Merge pull request #1358 from borglab/hybrid/gaussian-mixture-factor

borglab · Dec 31, 2022 · be27e3a · be27e3a
2 parents d0821a5 + 2a16751
commit be27e3a
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Showing 4 changed files with 4 additions and 3 deletions.
diff --git a/gtsam/hybrid/HybridConditional.h b/gtsam/hybrid/HybridConditional.h
@@ -173,7 +173,7 @@ class GTSAM_EXPORT HybridConditional
   }
 
   /// Get the type-erased pointer to the inner type
-  boost::shared_ptr<Factor> inner() { return inner_; }
+  boost::shared_ptr<Factor> inner() const { return inner_; }
 
   /// Return the error of the underlying conditional.
   /// Currently only implemented for Gaussian mixture.

diff --git a/gtsam/hybrid/HybridDiscreteFactor.h b/gtsam/hybrid/HybridDiscreteFactor.h
@@ -64,7 +64,7 @@ class GTSAM_EXPORT HybridDiscreteFactor : public HybridFactor {
   /// @name Standard Interface
   /// @{
 
-  /// Return pointer to the internal discrete factor
+  /// Return pointer to the internal discrete factor.
   DiscreteFactor::shared_ptr inner() const { return inner_; }
 
   /// Return the error of the underlying Discrete Factor.

diff --git a/gtsam/hybrid/HybridGaussianFactor.h b/gtsam/hybrid/HybridGaussianFactor.h
@@ -96,7 +96,7 @@ class GTSAM_EXPORT HybridGaussianFactor : public HybridFactor {
   /// @name Standard Interface
   /// @{
 
-  /// Return pointer to the internal discrete factor
+  /// Return pointer to the internal Gaussian factor.
   GaussianFactor::shared_ptr inner() const { return inner_; }
 
   /// Return the error of the underlying Discrete Factor.

diff --git a/gtsam/hybrid/HybridNonlinearFactor.h b/gtsam/hybrid/HybridNonlinearFactor.h
@@ -54,6 +54,7 @@ class HybridNonlinearFactor : public HybridFactor {
   /// @name Standard Interface
   /// @{
 
+  /// Return pointer to the internal nonlinear factor.
   NonlinearFactor::shared_ptr inner() const { return inner_; }
 
   /// Error for HybridValues is not provided for nonlinear factor.