Some Updates

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;

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 {

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 =

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);
 };
 
-}
+}

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.
+A RegularJacobianFactor that uses the "Nullspace Trick" by Mourikis et al. See the documentation in the file, which *is* well documented.