Fix wrapper

borglab · Sep 26, 2024 · 1a566ea · 1a566ea
1 parent bb4c3c9
commit 1a566ea
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Showing 2 changed files with 9 additions and 12 deletions.
diff --git a/gtsam/hybrid/hybrid.i b/gtsam/hybrid/hybrid.i
@@ -75,10 +75,12 @@ virtual class HybridConditional {
 #include <gtsam/hybrid/HybridGaussianFactor.h>
 class HybridGaussianFactor : gtsam::HybridFactor {
   HybridGaussianFactor(
-      const gtsam::KeyVector& continuousKeys,
+      const gtsam::DiscreteKey& discreteKey,
+      const std::vector<gtsam::GaussianFactor::shared_ptr>& factors);
+  HybridGaussianFactor(
       const gtsam::DiscreteKey& discreteKey,
       const std::vector<std::pair<gtsam::GaussianFactor::shared_ptr, double>>&
-          factorsList);
+          factorPairs);
 
   void print(string s = "HybridGaussianFactor\n",
              const gtsam::KeyFormatter& keyFormatter =
@@ -88,13 +90,9 @@ class HybridGaussianFactor : gtsam::HybridFactor {
 #include <gtsam/hybrid/HybridGaussianConditional.h>
 class HybridGaussianConditional : gtsam::HybridFactor {
   HybridGaussianConditional(
-      const gtsam::KeyVector& continuousFrontals,
-      const gtsam::KeyVector& continuousParents,
       const gtsam::DiscreteKeys& discreteParents,
       const gtsam::HybridGaussianConditional::Conditionals& conditionals);
   HybridGaussianConditional(
-      const gtsam::KeyVector& continuousFrontals,
-      const gtsam::KeyVector& continuousParents,
       const gtsam::DiscreteKey& discreteParent,
       const std::vector<gtsam::GaussianConditional::shared_ptr>& conditionals);
 
@@ -246,15 +244,15 @@ class HybridNonlinearFactorGraph {
 #include <gtsam/hybrid/HybridNonlinearFactor.h>
 class HybridNonlinearFactor : gtsam::HybridFactor {
   HybridNonlinearFactor(
-      const gtsam::KeyVector& keys, const gtsam::DiscreteKey& discreteKey,
+      const gtsam::DiscreteKey& discreteKey,
       const std::vector<gtsam::NonlinearFactor*>& factors);
 
   HybridNonlinearFactor(
-      const gtsam::KeyVector& keys, const gtsam::DiscreteKey& discreteKey,
+      const gtsam::DiscreteKey& discreteKey,
       const std::vector<std::pair<gtsam::NonlinearFactor*, double>>& factors);
 
   HybridNonlinearFactor(
-      const gtsam::KeyVector& keys, const gtsam::DiscreteKeys& discreteKeys,
+      const gtsam::DiscreteKeys& discreteKeys,
       const gtsam::DecisionTree<
           gtsam::Key, std::pair<gtsam::NonlinearFactor*, double>>& factors);
 

diff --git a/python/gtsam/tests/test_HybridFactorGraph.py b/python/gtsam/tests/test_HybridFactorGraph.py
@@ -17,7 +17,7 @@
 from gtsam.utils.test_case import GtsamTestCase
 
 import gtsam
-from gtsam import (DiscreteConditional, DiscreteKeys, GaussianConditional,
+from gtsam import (DiscreteConditional, GaussianConditional,
                    HybridBayesNet, HybridGaussianConditional,
                    HybridGaussianFactor, HybridGaussianFactorGraph,
                    HybridValues, JacobianFactor, noiseModel)
@@ -102,8 +102,7 @@ def tiny(num_measurements: int = 1,
                                                                  X(0), [0],
                                                                  sigma=3)
             bayesNet.push_back(
-                HybridGaussianConditional([Z(i)], [X(0)], mode,
-                                          [conditional0, conditional1]))
+                HybridGaussianConditional(mode, [conditional0, conditional1]))
 
         # Create prior on X(0).
         prior_on_x0 = GaussianConditional.FromMeanAndStddev(