make None the default HybridCategory

borglab · Sep 16, 2024 · 4302ee3 · 4302ee3
1 parent 97eb6bc
commit 4302ee3
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Showing 2 changed files with 21 additions and 10 deletions.
diff --git a/gtsam/hybrid/HybridFactor.cpp b/gtsam/hybrid/HybridFactor.cpp
@@ -55,20 +55,28 @@ HybridFactor::HybridFactor(const KeyVector &keys)
       continuousKeys_(keys) {}
 
 /* ************************************************************************ */
-HybridFactor::HybridFactor(const KeyVector &continuousKeys,
-                           const DiscreteKeys &discreteKeys)
-    : Base(CollectKeys(continuousKeys, discreteKeys)),
-      discreteKeys_(discreteKeys),
-      continuousKeys_(continuousKeys) {
+HybridCategory GetCategory(const KeyVector &continuousKeys,
+                           const DiscreteKeys &discreteKeys) {
   if ((continuousKeys.size() == 0) && (discreteKeys.size() != 0)) {
-    category_ = HybridCategory::Discrete;
+    return HybridCategory::Discrete;
   } else if ((continuousKeys.size() != 0) && (discreteKeys.size() == 0)) {
-    category_ = HybridCategory::Continuous;
+    return HybridCategory::Continuous;
+  } else if ((continuousKeys.size() != 0) && (discreteKeys.size() != 0)) {
+    return HybridCategory::Hybrid;
   } else {
-    category_ = HybridCategory::Hybrid;
+    // Case where we have no keys. Should never happen.
+    return HybridCategory::None;
   }
 }
 
+/* ************************************************************************ */
+HybridFactor::HybridFactor(const KeyVector &continuousKeys,
+                           const DiscreteKeys &discreteKeys)
+    : Base(CollectKeys(continuousKeys, discreteKeys)),
+      category_(GetCategory(continuousKeys, discreteKeys)),
+      discreteKeys_(discreteKeys),
+      continuousKeys_(continuousKeys) {}
+
 /* ************************************************************************ */
 HybridFactor::HybridFactor(const DiscreteKeys &discreteKeys)
     : Base(CollectKeys({}, discreteKeys)),
@@ -98,6 +106,9 @@ void HybridFactor::print(const std::string &s,
     case HybridCategory::Hybrid:
       std::cout << "Hybrid ";
       break;
+    case HybridCategory::None:
+      std::cout << "None ";
+      break;
   }
 
   std::cout << "[";

diff --git a/gtsam/hybrid/HybridFactor.h b/gtsam/hybrid/HybridFactor.h
@@ -42,7 +42,7 @@ DiscreteKeys CollectDiscreteKeys(const DiscreteKeys &key1,
                                  const DiscreteKeys &key2);
 
 /// Enum to help with categorizing hybrid factors.
-enum class HybridCategory { Discrete, Continuous, Hybrid };
+enum class HybridCategory { None, Discrete, Continuous, Hybrid };
 
 /**
  * Base class for *truly* hybrid probabilistic factors
@@ -57,7 +57,7 @@ enum class HybridCategory { Discrete, Continuous, Hybrid };
 class GTSAM_EXPORT HybridFactor : public Factor {
  private:
   /// Record what category of HybridFactor this is.
-  HybridCategory category_;
+  HybridCategory category_ = HybridCategory::None;
 
  protected:
   // Set of DiscreteKeys for this factor.