+++ b/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:
diff --git a/gtsam/hybrid/HybridGaussianFactorGraph.h b/gtsam/hybrid/HybridGaussianFactorGraph.h
index 6dc9cd409..599357e38 100644
--- a/gtsam/hybrid/HybridGaussianFactorGraph.h
+++ b/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>,
diff --git a/gtsam/hybrid/HybridGaussianISAM.h b/gtsam/hybrid/HybridGaussianISAM.h
index d5b6271da..572a68ec3 100644
--- a/gtsam/hybrid/HybridGaussianISAM.h
+++ b/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;
diff --git a/gtsam/hybrid/HybridJunctionTree.h b/gtsam/hybrid/HybridJunctionTree.h
index cad1e15a1..4b0c369a8 100644
--- a/gtsam/hybrid/HybridJunctionTree.h
+++ b/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