From c5d6cd5466c01f0a985406cd377b852724c52606 Mon Sep 17 00:00:00 2001
From: Varun Agrawal <varagrawal@gmail.com>
Date: Wed, 3 Apr 2024 16:13:55 +0530
Subject: [PATCH 1/5] wrap DiscreteConditional which takes a vector of doubles

---
 gtsam/discrete/discrete.i | 3 +++
 1 file changed, 3 insertions(+)

diff --git a/gtsam/discrete/discrete.i b/gtsam/discrete/discrete.i
index a1731f8e56..0deeb80331 100644
--- a/gtsam/discrete/discrete.i
+++ b/gtsam/discrete/discrete.i
@@ -104,6 +104,9 @@ virtual class DiscreteConditional : gtsam::DecisionTreeFactor {
   DiscreteConditional(const gtsam::DecisionTreeFactor& joint,
                       const gtsam::DecisionTreeFactor& marginal,
                       const gtsam::Ordering& orderedKeys);
+  DiscreteConditional(const gtsam::DiscreteKey& key,
+                      const gtsam::DiscreteKeys& parents,
+                      const std::vector<double>& table);
 
   // Standard interface
   double logNormalizationConstant() const;

From c05d17dedfc4d4f943efeb8396f5fb947dac8f71 Mon Sep 17 00:00:00 2001
From: Varun Agrawal <varagrawal@gmail.com>
Date: Wed, 3 Apr 2024 16:14:19 +0530
Subject: [PATCH 2/5] minor formatting in linear.i

---
 gtsam/linear/linear.i | 4 ++--
 1 file changed, 2 insertions(+), 2 deletions(-)

diff --git a/gtsam/linear/linear.i b/gtsam/linear/linear.i
index 6862646aeb..8bd3dcb889 100644
--- a/gtsam/linear/linear.i
+++ b/gtsam/linear/linear.i
@@ -489,7 +489,7 @@ virtual class GaussianConditional : gtsam::JacobianFactor {
   GaussianConditional(size_t key, Vector d, Matrix R, size_t name1, Matrix S,
                       size_t name2, Matrix T,
                       const gtsam::noiseModel::Diagonal* sigmas);
-  GaussianConditional(const vector<std::pair<gtsam::Key, Matrix>> terms,
+  GaussianConditional(const std::vector<std::pair<gtsam::Key, Matrix>> terms,
                       size_t nrFrontals, Vector d,
                       const gtsam::noiseModel::Diagonal* sigmas);
 
@@ -751,4 +751,4 @@ class KalmanFilter {
       Vector z, Matrix Q);
 };
 
-}
\ No newline at end of file
+}

From bd241f61ecc35560f0f5b958639fcc3515a121b8 Mon Sep 17 00:00:00 2001
From: Varun Agrawal <varagrawal@gmail.com>
Date: Wed, 3 Apr 2024 16:14:46 +0530
Subject: [PATCH 3/5] wrap logProbability and evaluate methods of
 GaussianMixtureFactor

---
 gtsam/hybrid/hybrid.i | 5 ++++-
 1 file changed, 4 insertions(+), 1 deletion(-)

diff --git a/gtsam/hybrid/hybrid.i b/gtsam/hybrid/hybrid.i
index c1d57715ec..85c34e5755 100644
--- a/gtsam/hybrid/hybrid.i
+++ b/gtsam/hybrid/hybrid.i
@@ -92,7 +92,10 @@ class GaussianMixture : gtsam::HybridFactor {
                   const std::vector<gtsam::GaussianConditional::shared_ptr>&
                       conditionalsList);
 
-  gtsam::GaussianMixtureFactor* likelihood(const gtsam::VectorValues &frontals) const;
+  gtsam::GaussianMixtureFactor* likelihood(
+      const gtsam::VectorValues& frontals) const;
+  double logProbability(const gtsam::HybridValues& values) const;
+  double evaluate(const gtsam::HybridValues& values) const;
 
   void print(string s = "GaussianMixture\n",
              const gtsam::KeyFormatter& keyFormatter =

From 8dd2bed6c100b9c576b8fa8b2c7d9aa7bb622e1d Mon Sep 17 00:00:00 2001
From: Varun Agrawal <varagrawal@gmail.com>
Date: Wed, 3 Apr 2024 16:15:21 +0530
Subject: [PATCH 4/5] don't check for 0 continuous keys when printing
 GaussianMixtureFactor as it is possible to have non-zero discrete keys

---
 gtsam/hybrid/GaussianMixtureFactor.cpp | 2 +-
 1 file changed, 1 insertion(+), 1 deletion(-)

diff --git a/gtsam/hybrid/GaussianMixtureFactor.cpp b/gtsam/hybrid/GaussianMixtureFactor.cpp
index 4e138acfa8..fd7cec0669 100644
--- a/gtsam/hybrid/GaussianMixtureFactor.cpp
+++ b/gtsam/hybrid/GaussianMixtureFactor.cpp
@@ -66,7 +66,7 @@ void GaussianMixtureFactor::print(const std::string &s,
         [&](const sharedFactor &gf) -> std::string {
           RedirectCout rd;
           std::cout << ":\n";
-          if (gf && !gf->empty()) {
+          if (gf) {
             gf->print("", formatter);
             return rd.str();
           } else {

From 8333c25dab31ad83aaa4d89fc62d140bf2abc004 Mon Sep 17 00:00:00 2001
From: Varun Agrawal <varagrawal@gmail.com>
Date: Wed, 3 Apr 2024 16:15:54 +0530
Subject: [PATCH 5/5] Fix slam module README

---
 gtsam/slam/README.md | 4 ++--
 1 file changed, 2 insertions(+), 2 deletions(-)

diff --git a/gtsam/slam/README.md b/gtsam/slam/README.md
index ae5edfdac0..018126a663 100644
--- a/gtsam/slam/README.md
+++ b/gtsam/slam/README.md
@@ -63,6 +63,6 @@ A RegularJacobianFactor that uses some badly documented reduction on the Jacobia
 
 A RegularJacobianFactor that eliminates a point using sequential elimination.
 
-### JacobianFactorQR
+### JacobianFactorSVD
 
-A RegularJacobianFactor that uses the "Nullspace Trick" by Mourikis et al. See the documentation in the file, which *is* well documented.
\ No newline at end of file
+A RegularJacobianFactor that uses the "Nullspace Trick" by Mourikis et al. See the documentation in the file, which *is* well documented.