remove `factors_` from Bayes net implementation

gtsam/hybrid/HybridBayesNet.cpp

@@ -29,8 +29,8 @@ namespace gtsam {
 DecisionTreeFactor::shared_ptr HybridBayesNet::discreteConditionals() const {
   AlgebraicDecisionTree<Key> decisionTree;
 
-  // The canonical decision tree factor which will get the discrete conditionals
+  // The canonical decision tree factor which will get
-  // added to it.
+  // the discrete conditionals added to it.
   DecisionTreeFactor dtFactor;
 
   for (size_t i = 0; i < this->size(); i++) {
@@ -176,35 +176,35 @@ HybridBayesNet HybridBayesNet::prune(size_t maxNrLeaves) {
 
 /* ************************************************************************* */
 GaussianMixture::shared_ptr HybridBayesNet::atMixture(size_t i) const {
-  return factors_.at(i)->asMixture();
+  return at(i)->asMixture();
 }
 
 /* ************************************************************************* */
 GaussianConditional::shared_ptr HybridBayesNet::atGaussian(size_t i) const {
-  return factors_.at(i)->asGaussian();
+  return at(i)->asGaussian();
 }
 
 /* ************************************************************************* */
 DiscreteConditional::shared_ptr HybridBayesNet::atDiscrete(size_t i) const {
-  return factors_.at(i)->asDiscreteConditional();
+  return at(i)->asDiscreteConditional();
 }
 
 /* ************************************************************************* */
 GaussianBayesNet HybridBayesNet::choose(
     const DiscreteValues &assignment) const {
   GaussianBayesNet gbn;
-  for (size_t idx = 0; idx < size(); idx++) {
+  for (const sharedConditional &conditional : *this) {
-    if (factors_.at(idx)->isHybrid()) {
+    if (conditional->isHybrid()) {
-      // If factor is hybrid, select based on assignment.
+      // If conditional is hybrid, select based on assignment.
-      GaussianMixture gm = *this->atMixture(idx);
+      GaussianMixture gm = *conditional->asMixture();
       gbn.push_back(gm(assignment));
 
-    } else if (factors_.at(idx)->isContinuous()) {
+    } else if (conditional->isContinuous()) {
       // If continuous only, add gaussian conditional.
-      gbn.push_back((this->atGaussian(idx)));
+      gbn.push_back((conditional->asGaussian()));
 
-    } else if (factors_.at(idx)->isDiscrete()) {
+    } else if (conditional->isDiscrete()) {
-      // If factor at `idx` is discrete-only, we simply continue.
+      // If conditional is discrete-only, we simply continue.
       continue;
     }
   }
@@ -216,7 +216,7 @@ GaussianBayesNet HybridBayesNet::choose(
 HybridValues HybridBayesNet::optimize() const {
   // Solve for the MPE
   DiscreteBayesNet discrete_bn;
-  for (auto &conditional : factors_) {
+  for (auto &conditional : *this) {
     if (conditional->isDiscrete()) {
       discrete_bn.push_back(conditional->asDiscreteConditional());
     }
@@ -236,12 +236,13 @@ VectorValues HybridBayesNet::optimize(const DiscreteValues &assignment) const {
 }
 
 /* ************************************************************************* */
-HybridValues HybridBayesNet::sample(VectorValues given, std::mt19937_64 *rng) const {
+HybridValues HybridBayesNet::sample(VectorValues given,
+                                    std::mt19937_64 *rng) const {
   DiscreteBayesNet dbn;
-  for (size_t idx = 0; idx < size(); idx++) {
+  for (const sharedConditional &conditional : *this) {
-    if (factors_.at(idx)->isDiscrete()) {
+    if (conditional->isDiscrete()) {
-      // If factor at `idx` is discrete-only, we add to the discrete bayes net.
+      // If conditional is discrete-only, we add to the discrete bayes net.
-      dbn.push_back(this->atDiscrete(idx));
+      dbn.push_back(conditional->asDiscrete());
     }
   }
   // Sample a discrete assignment.
@@ -279,34 +280,28 @@ double HybridBayesNet::error(const VectorValues &continuousValues,
 /* ************************************************************************* */
 AlgebraicDecisionTree<Key> HybridBayesNet::error(
     const VectorValues &continuousValues) const {
-  AlgebraicDecisionTree<Key> error_tree;
+  AlgebraicDecisionTree<Key> error_tree(0.0);
 
-  // Iterate over each factor.
+  // Iterate over each conditional.
-  for (size_t idx = 0; idx < size(); idx++) {
+  for (const sharedConditional &conditional : *this) {
-    AlgebraicDecisionTree<Key> conditional_error;
+    if (conditional->isHybrid()) {
+      // If conditional is hybrid, select based on assignment and compute error.
+      GaussianMixture::shared_ptr gm = conditional->asMixture();
+      AlgebraicDecisionTree<Key> conditional_error =
+          gm->error(continuousValues);
 
-    if (factors_.at(idx)->isHybrid()) {
-      // If factor is hybrid, select based on assignment and compute error.
-      GaussianMixture::shared_ptr gm = this->atMixture(idx);
-      conditional_error = gm->error(continuousValues);
-
-      // Assign for the first index, add error for subsequent ones.
-      if (idx == 0) {
-        error_tree = conditional_error;
-      } else {
       error_tree = error_tree + conditional_error;
-      }
 
-    } else if (factors_.at(idx)->isContinuous()) {
+    } else if (conditional->isContinuous()) {
       // If continuous only, get the (double) error
       // and add it to the error_tree
-      double error = this->atGaussian(idx)->error(continuousValues);
+      double error = conditional->asGaussian()->error(continuousValues);
       // Add the computed error to every leaf of the error tree.
       error_tree = error_tree.apply(
           [error](double leaf_value) { return leaf_value + error; });
 
-    } else if (factors_.at(idx)->isDiscrete()) {
+    } else if (conditional->isDiscrete()) {
-      // If factor at `idx` is discrete-only, we skip.
+      // Conditional is discrete-only, we skip.
       continue;
     }
   }