From 8cb95d5b5a7aad89fbad616cefb69d7f90b7a1e6 Mon Sep 17 00:00:00 2001
From: Varun Agrawal <varagrawal@gmail.com>
Date: Mon, 16 Sep 2024 13:31:03 -0400
Subject: [PATCH] remove redundancy from HybridConditional constructors

---
 gtsam/hybrid/HybridConditional.cpp | 15 ++++-----------
 1 file changed, 4 insertions(+), 11 deletions(-)

diff --git a/gtsam/hybrid/HybridConditional.cpp b/gtsam/hybrid/HybridConditional.cpp
index 8a8511aef9..ed8125c2b7 100644
--- a/gtsam/hybrid/HybridConditional.cpp
+++ b/gtsam/hybrid/HybridConditional.cpp
@@ -28,14 +28,9 @@ HybridConditional::HybridConditional(const KeyVector &continuousFrontals,
                                      const DiscreteKeys &discreteFrontals,
                                      const KeyVector &continuousParents,
                                      const DiscreteKeys &discreteParents)
-    : HybridConditional(
-          CollectKeys(
-              {continuousFrontals.begin(), continuousFrontals.end()},
-              KeyVector{continuousParents.begin(), continuousParents.end()}),
-          CollectDiscreteKeys(
-              {discreteFrontals.begin(), discreteFrontals.end()},
-              {discreteParents.begin(), discreteParents.end()}),
-          continuousFrontals.size() + discreteFrontals.size()) {}
+    : HybridConditional(CollectKeys(continuousFrontals, continuousParents),
+                        CollectDiscreteKeys(discreteFrontals, discreteParents),
+                        continuousFrontals.size() + discreteFrontals.size()) {}
 
 /* ************************************************************************ */
 HybridConditional::HybridConditional(
@@ -56,9 +51,7 @@ HybridConditional::HybridConditional(
 /* ************************************************************************ */
 HybridConditional::HybridConditional(
     const std::shared_ptr<HybridGaussianConditional> &gaussianMixture)
-    : BaseFactor(KeyVector(gaussianMixture->keys().begin(),
-                           gaussianMixture->keys().begin() +
-                               gaussianMixture->nrContinuous()),
+    : BaseFactor(gaussianMixture->continuousKeys(),
                  gaussianMixture->discreteKeys()),
       BaseConditional(gaussianMixture->nrFrontals()) {
   inner_ = gaussianMixture;