add type info

gtsam/hybrid/HybridGaussianConditional.cpp

@@ -183,10 +183,12 @@ bool HybridGaussianConditional::equals(const HybridFactor &lf,
 
   // Check the base and the factors:
   return BaseFactor::equals(*e, tol) &&
-         conditionals_.equals(
+         conditionals_.equals(e->conditionals_,
-             e->conditionals_, [tol](const auto &f1, const auto &f2) {
+                              [tol](const GaussianConditional::shared_ptr &f1,
-               return (!f1 && !f2) || (f1 && f2 && f1->equals(*f2, tol));
+                                    const GaussianConditional::shared_ptr &f2) {
-             });
+                                return (!f1 && !f2) ||
+                                       (f1 && f2 && f1->equals(*f2, tol));
+                              });
 }
 
 /* *******************************************************************************/

gtsam/hybrid/HybridGaussianFactor.cpp

@@ -51,7 +51,7 @@ struct HybridGaussianFactor::ConstructorHelper {
     // Build the FactorValuePairs DecisionTree
     pairs = FactorValuePairs(
         DecisionTree<Key, GaussianFactor::shared_ptr>(discreteKeys, factors),
-        [](const auto& f) {
+        [](const sharedFactor& f) {
           return std::pair{f,
                            f ? 0.0 : std::numeric_limits<double>::infinity()};
         });
@@ -63,7 +63,7 @@ struct HybridGaussianFactor::ConstructorHelper {
                     const std::vector<GaussianFactorValuePair>& factorPairs)
       : discreteKeys({discreteKey}) {
     // Extract continuous keys from the first non-null factor
-    for (const auto& pair : factorPairs) {
+    for (const GaussianFactorValuePair& pair : factorPairs) {
       if (pair.first && continuousKeys.empty()) {
         continuousKeys = pair.first->keys();
         break;
@@ -121,7 +121,8 @@ bool HybridGaussianFactor::equals(const HybridFactor& lf, double tol) const {
   if (factors_.empty() ^ e->factors_.empty()) return false;
 
   // Check the base and the factors:
-  auto compareFunc = [tol](const auto& pair1, const auto& pair2) {
+  auto compareFunc = [tol](const GaussianFactorValuePair& pair1,
+                           const GaussianFactorValuePair& pair2) {
     auto f1 = pair1.first, f2 = pair2.first;
     bool match = (!f1 && !f2) || (f1 && f2 && f1->equals(*f2, tol));
     return match && gtsam::equal(pair1.second, pair2.second, tol);
@@ -140,7 +141,7 @@ void HybridGaussianFactor::print(const std::string& s,
   } else {
     factors_.print(
         "", [&](Key k) { return formatter(k); },
-        [&](const auto& pair) -> std::string {
+        [&](const GaussianFactorValuePair& pair) -> std::string {
           RedirectCout rd;
           std::cout << ":\n";
           if (pair.first) {
@@ -168,7 +169,8 @@ HybridGaussianProductFactor HybridGaussianFactor::asProductFactor() const {
   // - Each leaf converted to a GaussianFactorGraph with just the factor and its
   // scalar.
   return {{factors_,
-           [](const auto& pair) -> std::pair<GaussianFactorGraph, double> {
+           [](const GaussianFactorValuePair& pair)
+               -> std::pair<GaussianFactorGraph, double> {
              return {GaussianFactorGraph{pair.first}, pair.second};
            }}};
 }
@@ -177,7 +179,7 @@ HybridGaussianProductFactor HybridGaussianFactor::asProductFactor() const {
 AlgebraicDecisionTree<Key> HybridGaussianFactor::errorTree(
     const VectorValues& continuousValues) const {
   // functor to convert from sharedFactor to double error value.
-  auto errorFunc = [&continuousValues](const auto& pair) {
+  auto errorFunc = [&continuousValues](const GaussianFactorValuePair& pair) {
     return pair.first ? pair.first->error(continuousValues) + pair.second
                       : std::numeric_limits<double>::infinity();
   };
@@ -188,7 +190,7 @@ AlgebraicDecisionTree<Key> HybridGaussianFactor::errorTree(
 /* *******************************************************************************/
 double HybridGaussianFactor::error(const HybridValues& values) const {
   // Directly index to get the component, no need to build the whole tree.
-  const auto pair = factors_(values.discrete());
+  const GaussianFactorValuePair pair = factors_(values.discrete());
   return pair.first ? pair.first->error(values.continuous()) + pair.second
                     : std::numeric_limits<double>::infinity();
 }

gtsam/hybrid/HybridGaussianFactorGraph.cpp

@@ -57,7 +57,8 @@ using std::dynamic_pointer_cast;
 using OrphanWrapper = BayesTreeOrphanWrapper<HybridBayesTree::Clique>;
 using Result =
     std::pair<std::shared_ptr<GaussianConditional>, GaussianFactor::shared_ptr>;
-using ResultTree = DecisionTree<Key, std::pair<Result, double>>;
+using ResultValuePair = std::pair<Result, double>;
+using ResultTree = DecisionTree<Key, ResultValuePair>;
 
 static const VectorValues kEmpty;
 
@@ -305,7 +306,7 @@ static std::shared_ptr<Factor> createHybridGaussianFactor(
     const ResultTree &eliminationResults,
     const DiscreteKeys &discreteSeparator) {
   // Correct for the normalization constant used up by the conditional
-  auto correct = [&](const auto &pair) -> GaussianFactorValuePair {
+  auto correct = [&](const ResultValuePair &pair) -> GaussianFactorValuePair {
     const auto &[conditional, factor] = pair.first;
     const double scalar = pair.second;
     if (conditional && factor) {
@@ -384,7 +385,8 @@ HybridGaussianFactorGraph::eliminate(const Ordering &keys) const {
 
   // Create the HybridGaussianConditional from the conditionals
   HybridGaussianConditional::Conditionals conditionals(
-      eliminationResults, [](const auto &pair) { return pair.first.first; });
+      eliminationResults,
+      [](const ResultValuePair &pair) { return pair.first.first; });
   auto hybridGaussian = std::make_shared<HybridGaussianConditional>(
       discreteSeparator, conditionals);