Remove FromConditionals

gtsam/hybrid/GaussianMixture.cpp

@@ -42,15 +42,12 @@ const GaussianMixture::Conditionals &GaussianMixture::conditionals() const {
 }
 
 /* *******************************************************************************/
-GaussianMixture GaussianMixture::FromConditionals(
+GaussianMixture::GaussianMixture(
     const KeyVector &continuousFrontals, const KeyVector &continuousParents,
     const DiscreteKeys &discreteParents,
-    const std::vector<GaussianConditional::shared_ptr> &conditionalsList) {
+    const std::vector<GaussianConditional::shared_ptr> &conditionalsList)
-  Conditionals dt(discreteParents, conditionalsList);
+    : GaussianMixture(continuousFrontals, continuousParents, discreteParents,
-
+                      Conditionals(discreteParents, conditionalsList)) {}
-  return GaussianMixture(continuousFrontals, continuousParents, discreteParents,
-                         dt);
-}
 
 /* *******************************************************************************/
 GaussianMixture::Sum GaussianMixture::add(

gtsam/hybrid/GaussianMixture.h

@@ -114,7 +114,7 @@ class GTSAM_EXPORT GaussianMixture
    * @param discreteParents Discrete parents variables
    * @param conditionals List of conditionals
    */
-  static This FromConditionals(
+  GaussianMixture(
       const KeyVector &continuousFrontals, const KeyVector &continuousParents,
       const DiscreteKeys &discreteParents,
       const std::vector<GaussianConditional::shared_ptr> &conditionals);

gtsam/hybrid/hybrid.i

@@ -66,12 +66,13 @@ class GaussianMixtureFactor : gtsam::HybridFactor {
 
 #include <gtsam/hybrid/GaussianMixture.h>
 class GaussianMixture : gtsam::HybridFactor {
-  static GaussianMixture FromConditionals(
+  GaussianMixture(const gtsam::KeyVector& continuousFrontals,
-      const gtsam::KeyVector& continuousFrontals,
+                  const gtsam::KeyVector& continuousParents,
-      const gtsam::KeyVector& continuousParents,
+                  const gtsam::DiscreteKeys& discreteParents,
-      const gtsam::DiscreteKeys& discreteParents,
+                  const std::vector<gtsam::GaussianConditional::shared_ptr>&
-      const std::vector<gtsam::GaussianConditional::shared_ptr>&
+                      conditionalsList);
-          conditionalsList);
+
+  gtsam::GaussianMixtureFactor* likelihood(const gtsam::VectorValues &frontals) const;
 
   void print(string s = "GaussianMixture\n",
              const gtsam::KeyFormatter& keyFormatter =
@@ -104,7 +105,7 @@ class HybridBayesTree {
                  gtsam::DefaultKeyFormatter) const;
 };
 
-#include <gtsam/hybrid/HybridBayesTree.h>
+#include <gtsam/hybrid/HybridBayesNet.h>
 class HybridBayesNet {
   HybridBayesNet();
   void add(const gtsam::HybridConditional& s);
@@ -113,6 +114,11 @@ class HybridBayesNet {
   void addDiscrete(const gtsam::DiscreteConditional* s);
 
   void emplaceMixture(const gtsam::GaussianMixture& s);
+  void emplaceMixture(const gtsam::KeyVector& continuousFrontals,
+                      const gtsam::KeyVector& continuousParents,
+                      const gtsam::DiscreteKeys& discreteParents,
+                      const std::vector<gtsam::GaussianConditional::shared_ptr>&
+                          conditionalsList);
   void emplaceGaussian(const gtsam::GaussianConditional& s);
   void emplaceDiscrete(const gtsam::DiscreteConditional& s);
   void emplaceDiscrete(const gtsam::DiscreteKey& key, string spec);
@@ -162,9 +168,8 @@ class HybridGaussianFactorGraph {
   void push_back(const gtsam::HybridBayesNet& bayesNet);
   void push_back(const gtsam::HybridBayesTree& bayesTree);
   void push_back(const gtsam::GaussianMixtureFactor* gmm);
-
+  void push_back(gtsam::DecisionTreeFactor* factor);
-  void add(gtsam::DecisionTreeFactor* factor);
+  void push_back(gtsam::JacobianFactor* factor);
-  void add(gtsam::JacobianFactor* factor);
 
   bool empty() const;
   void remove(size_t i);

gtsam/hybrid/tests/testGaussianMixture.cpp

@@ -148,9 +148,7 @@ static GaussianMixture createSimpleGaussianMixture() {
       GaussianConditional::FromMeanAndStddev(Z(0), I, X(0), Vector1(0), 0.5));
   const auto conditional1 = boost::make_shared<GaussianConditional>(
       GaussianConditional::FromMeanAndStddev(Z(0), I, X(0), Vector1(0), 3));
-  const auto gm = GaussianMixture::FromConditionals(
+  return GaussianMixture({Z(0)}, {X(0)}, {mode}, {conditional0, conditional1});
-      {Z(0)}, {X(0)}, {mode}, {conditional0, conditional1});
-  return gm;
 }
 
 /* ************************************************************************* */

gtsam/hybrid/tests/testHybridBayesNet.cpp

@@ -88,8 +88,8 @@ TEST(HybridBayesNet, evaluateHybrid) {
   // Create hybrid Bayes net.
   HybridBayesNet bayesNet;
   bayesNet.emplaceGaussian(continuousConditional);
-  bayesNet.emplaceMixture(GaussianMixture::FromConditionals(
+  GaussianMixture gm({X(1)}, {}, {Asia}, {conditional0, conditional1});
-      {X(1)}, {}, {Asia}, {conditional0, conditional1}));
+  bayesNet.emplaceMixture(gm);  // copy :-(
   bayesNet.emplaceDiscrete(Asia, "99/1");
 
   // Create values at which to evaluate.

python/gtsam/tests/test_HybridBayesNet.py

@@ -42,14 +42,13 @@ class TestHybridBayesNet(GtsamTestCase):
         conditional1 = GaussianConditional(X(1), [2], I_1x1, model1)
         dkeys = DiscreteKeys()
         dkeys.push_back(Asia)
-        gm = GaussianMixture.FromConditionals([X(1)], [], dkeys,
+        gm = GaussianMixture([X(1)], [], dkeys, [conditional0, conditional1]) 
-                                              [conditional0, conditional1])  #
 
         # Create hybrid Bayes net.
         bayesNet = HybridBayesNet()
         bayesNet.addGaussian(gc)
         bayesNet.addMixture(gm)
-        bayesNet.addDiscrete(Asia, "99/1")
+        bayesNet.emplaceDiscrete(Asia, "99/1")
 
         # Create values at which to evaluate.
         values = HybridValues()