discreteFactors method

gtsam/hybrid/HybridGaussianFactorGraph.cpp

@@ -580,4 +580,15 @@ GaussianFactorGraph HybridGaussianFactorGraph::choose(
   return gfg;
 }
 
+/* ************************************************************************ */
+DiscreteFactorGraph HybridGaussianFactorGraph::discreteFactors() const {
+  DiscreteFactorGraph dfg;
+  for (auto &&f : factors_) {
+    auto discreteFactor = std::dynamic_pointer_cast<DiscreteFactor>(f);
+    assert(discreteFactor);
+    dfg.push_back(discreteFactor);
+  }
+  return dfg;
+}
+
 }  // namespace gtsam

gtsam/hybrid/HybridGaussianFactorGraph.h

@@ -254,6 +254,14 @@ class GTSAM_EXPORT HybridGaussianFactorGraph
   GaussianFactorGraph operator()(const DiscreteValues& assignment) const {
     return choose(assignment);
   }
+
+  /**
+   * @brief Helper method to get all the discrete factors
+   * as a DiscreteFactorGraph.
+   *
+   * @return DiscreteFactorGraph
+   */
+  DiscreteFactorGraph discreteFactors() const;
 };
 
 // traits

gtsam/hybrid/tests/testHybridBayesTree.cpp

@@ -443,12 +443,7 @@ TEST(HybridBayesTree, Optimize) {
   const auto [hybridBayesNet, remainingFactorGraph] =
       s.linearizedFactorGraph.eliminatePartialSequential(ordering);
 
-  DiscreteFactorGraph dfg;
+  DiscreteFactorGraph dfg = remainingFactorGraph->discreteFactors();
-  for (auto&& f : *remainingFactorGraph) {
-    auto discreteFactor = dynamic_pointer_cast<DiscreteFactor>(f);
-    assert(discreteFactor);
-    dfg.push_back(discreteFactor);
-  }
 
   // Add the probabilities for each branch
   DiscreteKeys discrete_keys = {{M(0), 2}, {M(1), 2}, {M(2), 2}};

gtsam/hybrid/tests/testHybridNonlinearFactorGraph.cpp

@@ -479,13 +479,8 @@ TEST(HybridNonlinearFactorGraph, Full_Elimination) {
     const auto [hybridBayesNet_partial, remainingFactorGraph_partial] =
         linearizedFactorGraph.eliminatePartialSequential(ordering);
 
-    DiscreteFactorGraph discrete_fg;
+    DiscreteFactorGraph discrete_fg =
-    // TODO(Varun) Make this a function of HybridGaussianFactorGraph?
+        remainingFactorGraph_partial->discreteFactors();
-    for (auto &factor : (*remainingFactorGraph_partial)) {
-      auto df = dynamic_pointer_cast<DiscreteFactor>(factor);
-      assert(df);
-      discrete_fg.push_back(df);
-    }
 
     ordering.clear();
     for (size_t k = 0; k < self.K - 1; k++) ordering.push_back(M(k));