HybridValues specify continuous then discrete

gtsam/hybrid/HybridBayesNet.cpp

@@ -218,7 +218,7 @@ HybridValues HybridBayesNet::optimize() const {
 
   // Given the MPE, compute the optimal continuous values.
   GaussianBayesNet gbn = choose(mpe);
-  return HybridValues(mpe, gbn.optimize());
+  return HybridValues(gbn.optimize(), mpe);
 }
 
 /* ************************************************************************* */
@@ -267,7 +267,7 @@ HybridValues HybridBayesNet::sample(const HybridValues &given,
   GaussianBayesNet gbn = choose(assignment);
   // Sample from the Gaussian Bayes net.
   VectorValues sample = gbn.sample(given.continuous(), rng);
-  return {assignment, sample};
+  return {sample, assignment};
 }
 
 /* ************************************************************************* */

gtsam/hybrid/HybridBayesTree.cpp

@@ -58,7 +58,7 @@ HybridValues HybridBayesTree::optimize() const {
   }
 
   VectorValues values = optimize(mpe);
-  return HybridValues(mpe, values);
+  return HybridValues(values, mpe);
 }
 
 /* ************************************************************************* */

gtsam/hybrid/HybridValues.h

@@ -37,12 +37,12 @@ namespace gtsam {
  */
 class GTSAM_EXPORT HybridValues {
  private:
-  // DiscreteValue stored the discrete components of the HybridValues.
-  DiscreteValues discrete_;
-
   // VectorValue stored the continuous components of the HybridValues.
   VectorValues continuous_;
 
+  // DiscreteValue stored the discrete components of the HybridValues.
+  DiscreteValues discrete_;
+
  public:
   /// @name Standard Constructors
   /// @{
@@ -51,8 +51,8 @@ class GTSAM_EXPORT HybridValues {
   HybridValues() = default;
 
   /// Construct from DiscreteValues and VectorValues.
-  HybridValues(const DiscreteValues& dv, const VectorValues& cv)
-      : discrete_(dv), continuous_(cv){};
+  HybridValues(const VectorValues& cv, const DiscreteValues& dv)
+      : continuous_(cv), discrete_(dv){};
 
   /// @}
   /// @name Testable
@@ -62,15 +62,15 @@ class GTSAM_EXPORT HybridValues {
   void print(const std::string& s = "HybridValues",
              const KeyFormatter& keyFormatter = DefaultKeyFormatter) const {
     std::cout << s << ": \n";
-    discrete_.print("  Discrete", keyFormatter);  // print discrete components
     continuous_.print("  Continuous",
-                      keyFormatter);  // print continuous components
+                      keyFormatter);              // print continuous components
+    discrete_.print("  Discrete", keyFormatter);  // print discrete components
   };
 
   /// equals required by Testable for unit testing
   bool equals(const HybridValues& other, double tol = 1e-9) const {
-    return discrete_.equals(other.discrete_, tol) &&
-           continuous_.equals(other.continuous_, tol);
+    return continuous_.equals(other.continuous_, tol) &&
+           discrete_.equals(other.discrete_, tol);
   }
 
   /// @}
@@ -96,7 +96,7 @@ class GTSAM_EXPORT HybridValues {
    * the key \c j is already used.
    * @param value The vector to be inserted.
    * @param j The index with which the value will be associated. */
-  void insert(Key j, int value) { discrete_[j] = value; };
+  void insert(Key j, size_t value) { discrete_[j] = value; };
 
   /** Insert a vector \c value with key \c j.  Throws an invalid_argument
    * exception if the key \c j is already used.
@@ -130,8 +130,8 @@ class GTSAM_EXPORT HybridValues {
   std::string html(
       const KeyFormatter& keyFormatter = DefaultKeyFormatter) const {
     std::stringstream ss;
-    ss << this->discrete_.html(keyFormatter);
     ss << this->continuous_.html(keyFormatter);
+    ss << this->discrete_.html(keyFormatter);
     return ss.str();
   };
 

gtsam/hybrid/hybrid.i

@@ -6,10 +6,11 @@ namespace gtsam {
 
 #include <gtsam/hybrid/HybridValues.h>
 class HybridValues {
-  gtsam::DiscreteValues discrete() const;
   gtsam::VectorValues continuous() const;
+  gtsam::DiscreteValues discrete() const;
+
   HybridValues();
-  HybridValues(const gtsam::DiscreteValues &dv, const gtsam::VectorValues &cv);
+  HybridValues(const gtsam::VectorValues &cv, const gtsam::DiscreteValues &dv);
   void print(string s = "HybridValues",
              const gtsam::KeyFormatter& keyFormatter =
                  gtsam::DefaultKeyFormatter) const;