From 7d58207dae808697d9812b88f8c101f62e1184af Mon Sep 17 00:00:00 2001
From: Frank Dellaert <dellaert@gmail.com>
Date: Thu, 29 Dec 2022 11:55:19 -0500
Subject: [PATCH] Renamed add to emplace, add is for shared pointers

---
 gtsam/hybrid/HybridBayesNet.h             | 21 ++++++++++++++++---
 gtsam/hybrid/hybrid.i                     | 25 +++++++++++++++--------
 gtsam/hybrid/tests/testHybridBayesNet.cpp | 12 +++++------
 3 files changed, 41 insertions(+), 17 deletions(-)

diff --git a/gtsam/hybrid/HybridBayesNet.h b/gtsam/hybrid/HybridBayesNet.h
index 488ee0d14..a64b3bb4f 100644
--- a/gtsam/hybrid/HybridBayesNet.h
+++ b/gtsam/hybrid/HybridBayesNet.h
@@ -69,23 +69,38 @@ class GTSAM_EXPORT HybridBayesNet : public BayesNet<HybridConditional> {
   /// Add HybridConditional to Bayes Net
   using Base::add;
 
+  /// Add a Gaussian Mixture to the Bayes Net.
+  void addMixture(const GaussianMixture::shared_ptr &ptr) {
+    push_back(HybridConditional(ptr));
+  }
+
+  /// Add a Gaussian conditional to the Bayes Net.
+  void addGaussian(const GaussianConditional::shared_ptr &ptr) {
+    push_back(HybridConditional(ptr));
+  }
+
+  /// Add a discrete conditional to the Bayes Net.
+  void addDiscrete(const DiscreteConditional::shared_ptr &ptr) {
+    push_back(HybridConditional(ptr));
+  }
+
   /// Add a Gaussian Mixture to the Bayes Net.
   template <typename... T>
-  void addMixture(T &&...args) {
+  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 addGaussian(T &&...args) {
+  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 addDiscrete(T &&...args) {
+  void emplaceDiscrete(T &&...args) {
     push_back(HybridConditional(
         boost::make_shared<DiscreteConditional>(std::forward<T>(args)...)));
   }
diff --git a/gtsam/hybrid/hybrid.i b/gtsam/hybrid/hybrid.i
index acda94638..ab070c68f 100644
--- a/gtsam/hybrid/hybrid.i
+++ b/gtsam/hybrid/hybrid.i
@@ -108,14 +108,23 @@ class HybridBayesTree {
 class HybridBayesNet {
   HybridBayesNet();
   void add(const gtsam::HybridConditional& s);
-  void addMixture(const gtsam::GaussianMixture& s);
-  void addGaussian(const gtsam::GaussianConditional& s);
-  void addDiscrete(const gtsam::DiscreteConditional& s);
-  void addDiscrete(const gtsam::DiscreteKey& key, string spec);
-  void addDiscrete(const gtsam::DiscreteKey& key,
-                   const gtsam::DiscreteKeys& parents, string spec);
-  void addDiscrete(const gtsam::DiscreteKey& key,
-                   const std::vector<gtsam::DiscreteKey>& parents, string spec);
+  void addMixture(const gtsam::GaussianMixture* s);
+  void addGaussian(const gtsam::GaussianConditional* s);
+  void addDiscrete(const gtsam::DiscreteConditional* s);
+
+  void emplaceMixture(const gtsam::GaussianMixture& s);
+  void emplaceGaussian(const gtsam::GaussianConditional& s);
+  void emplaceDiscrete(const gtsam::DiscreteConditional& s);
+  void emplaceDiscrete(const gtsam::DiscreteKey& key, string spec);
+  void emplaceDiscrete(const gtsam::DiscreteKey& key,
+                       const gtsam::DiscreteKeys& parents, string spec);
+  void emplaceDiscrete(const gtsam::DiscreteKey& key,
+                       const std::vector<gtsam::DiscreteKey>& parents,
+                       string spec);
+
+  gtsam::GaussianMixture* atMixture(size_t i) const;
+  gtsam::GaussianConditional* atGaussian(size_t i) const;
+  gtsam::DiscreteConditional* atDiscrete(size_t i) const;
 
   bool empty() const;
   size_t size() const;
diff --git a/gtsam/hybrid/tests/testHybridBayesNet.cpp b/gtsam/hybrid/tests/testHybridBayesNet.cpp
index 8c887a2aa..9a2ca1208 100644
--- a/gtsam/hybrid/tests/testHybridBayesNet.cpp
+++ b/gtsam/hybrid/tests/testHybridBayesNet.cpp
@@ -43,7 +43,7 @@ static const DiscreteKey Asia(asiaKey, 2);
 // Test creation of a pure discrete Bayes net.
 TEST(HybridBayesNet, Creation) {
   HybridBayesNet bayesNet;
-  bayesNet.addDiscrete(Asia, "99/1");
+  bayesNet.emplaceDiscrete(Asia, "99/1");
 
   DiscreteConditional expected(Asia, "99/1");
   CHECK(bayesNet.atDiscrete(0));
@@ -54,7 +54,7 @@ TEST(HybridBayesNet, Creation) {
 // Test adding a Bayes net to another one.
 TEST(HybridBayesNet, Add) {
   HybridBayesNet bayesNet;
-  bayesNet.addDiscrete(Asia, "99/1");
+  bayesNet.emplaceDiscrete(Asia, "99/1");
 
   HybridBayesNet other;
   other.push_back(bayesNet);
@@ -65,7 +65,7 @@ TEST(HybridBayesNet, Add) {
 // Test evaluate for a pure discrete Bayes net P(Asia).
 TEST(HybridBayesNet, evaluatePureDiscrete) {
   HybridBayesNet bayesNet;
-  bayesNet.addDiscrete(Asia, "99/1");
+  bayesNet.emplaceDiscrete(Asia, "99/1");
   HybridValues values;
   values.insert(asiaKey, 0);
   EXPECT_DOUBLES_EQUAL(0.99, bayesNet.evaluate(values), 1e-9);
@@ -87,10 +87,10 @@ TEST(HybridBayesNet, evaluateHybrid) {
 
   // Create hybrid Bayes net.
   HybridBayesNet bayesNet;
-  bayesNet.addGaussian(continuousConditional);
-  bayesNet.addMixture(GaussianMixture::FromConditionals(
+  bayesNet.emplaceGaussian(continuousConditional);
+  bayesNet.emplaceMixture(GaussianMixture::FromConditionals(
       {X(1)}, {}, {Asia}, {conditional0, conditional1}));
-  bayesNet.addDiscrete(Asia, "99/1");
+  bayesNet.emplaceDiscrete(Asia, "99/1");
 
   // Create values at which to evaluate.
   HybridValues values;