diff --git a/gtsam/hybrid/HybridGaussianConditional.cpp b/gtsam/hybrid/HybridGaussianConditional.cpp index b7c79a5b2..e8d2ec35f 100644 --- a/gtsam/hybrid/HybridGaussianConditional.cpp +++ b/gtsam/hybrid/HybridGaussianConditional.cpp @@ -96,18 +96,21 @@ HybridGaussianConditional::HybridGaussianConditional( conditionals_(helper.conditionals), negLogConstant_(helper.minNegLogConstant) {} +/* *******************************************************************************/ HybridGaussianConditional::HybridGaussianConditional( const DiscreteKey &mode, const std::vector &conditionals) : HybridGaussianConditional(DiscreteKeys{mode}, Conditionals({mode}, conditionals)) {} +/* *******************************************************************************/ HybridGaussianConditional::HybridGaussianConditional( const DiscreteKey &mode, Key key, // const std::vector> ¶meters) : HybridGaussianConditional(DiscreteKeys{mode}, Helper(mode, parameters, key)) {} +/* *******************************************************************************/ HybridGaussianConditional::HybridGaussianConditional( const DiscreteKey &mode, Key key, // const Matrix &A, Key parent, @@ -115,6 +118,7 @@ HybridGaussianConditional::HybridGaussianConditional( : HybridGaussianConditional(DiscreteKeys{mode}, Helper(mode, parameters, key, A, parent)) {} +/* *******************************************************************************/ HybridGaussianConditional::HybridGaussianConditional( const DiscreteKey &mode, Key key, // const Matrix &A1, Key parent1, const Matrix &A2, Key parent2, @@ -123,6 +127,7 @@ HybridGaussianConditional::HybridGaussianConditional( DiscreteKeys{mode}, Helper(mode, parameters, key, A1, parent1, A2, parent2)) {} +/* *******************************************************************************/ HybridGaussianConditional::HybridGaussianConditional( const DiscreteKeys &discreteParents, const HybridGaussianConditional::Conditionals &conditionals) diff --git a/gtsam/hybrid/HybridGaussianFactorGraph.cpp b/gtsam/hybrid/HybridGaussianFactorGraph.cpp index 787c0edd7..c107aa8a8 100644 --- a/gtsam/hybrid/HybridGaussianFactorGraph.cpp +++ b/gtsam/hybrid/HybridGaussianFactorGraph.cpp @@ -366,6 +366,7 @@ static std::shared_ptr createHybridGaussianFactor( return std::make_shared(discreteSeparator, newFactors); } +/* *******************************************************************************/ std::pair> HybridGaussianFactorGraph::eliminate(const Ordering &keys) const { // Since we eliminate all continuous variables first,