format DiscreteMarginals.h

Author: varunagrawal

gtsam/discrete/DiscreteMarginals.h

@@ -20,28 +20,26 @@
 
 #pragma once
 
-#include <gtsam/discrete/DiscreteFactorGraph.h>
-#include <gtsam/discrete/DiscreteBayesTree.h>
 #include <gtsam/base/Vector.h>
+#include <gtsam/discrete/DiscreteBayesTree.h>
+#include <gtsam/discrete/DiscreteFactorGraph.h>
 
 namespace gtsam {
 
-  /**
-   * A class for computing marginals of variables in a DiscreteFactorGraph
-   * @ingroup discrete
-   */
+/**
+ * A class for computing marginals of variables in a DiscreteFactorGraph
+ * @ingroup discrete
+ */
 class DiscreteMarginals {
+ protected:
+  DiscreteBayesTree::shared_ptr bayesTree_;
 
-  protected:
-
-    DiscreteBayesTree::shared_ptr bayesTree_;
-
-  public:
-
+ public:
   DiscreteMarginals() {}
 
   /** Construct a marginals class.
-   * @param graph The factor graph defining the full joint distribution on all variables.
+   * @param graph The factor graph defining the full joint 
+   * distribution on all variables.
    */
   DiscreteMarginals(const DiscreteFactorGraph& graph) {
     bayesTree_ = graph.eliminateMultifrontal();
@@ -50,8 +48,8 @@ class DiscreteMarginals {
   /** Compute the marginal of a single variable */
   DiscreteFactor::shared_ptr operator()(Key variable) const {
     // Compute marginal
-    DiscreteFactor::shared_ptr marginalFactor;
-    marginalFactor = bayesTree_->marginalFactor(variable, &EliminateDiscrete);
+    DiscreteFactor::shared_ptr marginalFactor =
+        bayesTree_->marginalFactor(variable, &EliminateDiscrete);
     return marginalFactor;
   }
 
@@ -61,19 +59,17 @@ class DiscreteMarginals {
    */
   Vector marginalProbabilities(const DiscreteKey& key) const {
     // Compute marginal
-    DiscreteFactor::shared_ptr marginalFactor;
-    marginalFactor = bayesTree_->marginalFactor(key.first, &EliminateDiscrete);
+    DiscreteFactor::shared_ptr marginalFactor = this->operator()(key.first);
 
-    //Create result
+    // Create result
     Vector vResult(key.second);
-    for (size_t state = 0; state < key.second ; ++ state) {
+    for (size_t state = 0; state < key.second; ++state) {
       DiscreteValues values;
       values[key.first] = state;
       vResult(state) = (*marginalFactor)(values);
     }
     return vResult;
   }
-
-  };
+};
 
 } /* namespace gtsam */