From 04c7d2edb2838b04c86682ceeb1b4f3b825067a0 Mon Sep 17 00:00:00 2001
From: Frank Dellaert <dellaert@gmail.com>
Date: Thu, 5 Jan 2023 11:52:32 -0800
Subject: [PATCH] Simplified API

---
 gtsam/hybrid/HybridBayesNet.cpp | 18 +----------
 gtsam/hybrid/HybridBayesNet.h   | 55 ++++++++-------------------------
 2 files changed, 14 insertions(+), 59 deletions(-)

diff --git a/gtsam/hybrid/HybridBayesNet.cpp b/gtsam/hybrid/HybridBayesNet.cpp
index e01fcbdcf..4c61085d7 100644
--- a/gtsam/hybrid/HybridBayesNet.cpp
+++ b/gtsam/hybrid/HybridBayesNet.cpp
@@ -197,8 +197,7 @@ HybridBayesNet HybridBayesNet::prune(size_t maxNrLeaves) {
       prunedGaussianMixture->prune(*decisionTree);  // imperative :-(
 
       // Type-erase and add to the pruned Bayes Net fragment.
-      prunedBayesNetFragment.push_back(
-          boost::make_shared<HybridConditional>(prunedGaussianMixture));
+      prunedBayesNetFragment.push_back(prunedGaussianMixture);
 
     } else {
       // Add the non-GaussianMixture conditional
@@ -209,21 +208,6 @@ HybridBayesNet HybridBayesNet::prune(size_t maxNrLeaves) {
   return prunedBayesNetFragment;
 }
 
-/* ************************************************************************* */
-GaussianMixture::shared_ptr HybridBayesNet::atMixture(size_t i) const {
-  return at(i)->asMixture();
-}
-
-/* ************************************************************************* */
-GaussianConditional::shared_ptr HybridBayesNet::atGaussian(size_t i) const {
-  return at(i)->asGaussian();
-}
-
-/* ************************************************************************* */
-DiscreteConditional::shared_ptr HybridBayesNet::atDiscrete(size_t i) const {
-  return at(i)->asDiscrete();
-}
-
 /* ************************************************************************* */
 GaussianBayesNet HybridBayesNet::choose(
     const DiscreteValues &assignment) const {
diff --git a/gtsam/hybrid/HybridBayesNet.h b/gtsam/hybrid/HybridBayesNet.h
index de0a38271..8d0671c9d 100644
--- a/gtsam/hybrid/HybridBayesNet.h
+++ b/gtsam/hybrid/HybridBayesNet.h
@@ -63,55 +63,26 @@ class GTSAM_EXPORT HybridBayesNet : public BayesNet<HybridConditional> {
   /// @{
 
   /// Add HybridConditional to Bayes Net
-  using Base::add;
+  using Base::emplace_shared;
 
-  /// Add a Gaussian Mixture to the Bayes Net.
-  void addMixture(const GaussianMixture::shared_ptr &ptr) {
-    push_back(HybridConditional(ptr));
+  /// Add a conditional directly using a pointer.
+  template <class Conditional>
+  void emplace_back(Conditional *conditional) {
+    factors_.push_back(boost::make_shared<HybridConditional>(
+        boost::shared_ptr<Conditional>(conditional)));
   }
 
-  /// Add a Gaussian conditional to the Bayes Net.
-  void addGaussian(const GaussianConditional::shared_ptr &ptr) {
-    push_back(HybridConditional(ptr));
+  /// Add a conditional directly using a shared_ptr.
+  void push_back(boost::shared_ptr<HybridConditional> conditional) {
+    factors_.push_back(conditional);
   }
 
-  /// Add a discrete conditional to the Bayes Net.
-  void addDiscrete(const DiscreteConditional::shared_ptr &ptr) {
-    push_back(HybridConditional(ptr));
+  /// Add a conditional directly using implicit conversion.
+  void push_back(HybridConditional &&conditional) {
+    factors_.push_back(
+        boost::make_shared<HybridConditional>(std::move(conditional)));
   }
 
-  /// Add a Gaussian Mixture to the Bayes Net.
-  template <typename... T>
-  void emplaceMixture(T &&...args) {
-    push_back(HybridConditional(
-        boost::make_shared<GaussianMixture>(std::forward<T>(args)...)));
-  }
-
-  /// Add a Gaussian conditional to the Bayes Net.
-  template <typename... T>
-  void emplaceGaussian(T &&...args) {
-    push_back(HybridConditional(
-        boost::make_shared<GaussianConditional>(std::forward<T>(args)...)));
-  }
-
-  /// Add a discrete conditional to the Bayes Net.
-  template <typename... T>
-  void emplaceDiscrete(T &&...args) {
-    push_back(HybridConditional(
-        boost::make_shared<DiscreteConditional>(std::forward<T>(args)...)));
-  }
-
-  using Base::push_back;
-
-  /// Get a specific Gaussian mixture by index `i`.
-  GaussianMixture::shared_ptr atMixture(size_t i) const;
-
-  /// Get a specific Gaussian conditional by index `i`.
-  GaussianConditional::shared_ptr atGaussian(size_t i) const;
-
-  /// Get a specific discrete conditional by index `i`.
-  DiscreteConditional::shared_ptr atDiscrete(size_t i) const;
-
   /**
    * @brief Get the Gaussian Bayes Net which corresponds to a specific discrete
    * value assignment.