diff --git a/doc/Hybrid.lyx b/doc/Hybrid.lyx index 17d7094e10..a5fdd5d0ae 100644 --- a/doc/Hybrid.lyx +++ b/doc/Hybrid.lyx @@ -201,7 +201,7 @@ HybridGaussianConditional \emph default (maybe to be renamed to \emph on -GaussianMixtureComponent +HybridGaussianConditionalComponent \emph default ) just indexes into a number of \emph on diff --git a/gtsam/hybrid/HybridBayesNet.cpp b/gtsam/hybrid/HybridBayesNet.cpp index 90aa6cde28..4f8d2350cd 100644 --- a/gtsam/hybrid/HybridBayesNet.cpp +++ b/gtsam/hybrid/HybridBayesNet.cpp @@ -182,11 +182,11 @@ HybridBayesNet HybridBayesNet::prune(size_t maxNrLeaves) { for (auto &&conditional : *this) { if (auto gm = conditional->asMixture()) { // Make a copy of the Gaussian mixture and prune it! - auto prunedGaussianMixture = std::make_shared(*gm); - prunedGaussianMixture->prune(prunedDiscreteProbs); // imperative :-( + auto prunedHybridGaussianConditional = std::make_shared(*gm); + prunedHybridGaussianConditional->prune(prunedDiscreteProbs); // imperative :-( // Type-erase and add to the pruned Bayes Net fragment. - prunedBayesNetFragment.push_back(prunedGaussianMixture); + prunedBayesNetFragment.push_back(prunedHybridGaussianConditional); } else { // Add the non-HybridGaussianConditional conditional diff --git a/gtsam/hybrid/HybridGaussianFactorGraph.cpp b/gtsam/hybrid/HybridGaussianFactorGraph.cpp index 656060ae66..4c65467082 100644 --- a/gtsam/hybrid/HybridGaussianFactorGraph.cpp +++ b/gtsam/hybrid/HybridGaussianFactorGraph.cpp @@ -343,7 +343,7 @@ static std::shared_ptr createDiscreteFactor( // Create HybridGaussianFactor on the separator, taking care to correct // for conditional constants. -static std::shared_ptr createGaussianMixtureFactor( +static std::shared_ptr createHybridGaussianFactor( const DecisionTree &eliminationResults, const KeyVector &continuousSeparator, const DiscreteKeys &discreteSeparator) { @@ -405,7 +405,7 @@ hybridElimination(const HybridGaussianFactorGraph &factors, auto newFactor = continuousSeparator.empty() ? createDiscreteFactor(eliminationResults, discreteSeparator) - : createGaussianMixtureFactor(eliminationResults, continuousSeparator, + : createHybridGaussianFactor(eliminationResults, continuousSeparator, discreteSeparator); // Create the HybridGaussianConditional from the conditionals diff --git a/gtsam/hybrid/HybridNonlinearFactor.h b/gtsam/hybrid/HybridNonlinearFactor.h index d3d673dda3..7b2990cb07 100644 --- a/gtsam/hybrid/HybridNonlinearFactor.h +++ b/gtsam/hybrid/HybridNonlinearFactor.h @@ -188,7 +188,7 @@ class HybridNonlinearFactor : public HybridFactor { const KeyFormatter& keyFormatter = DefaultKeyFormatter) const override { std::cout << (s.empty() ? "" : s + " "); Base::print("", keyFormatter); - std::cout << "\nMixtureFactor\n"; + std::cout << "\nHybridNonlinearFactor\n"; auto valueFormatter = [](const sharedFactor& v) { if (v) { return "Nonlinear factor on " + std::to_string(v->size()) + " keys"; diff --git a/gtsam/hybrid/tests/testHybridGaussianConditional.cpp b/gtsam/hybrid/tests/testHybridGaussianConditional.cpp index 116e1119d0..3f18259de3 100644 --- a/gtsam/hybrid/tests/testHybridGaussianConditional.cpp +++ b/gtsam/hybrid/tests/testHybridGaussianConditional.cpp @@ -10,7 +10,7 @@ * -------------------------------------------------------------------------- */ /** - * @file testGaussianMixture.cpp + * @file testHybridGaussianConditional.cpp * @brief Unit tests for HybridGaussianConditional class * @author Varun Agrawal * @author Fan Jiang diff --git a/gtsam/hybrid/tests/testHybridNonlinearFactor.cpp b/gtsam/hybrid/tests/testHybridNonlinearFactor.cpp index 325478e949..9e2794b19a 100644 --- a/gtsam/hybrid/tests/testHybridNonlinearFactor.cpp +++ b/gtsam/hybrid/tests/testHybridNonlinearFactor.cpp @@ -73,7 +73,7 @@ HybridNonlinearFactor } /* ************************************************************************* */ -static HybridNonlinearFactor getMixtureFactor() { +static HybridNonlinearFactor getHybridNonlinearFactor() { DiscreteKey m1(1, 2); double between0 = 0.0; @@ -94,7 +94,7 @@ static HybridNonlinearFactor getMixtureFactor() { /* ************************************************************************* */ // Test the error of the HybridNonlinearFactor TEST(HybridNonlinearFactor, Error) { - auto mixtureFactor = getMixtureFactor(); + auto mixtureFactor = getHybridNonlinearFactor(); Values continuousValues; continuousValues.insert(X(1), 0); @@ -114,7 +114,7 @@ TEST(HybridNonlinearFactor, Error) { /* ************************************************************************* */ // Test dim of the HybridNonlinearFactor TEST(HybridNonlinearFactor, Dim) { - auto mixtureFactor = getMixtureFactor(); + auto mixtureFactor = getHybridNonlinearFactor(); EXPECT_LONGS_EQUAL(1, mixtureFactor.dim()); } diff --git a/gtsam/hybrid/tests/testSerializationHybrid.cpp b/gtsam/hybrid/tests/testSerializationHybrid.cpp index 17196d2ae9..76d9191127 100644 --- a/gtsam/hybrid/tests/testSerializationHybrid.cpp +++ b/gtsam/hybrid/tests/testSerializationHybrid.cpp @@ -51,21 +51,21 @@ BOOST_CLASS_EXPORT_GUID(ADT, "gtsam_AlgebraicDecisionTree"); BOOST_CLASS_EXPORT_GUID(ADT::Leaf, "gtsam_AlgebraicDecisionTree_Leaf"); BOOST_CLASS_EXPORT_GUID(ADT::Choice, "gtsam_AlgebraicDecisionTree_Choice") -BOOST_CLASS_EXPORT_GUID(HybridGaussianFactor, "gtsam_GaussianMixtureFactor"); +BOOST_CLASS_EXPORT_GUID(HybridGaussianFactor, "gtsam_HybridGaussianFactor"); BOOST_CLASS_EXPORT_GUID(HybridGaussianFactor::Factors, - "gtsam_GaussianMixtureFactor_Factors"); + "gtsam_HybridGaussianFactor_Factors"); BOOST_CLASS_EXPORT_GUID(HybridGaussianFactor::Factors::Leaf, - "gtsam_GaussianMixtureFactor_Factors_Leaf"); + "gtsam_HybridGaussianFactor_Factors_Leaf"); BOOST_CLASS_EXPORT_GUID(HybridGaussianFactor::Factors::Choice, - "gtsam_GaussianMixtureFactor_Factors_Choice"); + "gtsam_HybridGaussianFactor_Factors_Choice"); -BOOST_CLASS_EXPORT_GUID(HybridGaussianConditional, "gtsam_GaussianMixture"); +BOOST_CLASS_EXPORT_GUID(HybridGaussianConditional, "gtsam_HybridGaussianConditional"); BOOST_CLASS_EXPORT_GUID(HybridGaussianConditional::Conditionals, - "gtsam_GaussianMixture_Conditionals"); + "gtsam_HybridGaussianConditional_Conditionals"); BOOST_CLASS_EXPORT_GUID(HybridGaussianConditional::Conditionals::Leaf, - "gtsam_GaussianMixture_Conditionals_Leaf"); + "gtsam_HybridGaussianConditional_Conditionals_Leaf"); BOOST_CLASS_EXPORT_GUID(HybridGaussianConditional::Conditionals::Choice, - "gtsam_GaussianMixture_Conditionals_Choice"); + "gtsam_HybridGaussianConditional_Conditionals_Choice"); // Needed since GaussianConditional::FromMeanAndStddev uses it BOOST_CLASS_EXPORT_GUID(noiseModel::Isotropic, "gtsam_noiseModel_Isotropic");