From 5e735e10f7c2b731b831c5f1ffec7631f0fc90e6 Mon Sep 17 00:00:00 2001
From: Varun Agrawal <varagrawal@gmail.com>
Date: Thu, 16 Sep 2021 13:03:11 -0400
Subject: [PATCH 001/433] minor improvements to CombinedImuFactor

---
 examples/CombinedImuFactorsExample.cpp | 15 ++++++++-------
 gtsam/navigation/CombinedImuFactor.cpp |  5 +++++
 2 files changed, 13 insertions(+), 7 deletions(-)

diff --git a/examples/CombinedImuFactorsExample.cpp b/examples/CombinedImuFactorsExample.cpp
index 9211a4d5f0..49cdb68354 100644
--- a/examples/CombinedImuFactorsExample.cpp
+++ b/examples/CombinedImuFactorsExample.cpp
@@ -60,13 +60,14 @@ namespace po = boost::program_options;
 
 po::variables_map parseOptions(int argc, char* argv[]) {
   po::options_description desc;
-  desc.add_options()("help,h", "produce help message")(
-      "data_csv_path", po::value<string>()->default_value("imuAndGPSdata.csv"),
-      "path to the CSV file with the IMU data")(
-      "output_filename",
-      po::value<string>()->default_value("imuFactorExampleResults.csv"),
-      "path to the result file to use")("use_isam", po::bool_switch(),
-                                        "use ISAM as the optimizer");
+  desc.add_options()("help,h", "produce help message")  // help message
+      ("data_csv_path", po::value<string>()->default_value("imuAndGPSdata.csv"),
+       "path to the CSV file with the IMU data")  // path to the data file
+      ("output_filename",
+       po::value<string>()->default_value("imuFactorExampleResults.csv"),
+       "path to the result file to use")  // filename to save results to
+      ("use_isam", po::bool_switch(),
+       "use ISAM as the optimizer");  // flag for ISAM optimizer
 
   po::variables_map vm;
   po::store(po::parse_command_line(argc, argv, desc), vm);
diff --git a/gtsam/navigation/CombinedImuFactor.cpp b/gtsam/navigation/CombinedImuFactor.cpp
index ca1c5b93a6..12e8ccea89 100644
--- a/gtsam/navigation/CombinedImuFactor.cpp
+++ b/gtsam/navigation/CombinedImuFactor.cpp
@@ -93,6 +93,11 @@ void PreintegratedCombinedMeasurements::resetIntegration() {
 //------------------------------------------------------------------------------
 void PreintegratedCombinedMeasurements::integrateMeasurement(
     const Vector3& measuredAcc, const Vector3& measuredOmega, double dt) {
+  if (dt <= 0) {
+    throw std::runtime_error(
+        "PreintegratedCombinedMeasurements::integrateMeasurement: dt <=0");
+  }
+
   // Update preintegrated measurements.
   Matrix9 A; // overall Jacobian wrt preintegrated measurements (df/dx)
   Matrix93 B, C;

From 9dbb431db9562c61cb442da0a89b6a6ab933222e Mon Sep 17 00:00:00 2001
From: Varun Agrawal <varagrawal@gmail.com>
Date: Thu, 16 Sep 2021 19:00:08 -0400
Subject: [PATCH 002/433] account for bias on position in jacobians of
 CombinedImuFactor

---
 gtsam/navigation/CombinedImuFactor.cpp | 16 +++++++++++-----
 1 file changed, 11 insertions(+), 5 deletions(-)

diff --git a/gtsam/navigation/CombinedImuFactor.cpp b/gtsam/navigation/CombinedImuFactor.cpp
index 12e8ccea89..28d96d343f 100644
--- a/gtsam/navigation/CombinedImuFactor.cpp
+++ b/gtsam/navigation/CombinedImuFactor.cpp
@@ -99,7 +99,7 @@ void PreintegratedCombinedMeasurements::integrateMeasurement(
   }
 
   // Update preintegrated measurements.
-  Matrix9 A; // overall Jacobian wrt preintegrated measurements (df/dx)
+  Matrix9 A; // Jacobian wrt preintegrated measurements without bias (df/dx)
   Matrix93 B, C;
   PreintegrationType::update(measuredAcc, measuredOmega, dt, &A, &B, &C);
 
@@ -110,8 +110,8 @@ void PreintegratedCombinedMeasurements::integrateMeasurement(
   // and preintegrated measurements
 
   // Single Jacobians to propagate covariance
-  // TODO(frank): should we not also account for bias on position?
   Matrix3 theta_H_biasOmega = -C.topRows<3>();
+  Matrix3 pos_H_biasAcc = -B.middleRows<3>(3);
   Matrix3 vel_H_biasAcc = -B.bottomRows<3>();
 
   // overall Jacobian wrt preintegrated measurements (df/dx)
@@ -119,6 +119,7 @@ void PreintegratedCombinedMeasurements::integrateMeasurement(
   F.setZero();
   F.block<9, 9>(0, 0) = A;
   F.block<3, 3>(0, 12) = theta_H_biasOmega;
+  F.block<3, 3>(3, 9) = pos_H_biasAcc;
   F.block<3, 3>(6, 9) = vel_H_biasAcc;
   F.block<6, 6>(9, 9) = I_6x6;
 
@@ -129,15 +130,19 @@ void PreintegratedCombinedMeasurements::integrateMeasurement(
   const Matrix3& iCov = p().integrationCovariance;
 
   // first order uncertainty propagation
-  // Optimized matrix multiplication   (1/dt) * G * measurementCovariance *
+  // Optimized matrix multiplication:  (1/dt) * G * measurementCovariance *
   // G.transpose()
   Eigen::Matrix<double, 15, 15> G_measCov_Gt;
   G_measCov_Gt.setZero(15, 15);
 
+  Matrix3 aCov_updated = (aCov + p().biasAccOmegaInt.block<3, 3>(0, 0));
+
   // BLOCK DIAGONAL TERMS
-  D_t_t(&G_measCov_Gt) = dt * iCov;
+  D_t_t(&G_measCov_Gt) = ((1 / dt) * pos_H_biasAcc
+      * aCov_updated
+      * (pos_H_biasAcc.transpose())) + (dt * iCov);
   D_v_v(&G_measCov_Gt) = (1 / dt) * vel_H_biasAcc
-      * (aCov + p().biasAccOmegaInt.block<3, 3>(0, 0))
+      * aCov_updated
       * (vel_H_biasAcc.transpose());
   D_R_R(&G_measCov_Gt) = (1 / dt) * theta_H_biasOmega
       * (wCov + p().biasAccOmegaInt.block<3, 3>(3, 3))
@@ -150,6 +155,7 @@ void PreintegratedCombinedMeasurements::integrateMeasurement(
       * theta_H_biasOmega.transpose();
   D_v_R(&G_measCov_Gt) = temp;
   D_R_v(&G_measCov_Gt) = temp.transpose();
+
   preintMeasCov_ = F * preintMeasCov_ * F.transpose() + G_measCov_Gt;
 }
 

From 7e48962f99cfa3e1e716a05d59eeb667da34c732 Mon Sep 17 00:00:00 2001
From: Varun Agrawal <varagrawal@gmail.com>
Date: Fri, 17 Sep 2021 13:28:42 -0400
Subject: [PATCH 003/433] Add unit test for checking covariance of
 CombinedImuFactor

---
 gtsam/navigation/CombinedImuFactor.cpp        |  5 ++-
 .../tests/testCombinedImuFactor.cpp           | 42 +++++++++++++++++++
 2 files changed, 45 insertions(+), 2 deletions(-)

diff --git a/gtsam/navigation/CombinedImuFactor.cpp b/gtsam/navigation/CombinedImuFactor.cpp
index 28d96d343f..216140dbc5 100644
--- a/gtsam/navigation/CombinedImuFactor.cpp
+++ b/gtsam/navigation/CombinedImuFactor.cpp
@@ -130,8 +130,7 @@ void PreintegratedCombinedMeasurements::integrateMeasurement(
   const Matrix3& iCov = p().integrationCovariance;
 
   // first order uncertainty propagation
-  // Optimized matrix multiplication:  (1/dt) * G * measurementCovariance *
-  // G.transpose()
+  // Optimized matrix mult: (1/dt) * G * measurementCovariance * G.transpose()
   Eigen::Matrix<double, 15, 15> G_measCov_Gt;
   G_measCov_Gt.setZero(15, 15);
 
@@ -144,9 +143,11 @@ void PreintegratedCombinedMeasurements::integrateMeasurement(
   D_v_v(&G_measCov_Gt) = (1 / dt) * vel_H_biasAcc
       * aCov_updated
       * (vel_H_biasAcc.transpose());
+
   D_R_R(&G_measCov_Gt) = (1 / dt) * theta_H_biasOmega
       * (wCov + p().biasAccOmegaInt.block<3, 3>(3, 3))
       * (theta_H_biasOmega.transpose());
+
   D_a_a(&G_measCov_Gt) = dt * p().biasAccCovariance;
   D_g_g(&G_measCov_Gt) = dt * p().biasOmegaCovariance;
 
diff --git a/gtsam/navigation/tests/testCombinedImuFactor.cpp b/gtsam/navigation/tests/testCombinedImuFactor.cpp
index 2bbc2cc7c7..dc9ae288ae 100644
--- a/gtsam/navigation/tests/testCombinedImuFactor.cpp
+++ b/gtsam/navigation/tests/testCombinedImuFactor.cpp
@@ -203,6 +203,48 @@ TEST(CombinedImuFactor, PredictRotation) {
   EXPECT(assert_equal(expectedPose, actual.pose(), tol));
 }
 
+/* ************************************************************************* */
+// Testing covariance to check if all the jacobians are accounted for.
+TEST(CombinedImuFactor, CheckCovariance) {
+  auto params = PreintegrationCombinedParams::MakeSharedU(9.81);
+
+  params->setAccelerometerCovariance(pow(0.01, 2) * I_3x3);
+  params->setGyroscopeCovariance(pow(1.75e-4, 2) * I_3x3);
+  params->setIntegrationCovariance(pow(0.0, 2) * I_3x3);
+  params->setOmegaCoriolis(Vector3::Zero());
+
+  imuBias::ConstantBias currentBias;
+
+  PreintegratedCombinedMeasurements actual(params, currentBias);
+
+  // Measurements
+  Vector3 measuredAcc(0.1577, -0.8251, 9.6111);
+  Vector3 measuredOmega(-0.0210, 0.0311, 0.0145);
+  double deltaT = 0.01;
+
+  actual.integrateMeasurement(measuredAcc, measuredOmega, deltaT);
+
+  Eigen::Matrix<double, 15, 15> expected;
+  expected << 0.01, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0,  //
+      0, 0.01, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0,          //
+      0, 0, 0.01, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0,          //
+      0, 0, 0, 2.50025e-07, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0,   //
+      0, 0, 0, 0, 2.50025e-07, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0,   //
+      0, 0, 0, 0, 0, 2.50025e-07, 0, 0, 0, 0, 0, 0, 0, 0, 0,   //
+      0, 0, 0, 0, 0, 0, 0.010001, 0, 0, 0, 0, 0, 0, 0, 0,      //
+      0, 0, 0, 0, 0, 0, 0, 0.010001, 0, 0, 0, 0, 0, 0, 0,      //
+      0, 0, 0, 0, 0, 0, 0, 0, 0.010001, 0, 0, 0, 0, 0, 0,      //
+      0, 0, 0, 0, 0, 0, 0, 0, 0, 0.01, 0, 0, 0, 0, 0,          //
+      0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0.01, 0, 0, 0, 0,          //
+      0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0.01, 0, 0, 0,          //
+      0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0.01, 0, 0,          //
+      0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0.01, 0,          //
+      0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0.01;
+
+  // regression
+  EXPECT(assert_equal(expected, actual.preintMeasCov()));
+}
+
 /* ************************************************************************* */
 int main() {
   TestResult tr;

From b0fcd17140cd3a9fb9abde60e4d52d18139a7145 Mon Sep 17 00:00:00 2001
From: Varun Agrawal <varagrawal@gmail.com>
Date: Fri, 17 Sep 2021 14:19:41 -0400
Subject: [PATCH 004/433] additional comments to make understanding the code
 easier

---
 gtsam/navigation/CombinedImuFactor.cpp | 2 +-
 gtsam/navigation/ImuFactor.cpp         | 6 ++++--
 2 files changed, 5 insertions(+), 3 deletions(-)

diff --git a/gtsam/navigation/CombinedImuFactor.cpp b/gtsam/navigation/CombinedImuFactor.cpp
index 216140dbc5..1e99db17c5 100644
--- a/gtsam/navigation/CombinedImuFactor.cpp
+++ b/gtsam/navigation/CombinedImuFactor.cpp
@@ -100,7 +100,7 @@ void PreintegratedCombinedMeasurements::integrateMeasurement(
 
   // Update preintegrated measurements.
   Matrix9 A; // Jacobian wrt preintegrated measurements without bias (df/dx)
-  Matrix93 B, C;
+  Matrix93 B, C;  // Jacobian of state wrpt accel bias and omega bias respectively.
   PreintegrationType::update(measuredAcc, measuredOmega, dt, &A, &B, &C);
 
   // Update preintegrated measurements covariance: as in [2] we consider a first
diff --git a/gtsam/navigation/ImuFactor.cpp b/gtsam/navigation/ImuFactor.cpp
index 28c0461b1d..9b6affaaf8 100644
--- a/gtsam/navigation/ImuFactor.cpp
+++ b/gtsam/navigation/ImuFactor.cpp
@@ -59,7 +59,7 @@ void PreintegratedImuMeasurements::integrateMeasurement(
 
   // Update preintegrated measurements (also get Jacobian)
   Matrix9 A;  // overall Jacobian wrt preintegrated measurements (df/dx)
-  Matrix93 B, C;
+  Matrix93 B, C;  // Jacobian of state wrpt accel bias and omega bias respectively.
   PreintegrationType::update(measuredAcc, measuredOmega, dt, &A, &B, &C);
 
   // first order covariance propagation:
@@ -73,11 +73,13 @@ void PreintegratedImuMeasurements::integrateMeasurement(
   const Matrix3& iCov = p().integrationCovariance;
 
   // (1/dt) allows to pass from continuous time noise to discrete time noise
+  // Update the uncertainty on the state (matrix A in [4]).
   preintMeasCov_ = A * preintMeasCov_ * A.transpose();
+  // These 2 updates account for uncertainty on the IMU measurement (matrix B in [4]).
   preintMeasCov_.noalias() += B * (aCov / dt) * B.transpose();
   preintMeasCov_.noalias() += C * (wCov / dt) * C.transpose();
 
-  // NOTE(frank): (Gi*dt)*(C/dt)*(Gi'*dt), with Gi << Z_3x3, I_3x3, Z_3x3
+  // NOTE(frank): (Gi*dt)*(C/dt)*(Gi'*dt), with Gi << Z_3x3, I_3x3, Z_3x3 (9x3 matrix)
   preintMeasCov_.block<3, 3>(3, 3).noalias() += iCov * dt;
 }
 

From 5656308e9d4ed1af3d3623717b3c19709f51852b Mon Sep 17 00:00:00 2001
From: Varun Agrawal <varagrawal@gmail.com>
Date: Fri, 17 Sep 2021 14:20:10 -0400
Subject: [PATCH 005/433] no need to assign negative to jacobians as they
 cancel out later

---
 gtsam/navigation/CombinedImuFactor.cpp | 6 +++---
 1 file changed, 3 insertions(+), 3 deletions(-)

diff --git a/gtsam/navigation/CombinedImuFactor.cpp b/gtsam/navigation/CombinedImuFactor.cpp
index 1e99db17c5..24e2e3016e 100644
--- a/gtsam/navigation/CombinedImuFactor.cpp
+++ b/gtsam/navigation/CombinedImuFactor.cpp
@@ -110,9 +110,9 @@ void PreintegratedCombinedMeasurements::integrateMeasurement(
   // and preintegrated measurements
 
   // Single Jacobians to propagate covariance
-  Matrix3 theta_H_biasOmega = -C.topRows<3>();
-  Matrix3 pos_H_biasAcc = -B.middleRows<3>(3);
-  Matrix3 vel_H_biasAcc = -B.bottomRows<3>();
+  Matrix3 theta_H_biasOmega = C.topRows<3>();
+  Matrix3 pos_H_biasAcc = B.middleRows<3>(3);
+  Matrix3 vel_H_biasAcc = B.bottomRows<3>();
 
   // overall Jacobian wrt preintegrated measurements (df/dx)
   Eigen::Matrix<double, 15, 15> F;

From 810f97305fa53be6d24d1945b234c2cbde652fec Mon Sep 17 00:00:00 2001
From: Varun Agrawal <varagrawal@gmail.com>
Date: Fri, 17 Sep 2021 14:21:39 -0400
Subject: [PATCH 006/433] add details about noise propagation for
 CombinedImuFactor in ImuFactor.pdf

---
 doc/ImuFactor.lyx | 155 +++++++++++++++++++++++++++++++++++++++-------
 doc/ImuFactor.pdf | Bin 198168 -> 225325 bytes
 2 files changed, 133 insertions(+), 22 deletions(-)

diff --git a/doc/ImuFactor.lyx b/doc/ImuFactor.lyx
index 0922a3e9c7..bba8f212a7 100644
--- a/doc/ImuFactor.lyx
+++ b/doc/ImuFactor.lyx
@@ -1,7 +1,9 @@
-#LyX 2.0 created this file. For more info see http://www.lyx.org/
-\lyxformat 413
+#LyX 2.3 created this file. For more info see http://www.lyx.org/
+\lyxformat 544
 \begin_document
 \begin_header
+\save_transient_properties true
+\origin unavailable
 \textclass article
 \use_default_options true
 \maintain_unincluded_children false
@@ -9,16 +11,18 @@
 \language_package default
 \inputencoding auto
 \fontencoding global
-\font_roman default
-\font_sans default
-\font_typewriter default
+\font_roman "default" "default"
+\font_sans "default" "default"
+\font_typewriter "default" "default"
+\font_math "auto" "auto"
 \font_default_family default
 \use_non_tex_fonts false
 \font_sc false
 \font_osf false
-\font_sf_scale 100
-\font_tt_scale 100
-
+\font_sf_scale 100 100
+\font_tt_scale 100 100
+\use_microtype false
+\use_dash_ligatures true
 \graphics default
 \default_output_format default
 \output_sync 0
@@ -29,16 +33,26 @@
 \use_hyperref false
 \papersize default
 \use_geometry true
-\use_amsmath 1
-\use_esint 1
-\use_mhchem 1
-\use_mathdots 1
+\use_package amsmath 1
+\use_package amssymb 1
+\use_package cancel 1
+\use_package esint 1
+\use_package mathdots 1
+\use_package mathtools 1
+\use_package mhchem 1
+\use_package stackrel 1
+\use_package stmaryrd 1
+\use_package undertilde 1
 \cite_engine basic
+\cite_engine_type default
+\biblio_style plain
 \use_bibtopic false
 \use_indices false
 \paperorientation portrait
 \suppress_date false
+\justification true
 \use_refstyle 1
+\use_minted 0
 \index Index
 \shortcut idx
 \color #008000
@@ -51,7 +65,10 @@
 \tocdepth 3
 \paragraph_separation indent
 \paragraph_indentation default
-\quotes_language english
+\is_math_indent 0
+\math_numbering_side default
+\quotes_style english
+\dynamic_quotes 0
 \papercolumns 1
 \papersides 1
 \paperpagestyle default
@@ -69,7 +86,7 @@ The new IMU Factor
 \end_layout
 
 \begin_layout Author
-Frank Dellaert
+Frank Dellaert & Varun Agrawal
 \end_layout
 
 \begin_layout Standard
@@ -244,7 +261,7 @@ X(t)=\left\{ R_{0},P_{0}+V_{0}t,V_{0}\right\}
 then the differential equation describing the trajectory is
 \begin_inset Formula 
 \[
-\dot{X}(t)=\left[0_{3x3},V_{0},0_{3x1}\right],\,\,\,\,\, X(0)=\left\{ R_{0},P_{0},V_{0}\right\} 
+\dot{X}(t)=\left[0_{3x3},V_{0},0_{3x1}\right],\,\,\,\,\,X(0)=\left\{ R_{0},P_{0},V_{0}\right\} 
 \]
 
 \end_inset
@@ -592,6 +609,7 @@ Lie Group Methods
 \begin_inset CommandInset citation
 LatexCommand cite
 key "Iserles00an"
+literal "true"
 
 \end_inset
 
@@ -602,7 +620,7 @@ key "Iserles00an"
 ,
 \begin_inset Formula 
 \begin{equation}
-\dot{R}(t)=F(R,t),\,\,\,\, R(0)=R_{0}\label{eq:diffSo3}
+\dot{R}(t)=F(R,t),\,\,\,\,R(0)=R_{0}\label{eq:diffSo3}
 \end{equation}
 
 \end_inset
@@ -947,8 +965,8 @@ Or, as another way to state this, if we solve the differential equations
 \begin_inset Formula 
 \begin{eqnarray*}
 \dot{\theta}(t) & = & H(\theta)^{-1}\,\omega^{b}(t)\\
-\dot{p}(t) & = & R_{0}^{T}\, V_{0}+v(t)\\
-\dot{v}(t) & = & R_{0}^{T}\, g+R_{b}^{0}(t)a^{b}(t)
+\dot{p}(t) & = & R_{0}^{T}\,V_{0}+v(t)\\
+\dot{v}(t) & = & R_{0}^{T}\,g+R_{b}^{0}(t)a^{b}(t)
 \end{eqnarray*}
 
 \end_inset
@@ -1015,7 +1033,7 @@ v(t)=v_{g}(t)+v_{a}(t)
 evolving as
 \begin_inset Formula 
 \begin{eqnarray*}
-\dot{v}_{g}(t) & = & R_{i}^{T}\, g\\
+\dot{v}_{g}(t) & = & R_{i}^{T}\,g\\
 \dot{v}_{a}(t) & = & R_{b}^{i}(t)a^{b}(t)
 \end{eqnarray*}
 
@@ -1041,7 +1059,7 @@ p(t)=p_{i}(t)+p_{g}(t)+p_{v}(t)
 evolving as
 \begin_inset Formula 
 \begin{eqnarray*}
-\dot{p}_{i}(t) & = & R_{i}^{T}\, V_{i}\\
+\dot{p}_{i}(t) & = & R_{i}^{T}\,V_{i}\\
 \dot{p}_{g}(t) & = & v_{g}(t)=R_{i}^{T}gt\\
 \dot{p}_{v}(t) & = & v_{a}(t)
 \end{eqnarray*}
@@ -1096,7 +1114,7 @@ Predict the NavState
  from
 \begin_inset Formula 
 \[
-X_{j}=\mathcal{R}_{X_{i}}(\zeta(t_{ij}))=\left\{ \Phi_{R_{0}}\left(\theta(t_{ij})\right),P_{i}+V_{i}t_{ij}+\frac{gt_{ij}^{2}}{2}+R_{i}\, p_{v}(t_{ij}),V_{i}+gt_{ij}+R_{i}\, v_{a}(t_{ij})\right\} 
+X_{j}=\mathcal{R}_{X_{i}}(\zeta(t_{ij}))=\left\{ \Phi_{R_{0}}\left(\theta(t_{ij})\right),P_{i}+V_{i}t_{ij}+\frac{gt_{ij}^{2}}{2}+R_{i}\,p_{v}(t_{ij}),V_{i}+gt_{ij}+R_{i}\,v_{a}(t_{ij})\right\} 
 \]
 
 \end_inset
@@ -1372,7 +1390,7 @@ B_{k}=\left[\begin{array}{c}
 0_{3\times3}\\
 R_{k}\frac{\Delta_{t}}{2}^{2}\\
 R_{k}\Delta_{t}
-\end{array}\right],\,\,\,\, C_{k}=\left[\begin{array}{c}
+\end{array}\right],\,\,\,\,C_{k}=\left[\begin{array}{c}
 H(\theta_{k})^{-1}\Delta_{t}\\
 0_{3\times3}\\
 0_{3\times3}
@@ -1382,6 +1400,99 @@ H(\theta_{k})^{-1}\Delta_{t}\\
 \end_inset
 
 
+\end_layout
+
+\begin_layout Subsubsection*
+Combined IMU Factor
+\end_layout
+
+\begin_layout Standard
+We can similarly account for bias drift over time, as is commonly seen in
+ commercial grade IMUs.
+ This is accomplished via the 
+\emph on
+CombinedImuFactor
+\emph default
+ which is a 6-way factor between the previous 
+\emph on
+pose/velocity/bias
+\emph default
+ and the 
+\emph on
+pose/velocity/bias
+\emph default
+ at the next timestep.
+ 
+\end_layout
+
+\begin_layout Standard
+We expand the state vector as 
+\begin_inset Formula $\zeta_{k}=[\theta_{k},p_{k},v_{k},a_{k}^{b}, \omega_{k}^{b}]$
+\end_inset
+
+.
+ For the jacobian 
+\begin_inset Formula $F_{k}$
+\end_inset
+
+ of 
+\begin_inset Formula $f$
+\end_inset
+
+ wrpt this new 
+\begin_inset Formula $\zeta$
+\end_inset
+
+, we get a 
+\begin_inset Formula $15\times15$
+\end_inset
+
+ matrix.
+ The top-left 
+\begin_inset Formula $9\times9$
+\end_inset
+
+ is the same as 
+\begin_inset Formula $A_{k}$
+\end_inset
+
+, thus we only have the jacobians wrpt the biases left to account for.
+\end_layout
+
+\begin_layout Standard
+Conveniently, the jacobians of the pose and velocity wrpt the biases are
+ already computed in the 
+\emph on
+ImuFactor 
+\emph default
+derivation as matrices 
+\begin_inset Formula $B_{k}$
+\end_inset
+
+ and 
+\begin_inset Formula $C_{k}$
+\end_inset
+
+, while they are identity matrices wrpt the biases themselves.
+ Thus, we can easily plug-in the values from the previous section to give
+ us the final result
+\end_layout
+
+\begin_layout Standard
+\begin_inset Formula 
+\[
+F_{k}=\left[\begin{array}{ccccc}
+I_{3\times3}-\frac{\Delta_{t}}{2}\Skew{\omega_{k}^{b}} &  &  &  & H(\theta_{k})^{-1}\Delta_{t}\\
+R_{k}\Skew{-a_{k}^{b}}H(\theta_{k})\frac{\Delta_{t}}{2}^{2} & I_{3\times3} & I_{3\times3}\Delta_{t} & R_{k}\frac{\Delta_{t}}{2}^{2}\\
+R_{k}\Skew{-a_{k}^{b}}H(\theta_{k})\Delta_{t} &  & I_{3\times3} & R_{k}\Delta_{t}\\
+ &  &  & I_{3\times3}\\
+ &  &  &  & I_{3\times3}
+\end{array}\right]
+\]
+
+\end_inset
+
+
 \end_layout
 
 \begin_layout Standard
diff --git a/doc/ImuFactor.pdf b/doc/ImuFactor.pdf
index 0b13c1f5948de38aa6454732ca20367cc630c62c..37badae9cc979302341b1dbac23e03b5be7445d9 100644
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From da220dca2f1f272df3d77ca869797fab2d642984 Mon Sep 17 00:00:00 2001
From: Varun Agrawal <varagrawal@gmail.com>
Date: Sat, 18 Sep 2021 09:36:03 -0400
Subject: [PATCH 007/433] Add the Preintegrated IMU jacobians tech report and
 mention it in the docs

---
 doc/PreintegratedIMUJacobians.pdf    | Bin 0 -> 322728 bytes
 gtsam/navigation/CombinedImuFactor.h |   2 ++
 gtsam/navigation/ImuFactor.h         |   2 ++
 3 files changed, 4 insertions(+)
 create mode 100644 doc/PreintegratedIMUJacobians.pdf

diff --git a/doc/PreintegratedIMUJacobians.pdf b/doc/PreintegratedIMUJacobians.pdf
new file mode 100644
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diff --git a/gtsam/navigation/CombinedImuFactor.h b/gtsam/navigation/CombinedImuFactor.h
index ed94750b79..a563d9d438 100644
--- a/gtsam/navigation/CombinedImuFactor.h
+++ b/gtsam/navigation/CombinedImuFactor.h
@@ -42,6 +42,8 @@ typedef ManifoldPreintegration PreintegrationType;
  * L. Carlone, Z. Kira, C. Beall, V. Indelman, F. Dellaert, Eliminating
  * conditionally independent sets in factor graphs: a unifying perspective based
  * on smart factors, Int. Conf. on Robotics and Automation (ICRA), 2014.
+ * 
+ * [3] is available in this repo as "PreintegratedIMUJacobians.pdf".
  *
  * REFERENCES:
  * [1] G.S. Chirikjian, "Stochastic Models, Information Theory, and Lie Groups",
diff --git a/gtsam/navigation/ImuFactor.h b/gtsam/navigation/ImuFactor.h
index 35207e452b..0df606643e 100644
--- a/gtsam/navigation/ImuFactor.h
+++ b/gtsam/navigation/ImuFactor.h
@@ -44,6 +44,8 @@ typedef ManifoldPreintegration PreintegrationType;
  * C. Forster, L. Carlone, F. Dellaert, D. Scaramuzza, "IMU Preintegration on
  * Manifold for Efficient Visual-Inertial Maximum-a-Posteriori Estimation",
  * Robotics: Science and Systems (RSS), 2015.
+ * 
+ * [3] is available in this repo as "PreintegratedIMUJacobians.pdf".
  *
  * REFERENCES:
  * [1] G.S. Chirikjian, "Stochastic Models, Information Theory, and Lie Groups",

From a5164152a97b06110401796252218b26025f93bf Mon Sep 17 00:00:00 2001
From: Varun Agrawal <varagrawal@gmail.com>
Date: Sun, 19 Sep 2021 20:59:11 -0400
Subject: [PATCH 008/433] update ImuFactor reference

---
 gtsam/navigation/CombinedImuFactor.h | 3 +--
 gtsam/navigation/ImuFactor.h         | 3 +--
 2 files changed, 2 insertions(+), 4 deletions(-)

diff --git a/gtsam/navigation/CombinedImuFactor.h b/gtsam/navigation/CombinedImuFactor.h
index a563d9d438..ce169c1d0b 100644
--- a/gtsam/navigation/CombinedImuFactor.h
+++ b/gtsam/navigation/CombinedImuFactor.h
@@ -42,8 +42,6 @@ typedef ManifoldPreintegration PreintegrationType;
  * L. Carlone, Z. Kira, C. Beall, V. Indelman, F. Dellaert, Eliminating
  * conditionally independent sets in factor graphs: a unifying perspective based
  * on smart factors, Int. Conf. on Robotics and Automation (ICRA), 2014.
- * 
- * [3] is available in this repo as "PreintegratedIMUJacobians.pdf".
  *
  * REFERENCES:
  * [1] G.S. Chirikjian, "Stochastic Models, Information Theory, and Lie Groups",
@@ -53,6 +51,7 @@ typedef ManifoldPreintegration PreintegrationType;
  *     TRO, 28(1):61-76, 2012.
  * [3] L. Carlone, S. Williams, R. Roberts, "Preintegrated IMU factor:
  *     Computation of the Jacobian Matrices", Tech. Report, 2013.
+ *     Available in this repo as "PreintegratedIMUJacobians.pdf".
  * [4] C. Forster, L. Carlone, F. Dellaert, D. Scaramuzza, IMU Preintegration on
  *     Manifold for Efficient Visual-Inertial Maximum-a-Posteriori Estimation,
  *     Robotics: Science and Systems (RSS), 2015.
diff --git a/gtsam/navigation/ImuFactor.h b/gtsam/navigation/ImuFactor.h
index 0df606643e..266f2a5471 100644
--- a/gtsam/navigation/ImuFactor.h
+++ b/gtsam/navigation/ImuFactor.h
@@ -44,8 +44,6 @@ typedef ManifoldPreintegration PreintegrationType;
  * C. Forster, L. Carlone, F. Dellaert, D. Scaramuzza, "IMU Preintegration on
  * Manifold for Efficient Visual-Inertial Maximum-a-Posteriori Estimation",
  * Robotics: Science and Systems (RSS), 2015.
- * 
- * [3] is available in this repo as "PreintegratedIMUJacobians.pdf".
  *
  * REFERENCES:
  * [1] G.S. Chirikjian, "Stochastic Models, Information Theory, and Lie Groups",
@@ -55,6 +53,7 @@ typedef ManifoldPreintegration PreintegrationType;
  *     TRO, 28(1):61-76, 2012.
  * [3] L. Carlone, S. Williams, R. Roberts, "Preintegrated IMU factor:
  *     Computation of the Jacobian Matrices", Tech. Report, 2013.
+ *     Available in this repo as "PreintegratedIMUJacobians.pdf".
  * [4] C. Forster, L. Carlone, F. Dellaert, D. Scaramuzza, "IMU Preintegration on
  *     Manifold for Efficient Visual-Inertial Maximum-a-Posteriori Estimation",
  *     Robotics: Science and Systems (RSS), 2015.

From 28d0393abd7cd94dd690b4a9b95805add462917a Mon Sep 17 00:00:00 2001
From: Varun Agrawal <varagrawal@gmail.com>
Date: Sun, 19 Sep 2021 10:51:24 -0400
Subject: [PATCH 009/433] add test for checking covariances between ImuFactor
 and CombinedImuFactor

---
 .../tests/testCombinedImuFactor.cpp           | 443 ++++++++++--------
 1 file changed, 254 insertions(+), 189 deletions(-)

diff --git a/gtsam/navigation/tests/testCombinedImuFactor.cpp b/gtsam/navigation/tests/testCombinedImuFactor.cpp
index dc9ae288ae..f7acfa79e5 100644
--- a/gtsam/navigation/tests/testCombinedImuFactor.cpp
+++ b/gtsam/navigation/tests/testCombinedImuFactor.cpp
@@ -18,16 +18,16 @@
  * @author  Stephen Williams
  */
 
-#include <gtsam/navigation/ImuFactor.h>
+#include <CppUnitLite/TestHarness.h>
+#include <gtsam/base/TestableAssertions.h>
+#include <gtsam/base/numericalDerivative.h>
+#include <gtsam/geometry/Pose3.h>
+#include <gtsam/inference/Symbol.h>
 #include <gtsam/navigation/CombinedImuFactor.h>
 #include <gtsam/navigation/ImuBias.h>
-#include <gtsam/geometry/Pose3.h>
+#include <gtsam/navigation/ImuFactor.h>
+#include <gtsam/navigation/ScenarioRunner.h>
 #include <gtsam/nonlinear/Values.h>
-#include <gtsam/inference/Symbol.h>
-#include <gtsam/base/TestableAssertions.h>
-#include <gtsam/base/numericalDerivative.h>
-
-#include <CppUnitLite/TestHarness.h>
 
 #include <list>
 
@@ -44,207 +44,272 @@ static boost::shared_ptr<PreintegratedCombinedMeasurements::Params> Params() {
 }
 }
 
-/* ************************************************************************* */
-TEST( CombinedImuFactor, PreintegratedMeasurements ) {
-  // Linearization point
-  Bias bias(Vector3(0, 0, 0), Vector3(0, 0, 0)); ///< Current estimate of acceleration and angular rate biases
-
-  // Measurements
-  Vector3 measuredAcc(0.1, 0.0, 0.0);
-  Vector3 measuredOmega(M_PI / 100.0, 0.0, 0.0);
-  double deltaT = 0.5;
-  double tol = 1e-6;
-
-  auto p = testing::Params();
-
-  // Actual preintegrated values
-  PreintegratedImuMeasurements expected1(p, bias);
-  expected1.integrateMeasurement(measuredAcc, measuredOmega, deltaT);
-
-  PreintegratedCombinedMeasurements actual1(p, bias);
-
-  actual1.integrateMeasurement(measuredAcc, measuredOmega, deltaT);
-
-  EXPECT(assert_equal(Vector(expected1.deltaPij()), actual1.deltaPij(), tol));
-  EXPECT(assert_equal(Vector(expected1.deltaVij()), actual1.deltaVij(), tol));
-  EXPECT(assert_equal(expected1.deltaRij(), actual1.deltaRij(), tol));
-  DOUBLES_EQUAL(expected1.deltaTij(), actual1.deltaTij(), tol);
-}
-
-/* ************************************************************************* */
-TEST( CombinedImuFactor, ErrorWithBiases ) {
-  Bias bias(Vector3(0.2, 0, 0), Vector3(0, 0, 0.3)); // Biases (acc, rot)
-  Bias bias2(Vector3(0.2, 0.2, 0), Vector3(1, 0, 0.3)); // Biases (acc, rot)
-  Pose3 x1(Rot3::Expmap(Vector3(0, 0, M_PI / 4.0)), Point3(5.0, 1.0, -50.0));
-  Vector3 v1(0.5, 0.0, 0.0);
-  Pose3 x2(Rot3::Expmap(Vector3(0, 0, M_PI / 4.0 + M_PI / 10.0)),
-      Point3(5.5, 1.0, -50.0));
-  Vector3 v2(0.5, 0.0, 0.0);
-
-  auto p = testing::Params();
-  p->omegaCoriolis = Vector3(0,0.1,0.1);
-  PreintegratedImuMeasurements pim(
-      p, Bias(Vector3(0.2, 0.0, 0.0), Vector3(0.0, 0.0, 0.0)));
-
-  // Measurements
-  Vector3 measuredOmega;
-  measuredOmega << 0, 0, M_PI / 10.0 + 0.3;
-  Vector3 measuredAcc =
-      x1.rotation().unrotate(-p->n_gravity) + Vector3(0.2, 0.0, 0.0);
-  double deltaT = 1.0;
-  double tol = 1e-6;
-
-  pim.integrateMeasurement(measuredAcc, measuredOmega, deltaT);
-
-  PreintegratedCombinedMeasurements combined_pim(p,
-      Bias(Vector3(0.2, 0.0, 0.0), Vector3(0.0, 0.0, 0.0)));
-
-  combined_pim.integrateMeasurement(measuredAcc, measuredOmega, deltaT);
-
-  // Create factor
-  ImuFactor imuFactor(X(1), V(1), X(2), V(2), B(1), pim);
-
-  noiseModel::Gaussian::shared_ptr Combinedmodel =
-      noiseModel::Gaussian::Covariance(combined_pim.preintMeasCov());
-  CombinedImuFactor combinedfactor(X(1), V(1), X(2), V(2), B(1), B(2),
-                                   combined_pim);
-
-  Vector errorExpected = imuFactor.evaluateError(x1, v1, x2, v2, bias);
-  Vector errorActual = combinedfactor.evaluateError(x1, v1, x2, v2, bias,
-      bias2);
-  EXPECT(assert_equal(errorExpected, errorActual.head(9), tol));
-
-  // Expected Jacobians
-  Matrix H1e, H2e, H3e, H4e, H5e;
-  (void) imuFactor.evaluateError(x1, v1, x2, v2, bias, H1e, H2e, H3e, H4e, H5e);
-
-  // Actual Jacobians
-  Matrix H1a, H2a, H3a, H4a, H5a, H6a;
-  (void) combinedfactor.evaluateError(x1, v1, x2, v2, bias, bias2, H1a, H2a,
-      H3a, H4a, H5a, H6a);
-
-  EXPECT(assert_equal(H1e, H1a.topRows(9)));
-  EXPECT(assert_equal(H2e, H2a.topRows(9)));
-  EXPECT(assert_equal(H3e, H3a.topRows(9)));
-  EXPECT(assert_equal(H4e, H4a.topRows(9)));
-  EXPECT(assert_equal(H5e, H5a.topRows(9)));
-}
-
-/* ************************************************************************* */
-#ifdef GTSAM_TANGENT_PREINTEGRATION
-TEST(CombinedImuFactor, FirstOrderPreIntegratedMeasurements) {
-  auto p = testing::Params();
-  testing::SomeMeasurements measurements;
-
-  auto preintegrated = [=](const Vector3& a, const Vector3& w) {
-    PreintegratedImuMeasurements pim(p, Bias(a, w));
-    testing::integrateMeasurements(measurements, &pim);
-    return pim.preintegrated();
-  };
-
-  // Actual pre-integrated values
-  PreintegratedCombinedMeasurements pim(p);
-  testing::integrateMeasurements(measurements, &pim);
-
-  EXPECT(assert_equal(numericalDerivative21<Vector9, Vector3, Vector3>(preintegrated, Z_3x1, Z_3x1),
-                      pim.preintegrated_H_biasAcc()));
-  EXPECT(assert_equal(numericalDerivative22<Vector9, Vector3, Vector3>(preintegrated, Z_3x1, Z_3x1),
-                      pim.preintegrated_H_biasOmega(), 1e-3));
-}
-#endif
-
-/* ************************************************************************* */
-TEST(CombinedImuFactor, PredictPositionAndVelocity) {
-  const Bias bias(Vector3(0, 0.1, 0), Vector3(0, 0.1, 0));  // Biases (acc, rot)
-
-  auto p = testing::Params();
+// /* ************************************************************************* */
+// TEST(CombinedImuFactor, PreintegratedMeasurements ) {
+//   // Linearization point
+//   Bias bias(Vector3(0, 0, 0), Vector3(0, 0, 0)); ///< Current estimate of acceleration and angular rate biases
+
+//   // Measurements
+//   Vector3 measuredAcc(0.1, 0.0, 0.0);
+//   Vector3 measuredOmega(M_PI / 100.0, 0.0, 0.0);
+//   double deltaT = 0.5;
+//   double tol = 1e-6;
+
+//   auto p = testing::Params();
+
+//   // Actual preintegrated values
+//   PreintegratedImuMeasurements expected1(p, bias);
+//   expected1.integrateMeasurement(measuredAcc, measuredOmega, deltaT);
+
+//   PreintegratedCombinedMeasurements actual1(p, bias);
+
+//   actual1.integrateMeasurement(measuredAcc, measuredOmega, deltaT);
+
+//   EXPECT(assert_equal(Vector(expected1.deltaPij()), actual1.deltaPij(), tol));
+//   EXPECT(assert_equal(Vector(expected1.deltaVij()), actual1.deltaVij(), tol));
+//   EXPECT(assert_equal(expected1.deltaRij(), actual1.deltaRij(), tol));
+//   DOUBLES_EQUAL(expected1.deltaTij(), actual1.deltaTij(), tol);
+// }
+
+// /* ************************************************************************* */
+// TEST(CombinedImuFactor, Accelerating) {
+//   const double a = 0.2, v = 50;
+
+//   // Set up body pointing towards y axis, and start at 10,20,0 with velocity going in X
+//   // The body itself has Z axis pointing down
+//   const Rot3 nRb(Point3(0, 1, 0), Point3(1, 0, 0), Point3(0, 0, -1));
+//   const Point3 initial_position(10, 20, 0);
+//   const Vector3 initial_velocity(v, 0, 0);
+
+//   const AcceleratingScenario scenario(nRb, initial_position, initial_velocity,
+//       Vector3(a, 0, 0));
+
+//   const double T = 3.0; // seconds
+//   CombinedScenarioRunner runner(scenario, testing::Params(), T / 10);
+
+//   PreintegratedCombinedMeasurements pim = runner.integrate(T);
+//   EXPECT(assert_equal(scenario.pose(T), runner.predict(pim).pose(), 1e-9));
+
+//   auto estimatedCov = runner.estimateCovariance(T, 100);
+//   Eigen::Matrix<double, 15, 15> expected = pim.preintMeasCov();
+//   // EXPECT(assert_equal(estimatedCov, expected, 0.1));
+// }
+
+// /* ************************************************************************* */
+// TEST(CombinedImuFactor, ErrorWithBiases ) {
+//   Bias bias(Vector3(0.2, 0, 0), Vector3(0, 0, 0.3)); // Biases (acc, rot)
+//   Bias bias2(Vector3(0.2, 0.2, 0), Vector3(1, 0, 0.3)); // Biases (acc, rot)
+//   Pose3 x1(Rot3::Expmap(Vector3(0, 0, M_PI / 4.0)), Point3(5.0, 1.0, -50.0));
+//   Vector3 v1(0.5, 0.0, 0.0);
+//   Pose3 x2(Rot3::Expmap(Vector3(0, 0, M_PI / 4.0 + M_PI / 10.0)),
+//       Point3(5.5, 1.0, -50.0));
+//   Vector3 v2(0.5, 0.0, 0.0);
+
+//   auto p = testing::Params();
+//   p->omegaCoriolis = Vector3(0,0.1,0.1);
+//   PreintegratedImuMeasurements pim(
+//       p, Bias(Vector3(0.2, 0.0, 0.0), Vector3(0.0, 0.0, 0.0)));
+
+//   // Measurements
+//   Vector3 measuredOmega;
+//   measuredOmega << 0, 0, M_PI / 10.0 + 0.3;
+//   Vector3 measuredAcc =
+//       x1.rotation().unrotate(-p->n_gravity) + Vector3(0.2, 0.0, 0.0);
+//   double deltaT = 1.0;
+//   double tol = 1e-6;
+
+//   pim.integrateMeasurement(measuredAcc, measuredOmega, deltaT);
+
+//   PreintegratedCombinedMeasurements combined_pim(p,
+//       Bias(Vector3(0.2, 0.0, 0.0), Vector3(0.0, 0.0, 0.0)));
+
+//   combined_pim.integrateMeasurement(measuredAcc, measuredOmega, deltaT);
+
+//   // Create factor
+//   ImuFactor imuFactor(X(1), V(1), X(2), V(2), B(1), pim);
+
+//   noiseModel::Gaussian::shared_ptr Combinedmodel =
+//       noiseModel::Gaussian::Covariance(combined_pim.preintMeasCov());
+//   CombinedImuFactor combinedfactor(X(1), V(1), X(2), V(2), B(1), B(2),
+//                                    combined_pim);
+
+//   Vector errorExpected = imuFactor.evaluateError(x1, v1, x2, v2, bias);
+//   Vector errorActual = combinedfactor.evaluateError(x1, v1, x2, v2, bias,
+//       bias2);
+//   EXPECT(assert_equal(errorExpected, errorActual.head(9), tol));
+
+//   // Expected Jacobians
+//   Matrix H1e, H2e, H3e, H4e, H5e;
+//   (void) imuFactor.evaluateError(x1, v1, x2, v2, bias, H1e, H2e, H3e, H4e, H5e);
+
+//   // Actual Jacobians
+//   Matrix H1a, H2a, H3a, H4a, H5a, H6a;
+//   (void) combinedfactor.evaluateError(x1, v1, x2, v2, bias, bias2, H1a, H2a,
+//       H3a, H4a, H5a, H6a);
+
+//   EXPECT(assert_equal(H1e, H1a.topRows(9)));
+//   EXPECT(assert_equal(H2e, H2a.topRows(9)));
+//   EXPECT(assert_equal(H3e, H3a.topRows(9)));
+//   EXPECT(assert_equal(H4e, H4a.topRows(9)));
+//   EXPECT(assert_equal(H5e, H5a.topRows(9)));
+// }
+
+// /* ************************************************************************* */
+// #ifdef GTSAM_TANGENT_PREINTEGRATION
+// TEST(CombinedImuFactor, FirstOrderPreIntegratedMeasurements) {
+//   auto p = testing::Params();
+//   testing::SomeMeasurements measurements;
+
+//   auto preintegrated = [=](const Vector3& a, const Vector3& w) {
+//     PreintegratedImuMeasurements pim(p, Bias(a, w));
+//     testing::integrateMeasurements(measurements, &pim);
+//     return pim.preintegrated();
+//   };
+
+//   // Actual pre-integrated values
+//   PreintegratedCombinedMeasurements pim(p);
+//   testing::integrateMeasurements(measurements, &pim);
+
+//   EXPECT(assert_equal(numericalDerivative21<Vector9, Vector3, Vector3>(preintegrated, Z_3x1, Z_3x1),
+//                       pim.preintegrated_H_biasAcc()));
+//   EXPECT(assert_equal(numericalDerivative22<Vector9, Vector3, Vector3>(preintegrated, Z_3x1, Z_3x1),
+//                       pim.preintegrated_H_biasOmega(), 1e-3));
+// }
+// #endif
+
+// /* ************************************************************************* */
+// TEST(CombinedImuFactor, PredictPositionAndVelocity) {
+//   const Bias bias(Vector3(0, 0.1, 0), Vector3(0, 0.1, 0));  // Biases (acc, rot)
+
+//   auto p = testing::Params();
+
+//   // Measurements
+//   const Vector3 measuredOmega(0, 0.1, 0);  // M_PI/10.0+0.3;
+//   const Vector3 measuredAcc(0, 1.1, -kGravity);
+//   const double deltaT = 0.01;
+
+//   PreintegratedCombinedMeasurements pim(p, bias);
+
+//   for (int i = 0; i < 100; ++i)
+//     pim.integrateMeasurement(measuredAcc, measuredOmega, deltaT);
+
+//   // Create factor
+//   const noiseModel::Gaussian::shared_ptr combinedmodel =
+//       noiseModel::Gaussian::Covariance(pim.preintMeasCov());
+//   const CombinedImuFactor Combinedfactor(X(1), V(1), X(2), V(2), B(1), B(2), pim);
+
+//   // Predict
+//   const NavState actual = pim.predict(NavState(), bias);
+//   const Pose3 expectedPose(Rot3(), Point3(0, 0.5, 0));
+//   const Vector3 expectedVelocity(0, 1, 0);
+//   EXPECT(assert_equal(expectedPose, actual.pose()));
+//   EXPECT(assert_equal(Vector(expectedVelocity), Vector(actual.velocity())));
+// }
+
+// /* ************************************************************************* */
+// TEST(CombinedImuFactor, PredictRotation) {
+//   const Bias bias(Vector3(0, 0, 0), Vector3(0, 0, 0)); // Biases (acc, rot)
+//   auto p = testing::Params();
+//   PreintegratedCombinedMeasurements pim(p, bias);
+//   const Vector3 measuredAcc = - kGravityAlongNavZDown;
+//   const Vector3 measuredOmega(0, 0, M_PI / 10.0);
+//   const double deltaT = 0.01;
+//   const double tol = 1e-4;
+//   for (int i = 0; i < 100; ++i)
+//     pim.integrateMeasurement(measuredAcc, measuredOmega, deltaT);
+//   const CombinedImuFactor Combinedfactor(X(1), V(1), X(2), V(2), B(1), B(2), pim);
+
+//   // Predict
+//   const Pose3 x(Rot3::Ypr(0, 0, 0), Point3(0, 0, 0)), x2;
+//   const Vector3 v(0, 0, 0), v2;
+//   const NavState actual = pim.predict(NavState(x, v), bias);
+//   const Pose3 expectedPose(Rot3::Ypr(M_PI / 10, 0, 0), Point3(0, 0, 0));
+//   EXPECT(assert_equal(expectedPose, actual.pose(), tol));
+// }
+
+// /* ************************************************************************* */
+// // Testing covariance to check if all the jacobians are accounted for.
+// TEST(CombinedImuFactor, CheckCovariance) {
+//   auto params = PreintegrationCombinedParams::MakeSharedU(9.81);
+
+//   params->setAccelerometerCovariance(pow(0.01, 2) * I_3x3);
+//   params->setGyroscopeCovariance(pow(1.75e-4, 2) * I_3x3);
+//   params->setIntegrationCovariance(pow(0.0, 2) * I_3x3);
+//   params->setOmegaCoriolis(Vector3::Zero());
+
+//   imuBias::ConstantBias currentBias;
+
+//   PreintegratedCombinedMeasurements actual(params, currentBias);
+
+//   // Measurements
+//   Vector3 measuredAcc(0.1577, -0.8251, 9.6111);
+//   Vector3 measuredOmega(-0.0210, 0.0311, 0.0145);
+//   double deltaT = 0.01;
+
+//   actual.integrateMeasurement(measuredAcc, measuredOmega, deltaT);
+
+//   Eigen::Matrix<double, 15, 15> expected;
+//   expected << 0.01, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0,  //
+//       0, 0.01, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0,          //
+//       0, 0, 0.01, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0,          //
+//       0, 0, 0, 2.50025e-07, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0,   //
+//       0, 0, 0, 0, 2.50025e-07, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0,   //
+//       0, 0, 0, 0, 0, 2.50025e-07, 0, 0, 0, 0, 0, 0, 0, 0, 0,   //
+//       0, 0, 0, 0, 0, 0, 0.010001, 0, 0, 0, 0, 0, 0, 0, 0,      //
+//       0, 0, 0, 0, 0, 0, 0, 0.010001, 0, 0, 0, 0, 0, 0, 0,      //
+//       0, 0, 0, 0, 0, 0, 0, 0, 0.010001, 0, 0, 0, 0, 0, 0,      //
+//       0, 0, 0, 0, 0, 0, 0, 0, 0, 0.01, 0, 0, 0, 0, 0,          //
+//       0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0.01, 0, 0, 0, 0,          //
+//       0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0.01, 0, 0, 0,          //
+//       0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0.01, 0, 0,          //
+//       0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0.01, 0,          //
+//       0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0.01;
+
+//   // regression
+//   EXPECT(assert_equal(expected, actual.preintMeasCov()));
+// }
+
+TEST(CombinedImuFactor, SameCovarianceCombined) {
+  auto params = PreintegrationCombinedParams::MakeSharedU();
 
-  // Measurements
-  const Vector3 measuredOmega(0, 0.1, 0);  // M_PI/10.0+0.3;
-  const Vector3 measuredAcc(0, 1.1, -kGravity);
-  const double deltaT = 0.01;
-
-  PreintegratedCombinedMeasurements pim(p, bias);
+  params->setAccelerometerCovariance(pow(0.01, 2) * I_3x3);
+  params->setGyroscopeCovariance(pow(1.75e-4, 2) * I_3x3);
+  params->setIntegrationCovariance(pow(0, 2) * I_3x3);
+  params->setOmegaCoriolis(Vector3::Zero());
 
-  for (int i = 0; i < 100; ++i)
-    pim.integrateMeasurement(measuredAcc, measuredOmega, deltaT);
+  imuBias::ConstantBias currentBias;
 
-  // Create factor
-  const noiseModel::Gaussian::shared_ptr combinedmodel =
-      noiseModel::Gaussian::Covariance(pim.preintMeasCov());
-  const CombinedImuFactor Combinedfactor(X(1), V(1), X(2), V(2), B(1), B(2), pim);
+  PreintegratedCombinedMeasurements pim(params, currentBias);
 
-  // Predict
-  const NavState actual = pim.predict(NavState(), bias);
-  const Pose3 expectedPose(Rot3(), Point3(0, 0.5, 0));
-  const Vector3 expectedVelocity(0, 1, 0);
-  EXPECT(assert_equal(expectedPose, actual.pose()));
-  EXPECT(assert_equal(Vector(expectedVelocity), Vector(actual.velocity())));
-}
+  Vector3 accMeas(0.1577, -0.8251, 9.6111);
+  Vector3 omegaMeas(-0.0210, 0.0311, 0.0145);
+  double deltaT = 0.01;
+  pim.integrateMeasurement(accMeas, omegaMeas, deltaT);
 
-/* ************************************************************************* */
-TEST(CombinedImuFactor, PredictRotation) {
-  const Bias bias(Vector3(0, 0, 0), Vector3(0, 0, 0)); // Biases (acc, rot)
-  auto p = testing::Params();
-  PreintegratedCombinedMeasurements pim(p, bias);
-  const Vector3 measuredAcc = - kGravityAlongNavZDown;
-  const Vector3 measuredOmega(0, 0, M_PI / 10.0);
-  const double deltaT = 0.01;
-  const double tol = 1e-4;
-  for (int i = 0; i < 100; ++i)
-    pim.integrateMeasurement(measuredAcc, measuredOmega, deltaT);
-  const CombinedImuFactor Combinedfactor(X(1), V(1), X(2), V(2), B(1), B(2), pim);
-
-  // Predict
-  const Pose3 x(Rot3::Ypr(0, 0, 0), Point3(0, 0, 0)), x2;
-  const Vector3 v(0, 0, 0), v2;
-  const NavState actual = pim.predict(NavState(x, v), bias);
-  const Pose3 expectedPose(Rot3::Ypr(M_PI / 10, 0, 0), Point3(0, 0, 0));
-  EXPECT(assert_equal(expectedPose, actual.pose(), tol));
+  std::cout << pim.preintMeasCov() << std::endl << std::endl;
 }
 
-/* ************************************************************************* */
-// Testing covariance to check if all the jacobians are accounted for.
-TEST(CombinedImuFactor, CheckCovariance) {
-  auto params = PreintegrationCombinedParams::MakeSharedU(9.81);
+TEST(CombinedImuFactor, SameCovariance) {
+  auto params = PreintegrationParams::MakeSharedU();
 
   params->setAccelerometerCovariance(pow(0.01, 2) * I_3x3);
   params->setGyroscopeCovariance(pow(1.75e-4, 2) * I_3x3);
-  params->setIntegrationCovariance(pow(0.0, 2) * I_3x3);
+  params->setIntegrationCovariance(pow(0, 2) * I_3x3);
   params->setOmegaCoriolis(Vector3::Zero());
 
   imuBias::ConstantBias currentBias;
 
-  PreintegratedCombinedMeasurements actual(params, currentBias);
+  PreintegratedImuMeasurements pim(params, currentBias);
 
-  // Measurements
-  Vector3 measuredAcc(0.1577, -0.8251, 9.6111);
-  Vector3 measuredOmega(-0.0210, 0.0311, 0.0145);
+  Vector3 accMeas(0.1577, -0.8251, 9.6111);
+  Vector3 omegaMeas(-0.0210, 0.0311, 0.0145);
   double deltaT = 0.01;
+  pim.integrateMeasurement(accMeas, omegaMeas, deltaT);
 
-  actual.integrateMeasurement(measuredAcc, measuredOmega, deltaT);
-
-  Eigen::Matrix<double, 15, 15> expected;
-  expected << 0.01, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0,  //
-      0, 0.01, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0,          //
-      0, 0, 0.01, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0,          //
-      0, 0, 0, 2.50025e-07, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0,   //
-      0, 0, 0, 0, 2.50025e-07, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0,   //
-      0, 0, 0, 0, 0, 2.50025e-07, 0, 0, 0, 0, 0, 0, 0, 0, 0,   //
-      0, 0, 0, 0, 0, 0, 0.010001, 0, 0, 0, 0, 0, 0, 0, 0,      //
-      0, 0, 0, 0, 0, 0, 0, 0.010001, 0, 0, 0, 0, 0, 0, 0,      //
-      0, 0, 0, 0, 0, 0, 0, 0, 0.010001, 0, 0, 0, 0, 0, 0,      //
-      0, 0, 0, 0, 0, 0, 0, 0, 0, 0.01, 0, 0, 0, 0, 0,          //
-      0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0.01, 0, 0, 0, 0,          //
-      0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0.01, 0, 0, 0,          //
-      0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0.01, 0, 0,          //
-      0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0.01, 0,          //
-      0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0.01;
-
-  // regression
-  EXPECT(assert_equal(expected, actual.preintMeasCov()));
+  std::cout << pim.preintMeasCov() << std::endl << std::endl;
 }
 
+
 /* ************************************************************************* */
 int main() {
   TestResult tr;

From a10c776fdae8a6df2ddb5a448648a3a7e50ad69b Mon Sep 17 00:00:00 2001
From: Varun Agrawal <varagrawal@gmail.com>
Date: Sun, 19 Sep 2021 10:53:25 -0400
Subject: [PATCH 010/433] print statements in ImuFactor

---
 gtsam/navigation/ImuFactor.cpp | 4 ++++
 1 file changed, 4 insertions(+)

diff --git a/gtsam/navigation/ImuFactor.cpp b/gtsam/navigation/ImuFactor.cpp
index 9b6affaaf8..c0797d0e15 100644
--- a/gtsam/navigation/ImuFactor.cpp
+++ b/gtsam/navigation/ImuFactor.cpp
@@ -75,12 +75,16 @@ void PreintegratedImuMeasurements::integrateMeasurement(
   // (1/dt) allows to pass from continuous time noise to discrete time noise
   // Update the uncertainty on the state (matrix A in [4]).
   preintMeasCov_ = A * preintMeasCov_ * A.transpose();
+  // std::cout << "A * p * A\n" << preintMeasCov_ << std::endl;
   // These 2 updates account for uncertainty on the IMU measurement (matrix B in [4]).
   preintMeasCov_.noalias() += B * (aCov / dt) * B.transpose();
+  // std::cout << "p + B\n" << preintMeasCov_ << std::endl;
   preintMeasCov_.noalias() += C * (wCov / dt) * C.transpose();
+  // std::cout << "ApA' + B + C\n" << preintMeasCov_ << std::endl;
 
   // NOTE(frank): (Gi*dt)*(C/dt)*(Gi'*dt), with Gi << Z_3x3, I_3x3, Z_3x3 (9x3 matrix)
   preintMeasCov_.block<3, 3>(3, 3).noalias() += iCov * dt;
+  // std::cout << "p + iCov\n" << preintMeasCov_ << std::endl;
 }
 
 //------------------------------------------------------------------------------

From 65bbe6b577c0d28a91652a6247e087d63757fbf5 Mon Sep 17 00:00:00 2001
From: Varun Agrawal <varagrawal@gmail.com>
Date: Sun, 19 Sep 2021 10:53:41 -0400
Subject: [PATCH 011/433] typedef for Vector15

---
 gtsam/base/Vector.h | 1 +
 1 file changed, 1 insertion(+)

diff --git a/gtsam/base/Vector.h b/gtsam/base/Vector.h
index ed90a71269..9567d9980d 100644
--- a/gtsam/base/Vector.h
+++ b/gtsam/base/Vector.h
@@ -60,6 +60,7 @@ GTSAM_MAKE_VECTOR_DEFS(9);
 GTSAM_MAKE_VECTOR_DEFS(10);
 GTSAM_MAKE_VECTOR_DEFS(11);
 GTSAM_MAKE_VECTOR_DEFS(12);
+GTSAM_MAKE_VECTOR_DEFS(15);
 
 typedef Eigen::VectorBlock<Vector> SubVector;
 typedef Eigen::VectorBlock<const Vector> ConstSubVector;

From 3a3640c5e0d94c1108eac9ef863de6bc9e0e849a Mon Sep 17 00:00:00 2001
From: Varun Agrawal <varagrawal@gmail.com>
Date: Sun, 19 Sep 2021 10:59:05 -0400
Subject: [PATCH 012/433] updated CombinedImuFactor covariance with additional
 off-diagonal elements

---
 gtsam/navigation/CombinedImuFactor.cpp | 15 +++++++++------
 1 file changed, 9 insertions(+), 6 deletions(-)

diff --git a/gtsam/navigation/CombinedImuFactor.cpp b/gtsam/navigation/CombinedImuFactor.cpp
index 24e2e3016e..cd579d716c 100644
--- a/gtsam/navigation/CombinedImuFactor.cpp
+++ b/gtsam/navigation/CombinedImuFactor.cpp
@@ -134,18 +134,19 @@ void PreintegratedCombinedMeasurements::integrateMeasurement(
   Eigen::Matrix<double, 15, 15> G_measCov_Gt;
   G_measCov_Gt.setZero(15, 15);
 
-  Matrix3 aCov_updated = (aCov + p().biasAccOmegaInt.block<3, 3>(0, 0));
+  Matrix3 aCov_updated = aCov + p().biasAccOmegaInt.block<3, 3>(0, 0);
+  Matrix3 wCov_updated = wCov + p().biasAccOmegaInt.block<3, 3>(3, 3);
 
   // BLOCK DIAGONAL TERMS
-  D_t_t(&G_measCov_Gt) = ((1 / dt) * pos_H_biasAcc
-      * aCov_updated
-      * (pos_H_biasAcc.transpose())) + (dt * iCov);
+  D_t_t(&G_measCov_Gt) = (pos_H_biasAcc
+      * (aCov / dt)  // aCov_updated / dt
+      * pos_H_biasAcc.transpose()) + (dt * iCov);
   D_v_v(&G_measCov_Gt) = (1 / dt) * vel_H_biasAcc
-      * aCov_updated
+      * (aCov / dt)  // aCov_updated / dt
       * (vel_H_biasAcc.transpose());
 
   D_R_R(&G_measCov_Gt) = (1 / dt) * theta_H_biasOmega
-      * (wCov + p().biasAccOmegaInt.block<3, 3>(3, 3))
+      * (wCov / dt)  // wCov_updated / dt
       * (theta_H_biasOmega.transpose());
 
   D_a_a(&G_measCov_Gt) = dt * p().biasAccCovariance;
@@ -155,7 +156,9 @@ void PreintegratedCombinedMeasurements::integrateMeasurement(
   Matrix3 temp = vel_H_biasAcc * p().biasAccOmegaInt.block<3, 3>(3, 0)
       * theta_H_biasOmega.transpose();
   D_v_R(&G_measCov_Gt) = temp;
+  D_v_t(&G_measCov_Gt) = vel_H_biasAcc * (aCov / dt) * pos_H_biasAcc.transpose();
   D_R_v(&G_measCov_Gt) = temp.transpose();
+  D_t_v(&G_measCov_Gt) = pos_H_biasAcc * (aCov / dt) * vel_H_biasAcc.transpose();
 
   preintMeasCov_ = F * preintMeasCov_ * F.transpose() + G_measCov_Gt;
 }

From 3132cfbc868f0e382e2be34b0eabb9ffe6761f92 Mon Sep 17 00:00:00 2001
From: Varun Agrawal <varagrawal@gmail.com>
Date: Sun, 19 Sep 2021 10:59:32 -0400
Subject: [PATCH 013/433] CombinedScenarioRunner

---
 gtsam/navigation/ScenarioRunner.cpp | 59 ++++++++++++++++++++++++++++-
 gtsam/navigation/ScenarioRunner.h   | 44 +++++++++++++++++++--
 2 files changed, 98 insertions(+), 5 deletions(-)

diff --git a/gtsam/navigation/ScenarioRunner.cpp b/gtsam/navigation/ScenarioRunner.cpp
index 3938ce86c4..3a447dcab6 100644
--- a/gtsam/navigation/ScenarioRunner.cpp
+++ b/gtsam/navigation/ScenarioRunner.cpp
@@ -15,8 +15,8 @@
  * @author  Frank Dellaert
  */
 
-#include <gtsam/navigation/ScenarioRunner.h>
 #include <gtsam/base/timing.h>
+#include <gtsam/navigation/ScenarioRunner.h>
 
 #include <boost/assign.hpp>
 #include <cmath>
@@ -105,4 +105,61 @@ Matrix6 ScenarioRunner::estimateNoiseCovariance(size_t N) const {
   return Q / (N - 1);
 }
 
+PreintegratedCombinedMeasurements CombinedScenarioRunner::integrate(
+    double T, const Bias& estimatedBias, bool corrupted) const {
+  gttic_(integrate);
+  PreintegratedCombinedMeasurements pim(p_, estimatedBias);
+
+  const double dt = imuSampleTime();
+  const size_t nrSteps = T / dt;
+  double t = 0;
+  for (size_t k = 0; k < nrSteps; k++, t += dt) {
+    Vector3 measuredOmega =
+        corrupted ? measuredAngularVelocity(t) : actualAngularVelocity(t);
+    Vector3 measuredAcc =
+        corrupted ? measuredSpecificForce(t) : actualSpecificForce(t);
+    pim.integrateMeasurement(measuredAcc, measuredOmega, dt);
+  }
+
+  return pim;
+}
+
+NavState CombinedScenarioRunner::predict(
+    const PreintegratedCombinedMeasurements& pim,
+    const Bias& estimatedBias) const {
+  const NavState state_i(scenario().pose(0), scenario().velocity_n(0));
+  return pim.predict(state_i, estimatedBias);
+}
+
+Eigen::Matrix<double, 15, 15> CombinedScenarioRunner::estimateCovariance(
+    double T, size_t N, const Bias& estimatedBias) const {
+  gttic_(estimateCovariance);
+
+  // Get predict prediction from ground truth measurements
+  NavState prediction = predict(integrate(T));
+
+  // Sample !
+  Matrix samples(15, N);
+  Vector15 sum = Vector15::Zero();
+  for (size_t i = 0; i < N; i++) {
+    auto pim = integrate(T, estimatedBias, true);
+    NavState sampled = predict(pim);
+    Vector15 xi = Vector15::Zero();
+    xi << sampled.localCoordinates(prediction), estimatedBias_.vector();
+    samples.col(i) = xi;
+    sum += xi;
+  }
+
+  // Compute MC covariance
+  Vector15 sampleMean = sum / N;
+  Eigen::Matrix<double, 15, 15> Q;
+  Q.setZero();
+  for (size_t i = 0; i < N; i++) {
+    Vector15 xi = samples.col(i) - sampleMean;
+    Q += xi * xi.transpose();
+  }
+
+  return Q / (N - 1);
+}
+
 }  // namespace gtsam
diff --git a/gtsam/navigation/ScenarioRunner.h b/gtsam/navigation/ScenarioRunner.h
index 1577e36fe1..cee5a54ab6 100644
--- a/gtsam/navigation/ScenarioRunner.h
+++ b/gtsam/navigation/ScenarioRunner.h
@@ -16,9 +16,10 @@
  */
 
 #pragma once
+#include <gtsam/linear/Sampler.h>
+#include <gtsam/navigation/CombinedImuFactor.h>
 #include <gtsam/navigation/ImuFactor.h>
 #include <gtsam/navigation/Scenario.h>
-#include <gtsam/linear/Sampler.h>
 
 namespace gtsam {
 
@@ -66,10 +67,10 @@ class GTSAM_EXPORT ScenarioRunner {
   // also, uses g=10 for easy debugging
   const Vector3& gravity_n() const { return p_->n_gravity; }
 
+  const Scenario& scenario() const { return scenario_; }
+
   // A gyro simply measures angular velocity in body frame
-  Vector3 actualAngularVelocity(double t) const {
-    return scenario_.omega_b(t);
-  }
+  Vector3 actualAngularVelocity(double t) const { return scenario_.omega_b(t); }
 
   // An accelerometer measures acceleration in body, but not gravity
   Vector3 actualSpecificForce(double t) const {
@@ -106,4 +107,39 @@ class GTSAM_EXPORT ScenarioRunner {
   Matrix6 estimateNoiseCovariance(size_t N = 1000) const;
 };
 
+/*
+ *  Simple class to test navigation scenarios with CombinedImuMeasurements.
+ *  Takes a trajectory scenario as input, and can generate IMU measurements
+ */
+class GTSAM_EXPORT CombinedScenarioRunner : public ScenarioRunner {
+ public:
+  typedef boost::shared_ptr<PreintegrationCombinedParams> SharedParams;
+
+ private:
+  const SharedParams p_;
+  const Bias estimatedBias_;
+
+ public:
+  CombinedScenarioRunner(const Scenario& scenario, const SharedParams& p,
+                         double imuSampleTime = 1.0 / 100.0,
+                         const Bias& bias = Bias())
+      : ScenarioRunner(scenario, static_cast<ScenarioRunner::SharedParams>(p),
+                       imuSampleTime, bias),
+        p_(p),
+        estimatedBias_(bias) {}
+
+  /// Integrate measurements for T seconds into a PIM
+  PreintegratedCombinedMeasurements integrate(
+      double T, const Bias& estimatedBias = Bias(),
+      bool corrupted = false) const;
+
+  /// Predict predict given a PIM
+  NavState predict(const PreintegratedCombinedMeasurements& pim,
+                   const Bias& estimatedBias = Bias()) const;
+
+  /// Compute a Monte Carlo estimate of the predict covariance using N samples
+  Eigen::Matrix<double, 15, 15> estimateCovariance(
+      double T, size_t N = 1000, const Bias& estimatedBias = Bias()) const;
+};
+
 }  // namespace gtsam

From 53712149f98b8325ce91fdab22f8fc2b0f395e10 Mon Sep 17 00:00:00 2001
From: Varun Agrawal <varagrawal@gmail.com>
Date: Sun, 19 Sep 2021 21:15:51 -0400
Subject: [PATCH 014/433] actually test the covariances and fix bug

---
 gtsam/navigation/CombinedImuFactor.cpp        |  4 +-
 .../tests/testCombinedImuFactor.cpp           | 40 ++++++++-----------
 2 files changed, 19 insertions(+), 25 deletions(-)

diff --git a/gtsam/navigation/CombinedImuFactor.cpp b/gtsam/navigation/CombinedImuFactor.cpp
index cd579d716c..c8d1b10fef 100644
--- a/gtsam/navigation/CombinedImuFactor.cpp
+++ b/gtsam/navigation/CombinedImuFactor.cpp
@@ -141,11 +141,11 @@ void PreintegratedCombinedMeasurements::integrateMeasurement(
   D_t_t(&G_measCov_Gt) = (pos_H_biasAcc
       * (aCov / dt)  // aCov_updated / dt
       * pos_H_biasAcc.transpose()) + (dt * iCov);
-  D_v_v(&G_measCov_Gt) = (1 / dt) * vel_H_biasAcc
+  D_v_v(&G_measCov_Gt) = vel_H_biasAcc
       * (aCov / dt)  // aCov_updated / dt
       * (vel_H_biasAcc.transpose());
 
-  D_R_R(&G_measCov_Gt) = (1 / dt) * theta_H_biasOmega
+  D_R_R(&G_measCov_Gt) = theta_H_biasOmega
       * (wCov / dt)  // wCov_updated / dt
       * (theta_H_biasOmega.transpose());
 
diff --git a/gtsam/navigation/tests/testCombinedImuFactor.cpp b/gtsam/navigation/tests/testCombinedImuFactor.cpp
index f7acfa79e5..0dbf961fc6 100644
--- a/gtsam/navigation/tests/testCombinedImuFactor.cpp
+++ b/gtsam/navigation/tests/testCombinedImuFactor.cpp
@@ -269,27 +269,14 @@ static boost::shared_ptr<PreintegratedCombinedMeasurements::Params> Params() {
 //   EXPECT(assert_equal(expected, actual.preintMeasCov()));
 // }
 
-TEST(CombinedImuFactor, SameCovarianceCombined) {
-  auto params = PreintegrationCombinedParams::MakeSharedU();
-
-  params->setAccelerometerCovariance(pow(0.01, 2) * I_3x3);
-  params->setGyroscopeCovariance(pow(1.75e-4, 2) * I_3x3);
-  params->setIntegrationCovariance(pow(0, 2) * I_3x3);
-  params->setOmegaCoriolis(Vector3::Zero());
-
-  imuBias::ConstantBias currentBias;
-
-  PreintegratedCombinedMeasurements pim(params, currentBias);
+TEST(CombinedImuFactor, SameCovariance) {
 
   Vector3 accMeas(0.1577, -0.8251, 9.6111);
   Vector3 omegaMeas(-0.0210, 0.0311, 0.0145);
   double deltaT = 0.01;
-  pim.integrateMeasurement(accMeas, omegaMeas, deltaT);
-
-  std::cout << pim.preintMeasCov() << std::endl << std::endl;
-}
 
-TEST(CombinedImuFactor, SameCovariance) {
+  imuBias::ConstantBias currentBias;
+  
   auto params = PreintegrationParams::MakeSharedU();
 
   params->setAccelerometerCovariance(pow(0.01, 2) * I_3x3);
@@ -297,16 +284,23 @@ TEST(CombinedImuFactor, SameCovariance) {
   params->setIntegrationCovariance(pow(0, 2) * I_3x3);
   params->setOmegaCoriolis(Vector3::Zero());
 
-  imuBias::ConstantBias currentBias;
-
   PreintegratedImuMeasurements pim(params, currentBias);
-
-  Vector3 accMeas(0.1577, -0.8251, 9.6111);
-  Vector3 omegaMeas(-0.0210, 0.0311, 0.0145);
-  double deltaT = 0.01;
   pim.integrateMeasurement(accMeas, omegaMeas, deltaT);
 
-  std::cout << pim.preintMeasCov() << std::endl << std::endl;
+  // std::cout << pim.preintMeasCov() << std::endl << std::endl;
+
+  auto combined_params = PreintegrationCombinedParams::MakeSharedU();
+
+  combined_params->setAccelerometerCovariance(pow(0.01, 2) * I_3x3);
+  combined_params->setGyroscopeCovariance(pow(1.75e-4, 2) * I_3x3);
+  combined_params->setIntegrationCovariance(pow(0, 2) * I_3x3);
+  combined_params->setOmegaCoriolis(Vector3::Zero());
+
+  PreintegratedCombinedMeasurements cpim(combined_params, currentBias);
+  cpim.integrateMeasurement(accMeas, omegaMeas, deltaT);
+
+  // std::cout << cpim.preintMeasCov() << std::endl << std::endl;
+  EXPECT(assert_equal(pim.preintMeasCov(), cpim.preintMeasCov().block(0, 0, 9, 9)));
 }
 
 

From 10a73338da8a785788bb954e26dfb7a625a3f3ff Mon Sep 17 00:00:00 2001
From: Varun Agrawal <varagrawal@gmail.com>
Date: Tue, 21 Sep 2021 12:28:59 -0400
Subject: [PATCH 015/433] update test with comments

---
 .../tests/testCombinedImuFactor.cpp           | 26 +++++++++++--------
 1 file changed, 15 insertions(+), 11 deletions(-)

diff --git a/gtsam/navigation/tests/testCombinedImuFactor.cpp b/gtsam/navigation/tests/testCombinedImuFactor.cpp
index 0dbf961fc6..a8c0391449 100644
--- a/gtsam/navigation/tests/testCombinedImuFactor.cpp
+++ b/gtsam/navigation/tests/testCombinedImuFactor.cpp
@@ -75,16 +75,16 @@ static boost::shared_ptr<PreintegratedCombinedMeasurements::Params> Params() {
 // TEST(CombinedImuFactor, Accelerating) {
 //   const double a = 0.2, v = 50;
 
-//   // Set up body pointing towards y axis, and start at 10,20,0 with velocity going in X
-//   // The body itself has Z axis pointing down
+//   // Set up body pointing towards y axis, and start at 10,20,0 with velocity
+//   // going in X The body itself has Z axis pointing down
 //   const Rot3 nRb(Point3(0, 1, 0), Point3(1, 0, 0), Point3(0, 0, -1));
 //   const Point3 initial_position(10, 20, 0);
 //   const Vector3 initial_velocity(v, 0, 0);
 
 //   const AcceleratingScenario scenario(nRb, initial_position, initial_velocity,
-//       Vector3(a, 0, 0));
+//                                       Vector3(a, 0, 0));
 
-//   const double T = 3.0; // seconds
+//   const double T = 3.0;  // seconds
 //   CombinedScenarioRunner runner(scenario, testing::Params(), T / 10);
 
 //   PreintegratedCombinedMeasurements pim = runner.integrate(T);
@@ -92,7 +92,7 @@ static boost::shared_ptr<PreintegratedCombinedMeasurements::Params> Params() {
 
 //   auto estimatedCov = runner.estimateCovariance(T, 100);
 //   Eigen::Matrix<double, 15, 15> expected = pim.preintMeasCov();
-//   // EXPECT(assert_equal(estimatedCov, expected, 0.1));
+//   EXPECT(assert_equal(estimatedCov, expected, 0.1));
 // }
 
 // /* ************************************************************************* */
@@ -268,38 +268,42 @@ static boost::shared_ptr<PreintegratedCombinedMeasurements::Params> Params() {
 //   // regression
 //   EXPECT(assert_equal(expected, actual.preintMeasCov()));
 // }
-
+// Test that the covariance values for the ImuFactor and the CombinedImuFactor (top-left 9x9) are the same
 TEST(CombinedImuFactor, SameCovariance) {
 
+  // IMU measurements and time delta
   Vector3 accMeas(0.1577, -0.8251, 9.6111);
   Vector3 omegaMeas(-0.0210, 0.0311, 0.0145);
   double deltaT = 0.01;
 
+  // Assume zero bias
   imuBias::ConstantBias currentBias;
   
+  // Define params for ImuFactor
   auto params = PreintegrationParams::MakeSharedU();
-
   params->setAccelerometerCovariance(pow(0.01, 2) * I_3x3);
   params->setGyroscopeCovariance(pow(1.75e-4, 2) * I_3x3);
   params->setIntegrationCovariance(pow(0, 2) * I_3x3);
   params->setOmegaCoriolis(Vector3::Zero());
 
+  // The IMU preintegration object for ImuFactor
   PreintegratedImuMeasurements pim(params, currentBias);
   pim.integrateMeasurement(accMeas, omegaMeas, deltaT);
 
-  // std::cout << pim.preintMeasCov() << std::endl << std::endl;
-
+  // Define params for CombinedImuFactor
   auto combined_params = PreintegrationCombinedParams::MakeSharedU();
-
   combined_params->setAccelerometerCovariance(pow(0.01, 2) * I_3x3);
   combined_params->setGyroscopeCovariance(pow(1.75e-4, 2) * I_3x3);
   combined_params->setIntegrationCovariance(pow(0, 2) * I_3x3);
   combined_params->setOmegaCoriolis(Vector3::Zero());
+  // Set bias integration covariance explicitly to zero
+  combined_params->setBiasAccOmegaInt(Z_6x6);
 
+  // The IMU preintegration object for CombinedImuFactor
   PreintegratedCombinedMeasurements cpim(combined_params, currentBias);
   cpim.integrateMeasurement(accMeas, omegaMeas, deltaT);
 
-  // std::cout << cpim.preintMeasCov() << std::endl << std::endl;
+  // Assert if the noise covariance 
   EXPECT(assert_equal(pim.preintMeasCov(), cpim.preintMeasCov().block(0, 0, 9, 9)));
 }
 

From 755c75278215739d39b36fed689d3ae0b6ca79c5 Mon Sep 17 00:00:00 2001
From: Varun Agrawal <varagrawal@gmail.com>
Date: Tue, 21 Sep 2021 12:29:36 -0400
Subject: [PATCH 016/433] update ImuFactor doc

---
 doc/ImuFactor.lyx |  41 ++++++++++++++++++++++++++++++++++-------
 doc/ImuFactor.pdf | Bin 225325 -> 225898 bytes
 2 files changed, 34 insertions(+), 7 deletions(-)

diff --git a/doc/ImuFactor.lyx b/doc/ImuFactor.lyx
index bba8f212a7..c79a5f37a7 100644
--- a/doc/ImuFactor.lyx
+++ b/doc/ImuFactor.lyx
@@ -1427,15 +1427,34 @@ pose/velocity/bias
 
 \begin_layout Standard
 We expand the state vector as 
-\begin_inset Formula $\zeta_{k}=[\theta_{k},p_{k},v_{k},a_{k}^{b}, \omega_{k}^{b}]$
+\begin_inset Formula $\zeta_{k}=[\theta_{k},p_{k},v_{k},b_{k}^{a},b_{k}^{\omega}]$
 \end_inset
 
-.
- For the jacobian 
+ to include the bias terms.
+ This gives the noise propagation equation as
+\end_layout
+
+\begin_layout Standard
+\begin_inset Formula 
+\begin{equation}
+\Sigma_{k+1}=F_{k}\Sigma_{k}F_{k}^{T}+G_{k}\Sigma_{k}G_{k}\label{eq:prop-combined}
+\end{equation}
+
+\end_inset
+
+
+\end_layout
+
+\begin_layout Standard
+where 
 \begin_inset Formula $F_{k}$
 \end_inset
 
- of 
+ is the 
+\begin_inset Formula $15\times15$
+\end_inset
+
+ derivative of 
 \begin_inset Formula $f$
 \end_inset
 
@@ -1443,13 +1462,21 @@ We expand the state vector as
 \begin_inset Formula $\zeta$
 \end_inset
 
-, we get a 
+, and 
+\begin_inset Formula $G_{k}$
+\end_inset
+
+ is the 
 \begin_inset Formula $15\times15$
 \end_inset
 
- matrix.
+ matrix for first order uncertainty propagation.
  The top-left 
 \begin_inset Formula $9\times9$
+\end_inset
+
+ of 
+\begin_inset Formula $F_{k}$
 \end_inset
 
  is the same as 
@@ -1481,7 +1508,7 @@ derivation as matrices
 \begin_layout Standard
 \begin_inset Formula 
 \[
-F_{k}=\left[\begin{array}{ccccc}
+F_{k}\approx\left[\begin{array}{ccccc}
 I_{3\times3}-\frac{\Delta_{t}}{2}\Skew{\omega_{k}^{b}} &  &  &  & H(\theta_{k})^{-1}\Delta_{t}\\
 R_{k}\Skew{-a_{k}^{b}}H(\theta_{k})\frac{\Delta_{t}}{2}^{2} & I_{3\times3} & I_{3\times3}\Delta_{t} & R_{k}\frac{\Delta_{t}}{2}^{2}\\
 R_{k}\Skew{-a_{k}^{b}}H(\theta_{k})\Delta_{t} &  & I_{3\times3} & R_{k}\Delta_{t}\\
diff --git a/doc/ImuFactor.pdf b/doc/ImuFactor.pdf
index 37badae9cc979302341b1dbac23e03b5be7445d9..933c71a749610b513627409ff903042378fbd989 100644
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From bbde7b980c732a3e70db397e1d3f43a33eaa7e61 Mon Sep 17 00:00:00 2001
From: Varun Agrawal <varagrawal@gmail.com>
Date: Tue, 21 Sep 2021 12:29:45 -0400
Subject: [PATCH 017/433] remove print statements

---
 gtsam/navigation/ImuFactor.cpp | 4 ----
 1 file changed, 4 deletions(-)

diff --git a/gtsam/navigation/ImuFactor.cpp b/gtsam/navigation/ImuFactor.cpp
index c0797d0e15..9b6affaaf8 100644
--- a/gtsam/navigation/ImuFactor.cpp
+++ b/gtsam/navigation/ImuFactor.cpp
@@ -75,16 +75,12 @@ void PreintegratedImuMeasurements::integrateMeasurement(
   // (1/dt) allows to pass from continuous time noise to discrete time noise
   // Update the uncertainty on the state (matrix A in [4]).
   preintMeasCov_ = A * preintMeasCov_ * A.transpose();
-  // std::cout << "A * p * A\n" << preintMeasCov_ << std::endl;
   // These 2 updates account for uncertainty on the IMU measurement (matrix B in [4]).
   preintMeasCov_.noalias() += B * (aCov / dt) * B.transpose();
-  // std::cout << "p + B\n" << preintMeasCov_ << std::endl;
   preintMeasCov_.noalias() += C * (wCov / dt) * C.transpose();
-  // std::cout << "ApA' + B + C\n" << preintMeasCov_ << std::endl;
 
   // NOTE(frank): (Gi*dt)*(C/dt)*(Gi'*dt), with Gi << Z_3x3, I_3x3, Z_3x3 (9x3 matrix)
   preintMeasCov_.block<3, 3>(3, 3).noalias() += iCov * dt;
-  // std::cout << "p + iCov\n" << preintMeasCov_ << std::endl;
 }
 
 //------------------------------------------------------------------------------

From a2bf0c4da4e3ac52a99da716f4067e0fc70b5b53 Mon Sep 17 00:00:00 2001
From: Varun Agrawal <varagrawal@gmail.com>
Date: Tue, 21 Sep 2021 12:30:04 -0400
Subject: [PATCH 018/433] minor refactoring

---
 gtsam/navigation/CombinedImuFactor.cpp | 17 ++++++++++-------
 1 file changed, 10 insertions(+), 7 deletions(-)

diff --git a/gtsam/navigation/CombinedImuFactor.cpp b/gtsam/navigation/CombinedImuFactor.cpp
index c8d1b10fef..de4d3f66db 100644
--- a/gtsam/navigation/CombinedImuFactor.cpp
+++ b/gtsam/navigation/CombinedImuFactor.cpp
@@ -123,6 +123,9 @@ void PreintegratedCombinedMeasurements::integrateMeasurement(
   F.block<3, 3>(6, 9) = vel_H_biasAcc;
   F.block<6, 6>(9, 9) = I_6x6;
 
+  // Update the uncertainty on the state (matrix F in [4]).
+  preintMeasCov_ = F * preintMeasCov_ * F.transpose();
+
   // propagate uncertainty
   // TODO(frank): use noiseModel routine so we can have arbitrary noise models.
   const Matrix3& aCov = p().accelerometerCovariance;
@@ -138,15 +141,15 @@ void PreintegratedCombinedMeasurements::integrateMeasurement(
   Matrix3 wCov_updated = wCov + p().biasAccOmegaInt.block<3, 3>(3, 3);
 
   // BLOCK DIAGONAL TERMS
-  D_t_t(&G_measCov_Gt) = (pos_H_biasAcc
-      * (aCov / dt)  // aCov_updated / dt
+  D_t_t(&G_measCov_Gt) = (pos_H_biasAcc  //
+      * (aCov_updated / dt)  //
       * pos_H_biasAcc.transpose()) + (dt * iCov);
-  D_v_v(&G_measCov_Gt) = vel_H_biasAcc
-      * (aCov / dt)  // aCov_updated / dt
+  D_v_v(&G_measCov_Gt) = vel_H_biasAcc  //
+      * (aCov_updated / dt)  //
       * (vel_H_biasAcc.transpose());
 
-  D_R_R(&G_measCov_Gt) = theta_H_biasOmega
-      * (wCov / dt)  // wCov_updated / dt
+  D_R_R(&G_measCov_Gt) = theta_H_biasOmega  //
+      * (wCov_updated / dt)  //
       * (theta_H_biasOmega.transpose());
 
   D_a_a(&G_measCov_Gt) = dt * p().biasAccCovariance;
@@ -160,7 +163,7 @@ void PreintegratedCombinedMeasurements::integrateMeasurement(
   D_R_v(&G_measCov_Gt) = temp.transpose();
   D_t_v(&G_measCov_Gt) = pos_H_biasAcc * (aCov / dt) * vel_H_biasAcc.transpose();
 
-  preintMeasCov_ = F * preintMeasCov_ * F.transpose() + G_measCov_Gt;
+  preintMeasCov_.noalias() += G_measCov_Gt;
 }
 
 //------------------------------------------------------------------------------

From aa4a163480424688835c68384c6ae7aad239ca15 Mon Sep 17 00:00:00 2001
From: Varun Agrawal <varagrawal@gmail.com>
Date: Tue, 28 Sep 2021 11:45:31 -0400
Subject: [PATCH 019/433] updated ImuFactor doc with details about
 CombinedImuFactor

---
 doc/ImuFactor.lyx | 542 ++++++++++++++++++++++++++++++++++++++++++----
 doc/ImuFactor.pdf | Bin 225898 -> 243257 bytes
 doc/refs.bib      |  68 ++++--
 3 files changed, 547 insertions(+), 63 deletions(-)

diff --git a/doc/ImuFactor.lyx b/doc/ImuFactor.lyx
index c79a5f37a7..4b71a29ed7 100644
--- a/doc/ImuFactor.lyx
+++ b/doc/ImuFactor.lyx
@@ -108,6 +108,222 @@ filename "macros.lyx"
 
 \end_layout
 
+\begin_layout Standard
+\begin_inset FormulaMacro
+\newcommand{\Rnine}{\mathfrak{\mathbb{R}^{9}}}
+{\mathfrak{\mathbb{R}^{9}}}
+\end_inset
+
+
+\end_layout
+
+\begin_layout Standard
+\begin_inset FormulaMacro
+\newcommand{\Rninethree}{\mathfrak{\mathbb{R}^{9\times3}}}
+{\mathfrak{\mathbb{R}^{9\times3}}}
+\end_inset
+
+
+\end_layout
+
+\begin_layout Standard
+\begin_inset FormulaMacro
+\newcommand{\Rninesix}{\mathfrak{\mathbb{R}^{9\times6}}}
+{\mathfrak{\mathbb{R}^{9\times6}}}
+\end_inset
+
+
+\end_layout
+
+\begin_layout Standard
+\begin_inset FormulaMacro
+\newcommand{\Rninenine}{\mathfrak{\mathbb{R}^{9\times9}}}
+{\mathfrak{\mathbb{R}^{9\times9}}}
+\end_inset
+
+
+\end_layout
+
+\begin_layout Subsubsection*
+IMU Factor
+\end_layout
+
+\begin_layout Standard
+The IMU factor has 2 variants:
+\end_layout
+
+\begin_layout Enumerate
+ImuFactor is a 5-way factor between the previous pose and velocity, the
+ current pose and velocity, and the current IMU bias.
+\end_layout
+
+\begin_layout Enumerate
+ImuFactor2 is a 3-way factor between the previous NavState, the current
+ NavState and the current IMU bias.
+\end_layout
+
+\begin_layout Standard
+Both variants take a PreintegratedMeasurements object which encodes all
+ the IMU measurements between the previous timestep and the current timestep.
+\end_layout
+
+\begin_layout Standard
+There are also 2 variants of this class:
+\end_layout
+
+\begin_layout Enumerate
+Manifold Preintegration: This version keeps track of the incremental NavState
+ 
+\begin_inset Formula $\Delta X_{ij}$
+\end_inset
+
+ with respect to the previous NavState, on the NavState manifold itself.
+ It also keeps track of the 
+\begin_inset Formula $\Rninesix$
+\end_inset
+
+ Jacobian of 
+\begin_inset Formula $\Delta X_{ij}$
+\end_inset
+
+ w.r.t.
+ the bias.
+ This corresponds to Forster et.
+ al.
+\begin_inset CommandInset citation
+LatexCommand cite
+key "Forster15rss"
+literal "false"
+
+\end_inset
+
+
+\end_layout
+
+\begin_layout Enumerate
+Tangent Preintegration: This version keeps track of the incremental NavState
+ in the NavState tangent space instead.
+ This is a 
+\begin_inset Formula $\Rnine$
+\end_inset
+
+ vector 
+\emph on
+preintegrated_
+\emph default
+.
+ It also keeps track of the 
+\begin_inset Formula $\Rninesix$
+\end_inset
+
+ jacobian of the 
+\emph on
+preintegrated_
+\emph default
+ w.r.t.
+ the bias.
+ 
+\end_layout
+
+\begin_layout Standard
+The main function of a factor is to calculate an error.
+ The easiest case to look at is the NavState variant in ImuFactor2, which
+ is given as:
+\begin_inset Formula 
+\begin{equation}
+\Delta X_{ij}=X_{j}-\hat{X_{ij}}\label{eq:imu-factor-error}
+\end{equation}
+
+\end_inset
+
+
+\end_layout
+
+\begin_layout Subsubsection*
+Combined IMU Factor
+\end_layout
+
+\begin_layout Standard
+The IMU factor above requires that bias drift over time be modeled as a
+ separate stochastic process (using a BetweenFactor for example), a crucial
+ aspect given that the preintegrated measurements depend on these bias values
+ and are thus correlated.
+ For this reason, we provide another type of IMU factor which we term the
+ Combined IMU Factor.
+ This factor similarly has 2 variants:
+\end_layout
+
+\begin_layout Enumerate
+CombinedImuFactor is a 6-way factor between the previous pose, velocity
+ and IMU bias and the current pose, velocity and IMU bias.
+\end_layout
+
+\begin_layout Enumerate
+CombinedImuFactor2 is a 4-way factor between the previous NavState and IMU
+ bias and the current NavState and IMU bias.
+\end_layout
+
+\begin_layout Subsubsection*
+Covariance Matrices
+\end_layout
+
+\begin_layout Standard
+For IMU preintegration, it is important to propagate the uncertainty accurately
+ as well.
+ As such, we detail the various covariance matrices used in the preintegration
+ step.
+\end_layout
+
+\begin_layout Itemize
+Gyroscope Covariance 
+\begin_inset Formula $Q_{\omega}$
+\end_inset
+
+: Measurement uncertainty of the gyroscope.
+\end_layout
+
+\begin_layout Itemize
+Accelerometer Covariance 
+\begin_inset Formula $Q_{acc}$
+\end_inset
+
+ : Measurement uncertainty of the accelerometer.
+\end_layout
+
+\begin_layout Itemize
+Accelerometer Bias Covariance 
+\begin_inset Formula $Q_{\Delta b^{acc}}$
+\end_inset
+
+ : The covariance associated with the accelerometer bias random walk.
+\end_layout
+
+\begin_layout Itemize
+Gyroscope Bias Covariance 
+\begin_inset Formula $Q_{\Delta b^{\omega}}$
+\end_inset
+
+ : The covariance associated with the gyroscope bias random walk.
+\end_layout
+
+\begin_layout Itemize
+Integration Covariance 
+\begin_inset Formula $Q_{int}$
+\end_inset
+
+ : This is the uncertainty due to modeling errors in the integration from
+ acceleration to velocity and position.
+\end_layout
+
+\begin_layout Itemize
+Initial Bias Estimate Covariance 
+\begin_inset Formula $Q_{init}$
+\end_inset
+
+ : This is the uncertainty associated with the estimation of the bias (since
+ we jointly estimate the bias as well).
+\end_layout
+
 \begin_layout Subsubsection*
 Navigation States
 \end_layout
@@ -725,15 +941,6 @@ In other words, the vector field
 Retractions
 \end_layout
 
-\begin_layout Standard
-\begin_inset FormulaMacro
-\newcommand{\Rnine}{\mathfrak{\mathbb{R}^{9}}}
-{\mathfrak{\mathbb{R}^{9}}}
-\end_inset
-
-
-\end_layout
-
 \begin_layout Standard
 Note that the use of the exponential map in local coordinate mappings is
  not obligatory, even in the context of Lie groups.
@@ -1018,7 +1225,15 @@ In the IMU factor, we need to predict the NavState
 
  needs to be known in order to compensate properly for the initial velocity
  and rotated gravity vector.
- Hence, the idea of Lupton was to split up 
+ Hence, the idea of Lupton
+\begin_inset CommandInset citation
+LatexCommand cite
+key "Lupton12tro"
+literal "false"
+
+\end_inset
+
+ was to split up 
 \begin_inset Formula $v(t)$
 \end_inset
 
@@ -1075,8 +1290,11 @@ p_{g}(t) & = & R_{i}^{T}\frac{gt^{2}}{2}
 
 \end_inset
 
-The recipe for the IMU factor is then, in summary.
- Solve the ordinary differential equations
+The recipe for the IMU factor is then, in summary:
+\end_layout
+
+\begin_layout Enumerate
+Solve the ordinary differential equations
 \begin_inset Formula 
 \begin{eqnarray*}
 \dot{\theta}(t) & = & H(\theta(t))^{-1}\,\omega^{b}(t)\\
@@ -1095,7 +1313,10 @@ starting from zero, up to time
 \end_inset
 
  at all times.
- Form the local coordinate vector as
+\end_layout
+
+\begin_layout Enumerate
+Form the local coordinate vector as
 \begin_inset Formula 
 \[
 \zeta(t_{ij})=\left[\theta(t_{ij}),p(t_{ij}),v(t_{ij})\right]=\left[\theta(t_{ij}),R_{i}^{T}V_{i}t_{ij}+R_{i}^{T}\frac{gt_{ij}^{2}}{2}+p_{v}(t_{ij}),R_{i}^{T}gt_{ij}+v_{a}(t_{ij})\right]
@@ -1103,6 +1324,10 @@ starting from zero, up to time
 
 \end_inset
 
+
+\end_layout
+
+\begin_layout Enumerate
 Predict the NavState 
 \begin_inset Formula $X_{j}$
 \end_inset
@@ -1197,7 +1422,50 @@ where we defined the rotation matrix
 \end_layout
 
 \begin_layout Subsubsection*
-Noise Propagation
+Noise Modeling
+\end_layout
+
+\begin_layout Standard
+Given the above solutions to the differential equations, we add noise modeling
+ to account for the various sources of error in the system 
+\end_layout
+
+\begin_layout Standard
+\begin_inset Formula 
+\begin{eqnarray}
+\theta_{k+1} & = & \theta_{k}+H(\theta_{k})^{-1}\,(\omega_{k}^{b}+\epsilon_{k}^{\omega} -b_{k}^{\omega}-\epsilon_{init}^{\omega})\Delta_{t}\nonumber \\
+p_{k+1} & = & p_{k}+v_{k}\Delta_{t}+R_{k}(a_{k}^{b}+\epsilon_{k}^{a}-b_{k}^{a}-\epsilon_{init}^{a})\frac{\Delta_{t}^{2}}{2}+\epsilon_{k}^{int}\label{eq:preintegration}\\
+v_{k+1} & = & v_{k}+R_{k}(a_{k}^{b}+\epsilon_{k}^{a}-b_{k}^{a}-\epsilon_{init}^{a})\Delta_{t}\nonumber \\
+b_{k+1}^{a} & = & b_{k}^{a}+\epsilon_{k}^{b^{a}}\nonumber \\
+b_{k+1}^{\omega} & = & b_{k}^{\omega}+\epsilon_{k}^{b^{\omega}}\nonumber 
+\end{eqnarray}
+
+\end_inset
+
+
+\end_layout
+
+\begin_layout Standard
+which we can write compactly as,
+\end_layout
+
+\begin_layout Standard
+\begin_inset Formula 
+\begin{eqnarray}
+\theta_{k+1} & = & f_{\theta}(\theta_{k},b_{k}^{w},\epsilon_{k}^{\omega},\epsilon_{init}^{b^{\omega}})\label{eq:compact-preintegration}\\
+p_{k+1} & = & f_{p}(p_{k},v_{k},\theta_{k},b_{k}^{a},\epsilon_{k}^{a},\epsilon_{init}^{a},\epsilon_{k}^{int})\nonumber \\
+v_{k+1} & = & f_{v}(v_{k,}\theta_{k,}b_{k}^{a},\epsilon_{k}^{a},\epsilon_{init}^{a})\nonumber \\
+b_{k+1}^{a} & = & f_{b^{a}}(b_{k}^{a},\epsilon_{k}^{b^{a}})\nonumber \\
+b_{k+1}^{\omega} & = & f_{b^{\omega}}(b_{k}^{\omega},\epsilon_{k}^{b^{\omega}})\nonumber 
+\end{eqnarray}
+
+\end_inset
+
+
+\end_layout
+
+\begin_layout Subsubsection*
+Noise Propagation in IMU Factor
 \end_layout
 
 \begin_layout Standard
@@ -1257,7 +1525,7 @@ Then the noise on
  propagates as
 \begin_inset Formula 
 \begin{equation}
-\Sigma_{k+1}=A_{k}\Sigma_{k}A_{k}^{T}+B_{k}\Sigma_{\eta}^{ad}B_{k}+C_{k}\Sigma_{\eta}^{gd}C_{k}\label{eq:prop}
+\Sigma_{k+1}=A_{k}\Sigma_{k}A_{k}^{T}+B_{k}\Sigma_{\eta}^{ad}B_{k}^{T}+C_{k}\Sigma_{\eta}^{gd}C_{k}^{T}\label{eq:prop}
 \end{equation}
 
 \end_inset
@@ -1313,7 +1581,7 @@ We start with the noise propagation on
 \begin_layout Standard
 \begin_inset Formula 
 \[
-\deriv{\theta_{k+1}}{\theta_{k}}=I_{3x3}+\deriv{H(\theta_{k})^{-1}\omega_{k}^{b}}{\theta_{k}}\Delta_{t}
+\deriv{\theta_{k+1}}{\theta_{k}}=I_{3\times3}+\deriv{H(\theta_{k})^{-1}\omega_{k}^{b}}{\theta_{k}}\Delta_{t}
 \]
 
 \end_inset
@@ -1325,7 +1593,7 @@ It can be shown that for small
  we have 
 \begin_inset Formula 
 \[
-\deriv{H(\theta_{k})^{-1}\omega_{k}^{b}}{\theta_{k}}\approx-\frac{1}{2}\Skew{\omega_{k}^{b}}\mbox{ and hence }\deriv{\theta_{k+1}}{\theta_{k}}=I_{3x3}-\frac{\Delta t}{2}\Skew{\omega_{k}^{b}}
+\deriv{H(\theta_{k})^{-1}\omega_{k}^{b}}{\theta_{k}}\approx-\frac{1}{2}\Skew{\omega_{k}^{b}}\mbox{ and hence }\deriv{\theta_{k+1}}{\theta_{k}}=I_{3\times3}-\frac{\Delta t}{2}\Skew{\omega_{k}^{b}}
 \]
 
 \end_inset
@@ -1375,9 +1643,9 @@ Putting all this together, we finally obtain
 \begin_inset Formula 
 \[
 A_{k}\approx\left[\begin{array}{ccc}
-I_{3\times3}-\frac{\Delta_{t}}{2}\Skew{\omega_{k}^{b}}\\
+I_{3\times3}-\frac{\Delta_{t}}{2}\Skew{\omega_{k}^{b}} & 0_{3\times3} & 0_{3\times3}\\
 R_{k}\Skew{-a_{k}^{b}}H(\theta_{k})\frac{\Delta_{t}}{2}^{2} & I_{3\times3} & I_{3\times3}\Delta_{t}\\
-R_{k}\Skew{-a_{k}^{b}}H(\theta_{k})\Delta_{t} &  & I_{3\times3}
+R_{k}\Skew{-a_{k}^{b}}H(\theta_{k})\Delta_{t} & 0_{3\times3} & I_{3\times3}
 \end{array}\right]
 \]
 
@@ -1403,26 +1671,12 @@ H(\theta_{k})^{-1}\Delta_{t}\\
 \end_layout
 
 \begin_layout Subsubsection*
-Combined IMU Factor
+Noise Propagation in Combined IMU Factor
 \end_layout
 
 \begin_layout Standard
 We can similarly account for bias drift over time, as is commonly seen in
  commercial grade IMUs.
- This is accomplished via the 
-\emph on
-CombinedImuFactor
-\emph default
- which is a 6-way factor between the previous 
-\emph on
-pose/velocity/bias
-\emph default
- and the 
-\emph on
-pose/velocity/bias
-\emph default
- at the next timestep.
- 
 \end_layout
 
 \begin_layout Standard
@@ -1430,14 +1684,18 @@ We expand the state vector as
 \begin_inset Formula $\zeta_{k}=[\theta_{k},p_{k},v_{k},b_{k}^{a},b_{k}^{\omega}]$
 \end_inset
 
- to include the bias terms.
+ to include the bias terms and define the augmented noise vector 
+\begin_inset Formula $\epsilon=[\epsilon_{k}^{\omega},\epsilon_{k}^{a},\epsilon_{k}^{b^{a}},\epsilon_{k}^{b^{\omega}},\epsilon_{k}^{int},\epsilon_{init}^{b^{a}},\epsilon_{init}^{b^{\omega}}]$
+\end_inset
+
+.
  This gives the noise propagation equation as
 \end_layout
 
 \begin_layout Standard
 \begin_inset Formula 
 \begin{equation}
-\Sigma_{k+1}=F_{k}\Sigma_{k}F_{k}^{T}+G_{k}\Sigma_{k}G_{k}\label{eq:prop-combined}
+\Sigma_{k+1}=F_{k}\Sigma_{k}F_{k}^{T}+G_{k}Q_{k}G_{k}^{T}\label{eq:prop-combined}
 \end{equation}
 
 \end_inset
@@ -1467,10 +1725,19 @@ where
 \end_inset
 
  is the 
-\begin_inset Formula $15\times15$
+\begin_inset Formula $15\times21$
 \end_inset
 
  matrix for first order uncertainty propagation.
+ 
+\begin_inset Formula $Q_{k}$
+\end_inset
+
+ defines the uncertainty of 
+\begin_inset Formula $\eta$
+\end_inset
+
+.
  The top-left 
 \begin_inset Formula $9\times9$
 \end_inset
@@ -1509,22 +1776,213 @@ derivation as matrices
 \begin_inset Formula 
 \[
 F_{k}\approx\left[\begin{array}{ccccc}
-I_{3\times3}-\frac{\Delta_{t}}{2}\Skew{\omega_{k}^{b}} &  &  &  & H(\theta_{k})^{-1}\Delta_{t}\\
-R_{k}\Skew{-a_{k}^{b}}H(\theta_{k})\frac{\Delta_{t}}{2}^{2} & I_{3\times3} & I_{3\times3}\Delta_{t} & R_{k}\frac{\Delta_{t}}{2}^{2}\\
-R_{k}\Skew{-a_{k}^{b}}H(\theta_{k})\Delta_{t} &  & I_{3\times3} & R_{k}\Delta_{t}\\
- &  &  & I_{3\times3}\\
- &  &  &  & I_{3\times3}
+I_{3\times3}-\frac{\Delta_{t}}{2}\Skew{\omega_{k}^{b}} & 0_{3\times3} & 0_{3\times3} & 0_{3\times3} & H(\theta_{k})^{-1}\Delta_{t}\\
+R_{k}\Skew{-a_{k}^{b}}H(\theta_{k})\frac{\Delta_{t}}{2}^{2} & I_{3\times3} & I_{3\times3}\Delta_{t} & R_{k}\frac{\Delta_{t}}{2}^{2} & 0_{3\times3}\\
+R_{k}\Skew{-a_{k}^{b}}H(\theta_{k})\Delta_{t} & 0_{3\times3} & I_{3\times3} & R_{k}\Delta_{t} & 0_{3\times3}\\
+0_{3\times3} & 0_{3\times3} & 0_{3\times3} & I_{3\times3} & 0_{3\times3}\\
+0_{3\times3} & 0_{3\times3} & 0_{3\times3} & 0_{3\times3} & I_{3\times3}
 \end{array}\right]
 \]
 
 \end_inset
 
 
+\end_layout
+
+\begin_layout Standard
+Similarly for 
+\begin_inset Formula $Q_{k},$
+\end_inset
+
+we get
+\end_layout
+
+\begin_layout Standard
+\begin_inset Formula 
+\[
+Q_{k}=\left[\begin{array}{ccccccc}
+\Sigma^{\omega}\\
+ & \Sigma^{a}\\
+ &  & \Sigma^{b^{a}}\\
+ &  &  & \Sigma^{b^{\omega}}\\
+ &  &  &  & \Sigma^{int}\\
+ &  &  &  &  & \Sigma^{init_{11}} & \Sigma^{init_{12}}\\
+ &  &  &  &  & \Sigma^{init_{21}} & \Sigma^{init_{22}}
+\end{array}\right]
+\]
+
+\end_inset
+
+
+\end_layout
+
+\begin_layout Standard
+and for 
+\begin_inset Formula $G_{k}$
+\end_inset
+
+ we get
+\end_layout
+
+\begin_layout Standard
+\begin_inset Formula 
+\[
+G_{k}=\left[\begin{array}{ccccccc}
+\deriv{\theta}{\epsilon^{\omega}} & \deriv{\theta}{\epsilon^{a}} & \deriv{\theta}{\epsilon^{b^{a}}} & \deriv{\theta}{\epsilon^{b^{\omega}}} & \deriv{\theta}{\epsilon^{int}} & \deriv{\theta}{\epsilon_{init}^{b^{a}}} & \deriv{\theta}{\epsilon_{init}^{b^{\omega}}}\\
+\deriv p{\epsilon^{\omega}} & \deriv p{\epsilon^{a}} & \deriv p{\epsilon^{b^{a}}} & \deriv p{\epsilon^{b^{\omega}}} & \deriv p{\epsilon^{int}} & \deriv p{\epsilon_{init}^{b^{a}}} & \deriv p{\epsilon_{init}^{b^{\omega}}}\\
+\deriv v{\epsilon^{\omega}} & \deriv v{\epsilon^{a}} & \deriv v{\epsilon^{b^{a}}} & \deriv v{\epsilon^{b^{\omega}}} & \deriv v{\epsilon^{int}} & \deriv v{\epsilon_{init}^{b^{a}}} & \deriv v{\epsilon_{init}^{b^{\omega}}}\\
+\deriv{b^{a}}{\epsilon^{\omega}} & \deriv{b^{a}}{\epsilon^{a}} & \deriv{b^{a}}{\epsilon^{b^{a}}} & \deriv{b^{a}}{\epsilon^{b^{\omega}}} & \deriv{b^{a}}{\epsilon^{int}} & \deriv{b^{a}}{\epsilon_{init}^{b^{a}}} & \deriv{b^{a}}{\epsilon_{init}^{b^{\omega}}}\\
+\deriv{b^{\omega}}{\epsilon^{\omega}} & \deriv{b^{\omega}}{\epsilon^{a}} & \deriv{b^{\omega}}{\epsilon^{b^{a}}} & \deriv{b^{\omega}}{\epsilon^{b^{\omega}}} & \deriv{b^{\omega}}{\epsilon^{int}} & \deriv{b^{\omega}}{\epsilon_{init}^{b^{a}}} & \deriv{b^{\omega}}{\epsilon_{init}^{b^{\omega}}}
+\end{array}\right]=\left[\begin{array}{ccccccc}
+\deriv{\theta}{\epsilon^{\omega}} & 0 & 0 & 0 & 0 & 0 & \deriv{\theta}{\eta_{init}^{b^{\omega}}}\\
+0 & \deriv p{\epsilon^{a}} & 0 & 0 & \deriv p{\epsilon^{int}} & \deriv p{\eta_{init}^{b^{a}}} & 0\\
+0 & \deriv v{\epsilon^{a}} & 0 & 0 & 0 & \deriv v{\eta_{init}^{b^{a}}} & 0\\
+0 & 0 & I_{3\times3} & 0 & 0 & 0 & 0\\
+0 & 0 & 0 & I_{3\times3} & 0 & 0 & 0
+\end{array}\right]
+\]
+
+\end_inset
+
+
+\end_layout
+
+\begin_layout Standard
+We can perform the block-wise computation of 
+\begin_inset Formula $G_{k}Q_{k}G_{k}^{T}$
+\end_inset
+
+
+\end_layout
+
+\begin_layout Standard
+\begin_inset Formula 
+\[
+G_{k}Q_{k}G_{k}^{T}=\left[\begin{array}{ccccccc}
+\deriv{\theta}{\epsilon^{\omega}} & 0 & 0 & 0 & 0 & 0 & \deriv{\theta}{\eta_{init}^{b^{\omega}}}\\
+0 & \deriv p{\epsilon^{a}} & 0 & 0 & \deriv p{\epsilon^{int}} & \deriv p{\eta_{init}^{b^{a}}} & 0\\
+0 & \deriv v{\epsilon^{a}} & 0 & 0 & 0 & \deriv v{\eta_{init}^{b^{a}}} & 0\\
+0 & 0 & I_{3\times3} & 0 & 0 & 0 & 0\\
+0 & 0 & 0 & I_{3\times3} & 0 & 0 & 0
+\end{array}\right]\left[\begin{array}{ccccccc}
+\Sigma^{\omega}\\
+ & \Sigma^{a}\\
+ &  & \Sigma^{b^{a}}\\
+ &  &  & \Sigma^{b^{\omega}}\\
+ &  &  &  & \Sigma^{int}\\
+ &  &  &  &  & \Sigma^{init_{11}} & \Sigma^{init_{12}}\\
+ &  &  &  &  & \Sigma^{init_{21}} & \Sigma^{init_{22}}
+\end{array}\right]G_{k}^{T}
+\]
+
+\end_inset
+
+
+\end_layout
+
+\begin_layout Standard
+\begin_inset Formula 
+\[
+G_{k}Q_{k}G_{k}^{T}=\left[\begin{array}{ccccccc}
+\deriv{\theta}{\epsilon^{\omega}}\Sigma^{\omega} & 0 & 0 & 0 & 0 & \deriv{\theta}{\eta_{init}^{b^{\omega}}}\Sigma^{init_{21}} & \deriv{\theta}{\eta_{init}^{b^{\omega}}}\Sigma^{init_{22}}\\
+0 & \deriv p{\epsilon^{a}}\Sigma^{a} & 0 & 0 & \deriv p{\epsilon^{int}}\Sigma^{int} & \deriv p{\eta_{init}^{b^{a}}}\Sigma^{init_{11}} & \deriv p{\eta_{init}^{b^{a}}}\Sigma^{init_{12}}\\
+0 & \deriv v{\epsilon^{a}}\Sigma^{a} & 0 & 0 & 0 & \deriv v{\eta_{init}^{b^{a}}}\Sigma^{init_{11}} & \deriv v{\eta_{init}^{b^{a}}}\Sigma^{init_{12}}\\
+0 & 0 & \Sigma^{b^{a}} & 0 & 0 & 0 & 0\\
+0 & 0 & 0 & \Sigma^{b^{\omega}} & 0 & 0 & 0
+\end{array}\right]G_{k}^{T}
+\]
+
+\end_inset
+
+
+\end_layout
+
+\begin_layout Standard
+\begin_inset Formula 
+\begin{multline*}
+G_{k}Q_{k}G_{k}^{T}=\left[\begin{array}{ccccccc}
+\deriv{\theta}{\epsilon^{\omega}}\Sigma^{\omega} & 0 & 0 & 0 & 0 & \deriv{\theta}{\eta_{init}^{b^{\omega}}}\Sigma^{init_{21}} & \deriv{\theta}{\eta_{init}^{b^{\omega}}}\Sigma^{init_{22}}\\
+0 & \deriv p{\epsilon^{a}}\Sigma^{a} & 0 & 0 & \deriv p{\epsilon^{int}}\Sigma^{int} & \deriv p{\eta_{init}^{b^{a}}}\Sigma^{init_{11}} & \deriv p{\eta_{init}^{b^{a}}}\Sigma^{init_{12}}\\
+0 & \deriv v{\epsilon^{a}}\Sigma^{a} & 0 & 0 & 0 & \deriv v{\eta_{init}^{b^{a}}}\Sigma^{init_{11}} & \deriv v{\eta_{init}^{b^{a}}}\Sigma^{init_{12}}\\
+0 & 0 & \Sigma^{b^{a}} & 0 & 0 & 0 & 0\\
+0 & 0 & 0 & \Sigma^{b^{\omega}} & 0 & 0 & 0
+\end{array}\right]\\
+\left[\begin{array}{ccccc}
+\deriv{\theta}{\epsilon^{\omega}} & 0 & 0 & 0 & 0\\
+0 & \deriv p{\epsilon^{a}} & \deriv v{\epsilon^{a}} & 0 & 0\\
+0 & 0 & 0 & I_{3\times3} & 0\\
+0 & 0 & 0 & 0 & I_{3\times3}\\
+0 & \deriv p{\epsilon^{int}} & 0 & 0 & 0\\
+0 & \deriv p{\eta_{init}^{b^{a}}} & \deriv v{\eta_{init}^{b^{a}}} & 0 & 0\\
+\deriv{\theta}{\eta_{init}^{b^{\omega}}} & 0 & 0 & 0 & 0
+\end{array}\right]
+\end{multline*}
+
+\end_inset
+
+
+\end_layout
+
+\begin_layout Standard
+\begin_inset Formula 
+\begin{multline*}
+=\\
+\left[\begin{array}{ccccc}
+\deriv{\theta}{\epsilon^{\omega}}\Sigma^{\omega}\deriv{\theta}{\epsilon^{\omega}}+\deriv{\theta}{\eta_{init}^{b^{\omega}}}\Sigma^{init_{22}}\deriv{\theta}{\eta_{init}^{b^{\omega}}} & \deriv{\theta}{\eta_{init}^{b^{\omega}}}\Sigma^{init_{21}}\deriv p{\eta_{init}^{b^{a}}} & \deriv{\theta}{\eta_{init}^{b^{\omega}}}\Sigma^{init_{21}}\deriv v{\eta_{init}^{b^{a}}} & 0 & 0\\
+\deriv p{\eta_{init}^{b^{a}}}\Sigma^{init_{12}}\deriv{\theta}{\eta_{init}^{b^{\omega}}} & \deriv p{\epsilon^{a}}\Sigma^{a}\deriv p{\epsilon^{a}}+\deriv p{\epsilon^{int}}\Sigma^{int}\deriv p{\epsilon^{int}}\\
+ & +\deriv p{\eta_{init}^{b^{a}}}\Sigma^{init_{11}}\deriv p{\eta_{init}^{b^{a}}} & \deriv p{\epsilon^{a}}\Sigma^{a}\deriv v{\epsilon^{a}}+\deriv p{\eta_{init}^{b^{a}}}\Sigma^{init_{11}}\deriv v{\eta_{init}^{b^{a}}} & 0 & 0\\
+\deriv v{\eta_{init}^{b^{a}}}\Sigma^{init_{12}}\deriv{\theta}{\eta_{init}^{b^{\omega}}} & \deriv v{\epsilon^{a}}\Sigma^{a}\deriv p{\epsilon^{a}}+\deriv v{\eta_{init}^{b^{a}}}\Sigma^{init_{11}}\deriv p{\eta_{init}^{b^{a}}} & \deriv v{\epsilon^{a}}\Sigma^{a}\deriv v{\epsilon^{a}}+\deriv v{\eta_{init}^{b^{a}}}\Sigma^{init_{11}}\deriv v{\eta_{init}^{b^{a}}} & 0 & 0\\
+0 & 0 & 0 & \Sigma^{b^{a}} & 0\\
+0 & 0 & 0 & 0 & \Sigma^{b^{\omega}}
+\end{array}\right]
+\end{multline*}
+
+\end_inset
+
+
+\end_layout
+
+\begin_layout Standard
+which we can break into 3 matrices for clarity, representing the main diagonal
+ and off-diagonal elements
+\end_layout
+
+\begin_layout Standard
+\begin_inset Formula 
+\begin{multline*}
+=\\
+\left[\begin{array}{ccccc}
+\deriv{\theta}{\epsilon^{\omega}}\Sigma^{\omega}\deriv{\theta}{\epsilon^{\omega}} & 0 & 0 & 0 & 0\\
+0 & \deriv p{\epsilon^{a}}\Sigma^{a}\deriv p{\epsilon^{a}} & 0 & 0 & 0\\
+0 & 0 & \deriv v{\epsilon^{a}}\Sigma^{a}\deriv v{\epsilon^{a}} & 0 & 0\\
+0 & 0 & 0 & \Sigma^{b^{a}} & 0\\
+0 & 0 & 0 & 0 & \Sigma^{b^{\omega}}
+\end{array}\right]+\\
+\left[\begin{array}{ccccc}
+\deriv{\theta}{\eta_{init}^{b^{\omega}}}\Sigma^{init_{22}}\deriv{\theta}{\eta_{init}^{b^{\omega}}} & 0 & 0 & 0 & 0\\
+0 & \deriv p{\epsilon^{int}}\Sigma^{int}\deriv p{\epsilon^{int}}+\deriv p{\eta_{init}^{b^{a}}}\Sigma^{init_{11}}\deriv p{\eta_{init}^{b^{a}}} & 0 & 0 & 0\\
+0 & 0 & \deriv v{\eta_{init}^{b^{a}}}\Sigma^{init_{11}}\deriv v{\eta_{init}^{b^{a}}} & 0 & 0\\
+0 & 0 & 0 & 0 & 0\\
+0 & 0 & 0 & 0 & 0
+\end{array}\right]+\\
+\left[\begin{array}{ccccc}
+0 & \deriv{\theta}{\eta_{init}^{b^{\omega}}}\Sigma^{init_{21}}\deriv p{\eta_{init}^{b^{a}}} & \deriv{\theta}{\eta_{init}^{b^{\omega}}}\Sigma^{init_{21}}\deriv v{\eta_{init}^{b^{a}}} & 0 & 0\\
+\deriv p{\eta_{init}^{b^{a}}}\Sigma^{init_{12}}\deriv{\theta}{\eta_{init}^{b^{\omega}}} & 0 & \deriv p{\epsilon^{a}}\Sigma^{a}\deriv v{\epsilon^{a}}+\deriv p{\eta_{init}^{b^{a}}}\Sigma^{init_{11}}\deriv v{\eta_{init}^{b^{a}}} & 0 & 0\\
+\deriv v{\eta_{init}^{b^{a}}}\Sigma^{init_{12}}\deriv{\theta}{\eta_{init}^{b^{\omega}}} & \deriv v{\epsilon^{a}}\Sigma^{a}\deriv p{\epsilon^{a}}+\deriv v{\eta_{init}^{b^{a}}}\Sigma^{init_{11}}\deriv p{\eta_{init}^{b^{a}}} & 0 & 0 & 0\\
+0 & 0 & 0 & 0 & 0\\
+0 & 0 & 0 & 0 & 0
+\end{array}\right]
+\end{multline*}
+
+\end_inset
+
+
 \end_layout
 
 \begin_layout Standard
 \begin_inset CommandInset bibtex
 LatexCommand bibtex
+btprint "btPrintCited"
 bibfiles "refs"
 options "plain"
 
diff --git a/doc/ImuFactor.pdf b/doc/ImuFactor.pdf
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diff --git a/doc/refs.bib b/doc/refs.bib
index 414773483f..97960d8534 100644
--- a/doc/refs.bib
+++ b/doc/refs.bib
@@ -1,26 +1,52 @@
+%% This BibTeX bibliography file was created using BibDesk.
+%% https://bibdesk.sourceforge.io/
+
+%% Created for Varun Agrawal at 2021-09-27 17:39:09 -0400 
+
+
+%% Saved with string encoding Unicode (UTF-8) 
+
+
+
+@article{Lupton12tro,
+	author = {Lupton, Todd and Sukkarieh, Salah},
+	date-added = {2021-09-27 17:38:56 -0400},
+	date-modified = {2021-09-27 17:39:09 -0400},
+	doi = {10.1109/TRO.2011.2170332},
+	journal = {IEEE Transactions on Robotics},
+	number = {1},
+	pages = {61-76},
+	title = {Visual-Inertial-Aided Navigation for High-Dynamic Motion in Built Environments Without Initial Conditions},
+	volume = {28},
+	year = {2012},
+	Bdsk-Url-1 = {https://doi.org/10.1109/TRO.2011.2170332}}
+
+@inproceedings{Forster15rss,
+	author = {Christian Forster and Luca Carlone and Frank Dellaert and Davide Scaramuzza},
+	booktitle = {Robotics: Science and Systems},
+	date-added = {2021-09-26 20:44:41 -0400},
+	date-modified = {2021-09-26 20:45:03 -0400},
+	title = {IMU Preintegration on Manifold for Efficient Visual-Inertial Maximum-a-Posteriori Estimation},
+	year = {2015}}
+
 @article{Iserles00an,
-  title =	 {Lie-group methods},
-  author =	 {Iserles, Arieh and Munthe-Kaas, Hans Z and
-                  N{\o}rsett, Syvert P and Zanna, Antonella},
-  journal =	 {Acta Numerica 2000},
-  volume =	 {9},
-  pages =	 {215--365},
-  year =	 {2000},
-  publisher =	 {Cambridge Univ Press}
-}
+	author = {Iserles, Arieh and Munthe-Kaas, Hans Z and N{\o}rsett, Syvert P and Zanna, Antonella},
+	journal = {Acta Numerica 2000},
+	pages = {215--365},
+	publisher = {Cambridge Univ Press},
+	title = {Lie-group methods},
+	volume = {9},
+	year = {2000}}
 
 @book{Murray94book,
-  title =	 {A mathematical introduction to robotic manipulation},
-  author =	 {Murray, Richard M and Li, Zexiang and Sastry, S
-                  Shankar and Sastry, S Shankara},
-  year =	 {1994},
-  publisher =	 {CRC press}
-}
+	author = {Murray, Richard M and Li, Zexiang and Sastry, S Shankar and Sastry, S Shankara},
+	publisher = {CRC press},
+	title = {A mathematical introduction to robotic manipulation},
+	year = {1994}}
 
 @book{Spivak65book,
-  title =	 {Calculus on manifolds},
-  author =	 {Spivak, Michael},
-  volume =	 {1},
-  year =	 {1965},
-  publisher =	 {WA Benjamin New York}
-}
\ No newline at end of file
+	author = {Spivak, Michael},
+	publisher = {WA Benjamin New York},
+	title = {Calculus on manifolds},
+	volume = {1},
+	year = {1965}}

From 0968c6005e9a74a56588ab55dec44c4c304cb834 Mon Sep 17 00:00:00 2001
From: Varun Agrawal <varagrawal@gmail.com>
Date: Tue, 28 Sep 2021 18:26:03 -0400
Subject: [PATCH 020/433] added details about covariance discretization with
 references

---
 doc/ImuFactor.lyx | 105 +++++++++++++++++++++++++++++++++++++---------
 doc/ImuFactor.pdf | Bin 243257 -> 248399 bytes
 doc/refs.bib      |  20 +++++++++
 3 files changed, 106 insertions(+), 19 deletions(-)

diff --git a/doc/ImuFactor.lyx b/doc/ImuFactor.lyx
index 4b71a29ed7..f76ede023f 100644
--- a/doc/ImuFactor.lyx
+++ b/doc/ImuFactor.lyx
@@ -1433,7 +1433,7 @@ Given the above solutions to the differential equations, we add noise modeling
 \begin_layout Standard
 \begin_inset Formula 
 \begin{eqnarray}
-\theta_{k+1} & = & \theta_{k}+H(\theta_{k})^{-1}\,(\omega_{k}^{b}+\epsilon_{k}^{\omega} -b_{k}^{\omega}-\epsilon_{init}^{\omega})\Delta_{t}\nonumber \\
+\theta_{k+1} & = & \theta_{k}+H(\theta_{k})^{-1}\,(\omega_{k}^{b}+\epsilon_{k}^{\omega}-b_{k}^{\omega}-\epsilon_{init}^{\omega})\Delta_{t}\nonumber \\
 p_{k+1} & = & p_{k}+v_{k}\Delta_{t}+R_{k}(a_{k}^{b}+\epsilon_{k}^{a}-b_{k}^{a}-\epsilon_{init}^{a})\frac{\Delta_{t}^{2}}{2}+\epsilon_{k}^{int}\label{eq:preintegration}\\
 v_{k+1} & = & v_{k}+R_{k}(a_{k}^{b}+\epsilon_{k}^{a}-b_{k}^{a}-\epsilon_{init}^{a})\Delta_{t}\nonumber \\
 b_{k+1}^{a} & = & b_{k}^{a}+\epsilon_{k}^{b^{a}}\nonumber \\
@@ -1908,13 +1908,13 @@ G_{k}Q_{k}G_{k}^{T}=\left[\begin{array}{ccccccc}
 0 & 0 & 0 & \Sigma^{b^{\omega}} & 0 & 0 & 0
 \end{array}\right]\\
 \left[\begin{array}{ccccc}
-\deriv{\theta}{\epsilon^{\omega}} & 0 & 0 & 0 & 0\\
-0 & \deriv p{\epsilon^{a}} & \deriv v{\epsilon^{a}} & 0 & 0\\
+\deriv{\theta}{\epsilon^{\omega}}^{T} & 0 & 0 & 0 & 0\\
+0 & \deriv p{\epsilon^{a}}^{T} & \deriv v{\epsilon^{a}}^{T} & 0 & 0\\
 0 & 0 & 0 & I_{3\times3} & 0\\
 0 & 0 & 0 & 0 & I_{3\times3}\\
-0 & \deriv p{\epsilon^{int}} & 0 & 0 & 0\\
-0 & \deriv p{\eta_{init}^{b^{a}}} & \deriv v{\eta_{init}^{b^{a}}} & 0 & 0\\
-\deriv{\theta}{\eta_{init}^{b^{\omega}}} & 0 & 0 & 0 & 0
+0 & \deriv p{\epsilon^{int}}^{T} & 0 & 0 & 0\\
+0 & \deriv p{\eta_{init}^{b^{a}}}^{T} & \deriv v{\eta_{init}^{b^{a}}}^{T} & 0 & 0\\
+\deriv{\theta}{\eta_{init}^{b^{\omega}}}^{T} & 0 & 0 & 0 & 0
 \end{array}\right]
 \end{multline*}
 
@@ -1928,10 +1928,10 @@ G_{k}Q_{k}G_{k}^{T}=\left[\begin{array}{ccccccc}
 \begin{multline*}
 =\\
 \left[\begin{array}{ccccc}
-\deriv{\theta}{\epsilon^{\omega}}\Sigma^{\omega}\deriv{\theta}{\epsilon^{\omega}}+\deriv{\theta}{\eta_{init}^{b^{\omega}}}\Sigma^{init_{22}}\deriv{\theta}{\eta_{init}^{b^{\omega}}} & \deriv{\theta}{\eta_{init}^{b^{\omega}}}\Sigma^{init_{21}}\deriv p{\eta_{init}^{b^{a}}} & \deriv{\theta}{\eta_{init}^{b^{\omega}}}\Sigma^{init_{21}}\deriv v{\eta_{init}^{b^{a}}} & 0 & 0\\
-\deriv p{\eta_{init}^{b^{a}}}\Sigma^{init_{12}}\deriv{\theta}{\eta_{init}^{b^{\omega}}} & \deriv p{\epsilon^{a}}\Sigma^{a}\deriv p{\epsilon^{a}}+\deriv p{\epsilon^{int}}\Sigma^{int}\deriv p{\epsilon^{int}}\\
- & +\deriv p{\eta_{init}^{b^{a}}}\Sigma^{init_{11}}\deriv p{\eta_{init}^{b^{a}}} & \deriv p{\epsilon^{a}}\Sigma^{a}\deriv v{\epsilon^{a}}+\deriv p{\eta_{init}^{b^{a}}}\Sigma^{init_{11}}\deriv v{\eta_{init}^{b^{a}}} & 0 & 0\\
-\deriv v{\eta_{init}^{b^{a}}}\Sigma^{init_{12}}\deriv{\theta}{\eta_{init}^{b^{\omega}}} & \deriv v{\epsilon^{a}}\Sigma^{a}\deriv p{\epsilon^{a}}+\deriv v{\eta_{init}^{b^{a}}}\Sigma^{init_{11}}\deriv p{\eta_{init}^{b^{a}}} & \deriv v{\epsilon^{a}}\Sigma^{a}\deriv v{\epsilon^{a}}+\deriv v{\eta_{init}^{b^{a}}}\Sigma^{init_{11}}\deriv v{\eta_{init}^{b^{a}}} & 0 & 0\\
+\deriv{\theta}{\epsilon^{\omega}}\Sigma^{\omega}\deriv{\theta}{\epsilon^{\omega}}^{T}+\deriv{\theta}{\eta_{init}^{b^{\omega}}}\Sigma^{init_{22}}\deriv{\theta}{\eta_{init}^{b^{\omega}}}^{T} & \deriv{\theta}{\eta_{init}^{b^{\omega}}}\Sigma^{init_{21}}\deriv p{\eta_{init}^{b^{a}}}^{T} & \deriv{\theta}{\eta_{init}^{b^{\omega}}}\Sigma^{init_{21}}\deriv v{\eta_{init}^{b^{a}}}^{T} & 0 & 0\\
+\deriv p{\eta_{init}^{b^{a}}}\Sigma^{init_{12}}\deriv{\theta}{\eta_{init}^{b^{\omega}}}^{T} & \deriv p{\epsilon^{a}}\Sigma^{a}\deriv p{\epsilon^{a}}^{T}+\deriv p{\epsilon^{int}}\Sigma^{int}\deriv p{\epsilon^{int}}^{T}\\
+ & +\deriv p{\eta_{init}^{b^{a}}}\Sigma^{init_{11}}\deriv p{\eta_{init}^{b^{a}}}^{T} & \deriv p{\epsilon^{a}}\Sigma^{a}\deriv v{\epsilon^{a}}^{T}+\deriv p{\eta_{init}^{b^{a}}}\Sigma^{init_{11}}\deriv v{\eta_{init}^{b^{a}}}^{T} & 0 & 0\\
+\deriv v{\eta_{init}^{b^{a}}}\Sigma^{init_{12}}\deriv{\theta}{\eta_{init}^{b^{\omega}}}^{T} & \deriv v{\epsilon^{a}}\Sigma^{a}\deriv p{\epsilon^{a}}^{T}+\deriv v{\eta_{init}^{b^{a}}}\Sigma^{init_{11}}\deriv p{\eta_{init}^{b^{a}}}^{T} & \deriv v{\epsilon^{a}}\Sigma^{a}\deriv v{\epsilon^{a}}^{T}+\deriv v{\eta_{init}^{b^{a}}}\Sigma^{init_{11}}\deriv v{\eta_{init}^{b^{a}}}^{T} & 0 & 0\\
 0 & 0 & 0 & \Sigma^{b^{a}} & 0\\
 0 & 0 & 0 & 0 & \Sigma^{b^{\omega}}
 \end{array}\right]
@@ -1952,23 +1952,23 @@ which we can break into 3 matrices for clarity, representing the main diagonal
 \begin{multline*}
 =\\
 \left[\begin{array}{ccccc}
-\deriv{\theta}{\epsilon^{\omega}}\Sigma^{\omega}\deriv{\theta}{\epsilon^{\omega}} & 0 & 0 & 0 & 0\\
-0 & \deriv p{\epsilon^{a}}\Sigma^{a}\deriv p{\epsilon^{a}} & 0 & 0 & 0\\
-0 & 0 & \deriv v{\epsilon^{a}}\Sigma^{a}\deriv v{\epsilon^{a}} & 0 & 0\\
+\deriv{\theta}{\epsilon^{\omega}}\Sigma^{\omega}\deriv{\theta}{\epsilon^{\omega}}^{T} & 0 & 0 & 0 & 0\\
+0 & \deriv p{\epsilon^{a}}\Sigma^{a}\deriv p{\epsilon^{a}}^{T} & 0 & 0 & 0\\
+0 & 0 & \deriv v{\epsilon^{a}}\Sigma^{a}\deriv v{\epsilon^{a}}^{T} & 0 & 0\\
 0 & 0 & 0 & \Sigma^{b^{a}} & 0\\
 0 & 0 & 0 & 0 & \Sigma^{b^{\omega}}
 \end{array}\right]+\\
 \left[\begin{array}{ccccc}
-\deriv{\theta}{\eta_{init}^{b^{\omega}}}\Sigma^{init_{22}}\deriv{\theta}{\eta_{init}^{b^{\omega}}} & 0 & 0 & 0 & 0\\
-0 & \deriv p{\epsilon^{int}}\Sigma^{int}\deriv p{\epsilon^{int}}+\deriv p{\eta_{init}^{b^{a}}}\Sigma^{init_{11}}\deriv p{\eta_{init}^{b^{a}}} & 0 & 0 & 0\\
-0 & 0 & \deriv v{\eta_{init}^{b^{a}}}\Sigma^{init_{11}}\deriv v{\eta_{init}^{b^{a}}} & 0 & 0\\
+\deriv{\theta}{\eta_{init}^{b^{\omega}}}\Sigma^{init_{22}}\deriv{\theta}{\eta_{init}^{b^{\omega}}}^{T} & 0 & 0 & 0 & 0\\
+0 & \deriv p{\epsilon^{int}}\Sigma^{int}\deriv p{\epsilon^{int}}^{T}+\deriv p{\eta_{init}^{b^{a}}}\Sigma^{init_{11}}\deriv p{\eta_{init}^{b^{a}}}^{T} & 0 & 0 & 0\\
+0 & 0 & \deriv v{\eta_{init}^{b^{a}}}\Sigma^{init_{11}}\deriv v{\eta_{init}^{b^{a}}}^{T} & 0 & 0\\
 0 & 0 & 0 & 0 & 0\\
 0 & 0 & 0 & 0 & 0
 \end{array}\right]+\\
 \left[\begin{array}{ccccc}
-0 & \deriv{\theta}{\eta_{init}^{b^{\omega}}}\Sigma^{init_{21}}\deriv p{\eta_{init}^{b^{a}}} & \deriv{\theta}{\eta_{init}^{b^{\omega}}}\Sigma^{init_{21}}\deriv v{\eta_{init}^{b^{a}}} & 0 & 0\\
-\deriv p{\eta_{init}^{b^{a}}}\Sigma^{init_{12}}\deriv{\theta}{\eta_{init}^{b^{\omega}}} & 0 & \deriv p{\epsilon^{a}}\Sigma^{a}\deriv v{\epsilon^{a}}+\deriv p{\eta_{init}^{b^{a}}}\Sigma^{init_{11}}\deriv v{\eta_{init}^{b^{a}}} & 0 & 0\\
-\deriv v{\eta_{init}^{b^{a}}}\Sigma^{init_{12}}\deriv{\theta}{\eta_{init}^{b^{\omega}}} & \deriv v{\epsilon^{a}}\Sigma^{a}\deriv p{\epsilon^{a}}+\deriv v{\eta_{init}^{b^{a}}}\Sigma^{init_{11}}\deriv p{\eta_{init}^{b^{a}}} & 0 & 0 & 0\\
+0 & \deriv{\theta}{\eta_{init}^{b^{\omega}}}\Sigma^{init_{21}}\deriv p{\eta_{init}^{b^{a}}}^{T} & \deriv{\theta}{\eta_{init}^{b^{\omega}}}\Sigma^{init_{21}}\deriv v{\eta_{init}^{b^{a}}}^{T} & 0 & 0\\
+\deriv p{\eta_{init}^{b^{a}}}\Sigma^{init_{12}}\deriv{\theta}{\eta_{init}^{b^{\omega}}}^{T} & 0 & \deriv p{\epsilon^{a}}\Sigma^{a}\deriv v{\epsilon^{a}}^{T}+\deriv p{\eta_{init}^{b^{a}}}\Sigma^{init_{11}}\deriv v{\eta_{init}^{b^{a}}}^{T} & 0 & 0\\
+\deriv v{\eta_{init}^{b^{a}}}\Sigma^{init_{12}}\deriv{\theta}{\eta_{init}^{b^{\omega}}}^{T} & \deriv v{\epsilon^{a}}\Sigma^{a}\deriv p{\epsilon^{a}}^{T}+\deriv v{\eta_{init}^{b^{a}}}\Sigma^{init_{11}}\deriv p{\eta_{init}^{b^{a}}}^{T} & 0 & 0 & 0\\
 0 & 0 & 0 & 0 & 0\\
 0 & 0 & 0 & 0 & 0
 \end{array}\right]
@@ -1979,6 +1979,73 @@ which we can break into 3 matrices for clarity, representing the main diagonal
 
 \end_layout
 
+\begin_layout Subsubsection*
+Covariance Discretization
+\end_layout
+
+\begin_layout Standard
+So far, all the covariances are assumed to be continuous since the state
+ and measurement models are considered to be continuous-time stochastic
+ processes.
+ However, we sample measurements in a discrete-time fashion, necessitating
+ the need to convert the covariances to their discrete time equivalents.
+\end_layout
+
+\begin_layout Standard
+The IMU is modeled as a first order Gauss-Markov process, with a measurement
+ noise and a process noise.
+ Following 
+\begin_inset CommandInset citation
+LatexCommand cite
+after "Alg. 1 Page 57"
+key "Nikolic16thesis"
+literal "false"
+
+\end_inset
+
+ and 
+\begin_inset CommandInset citation
+LatexCommand cite
+after "Eqns 129-130"
+key "Trawny05report_IndirectKF"
+literal "false"
+
+\end_inset
+
+, the measurement noises 
+\begin_inset Formula $[\epsilon^{a},\epsilon^{\omega},\epsilon_{init}]$
+\end_inset
+
+ are simply scaled by 
+\begin_inset Formula $\frac{1}{\Delta t}$
+\end_inset
+
+, and the process noises 
+\begin_inset Formula $[\epsilon^{int},\epsilon^{b^{a}},\epsilon^{b^{\omega}}]$
+\end_inset
+
+ are scaled by 
+\begin_inset Formula $\Delta t$
+\end_inset
+
+ where 
+\begin_inset Formula $\Delta t$
+\end_inset
+
+ is the time interval between 2 consecutive samples.
+ For a thorough explanation of the discretization process, please refer
+ to 
+\begin_inset CommandInset citation
+LatexCommand cite
+after "Section 8.1"
+key "Simon06book"
+literal "false"
+
+\end_inset
+
+.
+\end_layout
+
 \begin_layout Standard
 \begin_inset CommandInset bibtex
 LatexCommand bibtex
diff --git a/doc/ImuFactor.pdf b/doc/ImuFactor.pdf
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diff --git a/doc/refs.bib b/doc/refs.bib
index 97960d8534..ec42fb0328 100644
--- a/doc/refs.bib
+++ b/doc/refs.bib
@@ -50,3 +50,23 @@ @book{Spivak65book
 	title = {Calculus on manifolds},
 	volume = {1},
 	year = {1965}}
+
+@phdthesis{Nikolic16thesis,
+  title={Characterisation, calibration, and design of visual-inertial sensor systems for robot navigation},
+  author={Nikolic, Janosch},
+  year={2016},
+  school={ETH Zurich}
+}
+
+@book{Simon06book,
+  title={Optimal state estimation: Kalman, H infinity, and nonlinear approaches},
+  author={Simon, Dan},
+  year={2006},
+  publisher={John Wiley \& Sons}
+}
+
+@inproceedings{Trawny05report_IndirectKF,
+  title={Indirect Kalman Filter for 3 D Attitude Estimation},
+  author={Nikolas Trawny and Stergios I. Roumeliotis},
+  year={2005}
+}

From 6bc9b50a46ac7cfdae0d1ec82c61779d25c3a6cf Mon Sep 17 00:00:00 2001
From: Varun Agrawal <varagrawal@gmail.com>
Date: Thu, 30 Sep 2021 09:05:02 -0400
Subject: [PATCH 021/433] add test for MC based covariance estimation

---
 .../tests/testCombinedImuFactor.cpp           | 465 +++++++++---------
 1 file changed, 236 insertions(+), 229 deletions(-)

diff --git a/gtsam/navigation/tests/testCombinedImuFactor.cpp b/gtsam/navigation/tests/testCombinedImuFactor.cpp
index a8c0391449..2f12983c37 100644
--- a/gtsam/navigation/tests/testCombinedImuFactor.cpp
+++ b/gtsam/navigation/tests/testCombinedImuFactor.cpp
@@ -16,6 +16,7 @@
  * @author  Frank Dellaert
  * @author  Richard Roberts
  * @author  Stephen Williams
+ * @author  Varun Agrawal
  */
 
 #include <CppUnitLite/TestHarness.h>
@@ -40,237 +41,218 @@ static boost::shared_ptr<PreintegratedCombinedMeasurements::Params> Params() {
   p->gyroscopeCovariance = kGyroSigma * kGyroSigma * I_3x3;
   p->accelerometerCovariance = kAccelSigma * kAccelSigma * I_3x3;
   p->integrationCovariance = 0.0001 * I_3x3;
+  p->biasAccCovariance = Z_3x3;
+  p->biasOmegaCovariance = Z_3x3;
+  p->biasAccOmegaInit = Z_6x6;
   return p;
 }
+}  // namespace testing
+
+/* ************************************************************************* */
+TEST(CombinedImuFactor, PreintegratedMeasurements ) {
+  // Linearization point
+  Bias bias(Vector3(0, 0, 0), Vector3(0, 0, 0)); ///< Current estimate of acceleration and angular rate biases
+
+  // Measurements
+  Vector3 measuredAcc(0.1, 0.0, 0.0);
+  Vector3 measuredOmega(M_PI / 100.0, 0.0, 0.0);
+  double deltaT = 0.5;
+  double tol = 1e-6;
+
+  auto p = testing::Params();
+
+  // Actual preintegrated values
+  PreintegratedImuMeasurements expected1(p, bias);
+  expected1.integrateMeasurement(measuredAcc, measuredOmega, deltaT);
+
+  PreintegratedCombinedMeasurements actual1(p, bias);
+
+  actual1.integrateMeasurement(measuredAcc, measuredOmega, deltaT);
+
+  EXPECT(assert_equal(Vector(expected1.deltaPij()), actual1.deltaPij(), tol));
+  EXPECT(assert_equal(Vector(expected1.deltaVij()), actual1.deltaVij(), tol));
+  EXPECT(assert_equal(expected1.deltaRij(), actual1.deltaRij(), tol));
+  DOUBLES_EQUAL(expected1.deltaTij(), actual1.deltaTij(), tol);
 }
 
-// /* ************************************************************************* */
-// TEST(CombinedImuFactor, PreintegratedMeasurements ) {
-//   // Linearization point
-//   Bias bias(Vector3(0, 0, 0), Vector3(0, 0, 0)); ///< Current estimate of acceleration and angular rate biases
-
-//   // Measurements
-//   Vector3 measuredAcc(0.1, 0.0, 0.0);
-//   Vector3 measuredOmega(M_PI / 100.0, 0.0, 0.0);
-//   double deltaT = 0.5;
-//   double tol = 1e-6;
-
-//   auto p = testing::Params();
-
-//   // Actual preintegrated values
-//   PreintegratedImuMeasurements expected1(p, bias);
-//   expected1.integrateMeasurement(measuredAcc, measuredOmega, deltaT);
-
-//   PreintegratedCombinedMeasurements actual1(p, bias);
-
-//   actual1.integrateMeasurement(measuredAcc, measuredOmega, deltaT);
-
-//   EXPECT(assert_equal(Vector(expected1.deltaPij()), actual1.deltaPij(), tol));
-//   EXPECT(assert_equal(Vector(expected1.deltaVij()), actual1.deltaVij(), tol));
-//   EXPECT(assert_equal(expected1.deltaRij(), actual1.deltaRij(), tol));
-//   DOUBLES_EQUAL(expected1.deltaTij(), actual1.deltaTij(), tol);
-// }
-
-// /* ************************************************************************* */
-// TEST(CombinedImuFactor, Accelerating) {
-//   const double a = 0.2, v = 50;
-
-//   // Set up body pointing towards y axis, and start at 10,20,0 with velocity
-//   // going in X The body itself has Z axis pointing down
-//   const Rot3 nRb(Point3(0, 1, 0), Point3(1, 0, 0), Point3(0, 0, -1));
-//   const Point3 initial_position(10, 20, 0);
-//   const Vector3 initial_velocity(v, 0, 0);
-
-//   const AcceleratingScenario scenario(nRb, initial_position, initial_velocity,
-//                                       Vector3(a, 0, 0));
-
-//   const double T = 3.0;  // seconds
-//   CombinedScenarioRunner runner(scenario, testing::Params(), T / 10);
-
-//   PreintegratedCombinedMeasurements pim = runner.integrate(T);
-//   EXPECT(assert_equal(scenario.pose(T), runner.predict(pim).pose(), 1e-9));
-
-//   auto estimatedCov = runner.estimateCovariance(T, 100);
-//   Eigen::Matrix<double, 15, 15> expected = pim.preintMeasCov();
-//   EXPECT(assert_equal(estimatedCov, expected, 0.1));
-// }
-
-// /* ************************************************************************* */
-// TEST(CombinedImuFactor, ErrorWithBiases ) {
-//   Bias bias(Vector3(0.2, 0, 0), Vector3(0, 0, 0.3)); // Biases (acc, rot)
-//   Bias bias2(Vector3(0.2, 0.2, 0), Vector3(1, 0, 0.3)); // Biases (acc, rot)
-//   Pose3 x1(Rot3::Expmap(Vector3(0, 0, M_PI / 4.0)), Point3(5.0, 1.0, -50.0));
-//   Vector3 v1(0.5, 0.0, 0.0);
-//   Pose3 x2(Rot3::Expmap(Vector3(0, 0, M_PI / 4.0 + M_PI / 10.0)),
-//       Point3(5.5, 1.0, -50.0));
-//   Vector3 v2(0.5, 0.0, 0.0);
-
-//   auto p = testing::Params();
-//   p->omegaCoriolis = Vector3(0,0.1,0.1);
-//   PreintegratedImuMeasurements pim(
-//       p, Bias(Vector3(0.2, 0.0, 0.0), Vector3(0.0, 0.0, 0.0)));
-
-//   // Measurements
-//   Vector3 measuredOmega;
-//   measuredOmega << 0, 0, M_PI / 10.0 + 0.3;
-//   Vector3 measuredAcc =
-//       x1.rotation().unrotate(-p->n_gravity) + Vector3(0.2, 0.0, 0.0);
-//   double deltaT = 1.0;
-//   double tol = 1e-6;
-
-//   pim.integrateMeasurement(measuredAcc, measuredOmega, deltaT);
-
-//   PreintegratedCombinedMeasurements combined_pim(p,
-//       Bias(Vector3(0.2, 0.0, 0.0), Vector3(0.0, 0.0, 0.0)));
-
-//   combined_pim.integrateMeasurement(measuredAcc, measuredOmega, deltaT);
-
-//   // Create factor
-//   ImuFactor imuFactor(X(1), V(1), X(2), V(2), B(1), pim);
-
-//   noiseModel::Gaussian::shared_ptr Combinedmodel =
-//       noiseModel::Gaussian::Covariance(combined_pim.preintMeasCov());
-//   CombinedImuFactor combinedfactor(X(1), V(1), X(2), V(2), B(1), B(2),
-//                                    combined_pim);
-
-//   Vector errorExpected = imuFactor.evaluateError(x1, v1, x2, v2, bias);
-//   Vector errorActual = combinedfactor.evaluateError(x1, v1, x2, v2, bias,
-//       bias2);
-//   EXPECT(assert_equal(errorExpected, errorActual.head(9), tol));
-
-//   // Expected Jacobians
-//   Matrix H1e, H2e, H3e, H4e, H5e;
-//   (void) imuFactor.evaluateError(x1, v1, x2, v2, bias, H1e, H2e, H3e, H4e, H5e);
-
-//   // Actual Jacobians
-//   Matrix H1a, H2a, H3a, H4a, H5a, H6a;
-//   (void) combinedfactor.evaluateError(x1, v1, x2, v2, bias, bias2, H1a, H2a,
-//       H3a, H4a, H5a, H6a);
-
-//   EXPECT(assert_equal(H1e, H1a.topRows(9)));
-//   EXPECT(assert_equal(H2e, H2a.topRows(9)));
-//   EXPECT(assert_equal(H3e, H3a.topRows(9)));
-//   EXPECT(assert_equal(H4e, H4a.topRows(9)));
-//   EXPECT(assert_equal(H5e, H5a.topRows(9)));
-// }
-
-// /* ************************************************************************* */
-// #ifdef GTSAM_TANGENT_PREINTEGRATION
-// TEST(CombinedImuFactor, FirstOrderPreIntegratedMeasurements) {
-//   auto p = testing::Params();
-//   testing::SomeMeasurements measurements;
-
-//   auto preintegrated = [=](const Vector3& a, const Vector3& w) {
-//     PreintegratedImuMeasurements pim(p, Bias(a, w));
-//     testing::integrateMeasurements(measurements, &pim);
-//     return pim.preintegrated();
-//   };
-
-//   // Actual pre-integrated values
-//   PreintegratedCombinedMeasurements pim(p);
-//   testing::integrateMeasurements(measurements, &pim);
-
-//   EXPECT(assert_equal(numericalDerivative21<Vector9, Vector3, Vector3>(preintegrated, Z_3x1, Z_3x1),
-//                       pim.preintegrated_H_biasAcc()));
-//   EXPECT(assert_equal(numericalDerivative22<Vector9, Vector3, Vector3>(preintegrated, Z_3x1, Z_3x1),
-//                       pim.preintegrated_H_biasOmega(), 1e-3));
-// }
-// #endif
-
-// /* ************************************************************************* */
-// TEST(CombinedImuFactor, PredictPositionAndVelocity) {
-//   const Bias bias(Vector3(0, 0.1, 0), Vector3(0, 0.1, 0));  // Biases (acc, rot)
-
-//   auto p = testing::Params();
-
-//   // Measurements
-//   const Vector3 measuredOmega(0, 0.1, 0);  // M_PI/10.0+0.3;
-//   const Vector3 measuredAcc(0, 1.1, -kGravity);
-//   const double deltaT = 0.01;
-
-//   PreintegratedCombinedMeasurements pim(p, bias);
-
-//   for (int i = 0; i < 100; ++i)
-//     pim.integrateMeasurement(measuredAcc, measuredOmega, deltaT);
-
-//   // Create factor
-//   const noiseModel::Gaussian::shared_ptr combinedmodel =
-//       noiseModel::Gaussian::Covariance(pim.preintMeasCov());
-//   const CombinedImuFactor Combinedfactor(X(1), V(1), X(2), V(2), B(1), B(2), pim);
-
-//   // Predict
-//   const NavState actual = pim.predict(NavState(), bias);
-//   const Pose3 expectedPose(Rot3(), Point3(0, 0.5, 0));
-//   const Vector3 expectedVelocity(0, 1, 0);
-//   EXPECT(assert_equal(expectedPose, actual.pose()));
-//   EXPECT(assert_equal(Vector(expectedVelocity), Vector(actual.velocity())));
-// }
-
-// /* ************************************************************************* */
-// TEST(CombinedImuFactor, PredictRotation) {
-//   const Bias bias(Vector3(0, 0, 0), Vector3(0, 0, 0)); // Biases (acc, rot)
-//   auto p = testing::Params();
-//   PreintegratedCombinedMeasurements pim(p, bias);
-//   const Vector3 measuredAcc = - kGravityAlongNavZDown;
-//   const Vector3 measuredOmega(0, 0, M_PI / 10.0);
-//   const double deltaT = 0.01;
-//   const double tol = 1e-4;
-//   for (int i = 0; i < 100; ++i)
-//     pim.integrateMeasurement(measuredAcc, measuredOmega, deltaT);
-//   const CombinedImuFactor Combinedfactor(X(1), V(1), X(2), V(2), B(1), B(2), pim);
-
-//   // Predict
-//   const Pose3 x(Rot3::Ypr(0, 0, 0), Point3(0, 0, 0)), x2;
-//   const Vector3 v(0, 0, 0), v2;
-//   const NavState actual = pim.predict(NavState(x, v), bias);
-//   const Pose3 expectedPose(Rot3::Ypr(M_PI / 10, 0, 0), Point3(0, 0, 0));
-//   EXPECT(assert_equal(expectedPose, actual.pose(), tol));
-// }
-
-// /* ************************************************************************* */
-// // Testing covariance to check if all the jacobians are accounted for.
-// TEST(CombinedImuFactor, CheckCovariance) {
-//   auto params = PreintegrationCombinedParams::MakeSharedU(9.81);
-
-//   params->setAccelerometerCovariance(pow(0.01, 2) * I_3x3);
-//   params->setGyroscopeCovariance(pow(1.75e-4, 2) * I_3x3);
-//   params->setIntegrationCovariance(pow(0.0, 2) * I_3x3);
-//   params->setOmegaCoriolis(Vector3::Zero());
-
-//   imuBias::ConstantBias currentBias;
-
-//   PreintegratedCombinedMeasurements actual(params, currentBias);
-
-//   // Measurements
-//   Vector3 measuredAcc(0.1577, -0.8251, 9.6111);
-//   Vector3 measuredOmega(-0.0210, 0.0311, 0.0145);
-//   double deltaT = 0.01;
-
-//   actual.integrateMeasurement(measuredAcc, measuredOmega, deltaT);
-
-//   Eigen::Matrix<double, 15, 15> expected;
-//   expected << 0.01, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0,  //
-//       0, 0.01, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0,          //
-//       0, 0, 0.01, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0,          //
-//       0, 0, 0, 2.50025e-07, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0,   //
-//       0, 0, 0, 0, 2.50025e-07, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0,   //
-//       0, 0, 0, 0, 0, 2.50025e-07, 0, 0, 0, 0, 0, 0, 0, 0, 0,   //
-//       0, 0, 0, 0, 0, 0, 0.010001, 0, 0, 0, 0, 0, 0, 0, 0,      //
-//       0, 0, 0, 0, 0, 0, 0, 0.010001, 0, 0, 0, 0, 0, 0, 0,      //
-//       0, 0, 0, 0, 0, 0, 0, 0, 0.010001, 0, 0, 0, 0, 0, 0,      //
-//       0, 0, 0, 0, 0, 0, 0, 0, 0, 0.01, 0, 0, 0, 0, 0,          //
-//       0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0.01, 0, 0, 0, 0,          //
-//       0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0.01, 0, 0, 0,          //
-//       0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0.01, 0, 0,          //
-//       0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0.01, 0,          //
-//       0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0.01;
-
-//   // regression
-//   EXPECT(assert_equal(expected, actual.preintMeasCov()));
-// }
-// Test that the covariance values for the ImuFactor and the CombinedImuFactor (top-left 9x9) are the same
-TEST(CombinedImuFactor, SameCovariance) {
 
+/* ************************************************************************* */
+TEST(CombinedImuFactor, ErrorWithBiases ) {
+  Bias bias(Vector3(0.2, 0, 0), Vector3(0, 0, 0.3)); // Biases (acc, rot)
+  Bias bias2(Vector3(0.2, 0.2, 0), Vector3(1, 0, 0.3)); // Biases (acc, rot)
+  Pose3 x1(Rot3::Expmap(Vector3(0, 0, M_PI / 4.0)), Point3(5.0, 1.0, -50.0));
+  Vector3 v1(0.5, 0.0, 0.0);
+  Pose3 x2(Rot3::Expmap(Vector3(0, 0, M_PI / 4.0 + M_PI / 10.0)),
+      Point3(5.5, 1.0, -50.0));
+  Vector3 v2(0.5, 0.0, 0.0);
+
+  auto p = testing::Params();
+  p->omegaCoriolis = Vector3(0,0.1,0.1);
+  PreintegratedImuMeasurements pim(
+      p, Bias(Vector3(0.2, 0.0, 0.0), Vector3(0.0, 0.0, 0.0)));
+
+  // Measurements
+  Vector3 measuredOmega;
+  measuredOmega << 0, 0, M_PI / 10.0 + 0.3;
+  Vector3 measuredAcc =
+      x1.rotation().unrotate(-p->n_gravity) + Vector3(0.2, 0.0, 0.0);
+  double deltaT = 1.0;
+  double tol = 1e-6;
+
+  pim.integrateMeasurement(measuredAcc, measuredOmega, deltaT);
+
+  PreintegratedCombinedMeasurements combined_pim(p,
+      Bias(Vector3(0.2, 0.0, 0.0), Vector3(0.0, 0.0, 0.0)));
+
+  combined_pim.integrateMeasurement(measuredAcc, measuredOmega, deltaT);
+
+  // Create factor
+  ImuFactor imuFactor(X(1), V(1), X(2), V(2), B(1), pim);
+
+  noiseModel::Gaussian::shared_ptr Combinedmodel =
+      noiseModel::Gaussian::Covariance(combined_pim.preintMeasCov());
+  CombinedImuFactor combinedfactor(X(1), V(1), X(2), V(2), B(1), B(2),
+                                   combined_pim);
+
+  Vector errorExpected = imuFactor.evaluateError(x1, v1, x2, v2, bias);
+  Vector errorActual = combinedfactor.evaluateError(x1, v1, x2, v2, bias,
+      bias2);
+  EXPECT(assert_equal(errorExpected, errorActual.head(9), tol));
+
+  // Expected Jacobians
+  Matrix H1e, H2e, H3e, H4e, H5e;
+  (void) imuFactor.evaluateError(x1, v1, x2, v2, bias, H1e, H2e, H3e, H4e, H5e);
+
+  // Actual Jacobians
+  Matrix H1a, H2a, H3a, H4a, H5a, H6a;
+  (void) combinedfactor.evaluateError(x1, v1, x2, v2, bias, bias2, H1a, H2a,
+      H3a, H4a, H5a, H6a);
+
+  EXPECT(assert_equal(H1e, H1a.topRows(9)));
+  EXPECT(assert_equal(H2e, H2a.topRows(9)));
+  EXPECT(assert_equal(H3e, H3a.topRows(9)));
+  EXPECT(assert_equal(H4e, H4a.topRows(9)));
+  EXPECT(assert_equal(H5e, H5a.topRows(9)));
+}
+
+/* ************************************************************************* */
+#ifdef GTSAM_TANGENT_PREINTEGRATION
+TEST(CombinedImuFactor, FirstOrderPreIntegratedMeasurements) {
+  auto p = testing::Params();
+  testing::SomeMeasurements measurements;
+
+  auto preintegrated = [=](const Vector3& a, const Vector3& w) {
+    PreintegratedImuMeasurements pim(p, Bias(a, w));
+    testing::integrateMeasurements(measurements, &pim);
+    return pim.preintegrated();
+  };
+
+  // Actual pre-integrated values
+  PreintegratedCombinedMeasurements pim(p);
+  testing::integrateMeasurements(measurements, &pim);
+
+  EXPECT(assert_equal(numericalDerivative21<Vector9, Vector3, Vector3>(preintegrated, Z_3x1, Z_3x1),
+                      pim.preintegrated_H_biasAcc()));
+  EXPECT(assert_equal(numericalDerivative22<Vector9, Vector3, Vector3>(preintegrated, Z_3x1, Z_3x1),
+                      pim.preintegrated_H_biasOmega(), 1e-3));
+}
+#endif
+
+/* ************************************************************************* */
+TEST(CombinedImuFactor, PredictPositionAndVelocity) {
+  const Bias bias(Vector3(0, 0.1, 0), Vector3(0, 0.1, 0));  // Biases (acc, rot)
+
+  auto p = testing::Params();
+
+  // Measurements
+  const Vector3 measuredOmega(0, 0.1, 0);  // M_PI/10.0+0.3;
+  const Vector3 measuredAcc(0, 1.1, -kGravity);
+  const double deltaT = 0.01;
+
+  PreintegratedCombinedMeasurements pim(p, bias);
+
+  for (int i = 0; i < 100; ++i)
+    pim.integrateMeasurement(measuredAcc, measuredOmega, deltaT);
+
+  // Create factor
+  const noiseModel::Gaussian::shared_ptr combinedmodel =
+      noiseModel::Gaussian::Covariance(pim.preintMeasCov());
+  const CombinedImuFactor Combinedfactor(X(1), V(1), X(2), V(2), B(1), B(2), pim);
+
+  // Predict
+  const NavState actual = pim.predict(NavState(), bias);
+  const Pose3 expectedPose(Rot3(), Point3(0, 0.5, 0));
+  const Vector3 expectedVelocity(0, 1, 0);
+  EXPECT(assert_equal(expectedPose, actual.pose()));
+  EXPECT(assert_equal(Vector(expectedVelocity), Vector(actual.velocity())));
+}
+
+/* ************************************************************************* */
+TEST(CombinedImuFactor, PredictRotation) {
+  const Bias bias(Vector3(0, 0, 0), Vector3(0, 0, 0)); // Biases (acc, rot)
+  auto p = testing::Params();
+  PreintegratedCombinedMeasurements pim(p, bias);
+  const Vector3 measuredAcc = - kGravityAlongNavZDown;
+  const Vector3 measuredOmega(0, 0, M_PI / 10.0);
+  const double deltaT = 0.01;
+  const double tol = 1e-4;
+  for (int i = 0; i < 100; ++i)
+    pim.integrateMeasurement(measuredAcc, measuredOmega, deltaT);
+  const CombinedImuFactor Combinedfactor(X(1), V(1), X(2), V(2), B(1), B(2), pim);
+
+  // Predict
+  const Pose3 x(Rot3::Ypr(0, 0, 0), Point3(0, 0, 0)), x2;
+  const Vector3 v(0, 0, 0), v2;
+  const NavState actual = pim.predict(NavState(x, v), bias);
+  const Pose3 expectedPose(Rot3::Ypr(M_PI / 10, 0, 0), Point3(0, 0, 0));
+  EXPECT(assert_equal(expectedPose, actual.pose(), tol));
+}
+
+/* ************************************************************************* */
+// Testing covariance to check if all the jacobians are accounted for.
+TEST(CombinedImuFactor, CheckCovariance) {
+  auto params = PreintegrationCombinedParams::MakeSharedU(9.81);
+
+  params->setAccelerometerCovariance(pow(0.01, 2) * I_3x3);
+  params->setGyroscopeCovariance(pow(1.75e-4, 2) * I_3x3);
+  params->setIntegrationCovariance(pow(0.0, 2) * I_3x3);
+  params->setOmegaCoriolis(Vector3::Zero());
+
+  imuBias::ConstantBias currentBias;
+
+  PreintegratedCombinedMeasurements actual(params, currentBias);
+
+  // Measurements
+  Vector3 measuredAcc(0.1577, -0.8251, 9.6111);
+  Vector3 measuredOmega(-0.0210, 0.0311, 0.0145);
+  double deltaT = 0.01;
+
+  actual.integrateMeasurement(measuredAcc, measuredOmega, deltaT);
+
+  Eigen::Matrix<double, 15, 15> expected;
+  expected << 0.01, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0,  //
+      0, 0.01, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0,          //
+      0, 0, 0.01, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0,          //
+      0, 0, 0, 2.50025e-07, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0,   //
+      0, 0, 0, 0, 2.50025e-07, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0,   //
+      0, 0, 0, 0, 0, 2.50025e-07, 0, 0, 0, 0, 0, 0, 0, 0, 0,   //
+      0, 0, 0, 0, 0, 0, 0.010001, 0, 0, 0, 0, 0, 0, 0, 0,      //
+      0, 0, 0, 0, 0, 0, 0, 0.010001, 0, 0, 0, 0, 0, 0, 0,      //
+      0, 0, 0, 0, 0, 0, 0, 0, 0.010001, 0, 0, 0, 0, 0, 0,      //
+      0, 0, 0, 0, 0, 0, 0, 0, 0, 0.01, 0, 0, 0, 0, 0,          //
+      0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0.01, 0, 0, 0, 0,          //
+      0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0.01, 0, 0, 0,          //
+      0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0.01, 0, 0,          //
+      0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0.01, 0,          //
+      0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0.01;
+
+  // regression
+  EXPECT(assert_equal(expected, actual.preintMeasCov()));
+}
+
+// Test that the covariance values for the ImuFactor and the CombinedImuFactor
+// (top-left 9x9) are the same
+TEST(CombinedImuFactor, SameCovariance) {
   // IMU measurements and time delta
   Vector3 accMeas(0.1577, -0.8251, 9.6111);
   Vector3 omegaMeas(-0.0210, 0.0311, 0.0145);
@@ -278,7 +260,7 @@ TEST(CombinedImuFactor, SameCovariance) {
 
   // Assume zero bias
   imuBias::ConstantBias currentBias;
-  
+
   // Define params for ImuFactor
   auto params = PreintegrationParams::MakeSharedU();
   params->setAccelerometerCovariance(pow(0.01, 2) * I_3x3);
@@ -303,10 +285,35 @@ TEST(CombinedImuFactor, SameCovariance) {
   PreintegratedCombinedMeasurements cpim(combined_params, currentBias);
   cpim.integrateMeasurement(accMeas, omegaMeas, deltaT);
 
-  // Assert if the noise covariance 
-  EXPECT(assert_equal(pim.preintMeasCov(), cpim.preintMeasCov().block(0, 0, 9, 9)));
+  // Assert if the noise covariance
+  EXPECT(assert_equal(pim.preintMeasCov(),
+                      cpim.preintMeasCov().block(0, 0, 9, 9)));
 }
 
+/* ************************************************************************* */
+TEST(CombinedImuFactor, Accelerating) {
+  const double a = 0.2, v = 50;
+
+  // Set up body pointing towards y axis, and start at 10,20,0 with velocity
+  // going in X The body itself has Z axis pointing down
+  const Rot3 nRb(Point3(0, 1, 0), Point3(1, 0, 0), Point3(0, 0, -1));
+  const Point3 initial_position(10, 20, 0);
+  const Vector3 initial_velocity(v, 0, 0);
+
+  const AcceleratingScenario scenario(nRb, initial_position, initial_velocity,
+                                      Vector3(a, 0, 0));
+
+  const double T = 3.0;  // seconds
+
+  CombinedScenarioRunner runner(scenario, testing::Params(), T / 10);
+
+  PreintegratedCombinedMeasurements pim = runner.integrate(T);
+  EXPECT(assert_equal(scenario.pose(T), runner.predict(pim).pose(), 1e-9));
+
+  auto estimatedCov = runner.estimateCovariance(T, 100);
+  Eigen::Matrix<double, 15, 15> expected = pim.preintMeasCov();
+  EXPECT(assert_equal(estimatedCov, expected, 0.1));
+}
 
 /* ************************************************************************* */
 int main() {

From af714cdb5a756a744dd0000a89782a55fb14d66c Mon Sep 17 00:00:00 2001
From: Varun Agrawal <varagrawal@gmail.com>
Date: Tue, 28 Sep 2021 13:43:04 -0400
Subject: [PATCH 022/433] undo name change from 984a90

---
 examples/CombinedImuFactorsExample.cpp               |  4 ++--
 examples/ImuFactorsExample.cpp                       |  4 ++--
 gtsam/navigation/CombinedImuFactor.cpp               | 10 +++++-----
 gtsam/navigation/CombinedImuFactor.h                 | 12 ++++++------
 .../examples/ISAM2_SmartFactorStereo_IMU.cpp         |  2 +-
 tests/testImuPreintegration.cpp                      |  4 ++--
 6 files changed, 18 insertions(+), 18 deletions(-)

diff --git a/examples/CombinedImuFactorsExample.cpp b/examples/CombinedImuFactorsExample.cpp
index 49cdb68354..35ed387c40 100644
--- a/examples/CombinedImuFactorsExample.cpp
+++ b/examples/CombinedImuFactorsExample.cpp
@@ -107,7 +107,7 @@ boost::shared_ptr<PreintegratedCombinedMeasurements::Params> imuParams() {
       I_3x3 * 1e-8;  // error committed in integrating position from velocities
   Matrix33 bias_acc_cov = I_3x3 * pow(accel_bias_rw_sigma, 2);
   Matrix33 bias_omega_cov = I_3x3 * pow(gyro_bias_rw_sigma, 2);
-  Matrix66 bias_acc_omega_int =
+  Matrix66 bias_acc_omega_init =
       I_6x6 * 1e-5;  // error in the bias used for preintegration
 
   auto p = PreintegratedCombinedMeasurements::Params::MakeSharedD(0.0);
@@ -123,7 +123,7 @@ boost::shared_ptr<PreintegratedCombinedMeasurements::Params> imuParams() {
   // PreintegrationCombinedMeasurements params:
   p->biasAccCovariance = bias_acc_cov;      // acc bias in continuous
   p->biasOmegaCovariance = bias_omega_cov;  // gyro bias in continuous
-  p->biasAccOmegaInt = bias_acc_omega_int;
+  p->biasAccOmegaInit = bias_acc_omega_init;
 
   return p;
 }
diff --git a/examples/ImuFactorsExample.cpp b/examples/ImuFactorsExample.cpp
index 38ee4c7c76..12167a19d1 100644
--- a/examples/ImuFactorsExample.cpp
+++ b/examples/ImuFactorsExample.cpp
@@ -94,7 +94,7 @@ boost::shared_ptr<PreintegratedCombinedMeasurements::Params> imuParams() {
       I_3x3 * 1e-8;  // error committed in integrating position from velocities
   Matrix33 bias_acc_cov = I_3x3 * pow(accel_bias_rw_sigma, 2);
   Matrix33 bias_omega_cov = I_3x3 * pow(gyro_bias_rw_sigma, 2);
-  Matrix66 bias_acc_omega_int =
+  Matrix66 bias_acc_omega_init =
       I_6x6 * 1e-5;  // error in the bias used for preintegration
 
   auto p = PreintegratedCombinedMeasurements::Params::MakeSharedD(0.0);
@@ -110,7 +110,7 @@ boost::shared_ptr<PreintegratedCombinedMeasurements::Params> imuParams() {
   // PreintegrationCombinedMeasurements params:
   p->biasAccCovariance = bias_acc_cov;      // acc bias in continuous
   p->biasOmegaCovariance = bias_omega_cov;  // gyro bias in continuous
-  p->biasAccOmegaInt = bias_acc_omega_int;
+  p->biasAccOmegaInit = bias_acc_omega_init;
 
   return p;
 }
diff --git a/gtsam/navigation/CombinedImuFactor.cpp b/gtsam/navigation/CombinedImuFactor.cpp
index de4d3f66db..5d49e4c0b9 100644
--- a/gtsam/navigation/CombinedImuFactor.cpp
+++ b/gtsam/navigation/CombinedImuFactor.cpp
@@ -39,7 +39,7 @@ void PreintegrationCombinedParams::print(const string& s) const {
        << endl;
   cout << "biasOmegaCovariance:\n[\n" << biasOmegaCovariance << "\n]"
        << endl;
-  cout << "biasAccOmegaInt:\n[\n" << biasAccOmegaInt << "\n]"
+  cout << "biasAccOmegaInit:\n[\n" << biasAccOmegaInit << "\n]"
        << endl;
 }
 
@@ -52,7 +52,7 @@ bool PreintegrationCombinedParams::equals(const PreintegratedRotationParams& oth
                             tol) &&
          equal_with_abs_tol(biasOmegaCovariance, e->biasOmegaCovariance,
                             tol) &&
-         equal_with_abs_tol(biasAccOmegaInt, e->biasAccOmegaInt, tol);
+         equal_with_abs_tol(biasAccOmegaInit, e->biasAccOmegaInit, tol);
 }
 
 //------------------------------------------------------------------------------
@@ -137,8 +137,8 @@ void PreintegratedCombinedMeasurements::integrateMeasurement(
   Eigen::Matrix<double, 15, 15> G_measCov_Gt;
   G_measCov_Gt.setZero(15, 15);
 
-  Matrix3 aCov_updated = aCov + p().biasAccOmegaInt.block<3, 3>(0, 0);
-  Matrix3 wCov_updated = wCov + p().biasAccOmegaInt.block<3, 3>(3, 3);
+  Matrix3 aCov_updated = aCov + p().biasAccOmegaInit.block<3, 3>(0, 0);
+  Matrix3 wCov_updated = wCov + p().biasAccOmegaInit.block<3, 3>(3, 3);
 
   // BLOCK DIAGONAL TERMS
   D_t_t(&G_measCov_Gt) = (pos_H_biasAcc  //
@@ -156,7 +156,7 @@ void PreintegratedCombinedMeasurements::integrateMeasurement(
   D_g_g(&G_measCov_Gt) = dt * p().biasOmegaCovariance;
 
   // OFF BLOCK DIAGONAL TERMS
-  Matrix3 temp = vel_H_biasAcc * p().biasAccOmegaInt.block<3, 3>(3, 0)
+  Matrix3 temp = vel_H_biasAcc * p().biasAccOmegaInit.block<3, 3>(3, 0)
       * theta_H_biasOmega.transpose();
   D_v_R(&G_measCov_Gt) = temp;
   D_v_t(&G_measCov_Gt) = vel_H_biasAcc * (aCov / dt) * pos_H_biasAcc.transpose();
diff --git a/gtsam/navigation/CombinedImuFactor.h b/gtsam/navigation/CombinedImuFactor.h
index ce169c1d0b..5849f6f247 100644
--- a/gtsam/navigation/CombinedImuFactor.h
+++ b/gtsam/navigation/CombinedImuFactor.h
@@ -62,19 +62,19 @@ typedef ManifoldPreintegration PreintegrationType;
 struct GTSAM_EXPORT PreintegrationCombinedParams : PreintegrationParams {
   Matrix3 biasAccCovariance;    ///< continuous-time "Covariance" describing accelerometer bias random walk
   Matrix3 biasOmegaCovariance;  ///< continuous-time "Covariance" describing gyroscope bias random walk
-  Matrix6 biasAccOmegaInt;     ///< covariance of bias used for pre-integration
+  Matrix6 biasAccOmegaInit;     ///< covariance of bias used as initial estimate.
 
   /// Default constructor makes uninitialized params struct.
   /// Used for serialization.
   PreintegrationCombinedParams()
       : biasAccCovariance(I_3x3),
         biasOmegaCovariance(I_3x3),
-        biasAccOmegaInt(I_6x6) {}
+        biasAccOmegaInit(I_6x6) {}
 
   /// See two named constructors below for good values of n_gravity in body frame
   PreintegrationCombinedParams(const Vector3& n_gravity) :
     PreintegrationParams(n_gravity), biasAccCovariance(I_3x3),
-    biasOmegaCovariance(I_3x3), biasAccOmegaInt(I_6x6) {
+    biasOmegaCovariance(I_3x3), biasAccOmegaInit(I_6x6) {
 
   }
 
@@ -93,11 +93,11 @@ struct GTSAM_EXPORT PreintegrationCombinedParams : PreintegrationParams {
 
   void setBiasAccCovariance(const Matrix3& cov) { biasAccCovariance=cov; }
   void setBiasOmegaCovariance(const Matrix3& cov) { biasOmegaCovariance=cov; }
-  void setBiasAccOmegaInt(const Matrix6& cov) { biasAccOmegaInt=cov; }
+  void setBiasAccOmegaInt(const Matrix6& cov) { biasAccOmegaInit=cov; }
   
   const Matrix3& getBiasAccCovariance() const { return biasAccCovariance; }
   const Matrix3& getBiasOmegaCovariance() const { return biasOmegaCovariance; }
-  const Matrix6& getBiasAccOmegaInt() const { return biasAccOmegaInt; }
+  const Matrix6& getBiasAccOmegaInt() const { return biasAccOmegaInit; }
   
 private:
 
@@ -109,7 +109,7 @@ struct GTSAM_EXPORT PreintegrationCombinedParams : PreintegrationParams {
     ar & BOOST_SERIALIZATION_BASE_OBJECT_NVP(PreintegrationParams);
     ar & BOOST_SERIALIZATION_NVP(biasAccCovariance);
     ar & BOOST_SERIALIZATION_NVP(biasOmegaCovariance);
-    ar & BOOST_SERIALIZATION_NVP(biasAccOmegaInt);
+    ar & BOOST_SERIALIZATION_NVP(biasAccOmegaInit);
   }
 
 public:
diff --git a/gtsam_unstable/examples/ISAM2_SmartFactorStereo_IMU.cpp b/gtsam_unstable/examples/ISAM2_SmartFactorStereo_IMU.cpp
index c0a102d111..27d87d217f 100644
--- a/gtsam_unstable/examples/ISAM2_SmartFactorStereo_IMU.cpp
+++ b/gtsam_unstable/examples/ISAM2_SmartFactorStereo_IMU.cpp
@@ -57,7 +57,7 @@ struct IMUHelper {
     p->biasAccCovariance = I_3x3 * pow(0.00002, 2.0);  // acc bias in continuous
     p->biasOmegaCovariance =
         I_3x3 * pow(0.001, 2.0);  // gyro bias in continuous
-    p->biasAccOmegaInt = Matrix::Identity(6, 6) * 1e-5;
+    p->biasAccOmegaInit = Matrix::Identity(6, 6) * 1e-5;
 
     // body to IMU rotation
     Rot3 iRb(0.036129, -0.998727, 0.035207,
diff --git a/tests/testImuPreintegration.cpp b/tests/testImuPreintegration.cpp
index 1f584be0ed..94e6fb89f2 100644
--- a/tests/testImuPreintegration.cpp
+++ b/tests/testImuPreintegration.cpp
@@ -43,7 +43,7 @@ TEST(TestImuPreintegration, LoadedSimulationData) {
   double gyrNoiseSigma = 0.000208;
   double gyrBiasRwSigma = 0.000004;
   double integrationCovariance = 1e-8;
-  double biasAccOmegaInt = 1e-5;
+  double biasAccOmegaInit = 1e-5;
 
   double gravity = 9.81;
   double rate = 400.0;  // Hz
@@ -76,7 +76,7 @@ TEST(TestImuPreintegration, LoadedSimulationData) {
   imuPreintegratedParams->gyroscopeCovariance = I_3x3 * pow(gyrNoiseSigma, 2);
   imuPreintegratedParams->biasOmegaCovariance = I_3x3 * pow(gyrBiasRwSigma, 2);
   imuPreintegratedParams->integrationCovariance = I_3x3 * integrationCovariance;
-  imuPreintegratedParams->biasAccOmegaInt = I_6x6 * biasAccOmegaInt;
+  imuPreintegratedParams->biasAccOmegaInit = I_6x6 * biasAccOmegaInit;
 
   // Initial state
   Pose3 priorPose;

From e38ea502d7df488fdbec8072284715c977547e32 Mon Sep 17 00:00:00 2001
From: Varun Agrawal <varagrawal@gmail.com>
Date: Tue, 28 Sep 2021 18:22:15 -0400
Subject: [PATCH 023/433] detailed implementation of CombinedImuFactor noise
 propagation

---
 gtsam/navigation/CombinedImuFactor.cpp | 70 +++++++++++++++++---------
 1 file changed, 45 insertions(+), 25 deletions(-)

diff --git a/gtsam/navigation/CombinedImuFactor.cpp b/gtsam/navigation/CombinedImuFactor.cpp
index 5d49e4c0b9..2dfaae2fd9 100644
--- a/gtsam/navigation/CombinedImuFactor.cpp
+++ b/gtsam/navigation/CombinedImuFactor.cpp
@@ -110,17 +110,22 @@ void PreintegratedCombinedMeasurements::integrateMeasurement(
   // and preintegrated measurements
 
   // Single Jacobians to propagate covariance
-  Matrix3 theta_H_biasOmega = C.topRows<3>();
-  Matrix3 pos_H_biasAcc = B.middleRows<3>(3);
-  Matrix3 vel_H_biasAcc = B.bottomRows<3>();
+  Matrix3 theta_H_omega = C.topRows<3>();
+  Matrix3 pos_H_acc = B.middleRows<3>(3);
+  Matrix3 vel_H_acc = B.bottomRows<3>();
+
+  Matrix3 theta_H_biasOmegaInit = -theta_H_omega;
+  Matrix3 pos_H_biasAccInit = -pos_H_acc;
+  Matrix3 vel_H_biasAcc = -vel_H_acc;
+  Matrix3 vel_H_biasAccInit = -vel_H_acc;
 
   // overall Jacobian wrt preintegrated measurements (df/dx)
   Eigen::Matrix<double, 15, 15> F;
   F.setZero();
   F.block<9, 9>(0, 0) = A;
-  F.block<3, 3>(0, 12) = theta_H_biasOmega;
-  F.block<3, 3>(3, 9) = pos_H_biasAcc;
-  F.block<3, 3>(6, 9) = vel_H_biasAcc;
+  F.block<3, 3>(0, 12) = theta_H_omega;
+  F.block<3, 3>(3, 9) = pos_H_acc;
+  F.block<3, 3>(6, 9) = vel_H_acc;
   F.block<6, 6>(9, 9) = I_6x6;
 
   // Update the uncertainty on the state (matrix F in [4]).
@@ -131,37 +136,52 @@ void PreintegratedCombinedMeasurements::integrateMeasurement(
   const Matrix3& aCov = p().accelerometerCovariance;
   const Matrix3& wCov = p().gyroscopeCovariance;
   const Matrix3& iCov = p().integrationCovariance;
+  const Matrix6& bInitCov = p().biasAccOmegaInit;
 
   // first order uncertainty propagation
   // Optimized matrix mult: (1/dt) * G * measurementCovariance * G.transpose()
   Eigen::Matrix<double, 15, 15> G_measCov_Gt;
   G_measCov_Gt.setZero(15, 15);
 
-  Matrix3 aCov_updated = aCov + p().biasAccOmegaInit.block<3, 3>(0, 0);
-  Matrix3 wCov_updated = wCov + p().biasAccOmegaInit.block<3, 3>(3, 3);
-
   // BLOCK DIAGONAL TERMS
-  D_t_t(&G_measCov_Gt) = (pos_H_biasAcc  //
-      * (aCov_updated / dt)  //
-      * pos_H_biasAcc.transpose()) + (dt * iCov);
-  D_v_v(&G_measCov_Gt) = vel_H_biasAcc  //
-      * (aCov_updated / dt)  //
-      * (vel_H_biasAcc.transpose());
-
-  D_R_R(&G_measCov_Gt) = theta_H_biasOmega  //
-      * (wCov_updated / dt)  //
-      * (theta_H_biasOmega.transpose());
+  D_R_R(&G_measCov_Gt) =
+      (theta_H_omega * (wCov / dt) * theta_H_omega.transpose()) +  //
+      (theta_H_biasOmegaInit * (bInitCov.block<3, 3>(3, 3) / dt) *
+       theta_H_biasOmegaInit.transpose());
+
+  D_t_t(&G_measCov_Gt) =
+      (pos_H_acc * (aCov / dt) * pos_H_acc.transpose())  //
+      + (pos_H_biasAccInit * (bInitCov.block<3, 3>(0, 0) / dt) *
+         pos_H_biasAccInit.transpose())  //
+      + (dt * iCov);
+
+  D_v_v(&G_measCov_Gt) =
+      (vel_H_acc * (aCov / dt) * vel_H_acc.transpose())  //
+      + (vel_H_biasAccInit * (bInitCov.block<3, 3>(0, 0) / dt) *
+         vel_H_biasAccInit.transpose());
 
   D_a_a(&G_measCov_Gt) = dt * p().biasAccCovariance;
   D_g_g(&G_measCov_Gt) = dt * p().biasOmegaCovariance;
 
   // OFF BLOCK DIAGONAL TERMS
-  Matrix3 temp = vel_H_biasAcc * p().biasAccOmegaInit.block<3, 3>(3, 0)
-      * theta_H_biasOmega.transpose();
-  D_v_R(&G_measCov_Gt) = temp;
-  D_v_t(&G_measCov_Gt) = vel_H_biasAcc * (aCov / dt) * pos_H_biasAcc.transpose();
-  D_R_v(&G_measCov_Gt) = temp.transpose();
-  D_t_v(&G_measCov_Gt) = pos_H_biasAcc * (aCov / dt) * vel_H_biasAcc.transpose();
+  D_R_t(&G_measCov_Gt) = theta_H_biasOmegaInit *
+                         (bInitCov.block<3, 3>(3, 0) / dt) *
+                         pos_H_biasAccInit.transpose();
+  D_R_v(&G_measCov_Gt) = theta_H_biasOmegaInit *
+                         (bInitCov.block<3, 3>(3, 0) / dt) *
+                         vel_H_biasAccInit.transpose();
+  D_t_R(&G_measCov_Gt) = pos_H_biasAccInit * (bInitCov.block<3, 3>(0, 3) / dt) *
+                         theta_H_biasOmegaInit.transpose();
+  D_t_v(&G_measCov_Gt) =
+      (pos_H_acc * (aCov / dt) * vel_H_acc.transpose()) +
+      (pos_H_biasAccInit * (bInitCov.block<3, 3>(0, 0) / dt) *
+       vel_H_biasAccInit.transpose());
+  D_v_R(&G_measCov_Gt) = vel_H_biasAccInit * (bInitCov.block<3, 3>(0, 3) / dt) *
+                         theta_H_biasOmegaInit.transpose();
+  D_v_t(&G_measCov_Gt) =
+      (vel_H_acc * (aCov / dt) * pos_H_acc.transpose()) +
+      (vel_H_biasAccInit * (bInitCov.block<3, 3>(0, 0) / dt) *
+       pos_H_biasAccInit.transpose());
 
   preintMeasCov_.noalias() += G_measCov_Gt;
 }

From 3cee1b71ec55d157e7a4654c984fb9d40ae15550 Mon Sep 17 00:00:00 2001
From: Varun Agrawal <varagrawal@gmail.com>
Date: Thu, 30 Sep 2021 09:01:23 -0400
Subject: [PATCH 024/433] test passes

---
 gtsam/navigation/CombinedImuFactor.cpp | 6 +++---
 gtsam/navigation/ScenarioRunner.cpp    | 3 ++-
 2 files changed, 5 insertions(+), 4 deletions(-)

diff --git a/gtsam/navigation/CombinedImuFactor.cpp b/gtsam/navigation/CombinedImuFactor.cpp
index 2dfaae2fd9..64d555e2e6 100644
--- a/gtsam/navigation/CombinedImuFactor.cpp
+++ b/gtsam/navigation/CombinedImuFactor.cpp
@@ -145,9 +145,9 @@ void PreintegratedCombinedMeasurements::integrateMeasurement(
 
   // BLOCK DIAGONAL TERMS
   D_R_R(&G_measCov_Gt) =
-      (theta_H_omega * (wCov / dt) * theta_H_omega.transpose()) +  //
-      (theta_H_biasOmegaInit * (bInitCov.block<3, 3>(3, 3) / dt) *
-       theta_H_biasOmegaInit.transpose());
+      (theta_H_omega * (wCov / dt) * theta_H_omega.transpose())  //
+      + (theta_H_biasOmegaInit * (bInitCov.block<3, 3>(3, 3) / dt) *
+         theta_H_biasOmegaInit.transpose());
 
   D_t_t(&G_measCov_Gt) =
       (pos_H_acc * (aCov / dt) * pos_H_acc.transpose())  //
diff --git a/gtsam/navigation/ScenarioRunner.cpp b/gtsam/navigation/ScenarioRunner.cpp
index 3a447dcab6..9d3e258de9 100644
--- a/gtsam/navigation/ScenarioRunner.cpp
+++ b/gtsam/navigation/ScenarioRunner.cpp
@@ -145,7 +145,8 @@ Eigen::Matrix<double, 15, 15> CombinedScenarioRunner::estimateCovariance(
     auto pim = integrate(T, estimatedBias, true);
     NavState sampled = predict(pim);
     Vector15 xi = Vector15::Zero();
-    xi << sampled.localCoordinates(prediction), estimatedBias_.vector();
+    xi << sampled.localCoordinates(prediction),
+        (estimatedBias_.vector() - estimatedBias.vector());
     samples.col(i) = xi;
     sum += xi;
   }

From dfa32e50207a3b69be71ad3b17df9093ae98d8c9 Mon Sep 17 00:00:00 2001
From: Varun Agrawal <varagrawal@gmail.com>
Date: Sat, 9 Oct 2021 22:51:48 -0400
Subject: [PATCH 025/433] lyx update

---
 doc/ImuFactor.lyx | 80 ++++++++++++++++++++++++++++++++++++++---------
 1 file changed, 66 insertions(+), 14 deletions(-)

diff --git a/doc/ImuFactor.lyx b/doc/ImuFactor.lyx
index f76ede023f..80c160e6ee 100644
--- a/doc/ImuFactor.lyx
+++ b/doc/ImuFactor.lyx
@@ -227,16 +227,62 @@ preintegrated_
 
 \begin_layout Standard
 The main function of a factor is to calculate an error.
- The easiest case to look at is the NavState variant in ImuFactor2, which
- is given as:
+ This is done exactly the same in both variants: 
 \begin_inset Formula 
 \begin{equation}
-\Delta X_{ij}=X_{j}-\hat{X_{ij}}\label{eq:imu-factor-error}
+e(X_{i},X_{j})=X_{j}\ominus\widehat{X_{j}}\label{eq:imu-factor-error}
 \end{equation}
 
 \end_inset
 
+where the predicted NavState 
+\begin_inset Formula $\widehat{X_{j}}$
+\end_inset
+
+ at time 
+\begin_inset Formula $t_{j}$
+\end_inset
+
+ is a function of the NavState 
+\begin_inset Formula $X_{i}$
+\end_inset
+
+ at time 
+\begin_inset Formula $t_{i}$
+\end_inset
+
+ and the preintegrated measurements 
+\begin_inset Formula $PIM$
+\end_inset
+
+:
+\begin_inset Formula 
+\[
+\widehat{X_{j}}=f(X_{i},PIM)
+\]
+
+\end_inset
+
+The noise model associated with this factor is assumed to be zero-mean Gaussian
+ with a 
+\begin_inset Formula $9\times9$
+\end_inset
+
+ covariance matrix 
+\begin_inset Formula $\Sigma_{ij}$
+\end_inset
 
+, which is defined in the tangent space 
+\begin_inset Formula $T_{X_{j}}\mathcal{N}$
+\end_inset
+
+ of the NavState manifold at the NavState 
+\begin_inset Formula $X_{j}$
+\end_inset
+
+.
+ This covariance matrix is computed in the preintegrated measurement class,
+ of which there are two variants as discussed above.
 \end_layout
 
 \begin_layout Subsubsection*
@@ -282,6 +328,14 @@ Gyroscope Covariance
 : Measurement uncertainty of the gyroscope.
 \end_layout
 
+\begin_layout Itemize
+Gyroscope Bias Covariance 
+\begin_inset Formula $Q_{\Delta b^{\omega}}$
+\end_inset
+
+ : The covariance associated with the gyroscope bias random walk.
+\end_layout
+
 \begin_layout Itemize
 Accelerometer Covariance 
 \begin_inset Formula $Q_{acc}$
@@ -298,14 +352,6 @@ Accelerometer Bias Covariance
  : The covariance associated with the accelerometer bias random walk.
 \end_layout
 
-\begin_layout Itemize
-Gyroscope Bias Covariance 
-\begin_inset Formula $Q_{\Delta b^{\omega}}$
-\end_inset
-
- : The covariance associated with the gyroscope bias random walk.
-\end_layout
-
 \begin_layout Itemize
 Integration Covariance 
 \begin_inset Formula $Q_{int}$
@@ -1469,7 +1515,12 @@ Noise Propagation in IMU Factor
 \end_layout
 
 \begin_layout Standard
-Even when we assume uncorrelated noise on 
+We wish to compute the ImuFactor covariance matrix 
+\begin_inset Formula $\Sigma_{ij}$
+\end_inset
+
+.
+ Even when we assume uncorrelated noise on 
 \begin_inset Formula $\omega^{b}$
 \end_inset
 
@@ -1487,11 +1538,12 @@ Even when we assume uncorrelated noise on
 \end_inset
 
  appear in multiple places.
- To model the noise propagation, let us define 
+ To model the noise propagation, let us define the preintegrated navigation
+ state 
 \begin_inset Formula $\zeta_{k}=[\theta_{k},p_{k},v_{k}]$
 \end_inset
 
- and rewrite Eqns.
+, as a 9D vector on tangent space at and rewrite Eqns.
  (
 \begin_inset CommandInset ref
 LatexCommand ref

From 39286f667214a4f7fd88c224943bfb850d5e2a32 Mon Sep 17 00:00:00 2001
From: lcarlone <lcarlone@mit.edu>
Date: Sun, 19 Dec 2021 10:41:07 -0500
Subject: [PATCH 026/433] added clone to play well with gnc

---
 gtsam_unstable/slam/PoseToPointFactor.h | 6 ++++++
 1 file changed, 6 insertions(+)

diff --git a/gtsam_unstable/slam/PoseToPointFactor.h b/gtsam_unstable/slam/PoseToPointFactor.h
index cab48e5069..b9b2ad5cea 100644
--- a/gtsam_unstable/slam/PoseToPointFactor.h
+++ b/gtsam_unstable/slam/PoseToPointFactor.h
@@ -61,6 +61,12 @@ class PoseToPointFactor : public NoiseModelFactor2<POSE, POINT> {
            traits<POINT>::Equals(this->measured_, e->measured_, tol);
   }
 
+  /// @return a deep copy of this factor
+  gtsam::NonlinearFactor::shared_ptr clone() const override {
+    return boost::static_pointer_cast<gtsam::NonlinearFactor>(
+        gtsam::NonlinearFactor::shared_ptr(new This(*this)));
+  }
+
   /** implement functions needed to derive from Factor */
 
   /** vector of errors

From c59fbc825fe2f77c96d2e8a1bd7c509c3bf7189c Mon Sep 17 00:00:00 2001
From: lcarlone <lcarlone@mit.edu>
Date: Wed, 5 Jan 2022 23:01:57 -0500
Subject: [PATCH 027/433] ruled out corner case where weights are outside [0,1]
 in TLS

---
 gtsam/nonlinear/GncOptimizer.h | 8 +++-----
 1 file changed, 3 insertions(+), 5 deletions(-)

diff --git a/gtsam/nonlinear/GncOptimizer.h b/gtsam/nonlinear/GncOptimizer.h
index 3025d24681..9601e5f8c3 100644
--- a/gtsam/nonlinear/GncOptimizer.h
+++ b/gtsam/nonlinear/GncOptimizer.h
@@ -439,13 +439,11 @@ class GTSAM_EXPORT GncOptimizer {
         for (size_t k : unknownWeights) {
           if (nfg_[k]) {
             double u2_k = nfg_[k]->error(currentEstimate);  // squared (and whitened) residual
-            if (u2_k >= upperbound) {
+            weights[k] = std::sqrt(barcSq_[k] * mu * (mu + 1) / u2_k) - mu;
+            if (u2_k >= upperbound || weights[k] < 0) {
               weights[k] = 0;
-            } else if (u2_k <= lowerbound) {
+            } else if (u2_k <= lowerbound || weights[k] > 1) {
               weights[k] = 1;
-            } else {
-              weights[k] = std::sqrt(barcSq_[k] * mu * (mu + 1) / u2_k)
-                  - mu;
             }
           }
         }

From 859e4cb37af125b9351db22dc86837077d5c62f9 Mon Sep 17 00:00:00 2001
From: lcarlone <lcarlone@mit.edu>
Date: Wed, 12 Jan 2022 21:31:22 -0500
Subject: [PATCH 028/433] thresholded mu to avoid case mu = 0 in TLS. improved
 verbosity handling

---
 gtsam/nonlinear/GncOptimizer.h | 25 +++++++++++++++++++------
 gtsam/nonlinear/GncParams.h    |  2 ++
 2 files changed, 21 insertions(+), 6 deletions(-)

diff --git a/gtsam/nonlinear/GncOptimizer.h b/gtsam/nonlinear/GncOptimizer.h
index 3025d24681..6c8519aac4 100644
--- a/gtsam/nonlinear/GncOptimizer.h
+++ b/gtsam/nonlinear/GncOptimizer.h
@@ -206,9 +206,11 @@ class GTSAM_EXPORT GncOptimizer {
         std::cout << "GNC Optimizer stopped because all measurements are already known to be inliers or outliers"
                   << std::endl;
       }
+      if (params_.verbosity >= GncParameters::Verbosity::MU) {
+        std::cout << "mu: " << mu << std::endl;
+      }
       if (params_.verbosity >= GncParameters::Verbosity::VALUES) {
         result.print("result\n");
-        std::cout << "mu: " << mu << std::endl;
       }
       return result;
     }
@@ -217,12 +219,16 @@ class GTSAM_EXPORT GncOptimizer {
     for (iter = 0; iter < params_.maxIterations; iter++) {
 
       // display info
-      if (params_.verbosity >= GncParameters::Verbosity::VALUES) {
+      if (params_.verbosity >= GncParameters::Verbosity::MU) {
         std::cout << "iter: " << iter << std::endl;
-        result.print("result\n");
         std::cout << "mu: " << mu << std::endl;
+      }
+      if (params_.verbosity >= GncParameters::Verbosity::WEIGHTS) {
         std::cout << "weights: " << weights_ << std::endl;
       }
+      if (params_.verbosity >= GncParameters::Verbosity::VALUES) {
+        result.print("result\n");
+      }
       // weights update
       weights_ = calculateWeights(result, mu);
 
@@ -253,10 +259,12 @@ class GTSAM_EXPORT GncOptimizer {
     if (params_.verbosity >= GncParameters::Verbosity::SUMMARY) {
       std::cout << "final iterations: " << iter << std::endl;
       std::cout << "final mu: " << mu << std::endl;
-      std::cout << "final weights: " << weights_ << std::endl;
       std::cout << "previous cost: " << prev_cost << std::endl;
       std::cout << "current cost: " << cost << std::endl;
     }
+    if (params_.verbosity >= GncParameters::Verbosity::WEIGHTS) {
+      std::cout << "final weights: " << weights_ << std::endl;
+    }
     return result;
   }
 
@@ -291,6 +299,9 @@ class GTSAM_EXPORT GncOptimizer {
                 std::min(mu_init, barcSq_[k] / (2 * rk - barcSq_[k]) ) : mu_init;
           }
         }
+        if (mu_init >= 0 && mu_init < 1e-6)
+          mu_init = 1e-6; // if mu ~ 0 (but positive), that means we have measurements with large errors,
+        // i.e., rk > barcSq_[k] and rk very large, hence we threshold to 1e-6 to avoid mu = 0
         return mu_init > 0 && !std::isinf(mu_init) ? mu_init : -1; // if mu <= 0 or mu = inf, return -1,
         // which leads to termination of the main gnc loop. In this case, all residuals are already below the threshold
         // and there is no need to robustify (TLS = least squares)
@@ -338,8 +349,10 @@ class GTSAM_EXPORT GncOptimizer {
   bool checkCostConvergence(const double cost, const double prev_cost) const {
     bool costConverged = std::fabs(cost - prev_cost) / std::max(prev_cost, 1e-7)
         < params_.relativeCostTol;
-    if (costConverged && params_.verbosity >= GncParameters::Verbosity::SUMMARY)
-      std::cout << "checkCostConvergence = true " << std::endl;
+    if (costConverged && params_.verbosity >= GncParameters::Verbosity::SUMMARY){
+      std::cout << "checkCostConvergence = true (prev. cost = " << prev_cost
+                << ", curr. cost = " << cost << ")" << std::endl;
+    }
     return costConverged;
   }
 
diff --git a/gtsam/nonlinear/GncParams.h b/gtsam/nonlinear/GncParams.h
index 086f08acc7..1f324ae388 100644
--- a/gtsam/nonlinear/GncParams.h
+++ b/gtsam/nonlinear/GncParams.h
@@ -48,6 +48,8 @@ class GTSAM_EXPORT GncParams {
   enum Verbosity {
     SILENT = 0,
     SUMMARY,
+    MU,
+    WEIGHTS,
     VALUES
   };
 

From ea4ebb6843daec9cd42bb7579e431d6686d1d8f7 Mon Sep 17 00:00:00 2001
From: Fan Jiang <prof.fan@foxmail.com>
Date: Fri, 11 Mar 2022 15:51:34 -0500
Subject: [PATCH 029/433] Fix typo

---
 gtsam/inference/EliminateableFactorGraph.h | 2 +-
 1 file changed, 1 insertion(+), 1 deletion(-)

diff --git a/gtsam/inference/EliminateableFactorGraph.h b/gtsam/inference/EliminateableFactorGraph.h
index c904d2f7ff..900346f7fb 100644
--- a/gtsam/inference/EliminateableFactorGraph.h
+++ b/gtsam/inference/EliminateableFactorGraph.h
@@ -204,7 +204,7 @@ namespace gtsam {
       OptionalVariableIndex variableIndex = boost::none) const;
 
     /** Do multifrontal elimination of the given \c variables in an ordering computed by COLAMD to
-     *  produce a Bayes net and a remaining factor graph.  This computes the factorization \f$ p(X)
+     *  produce a Bayes tree and a remaining factor graph.  This computes the factorization \f$ p(X)
      *  = p(A|B) p(B) \f$, where \f$ A = \f$ \c variables, \f$ X \f$ is all the variables in the
      *  factor graph, and \f$ B = X\backslash A \f$. */
     std::pair<boost::shared_ptr<BayesTreeType>, boost::shared_ptr<FactorGraphType> >

From 0567303ed3334508cf5ab0c19903b22a5d3fd9e1 Mon Sep 17 00:00:00 2001
From: Fan Jiang <prof.fan@foxmail.com>
Date: Fri, 11 Mar 2022 15:52:28 -0500
Subject: [PATCH 030/433] Prototype a type-erased hybrid machinery

---
 gtsam/CMakeLists.txt                         |  1 +
 gtsam/hybrid/CGMixtureFactor.cpp             |  5 +
 gtsam/hybrid/CGMixtureFactor.h               | 23 +++++
 gtsam/hybrid/CMakeLists.txt                  |  8 ++
 gtsam/hybrid/HybridBayesNet.cpp              | 16 ++++
 gtsam/hybrid/HybridBayesNet.h                | 43 +++++++++
 gtsam/hybrid/HybridBayesTree.cpp             | 38 ++++++++
 gtsam/hybrid/HybridBayesTree.h               | 77 +++++++++++++++
 gtsam/hybrid/HybridConditional.cpp           | 23 +++++
 gtsam/hybrid/HybridConditional.h             | 99 ++++++++++++++++++++
 gtsam/hybrid/HybridDiscreteFactor.cpp        | 19 ++++
 gtsam/hybrid/HybridDiscreteFactor.h          | 34 +++++++
 gtsam/hybrid/HybridEliminationTree.cpp       | 43 +++++++++
 gtsam/hybrid/HybridEliminationTree.h         | 62 ++++++++++++
 gtsam/hybrid/HybridFactor.cpp                | 18 ++++
 gtsam/hybrid/HybridFactor.h                  | 83 ++++++++++++++++
 gtsam/hybrid/HybridFactorGraph.cpp           | 58 ++++++++++++
 gtsam/hybrid/HybridFactorGraph.h             | 83 ++++++++++++++++
 gtsam/hybrid/HybridGaussianFactor.cpp        | 23 +++++
 gtsam/hybrid/HybridGaussianFactor.h          | 39 ++++++++
 gtsam/hybrid/HybridJunctionTree.cpp          | 34 +++++++
 gtsam/hybrid/HybridJunctionTree.h            | 67 +++++++++++++
 gtsam/hybrid/tests/CMakeLists.txt            |  1 +
 gtsam/hybrid/tests/testHybridConditional.cpp | 73 +++++++++++++++
 24 files changed, 970 insertions(+)
 create mode 100644 gtsam/hybrid/CGMixtureFactor.cpp
 create mode 100644 gtsam/hybrid/CGMixtureFactor.h
 create mode 100644 gtsam/hybrid/CMakeLists.txt
 create mode 100644 gtsam/hybrid/HybridBayesNet.cpp
 create mode 100644 gtsam/hybrid/HybridBayesNet.h
 create mode 100644 gtsam/hybrid/HybridBayesTree.cpp
 create mode 100644 gtsam/hybrid/HybridBayesTree.h
 create mode 100644 gtsam/hybrid/HybridConditional.cpp
 create mode 100644 gtsam/hybrid/HybridConditional.h
 create mode 100644 gtsam/hybrid/HybridDiscreteFactor.cpp
 create mode 100644 gtsam/hybrid/HybridDiscreteFactor.h
 create mode 100644 gtsam/hybrid/HybridEliminationTree.cpp
 create mode 100644 gtsam/hybrid/HybridEliminationTree.h
 create mode 100644 gtsam/hybrid/HybridFactor.cpp
 create mode 100644 gtsam/hybrid/HybridFactor.h
 create mode 100644 gtsam/hybrid/HybridFactorGraph.cpp
 create mode 100644 gtsam/hybrid/HybridFactorGraph.h
 create mode 100644 gtsam/hybrid/HybridGaussianFactor.cpp
 create mode 100644 gtsam/hybrid/HybridGaussianFactor.h
 create mode 100644 gtsam/hybrid/HybridJunctionTree.cpp
 create mode 100644 gtsam/hybrid/HybridJunctionTree.h
 create mode 100644 gtsam/hybrid/tests/CMakeLists.txt
 create mode 100644 gtsam/hybrid/tests/testHybridConditional.cpp

diff --git a/gtsam/CMakeLists.txt b/gtsam/CMakeLists.txt
index a293c6ec28..845ac7cd0f 100644
--- a/gtsam/CMakeLists.txt
+++ b/gtsam/CMakeLists.txt
@@ -10,6 +10,7 @@ set (gtsam_subdirs
     inference
     symbolic
     discrete
+	hybrid
     linear
     nonlinear
     sam
diff --git a/gtsam/hybrid/CGMixtureFactor.cpp b/gtsam/hybrid/CGMixtureFactor.cpp
new file mode 100644
index 0000000000..d789825f77
--- /dev/null
+++ b/gtsam/hybrid/CGMixtureFactor.cpp
@@ -0,0 +1,5 @@
+//
+// Created by Fan Jiang on 3/11/22.
+//
+
+#include "CGMixtureFactor.h"
diff --git a/gtsam/hybrid/CGMixtureFactor.h b/gtsam/hybrid/CGMixtureFactor.h
new file mode 100644
index 0000000000..f2fa1e54a0
--- /dev/null
+++ b/gtsam/hybrid/CGMixtureFactor.h
@@ -0,0 +1,23 @@
+/* ----------------------------------------------------------------------------
+ * Copyright 2021 The Ambitious Folks of the MRG
+ * See LICENSE for the license information
+ * -------------------------------------------------------------------------- */
+
+/**
+ * @file   CGMixtureFactor.h
+ * @brief  Custom hybrid factor graph for discrete + continuous factors
+ * @author Kevin Doherty, kdoherty@mit.edu
+ * @author Varun Agrawal
+ * @author Fan Jiang
+ * @date   December 2021
+ */
+
+#include <gtsam/hybrid/HybridFactor.h>
+
+namespace gtsam {
+
+class CGMixtureFactor : HybridFactor {
+
+};
+
+}
diff --git a/gtsam/hybrid/CMakeLists.txt b/gtsam/hybrid/CMakeLists.txt
new file mode 100644
index 0000000000..f1cfcd5c4b
--- /dev/null
+++ b/gtsam/hybrid/CMakeLists.txt
@@ -0,0 +1,8 @@
+# Install headers
+set(subdir hybrid)
+file(GLOB hybrid_headers "*.h")
+# FIXME: exclude headers
+install(FILES ${hybrid_headers} DESTINATION include/gtsam/hybrid)
+
+# Add all tests
+add_subdirectory(tests)
diff --git a/gtsam/hybrid/HybridBayesNet.cpp b/gtsam/hybrid/HybridBayesNet.cpp
new file mode 100644
index 0000000000..1292711d89
--- /dev/null
+++ b/gtsam/hybrid/HybridBayesNet.cpp
@@ -0,0 +1,16 @@
+/* ----------------------------------------------------------------------------
+ * GTSAM Copyright 2010, Georgia Tech Research Corporation,
+ * Atlanta, Georgia 30332-0415
+ * All Rights Reserved
+ * Authors: Frank Dellaert, et al. (see THANKS for the full author list)
+ * See LICENSE for the license information
+ * -------------------------------------------------------------------------- */
+
+/**
+ * @file   HybridBayesNet.cpp
+ * @brief  A bayes net of Gaussian Conditionals indexed by discrete keys.
+ * @author Fan Jiang
+ * @date   January 2022
+ */
+
+#include <gtsam/hybrid/HybridBayesNet.h>
diff --git a/gtsam/hybrid/HybridBayesNet.h b/gtsam/hybrid/HybridBayesNet.h
new file mode 100644
index 0000000000..53d10518fe
--- /dev/null
+++ b/gtsam/hybrid/HybridBayesNet.h
@@ -0,0 +1,43 @@
+/* ----------------------------------------------------------------------------
+ * GTSAM Copyright 2010, Georgia Tech Research Corporation,
+ * Atlanta, Georgia 30332-0415
+ * All Rights Reserved
+ * Authors: Frank Dellaert, et al. (see THANKS for the full author list)
+ * See LICENSE for the license information
+ * -------------------------------------------------------------------------- */
+
+/**
+ * @file    HybridBayesNet.h
+ * @brief   A bayes net of Gaussian Conditionals indexed by discrete keys.
+ * @author  Varun Agrawal
+ * @author  Fan Jiang
+ * @author  Frank Dellaert
+ * @date    December 2021
+ */
+
+#pragma once
+
+#include <gtsam/hybrid/HybridConditional.h>
+#include <gtsam/inference/BayesNet.h>
+
+#include <iostream>  // TODO!
+
+namespace gtsam {
+
+/**
+ * A hybrid Bayes net can have discrete conditionals, Gaussian mixtures,
+ * or pure Gaussian conditionals.
+ */
+class GTSAM_EXPORT HybridBayesNet : public BayesNet<HybridConditional> {
+ public:
+  using Base = BayesNet<HybridConditional>;
+  using This = HybridBayesNet;
+  using ConditionalType = HybridConditional;
+  using shared_ptr = boost::shared_ptr<HybridBayesNet>;
+  using sharedConditional = boost::shared_ptr<ConditionalType>;
+
+  /** Construct empty bayes net */
+  HybridBayesNet() : Base() {}
+};
+
+}  // namespace gtsam
\ No newline at end of file
diff --git a/gtsam/hybrid/HybridBayesTree.cpp b/gtsam/hybrid/HybridBayesTree.cpp
new file mode 100644
index 0000000000..72f3fd7946
--- /dev/null
+++ b/gtsam/hybrid/HybridBayesTree.cpp
@@ -0,0 +1,38 @@
+/* ----------------------------------------------------------------------------
+
+ * GTSAM Copyright 2010, Georgia Tech Research Corporation,
+ * Atlanta, Georgia 30332-0415
+ * All Rights Reserved
+ * Authors: Frank Dellaert, et al. (see THANKS for the full author list)
+
+ * See LICENSE for the license information
+
+ * -------------------------------------------------------------------------- */
+
+/**
+ * @file    HybridBayesTree.cpp
+ * @brief   Hybrid Bayes Tree, the result of eliminating a HybridJunctionTree
+ * @brief   HybridBayesTree
+ * @author  Frank Dellaert
+ * @author  Richard Roberts
+ */
+
+#include <gtsam/base/treeTraversal-inst.h>
+#include <gtsam/inference/BayesTree-inst.h>
+#include <gtsam/inference/BayesTreeCliqueBase-inst.h>
+#include <gtsam/hybrid/HybridBayesTree.h>
+#include <gtsam/hybrid/HybridBayesNet.h>
+
+namespace gtsam {
+
+// Instantiate base class
+template class BayesTreeCliqueBase<HybridBayesTreeClique, HybridFactorGraph>;
+template class BayesTree<HybridBayesTreeClique>;
+
+/* ************************************************************************* */
+bool HybridBayesTree::equals(const This& other, double tol) const {
+  return Base::equals(other, tol);
+}
+
+/* **************************************************************************/
+}  // namespace gtsam
diff --git a/gtsam/hybrid/HybridBayesTree.h b/gtsam/hybrid/HybridBayesTree.h
new file mode 100644
index 0000000000..2ea40ceccb
--- /dev/null
+++ b/gtsam/hybrid/HybridBayesTree.h
@@ -0,0 +1,77 @@
+/* ----------------------------------------------------------------------------
+
+ * GTSAM Copyright 2010, Georgia Tech Research Corporation,
+ * Atlanta, Georgia 30332-0415
+ * All Rights Reserved
+ * Authors: Frank Dellaert, et al. (see THANKS for the full author list)
+
+ * See LICENSE for the license information
+
+ * -------------------------------------------------------------------------- */
+
+/**
+ * @file    HybridBayesTree.h
+ * @brief   Hybrid Bayes Tree, the result of eliminating a
+ * HybridJunctionTree
+ * @brief   HybridBayesTree
+ * @author  Frank Dellaert
+ * @author  Richard Roberts
+ */
+
+#pragma once
+
+#include <gtsam/hybrid/HybridBayesNet.h>
+#include <gtsam/hybrid/HybridFactorGraph.h>
+#include <gtsam/inference/BayesTree.h>
+#include <gtsam/inference/Conditional.h>
+#include <gtsam/inference/BayesTreeCliqueBase.h>
+
+#include <string>
+
+namespace gtsam {
+
+// Forward declarations
+class HybridConditional;
+class VectorValues;
+
+/* ************************************************************************* */
+/** A clique in a HybridBayesTree */
+class GTSAM_EXPORT HybridBayesTreeClique
+    : public BayesTreeCliqueBase<HybridBayesTreeClique, HybridFactorGraph> {
+ public:
+  typedef HybridBayesTreeClique This;
+  typedef BayesTreeCliqueBase<HybridBayesTreeClique, HybridFactorGraph>
+      Base;
+  typedef boost::shared_ptr<This> shared_ptr;
+  typedef boost::weak_ptr<This> weak_ptr;
+  HybridBayesTreeClique() {}
+  virtual ~HybridBayesTreeClique() {}
+  HybridBayesTreeClique(
+      const boost::shared_ptr<HybridConditional>& conditional)
+      : Base(conditional) {}
+
+};
+
+/* ************************************************************************* */
+/** A Bayes tree representing a Hybrid density */
+class GTSAM_EXPORT HybridBayesTree
+    : public BayesTree<HybridBayesTreeClique> {
+ private:
+  typedef BayesTree<HybridBayesTreeClique> Base;
+
+ public:
+  typedef HybridBayesTree This;
+  typedef boost::shared_ptr<This> shared_ptr;
+
+  /// @name Standard interface
+  /// @{
+  /** Default constructor, creates an empty Bayes tree */
+  HybridBayesTree() = default;
+
+  /** Check equality */
+  bool equals(const This& other, double tol = 1e-9) const;
+
+  /// @}
+};
+
+}  // namespace gtsam
diff --git a/gtsam/hybrid/HybridConditional.cpp b/gtsam/hybrid/HybridConditional.cpp
new file mode 100644
index 0000000000..e6b2eb47f1
--- /dev/null
+++ b/gtsam/hybrid/HybridConditional.cpp
@@ -0,0 +1,23 @@
+//
+// Created by Fan Jiang on 3/11/22.
+//
+
+#include <gtsam/hybrid/HybridConditional.h>
+#include <gtsam/inference/Conditional-inst.h>
+
+namespace gtsam {
+void HybridConditional::print(const std::string &s,
+                                     const KeyFormatter &formatter) const {
+  Conditional::print(s, formatter);
+}
+
+bool HybridConditional::equals(const HybridFactor &other,
+                                      double tol) const {
+  return false;
+}
+
+HybridConditional HybridConditional::operator*(const HybridConditional &other) const {
+  return {};
+}
+}
+
diff --git a/gtsam/hybrid/HybridConditional.h b/gtsam/hybrid/HybridConditional.h
new file mode 100644
index 0000000000..d6dd8250fe
--- /dev/null
+++ b/gtsam/hybrid/HybridConditional.h
@@ -0,0 +1,99 @@
+/* ----------------------------------------------------------------------------
+
+ * GTSAM Copyright 2010, Georgia Tech Research Corporation,
+ * Atlanta, Georgia 30332-0415
+ * All Rights Reserved
+ * Authors: Frank Dellaert, et al. (see THANKS for the full author list)
+
+ * See LICENSE for the license information
+
+ * -------------------------------------------------------------------------- */
+
+/**
+ *  @file HybridConditional.h
+ *  @date Mar 11, 2022
+ *  @author Fan Jiang
+ */
+
+#pragma once
+
+#include <gtsam/hybrid/HybridFactor.h>
+#include <gtsam/discrete/DiscreteConditional.h>
+#include <gtsam/inference/Conditional.h>
+
+
+#include <boost/make_shared.hpp>
+#include <boost/shared_ptr.hpp>
+#include <string>
+#include <vector>
+
+namespace gtsam {
+
+/**
+ * Hybrid Conditional Density
+ *
+ * As a type-erased variant of:
+ * - DiscreteConditional
+ * - GaussianMixture
+ * - GaussianConditional
+ */
+class GTSAM_EXPORT HybridConditional
+: public HybridFactor,
+public Conditional<HybridFactor, HybridConditional> {
+public:
+// typedefs needed to play nice with gtsam
+typedef HybridConditional This;            ///< Typedef to this class
+typedef boost::shared_ptr<This> shared_ptr;  ///< shared_ptr to this class
+typedef HybridFactor BaseFactor;  ///< Typedef to our factor base class
+typedef Conditional<BaseFactor, This>
+    BaseConditional;  ///< Typedef to our conditional base class
+
+private:
+// Type-erased pointer to the inner type
+std::unique_ptr<Factor> inner;
+
+public:
+/// @name Standard Constructors
+/// @{
+
+/// Default constructor needed for serialization.
+HybridConditional() = default;
+
+/**
+ * @brief Combine two conditionals, yielding a new conditional with the union
+ * of the frontal keys, ordered by gtsam::Key.
+ *
+ * The two conditionals must make a valid Bayes net fragment, i.e.,
+ * the frontal variables cannot overlap, and must be acyclic:
+ * Example of correct use:
+ *   P(A,B) = P(A|B) * P(B)
+ *   P(A,B|C) = P(A|B) * P(B|C)
+ *   P(A,B,C) = P(A,B|C) * P(C)
+ * Example of incorrect use:
+ *   P(A|B) * P(A|C) = ?
+ *   P(A|B) * P(B|A) = ?
+ * We check for overlapping frontals, but do *not* check for cyclic.
+ */
+HybridConditional operator*(const HybridConditional& other) const;
+
+/// @}
+/// @name Testable
+/// @{
+
+/// GTSAM-style print
+void print(
+    const std::string& s = "Hybrid Conditional: ",
+    const KeyFormatter& formatter = DefaultKeyFormatter) const override;
+
+/// GTSAM-style equals
+bool equals(const HybridFactor& other, double tol = 1e-9) const override;
+
+/// @}
+};
+// DiscreteConditional
+
+// traits
+template <>
+struct traits<HybridConditional> : public Testable<DiscreteConditional> {};
+
+}  // namespace gtsam
diff --git a/gtsam/hybrid/HybridDiscreteFactor.cpp b/gtsam/hybrid/HybridDiscreteFactor.cpp
new file mode 100644
index 0000000000..fded0a2dff
--- /dev/null
+++ b/gtsam/hybrid/HybridDiscreteFactor.cpp
@@ -0,0 +1,19 @@
+//
+// Created by Fan Jiang on 3/11/22.
+//
+
+#include <gtsam/hybrid/HybridDiscreteFactor.h>
+
+#include <boost/make_shared.hpp>
+
+namespace gtsam {
+
+HybridDiscreteFactor::HybridDiscreteFactor(DiscreteFactor::shared_ptr other) {
+  inner = other;
+}
+
+HybridDiscreteFactor::HybridDiscreteFactor(DecisionTreeFactor &&dtf) : inner(boost::make_shared<DecisionTreeFactor>(std::move(dtf))) {
+
+};
+
+}
\ No newline at end of file
diff --git a/gtsam/hybrid/HybridDiscreteFactor.h b/gtsam/hybrid/HybridDiscreteFactor.h
new file mode 100644
index 0000000000..4b1c006721
--- /dev/null
+++ b/gtsam/hybrid/HybridDiscreteFactor.h
@@ -0,0 +1,34 @@
+/* ----------------------------------------------------------------------------
+
+ * GTSAM Copyright 2010, Georgia Tech Research Corporation,
+ * Atlanta, Georgia 30332-0415
+ * All Rights Reserved
+ * Authors: Frank Dellaert, et al. (see THANKS for the full author list)
+
+ * See LICENSE for the license information
+
+ * -------------------------------------------------------------------------- */
+
+/**
+ *  @file HybridDiscreteFactor.h
+ *  @date Mar 11, 2022
+ *  @author Fan Jiang
+ */
+
+#include <gtsam/discrete/DiscreteFactor.h>
+#include <gtsam/discrete/DecisionTreeFactor.h>
+#include <gtsam/hybrid/HybridFactor.h>
+
+namespace gtsam {
+
+class HybridDiscreteFactor : public HybridFactor {
+ public:
+  DiscreteFactor::shared_ptr inner;
+
+  // Implicit conversion from a shared ptr of GF
+  HybridDiscreteFactor(DiscreteFactor::shared_ptr other);
+
+  // Forwarding constructor from concrete JacobianFactor
+  HybridDiscreteFactor(DecisionTreeFactor &&dtf);
+};
+}
diff --git a/gtsam/hybrid/HybridEliminationTree.cpp b/gtsam/hybrid/HybridEliminationTree.cpp
new file mode 100644
index 0000000000..ff106095a5
--- /dev/null
+++ b/gtsam/hybrid/HybridEliminationTree.cpp
@@ -0,0 +1,43 @@
+/* ----------------------------------------------------------------------------
+
+ * GTSAM Copyright 2010, Georgia Tech Research Corporation,
+ * Atlanta, Georgia 30332-0415
+ * All Rights Reserved
+ * Authors: Frank Dellaert, et al. (see THANKS for the full author list)
+
+ * See LICENSE for the license information
+
+ * -------------------------------------------------------------------------- */
+
+/**
+ * @file HybridEliminationTree.cpp
+ * @date Mar 11, 2022
+ * @author Fan Jiang
+ */
+
+#include <gtsam/inference/EliminationTree-inst.h>
+#include <gtsam/hybrid/HybridEliminationTree.h>
+
+namespace gtsam {
+
+// Instantiate base class
+template class EliminationTree<HybridBayesNet, HybridFactorGraph>;
+
+/* ************************************************************************* */
+HybridEliminationTree::HybridEliminationTree(
+    const HybridFactorGraph& factorGraph, const VariableIndex& structure,
+    const Ordering& order) :
+    Base(factorGraph, structure, order) {}
+
+/* ************************************************************************* */
+HybridEliminationTree::HybridEliminationTree(
+    const HybridFactorGraph& factorGraph, const Ordering& order) :
+    Base(factorGraph, order) {}
+
+/* ************************************************************************* */
+bool HybridEliminationTree::equals(const This& other, double tol) const
+{
+  return Base::equals(other, tol);
+}
+
+}
diff --git a/gtsam/hybrid/HybridEliminationTree.h b/gtsam/hybrid/HybridEliminationTree.h
new file mode 100644
index 0000000000..e218ce9f63
--- /dev/null
+++ b/gtsam/hybrid/HybridEliminationTree.h
@@ -0,0 +1,62 @@
+/* ----------------------------------------------------------------------------
+
+ * GTSAM Copyright 2010, Georgia Tech Research Corporation,
+ * Atlanta, Georgia 30332-0415
+ * All Rights Reserved
+ * Authors: Frank Dellaert, et al. (see THANKS for the full author list)
+
+ * See LICENSE for the license information
+
+ * -------------------------------------------------------------------------- */
+
+/**
+ * @file HybridEliminationTree.h
+ * @date Mar 11, 2022
+ * @author Fan Jiang
+ */
+
+#pragma once
+
+#include <gtsam/hybrid/HybridBayesNet.h>
+#include <gtsam/hybrid/HybridFactorGraph.h>
+#include <gtsam/inference/EliminationTree.h>
+
+namespace gtsam {
+
+class GTSAM_EXPORT HybridEliminationTree :
+    public EliminationTree<HybridBayesNet, HybridFactorGraph>
+{
+ public:
+  typedef EliminationTree<HybridBayesNet, HybridFactorGraph> Base; ///< Base class
+  typedef HybridEliminationTree This; ///< This class
+  typedef boost::shared_ptr<This> shared_ptr; ///< Shared pointer to this class
+
+  /**
+  * Build the elimination tree of a factor graph using pre-computed column structure.
+  * @param factorGraph The factor graph for which to build the elimination tree
+  * @param structure The set of factors involving each variable.  If this is not
+  * precomputed, you can call the Create(const FactorGraph<DERIVEDFACTOR>&)
+  * named constructor instead.
+  * @return The elimination tree
+  */
+  HybridEliminationTree(const HybridFactorGraph& factorGraph,
+                          const VariableIndex& structure, const Ordering& order);
+
+  /** Build the elimination tree of a factor graph.  Note that this has to compute the column
+  * structure as a VariableIndex, so if you already have this precomputed, use the other
+  * constructor instead.
+  * @param factorGraph The factor graph for which to build the elimination tree
+  */
+  HybridEliminationTree(const HybridFactorGraph& factorGraph,
+                          const Ordering& order);
+
+  /** Test whether the tree is equal to another */
+  bool equals(const This& other, double tol = 1e-9) const;
+
+ private:
+
+  friend class ::EliminationTreeTester;
+
+};
+
+}
diff --git a/gtsam/hybrid/HybridFactor.cpp b/gtsam/hybrid/HybridFactor.cpp
new file mode 100644
index 0000000000..907350e83a
--- /dev/null
+++ b/gtsam/hybrid/HybridFactor.cpp
@@ -0,0 +1,18 @@
+/* ----------------------------------------------------------------------------
+
+ * GTSAM Copyright 2010, Georgia Tech Research Corporation,
+ * Atlanta, Georgia 30332-0415
+ * All Rights Reserved
+ * Authors: Frank Dellaert, et al. (see THANKS for the full author list)
+
+ * See LICENSE for the license information
+
+ * -------------------------------------------------------------------------- */
+
+/**
+ *  @file HybridFactor.cpp
+ *  @date Mar 11, 2022
+ *  @author Fan Jiang
+ */
+
+#include <gtsam/hybrid/HybridFactor.h>
diff --git a/gtsam/hybrid/HybridFactor.h b/gtsam/hybrid/HybridFactor.h
new file mode 100644
index 0000000000..5af1a23a99
--- /dev/null
+++ b/gtsam/hybrid/HybridFactor.h
@@ -0,0 +1,83 @@
+/* ----------------------------------------------------------------------------
+
+ * GTSAM Copyright 2010, Georgia Tech Research Corporation,
+ * Atlanta, Georgia 30332-0415
+ * All Rights Reserved
+ * Authors: Frank Dellaert, et al. (see THANKS for the full author list)
+
+ * See LICENSE for the license information
+
+ * -------------------------------------------------------------------------- */
+
+/**
+ *  @file HybridFactor.h
+ *  @date Mar 11, 2022
+ *  @author Fan Jiang
+ */
+
+#pragma once
+
+#include <gtsam/nonlinear/Values.h>
+#include <gtsam/inference/Factor.h>
+#include <gtsam/base/Testable.h>
+
+#include <string>
+namespace gtsam {
+
+/**
+ * Base class for hybrid probabilistic factors
+ */
+class GTSAM_EXPORT HybridFactor: public Factor {
+
+public:
+
+// typedefs needed to play nice with gtsam
+typedef HybridFactor This; ///< This class
+typedef boost::shared_ptr<HybridFactor> shared_ptr; ///< shared_ptr to this class
+typedef Factor Base; ///< Our base class
+
+using Values = Values; ///< backwards compatibility
+
+public:
+
+/// @name Standard Constructors
+/// @{
+
+/** Default constructor creates empty factor */
+HybridFactor() {}
+
+/** Construct from container of keys.  This constructor is used internally from derived factor
+ *  constructors, either from a container of keys or from a boost::assign::list_of. */
+template<typename CONTAINER>
+HybridFactor(const CONTAINER& keys) : Base(keys) {}
+
+/// Virtual destructor
+virtual ~HybridFactor() {
+}
+
+/// @}
+/// @name Testable
+/// @{
+
+/// equals
+virtual bool equals(const HybridFactor& lf, double tol = 1e-9) const = 0;
+
+/// print
+void print(
+    const std::string& s = "HybridFactor\n",
+    const KeyFormatter& formatter = DefaultKeyFormatter) const override {
+Base::print(s, formatter);
+}
+
+/// @}
+/// @name Standard Interface
+/// @{
+
+/// @}
+};
+// HybridFactor
+
+// traits
+template<> struct traits<HybridFactor> : public Testable<HybridFactor> {};
+
+}// namespace gtsam
diff --git a/gtsam/hybrid/HybridFactorGraph.cpp b/gtsam/hybrid/HybridFactorGraph.cpp
new file mode 100644
index 0000000000..686fddc514
--- /dev/null
+++ b/gtsam/hybrid/HybridFactorGraph.cpp
@@ -0,0 +1,58 @@
+//
+// Created by Fan Jiang on 3/11/22.
+//
+
+#include <gtsam/hybrid/HybridEliminationTree.h>
+#include <gtsam/hybrid/HybridJunctionTree.h>
+#include <gtsam/hybrid/HybridFactorGraph.h>
+
+#include <gtsam/hybrid/HybridGaussianFactor.h>
+
+#include <gtsam/inference/EliminateableFactorGraph-inst.h>
+
+namespace gtsam {
+
+template class EliminateableFactorGraph<HybridFactorGraph>;
+
+/* ************************************************************************ */
+std::pair<HybridConditional::shared_ptr, HybridFactor::shared_ptr>  //
+EliminateHybrid(const HybridFactorGraph& factors,
+                  const Ordering& frontalKeys) {
+  // NOTE(fan): Because we are in the Conditional Gaussian regime there are only
+  // few cases: continuous variable, we make a GM if there are hybrid factors;
+  // continuous variable, we make a GF if there are no hybrid factors;
+  // discrete variable, no continuous factor is allowed (escapes CG regime), so
+  // we panic, if discrete only we do the discrete elimination.
+
+  // The issue here is that, how can we know which variable is discrete if we
+  // unify Values? Obviously we can tell using the factors, but is that fast?
+
+  // PRODUCT: multiply all factors
+  gttic(product);
+  HybridGaussianFactor product(JacobianFactor(0, I_3x3, Z_3x1));
+//  for (auto&& factor : factors) product = (*factor) * product;
+  gttoc(product);
+
+  // sum out frontals, this is the factor on the separator
+  gttic(sum);
+//  HybridFactor::shared_ptr sum = product.sum(frontalKeys);
+  gttoc(sum);
+
+  // Ordering keys for the conditional so that frontalKeys are really in front
+//  Ordering orderedKeys;
+//  orderedKeys.insert(orderedKeys.end(), frontalKeys.begin(),
+//                     frontalKeys.end());
+//  orderedKeys.insert(orderedKeys.end(), sum->keys().begin(),
+//                     sum->keys().end());
+
+  // now divide product/sum to get conditional
+  gttic(divide);
+//  auto conditional =
+//      boost::make_shared<HybridConditional>(product, *sum, orderedKeys);
+  gttoc(divide);
+
+//  return std::make_pair(conditional, sum);
+  return std::make_pair(boost::make_shared<HybridConditional>(), boost::make_shared<HybridGaussianFactor>(product));
+}
+
+}
diff --git a/gtsam/hybrid/HybridFactorGraph.h b/gtsam/hybrid/HybridFactorGraph.h
new file mode 100644
index 0000000000..fb0de644d3
--- /dev/null
+++ b/gtsam/hybrid/HybridFactorGraph.h
@@ -0,0 +1,83 @@
+/* ----------------------------------------------------------------------------
+
+ * GTSAM Copyright 2010, Georgia Tech Research Corporation,
+ * Atlanta, Georgia 30332-0415
+ * All Rights Reserved
+ * Authors: Frank Dellaert, et al. (see THANKS for the full author list)
+
+ * See LICENSE for the license information
+
+ * -------------------------------------------------------------------------- */
+
+/**
+ * @file   HybridFactorGraph.h
+ * @brief  Hybrid factor graph that uses type erasure
+ * @author Fan Jiang
+ * @date   Mar 11, 2022
+ */
+
+#pragma once
+
+#include <gtsam/hybrid/HybridFactor.h>
+#include <gtsam/inference/EliminateableFactorGraph.h>
+#include <gtsam/inference/FactorGraph.h>
+#include <gtsam/inference/Ordering.h>
+
+namespace gtsam {
+
+// Forward declarations
+class HybridFactorGraph;
+class HybridConditional;
+class HybridBayesNet;
+class HybridEliminationTree;
+class HybridBayesTree;
+class HybridJunctionTree;
+
+/** Main elimination function for HybridFactorGraph */
+GTSAM_EXPORT std::pair<boost::shared_ptr<HybridConditional>, HybridFactor::shared_ptr>
+EliminateHybrid(const HybridFactorGraph& factors, const Ordering& keys);
+
+/* ************************************************************************* */
+template<> struct EliminationTraits<HybridFactorGraph>
+{
+  typedef HybridFactor FactorType;                   ///< Type of factors in factor graph
+  typedef HybridFactorGraph FactorGraphType;         ///< Type of the factor graph (e.g. HybridFactorGraph)
+  typedef HybridConditional ConditionalType;         ///< Type of conditionals from elimination
+  typedef HybridBayesNet BayesNetType;               ///< Type of Bayes net from sequential elimination
+  typedef HybridEliminationTree EliminationTreeType; ///< Type of elimination tree
+  typedef HybridBayesTree BayesTreeType;             ///< Type of Bayes tree
+  typedef HybridJunctionTree JunctionTreeType;       ///< Type of Junction tree
+  /// The default dense elimination function
+  static std::pair<boost::shared_ptr<ConditionalType>, boost::shared_ptr<FactorType> >
+  DefaultEliminate(const FactorGraphType& factors, const Ordering& keys) {
+    return EliminateHybrid(factors, keys); }
+};
+
+
+class HybridFactorGraph : public FactorGraph<HybridFactor>, public EliminateableFactorGraph<HybridFactorGraph> {
+ public:
+  using Base = FactorGraph<HybridFactor>;
+  using This = HybridFactorGraph;          ///< this class
+  using BaseEliminateable =
+  EliminateableFactorGraph<This>;          ///< for elimination
+  using shared_ptr = boost::shared_ptr<This>;  ///< shared_ptr to This
+
+  using Values = gtsam::Values;  ///< backwards compatibility
+  using Indices = KeyVector;  ///> map from keys to values
+
+ public:
+  HybridFactorGraph() = default;
+
+  /** Construct from container of factors (shared_ptr or plain objects) */
+  template <class CONTAINER>
+  explicit HybridFactorGraph(const CONTAINER& factors) : Base(factors) {}
+
+  /** Implicit copy/downcast constructor to override explicit template container
+   * constructor */
+  template <class DERIVEDFACTOR>
+  HybridFactorGraph(const FactorGraph<DERIVEDFACTOR>& graph) : Base(graph) {}
+
+};
+
+}
+
diff --git a/gtsam/hybrid/HybridGaussianFactor.cpp b/gtsam/hybrid/HybridGaussianFactor.cpp
new file mode 100644
index 0000000000..1910c33075
--- /dev/null
+++ b/gtsam/hybrid/HybridGaussianFactor.cpp
@@ -0,0 +1,23 @@
+//
+// Created by Fan Jiang on 3/11/22.
+//
+
+#include <gtsam/hybrid/HybridGaussianFactor.h>
+
+#include <boost/make_shared.hpp>
+
+namespace gtsam {
+
+HybridGaussianFactor::HybridGaussianFactor(GaussianFactor::shared_ptr other) : Base(other->keys()){
+  inner = other;
+}
+
+HybridGaussianFactor::HybridGaussianFactor(JacobianFactor &&jf) : Base(jf.keys()),  inner(boost::make_shared<JacobianFactor>(std::move(jf))) {
+
+}
+
+bool HybridGaussianFactor::equals(const HybridFactor& lf, double tol) const {
+  return false;
+};
+
+}
\ No newline at end of file
diff --git a/gtsam/hybrid/HybridGaussianFactor.h b/gtsam/hybrid/HybridGaussianFactor.h
new file mode 100644
index 0000000000..e40682dc17
--- /dev/null
+++ b/gtsam/hybrid/HybridGaussianFactor.h
@@ -0,0 +1,39 @@
+/* ----------------------------------------------------------------------------
+
+ * GTSAM Copyright 2010, Georgia Tech Research Corporation,
+ * Atlanta, Georgia 30332-0415
+ * All Rights Reserved
+ * Authors: Frank Dellaert, et al. (see THANKS for the full author list)
+
+ * See LICENSE for the license information
+
+ * -------------------------------------------------------------------------- */
+
+/**
+ *  @file HybridGaussianFactor.h
+ *  @date Mar 11, 2022
+ *  @author Fan Jiang
+ */
+
+#include <gtsam/linear/GaussianFactor.h>
+#include <gtsam/linear/JacobianFactor.h>
+#include <gtsam/hybrid/HybridFactor.h>
+
+namespace gtsam {
+
+class HybridGaussianFactor : public HybridFactor {
+ public:
+  using Base = HybridFactor;
+
+  GaussianFactor::shared_ptr inner;
+
+  // Implicit conversion from a shared ptr of GF
+  HybridGaussianFactor(GaussianFactor::shared_ptr other);
+
+  // Forwarding constructor from concrete JacobianFactor
+  HybridGaussianFactor(JacobianFactor &&jf);
+
+ public:
+  virtual bool equals(const HybridFactor& lf, double tol) const override;
+};
+}
diff --git a/gtsam/hybrid/HybridJunctionTree.cpp b/gtsam/hybrid/HybridJunctionTree.cpp
new file mode 100644
index 0000000000..eabfc2e7ca
--- /dev/null
+++ b/gtsam/hybrid/HybridJunctionTree.cpp
@@ -0,0 +1,34 @@
+/* ----------------------------------------------------------------------------
+
+ * GTSAM Copyright 2010, Georgia Tech Research Corporation,
+ * Atlanta, Georgia 30332-0415
+ * All Rights Reserved
+ * Authors: Frank Dellaert, et al. (see THANKS for the full author list)
+
+ * See LICENSE for the license information
+
+ * -------------------------------------------------------------------------- */
+
+/**
+ * @file HybridJunctionTree.cpp
+ * @date Mar 29, 2013
+ * @author Frank Dellaert
+ * @author Richard Roberts
+ */
+
+#include <gtsam/inference/JunctionTree-inst.h>
+#include <gtsam/hybrid/HybridJunctionTree.h>
+#include <gtsam/hybrid/HybridEliminationTree.h>
+
+namespace gtsam {
+
+// Instantiate base classes
+template class EliminatableClusterTree<HybridBayesTree, HybridFactorGraph>;
+template class JunctionTree<HybridBayesTree, HybridFactorGraph>;
+
+/* ************************************************************************* */
+HybridJunctionTree::HybridJunctionTree(
+    const HybridEliminationTree& eliminationTree) :
+    Base(eliminationTree) {}
+
+}
diff --git a/gtsam/hybrid/HybridJunctionTree.h b/gtsam/hybrid/HybridJunctionTree.h
new file mode 100644
index 0000000000..1901e7007b
--- /dev/null
+++ b/gtsam/hybrid/HybridJunctionTree.h
@@ -0,0 +1,67 @@
+/* ----------------------------------------------------------------------------
+
+ * GTSAM Copyright 2010, Georgia Tech Research Corporation,
+ * Atlanta, Georgia 30332-0415
+ * All Rights Reserved
+ * Authors: Frank Dellaert, et al. (see THANKS for the full author list)
+
+ * See LICENSE for the license information
+
+ * -------------------------------------------------------------------------- */
+
+/**
+ * @file HybridJunctionTree.h
+ * @date Mar 11, 2022
+ * @author Fan Jiang
+ */
+
+#pragma once
+
+#include <gtsam/hybrid/HybridFactorGraph.h>
+#include <gtsam/hybrid/HybridBayesTree.h>
+#include <gtsam/inference/JunctionTree.h>
+
+namespace gtsam {
+
+// Forward declarations
+class HybridEliminationTree;
+
+/**
+ * An EliminatableClusterTree, i.e., a set of variable clusters with factors, arranged in a tree,
+ * with the additional property that it represents the clique tree associated with a Bayes net.
+ *
+ * In GTSAM a junction tree is an intermediate data structure in multifrontal
+ * variable elimination.  Each node is a cluster of factors, along with a
+ * clique of variables that are eliminated all at once. In detail, every node k represents
+ * a clique (maximal fully connected subset) of an associated chordal graph, such as a
+ * chordal Bayes net resulting from elimination.
+ *
+ * The difference with the BayesTree is that a JunctionTree stores factors, whereas a
+ * BayesTree stores conditionals, that are the product of eliminating the factors in the
+ * corresponding JunctionTree cliques.
+ *
+ * The tree structure and elimination method are exactly analogous to the EliminationTree,
+ * except that in the JunctionTree, at each node multiple variables are eliminated at a time.
+ *
+ * \addtogroup Multifrontal
+ * \nosubgrouping
+ */
+class GTSAM_EXPORT HybridJunctionTree :
+    public JunctionTree<HybridBayesTree, HybridFactorGraph> {
+ public:
+  typedef JunctionTree<HybridBayesTree, HybridFactorGraph> Base; ///< Base class
+  typedef HybridJunctionTree This; ///< This class
+  typedef boost::shared_ptr<This> shared_ptr; ///< Shared pointer to this class
+
+  /**
+  * Build the elimination tree of a factor graph using precomputed column structure.
+  * @param factorGraph The factor graph for which to build the elimination tree
+  * @param structure The set of factors involving each variable.  If this is not
+  * precomputed, you can call the Create(const FactorGraph<DERIVEDFACTOR>&)
+  * named constructor instead.
+  * @return The elimination tree
+  */
+  HybridJunctionTree(const HybridEliminationTree& eliminationTree);
+};
+
+}
diff --git a/gtsam/hybrid/tests/CMakeLists.txt b/gtsam/hybrid/tests/CMakeLists.txt
new file mode 100644
index 0000000000..b52e185861
--- /dev/null
+++ b/gtsam/hybrid/tests/CMakeLists.txt
@@ -0,0 +1 @@
+gtsamAddTestsGlob(hybrid "test*.cpp" "" "gtsam")
\ No newline at end of file
diff --git a/gtsam/hybrid/tests/testHybridConditional.cpp b/gtsam/hybrid/tests/testHybridConditional.cpp
new file mode 100644
index 0000000000..295d6011d2
--- /dev/null
+++ b/gtsam/hybrid/tests/testHybridConditional.cpp
@@ -0,0 +1,73 @@
+/* ----------------------------------------------------------------------------
+
+ * GTSAM Copyright 2010, Georgia Tech Research Corporation,
+ * Atlanta, Georgia 30332-0415
+ * All Rights Reserved
+ * Authors: Frank Dellaert, et al. (see THANKS for the full author list)
+
+ * See LICENSE for the license information
+
+ * -------------------------------------------------------------------------- */
+
+/*
+ *  @file testHybridConditional.cpp
+ *  @date Mar 11, 2022
+ *  @author Fan Jiang
+ */
+
+#include <gtsam/hybrid/HybridFactor.h>
+#include <gtsam/hybrid/HybridConditional.h>
+#include <gtsam/hybrid/HybridFactorGraph.h>
+#include <gtsam/hybrid/HybridGaussianFactor.h>
+#include <gtsam/hybrid/HybridBayesNet.h>
+#include <gtsam/hybrid/HybridBayesTree.h>
+
+#include <gtsam/linear/JacobianFactor.h>
+#include <gtsam/inference/BayesNet.h>
+
+#include <CppUnitLite/TestHarness.h>
+
+#include <boost/assign/std/map.hpp>
+using namespace boost::assign;
+
+using namespace std;
+using namespace gtsam;
+
+/* ************************************************************************* */
+TEST_UNSAFE(HybridFactorGraph, test) {
+  HybridConditional test;
+  GTSAM_PRINT(test);
+
+  HybridFactorGraph hfg;
+
+  hfg.add(HybridGaussianFactor(JacobianFactor(0, I_3x3, Z_3x1)));
+  GTSAM_PRINT(hfg);
+}
+
+TEST_UNSAFE(HybridFactorGraph, eliminate) {
+  HybridFactorGraph hfg;
+
+  hfg.add(HybridGaussianFactor(JacobianFactor(0, I_3x3, Z_3x1)));
+
+  auto result = hfg.eliminatePartialSequential({0});
+
+  GTSAM_PRINT(*result.first);
+}
+
+TEST(HybridFactorGraph, eliminateMultifrontal) {
+  HybridFactorGraph hfg;
+
+  hfg.add(HybridGaussianFactor(JacobianFactor(0, I_3x3, Z_3x1)));
+
+  auto result = hfg.eliminatePartialMultifrontal({0});
+
+  GTSAM_PRINT(*result.first);
+}
+
+/* ************************************************************************* */
+int main() {
+  TestResult tr;
+  return TestRegistry::runAllTests(tr);
+}
+/* ************************************************************************* */
+

From efa37ff315fb0ad9f837e2bb8a589afcd2cb9256 Mon Sep 17 00:00:00 2001
From: Fan Jiang <prof.fan@foxmail.com>
Date: Fri, 11 Mar 2022 19:20:39 -0500
Subject: [PATCH 031/433] Add better mocking for actual elimination

---
 gtsam/hybrid/HybridBayesTree.cpp             |  5 ++-
 gtsam/hybrid/HybridBayesTree.h               |  5 ++-
 gtsam/hybrid/HybridConditional.h             |  4 +++
 gtsam/hybrid/HybridDiscreteFactor.cpp        | 11 ++++--
 gtsam/hybrid/HybridDiscreteFactor.h          |  5 +++
 gtsam/hybrid/HybridFactorGraph.cpp           | 37 ++++++++++++++------
 gtsam/hybrid/HybridGaussianFactor.cpp        |  2 +-
 gtsam/hybrid/HybridJunctionTree.cpp          |  5 ++-
 gtsam/hybrid/tests/testHybridConditional.cpp |  5 +++
 9 files changed, 57 insertions(+), 22 deletions(-)

diff --git a/gtsam/hybrid/HybridBayesTree.cpp b/gtsam/hybrid/HybridBayesTree.cpp
index 72f3fd7946..85e6c84ae0 100644
--- a/gtsam/hybrid/HybridBayesTree.cpp
+++ b/gtsam/hybrid/HybridBayesTree.cpp
@@ -12,9 +12,8 @@
 /**
  * @file    HybridBayesTree.cpp
  * @brief   Hybrid Bayes Tree, the result of eliminating a HybridJunctionTree
- * @brief   HybridBayesTree
- * @author  Frank Dellaert
- * @author  Richard Roberts
+ * @date Mar 11, 2022
+ * @author  Fan Jiang
  */
 
 #include <gtsam/base/treeTraversal-inst.h>
diff --git a/gtsam/hybrid/HybridBayesTree.h b/gtsam/hybrid/HybridBayesTree.h
index 2ea40ceccb..06df66112e 100644
--- a/gtsam/hybrid/HybridBayesTree.h
+++ b/gtsam/hybrid/HybridBayesTree.h
@@ -13,9 +13,8 @@
  * @file    HybridBayesTree.h
  * @brief   Hybrid Bayes Tree, the result of eliminating a
  * HybridJunctionTree
- * @brief   HybridBayesTree
- * @author  Frank Dellaert
- * @author  Richard Roberts
+ * @date Mar 11, 2022
+ * @author  Fan Jiang
  */
 
 #pragma once
diff --git a/gtsam/hybrid/HybridConditional.h b/gtsam/hybrid/HybridConditional.h
index d6dd8250fe..e9aa5f6162 100644
--- a/gtsam/hybrid/HybridConditional.h
+++ b/gtsam/hybrid/HybridConditional.h
@@ -59,6 +59,10 @@ std::unique_ptr<Factor> inner;
 /// Default constructor needed for serialization.
 HybridConditional() = default;
 
+HybridConditional(size_t nFrontals, const KeyVector& keys) : BaseFactor(keys), BaseConditional(nFrontals) {
+
+}
+
 /**
  * @brief Combine two conditionals, yielding a new conditional with the union
  * of the frontal keys, ordered by gtsam::Key.
diff --git a/gtsam/hybrid/HybridDiscreteFactor.cpp b/gtsam/hybrid/HybridDiscreteFactor.cpp
index fded0a2dff..0bd2c9a644 100644
--- a/gtsam/hybrid/HybridDiscreteFactor.cpp
+++ b/gtsam/hybrid/HybridDiscreteFactor.cpp
@@ -8,12 +8,19 @@
 
 namespace gtsam {
 
-HybridDiscreteFactor::HybridDiscreteFactor(DiscreteFactor::shared_ptr other) {
+HybridDiscreteFactor::HybridDiscreteFactor(DiscreteFactor::shared_ptr other)
+    : Base(other->keys()) {
   inner = other;
 }
 
-HybridDiscreteFactor::HybridDiscreteFactor(DecisionTreeFactor &&dtf) : inner(boost::make_shared<DecisionTreeFactor>(std::move(dtf))) {
+HybridDiscreteFactor::HybridDiscreteFactor(DecisionTreeFactor &&dtf)
+    : Base(dtf.keys()),
+      inner(boost::make_shared<DecisionTreeFactor>(std::move(dtf))) {
 
+}
+
+bool HybridDiscreteFactor::equals(const HybridFactor &lf, double tol) const {
+  return false;
 };
 
 }
\ No newline at end of file
diff --git a/gtsam/hybrid/HybridDiscreteFactor.h b/gtsam/hybrid/HybridDiscreteFactor.h
index 4b1c006721..cfb94bc695 100644
--- a/gtsam/hybrid/HybridDiscreteFactor.h
+++ b/gtsam/hybrid/HybridDiscreteFactor.h
@@ -23,6 +23,8 @@ namespace gtsam {
 
 class HybridDiscreteFactor : public HybridFactor {
  public:
+  using Base = HybridFactor;
+
   DiscreteFactor::shared_ptr inner;
 
   // Implicit conversion from a shared ptr of GF
@@ -30,5 +32,8 @@ class HybridDiscreteFactor : public HybridFactor {
 
   // Forwarding constructor from concrete JacobianFactor
   HybridDiscreteFactor(DecisionTreeFactor &&dtf);
+
+ public:
+  virtual bool equals(const HybridFactor& lf, double tol) const override;
 };
 }
diff --git a/gtsam/hybrid/HybridFactorGraph.cpp b/gtsam/hybrid/HybridFactorGraph.cpp
index 686fddc514..0f9d8ddcae 100644
--- a/gtsam/hybrid/HybridFactorGraph.cpp
+++ b/gtsam/hybrid/HybridFactorGraph.cpp
@@ -7,17 +7,19 @@
 #include <gtsam/hybrid/HybridFactorGraph.h>
 
 #include <gtsam/hybrid/HybridGaussianFactor.h>
+#include <gtsam/hybrid/HybridDiscreteFactor.h>
 
 #include <gtsam/inference/EliminateableFactorGraph-inst.h>
 
 namespace gtsam {
 
-template class EliminateableFactorGraph<HybridFactorGraph>;
+template
+class EliminateableFactorGraph<HybridFactorGraph>;
 
 /* ************************************************************************ */
 std::pair<HybridConditional::shared_ptr, HybridFactor::shared_ptr>  //
-EliminateHybrid(const HybridFactorGraph& factors,
-                  const Ordering& frontalKeys) {
+EliminateHybrid(const HybridFactorGraph &factors,
+                const Ordering &frontalKeys) {
   // NOTE(fan): Because we are in the Conditional Gaussian regime there are only
   // few cases: continuous variable, we make a GM if there are hybrid factors;
   // continuous variable, we make a GF if there are no hybrid factors;
@@ -29,7 +31,20 @@ EliminateHybrid(const HybridFactorGraph& factors,
 
   // PRODUCT: multiply all factors
   gttic(product);
-  HybridGaussianFactor product(JacobianFactor(0, I_3x3, Z_3x1));
+  KeySet allKeys;
+  // TODO: we do a mock by just doing the correct key thing
+  std::cout << "Begin Eliminate\n";
+  for (auto &&factor : factors) {
+    std::cout << ">>> Eliminating: ";
+    factor->printKeys();
+    allKeys.insert(factor->begin(), factor->end());
+  }
+  for (auto &k : frontalKeys) {
+    allKeys.erase(k);
+  }
+
+  HybridConditional sum(allKeys.size(), Ordering(allKeys));
+//  HybridDiscreteFactor product(DiscreteConditional());
 //  for (auto&& factor : factors) product = (*factor) * product;
   gttoc(product);
 
@@ -39,11 +54,11 @@ EliminateHybrid(const HybridFactorGraph& factors,
   gttoc(sum);
 
   // Ordering keys for the conditional so that frontalKeys are really in front
-//  Ordering orderedKeys;
-//  orderedKeys.insert(orderedKeys.end(), frontalKeys.begin(),
-//                     frontalKeys.end());
-//  orderedKeys.insert(orderedKeys.end(), sum->keys().begin(),
-//                     sum->keys().end());
+  Ordering orderedKeys;
+  orderedKeys.insert(orderedKeys.end(), frontalKeys.begin(),
+                     frontalKeys.end());
+  orderedKeys.insert(orderedKeys.end(), sum.keys().begin(),
+                     sum.keys().end());
 
   // now divide product/sum to get conditional
   gttic(divide);
@@ -52,7 +67,9 @@ EliminateHybrid(const HybridFactorGraph& factors,
   gttoc(divide);
 
 //  return std::make_pair(conditional, sum);
-  return std::make_pair(boost::make_shared<HybridConditional>(), boost::make_shared<HybridGaussianFactor>(product));
+  return std::make_pair(boost::make_shared<HybridConditional>(frontalKeys.size(),
+                                                              orderedKeys),
+                        boost::make_shared<HybridConditional>(std::move(sum)));
 }
 
 }
diff --git a/gtsam/hybrid/HybridGaussianFactor.cpp b/gtsam/hybrid/HybridGaussianFactor.cpp
index 1910c33075..1e87cbbc3a 100644
--- a/gtsam/hybrid/HybridGaussianFactor.cpp
+++ b/gtsam/hybrid/HybridGaussianFactor.cpp
@@ -8,7 +8,7 @@
 
 namespace gtsam {
 
-HybridGaussianFactor::HybridGaussianFactor(GaussianFactor::shared_ptr other) : Base(other->keys()){
+HybridGaussianFactor::HybridGaussianFactor(GaussianFactor::shared_ptr other) : Base(other->keys()) {
   inner = other;
 }
 
diff --git a/gtsam/hybrid/HybridJunctionTree.cpp b/gtsam/hybrid/HybridJunctionTree.cpp
index eabfc2e7ca..0e3d2ea00b 100644
--- a/gtsam/hybrid/HybridJunctionTree.cpp
+++ b/gtsam/hybrid/HybridJunctionTree.cpp
@@ -11,9 +11,8 @@
 
 /**
  * @file HybridJunctionTree.cpp
- * @date Mar 29, 2013
- * @author Frank Dellaert
- * @author Richard Roberts
+ * @date Mar 11, 2022
+ * @author Fan Jiang
  */
 
 #include <gtsam/inference/JunctionTree-inst.h>
diff --git a/gtsam/hybrid/tests/testHybridConditional.cpp b/gtsam/hybrid/tests/testHybridConditional.cpp
index 295d6011d2..6eef100c1a 100644
--- a/gtsam/hybrid/tests/testHybridConditional.cpp
+++ b/gtsam/hybrid/tests/testHybridConditional.cpp
@@ -19,6 +19,7 @@
 #include <gtsam/hybrid/HybridConditional.h>
 #include <gtsam/hybrid/HybridFactorGraph.h>
 #include <gtsam/hybrid/HybridGaussianFactor.h>
+#include <gtsam/hybrid/HybridDiscreteFactor.h>
 #include <gtsam/hybrid/HybridBayesNet.h>
 #include <gtsam/hybrid/HybridBayesTree.h>
 
@@ -57,11 +58,15 @@ TEST_UNSAFE(HybridFactorGraph, eliminate) {
 TEST(HybridFactorGraph, eliminateMultifrontal) {
   HybridFactorGraph hfg;
 
+  DiscreteKey X(1, 2);
+
   hfg.add(HybridGaussianFactor(JacobianFactor(0, I_3x3, Z_3x1)));
+  hfg.add(HybridDiscreteFactor(DecisionTreeFactor(X, {2, 8})));
 
   auto result = hfg.eliminatePartialMultifrontal({0});
 
   GTSAM_PRINT(*result.first);
+  GTSAM_PRINT(*result.second);
 }
 
 /* ************************************************************************* */

From 3aac52c3d3b6ec692dbc7f0d7874a0cd335814a1 Mon Sep 17 00:00:00 2001
From: Fan Jiang <prof.fan@foxmail.com>
Date: Sat, 12 Mar 2022 10:49:11 -0500
Subject: [PATCH 032/433] Fix compilation error

---
 gtsam/hybrid/HybridFactor.h        | 49 +++++++++++++++---------------
 gtsam/hybrid/HybridFactorGraph.cpp |  3 ++
 2 files changed, 27 insertions(+), 25 deletions(-)

diff --git a/gtsam/hybrid/HybridFactor.h b/gtsam/hybrid/HybridFactor.h
index 5af1a23a99..eb28bc1680 100644
--- a/gtsam/hybrid/HybridFactor.h
+++ b/gtsam/hybrid/HybridFactor.h
@@ -27,47 +27,45 @@ namespace gtsam {
 /**
  * Base class for hybrid probabilistic factors
  */
-class GTSAM_EXPORT HybridFactor: public Factor {
+class GTSAM_EXPORT HybridFactor : public Factor {
 
 public:
 
-// typedefs needed to play nice with gtsam
-typedef HybridFactor This; ///< This class
-typedef boost::shared_ptr<HybridFactor> shared_ptr; ///< shared_ptr to this class
-typedef Factor Base; ///< Our base class
-
-using Values = Values; ///< backwards compatibility
+  // typedefs needed to play nice with gtsam
+  typedef HybridFactor This; ///< This class
+  typedef boost::shared_ptr<HybridFactor> shared_ptr; ///< shared_ptr to this class
+  typedef Factor Base; ///< Our base class
 
 public:
 
 /// @name Standard Constructors
 /// @{
 
-/** Default constructor creates empty factor */
-HybridFactor() {}
+  /** Default constructor creates empty factor */
+  HybridFactor() {}
 
-/** Construct from container of keys.  This constructor is used internally from derived factor
- *  constructors, either from a container of keys or from a boost::assign::list_of. */
-template<typename CONTAINER>
-HybridFactor(const CONTAINER& keys) : Base(keys) {}
+  /** Construct from container of keys.  This constructor is used internally from derived factor
+   *  constructors, either from a container of keys or from a boost::assign::list_of. */
+  template<typename CONTAINER>
+  HybridFactor(const CONTAINER &keys) : Base(keys) {}
 
-/// Virtual destructor
-virtual ~HybridFactor() {
-}
+  /// Virtual destructor
+  virtual ~HybridFactor() {
+  }
 
 /// @}
 /// @name Testable
 /// @{
 
-/// equals
-virtual bool equals(const HybridFactor& lf, double tol = 1e-9) const = 0;
+  /// equals
+  virtual bool equals(const HybridFactor &lf, double tol = 1e-9) const = 0;
 
-/// print
-void print(
-    const std::string& s = "HybridFactor\n",
-    const KeyFormatter& formatter = DefaultKeyFormatter) const override {
-Base::print(s, formatter);
-}
+  /// print
+  void print(
+      const std::string &s = "HybridFactor\n",
+      const KeyFormatter &formatter = DefaultKeyFormatter) const override {
+    Base::print(s, formatter);
+  }
 
 /// @}
 /// @name Standard Interface
@@ -78,6 +76,7 @@ Base::print(s, formatter);
 // HybridFactor
 
 // traits
-template<> struct traits<HybridFactor> : public Testable<HybridFactor> {};
+template<>
+struct traits<HybridFactor> : public Testable<HybridFactor> {};
 
 }// namespace gtsam
diff --git a/gtsam/hybrid/HybridFactorGraph.cpp b/gtsam/hybrid/HybridFactorGraph.cpp
index 0f9d8ddcae..bd245b16a7 100644
--- a/gtsam/hybrid/HybridFactorGraph.cpp
+++ b/gtsam/hybrid/HybridFactorGraph.cpp
@@ -29,6 +29,9 @@ EliminateHybrid(const HybridFactorGraph &factors,
   // The issue here is that, how can we know which variable is discrete if we
   // unify Values? Obviously we can tell using the factors, but is that fast?
 
+  // In the case of multifrontal, we will need to use a constrained ordering
+  // so that the discrete parts will be guaranteed to be eliminated last!
+
   // PRODUCT: multiply all factors
   gttic(product);
   KeySet allKeys;

From 53551e051dedae2c245f47dbf69bf390844bb3ab Mon Sep 17 00:00:00 2001
From: Fan Jiang <prof.fan@foxmail.com>
Date: Sat, 12 Mar 2022 11:51:48 -0500
Subject: [PATCH 033/433] Add shorthand for inserting raw JacobianFactor

---
 gtsam/hybrid/CGMixtureFactor.h               | 22 +++++++++++--
 gtsam/hybrid/HybridDiscreteFactor.cpp        |  2 +-
 gtsam/hybrid/HybridDiscreteFactor.h          |  2 ++
 gtsam/hybrid/HybridFactor.h                  | 34 ++++++++++++++++++--
 gtsam/hybrid/HybridFactorGraph.cpp           |  3 ++
 gtsam/hybrid/HybridFactorGraph.h             |  6 ++++
 gtsam/hybrid/HybridGaussianFactor.h          |  2 ++
 gtsam/hybrid/tests/testHybridConditional.cpp | 12 ++++---
 8 files changed, 72 insertions(+), 11 deletions(-)

diff --git a/gtsam/hybrid/CGMixtureFactor.h b/gtsam/hybrid/CGMixtureFactor.h
index f2fa1e54a0..b46146eb35 100644
--- a/gtsam/hybrid/CGMixtureFactor.h
+++ b/gtsam/hybrid/CGMixtureFactor.h
@@ -5,19 +5,35 @@
 
 /**
  * @file   CGMixtureFactor.h
- * @brief  Custom hybrid factor graph for discrete + continuous factors
- * @author Kevin Doherty, kdoherty@mit.edu
+ * @brief  A set of Gaussian factors indexed by a set of discrete keys.
  * @author Varun Agrawal
  * @author Fan Jiang
+ * @author Frank Dellaert
  * @date   December 2021
  */
 
 #include <gtsam/hybrid/HybridFactor.h>
+#include <gtsam/linear/GaussianFactor.h>
+#include <gtsam/discrete/DecisionTree.h>
+#include <gtsam/discrete/DiscreteKey.h>
 
 namespace gtsam {
 
-class CGMixtureFactor : HybridFactor {
+class CGMixtureFactor : public HybridFactor {
+public:
+  using Base = HybridFactor;
+  using This = CGMixtureFactor;
+  using shared_ptr = boost::shared_ptr<This>;
 
+  using Factors = DecisionTree<Key, GaussianFactor::shared_ptr>;
+
+  Factors factors_;
+
+  CGMixtureFactor() = default;
+
+  CGMixtureFactor(const KeyVector &continuousKeys, const DiscreteKeys &discreteKeys, const Factors &factors) : Base(continuousKeys, discreteKeys) {
+
+  }
 };
 
 }
diff --git a/gtsam/hybrid/HybridDiscreteFactor.cpp b/gtsam/hybrid/HybridDiscreteFactor.cpp
index 0bd2c9a644..13766933b5 100644
--- a/gtsam/hybrid/HybridDiscreteFactor.cpp
+++ b/gtsam/hybrid/HybridDiscreteFactor.cpp
@@ -14,7 +14,7 @@ HybridDiscreteFactor::HybridDiscreteFactor(DiscreteFactor::shared_ptr other)
 }
 
 HybridDiscreteFactor::HybridDiscreteFactor(DecisionTreeFactor &&dtf)
-    : Base(dtf.keys()),
+    : Base(dtf.discreteKeys()),
       inner(boost::make_shared<DecisionTreeFactor>(std::move(dtf))) {
 
 }
diff --git a/gtsam/hybrid/HybridDiscreteFactor.h b/gtsam/hybrid/HybridDiscreteFactor.h
index cfb94bc695..0395c95124 100644
--- a/gtsam/hybrid/HybridDiscreteFactor.h
+++ b/gtsam/hybrid/HybridDiscreteFactor.h
@@ -24,6 +24,8 @@ namespace gtsam {
 class HybridDiscreteFactor : public HybridFactor {
  public:
   using Base = HybridFactor;
+  using This = HybridDiscreteFactor;
+  using shared_ptr = boost::shared_ptr<This>;
 
   DiscreteFactor::shared_ptr inner;
 
diff --git a/gtsam/hybrid/HybridFactor.h b/gtsam/hybrid/HybridFactor.h
index eb28bc1680..64b49f605a 100644
--- a/gtsam/hybrid/HybridFactor.h
+++ b/gtsam/hybrid/HybridFactor.h
@@ -19,6 +19,7 @@
 
 #include <gtsam/nonlinear/Values.h>
 #include <gtsam/inference/Factor.h>
+#include <gtsam/discrete/DiscreteKey.h>
 #include <gtsam/base/Testable.h>
 
 #include <string>
@@ -36,6 +37,12 @@ class GTSAM_EXPORT HybridFactor : public Factor {
   typedef boost::shared_ptr<HybridFactor> shared_ptr; ///< shared_ptr to this class
   typedef Factor Base; ///< Our base class
 
+  bool isDiscrete_ = false;
+  bool isContinuous_ = false;
+  bool isHybrid_ = false;
+
+  DiscreteKeys discreteKeys_;
+
 public:
 
 /// @name Standard Constructors
@@ -46,8 +53,25 @@ class GTSAM_EXPORT HybridFactor : public Factor {
 
   /** Construct from container of keys.  This constructor is used internally from derived factor
    *  constructors, either from a container of keys or from a boost::assign::list_of. */
-  template<typename CONTAINER>
-  HybridFactor(const CONTAINER &keys) : Base(keys) {}
+//  template<typename CONTAINER>
+//  HybridFactor(const CONTAINER &keys) : Base(keys) {}
+
+  HybridFactor(const KeyVector &keys) : Base(keys), isContinuous_(true) {}
+
+  static KeyVector CollectKeys(const KeyVector &continuousKeys, const DiscreteKeys &discreteKeys) {
+    KeyVector allKeys;
+    std::copy(continuousKeys.begin(), continuousKeys.end(), std::back_inserter(allKeys));
+    std::transform(discreteKeys.begin(),
+                   discreteKeys.end(),
+                   std::back_inserter(allKeys),
+                   [](const DiscreteKey &k) { return k.first; });
+    return allKeys;
+  }
+
+  HybridFactor(const KeyVector &continuousKeys, const DiscreteKeys &discreteKeys) : Base(
+      CollectKeys(continuousKeys, discreteKeys)), isHybrid_(true) {}
+
+  HybridFactor(const DiscreteKeys &discreteKeys) : Base(CollectKeys({}, discreteKeys)), isDiscrete_(true) {}
 
   /// Virtual destructor
   virtual ~HybridFactor() {
@@ -64,7 +88,11 @@ class GTSAM_EXPORT HybridFactor : public Factor {
   void print(
       const std::string &s = "HybridFactor\n",
       const KeyFormatter &formatter = DefaultKeyFormatter) const override {
-    Base::print(s, formatter);
+    std::cout << s;
+    if (isContinuous_) std::cout << "Cont. ";
+    if (isDiscrete_) std::cout << "Disc. ";
+    if (isHybrid_) std::cout << "Hybr. ";
+    this->printKeys("", formatter);
   }
 
 /// @}
diff --git a/gtsam/hybrid/HybridFactorGraph.cpp b/gtsam/hybrid/HybridFactorGraph.cpp
index bd245b16a7..080efc0e95 100644
--- a/gtsam/hybrid/HybridFactorGraph.cpp
+++ b/gtsam/hybrid/HybridFactorGraph.cpp
@@ -75,4 +75,7 @@ EliminateHybrid(const HybridFactorGraph &factors,
                         boost::make_shared<HybridConditional>(std::move(sum)));
 }
 
+void HybridFactorGraph::add(JacobianFactor &&factor) {
+  FactorGraph::add(boost::make_shared<HybridGaussianFactor>(std::move(factor)));
+}
 }
diff --git a/gtsam/hybrid/HybridFactorGraph.h b/gtsam/hybrid/HybridFactorGraph.h
index fb0de644d3..13bbd005d0 100644
--- a/gtsam/hybrid/HybridFactorGraph.h
+++ b/gtsam/hybrid/HybridFactorGraph.h
@@ -33,6 +33,8 @@ class HybridEliminationTree;
 class HybridBayesTree;
 class HybridJunctionTree;
 
+class JacobianFactor;
+
 /** Main elimination function for HybridFactorGraph */
 GTSAM_EXPORT std::pair<boost::shared_ptr<HybridConditional>, HybridFactor::shared_ptr>
 EliminateHybrid(const HybridFactorGraph& factors, const Ordering& keys);
@@ -77,6 +79,10 @@ class HybridFactorGraph : public FactorGraph<HybridFactor>, public Eliminateable
   template <class DERIVEDFACTOR>
   HybridFactorGraph(const FactorGraph<DERIVEDFACTOR>& graph) : Base(graph) {}
 
+  using FactorGraph::add;
+  
+  /// Add a factor directly using a shared_ptr.
+  void add(JacobianFactor &&factor);
 };
 
 }
diff --git a/gtsam/hybrid/HybridGaussianFactor.h b/gtsam/hybrid/HybridGaussianFactor.h
index e40682dc17..d8a97ba30c 100644
--- a/gtsam/hybrid/HybridGaussianFactor.h
+++ b/gtsam/hybrid/HybridGaussianFactor.h
@@ -24,6 +24,8 @@ namespace gtsam {
 class HybridGaussianFactor : public HybridFactor {
  public:
   using Base = HybridFactor;
+  using This = HybridGaussianFactor;
+  using shared_ptr = boost::shared_ptr<This>;
 
   GaussianFactor::shared_ptr inner;
 
diff --git a/gtsam/hybrid/tests/testHybridConditional.cpp b/gtsam/hybrid/tests/testHybridConditional.cpp
index 6eef100c1a..a56bcadf05 100644
--- a/gtsam/hybrid/tests/testHybridConditional.cpp
+++ b/gtsam/hybrid/tests/testHybridConditional.cpp
@@ -26,6 +26,8 @@
 #include <gtsam/linear/JacobianFactor.h>
 #include <gtsam/inference/BayesNet.h>
 
+#include <gtsam/inference/Symbol.h>
+
 #include <CppUnitLite/TestHarness.h>
 
 #include <boost/assign/std/map.hpp>
@@ -34,6 +36,8 @@ using namespace boost::assign;
 using namespace std;
 using namespace gtsam;
 
+using gtsam::symbol_shorthand::X;
+
 /* ************************************************************************* */
 TEST_UNSAFE(HybridFactorGraph, test) {
   HybridConditional test;
@@ -58,12 +62,12 @@ TEST_UNSAFE(HybridFactorGraph, eliminate) {
 TEST(HybridFactorGraph, eliminateMultifrontal) {
   HybridFactorGraph hfg;
 
-  DiscreteKey X(1, 2);
+  DiscreteKey x(X(1), 2);
 
-  hfg.add(HybridGaussianFactor(JacobianFactor(0, I_3x3, Z_3x1)));
-  hfg.add(HybridDiscreteFactor(DecisionTreeFactor(X, {2, 8})));
+  hfg.add(JacobianFactor(X(0), I_3x3, Z_3x1));
+  hfg.add(HybridDiscreteFactor(DecisionTreeFactor(x, {2, 8})));
 
-  auto result = hfg.eliminatePartialMultifrontal({0});
+  auto result = hfg.eliminatePartialMultifrontal({X(0)});
 
   GTSAM_PRINT(*result.first);
   GTSAM_PRINT(*result.second);

From 095f6ad7cc96d284fb663a4cfb62f0d5f48f9204 Mon Sep 17 00:00:00 2001
From: Fan Jiang <prof.fan@foxmail.com>
Date: Sat, 12 Mar 2022 12:42:58 -0500
Subject: [PATCH 034/433] Add full elimination

---
 gtsam/hybrid/HybridFactorGraph.h             | 12 +++++++-----
 gtsam/hybrid/tests/testHybridConditional.cpp | 13 +++++++++++++
 2 files changed, 20 insertions(+), 5 deletions(-)

diff --git a/gtsam/hybrid/HybridFactorGraph.h b/gtsam/hybrid/HybridFactorGraph.h
index 13bbd005d0..9a57d36e6b 100644
--- a/gtsam/hybrid/HybridFactorGraph.h
+++ b/gtsam/hybrid/HybridFactorGraph.h
@@ -70,17 +70,19 @@ class HybridFactorGraph : public FactorGraph<HybridFactor>, public Eliminateable
  public:
   HybridFactorGraph() = default;
 
-  /** Construct from container of factors (shared_ptr or plain objects) */
-  template <class CONTAINER>
-  explicit HybridFactorGraph(const CONTAINER& factors) : Base(factors) {}
+//  /** Construct from container of factors (shared_ptr or plain objects) */
+//  template <class CONTAINER>
+//  explicit HybridFactorGraph(const CONTAINER& factors) : Base(factors) {}
 
   /** Implicit copy/downcast constructor to override explicit template container
-   * constructor */
+   * constructor. In BayesTree this is used for:
+   * `cachedSeparatorMarginal_.reset(*separatorMarginal)`
+   * */
   template <class DERIVEDFACTOR>
   HybridFactorGraph(const FactorGraph<DERIVEDFACTOR>& graph) : Base(graph) {}
 
   using FactorGraph::add;
-  
+
   /// Add a factor directly using a shared_ptr.
   void add(JacobianFactor &&factor);
 };
diff --git a/gtsam/hybrid/tests/testHybridConditional.cpp b/gtsam/hybrid/tests/testHybridConditional.cpp
index a56bcadf05..d5a21f34d4 100644
--- a/gtsam/hybrid/tests/testHybridConditional.cpp
+++ b/gtsam/hybrid/tests/testHybridConditional.cpp
@@ -73,6 +73,19 @@ TEST(HybridFactorGraph, eliminateMultifrontal) {
   GTSAM_PRINT(*result.second);
 }
 
+TEST(HybridFactorGraph, eliminateFullMultifrontal) {
+  HybridFactorGraph hfg;
+
+  DiscreteKey x(X(1), 2);
+
+  hfg.add(JacobianFactor(X(0), I_3x3, Z_3x1));
+  hfg.add(HybridDiscreteFactor(DecisionTreeFactor(x, {2, 8})));
+
+  auto result = hfg.eliminateMultifrontal();
+
+  GTSAM_PRINT(*result);
+}
+
 /* ************************************************************************* */
 int main() {
   TestResult tr;

From 2bae2865d74efc139c8c77fcfe8a4d60bcb8eaab Mon Sep 17 00:00:00 2001
From: Fan Jiang <prof.fan@foxmail.com>
Date: Sat, 12 Mar 2022 16:29:26 -0500
Subject: [PATCH 035/433] More mock-ups added

---
 gtsam/hybrid/CGMixtureFactor.cpp             | 14 ++++++++-
 gtsam/hybrid/CGMixtureFactor.h               | 18 ++++++++----
 gtsam/hybrid/CLGaussianConditional.cpp       | 20 +++++++++++++
 gtsam/hybrid/CLGaussianConditional.h         | 31 ++++++++++++++++++++
 gtsam/hybrid/HybridConditional.h             |  2 +-
 gtsam/hybrid/HybridFactorGraph.cpp           | 14 +++++----
 gtsam/hybrid/HybridGaussianFactor.h          |  6 ++--
 gtsam/hybrid/tests/testHybridConditional.cpp | 25 +++++++++++-----
 8 files changed, 107 insertions(+), 23 deletions(-)
 create mode 100644 gtsam/hybrid/CLGaussianConditional.cpp
 create mode 100644 gtsam/hybrid/CLGaussianConditional.h

diff --git a/gtsam/hybrid/CGMixtureFactor.cpp b/gtsam/hybrid/CGMixtureFactor.cpp
index d789825f77..2ddf80ec2c 100644
--- a/gtsam/hybrid/CGMixtureFactor.cpp
+++ b/gtsam/hybrid/CGMixtureFactor.cpp
@@ -2,4 +2,16 @@
 // Created by Fan Jiang on 3/11/22.
 //
 
-#include "CGMixtureFactor.h"
+#include <gtsam/hybrid/CGMixtureFactor.h>
+
+namespace gtsam {
+
+CGMixtureFactor::CGMixtureFactor(const KeyVector &continuousKeys,
+                                 const DiscreteKeys &discreteKeys,
+                                 const Factors &factors) : Base(continuousKeys, discreteKeys),
+                                                           factors_(factors) {}
+bool CGMixtureFactor::equals(const HybridFactor &lf, double tol) const {
+  return false;
+}
+
+}
\ No newline at end of file
diff --git a/gtsam/hybrid/CGMixtureFactor.h b/gtsam/hybrid/CGMixtureFactor.h
index b46146eb35..9c9e43ec2f 100644
--- a/gtsam/hybrid/CGMixtureFactor.h
+++ b/gtsam/hybrid/CGMixtureFactor.h
@@ -1,15 +1,21 @@
 /* ----------------------------------------------------------------------------
- * Copyright 2021 The Ambitious Folks of the MRG
+
+ * GTSAM Copyright 2010, Georgia Tech Research Corporation,
+ * Atlanta, Georgia 30332-0415
+ * All Rights Reserved
+ * Authors: Frank Dellaert, et al. (see THANKS for the full author list)
+
  * See LICENSE for the license information
+
  * -------------------------------------------------------------------------- */
 
 /**
  * @file   CGMixtureFactor.h
  * @brief  A set of Gaussian factors indexed by a set of discrete keys.
- * @author Varun Agrawal
  * @author Fan Jiang
+ * @author Varun Agrawal
  * @author Frank Dellaert
- * @date   December 2021
+ * @date   Mar 12, 2022
  */
 
 #include <gtsam/hybrid/HybridFactor.h>
@@ -31,9 +37,11 @@ class CGMixtureFactor : public HybridFactor {
 
   CGMixtureFactor() = default;
 
-  CGMixtureFactor(const KeyVector &continuousKeys, const DiscreteKeys &discreteKeys, const Factors &factors) : Base(continuousKeys, discreteKeys) {
+  CGMixtureFactor(const KeyVector &continuousKeys,
+                  const DiscreteKeys &discreteKeys,
+                  const Factors &factors);
 
-  }
+  bool equals(const HybridFactor &lf, double tol = 1e-9) const override;
 };
 
 }
diff --git a/gtsam/hybrid/CLGaussianConditional.cpp b/gtsam/hybrid/CLGaussianConditional.cpp
new file mode 100644
index 0000000000..09babc4e20
--- /dev/null
+++ b/gtsam/hybrid/CLGaussianConditional.cpp
@@ -0,0 +1,20 @@
+/* ----------------------------------------------------------------------------
+
+ * GTSAM Copyright 2010, Georgia Tech Research Corporation,
+ * Atlanta, Georgia 30332-0415
+ * All Rights Reserved
+ * Authors: Frank Dellaert, et al. (see THANKS for the full author list)
+
+ * See LICENSE for the license information
+
+ * -------------------------------------------------------------------------- */
+
+/**
+ * @file   CLGaussianConditional.cpp
+ * @brief  A hybrid conditional in the Conditional Linear Gaussian scheme
+ * @author Fan Jiang
+ * @date   Mar 12, 2022
+ */
+
+#include <gtsam/hybrid/CLGaussianConditional.h>
+
diff --git a/gtsam/hybrid/CLGaussianConditional.h b/gtsam/hybrid/CLGaussianConditional.h
new file mode 100644
index 0000000000..03a2d99e71
--- /dev/null
+++ b/gtsam/hybrid/CLGaussianConditional.h
@@ -0,0 +1,31 @@
+/* ----------------------------------------------------------------------------
+
+ * GTSAM Copyright 2010, Georgia Tech Research Corporation,
+ * Atlanta, Georgia 30332-0415
+ * All Rights Reserved
+ * Authors: Frank Dellaert, et al. (see THANKS for the full author list)
+
+ * See LICENSE for the license information
+
+ * -------------------------------------------------------------------------- */
+
+/**
+ * @file   CLGaussianConditional.h
+ * @brief  A hybrid conditional in the Conditional Linear Gaussian scheme
+ * @author Fan Jiang
+ * @date   Mar 12, 2022
+ */
+
+#include <gtsam/inference/Conditional.h>
+#include <gtsam/hybrid/HybridFactor.h>
+
+namespace gtsam {
+class CLGaussianConditional : public HybridFactor, public Conditional<HybridFactor, CLGaussianConditional> {
+public:
+  using This = CLGaussianConditional;
+  using shared_ptr = boost::shared_ptr<CLGaussianConditional>;
+  using BaseFactor = HybridFactor;
+
+
+};
+}
\ No newline at end of file
diff --git a/gtsam/hybrid/HybridConditional.h b/gtsam/hybrid/HybridConditional.h
index e9aa5f6162..26083e13ec 100644
--- a/gtsam/hybrid/HybridConditional.h
+++ b/gtsam/hybrid/HybridConditional.h
@@ -34,7 +34,7 @@ namespace gtsam {
  *
  * As a type-erased variant of:
  * - DiscreteConditional
- * - GaussianMixture
+ * - CLGaussianConditional
  * - GaussianConditional
  */
 class GTSAM_EXPORT HybridConditional
diff --git a/gtsam/hybrid/HybridFactorGraph.cpp b/gtsam/hybrid/HybridFactorGraph.cpp
index 080efc0e95..cd5bc651d1 100644
--- a/gtsam/hybrid/HybridFactorGraph.cpp
+++ b/gtsam/hybrid/HybridFactorGraph.cpp
@@ -32,20 +32,24 @@ EliminateHybrid(const HybridFactorGraph &factors,
   // In the case of multifrontal, we will need to use a constrained ordering
   // so that the discrete parts will be guaranteed to be eliminated last!
 
-  // PRODUCT: multiply all factors
-  gttic(product);
+  // PREPROCESS: Identify the nature of the current elimination
   KeySet allKeys;
   // TODO: we do a mock by just doing the correct key thing
-  std::cout << "Begin Eliminate\n";
+  std::cout << "Begin Eliminate: ";
+  frontalKeys.print();
+
   for (auto &&factor : factors) {
-    std::cout << ">>> Eliminating: ";
-    factor->printKeys();
+    std::cout << ">>> Adding factor: ";
+    factor->print();
     allKeys.insert(factor->begin(), factor->end());
   }
   for (auto &k : frontalKeys) {
     allKeys.erase(k);
   }
 
+  // PRODUCT: multiply all factors
+  gttic(product);
+
   HybridConditional sum(allKeys.size(), Ordering(allKeys));
 //  HybridDiscreteFactor product(DiscreteConditional());
 //  for (auto&& factor : factors) product = (*factor) * product;
diff --git a/gtsam/hybrid/HybridGaussianFactor.h b/gtsam/hybrid/HybridGaussianFactor.h
index d8a97ba30c..34a7c00045 100644
--- a/gtsam/hybrid/HybridGaussianFactor.h
+++ b/gtsam/hybrid/HybridGaussianFactor.h
@@ -29,11 +29,11 @@ class HybridGaussianFactor : public HybridFactor {
 
   GaussianFactor::shared_ptr inner;
 
-  // Implicit conversion from a shared ptr of GF
-  HybridGaussianFactor(GaussianFactor::shared_ptr other);
+  // Explicit conversion from a shared ptr of GF
+  explicit HybridGaussianFactor(GaussianFactor::shared_ptr other);
 
   // Forwarding constructor from concrete JacobianFactor
-  HybridGaussianFactor(JacobianFactor &&jf);
+  explicit HybridGaussianFactor(JacobianFactor &&jf);
 
  public:
   virtual bool equals(const HybridFactor& lf, double tol) const override;
diff --git a/gtsam/hybrid/tests/testHybridConditional.cpp b/gtsam/hybrid/tests/testHybridConditional.cpp
index d5a21f34d4..46ec40475d 100644
--- a/gtsam/hybrid/tests/testHybridConditional.cpp
+++ b/gtsam/hybrid/tests/testHybridConditional.cpp
@@ -20,6 +20,7 @@
 #include <gtsam/hybrid/HybridFactorGraph.h>
 #include <gtsam/hybrid/HybridGaussianFactor.h>
 #include <gtsam/hybrid/HybridDiscreteFactor.h>
+#include <gtsam/hybrid/CGMixtureFactor.h>
 #include <gtsam/hybrid/HybridBayesNet.h>
 #include <gtsam/hybrid/HybridBayesTree.h>
 
@@ -37,16 +38,15 @@ using namespace std;
 using namespace gtsam;
 
 using gtsam::symbol_shorthand::X;
+using gtsam::symbol_shorthand::C;
 
 /* ************************************************************************* */
-TEST_UNSAFE(HybridFactorGraph, test) {
+TEST_UNSAFE(HybridFactorGraph, creation) {
   HybridConditional test;
-  GTSAM_PRINT(test);
 
   HybridFactorGraph hfg;
 
   hfg.add(HybridGaussianFactor(JacobianFactor(0, I_3x3, Z_3x1)));
-  GTSAM_PRINT(hfg);
 }
 
 TEST_UNSAFE(HybridFactorGraph, eliminate) {
@@ -56,7 +56,7 @@ TEST_UNSAFE(HybridFactorGraph, eliminate) {
 
   auto result = hfg.eliminatePartialSequential({0});
 
-  GTSAM_PRINT(*result.first);
+  EXPECT_LONGS_EQUAL(result.first->size(), 1);
 }
 
 TEST(HybridFactorGraph, eliminateMultifrontal) {
@@ -69,21 +69,30 @@ TEST(HybridFactorGraph, eliminateMultifrontal) {
 
   auto result = hfg.eliminatePartialMultifrontal({X(0)});
 
-  GTSAM_PRINT(*result.first);
-  GTSAM_PRINT(*result.second);
+  EXPECT_LONGS_EQUAL(result.first->size(), 1);
+  EXPECT_LONGS_EQUAL(result.second->size(), 1);
 }
 
 TEST(HybridFactorGraph, eliminateFullMultifrontal) {
+
+  std::cout << ">>>>>>>>>>>>>>\n";
+
   HybridFactorGraph hfg;
 
-  DiscreteKey x(X(1), 2);
+  DiscreteKey x(C(1), 2);
 
   hfg.add(JacobianFactor(X(0), I_3x3, Z_3x1));
+  hfg.add(JacobianFactor(X(0), I_3x3, X(1), -I_3x3, Z_3x1));
+
+  DecisionTree<Key, GaussianFactor::shared_ptr> dt;
+
+  hfg.add(CGMixtureFactor({X(1)}, { x }, dt));
   hfg.add(HybridDiscreteFactor(DecisionTreeFactor(x, {2, 8})));
 
-  auto result = hfg.eliminateMultifrontal();
+  auto result = hfg.eliminateMultifrontal(Ordering::ColamdConstrainedLast(hfg, {C(1)}));
 
   GTSAM_PRINT(*result);
+  GTSAM_PRINT(*result->marginalFactor(C(1)));
 }
 
 /* ************************************************************************* */

From ee4f9d19f0ff7486076b647327d0c7c3d1274c6a Mon Sep 17 00:00:00 2001
From: Fan Jiang <prof.fan@foxmail.com>
Date: Sun, 13 Mar 2022 11:42:36 -0400
Subject: [PATCH 036/433] Added mixture factor functionality

---
 gtsam/hybrid/CGMixtureFactor.cpp             | 17 ++++++++++
 gtsam/hybrid/CGMixtureFactor.h               |  3 ++
 gtsam/hybrid/CLGaussianConditional.cpp       | 31 +++++++++++++++++
 gtsam/hybrid/CLGaussianConditional.h         | 17 ++++++++++
 gtsam/hybrid/HybridDiscreteFactor.cpp        |  5 +++
 gtsam/hybrid/HybridDiscreteFactor.h          |  2 ++
 gtsam/hybrid/HybridFactor.cpp                | 35 ++++++++++++++++++++
 gtsam/hybrid/HybridFactor.h                  | 25 +++++---------
 gtsam/hybrid/HybridFactorGraph.cpp           | 15 +++++----
 gtsam/hybrid/HybridGaussianFactor.cpp        |  4 +++
 gtsam/hybrid/HybridGaussianFactor.h          |  2 ++
 gtsam/hybrid/tests/testHybridConditional.cpp | 21 ++++++++++--
 12 files changed, 151 insertions(+), 26 deletions(-)

diff --git a/gtsam/hybrid/CGMixtureFactor.cpp b/gtsam/hybrid/CGMixtureFactor.cpp
index 2ddf80ec2c..16ead783ea 100644
--- a/gtsam/hybrid/CGMixtureFactor.cpp
+++ b/gtsam/hybrid/CGMixtureFactor.cpp
@@ -4,6 +4,9 @@
 
 #include <gtsam/hybrid/CGMixtureFactor.h>
 
+#include <gtsam/discrete/DecisionTree-inl.h>
+#include <gtsam/base/utilities.h>
+
 namespace gtsam {
 
 CGMixtureFactor::CGMixtureFactor(const KeyVector &continuousKeys,
@@ -14,4 +17,18 @@ bool CGMixtureFactor::equals(const HybridFactor &lf, double tol) const {
   return false;
 }
 
+void CGMixtureFactor::print(const std::string &s, const KeyFormatter &formatter) const {
+  HybridFactor::print(s, formatter);
+  factors_.print(
+      "mixture = ",
+      [&](Key k) {
+        return formatter(k);
+      }, [&](const GaussianFactor::shared_ptr &gf) -> std::string {
+        RedirectCout rd;
+        if (!gf->empty()) gf->print("", formatter);
+        else return {"nullptr"};
+        return rd.str();
+      });
+}
+
 }
\ No newline at end of file
diff --git a/gtsam/hybrid/CGMixtureFactor.h b/gtsam/hybrid/CGMixtureFactor.h
index 9c9e43ec2f..7ff53b7edf 100644
--- a/gtsam/hybrid/CGMixtureFactor.h
+++ b/gtsam/hybrid/CGMixtureFactor.h
@@ -42,6 +42,9 @@ class CGMixtureFactor : public HybridFactor {
                   const Factors &factors);
 
   bool equals(const HybridFactor &lf, double tol = 1e-9) const override;
+
+  void print(const std::string &s = "HybridFactor\n",
+             const KeyFormatter &formatter = DefaultKeyFormatter) const override;
 };
 
 }
diff --git a/gtsam/hybrid/CLGaussianConditional.cpp b/gtsam/hybrid/CLGaussianConditional.cpp
index 09babc4e20..dbc9631c85 100644
--- a/gtsam/hybrid/CLGaussianConditional.cpp
+++ b/gtsam/hybrid/CLGaussianConditional.cpp
@@ -18,3 +18,34 @@
 
 #include <gtsam/hybrid/CLGaussianConditional.h>
 
+#include <gtsam/inference/Conditional-inst.h>
+
+namespace gtsam {
+
+CLGaussianConditional::CLGaussianConditional(const KeyVector &continuousFrontals,
+                                             const KeyVector &continuousParents,
+                                             const DiscreteKeys &discreteParents,
+                                             const CLGaussianConditional::Conditionals &factors)
+    : BaseFactor(
+    CollectKeys(continuousFrontals, continuousParents), discreteParents),
+      BaseConditional(continuousFrontals.size()) {
+
+}
+
+bool CLGaussianConditional::equals(const HybridFactor &lf, double tol) const {
+  return false;
+}
+
+void CLGaussianConditional::print(const std::string &s, const KeyFormatter &formatter) const {
+  std::cout << s << ": ";
+  if (isContinuous_) std::cout << "Cont. ";
+  if (isDiscrete_) std::cout << "Disc. ";
+  if (isHybrid_) std::cout << "Hybr. ";
+  BaseConditional::print("", formatter);
+  std::cout << "Discrete Keys = ";
+  for (auto &dk : discreteKeys_) {
+    std::cout << "(" << formatter(dk.first) << ", " << dk.second << "), ";
+  }
+  std::cout << "\n";
+}
+}
\ No newline at end of file
diff --git a/gtsam/hybrid/CLGaussianConditional.h b/gtsam/hybrid/CLGaussianConditional.h
index 03a2d99e71..14989df727 100644
--- a/gtsam/hybrid/CLGaussianConditional.h
+++ b/gtsam/hybrid/CLGaussianConditional.h
@@ -19,13 +19,30 @@
 #include <gtsam/inference/Conditional.h>
 #include <gtsam/hybrid/HybridFactor.h>
 
+#include <gtsam/linear/GaussianConditional.h>
+#include <gtsam/discrete/DecisionTree.h>
+
 namespace gtsam {
 class CLGaussianConditional : public HybridFactor, public Conditional<HybridFactor, CLGaussianConditional> {
 public:
   using This = CLGaussianConditional;
   using shared_ptr = boost::shared_ptr<CLGaussianConditional>;
   using BaseFactor = HybridFactor;
+  using BaseConditional = Conditional<HybridFactor, CLGaussianConditional>;
+
+  using Conditionals = DecisionTree<Key, GaussianConditional::shared_ptr>;
+
+public:
+
+  CLGaussianConditional(const KeyVector &continuousFrontals,
+                        const KeyVector &continuousParents,
+                        const DiscreteKeys &discreteParents,
+                        const Conditionals &factors);
 
+  bool equals(const HybridFactor &lf, double tol = 1e-9) const override;
 
+  void print(
+      const std::string &s = "CLGaussianConditional\n",
+      const KeyFormatter &formatter = DefaultKeyFormatter) const override;
 };
 }
\ No newline at end of file
diff --git a/gtsam/hybrid/HybridDiscreteFactor.cpp b/gtsam/hybrid/HybridDiscreteFactor.cpp
index 13766933b5..1758e90259 100644
--- a/gtsam/hybrid/HybridDiscreteFactor.cpp
+++ b/gtsam/hybrid/HybridDiscreteFactor.cpp
@@ -21,6 +21,11 @@ HybridDiscreteFactor::HybridDiscreteFactor(DecisionTreeFactor &&dtf)
 
 bool HybridDiscreteFactor::equals(const HybridFactor &lf, double tol) const {
   return false;
+}
+
+void HybridDiscreteFactor::print(const std::string &s, const KeyFormatter &formatter) const {
+  HybridFactor::print(s, formatter);
+  inner->print("inner: ", formatter);
 };
 
 }
\ No newline at end of file
diff --git a/gtsam/hybrid/HybridDiscreteFactor.h b/gtsam/hybrid/HybridDiscreteFactor.h
index 0395c95124..9d574b7362 100644
--- a/gtsam/hybrid/HybridDiscreteFactor.h
+++ b/gtsam/hybrid/HybridDiscreteFactor.h
@@ -37,5 +37,7 @@ class HybridDiscreteFactor : public HybridFactor {
 
  public:
   virtual bool equals(const HybridFactor& lf, double tol) const override;
+
+  void print(const std::string &s = "HybridFactor\n", const KeyFormatter &formatter = DefaultKeyFormatter) const override;
 };
 }
diff --git a/gtsam/hybrid/HybridFactor.cpp b/gtsam/hybrid/HybridFactor.cpp
index 907350e83a..3095136a41 100644
--- a/gtsam/hybrid/HybridFactor.cpp
+++ b/gtsam/hybrid/HybridFactor.cpp
@@ -16,3 +16,38 @@
  */
 
 #include <gtsam/hybrid/HybridFactor.h>
+
+namespace gtsam {
+
+KeyVector CollectKeys(const KeyVector &continuousKeys, const DiscreteKeys &discreteKeys) {
+  KeyVector allKeys;
+  std::copy(continuousKeys.begin(), continuousKeys.end(), std::back_inserter(allKeys));
+  std::transform(discreteKeys.begin(),
+                 discreteKeys.end(),
+                 std::back_inserter(allKeys),
+                 [](const DiscreteKey &k) { return k.first; });
+  return allKeys;
+}
+
+KeyVector CollectKeys(const KeyVector &keys1, const KeyVector &keys2) {
+  KeyVector allKeys;
+  std::copy(keys1.begin(), keys1.end(), std::back_inserter(allKeys));
+  std::copy(keys2.begin(), keys2.end(), std::back_inserter(allKeys));
+  return allKeys;
+}
+
+HybridFactor::HybridFactor() = default;
+
+HybridFactor::HybridFactor(const KeyVector &keys) : Base(keys), isContinuous_(true) {}
+
+HybridFactor::HybridFactor(const KeyVector &continuousKeys, const DiscreteKeys &discreteKeys)
+    : Base(
+    CollectKeys(continuousKeys, discreteKeys)), isHybrid_(true), discreteKeys_(discreteKeys) {}
+
+HybridFactor::HybridFactor(const DiscreteKeys &discreteKeys) : Base(CollectKeys({}, discreteKeys)),
+                                                               isDiscrete_(true),
+                                                               discreteKeys_(discreteKeys) {}
+
+HybridFactor::~HybridFactor() = default;
+
+}
\ No newline at end of file
diff --git a/gtsam/hybrid/HybridFactor.h b/gtsam/hybrid/HybridFactor.h
index 64b49f605a..619d16078f 100644
--- a/gtsam/hybrid/HybridFactor.h
+++ b/gtsam/hybrid/HybridFactor.h
@@ -25,6 +25,9 @@
 #include <string>
 namespace gtsam {
 
+KeyVector CollectKeys(const KeyVector &continuousKeys, const DiscreteKeys &discreteKeys);
+KeyVector CollectKeys(const KeyVector &keys1, const KeyVector &keys2);
+
 /**
  * Base class for hybrid probabilistic factors
  */
@@ -49,33 +52,21 @@ class GTSAM_EXPORT HybridFactor : public Factor {
 /// @{
 
   /** Default constructor creates empty factor */
-  HybridFactor() {}
+  HybridFactor();
 
   /** Construct from container of keys.  This constructor is used internally from derived factor
    *  constructors, either from a container of keys or from a boost::assign::list_of. */
 //  template<typename CONTAINER>
 //  HybridFactor(const CONTAINER &keys) : Base(keys) {}
 
-  HybridFactor(const KeyVector &keys) : Base(keys), isContinuous_(true) {}
-
-  static KeyVector CollectKeys(const KeyVector &continuousKeys, const DiscreteKeys &discreteKeys) {
-    KeyVector allKeys;
-    std::copy(continuousKeys.begin(), continuousKeys.end(), std::back_inserter(allKeys));
-    std::transform(discreteKeys.begin(),
-                   discreteKeys.end(),
-                   std::back_inserter(allKeys),
-                   [](const DiscreteKey &k) { return k.first; });
-    return allKeys;
-  }
+  explicit HybridFactor(const KeyVector &keys);
 
-  HybridFactor(const KeyVector &continuousKeys, const DiscreteKeys &discreteKeys) : Base(
-      CollectKeys(continuousKeys, discreteKeys)), isHybrid_(true) {}
+  HybridFactor(const KeyVector &continuousKeys, const DiscreteKeys &discreteKeys);
 
-  HybridFactor(const DiscreteKeys &discreteKeys) : Base(CollectKeys({}, discreteKeys)), isDiscrete_(true) {}
+  explicit HybridFactor(const DiscreteKeys &discreteKeys);
 
   /// Virtual destructor
-  virtual ~HybridFactor() {
-  }
+  virtual ~HybridFactor();
 
 /// @}
 /// @name Testable
diff --git a/gtsam/hybrid/HybridFactorGraph.cpp b/gtsam/hybrid/HybridFactorGraph.cpp
index cd5bc651d1..2dc54d75d2 100644
--- a/gtsam/hybrid/HybridFactorGraph.cpp
+++ b/gtsam/hybrid/HybridFactorGraph.cpp
@@ -34,6 +34,7 @@ EliminateHybrid(const HybridFactorGraph &factors,
 
   // PREPROCESS: Identify the nature of the current elimination
   KeySet allKeys;
+
   // TODO: we do a mock by just doing the correct key thing
   std::cout << "Begin Eliminate: ";
   frontalKeys.print();
@@ -43,6 +44,7 @@ EliminateHybrid(const HybridFactorGraph &factors,
     factor->print();
     allKeys.insert(factor->begin(), factor->end());
   }
+
   for (auto &k : frontalKeys) {
     allKeys.erase(k);
   }
@@ -51,13 +53,14 @@ EliminateHybrid(const HybridFactorGraph &factors,
   gttic(product);
 
   HybridConditional sum(allKeys.size(), Ordering(allKeys));
-//  HybridDiscreteFactor product(DiscreteConditional());
-//  for (auto&& factor : factors) product = (*factor) * product;
+
+  //  HybridDiscreteFactor product(DiscreteConditional());
+  //  for (auto&& factor : factors) product = (*factor) * product;
   gttoc(product);
 
   // sum out frontals, this is the factor on the separator
   gttic(sum);
-//  HybridFactor::shared_ptr sum = product.sum(frontalKeys);
+  //  HybridFactor::shared_ptr sum = product.sum(frontalKeys);
   gttoc(sum);
 
   // Ordering keys for the conditional so that frontalKeys are really in front
@@ -69,11 +72,11 @@ EliminateHybrid(const HybridFactorGraph &factors,
 
   // now divide product/sum to get conditional
   gttic(divide);
-//  auto conditional =
-//      boost::make_shared<HybridConditional>(product, *sum, orderedKeys);
+  //  auto conditional =
+  //      boost::make_shared<HybridConditional>(product, *sum, orderedKeys);
   gttoc(divide);
 
-//  return std::make_pair(conditional, sum);
+  //  return std::make_pair(conditional, sum);
   return std::make_pair(boost::make_shared<HybridConditional>(frontalKeys.size(),
                                                               orderedKeys),
                         boost::make_shared<HybridConditional>(std::move(sum)));
diff --git a/gtsam/hybrid/HybridGaussianFactor.cpp b/gtsam/hybrid/HybridGaussianFactor.cpp
index 1e87cbbc3a..faa4ba998c 100644
--- a/gtsam/hybrid/HybridGaussianFactor.cpp
+++ b/gtsam/hybrid/HybridGaussianFactor.cpp
@@ -18,6 +18,10 @@ HybridGaussianFactor::HybridGaussianFactor(JacobianFactor &&jf) : Base(jf.keys()
 
 bool HybridGaussianFactor::equals(const HybridFactor& lf, double tol) const {
   return false;
+}
+void HybridGaussianFactor::print(const std::string &s, const KeyFormatter &formatter) const {
+  HybridFactor::print(s, formatter);
+  inner->print("inner: ", formatter);
 };
 
 }
\ No newline at end of file
diff --git a/gtsam/hybrid/HybridGaussianFactor.h b/gtsam/hybrid/HybridGaussianFactor.h
index 34a7c00045..8562075b4e 100644
--- a/gtsam/hybrid/HybridGaussianFactor.h
+++ b/gtsam/hybrid/HybridGaussianFactor.h
@@ -37,5 +37,7 @@ class HybridGaussianFactor : public HybridFactor {
 
  public:
   virtual bool equals(const HybridFactor& lf, double tol) const override;
+
+  void print(const std::string &s = "HybridFactor\n", const KeyFormatter &formatter = DefaultKeyFormatter) const override;
 };
 }
diff --git a/gtsam/hybrid/tests/testHybridConditional.cpp b/gtsam/hybrid/tests/testHybridConditional.cpp
index 46ec40475d..4611026b34 100644
--- a/gtsam/hybrid/tests/testHybridConditional.cpp
+++ b/gtsam/hybrid/tests/testHybridConditional.cpp
@@ -20,6 +20,7 @@
 #include <gtsam/hybrid/HybridFactorGraph.h>
 #include <gtsam/hybrid/HybridGaussianFactor.h>
 #include <gtsam/hybrid/HybridDiscreteFactor.h>
+#include <gtsam/hybrid/CLGaussianConditional.h>
 #include <gtsam/hybrid/CGMixtureFactor.h>
 #include <gtsam/hybrid/HybridBayesNet.h>
 #include <gtsam/hybrid/HybridBayesTree.h>
@@ -47,6 +48,13 @@ TEST_UNSAFE(HybridFactorGraph, creation) {
   HybridFactorGraph hfg;
 
   hfg.add(HybridGaussianFactor(JacobianFactor(0, I_3x3, Z_3x1)));
+
+  CLGaussianConditional clgc(
+      {X(0)}, {X(1)},
+      DiscreteKeys(DiscreteKey{C(0), 2}),
+      CLGaussianConditional::Conditionals()
+  );
+  GTSAM_PRINT(clgc);
 }
 
 TEST_UNSAFE(HybridFactorGraph, eliminate) {
@@ -84,12 +92,19 @@ TEST(HybridFactorGraph, eliminateFullMultifrontal) {
   hfg.add(JacobianFactor(X(0), I_3x3, Z_3x1));
   hfg.add(JacobianFactor(X(0), I_3x3, X(1), -I_3x3, Z_3x1));
 
-  DecisionTree<Key, GaussianFactor::shared_ptr> dt;
+  DecisionTree<Key, GaussianFactor::shared_ptr> dt(C(1),
+                                                   boost::make_shared<JacobianFactor>(X(1),
+                                                                                      I_3x3,
+                                                                                      Z_3x1),
+                                                   boost::make_shared<JacobianFactor>(X(1),
+                                                                                      I_3x3,
+                                                                                      Vector3::Ones()));
 
-  hfg.add(CGMixtureFactor({X(1)}, { x }, dt));
+  hfg.add(CGMixtureFactor({X(1)}, {x}, dt));
   hfg.add(HybridDiscreteFactor(DecisionTreeFactor(x, {2, 8})));
+  hfg.add(HybridDiscreteFactor(DecisionTreeFactor({{C(1), 2}, {C(2), 2}}, "1 2 3 4")));
 
-  auto result = hfg.eliminateMultifrontal(Ordering::ColamdConstrainedLast(hfg, {C(1)}));
+  auto result = hfg.eliminateMultifrontal(Ordering::ColamdConstrainedLast(hfg, {C(1), C(2)}));
 
   GTSAM_PRINT(*result);
   GTSAM_PRINT(*result->marginalFactor(C(1)));

From 5ea614a82a0528a78758d5d6782cfbb948a43179 Mon Sep 17 00:00:00 2001
From: Fan Jiang <prof.fan@foxmail.com>
Date: Sun, 13 Mar 2022 20:09:53 -0400
Subject: [PATCH 037/433] Added more mockups and color output of the
 elimination process

---
 gtsam/hybrid/CLGaussianConditional.cpp       | 17 +++-
 gtsam/hybrid/CLGaussianConditional.h         |  4 +-
 gtsam/hybrid/HybridConditional.h             | 77 ++++++++++---------
 gtsam/hybrid/HybridFactor.cpp                |  7 ++
 gtsam/hybrid/HybridFactor.h                  |  1 +
 gtsam/hybrid/HybridFactorGraph.cpp           | 81 +++++++++++++++++---
 gtsam/hybrid/tests/testHybridConditional.cpp | 15 +++-
 7 files changed, 148 insertions(+), 54 deletions(-)

diff --git a/gtsam/hybrid/CLGaussianConditional.cpp b/gtsam/hybrid/CLGaussianConditional.cpp
index dbc9631c85..37c82a0d52 100644
--- a/gtsam/hybrid/CLGaussianConditional.cpp
+++ b/gtsam/hybrid/CLGaussianConditional.cpp
@@ -18,17 +18,20 @@
 
 #include <gtsam/hybrid/CLGaussianConditional.h>
 
+#include <gtsam/base/utilities.h>
+
 #include <gtsam/inference/Conditional-inst.h>
+#include <gtsam/discrete/DecisionTree-inl.h>
 
 namespace gtsam {
 
 CLGaussianConditional::CLGaussianConditional(const KeyVector &continuousFrontals,
                                              const KeyVector &continuousParents,
                                              const DiscreteKeys &discreteParents,
-                                             const CLGaussianConditional::Conditionals &factors)
+                                             const CLGaussianConditional::Conditionals &conditionals)
     : BaseFactor(
     CollectKeys(continuousFrontals, continuousParents), discreteParents),
-      BaseConditional(continuousFrontals.size()) {
+      BaseConditional(continuousFrontals.size()), conditionals_(conditionals) {
 
 }
 
@@ -47,5 +50,15 @@ void CLGaussianConditional::print(const std::string &s, const KeyFormatter &form
     std::cout << "(" << formatter(dk.first) << ", " << dk.second << "), ";
   }
   std::cout << "\n";
+  conditionals_.print(
+      "",
+      [&](Key k) {
+        return formatter(k);
+      }, [&](const GaussianConditional::shared_ptr &gf) -> std::string {
+        RedirectCout rd;
+        if (!gf->empty()) gf->print("", formatter);
+        else return {"nullptr"};
+        return rd.str();
+      });
 }
 }
\ No newline at end of file
diff --git a/gtsam/hybrid/CLGaussianConditional.h b/gtsam/hybrid/CLGaussianConditional.h
index 14989df727..0319c60a72 100644
--- a/gtsam/hybrid/CLGaussianConditional.h
+++ b/gtsam/hybrid/CLGaussianConditional.h
@@ -32,12 +32,14 @@ class CLGaussianConditional : public HybridFactor, public Conditional<HybridFact
 
   using Conditionals = DecisionTree<Key, GaussianConditional::shared_ptr>;
 
+  Conditionals conditionals_;
+
 public:
 
   CLGaussianConditional(const KeyVector &continuousFrontals,
                         const KeyVector &continuousParents,
                         const DiscreteKeys &discreteParents,
-                        const Conditionals &factors);
+                        const Conditionals &conditionals);
 
   bool equals(const HybridFactor &lf, double tol = 1e-9) const override;
 
diff --git a/gtsam/hybrid/HybridConditional.h b/gtsam/hybrid/HybridConditional.h
index 26083e13ec..92856cae28 100644
--- a/gtsam/hybrid/HybridConditional.h
+++ b/gtsam/hybrid/HybridConditional.h
@@ -41,56 +41,59 @@ class GTSAM_EXPORT HybridConditional
 : public HybridFactor,
 public Conditional<HybridFactor, HybridConditional> {
 public:
-// typedefs needed to play nice with gtsam
-typedef HybridConditional This;            ///< Typedef to this class
-typedef boost::shared_ptr<This> shared_ptr;  ///< shared_ptr to this class
-typedef HybridFactor BaseFactor;  ///< Typedef to our factor base class
-typedef Conditional<BaseFactor, This>
-    BaseConditional;  ///< Typedef to our conditional base class
+  // typedefs needed to play nice with gtsam
+  typedef HybridConditional This;            ///< Typedef to this class
+  typedef boost::shared_ptr<This> shared_ptr;  ///< shared_ptr to this class
+  typedef HybridFactor BaseFactor;  ///< Typedef to our factor base class
+  typedef Conditional<BaseFactor, This>
+      BaseConditional;  ///< Typedef to our conditional base class
 
 private:
-// Type-erased pointer to the inner type
-std::unique_ptr<Factor> inner;
+  // Type-erased pointer to the inner type
+  std::unique_ptr<Factor> inner;
 
 public:
 /// @name Standard Constructors
 /// @{
 
-/// Default constructor needed for serialization.
-HybridConditional() = default;
-
-HybridConditional(size_t nFrontals, const KeyVector& keys) : BaseFactor(keys), BaseConditional(nFrontals) {
-
-}
-
-/**
- * @brief Combine two conditionals, yielding a new conditional with the union
- * of the frontal keys, ordered by gtsam::Key.
- *
- * The two conditionals must make a valid Bayes net fragment, i.e.,
- * the frontal variables cannot overlap, and must be acyclic:
- * Example of correct use:
- *   P(A,B) = P(A|B) * P(B)
- *   P(A,B|C) = P(A|B) * P(B|C)
- *   P(A,B,C) = P(A,B|C) * P(C)
- * Example of incorrect use:
- *   P(A|B) * P(A|C) = ?
- *   P(A|B) * P(B|A) = ?
- * We check for overlapping frontals, but do *not* check for cyclic.
- */
-HybridConditional operator*(const HybridConditional& other) const;
+  /// Default constructor needed for serialization.
+  HybridConditional() = default;
+
+  HybridConditional(const KeyVector &continuousKeys,
+                    const DiscreteKeys &discreteKeys,
+                    size_t nFrontals)
+      : BaseFactor(continuousKeys, discreteKeys), BaseConditional(nFrontals) {
+
+  }
+
+  /**
+   * @brief Combine two conditionals, yielding a new conditional with the union
+   * of the frontal keys, ordered by gtsam::Key.
+   *
+   * The two conditionals must make a valid Bayes net fragment, i.e.,
+   * the frontal variables cannot overlap, and must be acyclic:
+   * Example of correct use:
+   *   P(A,B) = P(A|B) * P(B)
+   *   P(A,B|C) = P(A|B) * P(B|C)
+   *   P(A,B,C) = P(A,B|C) * P(C)
+   * Example of incorrect use:
+   *   P(A|B) * P(A|C) = ?
+   *   P(A|B) * P(B|A) = ?
+   * We check for overlapping frontals, but do *not* check for cyclic.
+   */
+  HybridConditional operator*(const HybridConditional& other) const;
 
 /// @}
 /// @name Testable
 /// @{
 
-/// GTSAM-style print
-void print(
-    const std::string& s = "Hybrid Conditional: ",
-    const KeyFormatter& formatter = DefaultKeyFormatter) const override;
+  /// GTSAM-style print
+  void print(
+      const std::string& s = "Hybrid Conditional: ",
+      const KeyFormatter& formatter = DefaultKeyFormatter) const override;
 
-/// GTSAM-style equals
-bool equals(const HybridFactor& other, double tol = 1e-9) const override;
+  /// GTSAM-style equals
+  bool equals(const HybridFactor& other, double tol = 1e-9) const override;
 
 /// @}
 };
diff --git a/gtsam/hybrid/HybridFactor.cpp b/gtsam/hybrid/HybridFactor.cpp
index 3095136a41..171ea790a2 100644
--- a/gtsam/hybrid/HybridFactor.cpp
+++ b/gtsam/hybrid/HybridFactor.cpp
@@ -36,6 +36,13 @@ KeyVector CollectKeys(const KeyVector &keys1, const KeyVector &keys2) {
   return allKeys;
 }
 
+DiscreteKeys CollectDiscreteKeys(const DiscreteKeys &key1, const DiscreteKeys &key2) {
+  DiscreteKeys allKeys;
+  std::copy(key1.begin(), key1.end(), std::back_inserter(allKeys));
+  std::copy(key2.begin(), key2.end(), std::back_inserter(allKeys));
+  return allKeys;
+}
+
 HybridFactor::HybridFactor() = default;
 
 HybridFactor::HybridFactor(const KeyVector &keys) : Base(keys), isContinuous_(true) {}
diff --git a/gtsam/hybrid/HybridFactor.h b/gtsam/hybrid/HybridFactor.h
index 619d16078f..dd925fee26 100644
--- a/gtsam/hybrid/HybridFactor.h
+++ b/gtsam/hybrid/HybridFactor.h
@@ -27,6 +27,7 @@ namespace gtsam {
 
 KeyVector CollectKeys(const KeyVector &continuousKeys, const DiscreteKeys &discreteKeys);
 KeyVector CollectKeys(const KeyVector &keys1, const KeyVector &keys2);
+DiscreteKeys CollectDiscreteKeys(const DiscreteKeys &key1, const DiscreteKeys &key2);
 
 /**
  * Base class for hybrid probabilistic factors
diff --git a/gtsam/hybrid/HybridFactorGraph.cpp b/gtsam/hybrid/HybridFactorGraph.cpp
index 2dc54d75d2..177513f607 100644
--- a/gtsam/hybrid/HybridFactorGraph.cpp
+++ b/gtsam/hybrid/HybridFactorGraph.cpp
@@ -5,17 +5,26 @@
 #include <gtsam/hybrid/HybridEliminationTree.h>
 #include <gtsam/hybrid/HybridJunctionTree.h>
 #include <gtsam/hybrid/HybridFactorGraph.h>
+#include <gtsam/hybrid/HybridFactor.h>
 
 #include <gtsam/hybrid/HybridGaussianFactor.h>
 #include <gtsam/hybrid/HybridDiscreteFactor.h>
 
 #include <gtsam/inference/EliminateableFactorGraph-inst.h>
 
+#include <unordered_map>
+
 namespace gtsam {
 
 template
 class EliminateableFactorGraph<HybridFactorGraph>;
 
+static std::string BLACK_BOLD = "\033[1;30m";
+static std::string RED_BOLD = "\033[1;31m";
+static std::string GREEN = "\033[0;32m";
+static std::string GREEN_BOLD = "\033[1;32m";
+static std::string RESET = "\033[0m";
+
 /* ************************************************************************ */
 std::pair<HybridConditional::shared_ptr, HybridFactor::shared_ptr>  //
 EliminateHybrid(const HybridFactorGraph &factors,
@@ -33,26 +42,66 @@ EliminateHybrid(const HybridFactorGraph &factors,
   // so that the discrete parts will be guaranteed to be eliminated last!
 
   // PREPROCESS: Identify the nature of the current elimination
-  KeySet allKeys;
+  std::unordered_map<Key, DiscreteKey> discreteCardinalities;
+  std::set<DiscreteKey> discreteSeparator;
+  std::set<DiscreteKey> discreteFrontals;
+
+  KeySet separatorKeys;
+  KeySet allContinuousKeys;
+  KeySet continuousFrontals;
+  KeySet continuousSeparator;
 
   // TODO: we do a mock by just doing the correct key thing
-  std::cout << "Begin Eliminate: ";
-  frontalKeys.print();
 
+  // This initializes separatorKeys and discreteCardinalities
   for (auto &&factor : factors) {
-    std::cout << ">>> Adding factor: ";
+    std::cout << ">>> Adding factor: " << GREEN;
     factor->print();
-    allKeys.insert(factor->begin(), factor->end());
+    std::cout << RESET;
+    separatorKeys.insert(factor->begin(), factor->end());
+    if (!factor->isContinuous_) {
+      for (auto &k : factor->discreteKeys_) {
+        discreteCardinalities[k.first] = k;
+      }
+    }
+  }
+
+  // remove frontals from separator
+  for (auto &k : frontalKeys) {
+    separatorKeys.erase(k);
   }
 
+  // Fill in discrete frontals and continuous frontals for the end result
   for (auto &k : frontalKeys) {
-    allKeys.erase(k);
+    if (discreteCardinalities.find(k) != discreteCardinalities.end()) {
+      discreteFrontals.insert(discreteCardinalities.at(k));
+    } else {
+      continuousFrontals.insert(k);
+    }
+  }
+
+  // Fill in discrete frontals and continuous frontals for the end result
+  for (auto &k : separatorKeys) {
+    if (discreteCardinalities.find(k) != discreteCardinalities.end()) {
+      discreteSeparator.insert(discreteCardinalities.at(k));
+    } else {
+      continuousSeparator.insert(k);
+    }
   }
 
+  std::cout << RED_BOLD << "Begin Eliminate: " << RESET;
+  frontalKeys.print();
+
+  std::cout << RED_BOLD << "Discrete Keys: " << RESET;
+  for (auto &&key : discreteCardinalities)
+    std::cout << boost::format(" (%1%,%2%),") % DefaultKeyFormatter(key.second.first) % key.second.second;
+  std::cout << "\n" << RESET;
   // PRODUCT: multiply all factors
   gttic(product);
 
-  HybridConditional sum(allKeys.size(), Ordering(allKeys));
+  HybridConditional sum(KeyVector(continuousSeparator.begin(), continuousSeparator.end()),
+                        DiscreteKeys(discreteSeparator.begin(), discreteSeparator.end()),
+                        separatorKeys.size());
 
   //  HybridDiscreteFactor product(DiscreteConditional());
   //  for (auto&& factor : factors) product = (*factor) * product;
@@ -76,10 +125,22 @@ EliminateHybrid(const HybridFactorGraph &factors,
   //      boost::make_shared<HybridConditional>(product, *sum, orderedKeys);
   gttoc(divide);
 
+  auto conditional = boost::make_shared<HybridConditional>(
+      CollectKeys({continuousFrontals.begin(), continuousFrontals.end()},
+                  {continuousSeparator.begin(), continuousSeparator.end()}),
+      CollectDiscreteKeys({discreteFrontals.begin(), discreteFrontals.end()},
+                          {discreteSeparator.begin(), discreteSeparator.end()}),
+      continuousFrontals.size() + discreteFrontals.size());
+  std::cout << GREEN_BOLD << "[Conditional]\n" << RESET;
+  conditional->print();
+  std::cout << GREEN_BOLD << "[Separator]\n" << RESET;
+  sum.print();
+  std::cout << RED_BOLD << "[End Eliminate]\n" << RESET;
+
   //  return std::make_pair(conditional, sum);
-  return std::make_pair(boost::make_shared<HybridConditional>(frontalKeys.size(),
-                                                              orderedKeys),
-                        boost::make_shared<HybridConditional>(std::move(sum)));
+  return std::make_pair(
+      conditional,
+      boost::make_shared<HybridConditional>(std::move(sum)));
 }
 
 void HybridFactorGraph::add(JacobianFactor &&factor) {
diff --git a/gtsam/hybrid/tests/testHybridConditional.cpp b/gtsam/hybrid/tests/testHybridConditional.cpp
index 4611026b34..7292cb3f57 100644
--- a/gtsam/hybrid/tests/testHybridConditional.cpp
+++ b/gtsam/hybrid/tests/testHybridConditional.cpp
@@ -42,7 +42,7 @@ using gtsam::symbol_shorthand::X;
 using gtsam::symbol_shorthand::C;
 
 /* ************************************************************************* */
-TEST_UNSAFE(HybridFactorGraph, creation) {
+TEST(HybridFactorGraph, creation) {
   HybridConditional test;
 
   HybridFactorGraph hfg;
@@ -52,12 +52,19 @@ TEST_UNSAFE(HybridFactorGraph, creation) {
   CLGaussianConditional clgc(
       {X(0)}, {X(1)},
       DiscreteKeys(DiscreteKey{C(0), 2}),
-      CLGaussianConditional::Conditionals()
+      CLGaussianConditional::Conditionals(
+          C(0),
+          boost::make_shared<GaussianConditional>(
+              X(0), Z_3x1, I_3x3, X(1), I_3x3),
+          boost::make_shared<GaussianConditional>(
+              X(0), Vector3::Ones(),
+              I_3x3, X(1),
+              I_3x3))
   );
   GTSAM_PRINT(clgc);
 }
 
-TEST_UNSAFE(HybridFactorGraph, eliminate) {
+TEST_DISABLED(HybridFactorGraph, eliminate) {
   HybridFactorGraph hfg;
 
   hfg.add(HybridGaussianFactor(JacobianFactor(0, I_3x3, Z_3x1)));
@@ -67,7 +74,7 @@ TEST_UNSAFE(HybridFactorGraph, eliminate) {
   EXPECT_LONGS_EQUAL(result.first->size(), 1);
 }
 
-TEST(HybridFactorGraph, eliminateMultifrontal) {
+TEST_DISABLED(HybridFactorGraph, eliminateMultifrontal) {
   HybridFactorGraph hfg;
 
   DiscreteKey x(X(1), 2);

From 0aeb59695e542bc1513ba63f900afd601dd86525 Mon Sep 17 00:00:00 2001
From: Fan Jiang <prof.fan@foxmail.com>
Date: Sun, 13 Mar 2022 23:15:20 -0400
Subject: [PATCH 038/433] add more comments

---
 gtsam/hybrid/HybridConditional.cpp           | 21 +++++++++++--
 gtsam/hybrid/HybridFactorGraph.cpp           |  7 ++++-
 gtsam/hybrid/tests/testHybridConditional.cpp | 31 +++++++++++++++++++-
 3 files changed, 55 insertions(+), 4 deletions(-)

diff --git a/gtsam/hybrid/HybridConditional.cpp b/gtsam/hybrid/HybridConditional.cpp
index e6b2eb47f1..b3009d5b9d 100644
--- a/gtsam/hybrid/HybridConditional.cpp
+++ b/gtsam/hybrid/HybridConditional.cpp
@@ -7,8 +7,25 @@
 
 namespace gtsam {
 void HybridConditional::print(const std::string &s,
-                                     const KeyFormatter &formatter) const {
-  Conditional::print(s, formatter);
+                              const KeyFormatter &formatter) const {
+  std::cout << s << "P(";
+  int index = 0;
+  const size_t N = keys().size();
+  const size_t contN = N - discreteKeys_.size();
+  while (index < N) {
+    if (index > 0) {
+      if (index == nrFrontals_) std::cout << " | "; else std::cout << ", ";
+    }
+    if (index < contN) {
+      std::cout << formatter(keys()[index]);
+    } else {
+      auto &dk = discreteKeys_[index - contN];
+      std::cout << "(" << formatter(dk.first) << ", " << dk.second << ")";
+    }
+    index++;
+  }
+  std::cout << ")\n";
+  if (inner) inner->print("", formatter);
 }
 
 bool HybridConditional::equals(const HybridFactor &other,
diff --git a/gtsam/hybrid/HybridFactorGraph.cpp b/gtsam/hybrid/HybridFactorGraph.cpp
index 177513f607..af4c993dfa 100644
--- a/gtsam/hybrid/HybridFactorGraph.cpp
+++ b/gtsam/hybrid/HybridFactorGraph.cpp
@@ -30,11 +30,16 @@ std::pair<HybridConditional::shared_ptr, HybridFactor::shared_ptr>  //
 EliminateHybrid(const HybridFactorGraph &factors,
                 const Ordering &frontalKeys) {
   // NOTE(fan): Because we are in the Conditional Gaussian regime there are only
-  // few cases: continuous variable, we make a GM if there are hybrid factors;
+  // a few cases:
+  // continuous variable, we make a GM if there are hybrid factors;
   // continuous variable, we make a GF if there are no hybrid factors;
   // discrete variable, no continuous factor is allowed (escapes CG regime), so
   // we panic, if discrete only we do the discrete elimination.
 
+  // However it is not that simple. During elimination it is possible that the multifrontal needs
+  // to eliminate an ordering that contains both Gaussian and hybrid variables, for example x1, c1.
+  // In this scenario, we will have a density P(x1, c1) that is a CLG P(x1|c1)P(c1) (see Murphy02)
+
   // The issue here is that, how can we know which variable is discrete if we
   // unify Values? Obviously we can tell using the factors, but is that fast?
 
diff --git a/gtsam/hybrid/tests/testHybridConditional.cpp b/gtsam/hybrid/tests/testHybridConditional.cpp
index 7292cb3f57..f979895065 100644
--- a/gtsam/hybrid/tests/testHybridConditional.cpp
+++ b/gtsam/hybrid/tests/testHybridConditional.cpp
@@ -88,7 +88,7 @@ TEST_DISABLED(HybridFactorGraph, eliminateMultifrontal) {
   EXPECT_LONGS_EQUAL(result.second->size(), 1);
 }
 
-TEST(HybridFactorGraph, eliminateFullMultifrontal) {
+TEST_DISABLED(HybridFactorGraph, eliminateFullMultifrontalSimple) {
 
   std::cout << ">>>>>>>>>>>>>>\n";
 
@@ -117,6 +117,35 @@ TEST(HybridFactorGraph, eliminateFullMultifrontal) {
   GTSAM_PRINT(*result->marginalFactor(C(1)));
 }
 
+TEST(HybridFactorGraph, eliminateFullMultifrontalCLG) {
+
+  std::cout << ">>>>>>>>>>>>>>\n";
+
+  HybridFactorGraph hfg;
+
+  DiscreteKey x(C(1), 2);
+
+  hfg.add(JacobianFactor(X(0), I_3x3, Z_3x1));
+  hfg.add(JacobianFactor(X(0), I_3x3, X(1), -I_3x3, Z_3x1));
+
+  DecisionTree<Key, GaussianFactor::shared_ptr> dt(C(1),
+                                                   boost::make_shared<JacobianFactor>(X(1),
+                                                                                      I_3x3,
+                                                                                      Z_3x1),
+                                                   boost::make_shared<JacobianFactor>(X(1),
+                                                                                      I_3x3,
+                                                                                      Vector3::Ones()));
+
+  hfg.add(CGMixtureFactor({X(1)}, {x}, dt));
+  hfg.add(HybridDiscreteFactor(DecisionTreeFactor(x, {2, 8})));
+//  hfg.add(HybridDiscreteFactor(DecisionTreeFactor({{C(1), 2}, {C(2), 2}}, "1 2 3 4")));
+
+  auto result = hfg.eliminateMultifrontal(Ordering::ColamdConstrainedLast(hfg, {C(1)}));
+
+  GTSAM_PRINT(*result);
+  GTSAM_PRINT(*result->marginalFactor(C(1)));
+}
+
 /* ************************************************************************* */
 int main() {
   TestResult tr;

From fe5dde7e27e080f5a9abcf4692bdf16dc3164fce Mon Sep 17 00:00:00 2001
From: Fan Jiang <prof.fan@foxmail.com>
Date: Mon, 14 Mar 2022 19:22:20 -0400
Subject: [PATCH 039/433] even better printing and comments

---
 gtsam/hybrid/HybridFactorGraph.cpp           | 30 ++++++++++++++++----
 gtsam/hybrid/tests/testHybridConditional.cpp | 26 ++++++++++++-----
 2 files changed, 44 insertions(+), 12 deletions(-)

diff --git a/gtsam/hybrid/HybridFactorGraph.cpp b/gtsam/hybrid/HybridFactorGraph.cpp
index af4c993dfa..03610166e7 100644
--- a/gtsam/hybrid/HybridFactorGraph.cpp
+++ b/gtsam/hybrid/HybridFactorGraph.cpp
@@ -2,6 +2,7 @@
 // Created by Fan Jiang on 3/11/22.
 //
 
+#include "gtsam/inference/Key.h"
 #include <gtsam/hybrid/HybridEliminationTree.h>
 #include <gtsam/hybrid/HybridJunctionTree.h>
 #include <gtsam/hybrid/HybridFactorGraph.h>
@@ -12,6 +13,7 @@
 
 #include <gtsam/inference/EliminateableFactorGraph-inst.h>
 
+#include <iostream>
 #include <unordered_map>
 
 namespace gtsam {
@@ -57,6 +59,8 @@ EliminateHybrid(const HybridFactorGraph &factors,
   KeySet continuousSeparator;
 
   // TODO: we do a mock by just doing the correct key thing
+  std::cout << RED_BOLD << "Begin Eliminate: " << RESET;
+  frontalKeys.print();
 
   // This initializes separatorKeys and discreteCardinalities
   for (auto &&factor : factors) {
@@ -94,12 +98,28 @@ EliminateHybrid(const HybridFactorGraph &factors,
     }
   }
 
-  std::cout << RED_BOLD << "Begin Eliminate: " << RESET;
-  frontalKeys.print();
+  std::cout << RED_BOLD << "Keys: " << RESET;
+  for (auto &f : frontalKeys) {
+    if (discreteCardinalities.find(f) != discreteCardinalities.end()) {
+      auto &key = discreteCardinalities.at(f);
+      std::cout << boost::format(" (%1%,%2%),") % DefaultKeyFormatter(key.first) % key.second;
+    } else {
+      std::cout << " " << DefaultKeyFormatter(f) << ",";
+    }
+  }
+
+  if (separatorKeys.size() > 0) {
+    std::cout << " | ";
+  }
 
-  std::cout << RED_BOLD << "Discrete Keys: " << RESET;
-  for (auto &&key : discreteCardinalities)
-    std::cout << boost::format(" (%1%,%2%),") % DefaultKeyFormatter(key.second.first) % key.second.second;
+  for (auto &f : separatorKeys) {
+    if (discreteCardinalities.find(f) != discreteCardinalities.end()) {
+      auto &key = discreteCardinalities.at(f);
+      std::cout << boost::format(" (%1%,%2%),") % DefaultKeyFormatter(key.first) % key.second;
+    } else {
+      std::cout << DefaultKeyFormatter(f) << ",";
+    }
+  }
   std::cout << "\n" << RESET;
   // PRODUCT: multiply all factors
   gttic(product);
diff --git a/gtsam/hybrid/tests/testHybridConditional.cpp b/gtsam/hybrid/tests/testHybridConditional.cpp
index f979895065..c682f52162 100644
--- a/gtsam/hybrid/tests/testHybridConditional.cpp
+++ b/gtsam/hybrid/tests/testHybridConditional.cpp
@@ -15,6 +15,7 @@
  *  @author Fan Jiang
  */
 
+#include "Test.h"
 #include <gtsam/hybrid/HybridFactor.h>
 #include <gtsam/hybrid/HybridConditional.h>
 #include <gtsam/hybrid/HybridFactorGraph.h>
@@ -94,7 +95,7 @@ TEST_DISABLED(HybridFactorGraph, eliminateFullMultifrontalSimple) {
 
   HybridFactorGraph hfg;
 
-  DiscreteKey x(C(1), 2);
+  DiscreteKey c1(C(1), 2);
 
   hfg.add(JacobianFactor(X(0), I_3x3, Z_3x1));
   hfg.add(JacobianFactor(X(0), I_3x3, X(1), -I_3x3, Z_3x1));
@@ -107,9 +108,12 @@ TEST_DISABLED(HybridFactorGraph, eliminateFullMultifrontalSimple) {
                                                                                       I_3x3,
                                                                                       Vector3::Ones()));
 
-  hfg.add(CGMixtureFactor({X(1)}, {x}, dt));
-  hfg.add(HybridDiscreteFactor(DecisionTreeFactor(x, {2, 8})));
+  hfg.add(CGMixtureFactor({X(1)}, {c1}, dt));
+  hfg.add(CGMixtureFactor({X(0)}, {c1}, dt));
+  hfg.add(HybridDiscreteFactor(DecisionTreeFactor(c1, {2, 8})));
   hfg.add(HybridDiscreteFactor(DecisionTreeFactor({{C(1), 2}, {C(2), 2}}, "1 2 3 4")));
+  // hfg.add(HybridDiscreteFactor(DecisionTreeFactor({{C(2), 2}, {C(3), 2}}, "1 2 3 4")));
+  // hfg.add(HybridDiscreteFactor(DecisionTreeFactor({{C(3), 2}, {C(1), 2}}, "1 2 2 1")));
 
   auto result = hfg.eliminateMultifrontal(Ordering::ColamdConstrainedLast(hfg, {C(1), C(2)}));
 
@@ -123,7 +127,7 @@ TEST(HybridFactorGraph, eliminateFullMultifrontalCLG) {
 
   HybridFactorGraph hfg;
 
-  DiscreteKey x(C(1), 2);
+  DiscreteKey c(C(1), 2);
 
   hfg.add(JacobianFactor(X(0), I_3x3, Z_3x1));
   hfg.add(JacobianFactor(X(0), I_3x3, X(1), -I_3x3, Z_3x1));
@@ -136,14 +140,22 @@ TEST(HybridFactorGraph, eliminateFullMultifrontalCLG) {
                                                                                       I_3x3,
                                                                                       Vector3::Ones()));
 
-  hfg.add(CGMixtureFactor({X(1)}, {x}, dt));
-  hfg.add(HybridDiscreteFactor(DecisionTreeFactor(x, {2, 8})));
+  hfg.add(CGMixtureFactor({X(1)}, {c}, dt));
+  hfg.add(HybridDiscreteFactor(DecisionTreeFactor(c, {2, 8})));
 //  hfg.add(HybridDiscreteFactor(DecisionTreeFactor({{C(1), 2}, {C(2), 2}}, "1 2 3 4")));
 
   auto result = hfg.eliminateMultifrontal(Ordering::ColamdConstrainedLast(hfg, {C(1)}));
 
   GTSAM_PRINT(*result);
-  GTSAM_PRINT(*result->marginalFactor(C(1)));
+
+  // We immediately need to escape the CLG domain if we do this!!!
+  GTSAM_PRINT(*result->marginalFactor(X(1)));
+  /*
+  Explanation: the Junction tree will need to reeliminate to get to the marginal on X(1), which
+  is not possible because it involves eliminating discrete before continuous. The solution to this,
+  however, is in Murphy02. TLDR is that this is 1. expensive and 2. inexact. neverless it is doable.
+  And I believe that we should do this.
+  */
 }
 
 /* ************************************************************************* */

From f237438bf30da2dab660761eb2523570c90121b5 Mon Sep 17 00:00:00 2001
From: Fan Jiang <prof.fan@foxmail.com>
Date: Tue, 15 Mar 2022 12:50:31 -0400
Subject: [PATCH 040/433] Address comments

---
 gtsam/hybrid/CGMixtureFactor.cpp             | 22 ++++-
 gtsam/hybrid/CGMixtureFactor.h               | 16 ++--
 gtsam/hybrid/CLGaussianConditional.cpp       | 40 +++++----
 gtsam/hybrid/CLGaussianConditional.h         | 16 ++--
 gtsam/hybrid/HybridBayesTree.h               | 15 ++--
 gtsam/hybrid/HybridConditional.cpp           | 33 ++++++--
 gtsam/hybrid/HybridConditional.h             | 36 ++++----
 gtsam/hybrid/HybridDiscreteFactor.cpp        | 29 +++++--
 gtsam/hybrid/HybridDiscreteFactor.h          | 10 ++-
 gtsam/hybrid/HybridEliminationTree.h         | 45 +++++-----
 gtsam/hybrid/HybridFactor.cpp                | 32 ++++---
 gtsam/hybrid/HybridFactor.h                  | 61 +++++++-------
 gtsam/hybrid/HybridFactorGraph.cpp           | 70 +++++++++-------
 gtsam/hybrid/HybridFactorGraph.h             | 54 ++++++------
 gtsam/hybrid/HybridGaussianFactor.cpp        | 35 +++++---
 gtsam/hybrid/HybridGaussianFactor.h          | 10 ++-
 gtsam/hybrid/HybridJunctionTree.cpp          | 10 +--
 gtsam/hybrid/tests/testHybridConditional.cpp | 87 +++++++++-----------
 18 files changed, 344 insertions(+), 277 deletions(-)

diff --git a/gtsam/hybrid/CGMixtureFactor.cpp b/gtsam/hybrid/CGMixtureFactor.cpp
index 16ead783ea..705160273b 100644
--- a/gtsam/hybrid/CGMixtureFactor.cpp
+++ b/gtsam/hybrid/CGMixtureFactor.cpp
@@ -1,6 +1,22 @@
-//
-// Created by Fan Jiang on 3/11/22.
-//
+/* ----------------------------------------------------------------------------
+
+ * GTSAM Copyright 2010, Georgia Tech Research Corporation,
+ * Atlanta, Georgia 30332-0415
+ * All Rights Reserved
+ * Authors: Frank Dellaert, et al. (see THANKS for the full author list)
+
+ * See LICENSE for the license information
+
+ * -------------------------------------------------------------------------- */
+
+/**
+ * @file   CGMixtureFactor.cpp
+ * @brief  A set of Gaussian factors indexed by a set of discrete keys.
+ * @author Fan Jiang
+ * @author Varun Agrawal
+ * @author Frank Dellaert
+ * @date   Mar 12, 2022
+ */
 
 #include <gtsam/hybrid/CGMixtureFactor.h>
 
diff --git a/gtsam/hybrid/CGMixtureFactor.h b/gtsam/hybrid/CGMixtureFactor.h
index 7ff53b7edf..0528d54017 100644
--- a/gtsam/hybrid/CGMixtureFactor.h
+++ b/gtsam/hybrid/CGMixtureFactor.h
@@ -18,15 +18,15 @@
  * @date   Mar 12, 2022
  */
 
-#include <gtsam/hybrid/HybridFactor.h>
-#include <gtsam/linear/GaussianFactor.h>
 #include <gtsam/discrete/DecisionTree.h>
 #include <gtsam/discrete/DiscreteKey.h>
+#include <gtsam/hybrid/HybridFactor.h>
+#include <gtsam/linear/GaussianFactor.h>
 
 namespace gtsam {
 
 class CGMixtureFactor : public HybridFactor {
-public:
+ public:
   using Base = HybridFactor;
   using This = CGMixtureFactor;
   using shared_ptr = boost::shared_ptr<This>;
@@ -38,13 +38,13 @@ class CGMixtureFactor : public HybridFactor {
   CGMixtureFactor() = default;
 
   CGMixtureFactor(const KeyVector &continuousKeys,
-                  const DiscreteKeys &discreteKeys,
-                  const Factors &factors);
+                  const DiscreteKeys &discreteKeys, const Factors &factors);
 
   bool equals(const HybridFactor &lf, double tol = 1e-9) const override;
 
-  void print(const std::string &s = "HybridFactor\n",
-             const KeyFormatter &formatter = DefaultKeyFormatter) const override;
+  void print(
+      const std::string &s = "HybridFactor\n",
+      const KeyFormatter &formatter = DefaultKeyFormatter) const override;
 };
 
-}
+}  // namespace gtsam
diff --git a/gtsam/hybrid/CLGaussianConditional.cpp b/gtsam/hybrid/CLGaussianConditional.cpp
index 37c82a0d52..30531c0232 100644
--- a/gtsam/hybrid/CLGaussianConditional.cpp
+++ b/gtsam/hybrid/CLGaussianConditional.cpp
@@ -16,30 +16,28 @@
  * @date   Mar 12, 2022
  */
 
-#include <gtsam/hybrid/CLGaussianConditional.h>
-
 #include <gtsam/base/utilities.h>
-
-#include <gtsam/inference/Conditional-inst.h>
 #include <gtsam/discrete/DecisionTree-inl.h>
+#include <gtsam/hybrid/CLGaussianConditional.h>
+#include <gtsam/inference/Conditional-inst.h>
 
 namespace gtsam {
 
-CLGaussianConditional::CLGaussianConditional(const KeyVector &continuousFrontals,
-                                             const KeyVector &continuousParents,
-                                             const DiscreteKeys &discreteParents,
-                                             const CLGaussianConditional::Conditionals &conditionals)
-    : BaseFactor(
-    CollectKeys(continuousFrontals, continuousParents), discreteParents),
-      BaseConditional(continuousFrontals.size()), conditionals_(conditionals) {
-
-}
+CLGaussianConditional::CLGaussianConditional(
+    const KeyVector &continuousFrontals, const KeyVector &continuousParents,
+    const DiscreteKeys &discreteParents,
+    const CLGaussianConditional::Conditionals &conditionals)
+    : BaseFactor(CollectKeys(continuousFrontals, continuousParents),
+                 discreteParents),
+      BaseConditional(continuousFrontals.size()),
+      conditionals_(conditionals) {}
 
 bool CLGaussianConditional::equals(const HybridFactor &lf, double tol) const {
   return false;
 }
 
-void CLGaussianConditional::print(const std::string &s, const KeyFormatter &formatter) const {
+void CLGaussianConditional::print(const std::string &s,
+                                  const KeyFormatter &formatter) const {
   std::cout << s << ": ";
   if (isContinuous_) std::cout << "Cont. ";
   if (isDiscrete_) std::cout << "Disc. ";
@@ -51,14 +49,14 @@ void CLGaussianConditional::print(const std::string &s, const KeyFormatter &form
   }
   std::cout << "\n";
   conditionals_.print(
-      "",
-      [&](Key k) {
-        return formatter(k);
-      }, [&](const GaussianConditional::shared_ptr &gf) -> std::string {
+      "", [&](Key k) { return formatter(k); },
+      [&](const GaussianConditional::shared_ptr &gf) -> std::string {
         RedirectCout rd;
-        if (!gf->empty()) gf->print("", formatter);
-        else return {"nullptr"};
+        if (!gf->empty())
+          gf->print("", formatter);
+        else
+          return {"nullptr"};
         return rd.str();
       });
 }
-}
\ No newline at end of file
+}  // namespace gtsam
\ No newline at end of file
diff --git a/gtsam/hybrid/CLGaussianConditional.h b/gtsam/hybrid/CLGaussianConditional.h
index 0319c60a72..0429f4835d 100644
--- a/gtsam/hybrid/CLGaussianConditional.h
+++ b/gtsam/hybrid/CLGaussianConditional.h
@@ -16,15 +16,16 @@
  * @date   Mar 12, 2022
  */
 
-#include <gtsam/inference/Conditional.h>
+#include <gtsam/discrete/DecisionTree.h>
 #include <gtsam/hybrid/HybridFactor.h>
-
+#include <gtsam/inference/Conditional.h>
 #include <gtsam/linear/GaussianConditional.h>
-#include <gtsam/discrete/DecisionTree.h>
 
 namespace gtsam {
-class CLGaussianConditional : public HybridFactor, public Conditional<HybridFactor, CLGaussianConditional> {
-public:
+class CLGaussianConditional
+    : public HybridFactor,
+      public Conditional<HybridFactor, CLGaussianConditional> {
+ public:
   using This = CLGaussianConditional;
   using shared_ptr = boost::shared_ptr<CLGaussianConditional>;
   using BaseFactor = HybridFactor;
@@ -34,8 +35,7 @@ class CLGaussianConditional : public HybridFactor, public Conditional<HybridFact
 
   Conditionals conditionals_;
 
-public:
-
+ public:
   CLGaussianConditional(const KeyVector &continuousFrontals,
                         const KeyVector &continuousParents,
                         const DiscreteKeys &discreteParents,
@@ -47,4 +47,4 @@ class CLGaussianConditional : public HybridFactor, public Conditional<HybridFact
       const std::string &s = "CLGaussianConditional\n",
       const KeyFormatter &formatter = DefaultKeyFormatter) const override;
 };
-}
\ No newline at end of file
+}  // namespace gtsam
\ No newline at end of file
diff --git a/gtsam/hybrid/HybridBayesTree.h b/gtsam/hybrid/HybridBayesTree.h
index 06df66112e..74b967fc80 100644
--- a/gtsam/hybrid/HybridBayesTree.h
+++ b/gtsam/hybrid/HybridBayesTree.h
@@ -11,8 +11,7 @@
 
 /**
  * @file    HybridBayesTree.h
- * @brief   Hybrid Bayes Tree, the result of eliminating a
- * HybridJunctionTree
+ * @brief   Hybrid Bayes Tree, the result of eliminating a HybridJunctionTree
  * @date Mar 11, 2022
  * @author  Fan Jiang
  */
@@ -22,8 +21,8 @@
 #include <gtsam/hybrid/HybridBayesNet.h>
 #include <gtsam/hybrid/HybridFactorGraph.h>
 #include <gtsam/inference/BayesTree.h>
-#include <gtsam/inference/Conditional.h>
 #include <gtsam/inference/BayesTreeCliqueBase.h>
+#include <gtsam/inference/Conditional.h>
 
 #include <string>
 
@@ -39,22 +38,18 @@ class GTSAM_EXPORT HybridBayesTreeClique
     : public BayesTreeCliqueBase<HybridBayesTreeClique, HybridFactorGraph> {
  public:
   typedef HybridBayesTreeClique This;
-  typedef BayesTreeCliqueBase<HybridBayesTreeClique, HybridFactorGraph>
-      Base;
+  typedef BayesTreeCliqueBase<HybridBayesTreeClique, HybridFactorGraph> Base;
   typedef boost::shared_ptr<This> shared_ptr;
   typedef boost::weak_ptr<This> weak_ptr;
   HybridBayesTreeClique() {}
   virtual ~HybridBayesTreeClique() {}
-  HybridBayesTreeClique(
-      const boost::shared_ptr<HybridConditional>& conditional)
+  HybridBayesTreeClique(const boost::shared_ptr<HybridConditional>& conditional)
       : Base(conditional) {}
-
 };
 
 /* ************************************************************************* */
 /** A Bayes tree representing a Hybrid density */
-class GTSAM_EXPORT HybridBayesTree
-    : public BayesTree<HybridBayesTreeClique> {
+class GTSAM_EXPORT HybridBayesTree : public BayesTree<HybridBayesTreeClique> {
  private:
   typedef BayesTree<HybridBayesTreeClique> Base;
 
diff --git a/gtsam/hybrid/HybridConditional.cpp b/gtsam/hybrid/HybridConditional.cpp
index b3009d5b9d..5cb98d921b 100644
--- a/gtsam/hybrid/HybridConditional.cpp
+++ b/gtsam/hybrid/HybridConditional.cpp
@@ -1,6 +1,19 @@
-//
-// Created by Fan Jiang on 3/11/22.
-//
+/* ----------------------------------------------------------------------------
+
+ * GTSAM Copyright 2010, Georgia Tech Research Corporation,
+ * Atlanta, Georgia 30332-0415
+ * All Rights Reserved
+ * Authors: Frank Dellaert, et al. (see THANKS for the full author list)
+
+ * See LICENSE for the license information
+
+ * -------------------------------------------------------------------------- */
+
+/**
+ *  @file HybridConditional.cpp
+ *  @date Mar 11, 2022
+ *  @author Fan Jiang
+ */
 
 #include <gtsam/hybrid/HybridConditional.h>
 #include <gtsam/inference/Conditional-inst.h>
@@ -14,7 +27,10 @@ void HybridConditional::print(const std::string &s,
   const size_t contN = N - discreteKeys_.size();
   while (index < N) {
     if (index > 0) {
-      if (index == nrFrontals_) std::cout << " | "; else std::cout << ", ";
+      if (index == nrFrontals_)
+        std::cout << " | ";
+      else
+        std::cout << ", ";
     }
     if (index < contN) {
       std::cout << formatter(keys()[index]);
@@ -28,13 +44,12 @@ void HybridConditional::print(const std::string &s,
   if (inner) inner->print("", formatter);
 }
 
-bool HybridConditional::equals(const HybridFactor &other,
-                                      double tol) const {
+bool HybridConditional::equals(const HybridFactor &other, double tol) const {
   return false;
 }
 
-HybridConditional HybridConditional::operator*(const HybridConditional &other) const {
+HybridConditional HybridConditional::operator*(
+    const HybridConditional &other) const {
   return {};
 }
-}
-
+}  // namespace gtsam
diff --git a/gtsam/hybrid/HybridConditional.h b/gtsam/hybrid/HybridConditional.h
index 92856cae28..89071092f6 100644
--- a/gtsam/hybrid/HybridConditional.h
+++ b/gtsam/hybrid/HybridConditional.h
@@ -17,11 +17,10 @@
 
 #pragma once
 
-#include <gtsam/hybrid/HybridFactor.h>
 #include <gtsam/discrete/DiscreteConditional.h>
+#include <gtsam/hybrid/HybridFactor.h>
 #include <gtsam/inference/Conditional.h>
 
-
 #include <boost/make_shared.hpp>
 #include <boost/shared_ptr.hpp>
 #include <string>
@@ -38,33 +37,30 @@ namespace gtsam {
  * - GaussianConditional
  */
 class GTSAM_EXPORT HybridConditional
-: public HybridFactor,
-public Conditional<HybridFactor, HybridConditional> {
-public:
+    : public HybridFactor,
+      public Conditional<HybridFactor, HybridConditional> {
+ public:
   // typedefs needed to play nice with gtsam
-  typedef HybridConditional This;            ///< Typedef to this class
+  typedef HybridConditional This;              ///< Typedef to this class
   typedef boost::shared_ptr<This> shared_ptr;  ///< shared_ptr to this class
   typedef HybridFactor BaseFactor;  ///< Typedef to our factor base class
   typedef Conditional<BaseFactor, This>
       BaseConditional;  ///< Typedef to our conditional base class
 
-private:
+ private:
   // Type-erased pointer to the inner type
   std::unique_ptr<Factor> inner;
 
-public:
-/// @name Standard Constructors
-/// @{
+ public:
+  /// @name Standard Constructors
+  /// @{
 
   /// Default constructor needed for serialization.
   HybridConditional() = default;
 
-  HybridConditional(const KeyVector &continuousKeys,
-                    const DiscreteKeys &discreteKeys,
-                    size_t nFrontals)
-      : BaseFactor(continuousKeys, discreteKeys), BaseConditional(nFrontals) {
-
-  }
+  HybridConditional(const KeyVector& continuousKeys,
+                    const DiscreteKeys& discreteKeys, size_t nFrontals)
+      : BaseFactor(continuousKeys, discreteKeys), BaseConditional(nFrontals) {}
 
   /**
    * @brief Combine two conditionals, yielding a new conditional with the union
@@ -83,9 +79,9 @@ public Conditional<HybridFactor, HybridConditional> {
    */
   HybridConditional operator*(const HybridConditional& other) const;
 
-/// @}
-/// @name Testable
-/// @{
+  /// @}
+  /// @name Testable
+  /// @{
 
   /// GTSAM-style print
   void print(
@@ -95,7 +91,7 @@ public Conditional<HybridFactor, HybridConditional> {
   /// GTSAM-style equals
   bool equals(const HybridFactor& other, double tol = 1e-9) const override;
 
-/// @}
+  /// @}
 };
 // DiscreteConditional
 
diff --git a/gtsam/hybrid/HybridDiscreteFactor.cpp b/gtsam/hybrid/HybridDiscreteFactor.cpp
index 1758e90259..96d3842b8a 100644
--- a/gtsam/hybrid/HybridDiscreteFactor.cpp
+++ b/gtsam/hybrid/HybridDiscreteFactor.cpp
@@ -1,6 +1,20 @@
-//
-// Created by Fan Jiang on 3/11/22.
-//
+/* ----------------------------------------------------------------------------
+
+ * GTSAM Copyright 2010, Georgia Tech Research Corporation,
+ * Atlanta, Georgia 30332-0415
+ * All Rights Reserved
+ * Authors: Frank Dellaert, et al. (see THANKS for the full author list)
+
+ * See LICENSE for the license information
+
+ * -------------------------------------------------------------------------- */
+
+/**
+ *  @file HybridDiscreteFactor.cpp
+ *  @brief Wrapper for a discrete factor
+ *  @date Mar 11, 2022
+ *  @author Fan Jiang
+ */
 
 #include <gtsam/hybrid/HybridDiscreteFactor.h>
 
@@ -15,17 +29,16 @@ HybridDiscreteFactor::HybridDiscreteFactor(DiscreteFactor::shared_ptr other)
 
 HybridDiscreteFactor::HybridDiscreteFactor(DecisionTreeFactor &&dtf)
     : Base(dtf.discreteKeys()),
-      inner(boost::make_shared<DecisionTreeFactor>(std::move(dtf))) {
-
-}
+      inner(boost::make_shared<DecisionTreeFactor>(std::move(dtf))) {}
 
 bool HybridDiscreteFactor::equals(const HybridFactor &lf, double tol) const {
   return false;
 }
 
-void HybridDiscreteFactor::print(const std::string &s, const KeyFormatter &formatter) const {
+void HybridDiscreteFactor::print(const std::string &s,
+                                 const KeyFormatter &formatter) const {
   HybridFactor::print(s, formatter);
   inner->print("inner: ", formatter);
 };
 
-}
\ No newline at end of file
+}  // namespace gtsam
\ No newline at end of file
diff --git a/gtsam/hybrid/HybridDiscreteFactor.h b/gtsam/hybrid/HybridDiscreteFactor.h
index 9d574b7362..09da9cf709 100644
--- a/gtsam/hybrid/HybridDiscreteFactor.h
+++ b/gtsam/hybrid/HybridDiscreteFactor.h
@@ -15,8 +15,8 @@
  *  @author Fan Jiang
  */
 
-#include <gtsam/discrete/DiscreteFactor.h>
 #include <gtsam/discrete/DecisionTreeFactor.h>
+#include <gtsam/discrete/DiscreteFactor.h>
 #include <gtsam/hybrid/HybridFactor.h>
 
 namespace gtsam {
@@ -36,8 +36,10 @@ class HybridDiscreteFactor : public HybridFactor {
   HybridDiscreteFactor(DecisionTreeFactor &&dtf);
 
  public:
-  virtual bool equals(const HybridFactor& lf, double tol) const override;
+  virtual bool equals(const HybridFactor &lf, double tol) const override;
 
-  void print(const std::string &s = "HybridFactor\n", const KeyFormatter &formatter = DefaultKeyFormatter) const override;
+  void print(
+      const std::string &s = "HybridFactor\n",
+      const KeyFormatter &formatter = DefaultKeyFormatter) const override;
 };
-}
+}  // namespace gtsam
diff --git a/gtsam/hybrid/HybridEliminationTree.h b/gtsam/hybrid/HybridEliminationTree.h
index e218ce9f63..b72bbcad96 100644
--- a/gtsam/hybrid/HybridEliminationTree.h
+++ b/gtsam/hybrid/HybridEliminationTree.h
@@ -23,40 +23,39 @@
 
 namespace gtsam {
 
-class GTSAM_EXPORT HybridEliminationTree :
-    public EliminationTree<HybridBayesNet, HybridFactorGraph>
-{
+class GTSAM_EXPORT HybridEliminationTree
+    : public EliminationTree<HybridBayesNet, HybridFactorGraph> {
  public:
-  typedef EliminationTree<HybridBayesNet, HybridFactorGraph> Base; ///< Base class
-  typedef HybridEliminationTree This; ///< This class
-  typedef boost::shared_ptr<This> shared_ptr; ///< Shared pointer to this class
+  typedef EliminationTree<HybridBayesNet, HybridFactorGraph>
+      Base;                                    ///< Base class
+  typedef HybridEliminationTree This;          ///< This class
+  typedef boost::shared_ptr<This> shared_ptr;  ///< Shared pointer to this class
 
   /**
-  * Build the elimination tree of a factor graph using pre-computed column structure.
-  * @param factorGraph The factor graph for which to build the elimination tree
-  * @param structure The set of factors involving each variable.  If this is not
-  * precomputed, you can call the Create(const FactorGraph<DERIVEDFACTOR>&)
-  * named constructor instead.
-  * @return The elimination tree
-  */
+   * Build the elimination tree of a factor graph using pre-computed column
+   * structure.
+   * @param factorGraph The factor graph for which to build the elimination tree
+   * @param structure The set of factors involving each variable.  If this is
+   * not precomputed, you can call the Create(const FactorGraph<DERIVEDFACTOR>&)
+   * named constructor instead.
+   * @return The elimination tree
+   */
   HybridEliminationTree(const HybridFactorGraph& factorGraph,
-                          const VariableIndex& structure, const Ordering& order);
+                        const VariableIndex& structure, const Ordering& order);
 
-  /** Build the elimination tree of a factor graph.  Note that this has to compute the column
-  * structure as a VariableIndex, so if you already have this precomputed, use the other
-  * constructor instead.
-  * @param factorGraph The factor graph for which to build the elimination tree
-  */
+  /** Build the elimination tree of a factor graph.  Note that this has to
+   * compute the column structure as a VariableIndex, so if you already have
+   * this precomputed, use the other constructor instead.
+   * @param factorGraph The factor graph for which to build the elimination tree
+   */
   HybridEliminationTree(const HybridFactorGraph& factorGraph,
-                          const Ordering& order);
+                        const Ordering& order);
 
   /** Test whether the tree is equal to another */
   bool equals(const This& other, double tol = 1e-9) const;
 
  private:
-
   friend class ::EliminationTreeTester;
-
 };
 
-}
+}  // namespace gtsam
diff --git a/gtsam/hybrid/HybridFactor.cpp b/gtsam/hybrid/HybridFactor.cpp
index 171ea790a2..f16092effa 100644
--- a/gtsam/hybrid/HybridFactor.cpp
+++ b/gtsam/hybrid/HybridFactor.cpp
@@ -19,11 +19,12 @@
 
 namespace gtsam {
 
-KeyVector CollectKeys(const KeyVector &continuousKeys, const DiscreteKeys &discreteKeys) {
+KeyVector CollectKeys(const KeyVector &continuousKeys,
+                      const DiscreteKeys &discreteKeys) {
   KeyVector allKeys;
-  std::copy(continuousKeys.begin(), continuousKeys.end(), std::back_inserter(allKeys));
-  std::transform(discreteKeys.begin(),
-                 discreteKeys.end(),
+  std::copy(continuousKeys.begin(), continuousKeys.end(),
+            std::back_inserter(allKeys));
+  std::transform(discreteKeys.begin(), discreteKeys.end(),
                  std::back_inserter(allKeys),
                  [](const DiscreteKey &k) { return k.first; });
   return allKeys;
@@ -36,7 +37,8 @@ KeyVector CollectKeys(const KeyVector &keys1, const KeyVector &keys2) {
   return allKeys;
 }
 
-DiscreteKeys CollectDiscreteKeys(const DiscreteKeys &key1, const DiscreteKeys &key2) {
+DiscreteKeys CollectDiscreteKeys(const DiscreteKeys &key1,
+                                 const DiscreteKeys &key2) {
   DiscreteKeys allKeys;
   std::copy(key1.begin(), key1.end(), std::back_inserter(allKeys));
   std::copy(key2.begin(), key2.end(), std::back_inserter(allKeys));
@@ -45,16 +47,20 @@ DiscreteKeys CollectDiscreteKeys(const DiscreteKeys &key1, const DiscreteKeys &k
 
 HybridFactor::HybridFactor() = default;
 
-HybridFactor::HybridFactor(const KeyVector &keys) : Base(keys), isContinuous_(true) {}
+HybridFactor::HybridFactor(const KeyVector &keys)
+    : Base(keys), isContinuous_(true) {}
 
-HybridFactor::HybridFactor(const KeyVector &continuousKeys, const DiscreteKeys &discreteKeys)
-    : Base(
-    CollectKeys(continuousKeys, discreteKeys)), isHybrid_(true), discreteKeys_(discreteKeys) {}
+HybridFactor::HybridFactor(const KeyVector &continuousKeys,
+                           const DiscreteKeys &discreteKeys)
+    : Base(CollectKeys(continuousKeys, discreteKeys)),
+      isHybrid_(true),
+      discreteKeys_(discreteKeys) {}
 
-HybridFactor::HybridFactor(const DiscreteKeys &discreteKeys) : Base(CollectKeys({}, discreteKeys)),
-                                                               isDiscrete_(true),
-                                                               discreteKeys_(discreteKeys) {}
+HybridFactor::HybridFactor(const DiscreteKeys &discreteKeys)
+    : Base(CollectKeys({}, discreteKeys)),
+      isDiscrete_(true),
+      discreteKeys_(discreteKeys) {}
 
 HybridFactor::~HybridFactor() = default;
 
-}
\ No newline at end of file
+}  // namespace gtsam
\ No newline at end of file
diff --git a/gtsam/hybrid/HybridFactor.h b/gtsam/hybrid/HybridFactor.h
index dd925fee26..cd562869ed 100644
--- a/gtsam/hybrid/HybridFactor.h
+++ b/gtsam/hybrid/HybridFactor.h
@@ -17,29 +17,30 @@
 
 #pragma once
 
-#include <gtsam/nonlinear/Values.h>
-#include <gtsam/inference/Factor.h>
-#include <gtsam/discrete/DiscreteKey.h>
 #include <gtsam/base/Testable.h>
+#include <gtsam/discrete/DiscreteKey.h>
+#include <gtsam/inference/Factor.h>
+#include <gtsam/nonlinear/Values.h>
 
 #include <string>
 namespace gtsam {
 
-KeyVector CollectKeys(const KeyVector &continuousKeys, const DiscreteKeys &discreteKeys);
+KeyVector CollectKeys(const KeyVector &continuousKeys,
+                      const DiscreteKeys &discreteKeys);
 KeyVector CollectKeys(const KeyVector &keys1, const KeyVector &keys2);
-DiscreteKeys CollectDiscreteKeys(const DiscreteKeys &key1, const DiscreteKeys &key2);
+DiscreteKeys CollectDiscreteKeys(const DiscreteKeys &key1,
+                                 const DiscreteKeys &key2);
 
 /**
  * Base class for hybrid probabilistic factors
  */
 class GTSAM_EXPORT HybridFactor : public Factor {
-
-public:
-
+ public:
   // typedefs needed to play nice with gtsam
-  typedef HybridFactor This; ///< This class
-  typedef boost::shared_ptr<HybridFactor> shared_ptr; ///< shared_ptr to this class
-  typedef Factor Base; ///< Our base class
+  typedef HybridFactor This;  ///< This class
+  typedef boost::shared_ptr<HybridFactor>
+      shared_ptr;       ///< shared_ptr to this class
+  typedef Factor Base;  ///< Our base class
 
   bool isDiscrete_ = false;
   bool isContinuous_ = false;
@@ -47,31 +48,33 @@ class GTSAM_EXPORT HybridFactor : public Factor {
 
   DiscreteKeys discreteKeys_;
 
-public:
-
-/// @name Standard Constructors
-/// @{
+ public:
+  /// @name Standard Constructors
+  /// @{
 
   /** Default constructor creates empty factor */
   HybridFactor();
 
-  /** Construct from container of keys.  This constructor is used internally from derived factor
-   *  constructors, either from a container of keys or from a boost::assign::list_of. */
-//  template<typename CONTAINER>
-//  HybridFactor(const CONTAINER &keys) : Base(keys) {}
+  /** Construct from container of keys.  This constructor is used internally
+   * from derived factor
+   *  constructors, either from a container of keys or from a
+   * boost::assign::list_of. */
+  //  template<typename CONTAINER>
+  //  HybridFactor(const CONTAINER &keys) : Base(keys) {}
 
   explicit HybridFactor(const KeyVector &keys);
 
-  HybridFactor(const KeyVector &continuousKeys, const DiscreteKeys &discreteKeys);
+  HybridFactor(const KeyVector &continuousKeys,
+               const DiscreteKeys &discreteKeys);
 
   explicit HybridFactor(const DiscreteKeys &discreteKeys);
 
   /// Virtual destructor
   virtual ~HybridFactor();
 
-/// @}
-/// @name Testable
-/// @{
+  /// @}
+  /// @name Testable
+  /// @{
 
   /// equals
   virtual bool equals(const HybridFactor &lf, double tol = 1e-9) const = 0;
@@ -87,16 +90,16 @@ class GTSAM_EXPORT HybridFactor : public Factor {
     this->printKeys("", formatter);
   }
 
-/// @}
-/// @name Standard Interface
-/// @{
+  /// @}
+  /// @name Standard Interface
+  /// @{
 
-/// @}
+  /// @}
 };
 // HybridFactor
 
 // traits
-template<>
+template <>
 struct traits<HybridFactor> : public Testable<HybridFactor> {};
 
-}// namespace gtsam
+}  // namespace gtsam
diff --git a/gtsam/hybrid/HybridFactorGraph.cpp b/gtsam/hybrid/HybridFactorGraph.cpp
index 03610166e7..7d4daaceba 100644
--- a/gtsam/hybrid/HybridFactorGraph.cpp
+++ b/gtsam/hybrid/HybridFactorGraph.cpp
@@ -1,25 +1,37 @@
-//
-// Created by Fan Jiang on 3/11/22.
-//
+/* ----------------------------------------------------------------------------
 
-#include "gtsam/inference/Key.h"
+ * GTSAM Copyright 2010, Georgia Tech Research Corporation,
+ * Atlanta, Georgia 30332-0415
+ * All Rights Reserved
+ * Authors: Frank Dellaert, et al. (see THANKS for the full author list)
+
+ * See LICENSE for the license information
+
+ * -------------------------------------------------------------------------- */
+
+/**
+ * @file   HybridFactorGraph.cpp
+ * @brief  Hybrid factor graph that uses type erasure
+ * @author Fan Jiang
+ * @date   Mar 11, 2022
+ */
+
+#include <gtsam/hybrid/HybridDiscreteFactor.h>
 #include <gtsam/hybrid/HybridEliminationTree.h>
-#include <gtsam/hybrid/HybridJunctionTree.h>
-#include <gtsam/hybrid/HybridFactorGraph.h>
 #include <gtsam/hybrid/HybridFactor.h>
-
+#include <gtsam/hybrid/HybridFactorGraph.h>
 #include <gtsam/hybrid/HybridGaussianFactor.h>
-#include <gtsam/hybrid/HybridDiscreteFactor.h>
-
+#include <gtsam/hybrid/HybridJunctionTree.h>
 #include <gtsam/inference/EliminateableFactorGraph-inst.h>
 
 #include <iostream>
 #include <unordered_map>
 
+#include "gtsam/inference/Key.h"
+
 namespace gtsam {
 
-template
-class EliminateableFactorGraph<HybridFactorGraph>;
+template class EliminateableFactorGraph<HybridFactorGraph>;
 
 static std::string BLACK_BOLD = "\033[1;30m";
 static std::string RED_BOLD = "\033[1;31m";
@@ -29,8 +41,7 @@ static std::string RESET = "\033[0m";
 
 /* ************************************************************************ */
 std::pair<HybridConditional::shared_ptr, HybridFactor::shared_ptr>  //
-EliminateHybrid(const HybridFactorGraph &factors,
-                const Ordering &frontalKeys) {
+EliminateHybrid(const HybridFactorGraph &factors, const Ordering &frontalKeys) {
   // NOTE(fan): Because we are in the Conditional Gaussian regime there are only
   // a few cases:
   // continuous variable, we make a GM if there are hybrid factors;
@@ -38,9 +49,10 @@ EliminateHybrid(const HybridFactorGraph &factors,
   // discrete variable, no continuous factor is allowed (escapes CG regime), so
   // we panic, if discrete only we do the discrete elimination.
 
-  // However it is not that simple. During elimination it is possible that the multifrontal needs
-  // to eliminate an ordering that contains both Gaussian and hybrid variables, for example x1, c1.
-  // In this scenario, we will have a density P(x1, c1) that is a CLG P(x1|c1)P(c1) (see Murphy02)
+  // However it is not that simple. During elimination it is possible that the
+  // multifrontal needs to eliminate an ordering that contains both Gaussian and
+  // hybrid variables, for example x1, c1. In this scenario, we will have a
+  // density P(x1, c1) that is a CLG P(x1|c1)P(c1) (see Murphy02)
 
   // The issue here is that, how can we know which variable is discrete if we
   // unify Values? Obviously we can tell using the factors, but is that fast?
@@ -102,7 +114,8 @@ EliminateHybrid(const HybridFactorGraph &factors,
   for (auto &f : frontalKeys) {
     if (discreteCardinalities.find(f) != discreteCardinalities.end()) {
       auto &key = discreteCardinalities.at(f);
-      std::cout << boost::format(" (%1%,%2%),") % DefaultKeyFormatter(key.first) % key.second;
+      std::cout << boost::format(" (%1%,%2%),") %
+                       DefaultKeyFormatter(key.first) % key.second;
     } else {
       std::cout << " " << DefaultKeyFormatter(f) << ",";
     }
@@ -115,7 +128,8 @@ EliminateHybrid(const HybridFactorGraph &factors,
   for (auto &f : separatorKeys) {
     if (discreteCardinalities.find(f) != discreteCardinalities.end()) {
       auto &key = discreteCardinalities.at(f);
-      std::cout << boost::format(" (%1%,%2%),") % DefaultKeyFormatter(key.first) % key.second;
+      std::cout << boost::format(" (%1%,%2%),") %
+                       DefaultKeyFormatter(key.first) % key.second;
     } else {
       std::cout << DefaultKeyFormatter(f) << ",";
     }
@@ -124,9 +138,10 @@ EliminateHybrid(const HybridFactorGraph &factors,
   // PRODUCT: multiply all factors
   gttic(product);
 
-  HybridConditional sum(KeyVector(continuousSeparator.begin(), continuousSeparator.end()),
-                        DiscreteKeys(discreteSeparator.begin(), discreteSeparator.end()),
-                        separatorKeys.size());
+  HybridConditional sum(
+      KeyVector(continuousSeparator.begin(), continuousSeparator.end()),
+      DiscreteKeys(discreteSeparator.begin(), discreteSeparator.end()),
+      separatorKeys.size());
 
   //  HybridDiscreteFactor product(DiscreteConditional());
   //  for (auto&& factor : factors) product = (*factor) * product;
@@ -139,10 +154,8 @@ EliminateHybrid(const HybridFactorGraph &factors,
 
   // Ordering keys for the conditional so that frontalKeys are really in front
   Ordering orderedKeys;
-  orderedKeys.insert(orderedKeys.end(), frontalKeys.begin(),
-                     frontalKeys.end());
-  orderedKeys.insert(orderedKeys.end(), sum.keys().begin(),
-                     sum.keys().end());
+  orderedKeys.insert(orderedKeys.end(), frontalKeys.begin(), frontalKeys.end());
+  orderedKeys.insert(orderedKeys.end(), sum.keys().begin(), sum.keys().end());
 
   // now divide product/sum to get conditional
   gttic(divide);
@@ -163,12 +176,11 @@ EliminateHybrid(const HybridFactorGraph &factors,
   std::cout << RED_BOLD << "[End Eliminate]\n" << RESET;
 
   //  return std::make_pair(conditional, sum);
-  return std::make_pair(
-      conditional,
-      boost::make_shared<HybridConditional>(std::move(sum)));
+  return std::make_pair(conditional,
+                        boost::make_shared<HybridConditional>(std::move(sum)));
 }
 
 void HybridFactorGraph::add(JacobianFactor &&factor) {
   FactorGraph::add(boost::make_shared<HybridGaussianFactor>(std::move(factor)));
 }
-}
+}  // namespace gtsam
diff --git a/gtsam/hybrid/HybridFactorGraph.h b/gtsam/hybrid/HybridFactorGraph.h
index 9a57d36e6b..92f98c8f27 100644
--- a/gtsam/hybrid/HybridFactorGraph.h
+++ b/gtsam/hybrid/HybridFactorGraph.h
@@ -36,43 +36,50 @@ class HybridJunctionTree;
 class JacobianFactor;
 
 /** Main elimination function for HybridFactorGraph */
-GTSAM_EXPORT std::pair<boost::shared_ptr<HybridConditional>, HybridFactor::shared_ptr>
-EliminateHybrid(const HybridFactorGraph& factors, const Ordering& keys);
+GTSAM_EXPORT
+    std::pair<boost::shared_ptr<HybridConditional>, HybridFactor::shared_ptr>
+    EliminateHybrid(const HybridFactorGraph& factors, const Ordering& keys);
 
 /* ************************************************************************* */
-template<> struct EliminationTraits<HybridFactorGraph>
-{
-  typedef HybridFactor FactorType;                   ///< Type of factors in factor graph
-  typedef HybridFactorGraph FactorGraphType;         ///< Type of the factor graph (e.g. HybridFactorGraph)
-  typedef HybridConditional ConditionalType;         ///< Type of conditionals from elimination
-  typedef HybridBayesNet BayesNetType;               ///< Type of Bayes net from sequential elimination
-  typedef HybridEliminationTree EliminationTreeType; ///< Type of elimination tree
-  typedef HybridBayesTree BayesTreeType;             ///< Type of Bayes tree
-  typedef HybridJunctionTree JunctionTreeType;       ///< Type of Junction tree
+template <>
+struct EliminationTraits<HybridFactorGraph> {
+  typedef HybridFactor FactorType;  ///< Type of factors in factor graph
+  typedef HybridFactorGraph
+      FactorGraphType;  ///< Type of the factor graph (e.g. HybridFactorGraph)
+  typedef HybridConditional
+      ConditionalType;  ///< Type of conditionals from elimination
+  typedef HybridBayesNet
+      BayesNetType;  ///< Type of Bayes net from sequential elimination
+  typedef HybridEliminationTree
+      EliminationTreeType;                      ///< Type of elimination tree
+  typedef HybridBayesTree BayesTreeType;        ///< Type of Bayes tree
+  typedef HybridJunctionTree JunctionTreeType;  ///< Type of Junction tree
   /// The default dense elimination function
-  static std::pair<boost::shared_ptr<ConditionalType>, boost::shared_ptr<FactorType> >
+  static std::pair<boost::shared_ptr<ConditionalType>,
+                   boost::shared_ptr<FactorType> >
   DefaultEliminate(const FactorGraphType& factors, const Ordering& keys) {
-    return EliminateHybrid(factors, keys); }
+    return EliminateHybrid(factors, keys);
+  }
 };
 
-
-class HybridFactorGraph : public FactorGraph<HybridFactor>, public EliminateableFactorGraph<HybridFactorGraph> {
+class HybridFactorGraph : public FactorGraph<HybridFactor>,
+                          public EliminateableFactorGraph<HybridFactorGraph> {
  public:
   using Base = FactorGraph<HybridFactor>;
-  using This = HybridFactorGraph;          ///< this class
+  using This = HybridFactorGraph;  ///< this class
   using BaseEliminateable =
-  EliminateableFactorGraph<This>;          ///< for elimination
+      EliminateableFactorGraph<This>;          ///< for elimination
   using shared_ptr = boost::shared_ptr<This>;  ///< shared_ptr to This
 
   using Values = gtsam::Values;  ///< backwards compatibility
-  using Indices = KeyVector;  ///> map from keys to values
+  using Indices = KeyVector;     ///> map from keys to values
 
  public:
   HybridFactorGraph() = default;
 
-//  /** Construct from container of factors (shared_ptr or plain objects) */
-//  template <class CONTAINER>
-//  explicit HybridFactorGraph(const CONTAINER& factors) : Base(factors) {}
+  //  /** Construct from container of factors (shared_ptr or plain objects) */
+  //  template <class CONTAINER>
+  //  explicit HybridFactorGraph(const CONTAINER& factors) : Base(factors) {}
 
   /** Implicit copy/downcast constructor to override explicit template container
    * constructor. In BayesTree this is used for:
@@ -84,8 +91,7 @@ class HybridFactorGraph : public FactorGraph<HybridFactor>, public Eliminateable
   using FactorGraph::add;
 
   /// Add a factor directly using a shared_ptr.
-  void add(JacobianFactor &&factor);
+  void add(JacobianFactor&& factor);
 };
 
-}
-
+}  // namespace gtsam
diff --git a/gtsam/hybrid/HybridGaussianFactor.cpp b/gtsam/hybrid/HybridGaussianFactor.cpp
index faa4ba998c..d83f90024a 100644
--- a/gtsam/hybrid/HybridGaussianFactor.cpp
+++ b/gtsam/hybrid/HybridGaussianFactor.cpp
@@ -1,6 +1,19 @@
-//
-// Created by Fan Jiang on 3/11/22.
-//
+/* ----------------------------------------------------------------------------
+
+ * GTSAM Copyright 2010, Georgia Tech Research Corporation,
+ * Atlanta, Georgia 30332-0415
+ * All Rights Reserved
+ * Authors: Frank Dellaert, et al. (see THANKS for the full author list)
+
+ * See LICENSE for the license information
+
+ * -------------------------------------------------------------------------- */
+
+/**
+ *  @file HybridGaussianFactor.cpp
+ *  @date Mar 11, 2022
+ *  @author Fan Jiang
+ */
 
 #include <gtsam/hybrid/HybridGaussianFactor.h>
 
@@ -8,20 +21,22 @@
 
 namespace gtsam {
 
-HybridGaussianFactor::HybridGaussianFactor(GaussianFactor::shared_ptr other) : Base(other->keys()) {
+HybridGaussianFactor::HybridGaussianFactor(GaussianFactor::shared_ptr other)
+    : Base(other->keys()) {
   inner = other;
 }
 
-HybridGaussianFactor::HybridGaussianFactor(JacobianFactor &&jf) : Base(jf.keys()),  inner(boost::make_shared<JacobianFactor>(std::move(jf))) {
-
-}
+HybridGaussianFactor::HybridGaussianFactor(JacobianFactor &&jf)
+    : Base(jf.keys()),
+      inner(boost::make_shared<JacobianFactor>(std::move(jf))) {}
 
-bool HybridGaussianFactor::equals(const HybridFactor& lf, double tol) const {
+bool HybridGaussianFactor::equals(const HybridFactor &lf, double tol) const {
   return false;
 }
-void HybridGaussianFactor::print(const std::string &s, const KeyFormatter &formatter) const {
+void HybridGaussianFactor::print(const std::string &s,
+                                 const KeyFormatter &formatter) const {
   HybridFactor::print(s, formatter);
   inner->print("inner: ", formatter);
 };
 
-}
\ No newline at end of file
+}  // namespace gtsam
\ No newline at end of file
diff --git a/gtsam/hybrid/HybridGaussianFactor.h b/gtsam/hybrid/HybridGaussianFactor.h
index 8562075b4e..23a3c0110d 100644
--- a/gtsam/hybrid/HybridGaussianFactor.h
+++ b/gtsam/hybrid/HybridGaussianFactor.h
@@ -15,9 +15,9 @@
  *  @author Fan Jiang
  */
 
+#include <gtsam/hybrid/HybridFactor.h>
 #include <gtsam/linear/GaussianFactor.h>
 #include <gtsam/linear/JacobianFactor.h>
-#include <gtsam/hybrid/HybridFactor.h>
 
 namespace gtsam {
 
@@ -36,8 +36,10 @@ class HybridGaussianFactor : public HybridFactor {
   explicit HybridGaussianFactor(JacobianFactor &&jf);
 
  public:
-  virtual bool equals(const HybridFactor& lf, double tol) const override;
+  virtual bool equals(const HybridFactor &lf, double tol) const override;
 
-  void print(const std::string &s = "HybridFactor\n", const KeyFormatter &formatter = DefaultKeyFormatter) const override;
+  void print(
+      const std::string &s = "HybridFactor\n",
+      const KeyFormatter &formatter = DefaultKeyFormatter) const override;
 };
-}
+}  // namespace gtsam
diff --git a/gtsam/hybrid/HybridJunctionTree.cpp b/gtsam/hybrid/HybridJunctionTree.cpp
index 0e3d2ea00b..9da1bfed38 100644
--- a/gtsam/hybrid/HybridJunctionTree.cpp
+++ b/gtsam/hybrid/HybridJunctionTree.cpp
@@ -15,9 +15,9 @@
  * @author Fan Jiang
  */
 
-#include <gtsam/inference/JunctionTree-inst.h>
-#include <gtsam/hybrid/HybridJunctionTree.h>
 #include <gtsam/hybrid/HybridEliminationTree.h>
+#include <gtsam/hybrid/HybridJunctionTree.h>
+#include <gtsam/inference/JunctionTree-inst.h>
 
 namespace gtsam {
 
@@ -27,7 +27,7 @@ template class JunctionTree<HybridBayesTree, HybridFactorGraph>;
 
 /* ************************************************************************* */
 HybridJunctionTree::HybridJunctionTree(
-    const HybridEliminationTree& eliminationTree) :
-    Base(eliminationTree) {}
+    const HybridEliminationTree& eliminationTree)
+    : Base(eliminationTree) {}
 
-}
+}  // namespace gtsam
diff --git a/gtsam/hybrid/tests/testHybridConditional.cpp b/gtsam/hybrid/tests/testHybridConditional.cpp
index c682f52162..f945d07020 100644
--- a/gtsam/hybrid/tests/testHybridConditional.cpp
+++ b/gtsam/hybrid/tests/testHybridConditional.cpp
@@ -15,32 +15,30 @@
  *  @author Fan Jiang
  */
 
-#include "Test.h"
-#include <gtsam/hybrid/HybridFactor.h>
-#include <gtsam/hybrid/HybridConditional.h>
-#include <gtsam/hybrid/HybridFactorGraph.h>
-#include <gtsam/hybrid/HybridGaussianFactor.h>
-#include <gtsam/hybrid/HybridDiscreteFactor.h>
-#include <gtsam/hybrid/CLGaussianConditional.h>
+#include <CppUnitLite/Test.h>
+#include <CppUnitLite/TestHarness.h>
 #include <gtsam/hybrid/CGMixtureFactor.h>
+#include <gtsam/hybrid/CLGaussianConditional.h>
 #include <gtsam/hybrid/HybridBayesNet.h>
 #include <gtsam/hybrid/HybridBayesTree.h>
-
-#include <gtsam/linear/JacobianFactor.h>
+#include <gtsam/hybrid/HybridConditional.h>
+#include <gtsam/hybrid/HybridDiscreteFactor.h>
+#include <gtsam/hybrid/HybridFactor.h>
+#include <gtsam/hybrid/HybridFactorGraph.h>
+#include <gtsam/hybrid/HybridGaussianFactor.h>
 #include <gtsam/inference/BayesNet.h>
-
 #include <gtsam/inference/Symbol.h>
-
-#include <CppUnitLite/TestHarness.h>
+#include <gtsam/linear/JacobianFactor.h>
 
 #include <boost/assign/std/map.hpp>
+
 using namespace boost::assign;
 
 using namespace std;
 using namespace gtsam;
 
-using gtsam::symbol_shorthand::X;
 using gtsam::symbol_shorthand::C;
+using gtsam::symbol_shorthand::X;
 
 /* ************************************************************************* */
 TEST(HybridFactorGraph, creation) {
@@ -51,17 +49,13 @@ TEST(HybridFactorGraph, creation) {
   hfg.add(HybridGaussianFactor(JacobianFactor(0, I_3x3, Z_3x1)));
 
   CLGaussianConditional clgc(
-      {X(0)}, {X(1)},
-      DiscreteKeys(DiscreteKey{C(0), 2}),
+      {X(0)}, {X(1)}, DiscreteKeys(DiscreteKey{C(0), 2}),
       CLGaussianConditional::Conditionals(
           C(0),
-          boost::make_shared<GaussianConditional>(
-              X(0), Z_3x1, I_3x3, X(1), I_3x3),
-          boost::make_shared<GaussianConditional>(
-              X(0), Vector3::Ones(),
-              I_3x3, X(1),
-              I_3x3))
-  );
+          boost::make_shared<GaussianConditional>(X(0), Z_3x1, I_3x3, X(1),
+                                                  I_3x3),
+          boost::make_shared<GaussianConditional>(X(0), Vector3::Ones(), I_3x3,
+                                                  X(1), I_3x3)));
   GTSAM_PRINT(clgc);
 }
 
@@ -90,7 +84,6 @@ TEST_DISABLED(HybridFactorGraph, eliminateMultifrontal) {
 }
 
 TEST_DISABLED(HybridFactorGraph, eliminateFullMultifrontalSimple) {
-
   std::cout << ">>>>>>>>>>>>>>\n";
 
   HybridFactorGraph hfg;
@@ -100,29 +93,27 @@ TEST_DISABLED(HybridFactorGraph, eliminateFullMultifrontalSimple) {
   hfg.add(JacobianFactor(X(0), I_3x3, Z_3x1));
   hfg.add(JacobianFactor(X(0), I_3x3, X(1), -I_3x3, Z_3x1));
 
-  DecisionTree<Key, GaussianFactor::shared_ptr> dt(C(1),
-                                                   boost::make_shared<JacobianFactor>(X(1),
-                                                                                      I_3x3,
-                                                                                      Z_3x1),
-                                                   boost::make_shared<JacobianFactor>(X(1),
-                                                                                      I_3x3,
-                                                                                      Vector3::Ones()));
+  DecisionTree<Key, GaussianFactor::shared_ptr> dt(
+      C(1), boost::make_shared<JacobianFactor>(X(1), I_3x3, Z_3x1),
+      boost::make_shared<JacobianFactor>(X(1), I_3x3, Vector3::Ones()));
 
   hfg.add(CGMixtureFactor({X(1)}, {c1}, dt));
   hfg.add(CGMixtureFactor({X(0)}, {c1}, dt));
   hfg.add(HybridDiscreteFactor(DecisionTreeFactor(c1, {2, 8})));
-  hfg.add(HybridDiscreteFactor(DecisionTreeFactor({{C(1), 2}, {C(2), 2}}, "1 2 3 4")));
-  // hfg.add(HybridDiscreteFactor(DecisionTreeFactor({{C(2), 2}, {C(3), 2}}, "1 2 3 4")));
-  // hfg.add(HybridDiscreteFactor(DecisionTreeFactor({{C(3), 2}, {C(1), 2}}, "1 2 2 1")));
+  hfg.add(HybridDiscreteFactor(
+      DecisionTreeFactor({{C(1), 2}, {C(2), 2}}, "1 2 3 4")));
+  // hfg.add(HybridDiscreteFactor(DecisionTreeFactor({{C(2), 2}, {C(3), 2}}, "1
+  // 2 3 4"))); hfg.add(HybridDiscreteFactor(DecisionTreeFactor({{C(3), 2},
+  // {C(1), 2}}, "1 2 2 1")));
 
-  auto result = hfg.eliminateMultifrontal(Ordering::ColamdConstrainedLast(hfg, {C(1), C(2)}));
+  auto result = hfg.eliminateMultifrontal(
+      Ordering::ColamdConstrainedLast(hfg, {C(1), C(2)}));
 
   GTSAM_PRINT(*result);
   GTSAM_PRINT(*result->marginalFactor(C(1)));
 }
 
 TEST(HybridFactorGraph, eliminateFullMultifrontalCLG) {
-
   std::cout << ">>>>>>>>>>>>>>\n";
 
   HybridFactorGraph hfg;
@@ -132,29 +123,28 @@ TEST(HybridFactorGraph, eliminateFullMultifrontalCLG) {
   hfg.add(JacobianFactor(X(0), I_3x3, Z_3x1));
   hfg.add(JacobianFactor(X(0), I_3x3, X(1), -I_3x3, Z_3x1));
 
-  DecisionTree<Key, GaussianFactor::shared_ptr> dt(C(1),
-                                                   boost::make_shared<JacobianFactor>(X(1),
-                                                                                      I_3x3,
-                                                                                      Z_3x1),
-                                                   boost::make_shared<JacobianFactor>(X(1),
-                                                                                      I_3x3,
-                                                                                      Vector3::Ones()));
+  DecisionTree<Key, GaussianFactor::shared_ptr> dt(
+      C(1), boost::make_shared<JacobianFactor>(X(1), I_3x3, Z_3x1),
+      boost::make_shared<JacobianFactor>(X(1), I_3x3, Vector3::Ones()));
 
   hfg.add(CGMixtureFactor({X(1)}, {c}, dt));
   hfg.add(HybridDiscreteFactor(DecisionTreeFactor(c, {2, 8})));
-//  hfg.add(HybridDiscreteFactor(DecisionTreeFactor({{C(1), 2}, {C(2), 2}}, "1 2 3 4")));
+  //  hfg.add(HybridDiscreteFactor(DecisionTreeFactor({{C(1), 2}, {C(2), 2}}, "1
+  //  2 3 4")));
 
-  auto result = hfg.eliminateMultifrontal(Ordering::ColamdConstrainedLast(hfg, {C(1)}));
+  auto result =
+      hfg.eliminateMultifrontal(Ordering::ColamdConstrainedLast(hfg, {C(1)}));
 
   GTSAM_PRINT(*result);
 
   // We immediately need to escape the CLG domain if we do this!!!
   GTSAM_PRINT(*result->marginalFactor(X(1)));
   /*
-  Explanation: the Junction tree will need to reeliminate to get to the marginal on X(1), which
-  is not possible because it involves eliminating discrete before continuous. The solution to this,
-  however, is in Murphy02. TLDR is that this is 1. expensive and 2. inexact. neverless it is doable.
-  And I believe that we should do this.
+  Explanation: the Junction tree will need to reeliminate to get to the marginal
+  on X(1), which is not possible because it involves eliminating discrete before
+  continuous. The solution to this, however, is in Murphy02. TLDR is that this
+  is 1. expensive and 2. inexact. neverless it is doable. And I believe that we
+  should do this.
   */
 }
 
@@ -164,4 +154,3 @@ int main() {
   return TestRegistry::runAllTests(tr);
 }
 /* ************************************************************************* */
-

From 36ee4ce7cbc8dc5ffdf5ca71b107fd7a2dc3beb0 Mon Sep 17 00:00:00 2001
From: Fan Jiang <prof.fan@foxmail.com>
Date: Tue, 15 Mar 2022 12:53:58 -0400
Subject: [PATCH 041/433] Missing pragma onces

---
 gtsam/CMakeLists.txt                 | 2 +-
 gtsam/hybrid/CGMixtureFactor.h       | 2 ++
 gtsam/hybrid/CLGaussianConditional.h | 2 ++
 gtsam/hybrid/HybridDiscreteFactor.h  | 2 ++
 gtsam/hybrid/HybridGaussianFactor.h  | 2 ++
 5 files changed, 9 insertions(+), 1 deletion(-)

diff --git a/gtsam/CMakeLists.txt b/gtsam/CMakeLists.txt
index 845ac7cd0f..09f1ea8064 100644
--- a/gtsam/CMakeLists.txt
+++ b/gtsam/CMakeLists.txt
@@ -10,7 +10,7 @@ set (gtsam_subdirs
     inference
     symbolic
     discrete
-	hybrid
+    hybrid
     linear
     nonlinear
     sam
diff --git a/gtsam/hybrid/CGMixtureFactor.h b/gtsam/hybrid/CGMixtureFactor.h
index 0528d54017..556c53cc53 100644
--- a/gtsam/hybrid/CGMixtureFactor.h
+++ b/gtsam/hybrid/CGMixtureFactor.h
@@ -18,6 +18,8 @@
  * @date   Mar 12, 2022
  */
 
+#pragma once
+
 #include <gtsam/discrete/DecisionTree.h>
 #include <gtsam/discrete/DiscreteKey.h>
 #include <gtsam/hybrid/HybridFactor.h>
diff --git a/gtsam/hybrid/CLGaussianConditional.h b/gtsam/hybrid/CLGaussianConditional.h
index 0429f4835d..d80cb804ff 100644
--- a/gtsam/hybrid/CLGaussianConditional.h
+++ b/gtsam/hybrid/CLGaussianConditional.h
@@ -16,6 +16,8 @@
  * @date   Mar 12, 2022
  */
 
+#pragma once
+
 #include <gtsam/discrete/DecisionTree.h>
 #include <gtsam/hybrid/HybridFactor.h>
 #include <gtsam/inference/Conditional.h>
diff --git a/gtsam/hybrid/HybridDiscreteFactor.h b/gtsam/hybrid/HybridDiscreteFactor.h
index 09da9cf709..f182f90a9e 100644
--- a/gtsam/hybrid/HybridDiscreteFactor.h
+++ b/gtsam/hybrid/HybridDiscreteFactor.h
@@ -15,6 +15,8 @@
  *  @author Fan Jiang
  */
 
+#pragma once
+
 #include <gtsam/discrete/DecisionTreeFactor.h>
 #include <gtsam/discrete/DiscreteFactor.h>
 #include <gtsam/hybrid/HybridFactor.h>
diff --git a/gtsam/hybrid/HybridGaussianFactor.h b/gtsam/hybrid/HybridGaussianFactor.h
index 23a3c0110d..03c49564ea 100644
--- a/gtsam/hybrid/HybridGaussianFactor.h
+++ b/gtsam/hybrid/HybridGaussianFactor.h
@@ -15,6 +15,8 @@
  *  @author Fan Jiang
  */
 
+#pragma once
+
 #include <gtsam/hybrid/HybridFactor.h>
 #include <gtsam/linear/GaussianFactor.h>
 #include <gtsam/linear/JacobianFactor.h>

From 7ad2031b2fa81710fac83d96b021d4830d296ba7 Mon Sep 17 00:00:00 2001
From: Fan Jiang <prof.fan@foxmail.com>
Date: Tue, 22 Mar 2022 15:37:28 -0400
Subject: [PATCH 042/433] Now we have real multifrontal!

---
 ...ianConditional.cpp => GaussianMixture.cpp} |  12 +-
 ...aussianConditional.h => GaussianMixture.h} |  16 +-
 gtsam/hybrid/HybridConditional.cpp            |  24 ++-
 gtsam/hybrid/HybridConditional.h              |  11 +-
 gtsam/hybrid/HybridFactor.cpp                 |  14 +-
 gtsam/hybrid/HybridFactor.h                   |   8 +-
 gtsam/hybrid/HybridFactorGraph.cpp            |  92 ++++++++---
 gtsam/hybrid/HybridJunctionTree.cpp           | 152 +++++++++++++++++-
 gtsam/hybrid/tests/testHybridConditional.cpp  |  83 ++++++++--
 gtsam/inference/JunctionTree.h                |   2 +-
 10 files changed, 360 insertions(+), 54 deletions(-)
 rename gtsam/hybrid/{CLGaussianConditional.cpp => GaussianMixture.cpp} (84%)
 rename gtsam/hybrid/{CLGaussianConditional.h => GaussianMixture.h} (75%)

diff --git a/gtsam/hybrid/CLGaussianConditional.cpp b/gtsam/hybrid/GaussianMixture.cpp
similarity index 84%
rename from gtsam/hybrid/CLGaussianConditional.cpp
rename to gtsam/hybrid/GaussianMixture.cpp
index 30531c0232..6af5f71923 100644
--- a/gtsam/hybrid/CLGaussianConditional.cpp
+++ b/gtsam/hybrid/GaussianMixture.cpp
@@ -10,7 +10,7 @@
  * -------------------------------------------------------------------------- */
 
 /**
- * @file   CLGaussianConditional.cpp
+ * @file   GaussianMixture.cpp
  * @brief  A hybrid conditional in the Conditional Linear Gaussian scheme
  * @author Fan Jiang
  * @date   Mar 12, 2022
@@ -18,25 +18,25 @@
 
 #include <gtsam/base/utilities.h>
 #include <gtsam/discrete/DecisionTree-inl.h>
-#include <gtsam/hybrid/CLGaussianConditional.h>
+#include <gtsam/hybrid/GaussianMixture.h>
 #include <gtsam/inference/Conditional-inst.h>
 
 namespace gtsam {
 
-CLGaussianConditional::CLGaussianConditional(
+GaussianMixture::GaussianMixture(
     const KeyVector &continuousFrontals, const KeyVector &continuousParents,
     const DiscreteKeys &discreteParents,
-    const CLGaussianConditional::Conditionals &conditionals)
+    const GaussianMixture::Conditionals &conditionals)
     : BaseFactor(CollectKeys(continuousFrontals, continuousParents),
                  discreteParents),
       BaseConditional(continuousFrontals.size()),
       conditionals_(conditionals) {}
 
-bool CLGaussianConditional::equals(const HybridFactor &lf, double tol) const {
+bool GaussianMixture::equals(const HybridFactor &lf, double tol) const {
   return false;
 }
 
-void CLGaussianConditional::print(const std::string &s,
+void GaussianMixture::print(const std::string &s,
                                   const KeyFormatter &formatter) const {
   std::cout << s << ": ";
   if (isContinuous_) std::cout << "Cont. ";
diff --git a/gtsam/hybrid/CLGaussianConditional.h b/gtsam/hybrid/GaussianMixture.h
similarity index 75%
rename from gtsam/hybrid/CLGaussianConditional.h
rename to gtsam/hybrid/GaussianMixture.h
index d80cb804ff..541a2b8a61 100644
--- a/gtsam/hybrid/CLGaussianConditional.h
+++ b/gtsam/hybrid/GaussianMixture.h
@@ -10,7 +10,7 @@
  * -------------------------------------------------------------------------- */
 
 /**
- * @file   CLGaussianConditional.h
+ * @file   GaussianMixture.h
  * @brief  A hybrid conditional in the Conditional Linear Gaussian scheme
  * @author Fan Jiang
  * @date   Mar 12, 2022
@@ -24,21 +24,21 @@
 #include <gtsam/linear/GaussianConditional.h>
 
 namespace gtsam {
-class CLGaussianConditional
+class GaussianMixture
     : public HybridFactor,
-      public Conditional<HybridFactor, CLGaussianConditional> {
+      public Conditional<HybridFactor, GaussianMixture> {
  public:
-  using This = CLGaussianConditional;
-  using shared_ptr = boost::shared_ptr<CLGaussianConditional>;
+  using This = GaussianMixture;
+  using shared_ptr = boost::shared_ptr<GaussianMixture>;
   using BaseFactor = HybridFactor;
-  using BaseConditional = Conditional<HybridFactor, CLGaussianConditional>;
+  using BaseConditional = Conditional<HybridFactor, GaussianMixture>;
 
   using Conditionals = DecisionTree<Key, GaussianConditional::shared_ptr>;
 
   Conditionals conditionals_;
 
  public:
-  CLGaussianConditional(const KeyVector &continuousFrontals,
+  GaussianMixture(const KeyVector &continuousFrontals,
                         const KeyVector &continuousParents,
                         const DiscreteKeys &discreteParents,
                         const Conditionals &conditionals);
@@ -46,7 +46,7 @@ class CLGaussianConditional
   bool equals(const HybridFactor &lf, double tol = 1e-9) const override;
 
   void print(
-      const std::string &s = "CLGaussianConditional\n",
+      const std::string &s = "GaussianMixture\n",
       const KeyFormatter &formatter = DefaultKeyFormatter) const override;
 };
 }  // namespace gtsam
\ No newline at end of file
diff --git a/gtsam/hybrid/HybridConditional.cpp b/gtsam/hybrid/HybridConditional.cpp
index 5cb98d921b..e212f45341 100644
--- a/gtsam/hybrid/HybridConditional.cpp
+++ b/gtsam/hybrid/HybridConditional.cpp
@@ -19,9 +19,31 @@
 #include <gtsam/inference/Conditional-inst.h>
 
 namespace gtsam {
+
+HybridConditional::HybridConditional(const KeyVector &continuousFrontals,
+                                     const DiscreteKeys &discreteFrontals,
+                                     const KeyVector &continuousParents,
+                                     const DiscreteKeys &discreteParents)
+    : HybridConditional(
+          CollectKeys({continuousFrontals.begin(), continuousFrontals.end()},
+                      {continuousParents.begin(), continuousParents.end()}),
+          CollectDiscreteKeys(
+              {discreteFrontals.begin(), discreteFrontals.end()},
+              {discreteParents.begin(), discreteParents.end()}),
+          continuousFrontals.size() + discreteFrontals.size()) {}
+
+HybridConditional::HybridConditional(
+    boost::shared_ptr<GaussianConditional> continuousConditional)
+    : BaseFactor(continuousConditional->keys()),
+      BaseConditional(continuousConditional->nrFrontals()) {}
+
 void HybridConditional::print(const std::string &s,
                               const KeyFormatter &formatter) const {
-  std::cout << s << "P(";
+  std::cout << s;
+  if (isContinuous_) std::cout << "Cont. ";
+  if (isDiscrete_) std::cout << "Disc. ";
+  if (isHybrid_) std::cout << "Hybr. ";
+  std::cout << "P(";
   int index = 0;
   const size_t N = keys().size();
   const size_t contN = N - discreteKeys_.size();
diff --git a/gtsam/hybrid/HybridConditional.h b/gtsam/hybrid/HybridConditional.h
index 89071092f6..d851cd68ee 100644
--- a/gtsam/hybrid/HybridConditional.h
+++ b/gtsam/hybrid/HybridConditional.h
@@ -25,6 +25,8 @@
 #include <boost/shared_ptr.hpp>
 #include <string>
 #include <vector>
+#include "gtsam/inference/Key.h"
+#include "gtsam/linear/GaussianConditional.h"
 
 namespace gtsam {
 
@@ -33,8 +35,8 @@ namespace gtsam {
  *
  * As a type-erased variant of:
  * - DiscreteConditional
- * - CLGaussianConditional
  * - GaussianConditional
+ * - GaussianMixture
  */
 class GTSAM_EXPORT HybridConditional
     : public HybridFactor,
@@ -62,6 +64,13 @@ class GTSAM_EXPORT HybridConditional
                     const DiscreteKeys& discreteKeys, size_t nFrontals)
       : BaseFactor(continuousKeys, discreteKeys), BaseConditional(nFrontals) {}
 
+  HybridConditional(const KeyVector& continuousFrontals,
+                    const DiscreteKeys& discreteFrontals,
+                    const KeyVector& continuousParents,
+                    const DiscreteKeys& discreteParents);
+
+  HybridConditional(boost::shared_ptr<GaussianConditional> continuousConditional);
+  
   /**
    * @brief Combine two conditionals, yielding a new conditional with the union
    * of the frontal keys, ordered by gtsam::Key.
diff --git a/gtsam/hybrid/HybridFactor.cpp b/gtsam/hybrid/HybridFactor.cpp
index f16092effa..48a9dc468f 100644
--- a/gtsam/hybrid/HybridFactor.cpp
+++ b/gtsam/hybrid/HybridFactor.cpp
@@ -53,7 +53,9 @@ HybridFactor::HybridFactor(const KeyVector &keys)
 HybridFactor::HybridFactor(const KeyVector &continuousKeys,
                            const DiscreteKeys &discreteKeys)
     : Base(CollectKeys(continuousKeys, discreteKeys)),
-      isHybrid_(true),
+      isDiscrete_((continuousKeys.size() == 0) && (discreteKeys.size() != 0)),
+      isContinuous_((continuousKeys.size() != 0) && (discreteKeys.size() == 0)),
+      isHybrid_((continuousKeys.size() != 0) && (discreteKeys.size() != 0)),
       discreteKeys_(discreteKeys) {}
 
 HybridFactor::HybridFactor(const DiscreteKeys &discreteKeys)
@@ -61,6 +63,16 @@ HybridFactor::HybridFactor(const DiscreteKeys &discreteKeys)
       isDiscrete_(true),
       discreteKeys_(discreteKeys) {}
 
+void HybridFactor::print(
+      const std::string &s,
+      const KeyFormatter &formatter) const {
+  std::cout << s;
+  if (isContinuous_) std::cout << "Cont. ";
+  if (isDiscrete_) std::cout << "Disc. ";
+  if (isHybrid_) std::cout << "Hybr. ";
+  this->printKeys("", formatter);
+}
+
 HybridFactor::~HybridFactor() = default;
 
 }  // namespace gtsam
\ No newline at end of file
diff --git a/gtsam/hybrid/HybridFactor.h b/gtsam/hybrid/HybridFactor.h
index cd562869ed..84d9b71bc9 100644
--- a/gtsam/hybrid/HybridFactor.h
+++ b/gtsam/hybrid/HybridFactor.h
@@ -82,13 +82,7 @@ class GTSAM_EXPORT HybridFactor : public Factor {
   /// print
   void print(
       const std::string &s = "HybridFactor\n",
-      const KeyFormatter &formatter = DefaultKeyFormatter) const override {
-    std::cout << s;
-    if (isContinuous_) std::cout << "Cont. ";
-    if (isDiscrete_) std::cout << "Disc. ";
-    if (isHybrid_) std::cout << "Hybr. ";
-    this->printKeys("", formatter);
-  }
+      const KeyFormatter &formatter = DefaultKeyFormatter) const override;
 
   /// @}
   /// @name Standard Interface
diff --git a/gtsam/hybrid/HybridFactorGraph.cpp b/gtsam/hybrid/HybridFactorGraph.cpp
index 7d4daaceba..367f9f9ab3 100644
--- a/gtsam/hybrid/HybridFactorGraph.cpp
+++ b/gtsam/hybrid/HybridFactorGraph.cpp
@@ -26,8 +26,11 @@
 
 #include <iostream>
 #include <unordered_map>
+#include <utility>
 
 #include "gtsam/inference/Key.h"
+#include "gtsam/linear/GaussianFactorGraph.h"
+#include "gtsam/linear/HessianFactor.h"
 
 namespace gtsam {
 
@@ -60,6 +63,28 @@ EliminateHybrid(const HybridFactorGraph &factors, const Ordering &frontalKeys) {
   // In the case of multifrontal, we will need to use a constrained ordering
   // so that the discrete parts will be guaranteed to be eliminated last!
 
+  // Because of all these reasons, we need to think very carefully about how to
+  // implement the hybrid factors so that we do not get poor performance.
+  // 
+  // The first thing is how to represent the GaussianMixture. A very possible
+  // scenario is that the incoming factors will have different levels of discrete
+  // keys. For example, imagine we are going to eliminate the fragment:
+  // $\phi(x1,c1,c2)$, $\phi(x1,c2,c3)$, which is perfectly valid. Now we will need
+  // to know how to retrieve the corresponding continuous densities for the assi-
+  // -gnment (c1,c2,c3) (OR (c2,c3,c1)! note there is NO defined order!). And we 
+  // also need to consider when there is pruning. Two mixture factors could have
+  // different pruning patterns-one could have (c1=0,c2=1) pruned, and another
+  // could have (c2=0,c3=1) pruned, and this creates a big problem in how to 
+  // identify the intersection of non-pruned branches.
+
+  // One possible approach is first building the collection of all discrete keys.
+  // After that we enumerate the space of all key combinations *lazily* so that
+  // the exploration branch terminates whenever an assignment yields NULL in any
+  // of the hybrid factors.
+
+  // When the number of assignments is large we may encounter stack overflows.
+  // However this is also the case with iSAM2, so no pressure :)
+
   // PREPROCESS: Identify the nature of the current elimination
   std::unordered_map<Key, DiscreteKey> discreteCardinalities;
   std::set<DiscreteKey> discreteSeparator;
@@ -110,31 +135,62 @@ EliminateHybrid(const HybridFactorGraph &factors, const Ordering &frontalKeys) {
     }
   }
 
-  std::cout << RED_BOLD << "Keys: " << RESET;
-  for (auto &f : frontalKeys) {
-    if (discreteCardinalities.find(f) != discreteCardinalities.end()) {
-      auto &key = discreteCardinalities.at(f);
-      std::cout << boost::format(" (%1%,%2%),") %
-                       DefaultKeyFormatter(key.first) % key.second;
-    } else {
-      std::cout << " " << DefaultKeyFormatter(f) << ",";
+  {
+    std::cout << RED_BOLD << "Keys: " << RESET;
+    for (auto &f : frontalKeys) {
+      if (discreteCardinalities.find(f) != discreteCardinalities.end()) {
+        auto &key = discreteCardinalities.at(f);
+        std::cout << boost::format(" (%1%,%2%),") %
+                         DefaultKeyFormatter(key.first) % key.second;
+      } else {
+        std::cout << " " << DefaultKeyFormatter(f) << ",";
+      }
     }
+
+    if (separatorKeys.size() > 0) {
+      std::cout << " | ";
+    }
+
+    for (auto &f : separatorKeys) {
+      if (discreteCardinalities.find(f) != discreteCardinalities.end()) {
+        auto &key = discreteCardinalities.at(f);
+        std::cout << boost::format(" (%1%,%2%),") %
+                         DefaultKeyFormatter(key.first) % key.second;
+      } else {
+        std::cout << DefaultKeyFormatter(f) << ",";
+      }
+    }
+    std::cout << "\n" << RESET;
   }
 
-  if (separatorKeys.size() > 0) {
-    std::cout << " | ";
+  // NOTE: We should really defer the product here because of pruning
+  
+  // Case 1: we are only dealing with continuous
+  if (discreteCardinalities.empty()) {
+    GaussianFactorGraph gfg;
+    for (auto &fp : factors) {
+      gfg.push_back(boost::static_pointer_cast<HybridGaussianFactor>(fp)->inner);
+    }
+
+    auto result = EliminatePreferCholesky(gfg, frontalKeys);
+    return std::make_pair(
+        boost::make_shared<HybridConditional>(result.first),
+        boost::make_shared<HybridGaussianFactor>(result.second));
   }
 
-  for (auto &f : separatorKeys) {
-    if (discreteCardinalities.find(f) != discreteCardinalities.end()) {
-      auto &key = discreteCardinalities.at(f);
-      std::cout << boost::format(" (%1%,%2%),") %
-                       DefaultKeyFormatter(key.first) % key.second;
-    } else {
-      std::cout << DefaultKeyFormatter(f) << ",";
+  // Case 2: we are only dealing with discrete
+  if (discreteCardinalities.empty()) {
+    GaussianFactorGraph gfg;
+    for (auto &fp : factors) {
+      gfg.push_back(boost::static_pointer_cast<HybridGaussianFactor>(fp)->inner);
     }
+
+    auto result = EliminatePreferCholesky(gfg, frontalKeys);
+    return std::make_pair(
+        boost::make_shared<HybridConditional>(result.first),
+        boost::make_shared<HybridGaussianFactor>(result.second));
   }
-  std::cout << "\n" << RESET;
+
   // PRODUCT: multiply all factors
   gttic(product);
 
diff --git a/gtsam/hybrid/HybridJunctionTree.cpp b/gtsam/hybrid/HybridJunctionTree.cpp
index 9da1bfed38..9445e26b80 100644
--- a/gtsam/hybrid/HybridJunctionTree.cpp
+++ b/gtsam/hybrid/HybridJunctionTree.cpp
@@ -19,15 +19,163 @@
 #include <gtsam/hybrid/HybridJunctionTree.h>
 #include <gtsam/inference/JunctionTree-inst.h>
 
+#include <unordered_map>
+
+#include "gtsam/hybrid/HybridFactorGraph.h"
+#include "gtsam/inference/Key.h"
+
 namespace gtsam {
 
 // Instantiate base classes
 template class EliminatableClusterTree<HybridBayesTree, HybridFactorGraph>;
 template class JunctionTree<HybridBayesTree, HybridFactorGraph>;
 
+struct HybridConstructorTraversalData {
+  typedef typename JunctionTree<HybridBayesTree, HybridFactorGraph>::Node Node;
+  typedef typename JunctionTree<HybridBayesTree, HybridFactorGraph>::sharedNode
+      sharedNode;
+
+  HybridConstructorTraversalData* const parentData;
+  sharedNode myJTNode;
+  FastVector<SymbolicConditional::shared_ptr> childSymbolicConditionals;
+  FastVector<SymbolicFactor::shared_ptr> childSymbolicFactors;
+  KeySet discreteKeys;
+
+  // Small inner class to store symbolic factors
+  class SymbolicFactors : public FactorGraph<Factor> {};
+
+  HybridConstructorTraversalData(HybridConstructorTraversalData* _parentData)
+      : parentData(_parentData) {}
+
+  // Pre-order visitor function
+  static HybridConstructorTraversalData ConstructorTraversalVisitorPre(
+      const boost::shared_ptr<HybridEliminationTree::Node>& node,
+      HybridConstructorTraversalData& parentData) {
+    // On the pre-order pass, before children have been visited, we just set up
+    // a traversal data structure with its own JT node, and create a child
+    // pointer in its parent.
+    HybridConstructorTraversalData myData =
+        HybridConstructorTraversalData(&parentData);
+    myData.myJTNode = boost::make_shared<Node>(node->key, node->factors);
+    parentData.myJTNode->addChild(myData.myJTNode);
+
+    std::cout << "Getting discrete info: ";
+    for (HybridFactor::shared_ptr& f : node->factors) {
+      for (auto& k : f->discreteKeys_) {
+        std::cout << "DK: " << DefaultKeyFormatter(k.first) << "\n";
+        myData.discreteKeys.insert(k.first);
+      }
+    }
+
+    return myData;
+  }
+
+  // Post-order visitor function
+  static void ConstructorTraversalVisitorPostAlg2(
+      const boost::shared_ptr<HybridEliminationTree::Node>& ETreeNode,
+      const HybridConstructorTraversalData& myData) {
+    // In this post-order visitor, we combine the symbolic elimination results
+    // from the elimination tree children and symbolically eliminate the current
+    // elimination tree node.  We then check whether each of our elimination
+    // tree child nodes should be merged with us.  The check for this is that
+    // our number of symbolic elimination parents is exactly 1 less than
+    // our child's symbolic elimination parents - this condition indicates that
+    // eliminating the current node did not introduce any parents beyond those
+    // already in the child->
+
+    // Do symbolic elimination for this node
+    SymbolicFactors symbolicFactors;
+    symbolicFactors.reserve(ETreeNode->factors.size() +
+                            myData.childSymbolicFactors.size());
+    // Add ETree node factors
+    symbolicFactors += ETreeNode->factors;
+    // Add symbolic factors passed up from children
+    symbolicFactors += myData.childSymbolicFactors;
+
+    Ordering keyAsOrdering;
+    keyAsOrdering.push_back(ETreeNode->key);
+    SymbolicConditional::shared_ptr myConditional;
+    SymbolicFactor::shared_ptr mySeparatorFactor;
+    boost::tie(myConditional, mySeparatorFactor) =
+        internal::EliminateSymbolic(symbolicFactors, keyAsOrdering);
+
+    std::cout << "Symbolic: ";
+    myConditional->print();
+
+    // Store symbolic elimination results in the parent
+    myData.parentData->childSymbolicConditionals.push_back(myConditional);
+    myData.parentData->childSymbolicFactors.push_back(mySeparatorFactor);
+    myData.parentData->discreteKeys.merge(myData.discreteKeys);
+
+    sharedNode node = myData.myJTNode;
+    const FastVector<SymbolicConditional::shared_ptr>& childConditionals =
+        myData.childSymbolicConditionals;
+    node->problemSize_ = (int)(myConditional->size() * symbolicFactors.size());
+
+    // Merge our children if they are in our clique - if our conditional has
+    // exactly one fewer parent than our child's conditional.
+    const size_t myNrParents = myConditional->nrParents();
+    const size_t nrChildren = node->nrChildren();
+    assert(childConditionals.size() == nrChildren);
+
+    // decide which children to merge, as index into children
+    std::vector<size_t> nrFrontals = node->nrFrontalsOfChildren();
+    std::vector<bool> merge(nrChildren, false);
+    size_t myNrFrontals = 1;
+    for (size_t i = 0; i < nrChildren; i++) {
+      // Check if we should merge the i^th child
+      if (myNrParents + myNrFrontals == childConditionals[i]->nrParents()) {
+        const bool myType =
+            myData.discreteKeys.exists(myConditional->frontals()[0]);
+        const bool theirType =
+            myData.discreteKeys.exists(childConditionals[i]->frontals()[0]);
+        std::cout << "Type: "
+                  << DefaultKeyFormatter(myConditional->frontals()[0]) << " vs "
+                  << DefaultKeyFormatter(childConditionals[i]->frontals()[0])
+                  << "\n";
+        if (myType == theirType) {
+          // Increment number of frontal variables
+          myNrFrontals += nrFrontals[i];
+          std::cout << "Merging ";
+          childConditionals[i]->print();
+          merge[i] = true;
+        }
+      }
+    }
+
+    // now really merge
+    node->mergeChildren(merge);
+  }
+};
+
 /* ************************************************************************* */
 HybridJunctionTree::HybridJunctionTree(
-    const HybridEliminationTree& eliminationTree)
-    : Base(eliminationTree) {}
+    const HybridEliminationTree& eliminationTree) {
+  gttic(JunctionTree_FromEliminationTree);
+  // Here we rely on the BayesNet having been produced by this elimination tree,
+  // such that the conditionals are arranged in DFS post-order.  We traverse the
+  // elimination tree, and inspect the symbolic conditional corresponding to
+  // each node.  The elimination tree node is added to the same clique with its
+  // parent if it has exactly one more Bayes net conditional parent than
+  // does its elimination tree parent.
+
+  // Traverse the elimination tree, doing symbolic elimination and merging nodes
+  // as we go.  Gather the created junction tree roots in a dummy Node.
+  typedef typename HybridEliminationTree::Node ETreeNode;
+  typedef HybridConstructorTraversalData Data;
+  Data rootData(0);
+  rootData.myJTNode =
+      boost::make_shared<typename Base::Node>();  // Make a dummy node to gather
+                                                  // the junction tree roots
+  treeTraversal::DepthFirstForest(eliminationTree, rootData,
+                                  Data::ConstructorTraversalVisitorPre,
+                                  Data::ConstructorTraversalVisitorPostAlg2);
+
+  // Assign roots from the dummy node
+  this->addChildrenAsRoots(rootData.myJTNode);
+
+  // Transfer remaining factors from elimination tree
+  Base::remainingFactors_ = eliminationTree.remainingFactors();
+}
 
 }  // namespace gtsam
diff --git a/gtsam/hybrid/tests/testHybridConditional.cpp b/gtsam/hybrid/tests/testHybridConditional.cpp
index f945d07020..d16715300a 100644
--- a/gtsam/hybrid/tests/testHybridConditional.cpp
+++ b/gtsam/hybrid/tests/testHybridConditional.cpp
@@ -18,7 +18,7 @@
 #include <CppUnitLite/Test.h>
 #include <CppUnitLite/TestHarness.h>
 #include <gtsam/hybrid/CGMixtureFactor.h>
-#include <gtsam/hybrid/CLGaussianConditional.h>
+#include <gtsam/hybrid/GaussianMixture.h>
 #include <gtsam/hybrid/HybridBayesNet.h>
 #include <gtsam/hybrid/HybridBayesTree.h>
 #include <gtsam/hybrid/HybridConditional.h>
@@ -31,6 +31,7 @@
 #include <gtsam/linear/JacobianFactor.h>
 
 #include <boost/assign/std/map.hpp>
+#include "gtsam/base/Testable.h"
 
 using namespace boost::assign;
 
@@ -48,9 +49,9 @@ TEST(HybridFactorGraph, creation) {
 
   hfg.add(HybridGaussianFactor(JacobianFactor(0, I_3x3, Z_3x1)));
 
-  CLGaussianConditional clgc(
+  GaussianMixture clgc(
       {X(0)}, {X(1)}, DiscreteKeys(DiscreteKey{C(0), 2}),
-      CLGaussianConditional::Conditionals(
+      GaussianMixture::Conditionals(
           C(0),
           boost::make_shared<GaussianConditional>(X(0), Z_3x1, I_3x3, X(1),
                                                   I_3x3),
@@ -69,7 +70,7 @@ TEST_DISABLED(HybridFactorGraph, eliminate) {
   EXPECT_LONGS_EQUAL(result.first->size(), 1);
 }
 
-TEST_DISABLED(HybridFactorGraph, eliminateMultifrontal) {
+TEST(HybridFactorGraph, eliminateMultifrontal) {
   HybridFactorGraph hfg;
 
   DiscreteKey x(X(1), 2);
@@ -132,13 +133,77 @@ TEST(HybridFactorGraph, eliminateFullMultifrontalCLG) {
   //  hfg.add(HybridDiscreteFactor(DecisionTreeFactor({{C(1), 2}, {C(2), 2}}, "1
   //  2 3 4")));
 
-  auto result =
-      hfg.eliminateMultifrontal(Ordering::ColamdConstrainedLast(hfg, {C(1)}));
+  auto ordering_full = Ordering::ColamdConstrainedLast(hfg, {C(1)});
 
-  GTSAM_PRINT(*result);
+  HybridBayesTree::shared_ptr hbt = hfg.eliminateMultifrontal(ordering_full);
+
+  GTSAM_PRINT(*hbt);
+  /*
+  Explanation: the Junction tree will need to reeliminate to get to the marginal
+  on X(1), which is not possible because it involves eliminating discrete before
+  continuous. The solution to this, however, is in Murphy02. TLDR is that this
+  is 1. expensive and 2. inexact. neverless it is doable. And I believe that we
+  should do this.
+  */
+}
+
+/**
+ * This test is about how to assemble the Bayes Tree roots after we do partial elimination
+*/
+TEST_DISABLED(HybridFactorGraph, eliminateFullMultifrontalTwoClique) {
+  std::cout << ">>>>>>>>>>>>>>\n";
+
+  HybridFactorGraph hfg;
+
+  hfg.add(JacobianFactor(X(0), I_3x3, X(1), -I_3x3, Z_3x1));
+  hfg.add(JacobianFactor(X(1), I_3x3, X(2), -I_3x3, Z_3x1));
+
+  {
+    DecisionTree<Key, GaussianFactor::shared_ptr> dt(
+        C(0), boost::make_shared<JacobianFactor>(X(0), I_3x3, Z_3x1),
+        boost::make_shared<JacobianFactor>(X(0), I_3x3, Vector3::Ones()));
+
+    hfg.add(CGMixtureFactor({X(0)}, {{C(0), 2}}, dt));
+
+    DecisionTree<Key, GaussianFactor::shared_ptr> dt1(
+        C(1), boost::make_shared<JacobianFactor>(X(2), I_3x3, Z_3x1),
+        boost::make_shared<JacobianFactor>(X(2), I_3x3, Vector3::Ones()));
+
+    hfg.add(CGMixtureFactor({X(2)}, {{C(1), 2}}, dt1));
+  }
+
+  // hfg.add(HybridDiscreteFactor(DecisionTreeFactor(c, {2, 8})));
+  hfg.add(HybridDiscreteFactor(DecisionTreeFactor({{C(1), 2}, {C(2), 2}}, "1 2 3 4")));
+
+  hfg.add(JacobianFactor(X(3), I_3x3, X(4), -I_3x3, Z_3x1));
+  hfg.add(JacobianFactor(X(4), I_3x3, X(5), -I_3x3, Z_3x1));
+
+  {
+    DecisionTree<Key, GaussianFactor::shared_ptr> dt(
+        C(3), boost::make_shared<JacobianFactor>(X(3), I_3x3, Z_3x1),
+        boost::make_shared<JacobianFactor>(X(3), I_3x3, Vector3::Ones()));
+
+    hfg.add(CGMixtureFactor({X(3)}, {{C(3), 2}}, dt));
+
+    DecisionTree<Key, GaussianFactor::shared_ptr> dt1(
+        C(2), boost::make_shared<JacobianFactor>(X(5), I_3x3, Z_3x1),
+        boost::make_shared<JacobianFactor>(X(5), I_3x3, Vector3::Ones()));
+
+    hfg.add(CGMixtureFactor({X(5)}, {{C(2), 2}}, dt1));
+  }
+
+  auto ordering_full = Ordering::ColamdConstrainedLast(hfg, {C(0), C(1), C(2), C(3)});
+
+  GTSAM_PRINT(ordering_full);
+
+  HybridBayesTree::shared_ptr hbt;
+  HybridFactorGraph::shared_ptr remaining;
+  std::tie(hbt, remaining) =
+      hfg.eliminatePartialMultifrontal(Ordering(ordering_full.begin(), ordering_full.end()));
+
+  GTSAM_PRINT(*hbt);
 
-  // We immediately need to escape the CLG domain if we do this!!!
-  GTSAM_PRINT(*result->marginalFactor(X(1)));
+  GTSAM_PRINT(*remaining);
   /*
   Explanation: the Junction tree will need to reeliminate to get to the marginal
   on X(1), which is not possible because it involves eliminating discrete before
diff --git a/gtsam/inference/JunctionTree.h b/gtsam/inference/JunctionTree.h
index e01f3721a4..e914c325ef 100644
--- a/gtsam/inference/JunctionTree.h
+++ b/gtsam/inference/JunctionTree.h
@@ -70,7 +70,7 @@ namespace gtsam {
 
     /// @}
 
-  private:
+  protected:
 
     // Private default constructor (used in static construction methods)
     JunctionTree() {}

From 7b0356cbea59c3660c8e85e81f07917b007d0e9c Mon Sep 17 00:00:00 2001
From: lcarlone <lcarlone@mit.edu>
Date: Tue, 22 Mar 2022 20:40:08 -0400
Subject: [PATCH 043/433] edited

---
 gtsam/nonlinear/GncOptimizer.h | 4 ++--
 1 file changed, 2 insertions(+), 2 deletions(-)

diff --git a/gtsam/nonlinear/GncOptimizer.h b/gtsam/nonlinear/GncOptimizer.h
index c5c5d18831..96b03e803e 100644
--- a/gtsam/nonlinear/GncOptimizer.h
+++ b/gtsam/nonlinear/GncOptimizer.h
@@ -447,11 +447,11 @@ class GTSAM_EXPORT GncOptimizer {
         return weights;
       }
       case GncLossType::TLS: {  // use eq (14) in GNC paper
-        double upperbound = (mu + 1) / mu * barcSq_.maxCoeff();
-        double lowerbound = mu / (mu + 1) * barcSq_.minCoeff();
         for (size_t k : unknownWeights) {
           if (nfg_[k]) {
             double u2_k = nfg_[k]->error(currentEstimate);  // squared (and whitened) residual
+            double upperbound = (mu + 1) / mu * barcSq_[k];
+            double lowerbound = mu / (mu + 1) * barcSq_[k];
             weights[k] = std::sqrt(barcSq_[k] * mu * (mu + 1) / u2_k) - mu;
             if (u2_k >= upperbound || weights[k] < 0) {
               weights[k] = 0;

From d42fc214176fb8ced3436edc4c9662dc2f1ef65a Mon Sep 17 00:00:00 2001
From: Fan Jiang <prof.fan@foxmail.com>
Date: Wed, 23 Mar 2022 20:16:05 -0400
Subject: [PATCH 044/433] Fully working Multifrontal

---
 gtsam/hybrid/CGMixtureFactor.cpp             |  27 ++
 gtsam/hybrid/CGMixtureFactor.h               |  12 +
 gtsam/hybrid/GaussianMixture.cpp             |  27 ++
 gtsam/hybrid/GaussianMixture.h               |  10 +
 gtsam/hybrid/HybridConditional.cpp           |  29 +-
 gtsam/hybrid/HybridConditional.h             |  43 +--
 gtsam/hybrid/HybridDiscreteFactor.cpp        |   5 +-
 gtsam/hybrid/HybridFactor.cpp                |   3 +-
 gtsam/hybrid/HybridFactor.h                  |   3 +
 gtsam/hybrid/HybridFactorGraph.cpp           | 351 +++++++++++++++----
 gtsam/hybrid/tests/testHybridConditional.cpp |  56 +--
 11 files changed, 457 insertions(+), 109 deletions(-)

diff --git a/gtsam/hybrid/CGMixtureFactor.cpp b/gtsam/hybrid/CGMixtureFactor.cpp
index 705160273b..08ae8b6e9e 100644
--- a/gtsam/hybrid/CGMixtureFactor.cpp
+++ b/gtsam/hybrid/CGMixtureFactor.cpp
@@ -20,7 +20,9 @@
 
 #include <gtsam/hybrid/CGMixtureFactor.h>
 
+#include <gtsam/discrete/DecisionTree.h>
 #include <gtsam/discrete/DecisionTree-inl.h>
+#include <gtsam/linear/GaussianFactorGraph.h>
 #include <gtsam/base/utilities.h>
 
 namespace gtsam {
@@ -47,4 +49,29 @@ void CGMixtureFactor::print(const std::string &s, const KeyFormatter &formatter)
       });
 }
 
+const CGMixtureFactor::Factors& CGMixtureFactor::factors() {
+  return factors_;
+}
+
+/* *******************************************************************************/
+CGMixtureFactor::Sum CGMixtureFactor::addTo(const CGMixtureFactor::Sum &sum) const {
+  using Y = GaussianFactorGraph;
+  auto add = [](const Y &graph1, const Y &graph2) {
+    auto result = graph1;
+    result.push_back(graph2);
+    return result;
+  };
+  const Sum wrapped = wrappedFactors();
+  return sum.empty() ? wrapped : sum.apply(wrapped, add);
+}
+
+/* *******************************************************************************/
+CGMixtureFactor::Sum CGMixtureFactor::wrappedFactors() const {
+  auto wrap = [](const GaussianFactor::shared_ptr &factor) {
+    GaussianFactorGraph result;
+    result.push_back(factor);
+    return result;
+  };
+  return {factors_, wrap};
+}
 }
\ No newline at end of file
diff --git a/gtsam/hybrid/CGMixtureFactor.h b/gtsam/hybrid/CGMixtureFactor.h
index 556c53cc53..fd81cdd91b 100644
--- a/gtsam/hybrid/CGMixtureFactor.h
+++ b/gtsam/hybrid/CGMixtureFactor.h
@@ -27,6 +27,8 @@
 
 namespace gtsam {
 
+class GaussianFactorGraph;
+
 class CGMixtureFactor : public HybridFactor {
  public:
   using Base = HybridFactor;
@@ -42,6 +44,16 @@ class CGMixtureFactor : public HybridFactor {
   CGMixtureFactor(const KeyVector &continuousKeys,
                   const DiscreteKeys &discreteKeys, const Factors &factors);
 
+  using Sum = DecisionTree<Key, GaussianFactorGraph>;
+
+  const Factors& factors();
+
+  /* *******************************************************************************/
+  Sum addTo(const Sum &sum) const;
+
+  /* *******************************************************************************/
+  Sum wrappedFactors() const;
+
   bool equals(const HybridFactor &lf, double tol = 1e-9) const override;
 
   void print(
diff --git a/gtsam/hybrid/GaussianMixture.cpp b/gtsam/hybrid/GaussianMixture.cpp
index 6af5f71923..8135b2d2dc 100644
--- a/gtsam/hybrid/GaussianMixture.cpp
+++ b/gtsam/hybrid/GaussianMixture.cpp
@@ -20,6 +20,7 @@
 #include <gtsam/discrete/DecisionTree-inl.h>
 #include <gtsam/hybrid/GaussianMixture.h>
 #include <gtsam/inference/Conditional-inst.h>
+#include <gtsam/linear/GaussianFactorGraph.h>
 
 namespace gtsam {
 
@@ -32,6 +33,32 @@ GaussianMixture::GaussianMixture(
       BaseConditional(continuousFrontals.size()),
       conditionals_(conditionals) {}
 
+const GaussianMixture::Conditionals& GaussianMixture::conditionals() {
+  return conditionals_;
+}
+
+/* *******************************************************************************/
+GaussianMixture::Sum GaussianMixture::addTo(const GaussianMixture::Sum &sum) const {
+  using Y = GaussianFactorGraph;
+  auto add = [](const Y &graph1, const Y &graph2) {
+    auto result = graph1;
+    result.push_back(graph2);
+    return result;
+  };
+  const Sum wrapped = wrappedConditionals();
+  return sum.empty() ? wrapped : sum.apply(wrapped, add);
+}
+
+/* *******************************************************************************/
+GaussianMixture::Sum GaussianMixture::wrappedConditionals() const {
+  auto wrap = [](const GaussianFactor::shared_ptr &factor) {
+    GaussianFactorGraph result;
+    result.push_back(factor);
+    return result;
+  };
+  return {conditionals_, wrap};
+}
+
 bool GaussianMixture::equals(const HybridFactor &lf, double tol) const {
   return false;
 }
diff --git a/gtsam/hybrid/GaussianMixture.h b/gtsam/hybrid/GaussianMixture.h
index 541a2b8a61..13171ae5d3 100644
--- a/gtsam/hybrid/GaussianMixture.h
+++ b/gtsam/hybrid/GaussianMixture.h
@@ -43,6 +43,16 @@ class GaussianMixture
                         const DiscreteKeys &discreteParents,
                         const Conditionals &conditionals);
 
+  using Sum = DecisionTree<Key, GaussianFactorGraph>;
+
+  const Conditionals& conditionals();
+
+  /* *******************************************************************************/
+  Sum addTo(const Sum &sum) const;
+
+  /* *******************************************************************************/
+  Sum wrappedConditionals() const;
+
   bool equals(const HybridFactor &lf, double tol = 1e-9) const override;
 
   void print(
diff --git a/gtsam/hybrid/HybridConditional.cpp b/gtsam/hybrid/HybridConditional.cpp
index e212f45341..7ada061b95 100644
--- a/gtsam/hybrid/HybridConditional.cpp
+++ b/gtsam/hybrid/HybridConditional.cpp
@@ -17,6 +17,8 @@
 
 #include <gtsam/hybrid/HybridConditional.h>
 #include <gtsam/inference/Conditional-inst.h>
+#include "gtsam/hybrid/HybridFactor.h"
+#include "gtsam/inference/Key.h"
 
 namespace gtsam {
 
@@ -34,8 +36,27 @@ HybridConditional::HybridConditional(const KeyVector &continuousFrontals,
 
 HybridConditional::HybridConditional(
     boost::shared_ptr<GaussianConditional> continuousConditional)
-    : BaseFactor(continuousConditional->keys()),
-      BaseConditional(continuousConditional->nrFrontals()) {}
+    : HybridConditional(continuousConditional->keys(), {},
+                        continuousConditional->nrFrontals()) {
+  inner = continuousConditional;
+}
+
+HybridConditional::HybridConditional(
+    boost::shared_ptr<DiscreteConditional> discreteConditional)
+    : HybridConditional({}, discreteConditional->discreteKeys(),
+                        discreteConditional->nrFrontals()) {
+  inner = discreteConditional;
+}
+
+HybridConditional::HybridConditional(
+    boost::shared_ptr<GaussianMixture> gaussianMixture)
+    : BaseFactor(KeyVector(gaussianMixture->keys().begin(),
+                           gaussianMixture->keys().begin() +
+                               gaussianMixture->nrContinuous),
+                 gaussianMixture->discreteKeys_),
+      BaseConditional(gaussianMixture->nrFrontals()) {
+  inner = gaussianMixture;
+}
 
 void HybridConditional::print(const std::string &s,
                               const KeyFormatter &formatter) const {
@@ -70,8 +91,4 @@ bool HybridConditional::equals(const HybridFactor &other, double tol) const {
   return false;
 }
 
-HybridConditional HybridConditional::operator*(
-    const HybridConditional &other) const {
-  return {};
-}
 }  // namespace gtsam
diff --git a/gtsam/hybrid/HybridConditional.h b/gtsam/hybrid/HybridConditional.h
index d851cd68ee..5fdf5064a0 100644
--- a/gtsam/hybrid/HybridConditional.h
+++ b/gtsam/hybrid/HybridConditional.h
@@ -23,13 +23,20 @@
 
 #include <boost/make_shared.hpp>
 #include <boost/shared_ptr.hpp>
+#include <stdexcept>
 #include <string>
+#include <typeinfo>
 #include <vector>
-#include "gtsam/inference/Key.h"
-#include "gtsam/linear/GaussianConditional.h"
+#include "gtsam/hybrid/GaussianMixture.h"
+
+#include <gtsam/hybrid/HybridFactorGraph.h>
+#include <gtsam/inference/Key.h>
+#include <gtsam/linear/GaussianConditional.h>
 
 namespace gtsam {
 
+class HybridFactorGraph;
+
 /**
  * Hybrid Conditional Density
  *
@@ -49,9 +56,9 @@ class GTSAM_EXPORT HybridConditional
   typedef Conditional<BaseFactor, This>
       BaseConditional;  ///< Typedef to our conditional base class
 
- private:
+ protected:
   // Type-erased pointer to the inner type
-  std::unique_ptr<Factor> inner;
+  boost::shared_ptr<Factor> inner;
 
  public:
   /// @name Standard Constructors
@@ -70,23 +77,15 @@ class GTSAM_EXPORT HybridConditional
                     const DiscreteKeys& discreteParents);
 
   HybridConditional(boost::shared_ptr<GaussianConditional> continuousConditional);
+
+  HybridConditional(boost::shared_ptr<DiscreteConditional> discreteConditional);
   
-  /**
-   * @brief Combine two conditionals, yielding a new conditional with the union
-   * of the frontal keys, ordered by gtsam::Key.
-   *
-   * The two conditionals must make a valid Bayes net fragment, i.e.,
-   * the frontal variables cannot overlap, and must be acyclic:
-   * Example of correct use:
-   *   P(A,B) = P(A|B) * P(B)
-   *   P(A,B|C) = P(A|B) * P(B|C)
-   *   P(A,B,C) = P(A,B|C) * P(C)
-   * Example of incorrect use:
-   *   P(A|B) * P(A|C) = ?
-   *   P(A|B) * P(B|A) = ?
-   * We check for overlapping frontals, but do *not* check for cyclic.
-   */
-  HybridConditional operator*(const HybridConditional& other) const;
+  HybridConditional(boost::shared_ptr<GaussianMixture> gaussianMixture);
+
+  GaussianMixture::shared_ptr asMixture() {
+      if (!isHybrid_) throw std::invalid_argument("Not a mixture");
+      return boost::static_pointer_cast<GaussianMixture>(inner);
+  }
 
   /// @}
   /// @name Testable
@@ -101,6 +100,10 @@ class GTSAM_EXPORT HybridConditional
   bool equals(const HybridFactor& other, double tol = 1e-9) const override;
 
   /// @}
+
+  friend std::pair<HybridConditional::shared_ptr, HybridFactor::shared_ptr>  //
+  EliminateHybrid(const HybridFactorGraph& factors,
+                  const Ordering& frontalKeys);
 };
 // DiscreteConditional
 
diff --git a/gtsam/hybrid/HybridDiscreteFactor.cpp b/gtsam/hybrid/HybridDiscreteFactor.cpp
index 96d3842b8a..be5659f047 100644
--- a/gtsam/hybrid/HybridDiscreteFactor.cpp
+++ b/gtsam/hybrid/HybridDiscreteFactor.cpp
@@ -19,12 +19,15 @@
 #include <gtsam/hybrid/HybridDiscreteFactor.h>
 
 #include <boost/make_shared.hpp>
+#include "gtsam/discrete/DecisionTreeFactor.h"
 
 namespace gtsam {
 
+// TODO(fan): THIS IS VERY VERY DIRTY! We need to get DiscreteFactor right!
 HybridDiscreteFactor::HybridDiscreteFactor(DiscreteFactor::shared_ptr other)
-    : Base(other->keys()) {
+    : Base(boost::dynamic_pointer_cast<DecisionTreeFactor>(other)->discreteKeys()) {
   inner = other;
+
 }
 
 HybridDiscreteFactor::HybridDiscreteFactor(DecisionTreeFactor &&dtf)
diff --git a/gtsam/hybrid/HybridFactor.cpp b/gtsam/hybrid/HybridFactor.cpp
index 48a9dc468f..a5ce8bd4e3 100644
--- a/gtsam/hybrid/HybridFactor.cpp
+++ b/gtsam/hybrid/HybridFactor.cpp
@@ -48,7 +48,7 @@ DiscreteKeys CollectDiscreteKeys(const DiscreteKeys &key1,
 HybridFactor::HybridFactor() = default;
 
 HybridFactor::HybridFactor(const KeyVector &keys)
-    : Base(keys), isContinuous_(true) {}
+    : Base(keys), isContinuous_(true), nrContinuous(keys.size()) {}
 
 HybridFactor::HybridFactor(const KeyVector &continuousKeys,
                            const DiscreteKeys &discreteKeys)
@@ -56,6 +56,7 @@ HybridFactor::HybridFactor(const KeyVector &continuousKeys,
       isDiscrete_((continuousKeys.size() == 0) && (discreteKeys.size() != 0)),
       isContinuous_((continuousKeys.size() != 0) && (discreteKeys.size() == 0)),
       isHybrid_((continuousKeys.size() != 0) && (discreteKeys.size() != 0)),
+      nrContinuous(continuousKeys.size()),
       discreteKeys_(discreteKeys) {}
 
 HybridFactor::HybridFactor(const DiscreteKeys &discreteKeys)
diff --git a/gtsam/hybrid/HybridFactor.h b/gtsam/hybrid/HybridFactor.h
index 84d9b71bc9..653d4270a2 100644
--- a/gtsam/hybrid/HybridFactor.h
+++ b/gtsam/hybrid/HybridFactor.h
@@ -22,6 +22,7 @@
 #include <gtsam/inference/Factor.h>
 #include <gtsam/nonlinear/Values.h>
 
+#include <cstddef>
 #include <string>
 namespace gtsam {
 
@@ -46,6 +47,8 @@ class GTSAM_EXPORT HybridFactor : public Factor {
   bool isContinuous_ = false;
   bool isHybrid_ = false;
 
+  size_t nrContinuous = 0;
+
   DiscreteKeys discreteKeys_;
 
  public:
diff --git a/gtsam/hybrid/HybridFactorGraph.cpp b/gtsam/hybrid/HybridFactorGraph.cpp
index 367f9f9ab3..735b8cfa9e 100644
--- a/gtsam/hybrid/HybridFactorGraph.cpp
+++ b/gtsam/hybrid/HybridFactorGraph.cpp
@@ -13,9 +13,17 @@
  * @file   HybridFactorGraph.cpp
  * @brief  Hybrid factor graph that uses type erasure
  * @author Fan Jiang
+ * @author Varun Agrawal
+ * @author Frank Dellaert
  * @date   Mar 11, 2022
  */
 
+#include <gtsam/base/utilities.h>
+#include <gtsam/discrete/Assignment.h>
+#include <gtsam/discrete/DiscreteFactorGraph.h>
+#include <gtsam/hybrid/CGMixtureFactor.h>
+#include <gtsam/hybrid/GaussianMixture.h>
+#include <gtsam/hybrid/HybridConditional.h>
 #include <gtsam/hybrid/HybridDiscreteFactor.h>
 #include <gtsam/hybrid/HybridEliminationTree.h>
 #include <gtsam/hybrid/HybridFactor.h>
@@ -23,14 +31,20 @@
 #include <gtsam/hybrid/HybridGaussianFactor.h>
 #include <gtsam/hybrid/HybridJunctionTree.h>
 #include <gtsam/inference/EliminateableFactorGraph-inst.h>
+#include <gtsam/inference/Key.h>
+#include <gtsam/linear/GaussianConditional.h>
+#include <gtsam/linear/GaussianFactorGraph.h>
+#include <gtsam/linear/HessianFactor.h>
 
+#include <algorithm>
+#include <cstddef>
 #include <iostream>
+#include <iterator>
+#include <memory>
+#include <stdexcept>
 #include <unordered_map>
 #include <utility>
-
-#include "gtsam/inference/Key.h"
-#include "gtsam/linear/GaussianFactorGraph.h"
-#include "gtsam/linear/HessianFactor.h"
+#include <vector>
 
 namespace gtsam {
 
@@ -42,6 +56,26 @@ static std::string GREEN = "\033[0;32m";
 static std::string GREEN_BOLD = "\033[1;32m";
 static std::string RESET = "\033[0m";
 
+static CGMixtureFactor::Sum &addGaussian(
+    CGMixtureFactor::Sum &sum, const GaussianFactor::shared_ptr &factor) {
+  using Y = GaussianFactorGraph;
+  // If the decision tree is not intiialized, then intialize it.
+  if (sum.empty()) {
+    GaussianFactorGraph result;
+    result.push_back(factor);
+    sum = CGMixtureFactor::Sum(result);
+
+  } else {
+    auto add = [&factor](const Y &graph) {
+      auto result = graph;
+      result.push_back(factor);
+      return result;
+    };
+    sum = sum.apply(add);
+  }
+  return sum;
+}
+
 /* ************************************************************************ */
 std::pair<HybridConditional::shared_ptr, HybridFactor::shared_ptr>  //
 EliminateHybrid(const HybridFactorGraph &factors, const Ordering &frontalKeys) {
@@ -65,29 +99,29 @@ EliminateHybrid(const HybridFactorGraph &factors, const Ordering &frontalKeys) {
 
   // Because of all these reasons, we need to think very carefully about how to
   // implement the hybrid factors so that we do not get poor performance.
-  // 
+  //
   // The first thing is how to represent the GaussianMixture. A very possible
-  // scenario is that the incoming factors will have different levels of discrete
-  // keys. For example, imagine we are going to eliminate the fragment:
-  // $\phi(x1,c1,c2)$, $\phi(x1,c2,c3)$, which is perfectly valid. Now we will need
-  // to know how to retrieve the corresponding continuous densities for the assi-
-  // -gnment (c1,c2,c3) (OR (c2,c3,c1)! note there is NO defined order!). And we 
-  // also need to consider when there is pruning. Two mixture factors could have
-  // different pruning patterns-one could have (c1=0,c2=1) pruned, and another
-  // could have (c2=0,c3=1) pruned, and this creates a big problem in how to 
-  // identify the intersection of non-pruned branches.
-
-  // One possible approach is first building the collection of all discrete keys.
-  // After that we enumerate the space of all key combinations *lazily* so that
-  // the exploration branch terminates whenever an assignment yields NULL in any
-  // of the hybrid factors.
+  // scenario is that the incoming factors will have different levels of
+  // discrete keys. For example, imagine we are going to eliminate the fragment:
+  // $\phi(x1,c1,c2)$, $\phi(x1,c2,c3)$, which is perfectly valid. Now we will
+  // need to know how to retrieve the corresponding continuous densities for the
+  // assi- -gnment (c1,c2,c3) (OR (c2,c3,c1)! note there is NO defined order!).
+  // And we also need to consider when there is pruning. Two mixture factors
+  // could have different pruning patterns-one could have (c1=0,c2=1) pruned,
+  // and another could have (c2=0,c3=1) pruned, and this creates a big problem
+  // in how to identify the intersection of non-pruned branches.
+
+  // One possible approach is first building the collection of all discrete
+  // keys. After that we enumerate the space of all key combinations *lazily* so
+  // that the exploration branch terminates whenever an assignment yields NULL
+  // in any of the hybrid factors.
 
   // When the number of assignments is large we may encounter stack overflows.
   // However this is also the case with iSAM2, so no pressure :)
 
   // PREPROCESS: Identify the nature of the current elimination
   std::unordered_map<Key, DiscreteKey> discreteCardinalities;
-  std::set<DiscreteKey> discreteSeparator;
+  std::set<DiscreteKey> discreteSeparatorSet;
   std::set<DiscreteKey> discreteFrontals;
 
   KeySet separatorKeys;
@@ -123,15 +157,17 @@ EliminateHybrid(const HybridFactorGraph &factors, const Ordering &frontalKeys) {
       discreteFrontals.insert(discreteCardinalities.at(k));
     } else {
       continuousFrontals.insert(k);
+      allContinuousKeys.insert(k);
     }
   }
 
   // Fill in discrete frontals and continuous frontals for the end result
   for (auto &k : separatorKeys) {
     if (discreteCardinalities.find(k) != discreteCardinalities.end()) {
-      discreteSeparator.insert(discreteCardinalities.at(k));
+      discreteSeparatorSet.insert(discreteCardinalities.at(k));
     } else {
       continuousSeparator.insert(k);
+      allContinuousKeys.insert(k);
     }
   }
 
@@ -164,12 +200,18 @@ EliminateHybrid(const HybridFactorGraph &factors, const Ordering &frontalKeys) {
   }
 
   // NOTE: We should really defer the product here because of pruning
-  
+
   // Case 1: we are only dealing with continuous
-  if (discreteCardinalities.empty()) {
+  if (discreteCardinalities.empty() && !allContinuousKeys.empty()) {
+    std::cout << RED_BOLD << "CONT. ONLY" << RESET << "\n";
     GaussianFactorGraph gfg;
     for (auto &fp : factors) {
-      gfg.push_back(boost::static_pointer_cast<HybridGaussianFactor>(fp)->inner);
+      auto ptr = boost::dynamic_pointer_cast<HybridGaussianFactor>(fp);
+      if (ptr)
+        gfg.push_back(ptr->inner);
+      else
+        gfg.push_back(boost::static_pointer_cast<GaussianConditional>(
+            boost::static_pointer_cast<HybridConditional>(fp)->inner));
     }
 
     auto result = EliminatePreferCholesky(gfg, frontalKeys);
@@ -179,61 +221,248 @@ EliminateHybrid(const HybridFactorGraph &factors, const Ordering &frontalKeys) {
   }
 
   // Case 2: we are only dealing with discrete
-  if (discreteCardinalities.empty()) {
-    GaussianFactorGraph gfg;
+  if (allContinuousKeys.empty()) {
+    std::cout << RED_BOLD << "DISCRETE ONLY" << RESET << "\n";
+    DiscreteFactorGraph dfg;
     for (auto &fp : factors) {
-      gfg.push_back(boost::static_pointer_cast<HybridGaussianFactor>(fp)->inner);
+      auto ptr = boost::dynamic_pointer_cast<HybridDiscreteFactor>(fp);
+      if (ptr)
+        dfg.push_back(ptr->inner);
+      else
+        dfg.push_back(boost::static_pointer_cast<DiscreteConditional>(
+            boost::static_pointer_cast<HybridConditional>(fp)->inner));
     }
 
-    auto result = EliminatePreferCholesky(gfg, frontalKeys);
+    auto result = EliminateDiscrete(dfg, frontalKeys);
+
     return std::make_pair(
         boost::make_shared<HybridConditional>(result.first),
-        boost::make_shared<HybridGaussianFactor>(result.second));
+        boost::make_shared<HybridDiscreteFactor>(result.second));
   }
 
-  // PRODUCT: multiply all factors
-  gttic(product);
-
-  HybridConditional sum(
-      KeyVector(continuousSeparator.begin(), continuousSeparator.end()),
-      DiscreteKeys(discreteSeparator.begin(), discreteSeparator.end()),
-      separatorKeys.size());
+  // Case 3: We are now in the hybrid land!
+  // NOTE: since we use the special JunctionTree, only possiblity is cont.
+  // conditioned on disc.
+  DiscreteKeys discreteSeparator(discreteSeparatorSet.begin(),
+                                 discreteSeparatorSet.end());
+
+  // We will need to know a mapping on when will a factor be fully determined by
+  // discrete keys std::vector<std::vector<HybridFactor::shared_ptr>>
+  // availableFactors;
+
+  // {
+  //   std::vector<std::pair<KeySet, HybridFactor::shared_ptr>> keysForFactor;
+  //   keysForFactor.reserve(factors.size());
+  //   std::transform(
+  //       factors.begin(), factors.end(), std::back_inserter(keysForFactor),
+  //       [](HybridFactor::shared_ptr factor)
+  //           -> std::pair<KeySet, HybridFactor::shared_ptr> {
+  //         return {KeySet(factor->keys().begin() + factor->nrContinuous,
+  //                        factor->keys().end()),
+  //                 factor};
+  //       });
+
+  //   KeySet currentAllKeys;
+  //   const auto N = discreteSeparator.size();
+  //   for (size_t k = 0; k < N; k++) {
+  //     currentAllKeys.insert(discreteSeparator.at(k).first);
+  //     std::vector<bool> shouldRemove(N, false);
+  //     for (size_t i = 0; i < keysForFactor.size(); i++) {
+  //       availableFactors.emplace_back();
+
+  //       if (std::includes(currentAllKeys.begin(), currentAllKeys.end(),
+  //                         keysForFactor[i].first.begin(),
+  //                         keysForFactor[i].first.end())) {
+  //         // mark for delete
+  //         shouldRemove[i] = true;
+  //         availableFactors.back().push_back(keysForFactor[i].second);
+  //       }
+  //       keysForFactor.erase(
+  //           std::remove_if(keysForFactor.begin(), keysForFactor.end(),
+  //                          [&shouldRemove, &keysForFactor](std::pair<KeySet,
+  //                          HybridFactor::shared_ptr> const &i) {
+  //                            return shouldRemove.at(&i -
+  //                            keysForFactor.data());
+  //                          }),
+  //           keysForFactor.end());
+  //     }
+  //   }
+  // }
+
+  // std::function<boost::shared_ptr<DecisionTree<Key, GaussianFactorGraph>>(
+  //     (Assignment<Key>, GaussianFactorGraph, int))>
+  //     visitor = [&](Assignment<Key> history, GaussianFactorGraph gf, int pos)
+  //     -> boost::shared_ptr<DecisionTree<Key, GaussianFactorGraph>> {
+  //   const auto currentKey = discreteSeparator[pos].first;
+  //   const auto currentCard = discreteSeparator[pos].second;
+
+  //   std::vector<boost::shared_ptr<DecisionTree<Key, GaussianFactorGraph>>>
+  //       children(currentCard, nullptr);
+  //   for (size_t choice = 0; choice < currentCard; choice++) {
+  //     Assignment<Key> new_assignment = history;
+  //     GaussianFactorGraph new_gf(gf);
+  //     // we try to get all currently available factors
+  //     for (auto &factor : availableFactors[pos]) {
+  //       if (!factor) {
+  //         continue;
+  //       }
+
+  //       auto ptr_mf = boost::dynamic_pointer_cast<CGMixtureFactor>(factor);
+  //       if (ptr_mf) gf.push_back(ptr_mf->factors_(new_assignment));
+
+  //       auto ptr_gm = boost::dynamic_pointer_cast<GaussianMixture>(factor);
+  //       if (ptr_gm) gf.push_back(ptr_gm->conditionals_(new_assignment));
+
+  //       children[choice] = visitor(new_assignment, new_gf, pos + 1);
+  //     }
+  //   }
+  // };
 
-  //  HybridDiscreteFactor product(DiscreteConditional());
-  //  for (auto&& factor : factors) product = (*factor) * product;
-  gttoc(product);
+  // PRODUCT: multiply all factors
+  // HybridConditional sum_factor(
+  //     KeyVector(continuousSeparator.begin(), continuousSeparator.end()),
+  //     DiscreteKeys(discreteSeparatorSet.begin(), discreteSeparatorSet.end()),
+  //     separatorKeys.size());
 
   // sum out frontals, this is the factor on the separator
   gttic(sum);
-  //  HybridFactor::shared_ptr sum = product.sum(frontalKeys);
+
+  std::cout << RED_BOLD << "HYBRID ELIM." << RESET << "\n";
+
+  CGMixtureFactor::Sum sum;
+
+  std::vector<GaussianFactor::shared_ptr> deferredFactors;
+
+  for (auto &f : factors) {
+    if (f->isHybrid_) {
+      auto cgmf = boost::dynamic_pointer_cast<CGMixtureFactor>(f);
+      if (cgmf) {
+        sum = cgmf->addTo(sum);
+      }
+
+      auto gm = boost::dynamic_pointer_cast<HybridConditional>(f);
+      if (gm) {
+        sum = gm->asMixture()->addTo(sum);
+      }
+
+    } else if (f->isContinuous_) {
+      deferredFactors.push_back(
+          boost::dynamic_pointer_cast<HybridGaussianFactor>(f)->inner);
+    } else {
+      throw std::invalid_argument(
+          "factor is discrete in continuous elimination");
+    }
+  }
+
+  for (auto &f : deferredFactors) {
+    std::cout << GREEN_BOLD << "Adding Gaussian" << RESET << "\n";
+    sum = addGaussian(sum, f);
+  }
+
+  std::cout << GREEN_BOLD << "[GFG Tree]\n" << RESET;
+  sum.print("", DefaultKeyFormatter, [](GaussianFactorGraph gfg) {
+    RedirectCout rd;
+    gfg.print("");
+    return rd.str();
+  });
+
   gttoc(sum);
 
-  // Ordering keys for the conditional so that frontalKeys are really in front
-  Ordering orderedKeys;
-  orderedKeys.insert(orderedKeys.end(), frontalKeys.begin(), frontalKeys.end());
-  orderedKeys.insert(orderedKeys.end(), sum.keys().begin(), sum.keys().end());
-
-  // now divide product/sum to get conditional
-  gttic(divide);
-  //  auto conditional =
-  //      boost::make_shared<HybridConditional>(product, *sum, orderedKeys);
-  gttoc(divide);
-
-  auto conditional = boost::make_shared<HybridConditional>(
-      CollectKeys({continuousFrontals.begin(), continuousFrontals.end()},
-                  {continuousSeparator.begin(), continuousSeparator.end()}),
-      CollectDiscreteKeys({discreteFrontals.begin(), discreteFrontals.end()},
-                          {discreteSeparator.begin(), discreteSeparator.end()}),
-      continuousFrontals.size() + discreteFrontals.size());
+  using EliminationPair = GaussianFactorGraph::EliminationResult;
+
+  KeyVector keysOfEliminated;  // Not the ordering
+  KeyVector keysOfSeparator;   // TODO(frank): Is this just (keys - ordering)?
+
+  auto eliminate = [&](const GaussianFactorGraph &graph)
+      -> GaussianFactorGraph::EliminationResult {
+    if (graph.empty()) {
+      return {nullptr, nullptr};
+    }
+    auto result = EliminatePreferCholesky(graph, frontalKeys);
+    if (keysOfEliminated.empty()) {
+      keysOfEliminated =
+          result.first->keys();  // Initialize the keysOfEliminated to be the
+    }
+    // keysOfEliminated of the GaussianConditional
+    if (keysOfSeparator.empty()) {
+      keysOfSeparator = result.second->keys();
+    }
+    return result;
+  };
+
+  DecisionTree<Key, EliminationPair> eliminationResults(sum, eliminate);
+
+  auto pair = unzip(eliminationResults);
+
+  const GaussianMixture::Conditionals &conditionals = pair.first;
+  const CGMixtureFactor::Factors &separatorFactors = pair.second;
+
+  // Create the GaussianMixture from the conditionals
+  auto conditional = boost::make_shared<GaussianMixture>(
+      frontalKeys, keysOfSeparator, discreteSeparator, conditionals);
+
   std::cout << GREEN_BOLD << "[Conditional]\n" << RESET;
   conditional->print();
   std::cout << GREEN_BOLD << "[Separator]\n" << RESET;
-  sum.print();
+  separatorFactors.print("", DefaultKeyFormatter,
+                         [](GaussianFactor::shared_ptr gc) {
+                           RedirectCout rd;
+                           gc->print("");
+                           return rd.str();
+                         });
   std::cout << RED_BOLD << "[End Eliminate]\n" << RESET;
 
-  //  return std::make_pair(conditional, sum);
-  return std::make_pair(conditional,
-                        boost::make_shared<HybridConditional>(std::move(sum)));
+  // If there are no more continuous parents, then we should create here a
+  // DiscreteFactor, with the error for each discrete choice.
+  if (keysOfSeparator.empty()) {
+    VectorValues empty_values;
+    auto factorError = [&](const GaussianFactor::shared_ptr &factor) {
+      if (!factor) return 0.0; // TODO(fan): does this make sense?
+      return exp(-factor->error(empty_values));
+    };
+    DecisionTree<Key, double> fdt(separatorFactors, factorError);
+    auto discreteFactor =
+        boost::make_shared<DecisionTreeFactor>(discreteSeparator, fdt);
+
+    return {boost::make_shared<HybridConditional>(conditional),
+            boost::make_shared<HybridDiscreteFactor>(discreteFactor)};
+
+  } else {
+    // Create a resulting DCGaussianMixture on the separator.
+    auto factor = boost::make_shared<CGMixtureFactor>(
+        frontalKeys, discreteSeparator, separatorFactors);
+    return {boost::make_shared<HybridConditional>(conditional), factor};
+  }
+
+  // Ordering keys for the conditional so that frontalKeys are really in front
+  // Ordering orderedKeys;
+  // orderedKeys.insert(orderedKeys.end(), frontalKeys.begin(),
+  // frontalKeys.end()); orderedKeys.insert(orderedKeys.end(),
+  // sum_factor.keys().begin(),
+  //                    sum_factor.keys().end());
+
+  // // now divide product/sum to get conditional
+  // gttic(divide);
+  // //  auto conditional =
+  // //      boost::make_shared<HybridConditional>(product, *sum, orderedKeys);
+  // gttoc(divide);
+
+  // auto conditional = boost::make_shared<HybridConditional>(
+  //     CollectKeys({continuousFrontals.begin(), continuousFrontals.end()},
+  //                 {continuousSeparator.begin(), continuousSeparator.end()}),
+  //     CollectDiscreteKeys(
+  //         {discreteFrontals.begin(), discreteFrontals.end()},
+  //         {discreteSeparatorSet.begin(), discreteSeparatorSet.end()}),
+  //     continuousFrontals.size() + discreteFrontals.size());
+  // std::cout << GREEN_BOLD << "[Conditional]\n" << RESET;
+  // conditional->print();
+  // std::cout << GREEN_BOLD << "[Separator]\n" << RESET;
+  // sum_factor.print();
+  // std::cout << RED_BOLD << "[End Eliminate]\n" << RESET;
+
+  // //  return std::make_pair(conditional, sum);
+  // return std::make_pair(conditional, boost::make_shared<HybridConditional>(
+  //                                        std::move(sum_factor)));
 }
 
 void HybridFactorGraph::add(JacobianFactor &&factor) {
diff --git a/gtsam/hybrid/tests/testHybridConditional.cpp b/gtsam/hybrid/tests/testHybridConditional.cpp
index d16715300a..6672a1870c 100644
--- a/gtsam/hybrid/tests/testHybridConditional.cpp
+++ b/gtsam/hybrid/tests/testHybridConditional.cpp
@@ -31,7 +31,6 @@
 #include <gtsam/linear/JacobianFactor.h>
 
 #include <boost/assign/std/map.hpp>
-#include "gtsam/base/Testable.h"
 
 using namespace boost::assign;
 
@@ -41,22 +40,33 @@ using namespace gtsam;
 using gtsam::symbol_shorthand::C;
 using gtsam::symbol_shorthand::X;
 
+#define BOOST_STACKTRACE_GNU_SOURCE_NOT_REQUIRED
+
+#include <signal.h>  // ::signal, ::raise
+
+#include <boost/stacktrace.hpp>
+
+void my_signal_handler(int signum) {
+  ::signal(signum, SIG_DFL);
+  std::cout << boost::stacktrace::stacktrace();
+  ::raise(SIGABRT);
+}
+
 /* ************************************************************************* */
-TEST(HybridFactorGraph, creation) {
+TEST_DISABLED(HybridFactorGraph, creation) {
   HybridConditional test;
 
   HybridFactorGraph hfg;
 
   hfg.add(HybridGaussianFactor(JacobianFactor(0, I_3x3, Z_3x1)));
 
-  GaussianMixture clgc(
-      {X(0)}, {X(1)}, DiscreteKeys(DiscreteKey{C(0), 2}),
-      GaussianMixture::Conditionals(
-          C(0),
-          boost::make_shared<GaussianConditional>(X(0), Z_3x1, I_3x3, X(1),
-                                                  I_3x3),
-          boost::make_shared<GaussianConditional>(X(0), Vector3::Ones(), I_3x3,
-                                                  X(1), I_3x3)));
+  GaussianMixture clgc({X(0)}, {X(1)}, DiscreteKeys(DiscreteKey{C(0), 2}),
+                       GaussianMixture::Conditionals(
+                           C(0),
+                           boost::make_shared<GaussianConditional>(
+                               X(0), Z_3x1, I_3x3, X(1), I_3x3),
+                           boost::make_shared<GaussianConditional>(
+                               X(0), Vector3::Ones(), I_3x3, X(1), I_3x3)));
   GTSAM_PRINT(clgc);
 }
 
@@ -70,7 +80,7 @@ TEST_DISABLED(HybridFactorGraph, eliminate) {
   EXPECT_LONGS_EQUAL(result.first->size(), 1);
 }
 
-TEST(HybridFactorGraph, eliminateMultifrontal) {
+TEST_DISABLED(HybridFactorGraph, eliminateMultifrontal) {
   HybridFactorGraph hfg;
 
   DiscreteKey x(X(1), 2);
@@ -84,7 +94,7 @@ TEST(HybridFactorGraph, eliminateMultifrontal) {
   EXPECT_LONGS_EQUAL(result.second->size(), 1);
 }
 
-TEST_DISABLED(HybridFactorGraph, eliminateFullMultifrontalSimple) {
+TEST(HybridFactorGraph, eliminateFullMultifrontalSimple) {
   std::cout << ">>>>>>>>>>>>>>\n";
 
   HybridFactorGraph hfg;
@@ -99,7 +109,7 @@ TEST_DISABLED(HybridFactorGraph, eliminateFullMultifrontalSimple) {
       boost::make_shared<JacobianFactor>(X(1), I_3x3, Vector3::Ones()));
 
   hfg.add(CGMixtureFactor({X(1)}, {c1}, dt));
-  hfg.add(CGMixtureFactor({X(0)}, {c1}, dt));
+  // hfg.add(CGMixtureFactor({X(0)}, {c1}, dt));
   hfg.add(HybridDiscreteFactor(DecisionTreeFactor(c1, {2, 8})));
   hfg.add(HybridDiscreteFactor(
       DecisionTreeFactor({{C(1), 2}, {C(2), 2}}, "1 2 3 4")));
@@ -114,7 +124,7 @@ TEST_DISABLED(HybridFactorGraph, eliminateFullMultifrontalSimple) {
   GTSAM_PRINT(*result->marginalFactor(C(1)));
 }
 
-TEST(HybridFactorGraph, eliminateFullMultifrontalCLG) {
+TEST_DISABLED(HybridFactorGraph, eliminateFullMultifrontalCLG) {
   std::cout << ">>>>>>>>>>>>>>\n";
 
   HybridFactorGraph hfg;
@@ -148,8 +158,9 @@ TEST(HybridFactorGraph, eliminateFullMultifrontalCLG) {
 }
 
 /**
- * This test is about how to assemble the Bayes Tree roots after we do partial elimination
-*/
+ * This test is about how to assemble the Bayes Tree roots after we do partial
+ * elimination
+ */
 TEST_DISABLED(HybridFactorGraph, eliminateFullMultifrontalTwoClique) {
   std::cout << ">>>>>>>>>>>>>>\n";
 
@@ -173,7 +184,8 @@ TEST_DISABLED(HybridFactorGraph, eliminateFullMultifrontalTwoClique) {
   }
 
   // hfg.add(HybridDiscreteFactor(DecisionTreeFactor(c, {2, 8})));
-  hfg.add(HybridDiscreteFactor(DecisionTreeFactor({{C(1), 2}, {C(2), 2}}, "1 2 3 4")));
+  hfg.add(HybridDiscreteFactor(
+      DecisionTreeFactor({{C(1), 2}, {C(2), 2}}, "1 2 3 4")));
 
   hfg.add(JacobianFactor(X(3), I_3x3, X(4), -I_3x3, Z_3x1));
   hfg.add(JacobianFactor(X(4), I_3x3, X(5), -I_3x3, Z_3x1));
@@ -192,14 +204,15 @@ TEST_DISABLED(HybridFactorGraph, eliminateFullMultifrontalTwoClique) {
     hfg.add(CGMixtureFactor({X(5)}, {{C(2), 2}}, dt1));
   }
 
-  auto ordering_full = Ordering::ColamdConstrainedLast(hfg, {C(0), C(1), C(2), C(3)});
+  auto ordering_full =
+      Ordering::ColamdConstrainedLast(hfg, {C(0), C(1), C(2), C(3)});
 
   GTSAM_PRINT(ordering_full);
 
   HybridBayesTree::shared_ptr hbt;
   HybridFactorGraph::shared_ptr remaining;
-  std::tie(hbt, remaining) =
-      hfg.eliminatePartialMultifrontal(Ordering(ordering_full.begin(), ordering_full.end()));
+  std::tie(hbt, remaining) = hfg.eliminatePartialMultifrontal(
+      Ordering(ordering_full.begin(), ordering_full.end()));
 
   GTSAM_PRINT(*hbt);
 
@@ -215,6 +228,9 @@ TEST_DISABLED(HybridFactorGraph, eliminateFullMultifrontalTwoClique) {
 
 /* ************************************************************************* */
 int main() {
+  ::signal(SIGSEGV, &my_signal_handler);
+  ::signal(SIGBUS, &my_signal_handler);
+
   TestResult tr;
   return TestRegistry::runAllTests(tr);
 }

From 1e8aae3f06b5cb704de3a1a7578b15216760159a Mon Sep 17 00:00:00 2001
From: Fan Jiang <prof.fan@foxmail.com>
Date: Wed, 23 Mar 2022 20:18:02 -0400
Subject: [PATCH 045/433] Add a test for EliminateSequential

---
 gtsam/hybrid/tests/testHybridConditional.cpp | 31 +++++++++++++++++++-
 1 file changed, 30 insertions(+), 1 deletion(-)

diff --git a/gtsam/hybrid/tests/testHybridConditional.cpp b/gtsam/hybrid/tests/testHybridConditional.cpp
index 6672a1870c..32cb053257 100644
--- a/gtsam/hybrid/tests/testHybridConditional.cpp
+++ b/gtsam/hybrid/tests/testHybridConditional.cpp
@@ -94,6 +94,35 @@ TEST_DISABLED(HybridFactorGraph, eliminateMultifrontal) {
   EXPECT_LONGS_EQUAL(result.second->size(), 1);
 }
 
+TEST(HybridFactorGraph, eliminateFullSequentialSimple) {
+  std::cout << ">>>>>>>>>>>>>>\n";
+
+  HybridFactorGraph hfg;
+
+  DiscreteKey c1(C(1), 2);
+
+  hfg.add(JacobianFactor(X(0), I_3x3, Z_3x1));
+  hfg.add(JacobianFactor(X(0), I_3x3, X(1), -I_3x3, Z_3x1));
+
+  DecisionTree<Key, GaussianFactor::shared_ptr> dt(
+      C(1), boost::make_shared<JacobianFactor>(X(1), I_3x3, Z_3x1),
+      boost::make_shared<JacobianFactor>(X(1), I_3x3, Vector3::Ones()));
+
+  hfg.add(CGMixtureFactor({X(1)}, {c1}, dt));
+  // hfg.add(CGMixtureFactor({X(0)}, {c1}, dt));
+  hfg.add(HybridDiscreteFactor(DecisionTreeFactor(c1, {2, 8})));
+  hfg.add(HybridDiscreteFactor(
+      DecisionTreeFactor({{C(1), 2}, {C(2), 2}}, "1 2 3 4")));
+  // hfg.add(HybridDiscreteFactor(DecisionTreeFactor({{C(2), 2}, {C(3), 2}}, "1
+  // 2 3 4"))); hfg.add(HybridDiscreteFactor(DecisionTreeFactor({{C(3), 2},
+  // {C(1), 2}}, "1 2 2 1")));
+
+  auto result = hfg.eliminateSequential(
+      Ordering::ColamdConstrainedLast(hfg, {C(1), C(2)}));
+
+  GTSAM_PRINT(*result);
+}
+
 TEST(HybridFactorGraph, eliminateFullMultifrontalSimple) {
   std::cout << ">>>>>>>>>>>>>>\n";
 
@@ -121,7 +150,7 @@ TEST(HybridFactorGraph, eliminateFullMultifrontalSimple) {
       Ordering::ColamdConstrainedLast(hfg, {C(1), C(2)}));
 
   GTSAM_PRINT(*result);
-  GTSAM_PRINT(*result->marginalFactor(C(1)));
+  GTSAM_PRINT(*result->marginalFactor(C(2)));
 }
 
 TEST_DISABLED(HybridFactorGraph, eliminateFullMultifrontalCLG) {

From b4f8eea23138266f795b994048f559861939b180 Mon Sep 17 00:00:00 2001
From: Fan Jiang <prof.fan@foxmail.com>
Date: Wed, 23 Mar 2022 20:36:18 -0400
Subject: [PATCH 046/433] Address comments

---
 ...reFactor.cpp => GaussianMixtureFactor.cpp} | 18 ++++++++---------
 ...ixtureFactor.h => GaussianMixtureFactor.h} | 10 +++++-----
 gtsam/hybrid/HybridBayesNet.h                 |  6 +++---
 gtsam/hybrid/HybridBayesTree.h                |  4 +++-
 gtsam/hybrid/HybridDiscreteFactor.h           |  4 ++++
 gtsam/hybrid/HybridFactor.h                   |  5 +++++
 gtsam/hybrid/HybridFactorGraph.cpp            | 18 ++++++++---------
 gtsam/hybrid/HybridGaussianFactor.h           |  4 ++++
 gtsam/hybrid/tests/CMakeLists.txt             |  2 +-
 gtsam/hybrid/tests/testHybridConditional.cpp  | 20 +++++++++----------
 10 files changed, 53 insertions(+), 38 deletions(-)
 rename gtsam/hybrid/{CGMixtureFactor.cpp => GaussianMixtureFactor.cpp} (77%)
 rename gtsam/hybrid/{CGMixtureFactor.h => GaussianMixtureFactor.h} (87%)

diff --git a/gtsam/hybrid/CGMixtureFactor.cpp b/gtsam/hybrid/GaussianMixtureFactor.cpp
similarity index 77%
rename from gtsam/hybrid/CGMixtureFactor.cpp
rename to gtsam/hybrid/GaussianMixtureFactor.cpp
index 08ae8b6e9e..61cfb1d706 100644
--- a/gtsam/hybrid/CGMixtureFactor.cpp
+++ b/gtsam/hybrid/GaussianMixtureFactor.cpp
@@ -10,7 +10,7 @@
  * -------------------------------------------------------------------------- */
 
 /**
- * @file   CGMixtureFactor.cpp
+ * @file   GaussianMixtureFactor.cpp
  * @brief  A set of Gaussian factors indexed by a set of discrete keys.
  * @author Fan Jiang
  * @author Varun Agrawal
@@ -18,7 +18,7 @@
  * @date   Mar 12, 2022
  */
 
-#include <gtsam/hybrid/CGMixtureFactor.h>
+#include <gtsam/hybrid/GaussianMixtureFactor.h>
 
 #include <gtsam/discrete/DecisionTree.h>
 #include <gtsam/discrete/DecisionTree-inl.h>
@@ -27,15 +27,15 @@
 
 namespace gtsam {
 
-CGMixtureFactor::CGMixtureFactor(const KeyVector &continuousKeys,
+GaussianMixtureFactor::GaussianMixtureFactor(const KeyVector &continuousKeys,
                                  const DiscreteKeys &discreteKeys,
                                  const Factors &factors) : Base(continuousKeys, discreteKeys),
                                                            factors_(factors) {}
-bool CGMixtureFactor::equals(const HybridFactor &lf, double tol) const {
+bool GaussianMixtureFactor::equals(const HybridFactor &lf, double tol) const {
   return false;
 }
 
-void CGMixtureFactor::print(const std::string &s, const KeyFormatter &formatter) const {
+void GaussianMixtureFactor::print(const std::string &s, const KeyFormatter &formatter) const {
   HybridFactor::print(s, formatter);
   factors_.print(
       "mixture = ",
@@ -49,12 +49,12 @@ void CGMixtureFactor::print(const std::string &s, const KeyFormatter &formatter)
       });
 }
 
-const CGMixtureFactor::Factors& CGMixtureFactor::factors() {
+const GaussianMixtureFactor::Factors& GaussianMixtureFactor::factors() {
   return factors_;
 }
 
 /* *******************************************************************************/
-CGMixtureFactor::Sum CGMixtureFactor::addTo(const CGMixtureFactor::Sum &sum) const {
+GaussianMixtureFactor::Sum GaussianMixtureFactor::addTo(const GaussianMixtureFactor::Sum &sum) const {
   using Y = GaussianFactorGraph;
   auto add = [](const Y &graph1, const Y &graph2) {
     auto result = graph1;
@@ -66,7 +66,7 @@ CGMixtureFactor::Sum CGMixtureFactor::addTo(const CGMixtureFactor::Sum &sum) con
 }
 
 /* *******************************************************************************/
-CGMixtureFactor::Sum CGMixtureFactor::wrappedFactors() const {
+GaussianMixtureFactor::Sum GaussianMixtureFactor::wrappedFactors() const {
   auto wrap = [](const GaussianFactor::shared_ptr &factor) {
     GaussianFactorGraph result;
     result.push_back(factor);
@@ -74,4 +74,4 @@ CGMixtureFactor::Sum CGMixtureFactor::wrappedFactors() const {
   };
   return {factors_, wrap};
 }
-}
\ No newline at end of file
+}
diff --git a/gtsam/hybrid/CGMixtureFactor.h b/gtsam/hybrid/GaussianMixtureFactor.h
similarity index 87%
rename from gtsam/hybrid/CGMixtureFactor.h
rename to gtsam/hybrid/GaussianMixtureFactor.h
index fd81cdd91b..4cd5e71dec 100644
--- a/gtsam/hybrid/CGMixtureFactor.h
+++ b/gtsam/hybrid/GaussianMixtureFactor.h
@@ -10,7 +10,7 @@
  * -------------------------------------------------------------------------- */
 
 /**
- * @file   CGMixtureFactor.h
+ * @file   GaussianMixtureFactor.h
  * @brief  A set of Gaussian factors indexed by a set of discrete keys.
  * @author Fan Jiang
  * @author Varun Agrawal
@@ -29,19 +29,19 @@ namespace gtsam {
 
 class GaussianFactorGraph;
 
-class CGMixtureFactor : public HybridFactor {
+class GaussianMixtureFactor : public HybridFactor {
  public:
   using Base = HybridFactor;
-  using This = CGMixtureFactor;
+  using This = GaussianMixtureFactor;
   using shared_ptr = boost::shared_ptr<This>;
 
   using Factors = DecisionTree<Key, GaussianFactor::shared_ptr>;
 
   Factors factors_;
 
-  CGMixtureFactor() = default;
+  GaussianMixtureFactor() = default;
 
-  CGMixtureFactor(const KeyVector &continuousKeys,
+  GaussianMixtureFactor(const KeyVector &continuousKeys,
                   const DiscreteKeys &discreteKeys, const Factors &factors);
 
   using Sum = DecisionTree<Key, GaussianFactorGraph>;
diff --git a/gtsam/hybrid/HybridBayesNet.h b/gtsam/hybrid/HybridBayesNet.h
index 53d10518fe..d7e2f33afe 100644
--- a/gtsam/hybrid/HybridBayesNet.h
+++ b/gtsam/hybrid/HybridBayesNet.h
@@ -25,8 +25,8 @@
 namespace gtsam {
 
 /**
- * A hybrid Bayes net can have discrete conditionals, Gaussian mixtures,
- * or pure Gaussian conditionals.
+ * A hybrid Bayes net is a collection of HybridConditionals, which can have
+ * discrete conditionals, Gaussian mixtures, or pure Gaussian conditionals.
  */
 class GTSAM_EXPORT HybridBayesNet : public BayesNet<HybridConditional> {
  public:
@@ -40,4 +40,4 @@ class GTSAM_EXPORT HybridBayesNet : public BayesNet<HybridConditional> {
   HybridBayesNet() : Base() {}
 };
 
-}  // namespace gtsam
\ No newline at end of file
+}  // namespace gtsam
diff --git a/gtsam/hybrid/HybridBayesTree.h b/gtsam/hybrid/HybridBayesTree.h
index 74b967fc80..ee51bdd6ca 100644
--- a/gtsam/hybrid/HybridBayesTree.h
+++ b/gtsam/hybrid/HybridBayesTree.h
@@ -33,7 +33,9 @@ class HybridConditional;
 class VectorValues;
 
 /* ************************************************************************* */
-/** A clique in a HybridBayesTree */
+/** A clique in a HybridBayesTree
+ * which is a HybridConditional internally.
+ */
 class GTSAM_EXPORT HybridBayesTreeClique
     : public BayesTreeCliqueBase<HybridBayesTreeClique, HybridFactorGraph> {
  public:
diff --git a/gtsam/hybrid/HybridDiscreteFactor.h b/gtsam/hybrid/HybridDiscreteFactor.h
index f182f90a9e..c55c5ecf07 100644
--- a/gtsam/hybrid/HybridDiscreteFactor.h
+++ b/gtsam/hybrid/HybridDiscreteFactor.h
@@ -23,6 +23,10 @@
 
 namespace gtsam {
 
+/**
+ * A HybridDiscreteFactor is a wrapper for DiscreteFactor, so we hide the
+ * implementation of DiscreteFactor, and thus avoiding diamond inheritance.
+ */
 class HybridDiscreteFactor : public HybridFactor {
  public:
   using Base = HybridFactor;
diff --git a/gtsam/hybrid/HybridFactor.h b/gtsam/hybrid/HybridFactor.h
index 653d4270a2..3d5bd7b218 100644
--- a/gtsam/hybrid/HybridFactor.h
+++ b/gtsam/hybrid/HybridFactor.h
@@ -34,6 +34,11 @@ DiscreteKeys CollectDiscreteKeys(const DiscreteKeys &key1,
 
 /**
  * Base class for hybrid probabilistic factors
+ * Examples:
+ *  - HybridGaussianFactor
+ *  - HybridDiscreteFactor
+ *  - GaussianMixtureFactor
+ *  - GaussianMixture
  */
 class GTSAM_EXPORT HybridFactor : public Factor {
  public:
diff --git a/gtsam/hybrid/HybridFactorGraph.cpp b/gtsam/hybrid/HybridFactorGraph.cpp
index 735b8cfa9e..574c3b7816 100644
--- a/gtsam/hybrid/HybridFactorGraph.cpp
+++ b/gtsam/hybrid/HybridFactorGraph.cpp
@@ -21,7 +21,7 @@
 #include <gtsam/base/utilities.h>
 #include <gtsam/discrete/Assignment.h>
 #include <gtsam/discrete/DiscreteFactorGraph.h>
-#include <gtsam/hybrid/CGMixtureFactor.h>
+#include <gtsam/hybrid/GaussianMixtureFactor.h>
 #include <gtsam/hybrid/GaussianMixture.h>
 #include <gtsam/hybrid/HybridConditional.h>
 #include <gtsam/hybrid/HybridDiscreteFactor.h>
@@ -56,14 +56,14 @@ static std::string GREEN = "\033[0;32m";
 static std::string GREEN_BOLD = "\033[1;32m";
 static std::string RESET = "\033[0m";
 
-static CGMixtureFactor::Sum &addGaussian(
-    CGMixtureFactor::Sum &sum, const GaussianFactor::shared_ptr &factor) {
+static GaussianMixtureFactor::Sum &addGaussian(
+    GaussianMixtureFactor::Sum &sum, const GaussianFactor::shared_ptr &factor) {
   using Y = GaussianFactorGraph;
   // If the decision tree is not intiialized, then intialize it.
   if (sum.empty()) {
     GaussianFactorGraph result;
     result.push_back(factor);
-    sum = CGMixtureFactor::Sum(result);
+    sum = GaussianMixtureFactor::Sum(result);
 
   } else {
     auto add = [&factor](const Y &graph) {
@@ -307,7 +307,7 @@ EliminateHybrid(const HybridFactorGraph &factors, const Ordering &frontalKeys) {
   //         continue;
   //       }
 
-  //       auto ptr_mf = boost::dynamic_pointer_cast<CGMixtureFactor>(factor);
+  //       auto ptr_mf = boost::dynamic_pointer_cast<GaussianMixtureFactor>(factor);
   //       if (ptr_mf) gf.push_back(ptr_mf->factors_(new_assignment));
 
   //       auto ptr_gm = boost::dynamic_pointer_cast<GaussianMixture>(factor);
@@ -329,13 +329,13 @@ EliminateHybrid(const HybridFactorGraph &factors, const Ordering &frontalKeys) {
 
   std::cout << RED_BOLD << "HYBRID ELIM." << RESET << "\n";
 
-  CGMixtureFactor::Sum sum;
+  GaussianMixtureFactor::Sum sum;
 
   std::vector<GaussianFactor::shared_ptr> deferredFactors;
 
   for (auto &f : factors) {
     if (f->isHybrid_) {
-      auto cgmf = boost::dynamic_pointer_cast<CGMixtureFactor>(f);
+      auto cgmf = boost::dynamic_pointer_cast<GaussianMixtureFactor>(f);
       if (cgmf) {
         sum = cgmf->addTo(sum);
       }
@@ -395,7 +395,7 @@ EliminateHybrid(const HybridFactorGraph &factors, const Ordering &frontalKeys) {
   auto pair = unzip(eliminationResults);
 
   const GaussianMixture::Conditionals &conditionals = pair.first;
-  const CGMixtureFactor::Factors &separatorFactors = pair.second;
+  const GaussianMixtureFactor::Factors &separatorFactors = pair.second;
 
   // Create the GaussianMixture from the conditionals
   auto conditional = boost::make_shared<GaussianMixture>(
@@ -429,7 +429,7 @@ EliminateHybrid(const HybridFactorGraph &factors, const Ordering &frontalKeys) {
 
   } else {
     // Create a resulting DCGaussianMixture on the separator.
-    auto factor = boost::make_shared<CGMixtureFactor>(
+    auto factor = boost::make_shared<GaussianMixtureFactor>(
         frontalKeys, discreteSeparator, separatorFactors);
     return {boost::make_shared<HybridConditional>(conditional), factor};
   }
diff --git a/gtsam/hybrid/HybridGaussianFactor.h b/gtsam/hybrid/HybridGaussianFactor.h
index 03c49564ea..86c87a0ec0 100644
--- a/gtsam/hybrid/HybridGaussianFactor.h
+++ b/gtsam/hybrid/HybridGaussianFactor.h
@@ -23,6 +23,10 @@
 
 namespace gtsam {
 
+/**
+ * A HybridGaussianFactor is a wrapper for GaussianFactor so that we do not have
+ * a diamond inheritance.
+ */
 class HybridGaussianFactor : public HybridFactor {
  public:
   using Base = HybridFactor;
diff --git a/gtsam/hybrid/tests/CMakeLists.txt b/gtsam/hybrid/tests/CMakeLists.txt
index b52e185861..06ad2c5051 100644
--- a/gtsam/hybrid/tests/CMakeLists.txt
+++ b/gtsam/hybrid/tests/CMakeLists.txt
@@ -1 +1 @@
-gtsamAddTestsGlob(hybrid "test*.cpp" "" "gtsam")
\ No newline at end of file
+gtsamAddTestsGlob(hybrid "test*.cpp" "" "gtsam")
diff --git a/gtsam/hybrid/tests/testHybridConditional.cpp b/gtsam/hybrid/tests/testHybridConditional.cpp
index 32cb053257..8761055106 100644
--- a/gtsam/hybrid/tests/testHybridConditional.cpp
+++ b/gtsam/hybrid/tests/testHybridConditional.cpp
@@ -17,7 +17,7 @@
 
 #include <CppUnitLite/Test.h>
 #include <CppUnitLite/TestHarness.h>
-#include <gtsam/hybrid/CGMixtureFactor.h>
+#include <gtsam/hybrid/GaussianMixtureFactor.h>
 #include <gtsam/hybrid/GaussianMixture.h>
 #include <gtsam/hybrid/HybridBayesNet.h>
 #include <gtsam/hybrid/HybridBayesTree.h>
@@ -108,8 +108,8 @@ TEST(HybridFactorGraph, eliminateFullSequentialSimple) {
       C(1), boost::make_shared<JacobianFactor>(X(1), I_3x3, Z_3x1),
       boost::make_shared<JacobianFactor>(X(1), I_3x3, Vector3::Ones()));
 
-  hfg.add(CGMixtureFactor({X(1)}, {c1}, dt));
-  // hfg.add(CGMixtureFactor({X(0)}, {c1}, dt));
+  hfg.add(GaussianMixtureFactor({X(1)}, {c1}, dt));
+  // hfg.add(GaussianMixtureFactor({X(0)}, {c1}, dt));
   hfg.add(HybridDiscreteFactor(DecisionTreeFactor(c1, {2, 8})));
   hfg.add(HybridDiscreteFactor(
       DecisionTreeFactor({{C(1), 2}, {C(2), 2}}, "1 2 3 4")));
@@ -137,8 +137,8 @@ TEST(HybridFactorGraph, eliminateFullMultifrontalSimple) {
       C(1), boost::make_shared<JacobianFactor>(X(1), I_3x3, Z_3x1),
       boost::make_shared<JacobianFactor>(X(1), I_3x3, Vector3::Ones()));
 
-  hfg.add(CGMixtureFactor({X(1)}, {c1}, dt));
-  // hfg.add(CGMixtureFactor({X(0)}, {c1}, dt));
+  hfg.add(GaussianMixtureFactor({X(1)}, {c1}, dt));
+  // hfg.add(GaussianMixtureFactor({X(0)}, {c1}, dt));
   hfg.add(HybridDiscreteFactor(DecisionTreeFactor(c1, {2, 8})));
   hfg.add(HybridDiscreteFactor(
       DecisionTreeFactor({{C(1), 2}, {C(2), 2}}, "1 2 3 4")));
@@ -167,7 +167,7 @@ TEST_DISABLED(HybridFactorGraph, eliminateFullMultifrontalCLG) {
       C(1), boost::make_shared<JacobianFactor>(X(1), I_3x3, Z_3x1),
       boost::make_shared<JacobianFactor>(X(1), I_3x3, Vector3::Ones()));
 
-  hfg.add(CGMixtureFactor({X(1)}, {c}, dt));
+  hfg.add(GaussianMixtureFactor({X(1)}, {c}, dt));
   hfg.add(HybridDiscreteFactor(DecisionTreeFactor(c, {2, 8})));
   //  hfg.add(HybridDiscreteFactor(DecisionTreeFactor({{C(1), 2}, {C(2), 2}}, "1
   //  2 3 4")));
@@ -203,13 +203,13 @@ TEST_DISABLED(HybridFactorGraph, eliminateFullMultifrontalTwoClique) {
         C(0), boost::make_shared<JacobianFactor>(X(0), I_3x3, Z_3x1),
         boost::make_shared<JacobianFactor>(X(0), I_3x3, Vector3::Ones()));
 
-    hfg.add(CGMixtureFactor({X(0)}, {{C(0), 2}}, dt));
+    hfg.add(GaussianMixtureFactor({X(0)}, {{C(0), 2}}, dt));
 
     DecisionTree<Key, GaussianFactor::shared_ptr> dt1(
         C(1), boost::make_shared<JacobianFactor>(X(2), I_3x3, Z_3x1),
         boost::make_shared<JacobianFactor>(X(2), I_3x3, Vector3::Ones()));
 
-    hfg.add(CGMixtureFactor({X(2)}, {{C(1), 2}}, dt1));
+    hfg.add(GaussianMixtureFactor({X(2)}, {{C(1), 2}}, dt1));
   }
 
   // hfg.add(HybridDiscreteFactor(DecisionTreeFactor(c, {2, 8})));
@@ -224,13 +224,13 @@ TEST_DISABLED(HybridFactorGraph, eliminateFullMultifrontalTwoClique) {
         C(3), boost::make_shared<JacobianFactor>(X(3), I_3x3, Z_3x1),
         boost::make_shared<JacobianFactor>(X(3), I_3x3, Vector3::Ones()));
 
-    hfg.add(CGMixtureFactor({X(3)}, {{C(3), 2}}, dt));
+    hfg.add(GaussianMixtureFactor({X(3)}, {{C(3), 2}}, dt));
 
     DecisionTree<Key, GaussianFactor::shared_ptr> dt1(
         C(2), boost::make_shared<JacobianFactor>(X(5), I_3x3, Z_3x1),
         boost::make_shared<JacobianFactor>(X(5), I_3x3, Vector3::Ones()));
 
-    hfg.add(CGMixtureFactor({X(5)}, {{C(2), 2}}, dt1));
+    hfg.add(GaussianMixtureFactor({X(5)}, {{C(2), 2}}, dt1));
   }
 
   auto ordering_full =

From 4f8dfeb5b254ab75f34fca053c56bede74e3f5d6 Mon Sep 17 00:00:00 2001
From: Fan Jiang <prof.fan@foxmail.com>
Date: Wed, 23 Mar 2022 20:36:56 -0400
Subject: [PATCH 047/433] Remove warning

---
 gtsam/hybrid/HybridJunctionTree.cpp | 1 -
 1 file changed, 1 deletion(-)

diff --git a/gtsam/hybrid/HybridJunctionTree.cpp b/gtsam/hybrid/HybridJunctionTree.cpp
index 9445e26b80..7c48934fc4 100644
--- a/gtsam/hybrid/HybridJunctionTree.cpp
+++ b/gtsam/hybrid/HybridJunctionTree.cpp
@@ -161,7 +161,6 @@ HybridJunctionTree::HybridJunctionTree(
 
   // Traverse the elimination tree, doing symbolic elimination and merging nodes
   // as we go.  Gather the created junction tree roots in a dummy Node.
-  typedef typename HybridEliminationTree::Node ETreeNode;
   typedef HybridConstructorTraversalData Data;
   Data rootData(0);
   rootData.myJTNode =

From 293ef614acc01156bdbb767761a7f5dba42b998b Mon Sep 17 00:00:00 2001
From: Fan Jiang <prof.fan@foxmail.com>
Date: Wed, 23 Mar 2022 20:42:26 -0400
Subject: [PATCH 048/433] Address comments

---
 gtsam/hybrid/HybridEliminationTree.h  |  3 +++
 gtsam/hybrid/HybridFactorGraph.h      | 10 ++++++++--
 gtsam/hybrid/HybridGaussianFactor.cpp |  2 +-
 3 files changed, 12 insertions(+), 3 deletions(-)

diff --git a/gtsam/hybrid/HybridEliminationTree.h b/gtsam/hybrid/HybridEliminationTree.h
index b72bbcad96..902beb279c 100644
--- a/gtsam/hybrid/HybridEliminationTree.h
+++ b/gtsam/hybrid/HybridEliminationTree.h
@@ -23,6 +23,9 @@
 
 namespace gtsam {
 
+/**
+ * Elimination Tree type for Hybrid
+ */
 class GTSAM_EXPORT HybridEliminationTree
     : public EliminationTree<HybridBayesNet, HybridFactorGraph> {
  public:
diff --git a/gtsam/hybrid/HybridFactorGraph.h b/gtsam/hybrid/HybridFactorGraph.h
index 92f98c8f27..21332d80ad 100644
--- a/gtsam/hybrid/HybridFactorGraph.h
+++ b/gtsam/hybrid/HybridFactorGraph.h
@@ -37,8 +37,8 @@ class JacobianFactor;
 
 /** Main elimination function for HybridFactorGraph */
 GTSAM_EXPORT
-    std::pair<boost::shared_ptr<HybridConditional>, HybridFactor::shared_ptr>
-    EliminateHybrid(const HybridFactorGraph& factors, const Ordering& keys);
+std::pair<boost::shared_ptr<HybridConditional>, HybridFactor::shared_ptr>
+EliminateHybrid(const HybridFactorGraph& factors, const Ordering& keys);
 
 /* ************************************************************************* */
 template <>
@@ -62,6 +62,12 @@ struct EliminationTraits<HybridFactorGraph> {
   }
 };
 
+/**
+ * Hybrid Factor Graph
+ * -----------------------
+ * This is the linear version of a hybrid factor graph. Everything inside needs
+ * to be hybrid factor or hybrid conditional.
+ */
 class HybridFactorGraph : public FactorGraph<HybridFactor>,
                           public EliminateableFactorGraph<HybridFactorGraph> {
  public:
diff --git a/gtsam/hybrid/HybridGaussianFactor.cpp b/gtsam/hybrid/HybridGaussianFactor.cpp
index d83f90024a..5fa4b555a3 100644
--- a/gtsam/hybrid/HybridGaussianFactor.cpp
+++ b/gtsam/hybrid/HybridGaussianFactor.cpp
@@ -39,4 +39,4 @@ void HybridGaussianFactor::print(const std::string &s,
   inner->print("inner: ", formatter);
 };
 
-}  // namespace gtsam
\ No newline at end of file
+}  // namespace gtsam

From a36c86a4f168a03f316d3c13f8bb78b13dfc3a71 Mon Sep 17 00:00:00 2001
From: Fan Jiang <prof.fan@foxmail.com>
Date: Wed, 23 Mar 2022 20:50:36 -0400
Subject: [PATCH 049/433] Display debug messages only when DEBUG = true

---
 gtsam/hybrid/HybridFactorGraph.cpp | 186 ++++++++---------------------
 1 file changed, 49 insertions(+), 137 deletions(-)

diff --git a/gtsam/hybrid/HybridFactorGraph.cpp b/gtsam/hybrid/HybridFactorGraph.cpp
index 574c3b7816..9e7eebc574 100644
--- a/gtsam/hybrid/HybridFactorGraph.cpp
+++ b/gtsam/hybrid/HybridFactorGraph.cpp
@@ -21,8 +21,8 @@
 #include <gtsam/base/utilities.h>
 #include <gtsam/discrete/Assignment.h>
 #include <gtsam/discrete/DiscreteFactorGraph.h>
-#include <gtsam/hybrid/GaussianMixtureFactor.h>
 #include <gtsam/hybrid/GaussianMixture.h>
+#include <gtsam/hybrid/GaussianMixtureFactor.h>
 #include <gtsam/hybrid/HybridConditional.h>
 #include <gtsam/hybrid/HybridDiscreteFactor.h>
 #include <gtsam/hybrid/HybridEliminationTree.h>
@@ -56,6 +56,8 @@ static std::string GREEN = "\033[0;32m";
 static std::string GREEN_BOLD = "\033[1;32m";
 static std::string RESET = "\033[0m";
 
+static bool DEBUG = false;
+
 static GaussianMixtureFactor::Sum &addGaussian(
     GaussianMixtureFactor::Sum &sum, const GaussianFactor::shared_ptr &factor) {
   using Y = GaussianFactorGraph;
@@ -129,15 +131,18 @@ EliminateHybrid(const HybridFactorGraph &factors, const Ordering &frontalKeys) {
   KeySet continuousFrontals;
   KeySet continuousSeparator;
 
-  // TODO: we do a mock by just doing the correct key thing
-  std::cout << RED_BOLD << "Begin Eliminate: " << RESET;
-  frontalKeys.print();
+  if (DEBUG) {
+    std::cout << RED_BOLD << "Begin Eliminate: " << RESET;
+    frontalKeys.print();
+  }
 
   // This initializes separatorKeys and discreteCardinalities
   for (auto &&factor : factors) {
-    std::cout << ">>> Adding factor: " << GREEN;
-    factor->print();
-    std::cout << RESET;
+    if (DEBUG) {
+      std::cout << ">>> Adding factor: " << GREEN;
+      factor->print();
+      std::cout << RESET;
+    }
     separatorKeys.insert(factor->begin(), factor->end());
     if (!factor->isContinuous_) {
       for (auto &k : factor->discreteKeys_) {
@@ -171,7 +176,8 @@ EliminateHybrid(const HybridFactorGraph &factors, const Ordering &frontalKeys) {
     }
   }
 
-  {
+  // Only for printing
+  if (DEBUG) {
     std::cout << RED_BOLD << "Keys: " << RESET;
     for (auto &f : frontalKeys) {
       if (discreteCardinalities.find(f) != discreteCardinalities.end()) {
@@ -203,7 +209,10 @@ EliminateHybrid(const HybridFactorGraph &factors, const Ordering &frontalKeys) {
 
   // Case 1: we are only dealing with continuous
   if (discreteCardinalities.empty() && !allContinuousKeys.empty()) {
-    std::cout << RED_BOLD << "CONT. ONLY" << RESET << "\n";
+    if (DEBUG) {
+      std::cout << RED_BOLD << "CONT. ONLY" << RESET << "\n";
+    }
+
     GaussianFactorGraph gfg;
     for (auto &fp : factors) {
       auto ptr = boost::dynamic_pointer_cast<HybridGaussianFactor>(fp);
@@ -222,7 +231,10 @@ EliminateHybrid(const HybridFactorGraph &factors, const Ordering &frontalKeys) {
 
   // Case 2: we are only dealing with discrete
   if (allContinuousKeys.empty()) {
-    std::cout << RED_BOLD << "DISCRETE ONLY" << RESET << "\n";
+    if (DEBUG) {
+      std::cout << RED_BOLD << "DISCRETE ONLY" << RESET << "\n";
+    }
+
     DiscreteFactorGraph dfg;
     for (auto &fp : factors) {
       auto ptr = boost::dynamic_pointer_cast<HybridDiscreteFactor>(fp);
@@ -246,88 +258,12 @@ EliminateHybrid(const HybridFactorGraph &factors, const Ordering &frontalKeys) {
   DiscreteKeys discreteSeparator(discreteSeparatorSet.begin(),
                                  discreteSeparatorSet.end());
 
-  // We will need to know a mapping on when will a factor be fully determined by
-  // discrete keys std::vector<std::vector<HybridFactor::shared_ptr>>
-  // availableFactors;
-
-  // {
-  //   std::vector<std::pair<KeySet, HybridFactor::shared_ptr>> keysForFactor;
-  //   keysForFactor.reserve(factors.size());
-  //   std::transform(
-  //       factors.begin(), factors.end(), std::back_inserter(keysForFactor),
-  //       [](HybridFactor::shared_ptr factor)
-  //           -> std::pair<KeySet, HybridFactor::shared_ptr> {
-  //         return {KeySet(factor->keys().begin() + factor->nrContinuous,
-  //                        factor->keys().end()),
-  //                 factor};
-  //       });
-
-  //   KeySet currentAllKeys;
-  //   const auto N = discreteSeparator.size();
-  //   for (size_t k = 0; k < N; k++) {
-  //     currentAllKeys.insert(discreteSeparator.at(k).first);
-  //     std::vector<bool> shouldRemove(N, false);
-  //     for (size_t i = 0; i < keysForFactor.size(); i++) {
-  //       availableFactors.emplace_back();
-
-  //       if (std::includes(currentAllKeys.begin(), currentAllKeys.end(),
-  //                         keysForFactor[i].first.begin(),
-  //                         keysForFactor[i].first.end())) {
-  //         // mark for delete
-  //         shouldRemove[i] = true;
-  //         availableFactors.back().push_back(keysForFactor[i].second);
-  //       }
-  //       keysForFactor.erase(
-  //           std::remove_if(keysForFactor.begin(), keysForFactor.end(),
-  //                          [&shouldRemove, &keysForFactor](std::pair<KeySet,
-  //                          HybridFactor::shared_ptr> const &i) {
-  //                            return shouldRemove.at(&i -
-  //                            keysForFactor.data());
-  //                          }),
-  //           keysForFactor.end());
-  //     }
-  //   }
-  // }
-
-  // std::function<boost::shared_ptr<DecisionTree<Key, GaussianFactorGraph>>(
-  //     (Assignment<Key>, GaussianFactorGraph, int))>
-  //     visitor = [&](Assignment<Key> history, GaussianFactorGraph gf, int pos)
-  //     -> boost::shared_ptr<DecisionTree<Key, GaussianFactorGraph>> {
-  //   const auto currentKey = discreteSeparator[pos].first;
-  //   const auto currentCard = discreteSeparator[pos].second;
-
-  //   std::vector<boost::shared_ptr<DecisionTree<Key, GaussianFactorGraph>>>
-  //       children(currentCard, nullptr);
-  //   for (size_t choice = 0; choice < currentCard; choice++) {
-  //     Assignment<Key> new_assignment = history;
-  //     GaussianFactorGraph new_gf(gf);
-  //     // we try to get all currently available factors
-  //     for (auto &factor : availableFactors[pos]) {
-  //       if (!factor) {
-  //         continue;
-  //       }
-
-  //       auto ptr_mf = boost::dynamic_pointer_cast<GaussianMixtureFactor>(factor);
-  //       if (ptr_mf) gf.push_back(ptr_mf->factors_(new_assignment));
-
-  //       auto ptr_gm = boost::dynamic_pointer_cast<GaussianMixture>(factor);
-  //       if (ptr_gm) gf.push_back(ptr_gm->conditionals_(new_assignment));
-
-  //       children[choice] = visitor(new_assignment, new_gf, pos + 1);
-  //     }
-  //   }
-  // };
-
-  // PRODUCT: multiply all factors
-  // HybridConditional sum_factor(
-  //     KeyVector(continuousSeparator.begin(), continuousSeparator.end()),
-  //     DiscreteKeys(discreteSeparatorSet.begin(), discreteSeparatorSet.end()),
-  //     separatorKeys.size());
-
   // sum out frontals, this is the factor on the separator
   gttic(sum);
 
-  std::cout << RED_BOLD << "HYBRID ELIM." << RESET << "\n";
+  if (DEBUG) {
+    std::cout << RED_BOLD << "HYBRID ELIM." << RESET << "\n";
+  }
 
   GaussianMixtureFactor::Sum sum;
 
@@ -355,16 +291,20 @@ EliminateHybrid(const HybridFactorGraph &factors, const Ordering &frontalKeys) {
   }
 
   for (auto &f : deferredFactors) {
-    std::cout << GREEN_BOLD << "Adding Gaussian" << RESET << "\n";
+    if (DEBUG) {
+      std::cout << GREEN_BOLD << "Adding Gaussian" << RESET << "\n";
+    }
     sum = addGaussian(sum, f);
   }
 
-  std::cout << GREEN_BOLD << "[GFG Tree]\n" << RESET;
-  sum.print("", DefaultKeyFormatter, [](GaussianFactorGraph gfg) {
-    RedirectCout rd;
-    gfg.print("");
-    return rd.str();
-  });
+  if (DEBUG) {
+    std::cout << GREEN_BOLD << "[GFG Tree]\n" << RESET;
+    sum.print("", DefaultKeyFormatter, [](GaussianFactorGraph gfg) {
+      RedirectCout rd;
+      gfg.print("");
+      return rd.str();
+    });
+  }
 
   gttoc(sum);
 
@@ -401,23 +341,25 @@ EliminateHybrid(const HybridFactorGraph &factors, const Ordering &frontalKeys) {
   auto conditional = boost::make_shared<GaussianMixture>(
       frontalKeys, keysOfSeparator, discreteSeparator, conditionals);
 
-  std::cout << GREEN_BOLD << "[Conditional]\n" << RESET;
-  conditional->print();
-  std::cout << GREEN_BOLD << "[Separator]\n" << RESET;
-  separatorFactors.print("", DefaultKeyFormatter,
-                         [](GaussianFactor::shared_ptr gc) {
-                           RedirectCout rd;
-                           gc->print("");
-                           return rd.str();
-                         });
-  std::cout << RED_BOLD << "[End Eliminate]\n" << RESET;
+  if (DEBUG) {
+    std::cout << GREEN_BOLD << "[Conditional]\n" << RESET;
+    conditional->print();
+    std::cout << GREEN_BOLD << "[Separator]\n" << RESET;
+    separatorFactors.print("", DefaultKeyFormatter,
+                           [](GaussianFactor::shared_ptr gc) {
+                             RedirectCout rd;
+                             gc->print("");
+                             return rd.str();
+                           });
+    std::cout << RED_BOLD << "[End Eliminate]\n" << RESET;
+  }
 
   // If there are no more continuous parents, then we should create here a
   // DiscreteFactor, with the error for each discrete choice.
   if (keysOfSeparator.empty()) {
     VectorValues empty_values;
     auto factorError = [&](const GaussianFactor::shared_ptr &factor) {
-      if (!factor) return 0.0; // TODO(fan): does this make sense?
+      if (!factor) return 0.0;  // TODO(fan): does this make sense?
       return exp(-factor->error(empty_values));
     };
     DecisionTree<Key, double> fdt(separatorFactors, factorError);
@@ -433,36 +375,6 @@ EliminateHybrid(const HybridFactorGraph &factors, const Ordering &frontalKeys) {
         frontalKeys, discreteSeparator, separatorFactors);
     return {boost::make_shared<HybridConditional>(conditional), factor};
   }
-
-  // Ordering keys for the conditional so that frontalKeys are really in front
-  // Ordering orderedKeys;
-  // orderedKeys.insert(orderedKeys.end(), frontalKeys.begin(),
-  // frontalKeys.end()); orderedKeys.insert(orderedKeys.end(),
-  // sum_factor.keys().begin(),
-  //                    sum_factor.keys().end());
-
-  // // now divide product/sum to get conditional
-  // gttic(divide);
-  // //  auto conditional =
-  // //      boost::make_shared<HybridConditional>(product, *sum, orderedKeys);
-  // gttoc(divide);
-
-  // auto conditional = boost::make_shared<HybridConditional>(
-  //     CollectKeys({continuousFrontals.begin(), continuousFrontals.end()},
-  //                 {continuousSeparator.begin(), continuousSeparator.end()}),
-  //     CollectDiscreteKeys(
-  //         {discreteFrontals.begin(), discreteFrontals.end()},
-  //         {discreteSeparatorSet.begin(), discreteSeparatorSet.end()}),
-  //     continuousFrontals.size() + discreteFrontals.size());
-  // std::cout << GREEN_BOLD << "[Conditional]\n" << RESET;
-  // conditional->print();
-  // std::cout << GREEN_BOLD << "[Separator]\n" << RESET;
-  // sum_factor.print();
-  // std::cout << RED_BOLD << "[End Eliminate]\n" << RESET;
-
-  // //  return std::make_pair(conditional, sum);
-  // return std::make_pair(conditional, boost::make_shared<HybridConditional>(
-  //                                        std::move(sum_factor)));
 }
 
 void HybridFactorGraph::add(JacobianFactor &&factor) {

From 8b4283b281a691c7c797ba943abfe1355ca8d162 Mon Sep 17 00:00:00 2001
From: Fan Jiang <prof.fan@foxmail.com>
Date: Wed, 23 Mar 2022 20:54:53 -0400
Subject: [PATCH 050/433] Add doxygen for GMM

---
 gtsam/hybrid/GaussianMixture.h | 21 ++++++++++++++-------
 1 file changed, 14 insertions(+), 7 deletions(-)

diff --git a/gtsam/hybrid/GaussianMixture.h b/gtsam/hybrid/GaussianMixture.h
index 13171ae5d3..9879e80bdd 100644
--- a/gtsam/hybrid/GaussianMixture.h
+++ b/gtsam/hybrid/GaussianMixture.h
@@ -24,9 +24,8 @@
 #include <gtsam/linear/GaussianConditional.h>
 
 namespace gtsam {
-class GaussianMixture
-    : public HybridFactor,
-      public Conditional<HybridFactor, GaussianMixture> {
+class GaussianMixture : public HybridFactor,
+                        public Conditional<HybridFactor, GaussianMixture> {
  public:
   using This = GaussianMixture;
   using shared_ptr = boost::shared_ptr<GaussianMixture>;
@@ -38,14 +37,22 @@ class GaussianMixture
   Conditionals conditionals_;
 
  public:
+  /**
+   * @brief Construct a new Gaussian Mixture object
+   *
+   * @param continuousFrontals the continuous frontals.
+   * @param continuousParents the continuous parents.
+   * @param discreteParents the discrete parents. Will be placed last.
+   * @param conditionals a decision tree of GaussianConditionals.
+   */
   GaussianMixture(const KeyVector &continuousFrontals,
-                        const KeyVector &continuousParents,
-                        const DiscreteKeys &discreteParents,
-                        const Conditionals &conditionals);
+                  const KeyVector &continuousParents,
+                  const DiscreteKeys &discreteParents,
+                  const Conditionals &conditionals);
 
   using Sum = DecisionTree<Key, GaussianFactorGraph>;
 
-  const Conditionals& conditionals();
+  const Conditionals &conditionals();
 
   /* *******************************************************************************/
   Sum addTo(const Sum &sum) const;

From 5f03e0f68b27aa62d6fe519ea65beecdb838ef8d Mon Sep 17 00:00:00 2001
From: Fan Jiang <prof.fan@foxmail.com>
Date: Wed, 23 Mar 2022 20:59:31 -0400
Subject: [PATCH 051/433] Address compilation error on GCC

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

diff --git a/gtsam/hybrid/HybridConditional.cpp b/gtsam/hybrid/HybridConditional.cpp
index 7ada061b95..ed4b016081 100644
--- a/gtsam/hybrid/HybridConditional.cpp
+++ b/gtsam/hybrid/HybridConditional.cpp
@@ -28,7 +28,7 @@ HybridConditional::HybridConditional(const KeyVector &continuousFrontals,
                                      const DiscreteKeys &discreteParents)
     : HybridConditional(
           CollectKeys({continuousFrontals.begin(), continuousFrontals.end()},
-                      {continuousParents.begin(), continuousParents.end()}),
+                      KeyVector {continuousParents.begin(), continuousParents.end()}),
           CollectDiscreteKeys(
               {discreteFrontals.begin(), discreteFrontals.end()},
               {discreteParents.begin(), discreteParents.end()}),

From 8d888606a36fe48fee634c4ef0a8bcbffb365e44 Mon Sep 17 00:00:00 2001
From: Fan Jiang <prof.fan@foxmail.com>
Date: Wed, 23 Mar 2022 21:31:22 -0400
Subject: [PATCH 052/433] Fix GCC error

---
 gtsam/hybrid/GaussianMixture.cpp             | 2 ++
 gtsam/hybrid/tests/testHybridConditional.cpp | 4 ++--
 2 files changed, 4 insertions(+), 2 deletions(-)

diff --git a/gtsam/hybrid/GaussianMixture.cpp b/gtsam/hybrid/GaussianMixture.cpp
index 8135b2d2dc..26668da599 100644
--- a/gtsam/hybrid/GaussianMixture.cpp
+++ b/gtsam/hybrid/GaussianMixture.cpp
@@ -13,6 +13,8 @@
  * @file   GaussianMixture.cpp
  * @brief  A hybrid conditional in the Conditional Linear Gaussian scheme
  * @author Fan Jiang
+ * @author Varun Agrawal
+ * @author Frank Dellaert
  * @date   Mar 12, 2022
  */
 
diff --git a/gtsam/hybrid/tests/testHybridConditional.cpp b/gtsam/hybrid/tests/testHybridConditional.cpp
index 8761055106..95703b0af2 100644
--- a/gtsam/hybrid/tests/testHybridConditional.cpp
+++ b/gtsam/hybrid/tests/testHybridConditional.cpp
@@ -17,8 +17,8 @@
 
 #include <CppUnitLite/Test.h>
 #include <CppUnitLite/TestHarness.h>
-#include <gtsam/hybrid/GaussianMixtureFactor.h>
 #include <gtsam/hybrid/GaussianMixture.h>
+#include <gtsam/hybrid/GaussianMixtureFactor.h>
 #include <gtsam/hybrid/HybridBayesNet.h>
 #include <gtsam/hybrid/HybridBayesTree.h>
 #include <gtsam/hybrid/HybridConditional.h>
@@ -75,7 +75,7 @@ TEST_DISABLED(HybridFactorGraph, eliminate) {
 
   hfg.add(HybridGaussianFactor(JacobianFactor(0, I_3x3, Z_3x1)));
 
-  auto result = hfg.eliminatePartialSequential({0});
+  auto result = hfg.eliminatePartialSequential(KeyVector{0});
 
   EXPECT_LONGS_EQUAL(result.first->size(), 1);
 }

From d2dc620b1e3031fc35c5ebe9d5030235b54ebf68 Mon Sep 17 00:00:00 2001
From: Fan Jiang <prof.fan@foxmail.com>
Date: Fri, 25 Mar 2022 17:14:00 -0600
Subject: [PATCH 053/433] Add Python bindings

---
 gtsam/hybrid/GaussianMixture.cpp             |  19 ++-
 gtsam/hybrid/GaussianMixture.h               |   5 +
 gtsam/hybrid/GaussianMixtureFactor.cpp       |  43 +++---
 gtsam/hybrid/GaussianMixtureFactor.h         |  11 +-
 gtsam/hybrid/HybridConditional.cpp           |   9 +-
 gtsam/hybrid/HybridDiscreteFactor.h          |   4 +-
 gtsam/hybrid/HybridFactorGraph.cpp           |  14 ++
 gtsam/hybrid/HybridFactorGraph.h             |   7 +
 gtsam/hybrid/hybrid.i                        | 134 +++++++++++++++++++
 gtsam/hybrid/tests/testHybridConditional.cpp |  31 +++--
 gtsam/inference/inference.i                  |  13 +-
 python/CMakeLists.txt                        |   1 +
 python/gtsam/preamble/hybrid.h               |  14 ++
 python/gtsam/specializations/hybrid.h        |   4 +
 python/gtsam/tests/test_HybridFactorGraph.py |  49 +++++++
 15 files changed, 311 insertions(+), 47 deletions(-)
 create mode 100644 gtsam/hybrid/hybrid.i
 create mode 100644 python/gtsam/preamble/hybrid.h
 create mode 100644 python/gtsam/specializations/hybrid.h
 create mode 100644 python/gtsam/tests/test_HybridFactorGraph.py

diff --git a/gtsam/hybrid/GaussianMixture.cpp b/gtsam/hybrid/GaussianMixture.cpp
index 26668da599..bc674966c1 100644
--- a/gtsam/hybrid/GaussianMixture.cpp
+++ b/gtsam/hybrid/GaussianMixture.cpp
@@ -35,12 +35,23 @@ GaussianMixture::GaussianMixture(
       BaseConditional(continuousFrontals.size()),
       conditionals_(conditionals) {}
 
-const GaussianMixture::Conditionals& GaussianMixture::conditionals() {
+const GaussianMixture::Conditionals &GaussianMixture::conditionals() {
   return conditionals_;
 }
 
+GaussianMixture GaussianMixture::FromConditionalList(
+    const KeyVector &continuousFrontals, const KeyVector &continuousParents,
+    const DiscreteKeys &discreteParents,
+    const std::vector<GaussianConditional::shared_ptr> &conditionalsList) {
+  Conditionals dt(discreteParents, conditionalsList);
+
+  return GaussianMixture(continuousFrontals, continuousParents, discreteParents,
+                         dt);
+}
+
 /* *******************************************************************************/
-GaussianMixture::Sum GaussianMixture::addTo(const GaussianMixture::Sum &sum) const {
+GaussianMixture::Sum GaussianMixture::addTo(
+    const GaussianMixture::Sum &sum) const {
   using Y = GaussianFactorGraph;
   auto add = [](const Y &graph1, const Y &graph2) {
     auto result = graph1;
@@ -66,7 +77,7 @@ bool GaussianMixture::equals(const HybridFactor &lf, double tol) const {
 }
 
 void GaussianMixture::print(const std::string &s,
-                                  const KeyFormatter &formatter) const {
+                            const KeyFormatter &formatter) const {
   std::cout << s << ": ";
   if (isContinuous_) std::cout << "Cont. ";
   if (isDiscrete_) std::cout << "Disc. ";
@@ -88,4 +99,4 @@ void GaussianMixture::print(const std::string &s,
         return rd.str();
       });
 }
-}  // namespace gtsam
\ No newline at end of file
+}  // namespace gtsam
diff --git a/gtsam/hybrid/GaussianMixture.h b/gtsam/hybrid/GaussianMixture.h
index 9879e80bdd..4412e741cf 100644
--- a/gtsam/hybrid/GaussianMixture.h
+++ b/gtsam/hybrid/GaussianMixture.h
@@ -60,6 +60,11 @@ class GaussianMixture : public HybridFactor,
   /* *******************************************************************************/
   Sum wrappedConditionals() const;
 
+  static This FromConditionalList(
+      const KeyVector &continuousFrontals, const KeyVector &continuousParents,
+      const DiscreteKeys &discreteParents,
+      const std::vector<GaussianConditional::shared_ptr> &conditionals);
+
   bool equals(const HybridFactor &lf, double tol = 1e-9) const override;
 
   void print(
diff --git a/gtsam/hybrid/GaussianMixtureFactor.cpp b/gtsam/hybrid/GaussianMixtureFactor.cpp
index 61cfb1d706..3963e675ed 100644
--- a/gtsam/hybrid/GaussianMixtureFactor.cpp
+++ b/gtsam/hybrid/GaussianMixtureFactor.cpp
@@ -18,43 +18,52 @@
  * @date   Mar 12, 2022
  */
 
-#include <gtsam/hybrid/GaussianMixtureFactor.h>
-
-#include <gtsam/discrete/DecisionTree.h>
+#include <gtsam/base/utilities.h>
 #include <gtsam/discrete/DecisionTree-inl.h>
+#include <gtsam/discrete/DecisionTree.h>
+#include <gtsam/hybrid/GaussianMixtureFactor.h>
 #include <gtsam/linear/GaussianFactorGraph.h>
-#include <gtsam/base/utilities.h>
 
 namespace gtsam {
 
 GaussianMixtureFactor::GaussianMixtureFactor(const KeyVector &continuousKeys,
-                                 const DiscreteKeys &discreteKeys,
-                                 const Factors &factors) : Base(continuousKeys, discreteKeys),
-                                                           factors_(factors) {}
+                                             const DiscreteKeys &discreteKeys,
+                                             const Factors &factors)
+    : Base(continuousKeys, discreteKeys), factors_(factors) {}
 bool GaussianMixtureFactor::equals(const HybridFactor &lf, double tol) const {
   return false;
 }
 
-void GaussianMixtureFactor::print(const std::string &s, const KeyFormatter &formatter) const {
+GaussianMixtureFactor GaussianMixtureFactor::FromFactorList(
+    const KeyVector &continuousKeys, const DiscreteKeys &discreteKeys,
+    const std::vector<GaussianFactor::shared_ptr> &factorsList) {
+  Factors dt(discreteKeys, factorsList);
+
+  return GaussianMixtureFactor(continuousKeys, discreteKeys, dt);
+}
+
+void GaussianMixtureFactor::print(const std::string &s,
+                                  const KeyFormatter &formatter) const {
   HybridFactor::print(s, formatter);
   factors_.print(
-      "mixture = ",
-      [&](Key k) {
-        return formatter(k);
-      }, [&](const GaussianFactor::shared_ptr &gf) -> std::string {
+      "mixture = ", [&](Key k) { return formatter(k); },
+      [&](const GaussianFactor::shared_ptr &gf) -> std::string {
         RedirectCout rd;
-        if (!gf->empty()) gf->print("", formatter);
-        else return {"nullptr"};
+        if (!gf->empty())
+          gf->print("", formatter);
+        else
+          return {"nullptr"};
         return rd.str();
       });
 }
 
-const GaussianMixtureFactor::Factors& GaussianMixtureFactor::factors() {
+const GaussianMixtureFactor::Factors &GaussianMixtureFactor::factors() {
   return factors_;
 }
 
 /* *******************************************************************************/
-GaussianMixtureFactor::Sum GaussianMixtureFactor::addTo(const GaussianMixtureFactor::Sum &sum) const {
+GaussianMixtureFactor::Sum GaussianMixtureFactor::addTo(
+    const GaussianMixtureFactor::Sum &sum) const {
   using Y = GaussianFactorGraph;
   auto add = [](const Y &graph1, const Y &graph2) {
     auto result = graph1;
@@ -74,4 +83,4 @@ GaussianMixtureFactor::Sum GaussianMixtureFactor::wrappedFactors() const {
   };
   return {factors_, wrap};
 }
-}
+}  // namespace gtsam
diff --git a/gtsam/hybrid/GaussianMixtureFactor.h b/gtsam/hybrid/GaussianMixtureFactor.h
index 4cd5e71dec..57a0cca030 100644
--- a/gtsam/hybrid/GaussianMixtureFactor.h
+++ b/gtsam/hybrid/GaussianMixtureFactor.h
@@ -29,6 +29,8 @@ namespace gtsam {
 
 class GaussianFactorGraph;
 
+typedef std::vector<gtsam::GaussianFactor::shared_ptr> GaussianFactorVector;
+
 class GaussianMixtureFactor : public HybridFactor {
  public:
   using Base = HybridFactor;
@@ -42,11 +44,16 @@ class GaussianMixtureFactor : public HybridFactor {
   GaussianMixtureFactor() = default;
 
   GaussianMixtureFactor(const KeyVector &continuousKeys,
-                  const DiscreteKeys &discreteKeys, const Factors &factors);
+                        const DiscreteKeys &discreteKeys,
+                        const Factors &factors);
 
   using Sum = DecisionTree<Key, GaussianFactorGraph>;
 
-  const Factors& factors();
+  const Factors &factors();
+
+  static This FromFactorList(
+      const KeyVector &continuousKeys, const DiscreteKeys &discreteKeys,
+      const std::vector<GaussianFactor::shared_ptr> &factors);
 
   /* *******************************************************************************/
   Sum addTo(const Sum &sum) const;
diff --git a/gtsam/hybrid/HybridConditional.cpp b/gtsam/hybrid/HybridConditional.cpp
index ed4b016081..48bee192c8 100644
--- a/gtsam/hybrid/HybridConditional.cpp
+++ b/gtsam/hybrid/HybridConditional.cpp
@@ -16,9 +16,9 @@
  */
 
 #include <gtsam/hybrid/HybridConditional.h>
+#include <gtsam/hybrid/HybridFactor.h>
 #include <gtsam/inference/Conditional-inst.h>
-#include "gtsam/hybrid/HybridFactor.h"
-#include "gtsam/inference/Key.h"
+#include <gtsam/inference/Key.h>
 
 namespace gtsam {
 
@@ -27,8 +27,9 @@ HybridConditional::HybridConditional(const KeyVector &continuousFrontals,
                                      const KeyVector &continuousParents,
                                      const DiscreteKeys &discreteParents)
     : HybridConditional(
-          CollectKeys({continuousFrontals.begin(), continuousFrontals.end()},
-                      KeyVector {continuousParents.begin(), continuousParents.end()}),
+          CollectKeys(
+              {continuousFrontals.begin(), continuousFrontals.end()},
+              KeyVector{continuousParents.begin(), continuousParents.end()}),
           CollectDiscreteKeys(
               {discreteFrontals.begin(), discreteFrontals.end()},
               {discreteParents.begin(), discreteParents.end()}),
diff --git a/gtsam/hybrid/HybridDiscreteFactor.h b/gtsam/hybrid/HybridDiscreteFactor.h
index c55c5ecf07..809510eac5 100644
--- a/gtsam/hybrid/HybridDiscreteFactor.h
+++ b/gtsam/hybrid/HybridDiscreteFactor.h
@@ -35,10 +35,10 @@ class HybridDiscreteFactor : public HybridFactor {
 
   DiscreteFactor::shared_ptr inner;
 
-  // Implicit conversion from a shared ptr of GF
+  // Implicit conversion from a shared ptr of DF
   HybridDiscreteFactor(DiscreteFactor::shared_ptr other);
 
-  // Forwarding constructor from concrete JacobianFactor
+  // Forwarding constructor from concrete DecisionTreeFactor
   HybridDiscreteFactor(DecisionTreeFactor &&dtf);
 
  public:
diff --git a/gtsam/hybrid/HybridFactorGraph.cpp b/gtsam/hybrid/HybridFactorGraph.cpp
index 9e7eebc574..6c7599a121 100644
--- a/gtsam/hybrid/HybridFactorGraph.cpp
+++ b/gtsam/hybrid/HybridFactorGraph.cpp
@@ -35,6 +35,7 @@
 #include <gtsam/linear/GaussianConditional.h>
 #include <gtsam/linear/GaussianFactorGraph.h>
 #include <gtsam/linear/HessianFactor.h>
+#include <gtsam/linear/JacobianFactor.h>
 
 #include <algorithm>
 #include <cstddef>
@@ -380,4 +381,17 @@ EliminateHybrid(const HybridFactorGraph &factors, const Ordering &frontalKeys) {
 void HybridFactorGraph::add(JacobianFactor &&factor) {
   FactorGraph::add(boost::make_shared<HybridGaussianFactor>(std::move(factor)));
 }
+
+void HybridFactorGraph::add(DecisionTreeFactor &&factor) {
+  FactorGraph::add(boost::make_shared<HybridDiscreteFactor>(std::move(factor)));
+}
+
+void HybridFactorGraph::add(DecisionTreeFactor::shared_ptr factor) {
+  FactorGraph::add(boost::make_shared<HybridDiscreteFactor>(factor));
+}
+
+void HybridFactorGraph::add(JacobianFactor::shared_ptr factor) {
+  FactorGraph::add(boost::make_shared<HybridGaussianFactor>(factor));
+}
+
 }  // namespace gtsam
diff --git a/gtsam/hybrid/HybridFactorGraph.h b/gtsam/hybrid/HybridFactorGraph.h
index 21332d80ad..bfd6a8690f 100644
--- a/gtsam/hybrid/HybridFactorGraph.h
+++ b/gtsam/hybrid/HybridFactorGraph.h
@@ -32,6 +32,7 @@ class HybridBayesNet;
 class HybridEliminationTree;
 class HybridBayesTree;
 class HybridJunctionTree;
+class DecisionTreeFactor;
 
 class JacobianFactor;
 
@@ -98,6 +99,12 @@ class HybridFactorGraph : public FactorGraph<HybridFactor>,
 
   /// Add a factor directly using a shared_ptr.
   void add(JacobianFactor&& factor);
+
+  void add(DecisionTreeFactor&& factor);
+
+  void add(boost::shared_ptr<DecisionTreeFactor> factor);
+
+  void add(boost::shared_ptr<JacobianFactor> factor);
 };
 
 }  // namespace gtsam
diff --git a/gtsam/hybrid/hybrid.i b/gtsam/hybrid/hybrid.i
new file mode 100644
index 0000000000..c84cd82c5c
--- /dev/null
+++ b/gtsam/hybrid/hybrid.i
@@ -0,0 +1,134 @@
+//*************************************************************************
+// hybrid
+//*************************************************************************
+
+namespace gtsam {
+
+#include <gtsam/hybrid/HybridFactor.h>
+virtual class HybridFactor {
+  void print(string s = "HybridFactor\n",
+             const gtsam::KeyFormatter& keyFormatter =
+                 gtsam::DefaultKeyFormatter) const;
+  bool equals(const gtsam::HybridFactor& other, double tol = 1e-9) const;
+  bool empty() const;
+  size_t size() const;
+  gtsam::KeyVector keys() const;
+};
+
+#include <gtsam/hybrid/GaussianMixtureFactor.h>
+class GaussianMixtureFactor : gtsam::HybridFactor {
+  static GaussianMixtureFactor FromFactorList(
+      const gtsam::KeyVector& continuousKeys,
+      const gtsam::DiscreteKeys& discreteKeys,
+      const std::vector<gtsam::GaussianFactor::shared_ptr>& factorsList);
+
+  void print(string s = "GaussianMixtureFactor\n",
+             const gtsam::KeyFormatter& keyFormatter =
+                 gtsam::DefaultKeyFormatter) const;
+};
+
+#include <gtsam/hybrid/GaussianMixture.h>
+class GaussianMixture : gtsam::HybridFactor {
+  static GaussianMixture FromConditionalList(
+      const gtsam::KeyVector& continuousFrontals,
+      const gtsam::KeyVector& continuousParents,
+      const gtsam::DiscreteKeys& discreteParents,
+      const std::vector<gtsam::GaussianConditional::shared_ptr>&
+          conditionalsList);
+
+  void print(string s = "GaussianMixture\n",
+             const gtsam::KeyFormatter& keyFormatter =
+                 gtsam::DefaultKeyFormatter) const;
+};
+
+#include <gtsam/hybrid/HybridBayesTree.h>
+class HybridBayesTreeClique {
+  HybridBayesTreeClique();
+  HybridBayesTreeClique(const gtsam::HybridConditional* conditional);
+  const gtsam::HybridConditional* conditional() const;
+  bool isRoot() const;
+  // double evaluate(const gtsam::HybridValues& values) const;
+};
+
+#include <gtsam/hybrid/HybridBayesTree.h>
+class HybridBayesTree {
+  HybridBayesTree();
+  void print(string s = "HybridBayesTree\n",
+             const gtsam::KeyFormatter& keyFormatter =
+                 gtsam::DefaultKeyFormatter) const;
+  bool equals(const gtsam::HybridBayesTree& other, double tol = 1e-9) const;
+
+  size_t size() const;
+  bool empty() const;
+  const HybridBayesTreeClique* operator[](size_t j) const;
+
+  string dot(const gtsam::KeyFormatter& keyFormatter =
+                 gtsam::DefaultKeyFormatter) const;
+};
+
+class HybridBayesNet {
+  HybridBayesNet();
+  void add(const gtsam::HybridConditional& s);
+  bool empty() const;
+  size_t size() const;
+  gtsam::KeySet keys() const;
+  const gtsam::HybridConditional* at(size_t i) const;
+  void print(string s = "HybridBayesNet\n",
+             const gtsam::KeyFormatter& keyFormatter =
+                 gtsam::DefaultKeyFormatter) const;
+  bool equals(const gtsam::HybridBayesNet& other, double tol = 1e-9) const;
+
+  string dot(
+      const gtsam::KeyFormatter& keyFormatter = gtsam::DefaultKeyFormatter,
+      const gtsam::DotWriter& writer = gtsam::DotWriter()) const;
+  void saveGraph(
+      string s,
+      const gtsam::KeyFormatter& keyFormatter = gtsam::DefaultKeyFormatter,
+      const gtsam::DotWriter& writer = gtsam::DotWriter()) const;
+};
+
+#include <gtsam/hybrid/HybridFactorGraph.h>
+class HybridFactorGraph {
+  HybridFactorGraph();
+  HybridFactorGraph(const gtsam::HybridBayesNet& bayesNet);
+
+  // Building the graph
+  void push_back(const gtsam::HybridFactor* factor);
+  void push_back(const gtsam::HybridConditional* conditional);
+  void push_back(const gtsam::HybridFactorGraph& graph);
+  void push_back(const gtsam::HybridBayesNet& bayesNet);
+  void push_back(const gtsam::HybridBayesTree& bayesTree);
+  void push_back(const gtsam::GaussianMixtureFactor* gmm);
+
+  void add(gtsam::DecisionTreeFactor* factor);
+  void add(gtsam::JacobianFactor* factor);
+
+  bool empty() const;
+  size_t size() const;
+  gtsam::KeySet keys() const;
+  const gtsam::HybridFactor* at(size_t i) const;
+
+  void print(string s = "") const;
+  bool equals(const gtsam::HybridFactorGraph& fg, double tol = 1e-9) const;
+
+  gtsam::HybridBayesNet* eliminateSequential();
+  gtsam::HybridBayesNet* eliminateSequential(
+      gtsam::Ordering::OrderingType type);
+  gtsam::HybridBayesNet* eliminateSequential(const gtsam::Ordering& ordering);
+  pair<gtsam::HybridBayesNet*, gtsam::HybridFactorGraph*>
+  eliminatePartialSequential(const gtsam::Ordering& ordering);
+
+  gtsam::HybridBayesTree* eliminateMultifrontal();
+  gtsam::HybridBayesTree* eliminateMultifrontal(
+      gtsam::Ordering::OrderingType type);
+  gtsam::HybridBayesTree* eliminateMultifrontal(
+      const gtsam::Ordering& ordering);
+  pair<gtsam::HybridBayesTree*, gtsam::HybridFactorGraph*>
+  eliminatePartialMultifrontal(const gtsam::Ordering& ordering);
+
+  string dot(
+      const gtsam::KeyFormatter& keyFormatter = gtsam::DefaultKeyFormatter,
+      const gtsam::DotWriter& writer = gtsam::DotWriter()) const;
+};
+
+}  // namespace gtsam
diff --git a/gtsam/hybrid/tests/testHybridConditional.cpp b/gtsam/hybrid/tests/testHybridConditional.cpp
index 95703b0af2..97685b87db 100644
--- a/gtsam/hybrid/tests/testHybridConditional.cpp
+++ b/gtsam/hybrid/tests/testHybridConditional.cpp
@@ -133,15 +133,19 @@ TEST(HybridFactorGraph, eliminateFullMultifrontalSimple) {
   hfg.add(JacobianFactor(X(0), I_3x3, Z_3x1));
   hfg.add(JacobianFactor(X(0), I_3x3, X(1), -I_3x3, Z_3x1));
 
-  DecisionTree<Key, GaussianFactor::shared_ptr> dt(
-      C(1), boost::make_shared<JacobianFactor>(X(1), I_3x3, Z_3x1),
-      boost::make_shared<JacobianFactor>(X(1), I_3x3, Vector3::Ones()));
+  // DecisionTree<Key, GaussianFactor::shared_ptr> dt(
+  //     C(1), boost::make_shared<JacobianFactor>(X(1), I_3x3, Z_3x1),
+  //     boost::make_shared<JacobianFactor>(X(1), I_3x3, Vector3::Ones()));
+
+  // hfg.add(GaussianMixtureFactor({X(1)}, {c1}, dt));
+  hfg.add(GaussianMixtureFactor::FromFactorList(
+      {X(1)}, {{C(1), 2}},
+      {boost::make_shared<JacobianFactor>(X(1), I_3x3, Z_3x1),
+       boost::make_shared<JacobianFactor>(X(1), I_3x3, Vector3::Ones())}));
 
-  hfg.add(GaussianMixtureFactor({X(1)}, {c1}, dt));
   // hfg.add(GaussianMixtureFactor({X(0)}, {c1}, dt));
-  hfg.add(HybridDiscreteFactor(DecisionTreeFactor(c1, {2, 8})));
-  hfg.add(HybridDiscreteFactor(
-      DecisionTreeFactor({{C(1), 2}, {C(2), 2}}, "1 2 3 4")));
+  hfg.add(DecisionTreeFactor(c1, {2, 8}));
+  hfg.add(DecisionTreeFactor({{C(1), 2}, {C(2), 2}}, "1 2 3 4"));
   // hfg.add(HybridDiscreteFactor(DecisionTreeFactor({{C(2), 2}, {C(3), 2}}, "1
   // 2 3 4"))); hfg.add(HybridDiscreteFactor(DecisionTreeFactor({{C(3), 2},
   // {C(1), 2}}, "1 2 2 1")));
@@ -199,11 +203,14 @@ TEST_DISABLED(HybridFactorGraph, eliminateFullMultifrontalTwoClique) {
   hfg.add(JacobianFactor(X(1), I_3x3, X(2), -I_3x3, Z_3x1));
 
   {
-    DecisionTree<Key, GaussianFactor::shared_ptr> dt(
-        C(0), boost::make_shared<JacobianFactor>(X(0), I_3x3, Z_3x1),
-        boost::make_shared<JacobianFactor>(X(0), I_3x3, Vector3::Ones()));
-
-    hfg.add(GaussianMixtureFactor({X(0)}, {{C(0), 2}}, dt));
+    // DecisionTree<Key, GaussianFactor::shared_ptr> dt(
+    //     C(0), boost::make_shared<JacobianFactor>(X(0), I_3x3, Z_3x1),
+    //     boost::make_shared<JacobianFactor>(X(0), I_3x3, Vector3::Ones()));
+
+    hfg.add(GaussianMixtureFactor::FromFactorList(
+        {X(0)}, {{C(0), 2}},
+        {boost::make_shared<JacobianFactor>(X(0), I_3x3, Z_3x1),
+         boost::make_shared<JacobianFactor>(X(0), I_3x3, Vector3::Ones())}));
 
     DecisionTree<Key, GaussianFactor::shared_ptr> dt1(
         C(1), boost::make_shared<JacobianFactor>(X(2), I_3x3, Z_3x1),
diff --git a/gtsam/inference/inference.i b/gtsam/inference/inference.i
index e7b074ec49..bbf1b2daa0 100644
--- a/gtsam/inference/inference.i
+++ b/gtsam/inference/inference.i
@@ -9,6 +9,7 @@ namespace gtsam {
 #include <gtsam/nonlinear/NonlinearFactorGraph.h>
 #include <gtsam/symbolic/SymbolicFactorGraph.h>
 #include <gtsam/discrete/DiscreteFactorGraph.h>
+#include <gtsam/hybrid/HybridFactorGraph.h>
 
 #include <gtsam/inference/Key.h>
 
@@ -106,36 +107,36 @@ class Ordering {
 
   template <
       FACTOR_GRAPH = {gtsam::NonlinearFactorGraph, gtsam::DiscreteFactorGraph,
-                      gtsam::SymbolicFactorGraph, gtsam::GaussianFactorGraph}>
+                      gtsam::SymbolicFactorGraph, gtsam::GaussianFactorGraph, gtsam::HybridFactorGraph}>
   static gtsam::Ordering Colamd(const FACTOR_GRAPH& graph);
 
   template <
       FACTOR_GRAPH = {gtsam::NonlinearFactorGraph, gtsam::DiscreteFactorGraph,
-                      gtsam::SymbolicFactorGraph, gtsam::GaussianFactorGraph}>
+                      gtsam::SymbolicFactorGraph, gtsam::GaussianFactorGraph, gtsam::HybridFactorGraph}>
   static gtsam::Ordering ColamdConstrainedLast(
       const FACTOR_GRAPH& graph, const gtsam::KeyVector& constrainLast,
       bool forceOrder = false);
 
   template <
       FACTOR_GRAPH = {gtsam::NonlinearFactorGraph, gtsam::DiscreteFactorGraph,
-                      gtsam::SymbolicFactorGraph, gtsam::GaussianFactorGraph}>
+                      gtsam::SymbolicFactorGraph, gtsam::GaussianFactorGraph, gtsam::HybridFactorGraph}>
   static gtsam::Ordering ColamdConstrainedFirst(
       const FACTOR_GRAPH& graph, const gtsam::KeyVector& constrainFirst,
       bool forceOrder = false);
 
   template <
       FACTOR_GRAPH = {gtsam::NonlinearFactorGraph, gtsam::DiscreteFactorGraph,
-                      gtsam::SymbolicFactorGraph, gtsam::GaussianFactorGraph}>
+                      gtsam::SymbolicFactorGraph, gtsam::GaussianFactorGraph, gtsam::HybridFactorGraph}>
   static gtsam::Ordering Natural(const FACTOR_GRAPH& graph);
 
   template <
       FACTOR_GRAPH = {gtsam::NonlinearFactorGraph, gtsam::DiscreteFactorGraph,
-                      gtsam::SymbolicFactorGraph, gtsam::GaussianFactorGraph}>
+                      gtsam::SymbolicFactorGraph, gtsam::GaussianFactorGraph, gtsam::HybridFactorGraph}>
   static gtsam::Ordering Metis(const FACTOR_GRAPH& graph);
 
   template <
       FACTOR_GRAPH = {gtsam::NonlinearFactorGraph, gtsam::DiscreteFactorGraph,
-                      gtsam::SymbolicFactorGraph, gtsam::GaussianFactorGraph}>
+                      gtsam::SymbolicFactorGraph, gtsam::GaussianFactorGraph, gtsam::HybridFactorGraph}>
   static gtsam::Ordering Create(gtsam::Ordering::OrderingType orderingType,
                                 const FACTOR_GRAPH& graph);
 
diff --git a/python/CMakeLists.txt b/python/CMakeLists.txt
index 85ddc7b6d8..5059ac95df 100644
--- a/python/CMakeLists.txt
+++ b/python/CMakeLists.txt
@@ -65,6 +65,7 @@ set(interface_headers
     ${PROJECT_SOURCE_DIR}/gtsam/sfm/sfm.i
     ${PROJECT_SOURCE_DIR}/gtsam/navigation/navigation.i
     ${PROJECT_SOURCE_DIR}/gtsam/basis/basis.i
+    ${PROJECT_SOURCE_DIR}/gtsam/hybrid/hybrid.i
 )
 
 set(GTSAM_PYTHON_TARGET gtsam_py)
diff --git a/python/gtsam/preamble/hybrid.h b/python/gtsam/preamble/hybrid.h
new file mode 100644
index 0000000000..56a07cfdd1
--- /dev/null
+++ b/python/gtsam/preamble/hybrid.h
@@ -0,0 +1,14 @@
+/* Please refer to:
+ * https://pybind11.readthedocs.io/en/stable/advanced/cast/stl.html
+ * These are required to save one copy operation on Python calls.
+ *
+ * NOTES
+ * =================
+ *
+ * `PYBIND11_MAKE_OPAQUE` will mark the type as "opaque" for the pybind11
+ * automatic STL binding, such that the raw objects can be accessed in Python.
+ * Without this they will be automatically converted to a Python object, and all
+ * mutations on Python side will not be reflected on C++.
+ */
+
+#include <pybind11/stl.h>
diff --git a/python/gtsam/specializations/hybrid.h b/python/gtsam/specializations/hybrid.h
new file mode 100644
index 0000000000..bede6d86c4
--- /dev/null
+++ b/python/gtsam/specializations/hybrid.h
@@ -0,0 +1,4 @@
+
+py::bind_vector<std::vector<gtsam::GaussianFactor::shared_ptr> >(m_, "GaussianFactorVector");
+
+py::implicitly_convertible<py::list, std::vector<gtsam::GaussianFactor::shared_ptr> >();
diff --git a/python/gtsam/tests/test_HybridFactorGraph.py b/python/gtsam/tests/test_HybridFactorGraph.py
new file mode 100644
index 0000000000..d8b0f1f333
--- /dev/null
+++ b/python/gtsam/tests/test_HybridFactorGraph.py
@@ -0,0 +1,49 @@
+"""
+GTSAM Copyright 2010-2019, Georgia Tech Research Corporation,
+Atlanta, Georgia 30332-0415
+All Rights Reserved
+
+See LICENSE for the license information
+
+Unit tests for Hybrid Factor Graphs.
+Author: Fan Jiang
+"""
+# pylint: disable=invalid-name, no-name-in-module, no-member
+
+from __future__ import print_function
+
+import unittest
+
+import gtsam
+import numpy as np
+from gtsam.symbol_shorthand import X, C
+from gtsam.utils.test_case import GtsamTestCase
+
+
+class TestHybridFactorGraph(GtsamTestCase):
+    def test_create(self):
+        noiseModel = gtsam.noiseModel.Unit.Create(3)
+        dk = gtsam.DiscreteKeys()
+        dk.push_back((C(0), 2))
+
+        # print(dk.at(0))
+        jf1 = gtsam.JacobianFactor(X(0), np.eye(3), np.zeros((3, 1)),
+                                   noiseModel)
+        jf2 = gtsam.JacobianFactor(X(0), np.eye(3), np.ones((3, 1)),
+                                   noiseModel)
+
+        gmf = gtsam.GaussianMixtureFactor.FromFactorList([X(0)], dk,
+                                                         [jf1, jf2])
+
+        hfg = gtsam.HybridFactorGraph()
+        hfg.add(jf1)
+        hfg.add(jf2)
+        hfg.push_back(gmf)
+
+        hfg.eliminateSequential(
+            gtsam.Ordering.ColamdConstrainedLastHybridFactorGraph(
+                hfg, [C(0)])).print()
+
+
+if __name__ == "__main__":
+    unittest.main()

From 7f2fa61fb53422aa195cd5815d51f3b5c4e47814 Mon Sep 17 00:00:00 2001
From: Fan Jiang <prof.fan@foxmail.com>
Date: Fri, 25 Mar 2022 23:28:40 -0600
Subject: [PATCH 054/433] Added more Python examples

---
 gtsam/hybrid/HybridConditional.h             | 34 +++++++++++++++-----
 gtsam/hybrid/HybridFactorGraph.cpp           | 26 +++++++--------
 gtsam/hybrid/HybridJunctionTree.cpp          | 11 +++++++
 gtsam/hybrid/hybrid.i                        | 11 +++++++
 python/gtsam/tests/test_HybridFactorGraph.py | 12 +++++--
 5 files changed, 71 insertions(+), 23 deletions(-)

diff --git a/gtsam/hybrid/HybridConditional.h b/gtsam/hybrid/HybridConditional.h
index 5fdf5064a0..dea8fa9f4a 100644
--- a/gtsam/hybrid/HybridConditional.h
+++ b/gtsam/hybrid/HybridConditional.h
@@ -19,7 +19,10 @@
 
 #include <gtsam/discrete/DiscreteConditional.h>
 #include <gtsam/hybrid/HybridFactor.h>
+#include <gtsam/hybrid/HybridFactorGraph.h>
 #include <gtsam/inference/Conditional.h>
+#include <gtsam/inference/Key.h>
+#include <gtsam/linear/GaussianConditional.h>
 
 #include <boost/make_shared.hpp>
 #include <boost/shared_ptr.hpp>
@@ -27,11 +30,8 @@
 #include <string>
 #include <typeinfo>
 #include <vector>
-#include "gtsam/hybrid/GaussianMixture.h"
 
-#include <gtsam/hybrid/HybridFactorGraph.h>
-#include <gtsam/inference/Key.h>
-#include <gtsam/linear/GaussianConditional.h>
+#include "gtsam/hybrid/GaussianMixture.h"
 
 namespace gtsam {
 
@@ -44,6 +44,19 @@ class HybridFactorGraph;
  * - DiscreteConditional
  * - GaussianConditional
  * - GaussianMixture
+ *
+ * The reason why this is important is that `Conditional<T>` is a CRTP class.
+ * CRTP is static polymorphism such that all CRTP classes, while bearing the
+ * same name, are different classes not sharing a vtable. This prevents them
+ * from being contained in any container, and thus it is impossible to
+ * dynamically cast between them. A better option, as illustrated here, is
+ * treating them as an implementation detail - such that the hybrid mechanism
+ * does not know what is inside the HybridConditional. This prevents us from
+ * having diamond inheritances, and neutralized the need to change other
+ * components of GTSAM to make hybrid elimination work.
+ *
+ * A great reference to the type-erasure pattern is Edurado Madrid's CppCon
+ * talk.
  */
 class GTSAM_EXPORT HybridConditional
     : public HybridFactor,
@@ -76,15 +89,20 @@ class GTSAM_EXPORT HybridConditional
                     const KeyVector& continuousParents,
                     const DiscreteKeys& discreteParents);
 
-  HybridConditional(boost::shared_ptr<GaussianConditional> continuousConditional);
+  HybridConditional(
+      boost::shared_ptr<GaussianConditional> continuousConditional);
 
   HybridConditional(boost::shared_ptr<DiscreteConditional> discreteConditional);
-  
+
   HybridConditional(boost::shared_ptr<GaussianMixture> gaussianMixture);
 
   GaussianMixture::shared_ptr asMixture() {
-      if (!isHybrid_) throw std::invalid_argument("Not a mixture");
-      return boost::static_pointer_cast<GaussianMixture>(inner);
+    if (!isHybrid_) throw std::invalid_argument("Not a mixture");
+    return boost::static_pointer_cast<GaussianMixture>(inner);
+  }
+
+  boost::shared_ptr<Factor> getInner() {
+      return inner;
   }
 
   /// @}
diff --git a/gtsam/hybrid/HybridFactorGraph.cpp b/gtsam/hybrid/HybridFactorGraph.cpp
index 6c7599a121..7a26dfadbf 100644
--- a/gtsam/hybrid/HybridFactorGraph.cpp
+++ b/gtsam/hybrid/HybridFactorGraph.cpp
@@ -57,7 +57,7 @@ static std::string GREEN = "\033[0;32m";
 static std::string GREEN_BOLD = "\033[1;32m";
 static std::string RESET = "\033[0m";
 
-static bool DEBUG = false;
+constexpr bool DEBUG = false;
 
 static GaussianMixtureFactor::Sum &addGaussian(
     GaussianMixtureFactor::Sum &sum, const GaussianFactor::shared_ptr &factor) {
@@ -123,7 +123,7 @@ EliminateHybrid(const HybridFactorGraph &factors, const Ordering &frontalKeys) {
   // However this is also the case with iSAM2, so no pressure :)
 
   // PREPROCESS: Identify the nature of the current elimination
-  std::unordered_map<Key, DiscreteKey> discreteCardinalities;
+  std::unordered_map<Key, DiscreteKey> mapFromKeyToDiscreteKey;
   std::set<DiscreteKey> discreteSeparatorSet;
   std::set<DiscreteKey> discreteFrontals;
 
@@ -137,7 +137,7 @@ EliminateHybrid(const HybridFactorGraph &factors, const Ordering &frontalKeys) {
     frontalKeys.print();
   }
 
-  // This initializes separatorKeys and discreteCardinalities
+  // This initializes separatorKeys and mapFromKeyToDiscreteKey
   for (auto &&factor : factors) {
     if (DEBUG) {
       std::cout << ">>> Adding factor: " << GREEN;
@@ -147,7 +147,7 @@ EliminateHybrid(const HybridFactorGraph &factors, const Ordering &frontalKeys) {
     separatorKeys.insert(factor->begin(), factor->end());
     if (!factor->isContinuous_) {
       for (auto &k : factor->discreteKeys_) {
-        discreteCardinalities[k.first] = k;
+        mapFromKeyToDiscreteKey[k.first] = k;
       }
     }
   }
@@ -159,8 +159,8 @@ EliminateHybrid(const HybridFactorGraph &factors, const Ordering &frontalKeys) {
 
   // Fill in discrete frontals and continuous frontals for the end result
   for (auto &k : frontalKeys) {
-    if (discreteCardinalities.find(k) != discreteCardinalities.end()) {
-      discreteFrontals.insert(discreteCardinalities.at(k));
+    if (mapFromKeyToDiscreteKey.find(k) != mapFromKeyToDiscreteKey.end()) {
+      discreteFrontals.insert(mapFromKeyToDiscreteKey.at(k));
     } else {
       continuousFrontals.insert(k);
       allContinuousKeys.insert(k);
@@ -169,8 +169,8 @@ EliminateHybrid(const HybridFactorGraph &factors, const Ordering &frontalKeys) {
 
   // Fill in discrete frontals and continuous frontals for the end result
   for (auto &k : separatorKeys) {
-    if (discreteCardinalities.find(k) != discreteCardinalities.end()) {
-      discreteSeparatorSet.insert(discreteCardinalities.at(k));
+    if (mapFromKeyToDiscreteKey.find(k) != mapFromKeyToDiscreteKey.end()) {
+      discreteSeparatorSet.insert(mapFromKeyToDiscreteKey.at(k));
     } else {
       continuousSeparator.insert(k);
       allContinuousKeys.insert(k);
@@ -181,8 +181,8 @@ EliminateHybrid(const HybridFactorGraph &factors, const Ordering &frontalKeys) {
   if (DEBUG) {
     std::cout << RED_BOLD << "Keys: " << RESET;
     for (auto &f : frontalKeys) {
-      if (discreteCardinalities.find(f) != discreteCardinalities.end()) {
-        auto &key = discreteCardinalities.at(f);
+      if (mapFromKeyToDiscreteKey.find(f) != mapFromKeyToDiscreteKey.end()) {
+        auto &key = mapFromKeyToDiscreteKey.at(f);
         std::cout << boost::format(" (%1%,%2%),") %
                          DefaultKeyFormatter(key.first) % key.second;
       } else {
@@ -195,8 +195,8 @@ EliminateHybrid(const HybridFactorGraph &factors, const Ordering &frontalKeys) {
     }
 
     for (auto &f : separatorKeys) {
-      if (discreteCardinalities.find(f) != discreteCardinalities.end()) {
-        auto &key = discreteCardinalities.at(f);
+      if (mapFromKeyToDiscreteKey.find(f) != mapFromKeyToDiscreteKey.end()) {
+        auto &key = mapFromKeyToDiscreteKey.at(f);
         std::cout << boost::format(" (%1%,%2%),") %
                          DefaultKeyFormatter(key.first) % key.second;
       } else {
@@ -209,7 +209,7 @@ EliminateHybrid(const HybridFactorGraph &factors, const Ordering &frontalKeys) {
   // NOTE: We should really defer the product here because of pruning
 
   // Case 1: we are only dealing with continuous
-  if (discreteCardinalities.empty() && !allContinuousKeys.empty()) {
+  if (mapFromKeyToDiscreteKey.empty() && !allContinuousKeys.empty()) {
     if (DEBUG) {
       std::cout << RED_BOLD << "CONT. ONLY" << RESET << "\n";
     }
diff --git a/gtsam/hybrid/HybridJunctionTree.cpp b/gtsam/hybrid/HybridJunctionTree.cpp
index 7c48934fc4..22b40ad055 100644
--- a/gtsam/hybrid/HybridJunctionTree.cpp
+++ b/gtsam/hybrid/HybridJunctionTree.cpp
@@ -59,10 +59,15 @@ struct HybridConstructorTraversalData {
     myData.myJTNode = boost::make_shared<Node>(node->key, node->factors);
     parentData.myJTNode->addChild(myData.myJTNode);
 
+#ifndef NDEBUG
     std::cout << "Getting discrete info: ";
+#endif
     for (HybridFactor::shared_ptr& f : node->factors) {
       for (auto& k : f->discreteKeys_) {
+#ifndef NDEBUG
         std::cout << "DK: " << DefaultKeyFormatter(k.first) << "\n";
+#endif
+
         myData.discreteKeys.insert(k.first);
       }
     }
@@ -99,8 +104,10 @@ struct HybridConstructorTraversalData {
     boost::tie(myConditional, mySeparatorFactor) =
         internal::EliminateSymbolic(symbolicFactors, keyAsOrdering);
 
+#ifndef NDEBUG
     std::cout << "Symbolic: ";
     myConditional->print();
+#endif
 
     // Store symbolic elimination results in the parent
     myData.parentData->childSymbolicConditionals.push_back(myConditional);
@@ -129,15 +136,19 @@ struct HybridConstructorTraversalData {
             myData.discreteKeys.exists(myConditional->frontals()[0]);
         const bool theirType =
             myData.discreteKeys.exists(childConditionals[i]->frontals()[0]);
+#ifndef NDEBUG
         std::cout << "Type: "
                   << DefaultKeyFormatter(myConditional->frontals()[0]) << " vs "
                   << DefaultKeyFormatter(childConditionals[i]->frontals()[0])
                   << "\n";
+#endif
         if (myType == theirType) {
           // Increment number of frontal variables
           myNrFrontals += nrFrontals[i];
+#ifndef NDEBUG
           std::cout << "Merging ";
           childConditionals[i]->print();
+#endif
           merge[i] = true;
         }
       }
diff --git a/gtsam/hybrid/hybrid.i b/gtsam/hybrid/hybrid.i
index c84cd82c5c..0525750112 100644
--- a/gtsam/hybrid/hybrid.i
+++ b/gtsam/hybrid/hybrid.i
@@ -15,6 +15,17 @@ virtual class HybridFactor {
   gtsam::KeyVector keys() const;
 };
 
+#include <gtsam/hybrid/HybridConditional.h>
+virtual class HybridConditional {
+  void print(string s = "Hybrid Conditional\n",
+             const gtsam::KeyFormatter& keyFormatter =
+                 gtsam::DefaultKeyFormatter) const;
+  bool equals(const gtsam::HybridConditional& other, double tol = 1e-9) const;
+  size_t nrFrontals() const;
+  size_t nrParents() const;
+  Factor* getInner();
+};
+
 #include <gtsam/hybrid/GaussianMixtureFactor.h>
 class GaussianMixtureFactor : gtsam::HybridFactor {
   static GaussianMixtureFactor FromFactorList(
diff --git a/python/gtsam/tests/test_HybridFactorGraph.py b/python/gtsam/tests/test_HybridFactorGraph.py
index d8b0f1f333..48187b7a20 100644
--- a/python/gtsam/tests/test_HybridFactorGraph.py
+++ b/python/gtsam/tests/test_HybridFactorGraph.py
@@ -40,9 +40,17 @@ def test_create(self):
         hfg.add(jf2)
         hfg.push_back(gmf)
 
-        hfg.eliminateSequential(
+        hbn = hfg.eliminateSequential(
             gtsam.Ordering.ColamdConstrainedLastHybridFactorGraph(
-                hfg, [C(0)])).print()
+                hfg, [C(0)]))
+
+        print("hbn = ", hbn)
+
+        mixture = hbn.at(0).getInner()
+        print(mixture)
+
+        discrete_conditional = hbn.at(hbn.size()-1).getInner()
+        print(discrete_conditional)
 
 
 if __name__ == "__main__":

From 0f69b4c93f09cda7fe802c7fdec27f73134cb257 Mon Sep 17 00:00:00 2001
From: Fan Jiang <prof.fan@foxmail.com>
Date: Sat, 26 Mar 2022 23:13:57 -0600
Subject: [PATCH 055/433] Added plotting for nested dissection

---
 gtsam/hybrid/HybridConditional.h             |  2 +-
 gtsam/hybrid/tests/testHybridConditional.cpp | 87 ++++++++++++++++++--
 2 files changed, 82 insertions(+), 7 deletions(-)

diff --git a/gtsam/hybrid/HybridConditional.h b/gtsam/hybrid/HybridConditional.h
index dea8fa9f4a..b91d2b91a9 100644
--- a/gtsam/hybrid/HybridConditional.h
+++ b/gtsam/hybrid/HybridConditional.h
@@ -31,7 +31,7 @@
 #include <typeinfo>
 #include <vector>
 
-#include "gtsam/hybrid/GaussianMixture.h"
+#include <gtsam/hybrid/GaussianMixture.h>
 
 namespace gtsam {
 
diff --git a/gtsam/hybrid/tests/testHybridConditional.cpp b/gtsam/hybrid/tests/testHybridConditional.cpp
index 97685b87db..703ec136e9 100644
--- a/gtsam/hybrid/tests/testHybridConditional.cpp
+++ b/gtsam/hybrid/tests/testHybridConditional.cpp
@@ -31,6 +31,11 @@
 #include <gtsam/linear/JacobianFactor.h>
 
 #include <boost/assign/std/map.hpp>
+#include <cstddef>
+
+#include "gtsam/inference/DotWriter.h"
+#include "gtsam/inference/Key.h"
+#include "gtsam/inference/Ordering.h"
 
 using namespace boost::assign;
 
@@ -83,10 +88,10 @@ TEST_DISABLED(HybridFactorGraph, eliminate) {
 TEST_DISABLED(HybridFactorGraph, eliminateMultifrontal) {
   HybridFactorGraph hfg;
 
-  DiscreteKey x(X(1), 2);
+  DiscreteKey c(C(1), 2);
 
   hfg.add(JacobianFactor(X(0), I_3x3, Z_3x1));
-  hfg.add(HybridDiscreteFactor(DecisionTreeFactor(x, {2, 8})));
+  hfg.add(HybridDiscreteFactor(DecisionTreeFactor(c, {2, 8})));
 
   auto result = hfg.eliminatePartialMultifrontal({X(0)});
 
@@ -94,7 +99,7 @@ TEST_DISABLED(HybridFactorGraph, eliminateMultifrontal) {
   EXPECT_LONGS_EQUAL(result.second->size(), 1);
 }
 
-TEST(HybridFactorGraph, eliminateFullSequentialSimple) {
+TEST_DISABLED(HybridFactorGraph, eliminateFullSequentialSimple) {
   std::cout << ">>>>>>>>>>>>>>\n";
 
   HybridFactorGraph hfg;
@@ -123,7 +128,7 @@ TEST(HybridFactorGraph, eliminateFullSequentialSimple) {
   GTSAM_PRINT(*result);
 }
 
-TEST(HybridFactorGraph, eliminateFullMultifrontalSimple) {
+TEST_DISABLED(HybridFactorGraph, eliminateFullMultifrontalSimple) {
   std::cout << ">>>>>>>>>>>>>>\n";
 
   HybridFactorGraph hfg;
@@ -247,12 +252,82 @@ TEST_DISABLED(HybridFactorGraph, eliminateFullMultifrontalTwoClique) {
 
   HybridBayesTree::shared_ptr hbt;
   HybridFactorGraph::shared_ptr remaining;
-  std::tie(hbt, remaining) = hfg.eliminatePartialMultifrontal(
-      Ordering(ordering_full.begin(), ordering_full.end()));
+  std::tie(hbt, remaining) = hfg.eliminatePartialMultifrontal(ordering_full);
 
   GTSAM_PRINT(*hbt);
 
   GTSAM_PRINT(*remaining);
+
+  hbt->dot(std::cout);
+  /*
+  Explanation: the Junction tree will need to reeliminate to get to the marginal
+  on X(1), which is not possible because it involves eliminating discrete before
+  continuous. The solution to this, however, is in Murphy02. TLDR is that this
+  is 1. expensive and 2. inexact. neverless it is doable. And I believe that we
+  should do this.
+  */
+}
+
+HybridFactorGraph::shared_ptr makeSwitchingChain(size_t n) {
+  HybridFactorGraph hfg;
+
+  hfg.add(JacobianFactor(X(1), I_3x3, Z_3x1));
+
+  // X(1) to X(n+1)
+  for (size_t t = 1; t < n; t++) {
+    hfg.add(GaussianMixtureFactor::FromFactorList(
+        {X(t), X(t + 1)}, {{C(t), 2}},
+        {boost::make_shared<JacobianFactor>(X(t), I_3x3, X(t + 1), I_3x3,
+                                            Z_3x1),
+         boost::make_shared<JacobianFactor>(X(t), I_3x3, X(t + 1), I_3x3,
+                                            Vector3::Ones())}));
+  }
+
+  return boost::make_shared<HybridFactorGraph>(std::move(hfg));
+}
+
+// TODO(fan): make a graph like Varun's paper one
+TEST(HybridFactorGraph, Switching) {
+  auto hfg = makeSwitchingChain(9);
+
+  // X(5) will be the center, X(1-4), X(6-9)
+  // X(3), X(7)
+  // X(2), X(8)
+  // X(1), X(4), X(6), X(9)
+  // C(5) will be the center, C(1-4), C(6-8)
+  // C(3), C(7)
+  // C(1), C(4), C(2), C(6), C(8)
+  auto ordering_full =
+      Ordering(KeyVector{X(1), X(4), X(2), X(6), X(9), X(8), X(3), X(7), X(5),
+                         C(1), C(4), C(2), C(6), C(8), C(3), C(7), C(5)});
+
+  GTSAM_PRINT(*hfg);
+  GTSAM_PRINT(ordering_full);
+
+  HybridBayesTree::shared_ptr hbt;
+  HybridFactorGraph::shared_ptr remaining;
+  std::tie(hbt, remaining) = hfg->eliminatePartialMultifrontal(ordering_full);
+
+  GTSAM_PRINT(*hbt);
+
+  GTSAM_PRINT(*remaining);
+
+  {
+    DotWriter dw;
+    dw.positionHints['c'] = 2;
+    dw.positionHints['x'] = 1;
+    std::cout << hfg->dot(DefaultKeyFormatter, dw);
+    std::cout << "\n";
+    hbt->dot(std::cout);
+  }
+
+  {
+    DotWriter dw;
+    dw.positionHints['x'] = 1;
+    std::cout << "\n";
+    std::cout << hfg->eliminateSequential(ordering_full)
+                     ->dot(DefaultKeyFormatter, dw);
+  }
   /*
   Explanation: the Junction tree will need to reeliminate to get to the marginal
   on X(1), which is not possible because it involves eliminating discrete before

From a9c1d43dc530092f6fb4cbf35047a70069eb21de Mon Sep 17 00:00:00 2001
From: Fan Jiang <prof.fan@foxmail.com>
Date: Fri, 1 Apr 2022 00:20:22 -0400
Subject: [PATCH 056/433] Working iSAM for Hybrid

---
 gtsam/hybrid/HybridBayesTree.h               |  29 ++
 gtsam/hybrid/HybridConditional.h             |  10 +-
 gtsam/hybrid/HybridFactorGraph.cpp           |  45 ++-
 gtsam/hybrid/HybridISAM.cpp                  |  99 ++++++
 gtsam/hybrid/HybridISAM.h                    |  59 ++++
 gtsam/hybrid/HybridJunctionTree.cpp          |   6 +-
 gtsam/hybrid/tests/Switching.h               |  68 ++++
 gtsam/hybrid/tests/testHybridConditional.cpp | 313 +++++++++++++++++--
 gtsam/inference/BayesTree.h                  |  24 +-
 9 files changed, 595 insertions(+), 58 deletions(-)
 create mode 100644 gtsam/hybrid/HybridISAM.cpp
 create mode 100644 gtsam/hybrid/HybridISAM.h
 create mode 100644 gtsam/hybrid/tests/Switching.h

diff --git a/gtsam/hybrid/HybridBayesTree.h b/gtsam/hybrid/HybridBayesTree.h
index ee51bdd6ca..dd8b7f022b 100644
--- a/gtsam/hybrid/HybridBayesTree.h
+++ b/gtsam/hybrid/HybridBayesTree.h
@@ -70,4 +70,33 @@ class GTSAM_EXPORT HybridBayesTree : public BayesTree<HybridBayesTreeClique> {
   /// @}
 };
 
+/* This does special stuff for the hybrid case */
+template <class CLIQUE>
+class BayesTreeOrphanWrapper<
+    CLIQUE,
+    boost::enable_if_t<boost::is_same<CLIQUE, HybridBayesTreeClique>::value> >
+    : public CLIQUE::ConditionalType {
+ public:
+  typedef CLIQUE CliqueType;
+  typedef typename CLIQUE::ConditionalType Base;
+
+  boost::shared_ptr<CliqueType> clique;
+
+  BayesTreeOrphanWrapper(const boost::shared_ptr<CliqueType>& clique)
+      : clique(clique) {
+    // Store parent keys in our base type factor so that eliminating those
+    // parent keys will pull this subtree into the elimination.
+    this->keys_.assign(clique->conditional()->beginParents(),
+                       clique->conditional()->endParents());
+    this->discreteKeys_.assign(clique->conditional()->discreteKeys_.begin(),
+                               clique->conditional()->discreteKeys_.end());
+  }
+
+  void print(
+      const std::string& s = "",
+      const KeyFormatter& formatter = DefaultKeyFormatter) const override {
+    clique->print(s + "stored clique", formatter);
+  }
+};
+
 }  // namespace gtsam
diff --git a/gtsam/hybrid/HybridConditional.h b/gtsam/hybrid/HybridConditional.h
index b91d2b91a9..5d7ee2351e 100644
--- a/gtsam/hybrid/HybridConditional.h
+++ b/gtsam/hybrid/HybridConditional.h
@@ -18,6 +18,7 @@
 #pragma once
 
 #include <gtsam/discrete/DiscreteConditional.h>
+#include <gtsam/hybrid/GaussianMixture.h>
 #include <gtsam/hybrid/HybridFactor.h>
 #include <gtsam/hybrid/HybridFactorGraph.h>
 #include <gtsam/inference/Conditional.h>
@@ -31,8 +32,6 @@
 #include <typeinfo>
 #include <vector>
 
-#include <gtsam/hybrid/GaussianMixture.h>
-
 namespace gtsam {
 
 class HybridFactorGraph;
@@ -101,10 +100,13 @@ class GTSAM_EXPORT HybridConditional
     return boost::static_pointer_cast<GaussianMixture>(inner);
   }
 
-  boost::shared_ptr<Factor> getInner() {
-      return inner;
+  DiscreteConditional::shared_ptr asDiscreteConditional() {
+    if (!isDiscrete_) throw std::invalid_argument("Not a discrete conditional");
+    return boost::static_pointer_cast<DiscreteConditional>(inner);
   }
 
+  boost::shared_ptr<Factor> getInner() { return inner; }
+
   /// @}
   /// @name Testable
   /// @{
diff --git a/gtsam/hybrid/HybridFactorGraph.cpp b/gtsam/hybrid/HybridFactorGraph.cpp
index 7a26dfadbf..ee6a5dd829 100644
--- a/gtsam/hybrid/HybridFactorGraph.cpp
+++ b/gtsam/hybrid/HybridFactorGraph.cpp
@@ -217,11 +217,17 @@ EliminateHybrid(const HybridFactorGraph &factors, const Ordering &frontalKeys) {
     GaussianFactorGraph gfg;
     for (auto &fp : factors) {
       auto ptr = boost::dynamic_pointer_cast<HybridGaussianFactor>(fp);
-      if (ptr)
+      if (ptr) {
         gfg.push_back(ptr->inner);
-      else
-        gfg.push_back(boost::static_pointer_cast<GaussianConditional>(
-            boost::static_pointer_cast<HybridConditional>(fp)->inner));
+      } else {
+        auto p = boost::static_pointer_cast<HybridConditional>(fp)->inner;
+        if (p) {
+          gfg.push_back(boost::static_pointer_cast<GaussianConditional>(p));
+        } else {
+          // It is an orphan wrapper
+          if (DEBUG) std::cout << "Got an orphan wrapper conditional\n";
+        }
+      }
     }
 
     auto result = EliminatePreferCholesky(gfg, frontalKeys);
@@ -239,11 +245,17 @@ EliminateHybrid(const HybridFactorGraph &factors, const Ordering &frontalKeys) {
     DiscreteFactorGraph dfg;
     for (auto &fp : factors) {
       auto ptr = boost::dynamic_pointer_cast<HybridDiscreteFactor>(fp);
-      if (ptr)
+      if (ptr) {
         dfg.push_back(ptr->inner);
-      else
-        dfg.push_back(boost::static_pointer_cast<DiscreteConditional>(
-            boost::static_pointer_cast<HybridConditional>(fp)->inner));
+      } else {
+        auto p = boost::static_pointer_cast<HybridConditional>(fp)->inner;
+        if (p) {
+          dfg.push_back(boost::static_pointer_cast<DiscreteConditional>(p));
+        } else {
+          // It is an orphan wrapper
+          if (DEBUG) std::cout << "Got an orphan wrapper conditional\n";
+        }
+      }
     }
 
     auto result = EliminateDiscrete(dfg, frontalKeys);
@@ -286,8 +298,18 @@ EliminateHybrid(const HybridFactorGraph &factors, const Ordering &frontalKeys) {
       deferredFactors.push_back(
           boost::dynamic_pointer_cast<HybridGaussianFactor>(f)->inner);
     } else {
-      throw std::invalid_argument(
-          "factor is discrete in continuous elimination");
+      // We need to handle the case where the object is actually an
+      // BayesTreeOrphanWrapper!
+      auto orphan = boost::dynamic_pointer_cast<
+          BayesTreeOrphanWrapper<HybridBayesTree::Clique>>(f);
+      if (orphan) {
+        if (DEBUG) std::cout << "Got an orphan wrapper conditional\n";
+      } else {
+        auto &fr = *f;
+        throw std::invalid_argument(
+            std::string("factor is discrete in continuous elimination") +
+            typeid(fr).name());
+      }
     }
   }
 
@@ -373,7 +395,8 @@ EliminateHybrid(const HybridFactorGraph &factors, const Ordering &frontalKeys) {
   } else {
     // Create a resulting DCGaussianMixture on the separator.
     auto factor = boost::make_shared<GaussianMixtureFactor>(
-        frontalKeys, discreteSeparator, separatorFactors);
+        KeyVector(continuousSeparator.begin(), continuousSeparator.end()),
+        discreteSeparator, separatorFactors);
     return {boost::make_shared<HybridConditional>(conditional), factor};
   }
 }
diff --git a/gtsam/hybrid/HybridISAM.cpp b/gtsam/hybrid/HybridISAM.cpp
new file mode 100644
index 0000000000..0db30f1f3a
--- /dev/null
+++ b/gtsam/hybrid/HybridISAM.cpp
@@ -0,0 +1,99 @@
+/* ----------------------------------------------------------------------------
+
+ * GTSAM Copyright 2010, Georgia Tech Research Corporation,
+ * Atlanta, Georgia 30332-0415
+ * All Rights Reserved
+ * Authors: Frank Dellaert, et al. (see THANKS for the full author list)
+
+ * See LICENSE for the license information
+
+ * -------------------------------------------------------------------------- */
+
+/**
+ * @file HybridISAM.h
+ * @date March 31, 2022
+ * @author Fan Jiang
+ * @author Frank Dellaert
+ * @author Richard Roberts
+ */
+
+#include <gtsam/hybrid/HybridBayesTree.h>
+#include <gtsam/hybrid/HybridFactorGraph.h>
+#include <gtsam/hybrid/HybridISAM.h>
+#include <gtsam/inference/ISAM-inst.h>
+#include <gtsam/inference/Key.h>
+
+#include <iterator>
+
+namespace gtsam {
+
+// Instantiate base class
+// template class ISAM<HybridBayesTree>;
+
+/* ************************************************************************* */
+HybridISAM::HybridISAM() {}
+
+/* ************************************************************************* */
+HybridISAM::HybridISAM(const HybridBayesTree& bayesTree) : Base(bayesTree) {}
+
+void HybridISAM::updateInternal(const HybridFactorGraph& newFactors,
+                                HybridBayesTree::Cliques* orphans,
+                                const HybridBayesTree::Eliminate& function) {
+  // Remove the contaminated part of the Bayes tree
+  BayesNetType bn;
+  const KeySet newFactorKeys = newFactors.keys();
+  if (!this->empty()) {
+    KeyVector keyVector(newFactorKeys.begin(), newFactorKeys.end());
+    this->removeTop(keyVector, &bn, orphans);
+  }
+
+  // Add the removed top and the new factors
+  FactorGraphType factors;
+  factors += bn;
+  factors += newFactors;
+
+  // Add the orphaned subtrees
+  for (const sharedClique& orphan : *orphans)
+    factors += boost::make_shared<BayesTreeOrphanWrapper<Node> >(orphan);
+
+  KeySet allDiscrete;
+  for (auto& factor : factors) {
+    for (auto& k : factor->discreteKeys_) {
+      allDiscrete.insert(k.first);
+    }
+  }
+  KeyVector newKeysDiscreteLast;
+  for (auto& k : newFactorKeys) {
+    if (!allDiscrete.exists(k)) {
+      newKeysDiscreteLast.push_back(k);
+    }
+  }
+  std::copy(allDiscrete.begin(), allDiscrete.end(),
+            std::back_inserter(newKeysDiscreteLast));
+
+  // KeyVector new
+
+  // Get an ordering where the new keys are eliminated last
+  const VariableIndex index(factors);
+  const Ordering ordering = Ordering::ColamdConstrainedLast(
+      index, KeyVector(newKeysDiscreteLast.begin(), newKeysDiscreteLast.end()),
+      true);
+
+  ordering.print("ORD");
+
+  // eliminate all factors (top, added, orphans) into a new Bayes tree
+  auto bayesTree = factors.eliminateMultifrontal(ordering, function, index);
+
+  // Re-add into Bayes tree data structures
+  this->roots_.insert(this->roots_.end(), bayesTree->roots().begin(),
+                      bayesTree->roots().end());
+  this->nodes_.insert(bayesTree->nodes().begin(), bayesTree->nodes().end());
+}
+
+void HybridISAM::update(const HybridFactorGraph& newFactors,
+                        const HybridBayesTree::Eliminate& function) {
+  Cliques orphans;
+  this->updateInternal(newFactors, &orphans, function);
+}
+
+}  // namespace gtsam
diff --git a/gtsam/hybrid/HybridISAM.h b/gtsam/hybrid/HybridISAM.h
new file mode 100644
index 0000000000..ac9e17e83f
--- /dev/null
+++ b/gtsam/hybrid/HybridISAM.h
@@ -0,0 +1,59 @@
+/* ----------------------------------------------------------------------------
+
+ * GTSAM Copyright 2010, Georgia Tech Research Corporation,
+ * Atlanta, Georgia 30332-0415
+ * All Rights Reserved
+ * Authors: Frank Dellaert, et al. (see THANKS for the full author list)
+
+ * See LICENSE for the license information
+
+ * -------------------------------------------------------------------------- */
+
+/**
+ * @file HybridISAM.h
+ * @date March 31, 2022
+ * @author Fan Jiang
+ * @author Frank Dellaert
+ * @author Richard Roberts
+ */
+
+#pragma once
+
+#include <gtsam/base/Testable.h>
+#include <gtsam/hybrid/HybridBayesTree.h>
+#include <gtsam/hybrid/HybridFactorGraph.h>
+#include <gtsam/inference/ISAM.h>
+
+namespace gtsam {
+
+class GTSAM_EXPORT HybridISAM : public ISAM<HybridBayesTree> {
+ public:
+  typedef ISAM<HybridBayesTree> Base;
+  typedef HybridISAM This;
+  typedef boost::shared_ptr<This> shared_ptr;
+
+  /// @name Standard Constructors
+  /// @{
+
+  /** Create an empty Bayes Tree */
+  HybridISAM();
+
+  /** Copy constructor */
+  HybridISAM(const HybridBayesTree& bayesTree);
+
+  void updateInternal(
+      const HybridFactorGraph& newFactors, HybridBayesTree::Cliques* orphans,
+      const HybridBayesTree::Eliminate& function =
+          HybridBayesTree::EliminationTraitsType::DefaultEliminate);
+
+  void update(const HybridFactorGraph& newFactors,
+              const HybridBayesTree::Eliminate& function =
+                  HybridBayesTree::EliminationTraitsType::DefaultEliminate);
+  /// @}
+};
+
+/// traits
+template <>
+struct traits<HybridISAM> : public Testable<HybridISAM> {};
+
+}  // namespace gtsam
diff --git a/gtsam/hybrid/HybridJunctionTree.cpp b/gtsam/hybrid/HybridJunctionTree.cpp
index 22b40ad055..77e623a410 100644
--- a/gtsam/hybrid/HybridJunctionTree.cpp
+++ b/gtsam/hybrid/HybridJunctionTree.cpp
@@ -16,14 +16,14 @@
  */
 
 #include <gtsam/hybrid/HybridEliminationTree.h>
+#include <gtsam/hybrid/HybridFactorGraph.h>
 #include <gtsam/hybrid/HybridJunctionTree.h>
 #include <gtsam/inference/JunctionTree-inst.h>
+#include <gtsam/inference/Key.h>
 
 #include <unordered_map>
 
-#include "gtsam/hybrid/HybridFactorGraph.h"
-#include "gtsam/inference/Key.h"
-
+// #undef NDEBUG
 namespace gtsam {
 
 // Instantiate base classes
diff --git a/gtsam/hybrid/tests/Switching.h b/gtsam/hybrid/tests/Switching.h
new file mode 100644
index 0000000000..0816db8dfd
--- /dev/null
+++ b/gtsam/hybrid/tests/Switching.h
@@ -0,0 +1,68 @@
+#include <gtsam/base/Matrix.h>
+#include <gtsam/discrete/DecisionTreeFactor.h>
+#include <gtsam/hybrid/GaussianMixtureFactor.h>
+#include <gtsam/hybrid/HybridFactorGraph.h>
+#include <gtsam/inference/Symbol.h>
+#include <gtsam/linear/JacobianFactor.h>
+
+#pragma once
+
+using gtsam::symbol_shorthand::C;
+using gtsam::symbol_shorthand::X;
+
+namespace gtsam {
+inline HybridFactorGraph::shared_ptr makeSwitchingChain(
+    size_t n, std::function<Key(int)> keyFunc = X,
+    std::function<Key(int)> dKeyFunc = C) {
+  HybridFactorGraph hfg;
+
+  hfg.add(JacobianFactor(keyFunc(1), I_3x3, Z_3x1));
+
+  // keyFunc(1) to keyFunc(n+1)
+  for (size_t t = 1; t < n; t++) {
+    hfg.add(GaussianMixtureFactor::FromFactorList(
+        {keyFunc(t), keyFunc(t + 1)}, {{dKeyFunc(t), 2}},
+        {boost::make_shared<JacobianFactor>(keyFunc(t), I_3x3, keyFunc(t + 1),
+                                            I_3x3, Z_3x1),
+         boost::make_shared<JacobianFactor>(keyFunc(t), I_3x3, keyFunc(t + 1),
+                                            I_3x3, Vector3::Ones())}));
+
+    if (t > 1) {
+      hfg.add(DecisionTreeFactor({{dKeyFunc(t - 1), 2}, {dKeyFunc(t), 2}},
+                                 "0 1 1 3"));
+    }
+  }
+
+  return boost::make_shared<HybridFactorGraph>(std::move(hfg));
+}
+
+inline std::pair<std::vector<Key>, std::vector<int>> makeBinaryOrdering(
+    std::vector<Key> &input) {
+  std::vector<Key> new_order;
+  std::vector<int> levels(input.size());
+  std::function<void(std::vector<Key>::iterator, std::vector<Key>::iterator,
+                     int)>
+      bsg = [&bsg, &new_order, &levels, &input](
+                std::vector<Key>::iterator begin,
+                std::vector<Key>::iterator end, int lvl) {
+        if (std::distance(begin, end) > 1) {
+          std::vector<Key>::iterator pivot =
+              begin + std::distance(begin, end) / 2;
+
+          new_order.push_back(*pivot);
+          levels[std::distance(input.begin(), pivot)] = lvl;
+          bsg(begin, pivot, lvl + 1);
+          bsg(pivot + 1, end, lvl + 1);
+        } else if (std::distance(begin, end) == 1) {
+          new_order.push_back(*begin);
+          levels[std::distance(input.begin(), begin)] = lvl;
+        }
+      };
+
+  bsg(input.begin(), input.end(), 0);
+  std::reverse(new_order.begin(), new_order.end());
+  // std::reverse(levels.begin(), levels.end());
+  return {new_order, levels};
+}
+
+}  // namespace gtsam
\ No newline at end of file
diff --git a/gtsam/hybrid/tests/testHybridConditional.cpp b/gtsam/hybrid/tests/testHybridConditional.cpp
index 703ec136e9..f3664e6198 100644
--- a/gtsam/hybrid/tests/testHybridConditional.cpp
+++ b/gtsam/hybrid/tests/testHybridConditional.cpp
@@ -17,6 +17,9 @@
 
 #include <CppUnitLite/Test.h>
 #include <CppUnitLite/TestHarness.h>
+#include <gtsam/discrete/DecisionTreeFactor.h>
+#include <gtsam/discrete/DiscreteKey.h>
+#include <gtsam/discrete/DiscreteValues.h>
 #include <gtsam/hybrid/GaussianMixture.h>
 #include <gtsam/hybrid/GaussianMixtureFactor.h>
 #include <gtsam/hybrid/HybridBayesNet.h>
@@ -26,16 +29,23 @@
 #include <gtsam/hybrid/HybridFactor.h>
 #include <gtsam/hybrid/HybridFactorGraph.h>
 #include <gtsam/hybrid/HybridGaussianFactor.h>
+#include <gtsam/hybrid/HybridISAM.h>
 #include <gtsam/inference/BayesNet.h>
+#include <gtsam/inference/DotWriter.h>
+#include <gtsam/inference/Key.h>
+#include <gtsam/inference/Ordering.h>
 #include <gtsam/inference/Symbol.h>
 #include <gtsam/linear/JacobianFactor.h>
 
+#include <algorithm>
 #include <boost/assign/std/map.hpp>
 #include <cstddef>
+#include <functional>
+#include <iostream>
+#include <iterator>
+#include <vector>
 
-#include "gtsam/inference/DotWriter.h"
-#include "gtsam/inference/Key.h"
-#include "gtsam/inference/Ordering.h"
+#include "Switching.h"
 
 using namespace boost::assign;
 
@@ -43,7 +53,9 @@ using namespace std;
 using namespace gtsam;
 
 using gtsam::symbol_shorthand::C;
+using gtsam::symbol_shorthand::D;
 using gtsam::symbol_shorthand::X;
+using gtsam::symbol_shorthand::Y;
 
 #define BOOST_STACKTRACE_GNU_SOURCE_NOT_REQUIRED
 
@@ -99,6 +111,29 @@ TEST_DISABLED(HybridFactorGraph, eliminateMultifrontal) {
   EXPECT_LONGS_EQUAL(result.second->size(), 1);
 }
 
+TEST(HybridFactorGraph, eliminateFullSequentialEqualChance) {
+  HybridFactorGraph hfg;
+
+  DiscreteKey c1(C(1), 2);
+
+  hfg.add(JacobianFactor(X(0), I_3x3, Z_3x1));
+  hfg.add(JacobianFactor(X(0), I_3x3, X(1), -I_3x3, Z_3x1));
+
+  DecisionTree<Key, GaussianFactor::shared_ptr> dt(
+      C(1), boost::make_shared<JacobianFactor>(X(1), I_3x3, Z_3x1),
+      boost::make_shared<JacobianFactor>(X(1), I_3x3, Vector3::Ones()));
+
+  hfg.add(GaussianMixtureFactor({X(1)}, {c1}, dt));
+
+  auto result =
+      hfg.eliminateSequential(Ordering::ColamdConstrainedLast(hfg, {C(1)}));
+
+  auto dc = result->at(2)->asDiscreteConditional();
+  DiscreteValues dv;
+  dv[C(1)] = 0;
+  EXPECT_DOUBLES_EQUAL(0.6225, dc->operator()(dv), 1e-3);
+}
+
 TEST_DISABLED(HybridFactorGraph, eliminateFullSequentialSimple) {
   std::cout << ">>>>>>>>>>>>>>\n";
 
@@ -268,27 +303,10 @@ TEST_DISABLED(HybridFactorGraph, eliminateFullMultifrontalTwoClique) {
   */
 }
 
-HybridFactorGraph::shared_ptr makeSwitchingChain(size_t n) {
-  HybridFactorGraph hfg;
-
-  hfg.add(JacobianFactor(X(1), I_3x3, Z_3x1));
-
-  // X(1) to X(n+1)
-  for (size_t t = 1; t < n; t++) {
-    hfg.add(GaussianMixtureFactor::FromFactorList(
-        {X(t), X(t + 1)}, {{C(t), 2}},
-        {boost::make_shared<JacobianFactor>(X(t), I_3x3, X(t + 1), I_3x3,
-                                            Z_3x1),
-         boost::make_shared<JacobianFactor>(X(t), I_3x3, X(t + 1), I_3x3,
-                                            Vector3::Ones())}));
-  }
-
-  return boost::make_shared<HybridFactorGraph>(std::move(hfg));
-}
-
 // TODO(fan): make a graph like Varun's paper one
 TEST(HybridFactorGraph, Switching) {
-  auto hfg = makeSwitchingChain(9);
+  auto N = 12;
+  auto hfg = makeSwitchingChain(N);
 
   // X(5) will be the center, X(1-4), X(6-9)
   // X(3), X(7)
@@ -297,20 +315,73 @@ TEST(HybridFactorGraph, Switching) {
   // C(5) will be the center, C(1-4), C(6-8)
   // C(3), C(7)
   // C(1), C(4), C(2), C(6), C(8)
-  auto ordering_full =
-      Ordering(KeyVector{X(1), X(4), X(2), X(6), X(9), X(8), X(3), X(7), X(5),
-                         C(1), C(4), C(2), C(6), C(8), C(3), C(7), C(5)});
+  // auto ordering_full =
+  //     Ordering(KeyVector{X(1), X(4), X(2), X(6), X(9), X(8), X(3), X(7),
+  //     X(5),
+  //                        C(1), C(4), C(2), C(6), C(8), C(3), C(7), C(5)});
+  KeyVector ordering;
 
-  GTSAM_PRINT(*hfg);
+  {
+    std::vector<int> naturalX(N);
+    std::iota(naturalX.begin(), naturalX.end(), 1);
+    std::vector<Key> ordX;
+    std::transform(naturalX.begin(), naturalX.end(), std::back_inserter(ordX),
+                   [](int x) { return X(x); });
+
+    KeyVector ndX;
+    std::vector<int> lvls;
+    std::tie(ndX, lvls) = makeBinaryOrdering(ordX);
+    std::copy(ndX.begin(), ndX.end(), std::back_inserter(ordering));
+    for (auto &l : lvls) {
+      l = -l;
+    }
+    std::copy(lvls.begin(), lvls.end(),
+              std::ostream_iterator<int>(std::cout, ","));
+    std::cout << "\n";
+  }
+  {
+    std::vector<int> naturalC(N - 1);
+    std::iota(naturalC.begin(), naturalC.end(), 1);
+    std::vector<Key> ordC;
+    std::transform(naturalC.begin(), naturalC.end(), std::back_inserter(ordC),
+                   [](int x) { return C(x); });
+    KeyVector ndC;
+    std::vector<int> lvls;
+
+    // std::copy(ordC.begin(), ordC.end(), std::back_inserter(ordering));
+    std::tie(ndC, lvls) = makeBinaryOrdering(ordC);
+    std::copy(ndC.begin(), ndC.end(), std::back_inserter(ordering));
+    std::copy(lvls.begin(), lvls.end(),
+              std::ostream_iterator<int>(std::cout, ","));
+  }
+  auto ordering_full = Ordering(ordering);
+
+  // auto ordering_full =
+  //     Ordering();
+
+  // for (int i = 1; i <= 9; i++) {
+  //   ordering_full.push_back(X(i));
+  // }
+
+  // for (int i = 1; i < 9; i++) {
+  //   ordering_full.push_back(C(i));
+  // }
+
+  // auto ordering_full =
+  //     Ordering(KeyVector{X(1), X(4), X(2), X(6), X(9), X(8), X(3), X(7),
+  //     X(5),
+  //                        C(1), C(2), C(3), C(4), C(5), C(6), C(7), C(8)});
+
+  // GTSAM_PRINT(*hfg);
   GTSAM_PRINT(ordering_full);
 
   HybridBayesTree::shared_ptr hbt;
   HybridFactorGraph::shared_ptr remaining;
   std::tie(hbt, remaining) = hfg->eliminatePartialMultifrontal(ordering_full);
 
-  GTSAM_PRINT(*hbt);
+  // GTSAM_PRINT(*hbt);
 
-  GTSAM_PRINT(*remaining);
+  // GTSAM_PRINT(*remaining);
 
   {
     DotWriter dw;
@@ -323,7 +394,8 @@ TEST(HybridFactorGraph, Switching) {
 
   {
     DotWriter dw;
-    dw.positionHints['x'] = 1;
+    // dw.positionHints['c'] = 2;
+    // dw.positionHints['x'] = 1;
     std::cout << "\n";
     std::cout << hfg->eliminateSequential(ordering_full)
                      ->dot(DefaultKeyFormatter, dw);
@@ -335,6 +407,189 @@ TEST(HybridFactorGraph, Switching) {
   is 1. expensive and 2. inexact. neverless it is doable. And I believe that we
   should do this.
   */
+  hbt->marginalFactor(C(11))->print("HBT: ");
+}
+
+// TODO(fan): make a graph like Varun's paper one
+TEST(HybridFactorGraph, SwitchingISAM) {
+  auto N = 11;
+  auto hfg = makeSwitchingChain(N);
+
+  // X(5) will be the center, X(1-4), X(6-9)
+  // X(3), X(7)
+  // X(2), X(8)
+  // X(1), X(4), X(6), X(9)
+  // C(5) will be the center, C(1-4), C(6-8)
+  // C(3), C(7)
+  // C(1), C(4), C(2), C(6), C(8)
+  // auto ordering_full =
+  //     Ordering(KeyVector{X(1), X(4), X(2), X(6), X(9), X(8), X(3), X(7),
+  //     X(5),
+  //                        C(1), C(4), C(2), C(6), C(8), C(3), C(7), C(5)});
+  KeyVector ordering;
+
+  {
+    std::vector<int> naturalX(N);
+    std::iota(naturalX.begin(), naturalX.end(), 1);
+    std::vector<Key> ordX;
+    std::transform(naturalX.begin(), naturalX.end(), std::back_inserter(ordX),
+                   [](int x) { return X(x); });
+
+    KeyVector ndX;
+    std::vector<int> lvls;
+    std::tie(ndX, lvls) = makeBinaryOrdering(ordX);
+    std::copy(ndX.begin(), ndX.end(), std::back_inserter(ordering));
+    for (auto &l : lvls) {
+      l = -l;
+    }
+    std::copy(lvls.begin(), lvls.end(),
+              std::ostream_iterator<int>(std::cout, ","));
+    std::cout << "\n";
+  }
+  {
+    std::vector<int> naturalC(N - 1);
+    std::iota(naturalC.begin(), naturalC.end(), 1);
+    std::vector<Key> ordC;
+    std::transform(naturalC.begin(), naturalC.end(), std::back_inserter(ordC),
+                   [](int x) { return C(x); });
+    KeyVector ndC;
+    std::vector<int> lvls;
+
+    // std::copy(ordC.begin(), ordC.end(), std::back_inserter(ordering));
+    std::tie(ndC, lvls) = makeBinaryOrdering(ordC);
+    std::copy(ndC.begin(), ndC.end(), std::back_inserter(ordering));
+    std::copy(lvls.begin(), lvls.end(),
+              std::ostream_iterator<int>(std::cout, ","));
+  }
+  auto ordering_full = Ordering(ordering);
+
+  // GTSAM_PRINT(*hfg);
+  GTSAM_PRINT(ordering_full);
+
+  HybridBayesTree::shared_ptr hbt;
+  HybridFactorGraph::shared_ptr remaining;
+  std::tie(hbt, remaining) = hfg->eliminatePartialMultifrontal(ordering_full);
+
+  // GTSAM_PRINT(*hbt);
+
+  // GTSAM_PRINT(*remaining);
+
+  {
+    DotWriter dw;
+    dw.positionHints['c'] = 2;
+    dw.positionHints['x'] = 1;
+    std::cout << hfg->dot(DefaultKeyFormatter, dw);
+    std::cout << "\n";
+    hbt->dot(std::cout);
+  }
+
+  {
+    DotWriter dw;
+    // dw.positionHints['c'] = 2;
+    // dw.positionHints['x'] = 1;
+    std::cout << "\n";
+    std::cout << hfg->eliminateSequential(ordering_full)
+                     ->dot(DefaultKeyFormatter, dw);
+  }
+
+  auto new_fg = makeSwitchingChain(12);
+  auto isam = HybridISAM(*hbt);
+
+  {
+    HybridFactorGraph factorGraph;
+    factorGraph.push_back(new_fg->at(new_fg->size() - 2));
+    factorGraph.push_back(new_fg->at(new_fg->size() - 1));
+    isam.update(factorGraph);
+    std::cout << isam.dot();
+    isam.marginalFactor(C(11))->print();
+  }
+}
+
+TEST_DISABLED(HybridFactorGraph, SwitchingTwoVar) {
+  const int N = 7;
+  auto hfg = makeSwitchingChain(N, X);
+  hfg->push_back(*makeSwitchingChain(N, Y, D));
+
+  for (int t = 1; t <= N; t++) {
+    hfg->add(JacobianFactor(X(t), I_3x3, Y(t), -I_3x3, Vector3(1.0, 0.0, 0.0)));
+  }
+
+  KeyVector ordering;
+
+  KeyVector naturalX(N);
+  std::iota(naturalX.begin(), naturalX.end(), 1);
+  KeyVector ordX;
+  for (size_t i = 1; i <= N; i++) {
+    ordX.emplace_back(X(i));
+    ordX.emplace_back(Y(i));
+  }
+
+  // {
+  //   KeyVector ndX;
+  //   std::vector<int> lvls;
+  //   std::tie(ndX, lvls) = makeBinaryOrdering(naturalX);
+  //   std::copy(ndX.begin(), ndX.end(), std::back_inserter(ordering));
+  //   std::copy(lvls.begin(), lvls.end(),
+  //             std::ostream_iterator<int>(std::cout, ","));
+  //   std::cout << "\n";
+
+  //   for (size_t i = 0; i < N; i++) {
+  //     ordX.emplace_back(X(ndX[i]));
+  //     ordX.emplace_back(Y(ndX[i]));
+  //   }
+  // }
+
+  for (size_t i = 1; i <= N - 1; i++) {
+    ordX.emplace_back(C(i));
+  }
+  for (size_t i = 1; i <= N - 1; i++) {
+    ordX.emplace_back(D(i));
+  }
+
+  {
+    DotWriter dw;
+    dw.positionHints['x'] = 1;
+    dw.positionHints['c'] = 0;
+    dw.positionHints['d'] = 3;
+    dw.positionHints['y'] = 2;
+    std::cout << hfg->dot(DefaultKeyFormatter, dw);
+    std::cout << "\n";
+  }
+
+  {
+    DotWriter dw;
+    dw.positionHints['y'] = 9;
+    // dw.positionHints['c'] = 0;
+    // dw.positionHints['d'] = 3;
+    dw.positionHints['x'] = 1;
+    std::cout << "\n";
+    // std::cout << hfg->eliminateSequential(Ordering(ordX))
+    //                  ->dot(DefaultKeyFormatter, dw);
+    hfg->eliminateMultifrontal(Ordering(ordX))->dot(std::cout);
+  }
+
+  Ordering ordering_partial;
+  for (size_t i = 1; i <= N; i++) {
+    ordering_partial.emplace_back(X(i));
+    ordering_partial.emplace_back(Y(i));
+  }
+  {
+    HybridBayesNet::shared_ptr hbn;
+    HybridFactorGraph::shared_ptr remaining;
+    std::tie(hbn, remaining) =
+        hfg->eliminatePartialSequential(ordering_partial);
+
+    // remaining->print();
+    {
+      DotWriter dw;
+      dw.positionHints['x'] = 1;
+      dw.positionHints['c'] = 0;
+      dw.positionHints['d'] = 3;
+      dw.positionHints['y'] = 2;
+      std::cout << remaining->dot(DefaultKeyFormatter, dw);
+      std::cout << "\n";
+    }
+  }
 }
 
 /* ************************************************************************* */
diff --git a/gtsam/inference/BayesTree.h b/gtsam/inference/BayesTree.h
index a32b3ce22b..1abc0a682f 100644
--- a/gtsam/inference/BayesTree.h
+++ b/gtsam/inference/BayesTree.h
@@ -33,6 +33,7 @@ namespace gtsam {
   // Forward declarations
   template<class FACTOR> class FactorGraph;
   template<class BAYESTREE, class GRAPH> class EliminatableClusterTree;
+  class HybridBayesTreeClique;
 
   /* ************************************************************************* */
   /** clique statistics */
@@ -272,24 +273,25 @@ namespace gtsam {
   }; // BayesTree
 
   /* ************************************************************************* */
-  template<class CLIQUE>
-  class BayesTreeOrphanWrapper : public CLIQUE::ConditionalType
-  {
-  public:
+  template <class CLIQUE, typename = void>
+  class BayesTreeOrphanWrapper : public CLIQUE::ConditionalType {
+   public:
     typedef CLIQUE CliqueType;
     typedef typename CLIQUE::ConditionalType Base;
 
     boost::shared_ptr<CliqueType> clique;
 
-    BayesTreeOrphanWrapper(const boost::shared_ptr<CliqueType>& clique) :
-      clique(clique)
-    {
-      // Store parent keys in our base type factor so that eliminating those parent keys will pull
-      // this subtree into the elimination.
-      this->keys_.assign(clique->conditional()->beginParents(), clique->conditional()->endParents());
+    BayesTreeOrphanWrapper(const boost::shared_ptr<CliqueType>& clique)
+        : clique(clique) {
+      // Store parent keys in our base type factor so that eliminating those
+      // parent keys will pull this subtree into the elimination.
+      this->keys_.assign(clique->conditional()->beginParents(),
+                         clique->conditional()->endParents());
     }
 
-    void print(const std::string& s="", const KeyFormatter& formatter = DefaultKeyFormatter) const override {
+    void print(
+        const std::string& s = "",
+        const KeyFormatter& formatter = DefaultKeyFormatter) const override {
       clique->print(s + "stored clique", formatter);
     }
   };

From 215682e64f4063911639320dcab209aab2f062fb Mon Sep 17 00:00:00 2001
From: Fan Jiang <ProfFan@users.noreply.github.com>
Date: Thu, 7 Apr 2022 21:33:54 -0400
Subject: [PATCH 057/433] FIX: Robust loss error calculation

---
 gtsam/linear/NoiseModel.h |  6 +++++
 tests/testRobust.cpp      | 53 +++++++++++++++++++++++++++++++++++++++
 2 files changed, 59 insertions(+)
 create mode 100644 tests/testRobust.cpp

diff --git a/gtsam/linear/NoiseModel.h b/gtsam/linear/NoiseModel.h
index 5c379beb8d..5a29e5d7dd 100644
--- a/gtsam/linear/NoiseModel.h
+++ b/gtsam/linear/NoiseModel.h
@@ -697,6 +697,12 @@ namespace gtsam {
         return robust_->loss(std::sqrt(squared_distance));
       }
 
+      // NOTE: This is special because in whiten the base version will do the reweighting
+      // which is incorrect!
+      double squaredMahalanobisDistance(const Vector& v) const override {
+        return noise_->squaredMahalanobisDistance(v);
+      }
+
       // These are really robust iterated re-weighting support functions
       virtual void WhitenSystem(Vector& b) const;
       void WhitenSystem(std::vector<Matrix>& A, Vector& b) const override;
diff --git a/tests/testRobust.cpp b/tests/testRobust.cpp
new file mode 100644
index 0000000000..ad361f6d96
--- /dev/null
+++ b/tests/testRobust.cpp
@@ -0,0 +1,53 @@
+/* ----------------------------------------------------------------------------
+
+ * GTSAM Copyright 2010, Georgia Tech Research Corporation,
+ * Atlanta, Georgia 30332-0415
+ * All Rights Reserved
+ * Authors: Frank Dellaert, et al. (see THANKS for the full author list)
+
+ * See LICENSE for the license information
+
+ * -------------------------------------------------------------------------- */
+
+/**
+ *  @file   testRobust.cpp
+ *  @brief  Unit tests for Robust loss functions
+ *  @author Fan Jiang
+ *  @author Yetong Zhang
+ *  @date   Apr 7, 2022
+ **/
+
+#include <CppUnitLite/TestHarness.h>
+#include <gtsam/base/Testable.h>
+#include <gtsam/base/TestableAssertions.h>
+#include <gtsam/base/numericalDerivative.h>
+#include <gtsam/nonlinear/PriorFactor.h>
+#include <gtsam/slam/BetweenFactor.h>
+
+using namespace gtsam;
+
+TEST(RobustNoise, loss) {
+  // Keys.
+  gtsam::Key x1_key = 1;
+  gtsam::Key x2_key = 2;
+
+  auto gm = noiseModel::mEstimator::GemanMcClure::Create(1.0);
+  auto noise = noiseModel::Robust::Create(gm, noiseModel::Unit::Create(1));
+
+  auto factor = PriorFactor<double>(x1_key, 0.0, noise);
+  auto between_factor = BetweenFactor<double>(x1_key, x2_key, 0.0, noise);
+
+  Values values;
+  values.insert(x1_key, 10.0);
+  values.insert(x2_key, 0.0);
+
+  EXPECT_DOUBLES_EQUAL(0.49505, factor.error(values), 1e-5);
+  EXPECT_DOUBLES_EQUAL(0.49505, between_factor.error(values), 1e-5);
+  EXPECT_DOUBLES_EQUAL(0.49505, gm->loss(10.0), 1e-5);
+}
+
+int main() {
+  TestResult tr;
+
+  return TestRegistry::runAllTests(tr);
+}

From 7a47815e0b0c69828a1c5ebf8f43ec9a38502b21 Mon Sep 17 00:00:00 2001
From: Fan Jiang <ProfFan@users.noreply.github.com>
Date: Fri, 8 Apr 2022 16:30:40 -0400
Subject: [PATCH 058/433] Fix the test

---
 gtsam/linear/tests/testNoiseModel.cpp | 2 +-
 1 file changed, 1 insertion(+), 1 deletion(-)

diff --git a/gtsam/linear/tests/testNoiseModel.cpp b/gtsam/linear/tests/testNoiseModel.cpp
index b974b6cd55..92774a1333 100644
--- a/gtsam/linear/tests/testNoiseModel.cpp
+++ b/gtsam/linear/tests/testNoiseModel.cpp
@@ -668,7 +668,7 @@ TEST(NoiseModel, robustNoiseL2WithDeadZone)
   for (int i = 0; i < 5; i++) {
     Vector3 error = Vector3(i, 0, 0);
     DOUBLES_EQUAL(std::fmax(0, i - dead_zone_size) * i,
-                  robust->squaredMahalanobisDistance(error), 1e-8);
+                  robust->loss(robust->squaredMahalanobisDistance(error)), 1e-8);
   }
 }
 

From 2de3169976e876578c736e844605495dac6c7f30 Mon Sep 17 00:00:00 2001
From: Fan Jiang <prof.fan@foxmail.com>
Date: Tue, 19 Apr 2022 21:50:15 -0400
Subject: [PATCH 059/433] Fix compile

---
 gtsam/hybrid/tests/Switching.h | 4 ++--
 1 file changed, 2 insertions(+), 2 deletions(-)

diff --git a/gtsam/hybrid/tests/Switching.h b/gtsam/hybrid/tests/Switching.h
index 0816db8dfd..f29b8d9d56 100644
--- a/gtsam/hybrid/tests/Switching.h
+++ b/gtsam/hybrid/tests/Switching.h
@@ -36,9 +36,9 @@ inline HybridFactorGraph::shared_ptr makeSwitchingChain(
   return boost::make_shared<HybridFactorGraph>(std::move(hfg));
 }
 
-inline std::pair<std::vector<Key>, std::vector<int>> makeBinaryOrdering(
+inline std::pair<KeyVector, std::vector<int>> makeBinaryOrdering(
     std::vector<Key> &input) {
-  std::vector<Key> new_order;
+  KeyVector new_order;
   std::vector<int> levels(input.size());
   std::function<void(std::vector<Key>::iterator, std::vector<Key>::iterator,
                      int)>

From 40e6d8be9b146a0caf43ea231610239bf716ed42 Mon Sep 17 00:00:00 2001
From: Varun Agrawal <varagrawal@gmail.com>
Date: Sat, 9 Oct 2021 22:52:01 -0400
Subject: [PATCH 060/433] formatting

---
 doc/ImuFactor.lyx                       | 2 +-
 gtsam/navigation/PreintegrationBase.cpp | 4 ++--
 2 files changed, 3 insertions(+), 3 deletions(-)

diff --git a/doc/ImuFactor.lyx b/doc/ImuFactor.lyx
index 80c160e6ee..7b176f484e 100644
--- a/doc/ImuFactor.lyx
+++ b/doc/ImuFactor.lyx
@@ -82,7 +82,7 @@
 \begin_body
 
 \begin_layout Title
-The new IMU Factor
+The New IMU Factor
 \end_layout
 
 \begin_layout Author
diff --git a/gtsam/navigation/PreintegrationBase.cpp b/gtsam/navigation/PreintegrationBase.cpp
index 8840c34e9d..f6e9fccb8d 100644
--- a/gtsam/navigation/PreintegrationBase.cpp
+++ b/gtsam/navigation/PreintegrationBase.cpp
@@ -157,9 +157,9 @@ Vector9 PreintegrationBase::computeError(const NavState& state_i,
       state_j.localCoordinates(predictedState_j, H2 ? &D_error_state_j : 0,
                                H1 || H3 ? &D_error_predict : 0);
 
-  if (H1) *H1 << D_error_predict* D_predict_state_i;
+  if (H1) *H1 << D_error_predict * D_predict_state_i;
   if (H2) *H2 << D_error_state_j;
-  if (H3) *H3 << D_error_predict* D_predict_bias_i;
+  if (H3) *H3 << D_error_predict * D_predict_bias_i;
 
   return error;
 }

From 995710f8fdf0e91f29ec15158c8a376ee4a8883f Mon Sep 17 00:00:00 2001
From: Varun Agrawal <varagrawal@gmail.com>
Date: Thu, 5 May 2022 11:38:18 -0400
Subject: [PATCH 061/433] update PDF doc

---
 doc/ImuFactor.pdf | Bin 248399 -> 249424 bytes
 1 file changed, 0 insertions(+), 0 deletions(-)

diff --git a/doc/ImuFactor.pdf b/doc/ImuFactor.pdf
index a4ec57fb7baa660508d5c6872185270e178b1d0f..9d7026d0978944949f5f6d4932c85dbe112a2a10 100644
GIT binary patch
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z|KAj0I_MOrtui|oI~#`t3o9EtmxP!oiv%+Zv#^9HH<Kt6Cnq--hll_X-~VrlJ`AIr
zxxIy}B@rtNTYBHr{|i?EsQv>gf6qxT0|6Mu@%NdbLyM}dwXd}=)z+?zwJoi+F5)C1
zkvMSn1w_(>i|-)ffDfUGa3*nZaC2~TaH%}+Tz>h#PtuvGh)CWLu|NbOUSXxkDp`T~
znAB~Pn8bh}q+5b45Sz@Cb+Sg{Bu$pd23aC=q>vOq+%Nj5Sz-|vBw*>be@Kc+5hNJZ
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zK+cbK+a@tmN9sufX(UZ#hBT8F(n{J$JLw=n(n-2VH|Zh0qz`iOu5asy+&lk#0P?e|
zH3<09T0?-H(h315ms-O>L)Nbq2JSw!BEYNj+bHnu(i#DNKeR@H{F~MojKf>4aTwVf
ztqB-^Pg;{OBRQ=pnDJ|^X_6s3Fdt$9Gv|?i;2|*)mnY5x9t$@(F*yn)B}Gq03Ti#X
AzyJUM


From 8dbbb1fe1f3eca333602e4673d8c976a5375984b Mon Sep 17 00:00:00 2001
From: Varun Agrawal <varagrawal@gmail.com>
Date: Fri, 6 May 2022 16:45:37 -0400
Subject: [PATCH 062/433] fix test

---
 .../tests/testCombinedImuFactor.cpp           | 30 +++++++++----------
 1 file changed, 15 insertions(+), 15 deletions(-)

diff --git a/gtsam/navigation/tests/testCombinedImuFactor.cpp b/gtsam/navigation/tests/testCombinedImuFactor.cpp
index 2f12983c37..8091e3ad21 100644
--- a/gtsam/navigation/tests/testCombinedImuFactor.cpp
+++ b/gtsam/navigation/tests/testCombinedImuFactor.cpp
@@ -230,21 +230,21 @@ TEST(CombinedImuFactor, CheckCovariance) {
   actual.integrateMeasurement(measuredAcc, measuredOmega, deltaT);
 
   Eigen::Matrix<double, 15, 15> expected;
-  expected << 0.01, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0,  //
-      0, 0.01, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0,          //
-      0, 0, 0.01, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0,          //
-      0, 0, 0, 2.50025e-07, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0,   //
-      0, 0, 0, 0, 2.50025e-07, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0,   //
-      0, 0, 0, 0, 0, 2.50025e-07, 0, 0, 0, 0, 0, 0, 0, 0, 0,   //
-      0, 0, 0, 0, 0, 0, 0.010001, 0, 0, 0, 0, 0, 0, 0, 0,      //
-      0, 0, 0, 0, 0, 0, 0, 0.010001, 0, 0, 0, 0, 0, 0, 0,      //
-      0, 0, 0, 0, 0, 0, 0, 0, 0.010001, 0, 0, 0, 0, 0, 0,      //
-      0, 0, 0, 0, 0, 0, 0, 0, 0, 0.01, 0, 0, 0, 0, 0,          //
-      0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0.01, 0, 0, 0, 0,          //
-      0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0.01, 0, 0, 0,          //
-      0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0.01, 0, 0,          //
-      0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0.01, 0,          //
-      0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0.01;
+  expected << 0.01, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0,          //
+      0, 0.01, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0,                  //
+      0, 0, 0.01, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0,                  //
+      0, 0, 0, 2.50025e-07, 0, 0, 5.0005e-05, 0, 0, 0, 0, 0, 0, 0, 0,  //
+      0, 0, 0, 0, 2.50025e-07, 0, 0, 5.0005e-05, 0, 0, 0, 0, 0, 0, 0,  //
+      0, 0, 0, 0, 0, 2.50025e-07, 0, 0, 5.0005e-05, 0, 0, 0, 0, 0, 0,  //
+      0, 0, 0, 5.0005e-05, 0, 0, 0.010001, 0, 0, 0, 0, 0, 0, 0, 0,     //
+      0, 0, 0, 0, 5.0005e-05, 0, 0, 0.010001, 0, 0, 0, 0, 0, 0, 0,     //
+      0, 0, 0, 0, 0, 5.0005e-05, 0, 0, 0.010001, 0, 0, 0, 0, 0, 0,     //
+      0, 0, 0, 0, 0, 0, 0, 0, 0, 0.01, 0, 0, 0, 0, 0,                  //
+      0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0.01, 0, 0, 0, 0,                  //
+      0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0.01, 0, 0, 0,                  //
+      0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0.01, 0, 0,                  //
+      0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0.01, 0,                  //
+      0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0.0;
 
   // regression
   EXPECT(assert_equal(expected, actual.preintMeasCov()));

From ce7c71b7d77e8d92a04de8fdd0dbd11dd2115f4c Mon Sep 17 00:00:00 2001
From: Varun Agrawal <varagrawal@gmail.com>
Date: Sun, 8 May 2022 16:51:21 -0400
Subject: [PATCH 063/433] fix test

---
 gtsam/navigation/tests/testCombinedImuFactor.cpp | 2 +-
 1 file changed, 1 insertion(+), 1 deletion(-)

diff --git a/gtsam/navigation/tests/testCombinedImuFactor.cpp b/gtsam/navigation/tests/testCombinedImuFactor.cpp
index 8091e3ad21..48a89d7a05 100644
--- a/gtsam/navigation/tests/testCombinedImuFactor.cpp
+++ b/gtsam/navigation/tests/testCombinedImuFactor.cpp
@@ -244,7 +244,7 @@ TEST(CombinedImuFactor, CheckCovariance) {
       0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0.01, 0, 0, 0,                  //
       0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0.01, 0, 0,                  //
       0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0.01, 0,                  //
-      0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0.0;
+      0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0.01;
 
   // regression
   EXPECT(assert_equal(expected, actual.preintMeasCov()));

From a17134dd6a6c462ca488c27a487f84d8d528e7d6 Mon Sep 17 00:00:00 2001
From: Varun Agrawal <varagrawal@gmail.com>
Date: Sun, 8 May 2022 17:34:14 -0400
Subject: [PATCH 064/433] minor refactor to follow the math better

---
 gtsam/navigation/CombinedImuFactor.cpp | 45 ++++++++++++--------------
 1 file changed, 21 insertions(+), 24 deletions(-)

diff --git a/gtsam/navigation/CombinedImuFactor.cpp b/gtsam/navigation/CombinedImuFactor.cpp
index f2349a96e4..c9f0a926b2 100644
--- a/gtsam/navigation/CombinedImuFactor.cpp
+++ b/gtsam/navigation/CombinedImuFactor.cpp
@@ -116,7 +116,6 @@ void PreintegratedCombinedMeasurements::integrateMeasurement(
 
   Matrix3 theta_H_biasOmegaInit = -theta_H_omega;
   Matrix3 pos_H_biasAccInit = -pos_H_acc;
-  Matrix3 vel_H_biasAcc = -vel_H_acc;
   Matrix3 vel_H_biasAccInit = -vel_H_acc;
 
   // overall Jacobian wrt preintegrated measurements (df/dx)
@@ -143,45 +142,44 @@ void PreintegratedCombinedMeasurements::integrateMeasurement(
   Eigen::Matrix<double, 15, 15> G_measCov_Gt;
   G_measCov_Gt.setZero(15, 15);
 
+  const Matrix3& bInitCov11 = bInitCov.block<3, 3>(0, 0) / dt;
+  const Matrix3& bInitCov12 = bInitCov.block<3, 3>(0, 3) / dt;
+  const Matrix3& bInitCov21 = bInitCov.block<3, 3>(3, 0) / dt;
+  const Matrix3& bInitCov22 = bInitCov.block<3, 3>(3, 3) / dt;
+
   // BLOCK DIAGONAL TERMS
   D_R_R(&G_measCov_Gt) =
       (theta_H_omega * (wCov / dt) * theta_H_omega.transpose())  //
-      + (theta_H_biasOmegaInit * (bInitCov.block<3, 3>(3, 3) / dt) *
-         theta_H_biasOmegaInit.transpose());
+      +
+      (theta_H_biasOmegaInit * bInitCov22 * theta_H_biasOmegaInit.transpose());
 
   D_t_t(&G_measCov_Gt) =
-      (pos_H_acc * (aCov / dt) * pos_H_acc.transpose())  //
-      + (pos_H_biasAccInit * (bInitCov.block<3, 3>(0, 0) / dt) *
-         pos_H_biasAccInit.transpose())  //
+      (pos_H_acc * (aCov / dt) * pos_H_acc.transpose())                   //
+      + (pos_H_biasAccInit * bInitCov11 * pos_H_biasAccInit.transpose())  //
       + (dt * iCov);
 
   D_v_v(&G_measCov_Gt) =
       (vel_H_acc * (aCov / dt) * vel_H_acc.transpose())  //
-      + (vel_H_biasAccInit * (bInitCov.block<3, 3>(0, 0) / dt) *
-         vel_H_biasAccInit.transpose());
+      + (vel_H_biasAccInit * bInitCov11 * vel_H_biasAccInit.transpose());
 
   D_a_a(&G_measCov_Gt) = dt * p().biasAccCovariance;
   D_g_g(&G_measCov_Gt) = dt * p().biasOmegaCovariance;
 
   // OFF BLOCK DIAGONAL TERMS
-  D_R_t(&G_measCov_Gt) = theta_H_biasOmegaInit *
-                         (bInitCov.block<3, 3>(3, 0) / dt) *
-                         pos_H_biasAccInit.transpose();
-  D_R_v(&G_measCov_Gt) = theta_H_biasOmegaInit *
-                         (bInitCov.block<3, 3>(3, 0) / dt) *
-                         vel_H_biasAccInit.transpose();
-  D_t_R(&G_measCov_Gt) = pos_H_biasAccInit * (bInitCov.block<3, 3>(0, 3) / dt) *
-                         theta_H_biasOmegaInit.transpose();
+  D_R_t(&G_measCov_Gt) =
+      theta_H_biasOmegaInit * bInitCov21 * pos_H_biasAccInit.transpose();
+  D_R_v(&G_measCov_Gt) =
+      theta_H_biasOmegaInit * bInitCov21 * vel_H_biasAccInit.transpose();
+  D_t_R(&G_measCov_Gt) =
+      pos_H_biasAccInit * bInitCov12 * theta_H_biasOmegaInit.transpose();
   D_t_v(&G_measCov_Gt) =
       (pos_H_acc * (aCov / dt) * vel_H_acc.transpose()) +
-      (pos_H_biasAccInit * (bInitCov.block<3, 3>(0, 0) / dt) *
-       vel_H_biasAccInit.transpose());
-  D_v_R(&G_measCov_Gt) = vel_H_biasAccInit * (bInitCov.block<3, 3>(0, 3) / dt) *
-                         theta_H_biasOmegaInit.transpose();
+      (pos_H_biasAccInit * bInitCov11 * vel_H_biasAccInit.transpose());
+  D_v_R(&G_measCov_Gt) =
+      vel_H_biasAccInit * bInitCov12 * theta_H_biasOmegaInit.transpose();
   D_v_t(&G_measCov_Gt) =
       (vel_H_acc * (aCov / dt) * pos_H_acc.transpose()) +
-      (vel_H_biasAccInit * (bInitCov.block<3, 3>(0, 0) / dt) *
-       pos_H_biasAccInit.transpose());
+      (vel_H_biasAccInit * bInitCov11 * pos_H_biasAccInit.transpose());
 
   preintMeasCov_.noalias() += G_measCov_Gt;
 }
@@ -291,6 +289,5 @@ std::ostream& operator<<(std::ostream& os, const CombinedImuFactor& f) {
   os << "  noise model sigmas: " << f.noiseModel_->sigmas().transpose();
   return os;
 }
-}
- /// namespace gtsam
 
+}  // namespace gtsam

From 4e481ea1e111cd08ff0222f86c2ad2447da0fbd7 Mon Sep 17 00:00:00 2001
From: Fan Jiang <prof.fan@foxmail.com>
Date: Tue, 10 May 2022 17:45:50 -0700
Subject: [PATCH 065/433] Fix the enable_if_t absence

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

diff --git a/gtsam/hybrid/HybridBayesTree.h b/gtsam/hybrid/HybridBayesTree.h
index dd8b7f022b..626f2b10c3 100644
--- a/gtsam/hybrid/HybridBayesTree.h
+++ b/gtsam/hybrid/HybridBayesTree.h
@@ -74,7 +74,7 @@ class GTSAM_EXPORT HybridBayesTree : public BayesTree<HybridBayesTreeClique> {
 template <class CLIQUE>
 class BayesTreeOrphanWrapper<
     CLIQUE,
-    boost::enable_if_t<boost::is_same<CLIQUE, HybridBayesTreeClique>::value> >
+    typename std::enable_if<boost::is_same<CLIQUE, HybridBayesTreeClique>::value> >
     : public CLIQUE::ConditionalType {
  public:
   typedef CLIQUE CliqueType;

From d012bcd4dc1fa53ad805d6c1dc50ff6e3ea2e6d8 Mon Sep 17 00:00:00 2001
From: Fan Jiang <prof.fan@foxmail.com>
Date: Tue, 10 May 2022 19:22:50 -0700
Subject: [PATCH 066/433] Remove most debug messages

---
 gtsam/hybrid/HybridJunctionTree.cpp          | 10 +++++-----
 gtsam/hybrid/tests/testHybridConditional.cpp |  5 ++++-
 2 files changed, 9 insertions(+), 6 deletions(-)

diff --git a/gtsam/hybrid/HybridJunctionTree.cpp b/gtsam/hybrid/HybridJunctionTree.cpp
index 77e623a410..bf088c5aa9 100644
--- a/gtsam/hybrid/HybridJunctionTree.cpp
+++ b/gtsam/hybrid/HybridJunctionTree.cpp
@@ -59,12 +59,12 @@ struct HybridConstructorTraversalData {
     myData.myJTNode = boost::make_shared<Node>(node->key, node->factors);
     parentData.myJTNode->addChild(myData.myJTNode);
 
-#ifndef NDEBUG
+#ifdef GTSAM_HYBRID_JUNCTIONTREE_DEBUG
     std::cout << "Getting discrete info: ";
 #endif
     for (HybridFactor::shared_ptr& f : node->factors) {
       for (auto& k : f->discreteKeys_) {
-#ifndef NDEBUG
+#ifdef GTSAM_HYBRID_JUNCTIONTREE_DEBUG
         std::cout << "DK: " << DefaultKeyFormatter(k.first) << "\n";
 #endif
 
@@ -104,7 +104,7 @@ struct HybridConstructorTraversalData {
     boost::tie(myConditional, mySeparatorFactor) =
         internal::EliminateSymbolic(symbolicFactors, keyAsOrdering);
 
-#ifndef NDEBUG
+#ifdef GTSAM_HYBRID_JUNCTIONTREE_DEBUG
     std::cout << "Symbolic: ";
     myConditional->print();
 #endif
@@ -136,7 +136,7 @@ struct HybridConstructorTraversalData {
             myData.discreteKeys.exists(myConditional->frontals()[0]);
         const bool theirType =
             myData.discreteKeys.exists(childConditionals[i]->frontals()[0]);
-#ifndef NDEBUG
+#ifdef GTSAM_HYBRID_JUNCTIONTREE_DEBUG
         std::cout << "Type: "
                   << DefaultKeyFormatter(myConditional->frontals()[0]) << " vs "
                   << DefaultKeyFormatter(childConditionals[i]->frontals()[0])
@@ -145,7 +145,7 @@ struct HybridConstructorTraversalData {
         if (myType == theirType) {
           // Increment number of frontal variables
           myNrFrontals += nrFrontals[i];
-#ifndef NDEBUG
+#ifdef GTSAM_HYBRID_JUNCTIONTREE_DEBUG
           std::cout << "Merging ";
           childConditionals[i]->print();
 #endif
diff --git a/gtsam/hybrid/tests/testHybridConditional.cpp b/gtsam/hybrid/tests/testHybridConditional.cpp
index f3664e6198..3d96ebd6ad 100644
--- a/gtsam/hybrid/tests/testHybridConditional.cpp
+++ b/gtsam/hybrid/tests/testHybridConditional.cpp
@@ -57,6 +57,7 @@ using gtsam::symbol_shorthand::D;
 using gtsam::symbol_shorthand::X;
 using gtsam::symbol_shorthand::Y;
 
+#ifdef HYBRID_DEBUG
 #define BOOST_STACKTRACE_GNU_SOURCE_NOT_REQUIRED
 
 #include <signal.h>  // ::signal, ::raise
@@ -68,6 +69,7 @@ void my_signal_handler(int signum) {
   std::cout << boost::stacktrace::stacktrace();
   ::raise(SIGABRT);
 }
+#endif
 
 /* ************************************************************************* */
 TEST_DISABLED(HybridFactorGraph, creation) {
@@ -594,9 +596,10 @@ TEST_DISABLED(HybridFactorGraph, SwitchingTwoVar) {
 
 /* ************************************************************************* */
 int main() {
+#ifdef HYBRID_DEBUG
   ::signal(SIGSEGV, &my_signal_handler);
   ::signal(SIGBUS, &my_signal_handler);
-
+#endif
   TestResult tr;
   return TestRegistry::runAllTests(tr);
 }

From fa743ae0ac861897bd8d63f7e7815314ec48d3c4 Mon Sep 17 00:00:00 2001
From: Akshay Krishnan <akshay.krishnan.30@gmail.com>
Date: Sat, 14 May 2022 00:18:04 -0700
Subject: [PATCH 067/433] intialize values that may have between factors

---
 gtsam/sfm/TranslationRecovery.cpp | 14 ++++++++++----
 gtsam/sfm/TranslationRecovery.h   |  6 ++++++
 2 files changed, 16 insertions(+), 4 deletions(-)

diff --git a/gtsam/sfm/TranslationRecovery.cpp b/gtsam/sfm/TranslationRecovery.cpp
index 810fe7de98..8f11088069 100644
--- a/gtsam/sfm/TranslationRecovery.cpp
+++ b/gtsam/sfm/TranslationRecovery.cpp
@@ -134,6 +134,7 @@ void TranslationRecovery::addPrior(
 
 Values TranslationRecovery::initializeRandomly(
     const std::vector<BinaryMeasurement<Unit3>> &relativeTranslations,
+    const std::vector<BinaryMeasurement<Point3>> &betweenTranslations,
     std::mt19937 *rng, const Values &initialValues) const {
   uniform_real_distribution<double> randomVal(-1, 1);
   // Create a lambda expression that checks whether value exists and randomly
@@ -155,14 +156,19 @@ Values TranslationRecovery::initializeRandomly(
     insert(edge.key1());
     insert(edge.key2());
   }
+  for (auto edge : betweenTranslations) {
+    insert(edge.key1());
+    insert(edge.key2());
+  }
   return initial;
 }
 
 Values TranslationRecovery::initializeRandomly(
     const std::vector<BinaryMeasurement<Unit3>> &relativeTranslations,
+    const std::vector<BinaryMeasurement<Point3>> &betweenTranslations,
     const Values &initialValues) const {
-  return initializeRandomly(relativeTranslations, &kRandomNumberGenerator,
-                            initialValues);
+  return initializeRandomly(relativeTranslations, betweenTranslations,
+                            &kRandomNumberGenerator, initialValues);
 }
 
 Values TranslationRecovery::run(
@@ -187,8 +193,8 @@ Values TranslationRecovery::run(
            &graph);
 
   // Uses initial values from params if provided.
-  Values initial =
-      initializeRandomly(nonzeroRelativeTranslations, initialValues);
+  Values initial = initializeRandomly(
+      nonzeroRelativeTranslations, nonzeroBetweenTranslations, initialValues);
 
   // If there are no valid edges, but zero-distance edges exist, initialize one
   // of the nodes in a connected component of zero-distance edges.
diff --git a/gtsam/sfm/TranslationRecovery.h b/gtsam/sfm/TranslationRecovery.h
index 7863f51339..6ccc39ddb0 100644
--- a/gtsam/sfm/TranslationRecovery.h
+++ b/gtsam/sfm/TranslationRecovery.h
@@ -112,12 +112,15 @@ class TranslationRecovery {
    *
    * @param relativeTranslations unit translation directions between
    * translations to be estimated
+   * @param betweenTranslations relative translations (with scale) between 2
+   * points in world coordinate frame known a priori.
    * @param rng random number generator
    * @param intialValues (optional) initial values from a prior
    * @return Values
    */
   Values initializeRandomly(
       const std::vector<BinaryMeasurement<Unit3>> &relativeTranslations,
+      const std::vector<BinaryMeasurement<Point3>> &betweenTranslations,
       std::mt19937 *rng, const Values &initialValues = Values()) const;
 
   /**
@@ -125,11 +128,14 @@ class TranslationRecovery {
    *
    * @param relativeTranslations unit translation directions between
    * translations to be estimated
+   * @param betweenTranslations relative translations (with scale) between 2
+   * points in world coordinate frame known a priori.
    * @param initialValues (optional) initial values from a prior
    * @return Values
    */
   Values initializeRandomly(
       const std::vector<BinaryMeasurement<Unit3>> &relativeTranslations,
+      const std::vector<BinaryMeasurement<Point3>> &betweenTranslations,
       const Values &initialValues = Values()) const;
 
   /**

From 2c4990b613833a8fd38346a008965a60aac28dda Mon Sep 17 00:00:00 2001
From: Fan Jiang <prof.fan@foxmail.com>
Date: Sat, 21 May 2022 14:23:05 -0700
Subject: [PATCH 068/433] Address Varun's comments

---
 gtsam/hybrid/GaussianMixture.cpp              | 11 +++++-----
 gtsam/hybrid/GaussianMixture.h                |  7 ++++---
 gtsam/hybrid/GaussianMixtureFactor.cpp        |  2 +-
 gtsam/hybrid/GaussianMixtureFactor.h          |  2 +-
 gtsam/hybrid/HybridFactor.cpp                 |  2 +-
 gtsam/hybrid/HybridFactorGraph.cpp            |  4 ++--
 gtsam/hybrid/HybridGaussianFactor.h           |  2 +-
 gtsam/hybrid/tests/Switching.h                | 20 ++++++++++++++++++-
 ...ditional.cpp => testHybridFactorGraph.cpp} |  2 +-
 9 files changed, 36 insertions(+), 16 deletions(-)
 rename gtsam/hybrid/tests/{testHybridConditional.cpp => testHybridFactorGraph.cpp} (99%)

diff --git a/gtsam/hybrid/GaussianMixture.cpp b/gtsam/hybrid/GaussianMixture.cpp
index bc674966c1..66971b69ff 100644
--- a/gtsam/hybrid/GaussianMixture.cpp
+++ b/gtsam/hybrid/GaussianMixture.cpp
@@ -50,7 +50,7 @@ GaussianMixture GaussianMixture::FromConditionalList(
 }
 
 /* *******************************************************************************/
-GaussianMixture::Sum GaussianMixture::addTo(
+GaussianMixture::Sum GaussianMixture::add(
     const GaussianMixture::Sum &sum) const {
   using Y = GaussianFactorGraph;
   auto add = [](const Y &graph1, const Y &graph2) {
@@ -58,20 +58,21 @@ GaussianMixture::Sum GaussianMixture::addTo(
     result.push_back(graph2);
     return result;
   };
-  const Sum wrapped = wrappedConditionals();
+  const Sum wrapped = asGraph();
   return sum.empty() ? wrapped : sum.apply(wrapped, add);
 }
 
 /* *******************************************************************************/
-GaussianMixture::Sum GaussianMixture::wrappedConditionals() const {
-  auto wrap = [](const GaussianFactor::shared_ptr &factor) {
+GaussianMixture::Sum GaussianMixture::asGraph() const {
+  auto lambda = [](const GaussianFactor::shared_ptr &factor) {
     GaussianFactorGraph result;
     result.push_back(factor);
     return result;
   };
-  return {conditionals_, wrap};
+  return {conditionals_, lambda};
 }
 
+/* TODO(fan): this (for Testable) is not implemented! */
 bool GaussianMixture::equals(const HybridFactor &lf, double tol) const {
   return false;
 }
diff --git a/gtsam/hybrid/GaussianMixture.h b/gtsam/hybrid/GaussianMixture.h
index 4412e741cf..4379ea1cac 100644
--- a/gtsam/hybrid/GaussianMixture.h
+++ b/gtsam/hybrid/GaussianMixture.h
@@ -13,6 +13,7 @@
  * @file   GaussianMixture.h
  * @brief  A hybrid conditional in the Conditional Linear Gaussian scheme
  * @author Fan Jiang
+ * @author Varun Agrawal
  * @date   Mar 12, 2022
  */
 
@@ -55,10 +56,10 @@ class GaussianMixture : public HybridFactor,
   const Conditionals &conditionals();
 
   /* *******************************************************************************/
-  Sum addTo(const Sum &sum) const;
+  Sum add(const Sum &sum) const;
 
   /* *******************************************************************************/
-  Sum wrappedConditionals() const;
+  Sum asGraph() const;
 
   static This FromConditionalList(
       const KeyVector &continuousFrontals, const KeyVector &continuousParents,
@@ -71,4 +72,4 @@ class GaussianMixture : public HybridFactor,
       const std::string &s = "GaussianMixture\n",
       const KeyFormatter &formatter = DefaultKeyFormatter) const override;
 };
-}  // namespace gtsam
\ No newline at end of file
+}  // namespace gtsam
diff --git a/gtsam/hybrid/GaussianMixtureFactor.cpp b/gtsam/hybrid/GaussianMixtureFactor.cpp
index 3963e675ed..c853833222 100644
--- a/gtsam/hybrid/GaussianMixtureFactor.cpp
+++ b/gtsam/hybrid/GaussianMixtureFactor.cpp
@@ -62,7 +62,7 @@ const GaussianMixtureFactor::Factors &GaussianMixtureFactor::factors() {
 }
 
 /* *******************************************************************************/
-GaussianMixtureFactor::Sum GaussianMixtureFactor::addTo(
+GaussianMixtureFactor::Sum GaussianMixtureFactor::add(
     const GaussianMixtureFactor::Sum &sum) const {
   using Y = GaussianFactorGraph;
   auto add = [](const Y &graph1, const Y &graph2) {
diff --git a/gtsam/hybrid/GaussianMixtureFactor.h b/gtsam/hybrid/GaussianMixtureFactor.h
index 57a0cca030..1a3c582aeb 100644
--- a/gtsam/hybrid/GaussianMixtureFactor.h
+++ b/gtsam/hybrid/GaussianMixtureFactor.h
@@ -56,7 +56,7 @@ class GaussianMixtureFactor : public HybridFactor {
       const std::vector<GaussianFactor::shared_ptr> &factors);
 
   /* *******************************************************************************/
-  Sum addTo(const Sum &sum) const;
+  Sum add(const Sum &sum) const;
 
   /* *******************************************************************************/
   Sum wrappedFactors() const;
diff --git a/gtsam/hybrid/HybridFactor.cpp b/gtsam/hybrid/HybridFactor.cpp
index a5ce8bd4e3..a0c213a178 100644
--- a/gtsam/hybrid/HybridFactor.cpp
+++ b/gtsam/hybrid/HybridFactor.cpp
@@ -76,4 +76,4 @@ void HybridFactor::print(
 
 HybridFactor::~HybridFactor() = default;
 
-}  // namespace gtsam
\ No newline at end of file
+}  // namespace gtsam
diff --git a/gtsam/hybrid/HybridFactorGraph.cpp b/gtsam/hybrid/HybridFactorGraph.cpp
index ee6a5dd829..5ec562dc03 100644
--- a/gtsam/hybrid/HybridFactorGraph.cpp
+++ b/gtsam/hybrid/HybridFactorGraph.cpp
@@ -286,12 +286,12 @@ EliminateHybrid(const HybridFactorGraph &factors, const Ordering &frontalKeys) {
     if (f->isHybrid_) {
       auto cgmf = boost::dynamic_pointer_cast<GaussianMixtureFactor>(f);
       if (cgmf) {
-        sum = cgmf->addTo(sum);
+        sum = cgmf->add(sum);
       }
 
       auto gm = boost::dynamic_pointer_cast<HybridConditional>(f);
       if (gm) {
-        sum = gm->asMixture()->addTo(sum);
+        sum = gm->asMixture()->add(sum);
       }
 
     } else if (f->isContinuous_) {
diff --git a/gtsam/hybrid/HybridGaussianFactor.h b/gtsam/hybrid/HybridGaussianFactor.h
index 86c87a0ec0..4a7939cd44 100644
--- a/gtsam/hybrid/HybridGaussianFactor.h
+++ b/gtsam/hybrid/HybridGaussianFactor.h
@@ -24,7 +24,7 @@
 namespace gtsam {
 
 /**
- * A HybridGaussianFactor is a wrapper for GaussianFactor so that we do not have
+ * A HybridGaussianFactor is a layer over GaussianFactor so that we do not have
  * a diamond inheritance.
  */
 class HybridGaussianFactor : public HybridFactor {
diff --git a/gtsam/hybrid/tests/Switching.h b/gtsam/hybrid/tests/Switching.h
index f29b8d9d56..74d6823720 100644
--- a/gtsam/hybrid/tests/Switching.h
+++ b/gtsam/hybrid/tests/Switching.h
@@ -1,3 +1,21 @@
+/* ----------------------------------------------------------------------------
+
+ * GTSAM Copyright 2010, Georgia Tech Research Corporation,
+ * Atlanta, Georgia 30332-0415
+ * All Rights Reserved
+ * Authors: Frank Dellaert, et al. (see THANKS for the full author list)
+
+ * See LICENSE for the license information
+
+ * -------------------------------------------------------------------------- */
+
+/*
+ *  @file Switching.h
+ *  @date Mar 11, 2022
+ *  @author Varun Agrawal
+ *  @author Fan Jiang
+ */
+
 #include <gtsam/base/Matrix.h>
 #include <gtsam/discrete/DecisionTreeFactor.h>
 #include <gtsam/hybrid/GaussianMixtureFactor.h>
@@ -65,4 +83,4 @@ inline std::pair<KeyVector, std::vector<int>> makeBinaryOrdering(
   return {new_order, levels};
 }
 
-}  // namespace gtsam
\ No newline at end of file
+}  // namespace gtsam
diff --git a/gtsam/hybrid/tests/testHybridConditional.cpp b/gtsam/hybrid/tests/testHybridFactorGraph.cpp
similarity index 99%
rename from gtsam/hybrid/tests/testHybridConditional.cpp
rename to gtsam/hybrid/tests/testHybridFactorGraph.cpp
index 3d96ebd6ad..d8ff617b0b 100644
--- a/gtsam/hybrid/tests/testHybridConditional.cpp
+++ b/gtsam/hybrid/tests/testHybridFactorGraph.cpp
@@ -10,7 +10,7 @@
  * -------------------------------------------------------------------------- */
 
 /*
- *  @file testHybridConditional.cpp
+ *  @file testHybridFactorGraph.cpp
  *  @date Mar 11, 2022
  *  @author Fan Jiang
  */

From 04593ccb005d5ec0a0505fb511e33da929c8a29c Mon Sep 17 00:00:00 2001
From: Fan Jiang <prof.fan@foxmail.com>
Date: Sat, 21 May 2022 15:04:43 -0700
Subject: [PATCH 069/433] Fix compile error

---
 gtsam/hybrid/tests/testHybridFactorGraph.cpp | 20 +++++++++++---------
 1 file changed, 11 insertions(+), 9 deletions(-)

diff --git a/gtsam/hybrid/tests/testHybridFactorGraph.cpp b/gtsam/hybrid/tests/testHybridFactorGraph.cpp
index d8ff617b0b..79c16d21ab 100644
--- a/gtsam/hybrid/tests/testHybridFactorGraph.cpp
+++ b/gtsam/hybrid/tests/testHybridFactorGraph.cpp
@@ -72,7 +72,7 @@ void my_signal_handler(int signum) {
 #endif
 
 /* ************************************************************************* */
-TEST_DISABLED(HybridFactorGraph, creation) {
+TEST(HybridFactorGraph, creation) {
   HybridConditional test;
 
   HybridFactorGraph hfg;
@@ -89,7 +89,7 @@ TEST_DISABLED(HybridFactorGraph, creation) {
   GTSAM_PRINT(clgc);
 }
 
-TEST_DISABLED(HybridFactorGraph, eliminate) {
+TEST(HybridFactorGraph, eliminate) {
   HybridFactorGraph hfg;
 
   hfg.add(HybridGaussianFactor(JacobianFactor(0, I_3x3, Z_3x1)));
@@ -99,7 +99,7 @@ TEST_DISABLED(HybridFactorGraph, eliminate) {
   EXPECT_LONGS_EQUAL(result.first->size(), 1);
 }
 
-TEST_DISABLED(HybridFactorGraph, eliminateMultifrontal) {
+TEST(HybridFactorGraph, eliminateMultifrontal) {
   HybridFactorGraph hfg;
 
   DiscreteKey c(C(1), 2);
@@ -107,7 +107,9 @@ TEST_DISABLED(HybridFactorGraph, eliminateMultifrontal) {
   hfg.add(JacobianFactor(X(0), I_3x3, Z_3x1));
   hfg.add(HybridDiscreteFactor(DecisionTreeFactor(c, {2, 8})));
 
-  auto result = hfg.eliminatePartialMultifrontal({X(0)});
+  Ordering ordering;
+  ordering.push_back(X(0));
+  auto result = hfg.eliminatePartialMultifrontal(ordering);
 
   EXPECT_LONGS_EQUAL(result.first->size(), 1);
   EXPECT_LONGS_EQUAL(result.second->size(), 1);
@@ -136,7 +138,7 @@ TEST(HybridFactorGraph, eliminateFullSequentialEqualChance) {
   EXPECT_DOUBLES_EQUAL(0.6225, dc->operator()(dv), 1e-3);
 }
 
-TEST_DISABLED(HybridFactorGraph, eliminateFullSequentialSimple) {
+TEST(HybridFactorGraph, eliminateFullSequentialSimple) {
   std::cout << ">>>>>>>>>>>>>>\n";
 
   HybridFactorGraph hfg;
@@ -165,7 +167,7 @@ TEST_DISABLED(HybridFactorGraph, eliminateFullSequentialSimple) {
   GTSAM_PRINT(*result);
 }
 
-TEST_DISABLED(HybridFactorGraph, eliminateFullMultifrontalSimple) {
+TEST(HybridFactorGraph, eliminateFullMultifrontalSimple) {
   std::cout << ">>>>>>>>>>>>>>\n";
 
   HybridFactorGraph hfg;
@@ -199,7 +201,7 @@ TEST_DISABLED(HybridFactorGraph, eliminateFullMultifrontalSimple) {
   GTSAM_PRINT(*result->marginalFactor(C(2)));
 }
 
-TEST_DISABLED(HybridFactorGraph, eliminateFullMultifrontalCLG) {
+TEST(HybridFactorGraph, eliminateFullMultifrontalCLG) {
   std::cout << ">>>>>>>>>>>>>>\n";
 
   HybridFactorGraph hfg;
@@ -236,7 +238,7 @@ TEST_DISABLED(HybridFactorGraph, eliminateFullMultifrontalCLG) {
  * This test is about how to assemble the Bayes Tree roots after we do partial
  * elimination
  */
-TEST_DISABLED(HybridFactorGraph, eliminateFullMultifrontalTwoClique) {
+TEST(HybridFactorGraph, eliminateFullMultifrontalTwoClique) {
   std::cout << ">>>>>>>>>>>>>>\n";
 
   HybridFactorGraph hfg;
@@ -507,7 +509,7 @@ TEST(HybridFactorGraph, SwitchingISAM) {
   }
 }
 
-TEST_DISABLED(HybridFactorGraph, SwitchingTwoVar) {
+TEST(HybridFactorGraph, SwitchingTwoVar) {
   const int N = 7;
   auto hfg = makeSwitchingChain(N, X);
   hfg->push_back(*makeSwitchingChain(N, Y, D));

From cb75d92bf6938007fe7e3d358138584995e5b3f4 Mon Sep 17 00:00:00 2001
From: Varun Agrawal <varagrawal@gmail.com>
Date: Sun, 22 May 2022 16:39:06 -0400
Subject: [PATCH 070/433] use prior naming scheme for bias jacobians

---
 gtsam/navigation/CombinedImuFactor.cpp | 28 +++++++++++++-------------
 1 file changed, 14 insertions(+), 14 deletions(-)

diff --git a/gtsam/navigation/CombinedImuFactor.cpp b/gtsam/navigation/CombinedImuFactor.cpp
index c9f0a926b2..0813bbfd12 100644
--- a/gtsam/navigation/CombinedImuFactor.cpp
+++ b/gtsam/navigation/CombinedImuFactor.cpp
@@ -110,21 +110,21 @@ void PreintegratedCombinedMeasurements::integrateMeasurement(
   // and preintegrated measurements
 
   // Single Jacobians to propagate covariance
-  Matrix3 theta_H_omega = C.topRows<3>();
-  Matrix3 pos_H_acc = B.middleRows<3>(3);
-  Matrix3 vel_H_acc = B.bottomRows<3>();
+  Matrix3 theta_H_biasOmega = C.topRows<3>();
+  Matrix3 pos_H_biasAcc = B.middleRows<3>(3);
+  Matrix3 vel_H_biasAcc = B.bottomRows<3>();
 
-  Matrix3 theta_H_biasOmegaInit = -theta_H_omega;
-  Matrix3 pos_H_biasAccInit = -pos_H_acc;
-  Matrix3 vel_H_biasAccInit = -vel_H_acc;
+  Matrix3 theta_H_biasOmegaInit = -theta_H_biasOmega;
+  Matrix3 pos_H_biasAccInit = -pos_H_biasAcc;
+  Matrix3 vel_H_biasAccInit = -vel_H_biasAcc;
 
   // overall Jacobian wrt preintegrated measurements (df/dx)
   Eigen::Matrix<double, 15, 15> F;
   F.setZero();
   F.block<9, 9>(0, 0) = A;
-  F.block<3, 3>(0, 12) = theta_H_omega;
-  F.block<3, 3>(3, 9) = pos_H_acc;
-  F.block<3, 3>(6, 9) = vel_H_acc;
+  F.block<3, 3>(0, 12) = theta_H_biasOmega;
+  F.block<3, 3>(3, 9) = pos_H_biasAcc;
+  F.block<3, 3>(6, 9) = vel_H_biasAcc;
   F.block<6, 6>(9, 9) = I_6x6;
 
   // Update the uncertainty on the state (matrix F in [4]).
@@ -149,17 +149,17 @@ void PreintegratedCombinedMeasurements::integrateMeasurement(
 
   // BLOCK DIAGONAL TERMS
   D_R_R(&G_measCov_Gt) =
-      (theta_H_omega * (wCov / dt) * theta_H_omega.transpose())  //
+      (theta_H_biasOmega * (wCov / dt) * theta_H_biasOmega.transpose())  //
       +
       (theta_H_biasOmegaInit * bInitCov22 * theta_H_biasOmegaInit.transpose());
 
   D_t_t(&G_measCov_Gt) =
-      (pos_H_acc * (aCov / dt) * pos_H_acc.transpose())                   //
+      (pos_H_biasAcc * (aCov / dt) * pos_H_biasAcc.transpose())           //
       + (pos_H_biasAccInit * bInitCov11 * pos_H_biasAccInit.transpose())  //
       + (dt * iCov);
 
   D_v_v(&G_measCov_Gt) =
-      (vel_H_acc * (aCov / dt) * vel_H_acc.transpose())  //
+      (vel_H_biasAcc * (aCov / dt) * vel_H_biasAcc.transpose())  //
       + (vel_H_biasAccInit * bInitCov11 * vel_H_biasAccInit.transpose());
 
   D_a_a(&G_measCov_Gt) = dt * p().biasAccCovariance;
@@ -173,12 +173,12 @@ void PreintegratedCombinedMeasurements::integrateMeasurement(
   D_t_R(&G_measCov_Gt) =
       pos_H_biasAccInit * bInitCov12 * theta_H_biasOmegaInit.transpose();
   D_t_v(&G_measCov_Gt) =
-      (pos_H_acc * (aCov / dt) * vel_H_acc.transpose()) +
+      (pos_H_biasAcc * (aCov / dt) * vel_H_biasAcc.transpose()) +
       (pos_H_biasAccInit * bInitCov11 * vel_H_biasAccInit.transpose());
   D_v_R(&G_measCov_Gt) =
       vel_H_biasAccInit * bInitCov12 * theta_H_biasOmegaInit.transpose();
   D_v_t(&G_measCov_Gt) =
-      (vel_H_acc * (aCov / dt) * pos_H_acc.transpose()) +
+      (vel_H_biasAcc * (aCov / dt) * pos_H_biasAcc.transpose()) +
       (vel_H_biasAccInit * bInitCov11 * pos_H_biasAccInit.transpose());
 
   preintMeasCov_.noalias() += G_measCov_Gt;

From 2ae2cb6dc375a579d3c0754f45bf2c1060b22468 Mon Sep 17 00:00:00 2001
From: Fan Jiang <prof.fan@foxmail.com>
Date: Sun, 22 May 2022 14:16:13 -0700
Subject: [PATCH 071/433] Don't crash anymore

---
 python/gtsam/preamble/base.h             | 4 +++-
 python/gtsam/preamble/discrete.h         | 1 -
 python/gtsam/preamble/hybrid.h           | 2 +-
 python/gtsam/preamble/inference.h        | 2 --
 python/gtsam/specializations/inference.h | 1 +
 5 files changed, 5 insertions(+), 5 deletions(-)

diff --git a/python/gtsam/preamble/base.h b/python/gtsam/preamble/base.h
index 626b47ae4a..5cf633e653 100644
--- a/python/gtsam/preamble/base.h
+++ b/python/gtsam/preamble/base.h
@@ -11,6 +11,8 @@
  * mutations on Python side will not be reflected on C++.
  */
 
-PYBIND11_MAKE_OPAQUE(std::vector<gtsam::IndexPair>);
+PYBIND11_MAKE_OPAQUE(gtsam::IndexPairVector);
+
+PYBIND11_MAKE_OPAQUE(gtsam::IndexPairSet);
 
 PYBIND11_MAKE_OPAQUE(std::vector<gtsam::Matrix>);  // JacobianVector
diff --git a/python/gtsam/preamble/discrete.h b/python/gtsam/preamble/discrete.h
index 608508c32f..320e0ac718 100644
--- a/python/gtsam/preamble/discrete.h
+++ b/python/gtsam/preamble/discrete.h
@@ -13,4 +13,3 @@
 
 #include <pybind11/stl.h>
 
-PYBIND11_MAKE_OPAQUE(gtsam::DiscreteKeys);
diff --git a/python/gtsam/preamble/hybrid.h b/python/gtsam/preamble/hybrid.h
index 56a07cfdd1..5e5a71e48d 100644
--- a/python/gtsam/preamble/hybrid.h
+++ b/python/gtsam/preamble/hybrid.h
@@ -11,4 +11,4 @@
  * mutations on Python side will not be reflected on C++.
  */
 
-#include <pybind11/stl.h>
+PYBIND11_MAKE_OPAQUE(std::vector<gtsam::GaussianFactor::shared_ptr>);
diff --git a/python/gtsam/preamble/inference.h b/python/gtsam/preamble/inference.h
index 4106c794ac..d07a75f6fb 100644
--- a/python/gtsam/preamble/inference.h
+++ b/python/gtsam/preamble/inference.h
@@ -10,5 +10,3 @@
  * Without this they will be automatically converted to a Python object, and all
  * mutations on Python side will not be reflected on C++.
  */
-
-#include <pybind11/stl.h>
\ No newline at end of file
diff --git a/python/gtsam/specializations/inference.h b/python/gtsam/specializations/inference.h
index 22fe3beff6..9e23444ea2 100644
--- a/python/gtsam/specializations/inference.h
+++ b/python/gtsam/specializations/inference.h
@@ -11,3 +11,4 @@
  * and saves one copy operation.
  */
 
+py::bind_map<std::map<char, double>>(m_, "__MapCharDouble");

From b8299d7ed62b4dc6c4be9a98c5e02d3bdefdcbfb Mon Sep 17 00:00:00 2001
From: Fan Jiang <prof.fan@foxmail.com>
Date: Sun, 22 May 2022 17:11:27 -0700
Subject: [PATCH 072/433] Don't use Python dict method since it is not

---
 python/gtsam/tests/test_DiscreteBayesNet.py | 2 +-
 1 file changed, 1 insertion(+), 1 deletion(-)

diff --git a/python/gtsam/tests/test_DiscreteBayesNet.py b/python/gtsam/tests/test_DiscreteBayesNet.py
index 10c5db612a..ff2ba99d15 100644
--- a/python/gtsam/tests/test_DiscreteBayesNet.py
+++ b/python/gtsam/tests/test_DiscreteBayesNet.py
@@ -139,7 +139,7 @@ def test_dot(self):
         # Make sure we can *update* position hints
         writer = gtsam.DotWriter()
         ph: dict = writer.positionHints
-        ph.update({'a': 2})  # hint at symbol position
+        ph['a'] = 2 # hint at symbol position
         writer.positionHints = ph
 
         # Check the output of dot

From 74af969f68ce661fd296a24106878864fcedca57 Mon Sep 17 00:00:00 2001
From: Fan Jiang <prof.fan@foxmail.com>
Date: Sun, 22 May 2022 21:11:40 -0700
Subject: [PATCH 073/433] Trying to make MSVC happy

---
 gtsam/hybrid/HybridFactorGraph.cpp | 1 +
 1 file changed, 1 insertion(+)

diff --git a/gtsam/hybrid/HybridFactorGraph.cpp b/gtsam/hybrid/HybridFactorGraph.cpp
index 5ec562dc03..f44ad898ba 100644
--- a/gtsam/hybrid/HybridFactorGraph.cpp
+++ b/gtsam/hybrid/HybridFactorGraph.cpp
@@ -20,6 +20,7 @@
 
 #include <gtsam/base/utilities.h>
 #include <gtsam/discrete/Assignment.h>
+#include <gtsam/discrete/DiscreteEliminationTree.h>
 #include <gtsam/discrete/DiscreteFactorGraph.h>
 #include <gtsam/hybrid/GaussianMixture.h>
 #include <gtsam/hybrid/GaussianMixtureFactor.h>

From b215d3a3779e31ba04cd80b085e580445d3585ae Mon Sep 17 00:00:00 2001
From: Fan Jiang <prof.fan@foxmail.com>
Date: Sun, 22 May 2022 21:29:12 -0700
Subject: [PATCH 074/433] Address PR comments

---
 ...ure.cpp => GaussianMixtureConditional.cpp} | 27 ++++++++-------
 ...Mixture.h => GaussianMixtureConditional.h} | 34 +++++++++++++------
 gtsam/hybrid/GaussianMixtureFactor.cpp        |  4 +++
 gtsam/hybrid/GaussianMixtureFactor.h          |  2 --
 gtsam/hybrid/HybridBayesNet.h                 |  2 --
 gtsam/hybrid/HybridConditional.cpp            |  2 +-
 gtsam/hybrid/HybridConditional.h              | 10 +++---
 gtsam/hybrid/HybridFactorGraph.cpp            | 10 +++---
 gtsam/hybrid/hybrid.i                         |  8 ++---
 gtsam/hybrid/tests/testHybridFactorGraph.cpp  |  6 ++--
 10 files changed, 61 insertions(+), 44 deletions(-)
 rename gtsam/hybrid/{GaussianMixture.cpp => GaussianMixtureConditional.cpp} (72%)
 rename gtsam/hybrid/{GaussianMixture.h => GaussianMixtureConditional.h} (70%)

diff --git a/gtsam/hybrid/GaussianMixture.cpp b/gtsam/hybrid/GaussianMixtureConditional.cpp
similarity index 72%
rename from gtsam/hybrid/GaussianMixture.cpp
rename to gtsam/hybrid/GaussianMixtureConditional.cpp
index 66971b69ff..5fc3b4f832 100644
--- a/gtsam/hybrid/GaussianMixture.cpp
+++ b/gtsam/hybrid/GaussianMixtureConditional.cpp
@@ -10,7 +10,7 @@
  * -------------------------------------------------------------------------- */
 
 /**
- * @file   GaussianMixture.cpp
+ * @file   GaussianMixtureConditional.cpp
  * @brief  A hybrid conditional in the Conditional Linear Gaussian scheme
  * @author Fan Jiang
  * @author Varun Agrawal
@@ -20,38 +20,40 @@
 
 #include <gtsam/base/utilities.h>
 #include <gtsam/discrete/DecisionTree-inl.h>
-#include <gtsam/hybrid/GaussianMixture.h>
+#include <gtsam/hybrid/GaussianMixtureConditional.h>
 #include <gtsam/inference/Conditional-inst.h>
 #include <gtsam/linear/GaussianFactorGraph.h>
 
 namespace gtsam {
 
-GaussianMixture::GaussianMixture(
+GaussianMixtureConditional::GaussianMixtureConditional(
     const KeyVector &continuousFrontals, const KeyVector &continuousParents,
     const DiscreteKeys &discreteParents,
-    const GaussianMixture::Conditionals &conditionals)
+    const GaussianMixtureConditional::Conditionals &conditionals)
     : BaseFactor(CollectKeys(continuousFrontals, continuousParents),
                  discreteParents),
       BaseConditional(continuousFrontals.size()),
       conditionals_(conditionals) {}
 
-const GaussianMixture::Conditionals &GaussianMixture::conditionals() {
+/* *******************************************************************************/
+const GaussianMixtureConditional::Conditionals &GaussianMixtureConditional::conditionals() {
   return conditionals_;
 }
 
-GaussianMixture GaussianMixture::FromConditionalList(
+/* *******************************************************************************/
+GaussianMixtureConditional GaussianMixtureConditional::FromConditionalList(
     const KeyVector &continuousFrontals, const KeyVector &continuousParents,
     const DiscreteKeys &discreteParents,
     const std::vector<GaussianConditional::shared_ptr> &conditionalsList) {
   Conditionals dt(discreteParents, conditionalsList);
 
-  return GaussianMixture(continuousFrontals, continuousParents, discreteParents,
+  return GaussianMixtureConditional(continuousFrontals, continuousParents, discreteParents,
                          dt);
 }
 
 /* *******************************************************************************/
-GaussianMixture::Sum GaussianMixture::add(
-    const GaussianMixture::Sum &sum) const {
+GaussianMixtureConditional::Sum GaussianMixtureConditional::add(
+    const GaussianMixtureConditional::Sum &sum) const {
   using Y = GaussianFactorGraph;
   auto add = [](const Y &graph1, const Y &graph2) {
     auto result = graph1;
@@ -63,7 +65,7 @@ GaussianMixture::Sum GaussianMixture::add(
 }
 
 /* *******************************************************************************/
-GaussianMixture::Sum GaussianMixture::asGraph() const {
+GaussianMixtureConditional::Sum GaussianMixtureConditional::asGraph() const {
   auto lambda = [](const GaussianFactor::shared_ptr &factor) {
     GaussianFactorGraph result;
     result.push_back(factor);
@@ -73,11 +75,12 @@ GaussianMixture::Sum GaussianMixture::asGraph() const {
 }
 
 /* TODO(fan): this (for Testable) is not implemented! */
-bool GaussianMixture::equals(const HybridFactor &lf, double tol) const {
+bool GaussianMixtureConditional::equals(const HybridFactor &lf, double tol) const {
   return false;
 }
 
-void GaussianMixture::print(const std::string &s,
+/* *******************************************************************************/
+void GaussianMixtureConditional::print(const std::string &s,
                             const KeyFormatter &formatter) const {
   std::cout << s << ": ";
   if (isContinuous_) std::cout << "Cont. ";
diff --git a/gtsam/hybrid/GaussianMixture.h b/gtsam/hybrid/GaussianMixtureConditional.h
similarity index 70%
rename from gtsam/hybrid/GaussianMixture.h
rename to gtsam/hybrid/GaussianMixtureConditional.h
index 4379ea1cac..e0cf7c0501 100644
--- a/gtsam/hybrid/GaussianMixture.h
+++ b/gtsam/hybrid/GaussianMixtureConditional.h
@@ -10,7 +10,7 @@
  * -------------------------------------------------------------------------- */
 
 /**
- * @file   GaussianMixture.h
+ * @file   GaussianMixtureConditional.h
  * @brief  A hybrid conditional in the Conditional Linear Gaussian scheme
  * @author Fan Jiang
  * @author Varun Agrawal
@@ -25,13 +25,13 @@
 #include <gtsam/linear/GaussianConditional.h>
 
 namespace gtsam {
-class GaussianMixture : public HybridFactor,
-                        public Conditional<HybridFactor, GaussianMixture> {
+class GaussianMixtureConditional : public HybridFactor,
+                        public Conditional<HybridFactor, GaussianMixtureConditional> {
  public:
-  using This = GaussianMixture;
-  using shared_ptr = boost::shared_ptr<GaussianMixture>;
+  using This = GaussianMixtureConditional;
+  using shared_ptr = boost::shared_ptr<GaussianMixtureConditional>;
   using BaseFactor = HybridFactor;
-  using BaseConditional = Conditional<HybridFactor, GaussianMixture>;
+  using BaseConditional = Conditional<HybridFactor, GaussianMixtureConditional>;
 
   using Conditionals = DecisionTree<Key, GaussianConditional::shared_ptr>;
 
@@ -46,7 +46,7 @@ class GaussianMixture : public HybridFactor,
    * @param discreteParents the discrete parents. Will be placed last.
    * @param conditionals a decision tree of GaussianConditionals.
    */
-  GaussianMixture(const KeyVector &continuousFrontals,
+  GaussianMixtureConditional(const KeyVector &continuousFrontals,
                   const KeyVector &continuousParents,
                   const DiscreteKeys &discreteParents,
                   const Conditionals &conditionals);
@@ -55,21 +55,35 @@ class GaussianMixture : public HybridFactor,
 
   const Conditionals &conditionals();
 
-  /* *******************************************************************************/
+  /**
+   * @brief Combine Decision Trees
+   */
   Sum add(const Sum &sum) const;
 
-  /* *******************************************************************************/
+	/**
+	 * @brief Convert a DecisionTree of factors into a DT of Gaussian FGs.
+	 */
   Sum asGraph() const;
 
+	/**
+	 * @brief Make a Gaussian Mixture from a list of Gaussian conditionals
+	 * 
+	 * @param continuousFrontals The continuous frontal variables
+	 * @param continuousParents The continuous parent variables
+	 * @param discreteParents Discrete parents variables
+	 * @param conditionals List of conditionals
+	 */
   static This FromConditionalList(
       const KeyVector &continuousFrontals, const KeyVector &continuousParents,
       const DiscreteKeys &discreteParents,
       const std::vector<GaussianConditional::shared_ptr> &conditionals);
 
+	/* TODO: this is only a stub */
   bool equals(const HybridFactor &lf, double tol = 1e-9) const override;
 
+	/* print utility */
   void print(
-      const std::string &s = "GaussianMixture\n",
+      const std::string &s = "GaussianMixtureConditional\n",
       const KeyFormatter &formatter = DefaultKeyFormatter) const override;
 };
 }  // namespace gtsam
diff --git a/gtsam/hybrid/GaussianMixtureFactor.cpp b/gtsam/hybrid/GaussianMixtureFactor.cpp
index c853833222..65c5c70014 100644
--- a/gtsam/hybrid/GaussianMixtureFactor.cpp
+++ b/gtsam/hybrid/GaussianMixtureFactor.cpp
@@ -34,6 +34,7 @@ bool GaussianMixtureFactor::equals(const HybridFactor &lf, double tol) const {
   return false;
 }
 
+/* *******************************************************************************/
 GaussianMixtureFactor GaussianMixtureFactor::FromFactorList(
     const KeyVector &continuousKeys, const DiscreteKeys &discreteKeys,
     const std::vector<GaussianFactor::shared_ptr> &factorsList) {
@@ -42,6 +43,8 @@ GaussianMixtureFactor GaussianMixtureFactor::FromFactorList(
   return GaussianMixtureFactor(continuousKeys, discreteKeys, dt);
 }
 
+
+/* *******************************************************************************/
 void GaussianMixtureFactor::print(const std::string &s,
                                   const KeyFormatter &formatter) const {
   HybridFactor::print(s, formatter);
@@ -57,6 +60,7 @@ void GaussianMixtureFactor::print(const std::string &s,
       });
 }
 
+/* *******************************************************************************/
 const GaussianMixtureFactor::Factors &GaussianMixtureFactor::factors() {
   return factors_;
 }
diff --git a/gtsam/hybrid/GaussianMixtureFactor.h b/gtsam/hybrid/GaussianMixtureFactor.h
index 1a3c582aeb..f0f55911aa 100644
--- a/gtsam/hybrid/GaussianMixtureFactor.h
+++ b/gtsam/hybrid/GaussianMixtureFactor.h
@@ -55,10 +55,8 @@ class GaussianMixtureFactor : public HybridFactor {
       const KeyVector &continuousKeys, const DiscreteKeys &discreteKeys,
       const std::vector<GaussianFactor::shared_ptr> &factors);
 
-  /* *******************************************************************************/
   Sum add(const Sum &sum) const;
 
-  /* *******************************************************************************/
   Sum wrappedFactors() const;
 
   bool equals(const HybridFactor &lf, double tol = 1e-9) const override;
diff --git a/gtsam/hybrid/HybridBayesNet.h b/gtsam/hybrid/HybridBayesNet.h
index d7e2f33afe..4e411b781d 100644
--- a/gtsam/hybrid/HybridBayesNet.h
+++ b/gtsam/hybrid/HybridBayesNet.h
@@ -20,8 +20,6 @@
 #include <gtsam/hybrid/HybridConditional.h>
 #include <gtsam/inference/BayesNet.h>
 
-#include <iostream>  // TODO!
-
 namespace gtsam {
 
 /**
diff --git a/gtsam/hybrid/HybridConditional.cpp b/gtsam/hybrid/HybridConditional.cpp
index 48bee192c8..73e7747c6e 100644
--- a/gtsam/hybrid/HybridConditional.cpp
+++ b/gtsam/hybrid/HybridConditional.cpp
@@ -50,7 +50,7 @@ HybridConditional::HybridConditional(
 }
 
 HybridConditional::HybridConditional(
-    boost::shared_ptr<GaussianMixture> gaussianMixture)
+    boost::shared_ptr<GaussianMixtureConditional> gaussianMixture)
     : BaseFactor(KeyVector(gaussianMixture->keys().begin(),
                            gaussianMixture->keys().begin() +
                                gaussianMixture->nrContinuous),
diff --git a/gtsam/hybrid/HybridConditional.h b/gtsam/hybrid/HybridConditional.h
index 5d7ee2351e..76d5b48336 100644
--- a/gtsam/hybrid/HybridConditional.h
+++ b/gtsam/hybrid/HybridConditional.h
@@ -18,7 +18,7 @@
 #pragma once
 
 #include <gtsam/discrete/DiscreteConditional.h>
-#include <gtsam/hybrid/GaussianMixture.h>
+#include <gtsam/hybrid/GaussianMixtureConditional.h>
 #include <gtsam/hybrid/HybridFactor.h>
 #include <gtsam/hybrid/HybridFactorGraph.h>
 #include <gtsam/inference/Conditional.h>
@@ -42,7 +42,7 @@ class HybridFactorGraph;
  * As a type-erased variant of:
  * - DiscreteConditional
  * - GaussianConditional
- * - GaussianMixture
+ * - GaussianMixtureConditional
  *
  * The reason why this is important is that `Conditional<T>` is a CRTP class.
  * CRTP is static polymorphism such that all CRTP classes, while bearing the
@@ -93,11 +93,11 @@ class GTSAM_EXPORT HybridConditional
 
   HybridConditional(boost::shared_ptr<DiscreteConditional> discreteConditional);
 
-  HybridConditional(boost::shared_ptr<GaussianMixture> gaussianMixture);
+  HybridConditional(boost::shared_ptr<GaussianMixtureConditional> gaussianMixture);
 
-  GaussianMixture::shared_ptr asMixture() {
+  GaussianMixtureConditional::shared_ptr asMixture() {
     if (!isHybrid_) throw std::invalid_argument("Not a mixture");
-    return boost::static_pointer_cast<GaussianMixture>(inner);
+    return boost::static_pointer_cast<GaussianMixtureConditional>(inner);
   }
 
   DiscreteConditional::shared_ptr asDiscreteConditional() {
diff --git a/gtsam/hybrid/HybridFactorGraph.cpp b/gtsam/hybrid/HybridFactorGraph.cpp
index f44ad898ba..699e6d2c69 100644
--- a/gtsam/hybrid/HybridFactorGraph.cpp
+++ b/gtsam/hybrid/HybridFactorGraph.cpp
@@ -22,7 +22,7 @@
 #include <gtsam/discrete/Assignment.h>
 #include <gtsam/discrete/DiscreteEliminationTree.h>
 #include <gtsam/discrete/DiscreteFactorGraph.h>
-#include <gtsam/hybrid/GaussianMixture.h>
+#include <gtsam/hybrid/GaussianMixtureConditional.h>
 #include <gtsam/hybrid/GaussianMixtureFactor.h>
 #include <gtsam/hybrid/HybridConditional.h>
 #include <gtsam/hybrid/HybridDiscreteFactor.h>
@@ -104,7 +104,7 @@ EliminateHybrid(const HybridFactorGraph &factors, const Ordering &frontalKeys) {
   // Because of all these reasons, we need to think very carefully about how to
   // implement the hybrid factors so that we do not get poor performance.
   //
-  // The first thing is how to represent the GaussianMixture. A very possible
+  // The first thing is how to represent the GaussianMixtureConditional. A very possible
   // scenario is that the incoming factors will have different levels of
   // discrete keys. For example, imagine we are going to eliminate the fragment:
   // $\phi(x1,c1,c2)$, $\phi(x1,c2,c3)$, which is perfectly valid. Now we will
@@ -358,11 +358,11 @@ EliminateHybrid(const HybridFactorGraph &factors, const Ordering &frontalKeys) {
 
   auto pair = unzip(eliminationResults);
 
-  const GaussianMixture::Conditionals &conditionals = pair.first;
+  const GaussianMixtureConditional::Conditionals &conditionals = pair.first;
   const GaussianMixtureFactor::Factors &separatorFactors = pair.second;
 
-  // Create the GaussianMixture from the conditionals
-  auto conditional = boost::make_shared<GaussianMixture>(
+  // Create the GaussianMixtureConditional from the conditionals
+  auto conditional = boost::make_shared<GaussianMixtureConditional>(
       frontalKeys, keysOfSeparator, discreteSeparator, conditionals);
 
   if (DEBUG) {
diff --git a/gtsam/hybrid/hybrid.i b/gtsam/hybrid/hybrid.i
index 0525750112..5a76aaf482 100644
--- a/gtsam/hybrid/hybrid.i
+++ b/gtsam/hybrid/hybrid.i
@@ -38,16 +38,16 @@ class GaussianMixtureFactor : gtsam::HybridFactor {
                  gtsam::DefaultKeyFormatter) const;
 };
 
-#include <gtsam/hybrid/GaussianMixture.h>
-class GaussianMixture : gtsam::HybridFactor {
-  static GaussianMixture FromConditionalList(
+#include <gtsam/hybrid/GaussianMixtureConditional.h>
+class GaussianMixtureConditional : gtsam::HybridFactor {
+  static GaussianMixtureConditional FromConditionalList(
       const gtsam::KeyVector& continuousFrontals,
       const gtsam::KeyVector& continuousParents,
       const gtsam::DiscreteKeys& discreteParents,
       const std::vector<gtsam::GaussianConditional::shared_ptr>&
           conditionalsList);
 
-  void print(string s = "GaussianMixture\n",
+  void print(string s = "GaussianMixtureConditional\n",
              const gtsam::KeyFormatter& keyFormatter =
                  gtsam::DefaultKeyFormatter) const;
 };
diff --git a/gtsam/hybrid/tests/testHybridFactorGraph.cpp b/gtsam/hybrid/tests/testHybridFactorGraph.cpp
index 79c16d21ab..4986cc2a7d 100644
--- a/gtsam/hybrid/tests/testHybridFactorGraph.cpp
+++ b/gtsam/hybrid/tests/testHybridFactorGraph.cpp
@@ -20,7 +20,7 @@
 #include <gtsam/discrete/DecisionTreeFactor.h>
 #include <gtsam/discrete/DiscreteKey.h>
 #include <gtsam/discrete/DiscreteValues.h>
-#include <gtsam/hybrid/GaussianMixture.h>
+#include <gtsam/hybrid/GaussianMixtureConditional.h>
 #include <gtsam/hybrid/GaussianMixtureFactor.h>
 #include <gtsam/hybrid/HybridBayesNet.h>
 #include <gtsam/hybrid/HybridBayesTree.h>
@@ -79,8 +79,8 @@ TEST(HybridFactorGraph, creation) {
 
   hfg.add(HybridGaussianFactor(JacobianFactor(0, I_3x3, Z_3x1)));
 
-  GaussianMixture clgc({X(0)}, {X(1)}, DiscreteKeys(DiscreteKey{C(0), 2}),
-                       GaussianMixture::Conditionals(
+  GaussianMixtureConditional clgc({X(0)}, {X(1)}, DiscreteKeys(DiscreteKey{C(0), 2}),
+                       GaussianMixtureConditional::Conditionals(
                            C(0),
                            boost::make_shared<GaussianConditional>(
                                X(0), Z_3x1, I_3x3, X(1), I_3x3),

From e36583e6d530080fc6062331a6a13629f21bce79 Mon Sep 17 00:00:00 2001
From: Varun Agrawal <varagrawal@gmail.com>
Date: Mon, 23 May 2022 20:37:57 -0400
Subject: [PATCH 075/433] include missing headers for msvc and fix warning

---
 gtsam/hybrid/HybridConditional.cpp | 2 +-
 gtsam/hybrid/HybridFactorGraph.cpp | 9 ++++++---
 2 files changed, 7 insertions(+), 4 deletions(-)

diff --git a/gtsam/hybrid/HybridConditional.cpp b/gtsam/hybrid/HybridConditional.cpp
index 73e7747c6e..5b3c9d7b4d 100644
--- a/gtsam/hybrid/HybridConditional.cpp
+++ b/gtsam/hybrid/HybridConditional.cpp
@@ -66,7 +66,7 @@ void HybridConditional::print(const std::string &s,
   if (isDiscrete_) std::cout << "Disc. ";
   if (isHybrid_) std::cout << "Hybr. ";
   std::cout << "P(";
-  int index = 0;
+  size_t index = 0;
   const size_t N = keys().size();
   const size_t contN = N - discreteKeys_.size();
   while (index < N) {
diff --git a/gtsam/hybrid/HybridFactorGraph.cpp b/gtsam/hybrid/HybridFactorGraph.cpp
index 699e6d2c69..b72f50e8da 100644
--- a/gtsam/hybrid/HybridFactorGraph.cpp
+++ b/gtsam/hybrid/HybridFactorGraph.cpp
@@ -22,6 +22,7 @@
 #include <gtsam/discrete/Assignment.h>
 #include <gtsam/discrete/DiscreteEliminationTree.h>
 #include <gtsam/discrete/DiscreteFactorGraph.h>
+#include <gtsam/discrete/DiscreteJunctionTree.h>
 #include <gtsam/hybrid/GaussianMixtureConditional.h>
 #include <gtsam/hybrid/GaussianMixtureFactor.h>
 #include <gtsam/hybrid/HybridConditional.h>
@@ -34,6 +35,7 @@
 #include <gtsam/inference/EliminateableFactorGraph-inst.h>
 #include <gtsam/inference/Key.h>
 #include <gtsam/linear/GaussianConditional.h>
+#include <gtsam/linear/GaussianEliminationTree.h>
 #include <gtsam/linear/GaussianFactorGraph.h>
 #include <gtsam/linear/HessianFactor.h>
 #include <gtsam/linear/JacobianFactor.h>
@@ -104,9 +106,10 @@ EliminateHybrid(const HybridFactorGraph &factors, const Ordering &frontalKeys) {
   // Because of all these reasons, we need to think very carefully about how to
   // implement the hybrid factors so that we do not get poor performance.
   //
-  // The first thing is how to represent the GaussianMixtureConditional. A very possible
-  // scenario is that the incoming factors will have different levels of
-  // discrete keys. For example, imagine we are going to eliminate the fragment:
+  // The first thing is how to represent the GaussianMixtureConditional. A very
+  // possible scenario is that the incoming factors will have different levels
+  // of discrete keys. For example, imagine we are going to eliminate the
+  // fragment:
   // $\phi(x1,c1,c2)$, $\phi(x1,c2,c3)$, which is perfectly valid. Now we will
   // need to know how to retrieve the corresponding continuous densities for the
   // assi- -gnment (c1,c2,c3) (OR (c2,c3,c1)! note there is NO defined order!).

From e325cd1c4bce9f58322d13d8952f639396b62a3d Mon Sep 17 00:00:00 2001
From: Varun Agrawal <varagrawal@gmail.com>
Date: Tue, 24 May 2022 00:14:20 -0400
Subject: [PATCH 076/433] include GaussianJunctionTree

---
 gtsam/hybrid/HybridFactorGraph.cpp | 1 +
 1 file changed, 1 insertion(+)

diff --git a/gtsam/hybrid/HybridFactorGraph.cpp b/gtsam/hybrid/HybridFactorGraph.cpp
index b72f50e8da..cb961b807a 100644
--- a/gtsam/hybrid/HybridFactorGraph.cpp
+++ b/gtsam/hybrid/HybridFactorGraph.cpp
@@ -37,6 +37,7 @@
 #include <gtsam/linear/GaussianConditional.h>
 #include <gtsam/linear/GaussianEliminationTree.h>
 #include <gtsam/linear/GaussianFactorGraph.h>
+#include <gtsam/linear/GaussianJunctionTree.h>
 #include <gtsam/linear/HessianFactor.h>
 #include <gtsam/linear/JacobianFactor.h>
 

From eb074e7424c8747727e7af04ff535e7c50e1a46e Mon Sep 17 00:00:00 2001
From: Varun Agrawal <varagrawal@gmail.com>
Date: Tue, 24 May 2022 11:36:12 -0400
Subject: [PATCH 077/433] run formatting and rename wrappedFactors to
 asGaussianFactorGraphTree

---
 gtsam/hybrid/GaussianMixtureConditional.cpp | 23 +++++----
 gtsam/hybrid/GaussianMixtureConditional.h   | 43 +++++++++--------
 gtsam/hybrid/GaussianMixtureFactor.cpp      | 11 +++--
 gtsam/hybrid/GaussianMixtureFactor.h        | 11 ++++-
 gtsam/hybrid/HybridBayesTree.cpp            |  4 +-
 gtsam/hybrid/HybridBayesTree.h              |  4 +-
 gtsam/hybrid/HybridConditional.h            |  3 +-
 gtsam/hybrid/HybridDiscreteFactor.cpp       |  5 +-
 gtsam/hybrid/HybridDiscreteFactor.h         |  5 +-
 gtsam/hybrid/HybridEliminationTree.cpp      | 15 +++---
 gtsam/hybrid/HybridFactor.cpp               |  5 +-
 gtsam/hybrid/HybridFactorGraph.cpp          |  4 +-
 gtsam/hybrid/HybridJunctionTree.h           | 52 +++++++++++----------
 13 files changed, 103 insertions(+), 82 deletions(-)

diff --git a/gtsam/hybrid/GaussianMixtureConditional.cpp b/gtsam/hybrid/GaussianMixtureConditional.cpp
index 5fc3b4f832..f0f3e8359c 100644
--- a/gtsam/hybrid/GaussianMixtureConditional.cpp
+++ b/gtsam/hybrid/GaussianMixtureConditional.cpp
@@ -36,7 +36,8 @@ GaussianMixtureConditional::GaussianMixtureConditional(
       conditionals_(conditionals) {}
 
 /* *******************************************************************************/
-const GaussianMixtureConditional::Conditionals &GaussianMixtureConditional::conditionals() {
+const GaussianMixtureConditional::Conditionals &
+GaussianMixtureConditional::conditionals() {
   return conditionals_;
 }
 
@@ -47,8 +48,8 @@ GaussianMixtureConditional GaussianMixtureConditional::FromConditionalList(
     const std::vector<GaussianConditional::shared_ptr> &conditionalsList) {
   Conditionals dt(discreteParents, conditionalsList);
 
-  return GaussianMixtureConditional(continuousFrontals, continuousParents, discreteParents,
-                         dt);
+  return GaussianMixtureConditional(continuousFrontals, continuousParents,
+                                    discreteParents, dt);
 }
 
 /* *******************************************************************************/
@@ -60,12 +61,13 @@ GaussianMixtureConditional::Sum GaussianMixtureConditional::add(
     result.push_back(graph2);
     return result;
   };
-  const Sum wrapped = asGraph();
-  return sum.empty() ? wrapped : sum.apply(wrapped, add);
+  const Sum tree = asGaussianFactorGraphTree();
+  return sum.empty() ? tree : sum.apply(tree, add);
 }
 
 /* *******************************************************************************/
-GaussianMixtureConditional::Sum GaussianMixtureConditional::asGraph() const {
+GaussianMixtureConditional::Sum
+GaussianMixtureConditional::asGaussianFactorGraphTree() const {
   auto lambda = [](const GaussianFactor::shared_ptr &factor) {
     GaussianFactorGraph result;
     result.push_back(factor);
@@ -74,14 +76,15 @@ GaussianMixtureConditional::Sum GaussianMixtureConditional::asGraph() const {
   return {conditionals_, lambda};
 }
 
-/* TODO(fan): this (for Testable) is not implemented! */
-bool GaussianMixtureConditional::equals(const HybridFactor &lf, double tol) const {
-  return false;
+/* *******************************************************************************/
+bool GaussianMixtureConditional::equals(const HybridFactor &lf,
+                                        double tol) const {
+  return BaseFactor::equals(lf, tol);
 }
 
 /* *******************************************************************************/
 void GaussianMixtureConditional::print(const std::string &s,
-                            const KeyFormatter &formatter) const {
+                                       const KeyFormatter &formatter) const {
   std::cout << s << ": ";
   if (isContinuous_) std::cout << "Cont. ";
   if (isDiscrete_) std::cout << "Disc. ";
diff --git a/gtsam/hybrid/GaussianMixtureConditional.h b/gtsam/hybrid/GaussianMixtureConditional.h
index e0cf7c0501..3c74115f8b 100644
--- a/gtsam/hybrid/GaussianMixtureConditional.h
+++ b/gtsam/hybrid/GaussianMixtureConditional.h
@@ -25,8 +25,9 @@
 #include <gtsam/linear/GaussianConditional.h>
 
 namespace gtsam {
-class GaussianMixtureConditional : public HybridFactor,
-                        public Conditional<HybridFactor, GaussianMixtureConditional> {
+class GaussianMixtureConditional
+    : public HybridFactor,
+      public Conditional<HybridFactor, GaussianMixtureConditional> {
  public:
   using This = GaussianMixtureConditional;
   using shared_ptr = boost::shared_ptr<GaussianMixtureConditional>;
@@ -47,9 +48,9 @@ class GaussianMixtureConditional : public HybridFactor,
    * @param conditionals a decision tree of GaussianConditionals.
    */
   GaussianMixtureConditional(const KeyVector &continuousFrontals,
-                  const KeyVector &continuousParents,
-                  const DiscreteKeys &discreteParents,
-                  const Conditionals &conditionals);
+                             const KeyVector &continuousParents,
+                             const DiscreteKeys &discreteParents,
+                             const Conditionals &conditionals);
 
   using Sum = DecisionTree<Key, GaussianFactorGraph>;
 
@@ -60,30 +61,32 @@ class GaussianMixtureConditional : public HybridFactor,
    */
   Sum add(const Sum &sum) const;
 
-	/**
-	 * @brief Convert a DecisionTree of factors into a DT of Gaussian FGs.
-	 */
-  Sum asGraph() const;
-
-	/**
-	 * @brief Make a Gaussian Mixture from a list of Gaussian conditionals
-	 * 
-	 * @param continuousFrontals The continuous frontal variables
-	 * @param continuousParents The continuous parent variables
-	 * @param discreteParents Discrete parents variables
-	 * @param conditionals List of conditionals
-	 */
+  /**
+   * @brief Make a Gaussian Mixture from a list of Gaussian conditionals
+   *
+   * @param continuousFrontals The continuous frontal variables
+   * @param continuousParents The continuous parent variables
+   * @param discreteParents Discrete parents variables
+   * @param conditionals List of conditionals
+   */
   static This FromConditionalList(
       const KeyVector &continuousFrontals, const KeyVector &continuousParents,
       const DiscreteKeys &discreteParents,
       const std::vector<GaussianConditional::shared_ptr> &conditionals);
 
-	/* TODO: this is only a stub */
+  /// Test equality with base HybridFactor
   bool equals(const HybridFactor &lf, double tol = 1e-9) const override;
 
-	/* print utility */
+  /* print utility */
   void print(
       const std::string &s = "GaussianMixtureConditional\n",
       const KeyFormatter &formatter = DefaultKeyFormatter) const override;
+
+ protected:
+  /**
+   * @brief Convert a DecisionTree of factors into a DT of Gaussian FGs.
+   */
+  Sum asGaussianFactorGraphTree() const;
 };
+
 }  // namespace gtsam
diff --git a/gtsam/hybrid/GaussianMixtureFactor.cpp b/gtsam/hybrid/GaussianMixtureFactor.cpp
index 65c5c70014..3df274db3f 100644
--- a/gtsam/hybrid/GaussianMixtureFactor.cpp
+++ b/gtsam/hybrid/GaussianMixtureFactor.cpp
@@ -26,10 +26,13 @@
 
 namespace gtsam {
 
+/* *******************************************************************************/
 GaussianMixtureFactor::GaussianMixtureFactor(const KeyVector &continuousKeys,
                                              const DiscreteKeys &discreteKeys,
                                              const Factors &factors)
     : Base(continuousKeys, discreteKeys), factors_(factors) {}
+
+/* *******************************************************************************/
 bool GaussianMixtureFactor::equals(const HybridFactor &lf, double tol) const {
   return false;
 }
@@ -43,7 +46,6 @@ GaussianMixtureFactor GaussianMixtureFactor::FromFactorList(
   return GaussianMixtureFactor(continuousKeys, discreteKeys, dt);
 }
 
-
 /* *******************************************************************************/
 void GaussianMixtureFactor::print(const std::string &s,
                                   const KeyFormatter &formatter) const {
@@ -74,12 +76,13 @@ GaussianMixtureFactor::Sum GaussianMixtureFactor::add(
     result.push_back(graph2);
     return result;
   };
-  const Sum wrapped = wrappedFactors();
-  return sum.empty() ? wrapped : sum.apply(wrapped, add);
+  const Sum tree = asGaussianFactorGraphTree();
+  return sum.empty() ? tree : sum.apply(tree, add);
 }
 
 /* *******************************************************************************/
-GaussianMixtureFactor::Sum GaussianMixtureFactor::wrappedFactors() const {
+GaussianMixtureFactor::Sum GaussianMixtureFactor::asGaussianFactorGraphTree()
+    const {
   auto wrap = [](const GaussianFactor::shared_ptr &factor) {
     GaussianFactorGraph result;
     result.push_back(factor);
diff --git a/gtsam/hybrid/GaussianMixtureFactor.h b/gtsam/hybrid/GaussianMixtureFactor.h
index f0f55911aa..c6389c5400 100644
--- a/gtsam/hybrid/GaussianMixtureFactor.h
+++ b/gtsam/hybrid/GaussianMixtureFactor.h
@@ -57,13 +57,20 @@ class GaussianMixtureFactor : public HybridFactor {
 
   Sum add(const Sum &sum) const;
 
-  Sum wrappedFactors() const;
-
   bool equals(const HybridFactor &lf, double tol = 1e-9) const override;
 
   void print(
       const std::string &s = "HybridFactor\n",
       const KeyFormatter &formatter = DefaultKeyFormatter) const override;
+
+ protected:
+  /**
+   * @brief Helper function to return factors and functional to create a
+   * DecisionTree of Gaussian Factor Graphs.
+   *
+   * @return Sum (DecisionTree<Key, GaussianFactorGraph)
+   */
+  Sum asGaussianFactorGraphTree() const;
 };
 
 }  // namespace gtsam
diff --git a/gtsam/hybrid/HybridBayesTree.cpp b/gtsam/hybrid/HybridBayesTree.cpp
index 85e6c84ae0..4262028613 100644
--- a/gtsam/hybrid/HybridBayesTree.cpp
+++ b/gtsam/hybrid/HybridBayesTree.cpp
@@ -17,10 +17,10 @@
  */
 
 #include <gtsam/base/treeTraversal-inst.h>
+#include <gtsam/hybrid/HybridBayesNet.h>
+#include <gtsam/hybrid/HybridBayesTree.h>
 #include <gtsam/inference/BayesTree-inst.h>
 #include <gtsam/inference/BayesTreeCliqueBase-inst.h>
-#include <gtsam/hybrid/HybridBayesTree.h>
-#include <gtsam/hybrid/HybridBayesNet.h>
 
 namespace gtsam {
 
diff --git a/gtsam/hybrid/HybridBayesTree.h b/gtsam/hybrid/HybridBayesTree.h
index 626f2b10c3..74bd234d81 100644
--- a/gtsam/hybrid/HybridBayesTree.h
+++ b/gtsam/hybrid/HybridBayesTree.h
@@ -73,8 +73,8 @@ class GTSAM_EXPORT HybridBayesTree : public BayesTree<HybridBayesTreeClique> {
 /* This does special stuff for the hybrid case */
 template <class CLIQUE>
 class BayesTreeOrphanWrapper<
-    CLIQUE,
-    typename std::enable_if<boost::is_same<CLIQUE, HybridBayesTreeClique>::value> >
+    CLIQUE, typename std::enable_if<
+                boost::is_same<CLIQUE, HybridBayesTreeClique>::value> >
     : public CLIQUE::ConditionalType {
  public:
   typedef CLIQUE CliqueType;
diff --git a/gtsam/hybrid/HybridConditional.h b/gtsam/hybrid/HybridConditional.h
index 76d5b48336..3bc25414ed 100644
--- a/gtsam/hybrid/HybridConditional.h
+++ b/gtsam/hybrid/HybridConditional.h
@@ -93,7 +93,8 @@ class GTSAM_EXPORT HybridConditional
 
   HybridConditional(boost::shared_ptr<DiscreteConditional> discreteConditional);
 
-  HybridConditional(boost::shared_ptr<GaussianMixtureConditional> gaussianMixture);
+  HybridConditional(
+      boost::shared_ptr<GaussianMixtureConditional> gaussianMixture);
 
   GaussianMixtureConditional::shared_ptr asMixture() {
     if (!isHybrid_) throw std::invalid_argument("Not a mixture");
diff --git a/gtsam/hybrid/HybridDiscreteFactor.cpp b/gtsam/hybrid/HybridDiscreteFactor.cpp
index be5659f047..54b1931968 100644
--- a/gtsam/hybrid/HybridDiscreteFactor.cpp
+++ b/gtsam/hybrid/HybridDiscreteFactor.cpp
@@ -19,15 +19,16 @@
 #include <gtsam/hybrid/HybridDiscreteFactor.h>
 
 #include <boost/make_shared.hpp>
+
 #include "gtsam/discrete/DecisionTreeFactor.h"
 
 namespace gtsam {
 
 // TODO(fan): THIS IS VERY VERY DIRTY! We need to get DiscreteFactor right!
 HybridDiscreteFactor::HybridDiscreteFactor(DiscreteFactor::shared_ptr other)
-    : Base(boost::dynamic_pointer_cast<DecisionTreeFactor>(other)->discreteKeys()) {
+    : Base(boost::dynamic_pointer_cast<DecisionTreeFactor>(other)
+               ->discreteKeys()) {
   inner = other;
-
 }
 
 HybridDiscreteFactor::HybridDiscreteFactor(DecisionTreeFactor &&dtf)
diff --git a/gtsam/hybrid/HybridDiscreteFactor.h b/gtsam/hybrid/HybridDiscreteFactor.h
index 809510eac5..0f731f8b53 100644
--- a/gtsam/hybrid/HybridDiscreteFactor.h
+++ b/gtsam/hybrid/HybridDiscreteFactor.h
@@ -24,8 +24,9 @@
 namespace gtsam {
 
 /**
- * A HybridDiscreteFactor is a wrapper for DiscreteFactor, so we hide the
- * implementation of DiscreteFactor, and thus avoiding diamond inheritance.
+ * A HybridDiscreteFactor is a thin container for DiscreteFactor, which allows
+ * us to hide the implementation of DiscreteFactor and thus avoid diamond
+ * inheritance.
  */
 class HybridDiscreteFactor : public HybridFactor {
  public:
diff --git a/gtsam/hybrid/HybridEliminationTree.cpp b/gtsam/hybrid/HybridEliminationTree.cpp
index ff106095a5..ecac96724a 100644
--- a/gtsam/hybrid/HybridEliminationTree.cpp
+++ b/gtsam/hybrid/HybridEliminationTree.cpp
@@ -15,8 +15,8 @@
  * @author Fan Jiang
  */
 
-#include <gtsam/inference/EliminationTree-inst.h>
 #include <gtsam/hybrid/HybridEliminationTree.h>
+#include <gtsam/inference/EliminationTree-inst.h>
 
 namespace gtsam {
 
@@ -26,18 +26,17 @@ template class EliminationTree<HybridBayesNet, HybridFactorGraph>;
 /* ************************************************************************* */
 HybridEliminationTree::HybridEliminationTree(
     const HybridFactorGraph& factorGraph, const VariableIndex& structure,
-    const Ordering& order) :
-    Base(factorGraph, structure, order) {}
+    const Ordering& order)
+    : Base(factorGraph, structure, order) {}
 
 /* ************************************************************************* */
 HybridEliminationTree::HybridEliminationTree(
-    const HybridFactorGraph& factorGraph, const Ordering& order) :
-    Base(factorGraph, order) {}
+    const HybridFactorGraph& factorGraph, const Ordering& order)
+    : Base(factorGraph, order) {}
 
 /* ************************************************************************* */
-bool HybridEliminationTree::equals(const This& other, double tol) const
-{
+bool HybridEliminationTree::equals(const This& other, double tol) const {
   return Base::equals(other, tol);
 }
 
-}
+}  // namespace gtsam
diff --git a/gtsam/hybrid/HybridFactor.cpp b/gtsam/hybrid/HybridFactor.cpp
index a0c213a178..1e9955c58a 100644
--- a/gtsam/hybrid/HybridFactor.cpp
+++ b/gtsam/hybrid/HybridFactor.cpp
@@ -64,9 +64,8 @@ HybridFactor::HybridFactor(const DiscreteKeys &discreteKeys)
       isDiscrete_(true),
       discreteKeys_(discreteKeys) {}
 
-void HybridFactor::print(
-      const std::string &s,
-      const KeyFormatter &formatter) const {
+void HybridFactor::print(const std::string &s,
+                         const KeyFormatter &formatter) const {
   std::cout << s;
   if (isContinuous_) std::cout << "Cont. ";
   if (isDiscrete_) std::cout << "Disc. ";
diff --git a/gtsam/hybrid/HybridFactorGraph.cpp b/gtsam/hybrid/HybridFactorGraph.cpp
index cb961b807a..954ee57a61 100644
--- a/gtsam/hybrid/HybridFactorGraph.cpp
+++ b/gtsam/hybrid/HybridFactorGraph.cpp
@@ -229,8 +229,8 @@ EliminateHybrid(const HybridFactorGraph &factors, const Ordering &frontalKeys) {
         if (p) {
           gfg.push_back(boost::static_pointer_cast<GaussianConditional>(p));
         } else {
-          // It is an orphan wrapper
-          if (DEBUG) std::cout << "Got an orphan wrapper conditional\n";
+          // It is an orphan wrapped conditional
+          if (DEBUG) std::cout << "Got an orphan conditional\n";
         }
       }
     }
diff --git a/gtsam/hybrid/HybridJunctionTree.h b/gtsam/hybrid/HybridJunctionTree.h
index 1901e7007b..824fa4f850 100644
--- a/gtsam/hybrid/HybridJunctionTree.h
+++ b/gtsam/hybrid/HybridJunctionTree.h
@@ -17,8 +17,8 @@
 
 #pragma once
 
-#include <gtsam/hybrid/HybridFactorGraph.h>
 #include <gtsam/hybrid/HybridBayesTree.h>
+#include <gtsam/hybrid/HybridFactorGraph.h>
 #include <gtsam/inference/JunctionTree.h>
 
 namespace gtsam {
@@ -27,41 +27,45 @@ namespace gtsam {
 class HybridEliminationTree;
 
 /**
- * An EliminatableClusterTree, i.e., a set of variable clusters with factors, arranged in a tree,
- * with the additional property that it represents the clique tree associated with a Bayes net.
+ * An EliminatableClusterTree, i.e., a set of variable clusters with factors,
+ * arranged in a tree, with the additional property that it represents the
+ * clique tree associated with a Bayes net.
  *
  * In GTSAM a junction tree is an intermediate data structure in multifrontal
  * variable elimination.  Each node is a cluster of factors, along with a
- * clique of variables that are eliminated all at once. In detail, every node k represents
- * a clique (maximal fully connected subset) of an associated chordal graph, such as a
- * chordal Bayes net resulting from elimination.
+ * clique of variables that are eliminated all at once. In detail, every node k
+ * represents a clique (maximal fully connected subset) of an associated chordal
+ * graph, such as a chordal Bayes net resulting from elimination.
  *
- * The difference with the BayesTree is that a JunctionTree stores factors, whereas a
- * BayesTree stores conditionals, that are the product of eliminating the factors in the
- * corresponding JunctionTree cliques.
+ * The difference with the BayesTree is that a JunctionTree stores factors,
+ * whereas a BayesTree stores conditionals, that are the product of eliminating
+ * the factors in the corresponding JunctionTree cliques.
  *
- * The tree structure and elimination method are exactly analogous to the EliminationTree,
- * except that in the JunctionTree, at each node multiple variables are eliminated at a time.
+ * The tree structure and elimination method are exactly analogous to the
+ * EliminationTree, except that in the JunctionTree, at each node multiple
+ * variables are eliminated at a time.
  *
  * \addtogroup Multifrontal
  * \nosubgrouping
  */
-class GTSAM_EXPORT HybridJunctionTree :
-    public JunctionTree<HybridBayesTree, HybridFactorGraph> {
+class GTSAM_EXPORT HybridJunctionTree
+    : public JunctionTree<HybridBayesTree, HybridFactorGraph> {
  public:
-  typedef JunctionTree<HybridBayesTree, HybridFactorGraph> Base; ///< Base class
-  typedef HybridJunctionTree This; ///< This class
-  typedef boost::shared_ptr<This> shared_ptr; ///< Shared pointer to this class
+  typedef JunctionTree<HybridBayesTree, HybridFactorGraph>
+      Base;                                    ///< Base class
+  typedef HybridJunctionTree This;             ///< This class
+  typedef boost::shared_ptr<This> shared_ptr;  ///< Shared pointer to this class
 
   /**
-  * Build the elimination tree of a factor graph using precomputed column structure.
-  * @param factorGraph The factor graph for which to build the elimination tree
-  * @param structure The set of factors involving each variable.  If this is not
-  * precomputed, you can call the Create(const FactorGraph<DERIVEDFACTOR>&)
-  * named constructor instead.
-  * @return The elimination tree
-  */
+   * Build the elimination tree of a factor graph using precomputed column
+   * structure.
+   * @param factorGraph The factor graph for which to build the elimination tree
+   * @param structure The set of factors involving each variable.  If this is
+   * not precomputed, you can call the Create(const FactorGraph<DERIVEDFACTOR>&)
+   * named constructor instead.
+   * @return The elimination tree
+   */
   HybridJunctionTree(const HybridEliminationTree& eliminationTree);
 };
 
-}
+}  // namespace gtsam

From 3f239c28bef65e392a293bb9826878f4cf223186 Mon Sep 17 00:00:00 2001
From: Varun Agrawal <varagrawal@gmail.com>
Date: Tue, 24 May 2022 11:48:59 -0400
Subject: [PATCH 078/433] fix equality checks

---
 gtsam/hybrid/GaussianMixtureFactor.cpp | 2 +-
 gtsam/hybrid/HybridConditional.cpp     | 2 +-
 gtsam/hybrid/HybridFactor.cpp          | 4 ++++
 gtsam/hybrid/HybridFactor.h            | 2 +-
 4 files changed, 7 insertions(+), 3 deletions(-)

diff --git a/gtsam/hybrid/GaussianMixtureFactor.cpp b/gtsam/hybrid/GaussianMixtureFactor.cpp
index 3df274db3f..edf94d040d 100644
--- a/gtsam/hybrid/GaussianMixtureFactor.cpp
+++ b/gtsam/hybrid/GaussianMixtureFactor.cpp
@@ -34,7 +34,7 @@ GaussianMixtureFactor::GaussianMixtureFactor(const KeyVector &continuousKeys,
 
 /* *******************************************************************************/
 bool GaussianMixtureFactor::equals(const HybridFactor &lf, double tol) const {
-  return false;
+  return Base::equals(lf, tol);
 }
 
 /* *******************************************************************************/
diff --git a/gtsam/hybrid/HybridConditional.cpp b/gtsam/hybrid/HybridConditional.cpp
index 5b3c9d7b4d..ea83c5f869 100644
--- a/gtsam/hybrid/HybridConditional.cpp
+++ b/gtsam/hybrid/HybridConditional.cpp
@@ -89,7 +89,7 @@ void HybridConditional::print(const std::string &s,
 }
 
 bool HybridConditional::equals(const HybridFactor &other, double tol) const {
-  return false;
+  return BaseFactor::equals(other, tol);
 }
 
 }  // namespace gtsam
diff --git a/gtsam/hybrid/HybridFactor.cpp b/gtsam/hybrid/HybridFactor.cpp
index 1e9955c58a..7a233bb1bb 100644
--- a/gtsam/hybrid/HybridFactor.cpp
+++ b/gtsam/hybrid/HybridFactor.cpp
@@ -64,6 +64,10 @@ HybridFactor::HybridFactor(const DiscreteKeys &discreteKeys)
       isDiscrete_(true),
       discreteKeys_(discreteKeys) {}
 
+bool HybridFactor::equals(const HybridFactor &lf, double tol) const {
+  return Base::equals(lf, tol);
+}
+
 void HybridFactor::print(const std::string &s,
                          const KeyFormatter &formatter) const {
   std::cout << s;
diff --git a/gtsam/hybrid/HybridFactor.h b/gtsam/hybrid/HybridFactor.h
index 3d5bd7b218..c6e4a5ffa6 100644
--- a/gtsam/hybrid/HybridFactor.h
+++ b/gtsam/hybrid/HybridFactor.h
@@ -85,7 +85,7 @@ class GTSAM_EXPORT HybridFactor : public Factor {
   /// @{
 
   /// equals
-  virtual bool equals(const HybridFactor &lf, double tol = 1e-9) const = 0;
+  virtual bool equals(const HybridFactor &lf, double tol = 1e-9) const;
 
   /// print
   void print(

From 10001f4cea1927d3f67f84770c41faa6d5e1b581 Mon Sep 17 00:00:00 2001
From: Varun Agrawal <varagrawal@gmail.com>
Date: Wed, 25 May 2022 17:52:49 -0400
Subject: [PATCH 079/433] use This for templated type in geometry.i

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

diff --git a/gtsam/geometry/geometry.i b/gtsam/geometry/geometry.i
index 8e3c93224e..8079e2c2aa 100644
--- a/gtsam/geometry/geometry.i
+++ b/gtsam/geometry/geometry.i
@@ -873,7 +873,7 @@ template <CALIBRATION>
 class PinholeCamera {
   // Standard Constructors and Named Constructors
   PinholeCamera();
-  PinholeCamera(const gtsam::PinholeCamera<CALIBRATION> other);
+  PinholeCamera(const This other);
   PinholeCamera(const gtsam::Pose3& pose);
   PinholeCamera(const gtsam::Pose3& pose, const CALIBRATION& K);
   static This Level(const CALIBRATION& K, const gtsam::Pose2& pose,
@@ -942,7 +942,7 @@ template <CALIBRATION>
 class PinholePose {
   // Standard Constructors and Named Constructors
   PinholePose();
-  PinholePose(const gtsam::PinholePose<CALIBRATION> other);
+  PinholePose(const This other);
   PinholePose(const gtsam::Pose3& pose);
   PinholePose(const gtsam::Pose3& pose, const CALIBRATION* K);
   static This Level(const gtsam::Pose2& pose, double height);

From f95b449904d55b56f82f4befe962f8cd01eff485 Mon Sep 17 00:00:00 2001
From: "lilong.huang" <llhuang@weride.ai>
Date: Thu, 26 May 2022 09:21:29 +0800
Subject: [PATCH 080/433] fix typo issue in comment

---
 gtsam/geometry/Rot3.cpp | 4 ++--
 1 file changed, 2 insertions(+), 2 deletions(-)

diff --git a/gtsam/geometry/Rot3.cpp b/gtsam/geometry/Rot3.cpp
index 8f8088a74f..08213b065f 100644
--- a/gtsam/geometry/Rot3.cpp
+++ b/gtsam/geometry/Rot3.cpp
@@ -292,8 +292,8 @@ pair<Matrix3, Vector3> RQ(const Matrix3& A, OptionalJacobian<3, 9> H) {
     (*H)(1, 8) = yHb22 * cx;
 
     // Next, calculate the derivate of z. We have
-    // c20 = a10 * cy + a11 * sx * sy + a12 * cx * sy
-    // c22 = a11 * cx - a12 * sx
+    // c10 = a10 * cy + a11 * sx * sy + a12 * cx * sy
+    // c11 = a11 * cx - a12 * sx
     const auto c10Hx = (A(1, 1) * cx - A(1, 2) * sx) * sy;
     const auto c10Hy = A(1, 2) * cx * cy + A(1, 1) * cy * sx - A(1, 0) * sy;
     Vector9 c10HA = c10Hx * H->row(0) + c10Hy * H->row(1);

From c3a92a4705642f8708b610d4a5f9e81aba1ddcb9 Mon Sep 17 00:00:00 2001
From: Varun Agrawal <varagrawal@gmail.com>
Date: Fri, 27 May 2022 15:12:19 -0400
Subject: [PATCH 081/433] Hybrid and Gaussian Mixture conditional docs and some
 refactor

---
 gtsam/hybrid/GaussianMixtureConditional.cpp | 10 +--
 gtsam/hybrid/GaussianMixtureConditional.h   | 54 +++++++++++-----
 gtsam/hybrid/HybridConditional.cpp          | 24 ++++---
 gtsam/hybrid/HybridConditional.h            | 69 ++++++++++++++++-----
 4 files changed, 115 insertions(+), 42 deletions(-)

diff --git a/gtsam/hybrid/GaussianMixtureConditional.cpp b/gtsam/hybrid/GaussianMixtureConditional.cpp
index f0f3e8359c..68c3f505e7 100644
--- a/gtsam/hybrid/GaussianMixtureConditional.cpp
+++ b/gtsam/hybrid/GaussianMixtureConditional.cpp
@@ -42,7 +42,7 @@ GaussianMixtureConditional::conditionals() {
 }
 
 /* *******************************************************************************/
-GaussianMixtureConditional GaussianMixtureConditional::FromConditionalList(
+GaussianMixtureConditional GaussianMixtureConditional::FromConditionals(
     const KeyVector &continuousFrontals, const KeyVector &continuousParents,
     const DiscreteKeys &discreteParents,
     const std::vector<GaussianConditional::shared_ptr> &conditionalsList) {
@@ -86,12 +86,12 @@ bool GaussianMixtureConditional::equals(const HybridFactor &lf,
 void GaussianMixtureConditional::print(const std::string &s,
                                        const KeyFormatter &formatter) const {
   std::cout << s << ": ";
-  if (isContinuous_) std::cout << "Cont. ";
-  if (isDiscrete_) std::cout << "Disc. ";
-  if (isHybrid_) std::cout << "Hybr. ";
+  if (isContinuous()) std::cout << "Cont. ";
+  if (isDiscrete()) std::cout << "Disc. ";
+  if (isHybrid()) std::cout << "Hybr. ";
   BaseConditional::print("", formatter);
   std::cout << "Discrete Keys = ";
-  for (auto &dk : discreteKeys_) {
+  for (auto &dk : discreteKeys()) {
     std::cout << "(" << formatter(dk.first) << ", " << dk.second << "), ";
   }
   std::cout << "\n";
diff --git a/gtsam/hybrid/GaussianMixtureConditional.h b/gtsam/hybrid/GaussianMixtureConditional.h
index 3c74115f8b..d12fa09d7a 100644
--- a/gtsam/hybrid/GaussianMixtureConditional.h
+++ b/gtsam/hybrid/GaussianMixtureConditional.h
@@ -25,6 +25,14 @@
 #include <gtsam/linear/GaussianConditional.h>
 
 namespace gtsam {
+
+/**
+ * @brief A conditional of gaussian mixtures indexed by discrete variables.
+ *
+ * Represents the conditional density P(X | M, Z) where X is a continuous random
+ * variable, M is the discrete variable and Z is the set of measurements.
+ *
+ */
 class GaussianMixtureConditional
     : public HybridFactor,
       public Conditional<HybridFactor, GaussianMixtureConditional> {
@@ -34,13 +42,28 @@ class GaussianMixtureConditional
   using BaseFactor = HybridFactor;
   using BaseConditional = Conditional<HybridFactor, GaussianMixtureConditional>;
 
+  /// Alias for DecisionTree of GaussianFactorGraphs
+  using Sum = DecisionTree<Key, GaussianFactorGraph>;
+
+  /// typedef for Decision Tree of Gaussian Conditionals
   using Conditionals = DecisionTree<Key, GaussianConditional::shared_ptr>;
 
+ private:
   Conditionals conditionals_;
 
+  /**
+   * @brief Convert a DecisionTree of factors into a DT of Gaussian FGs.
+   */
+  Sum asGaussianFactorGraphTree() const;
+
  public:
+  /// @name Constructors
+  /// @{
+
+  /// Defaut constructor, mainly for serialization.
+  GaussianMixtureConditional() = default;
   /**
-   * @brief Construct a new Gaussian Mixture object
+   * @brief Construct a new GaussianMixtureConditional object
    *
    * @param continuousFrontals the continuous frontals.
    * @param continuousParents the continuous parents.
@@ -52,15 +75,6 @@ class GaussianMixtureConditional
                              const DiscreteKeys &discreteParents,
                              const Conditionals &conditionals);
 
-  using Sum = DecisionTree<Key, GaussianFactorGraph>;
-
-  const Conditionals &conditionals();
-
-  /**
-   * @brief Combine Decision Trees
-   */
-  Sum add(const Sum &sum) const;
-
   /**
    * @brief Make a Gaussian Mixture from a list of Gaussian conditionals
    *
@@ -69,11 +83,15 @@ class GaussianMixtureConditional
    * @param discreteParents Discrete parents variables
    * @param conditionals List of conditionals
    */
-  static This FromConditionalList(
+  static This FromConditionals(
       const KeyVector &continuousFrontals, const KeyVector &continuousParents,
       const DiscreteKeys &discreteParents,
       const std::vector<GaussianConditional::shared_ptr> &conditionals);
 
+  /// @}
+  /// @name Testable
+  /// @{
+
   /// Test equality with base HybridFactor
   bool equals(const HybridFactor &lf, double tol = 1e-9) const override;
 
@@ -82,11 +100,19 @@ class GaussianMixtureConditional
       const std::string &s = "GaussianMixtureConditional\n",
       const KeyFormatter &formatter = DefaultKeyFormatter) const override;
 
- protected:
+  /// @}
+
+  /// Getter for the underlying Conditionals DecisionTree
+  const Conditionals &conditionals();
+
   /**
-   * @brief Convert a DecisionTree of factors into a DT of Gaussian FGs.
+   * @brief Merge the Gaussian Factor Graphs in `this` and `sum` while
+   * maintaining the decision tree structure.
+   *
+   * @param sum Decision Tree of Gaussian Factor Graphs
+   * @return Sum
    */
-  Sum asGaussianFactorGraphTree() const;
+  Sum add(const Sum &sum) const;
 };
 
 }  // namespace gtsam
diff --git a/gtsam/hybrid/HybridConditional.cpp b/gtsam/hybrid/HybridConditional.cpp
index ea83c5f869..e70d100c3e 100644
--- a/gtsam/hybrid/HybridConditional.cpp
+++ b/gtsam/hybrid/HybridConditional.cpp
@@ -22,6 +22,7 @@
 
 namespace gtsam {
 
+/* ************************************************************************ */
 HybridConditional::HybridConditional(const KeyVector &continuousFrontals,
                                      const DiscreteKeys &discreteFrontals,
                                      const KeyVector &continuousParents,
@@ -35,36 +36,40 @@ HybridConditional::HybridConditional(const KeyVector &continuousFrontals,
               {discreteParents.begin(), discreteParents.end()}),
           continuousFrontals.size() + discreteFrontals.size()) {}
 
+/* ************************************************************************ */
 HybridConditional::HybridConditional(
     boost::shared_ptr<GaussianConditional> continuousConditional)
     : HybridConditional(continuousConditional->keys(), {},
                         continuousConditional->nrFrontals()) {
-  inner = continuousConditional;
+  inner_ = continuousConditional;
 }
 
+/* ************************************************************************ */
 HybridConditional::HybridConditional(
     boost::shared_ptr<DiscreteConditional> discreteConditional)
     : HybridConditional({}, discreteConditional->discreteKeys(),
                         discreteConditional->nrFrontals()) {
-  inner = discreteConditional;
+  inner_ = discreteConditional;
 }
 
+/* ************************************************************************ */
 HybridConditional::HybridConditional(
     boost::shared_ptr<GaussianMixtureConditional> gaussianMixture)
     : BaseFactor(KeyVector(gaussianMixture->keys().begin(),
                            gaussianMixture->keys().begin() +
-                               gaussianMixture->nrContinuous),
-                 gaussianMixture->discreteKeys_),
+                               gaussianMixture->nrContinuous()),
+                 gaussianMixture->discreteKeys()),
       BaseConditional(gaussianMixture->nrFrontals()) {
-  inner = gaussianMixture;
+  inner_ = gaussianMixture;
 }
 
+/* ************************************************************************ */
 void HybridConditional::print(const std::string &s,
                               const KeyFormatter &formatter) const {
   std::cout << s;
-  if (isContinuous_) std::cout << "Cont. ";
-  if (isDiscrete_) std::cout << "Disc. ";
-  if (isHybrid_) std::cout << "Hybr. ";
+  if (isContinuous()) std::cout << "Cont. ";
+  if (isDiscrete()) std::cout << "Disc. ";
+  if (isHybrid()) std::cout << "Hybr. ";
   std::cout << "P(";
   size_t index = 0;
   const size_t N = keys().size();
@@ -85,9 +90,10 @@ void HybridConditional::print(const std::string &s,
     index++;
   }
   std::cout << ")\n";
-  if (inner) inner->print("", formatter);
+  if (inner_) inner_->print("", formatter);
 }
 
+/* ************************************************************************ */
 bool HybridConditional::equals(const HybridFactor &other, double tol) const {
   return BaseFactor::equals(other, tol);
 }
diff --git a/gtsam/hybrid/HybridConditional.h b/gtsam/hybrid/HybridConditional.h
index 3bc25414ed..b942773cb4 100644
--- a/gtsam/hybrid/HybridConditional.h
+++ b/gtsam/hybrid/HybridConditional.h
@@ -54,8 +54,8 @@ class HybridFactorGraph;
  * having diamond inheritances, and neutralized the need to change other
  * components of GTSAM to make hybrid elimination work.
  *
- * A great reference to the type-erasure pattern is Edurado Madrid's CppCon
- * talk.
+ * A great reference to the type-erasure pattern is Eduaado Madrid's CppCon
+ * talk (https://www.youtube.com/watch?v=s082Qmd_nHs).
  */
 class GTSAM_EXPORT HybridConditional
     : public HybridFactor,
@@ -70,7 +70,7 @@ class GTSAM_EXPORT HybridConditional
 
  protected:
   // Type-erased pointer to the inner type
-  boost::shared_ptr<Factor> inner;
+  boost::shared_ptr<Factor> inner_;
 
  public:
   /// @name Standard Constructors
@@ -79,35 +79,77 @@ class GTSAM_EXPORT HybridConditional
   /// Default constructor needed for serialization.
   HybridConditional() = default;
 
+  /**
+   * @brief Construct a new Hybrid Conditional object
+   *
+   * @param continuousKeys Vector of keys for continuous variables.
+   * @param discreteKeys Keys and cardinalities for discrete variables.
+   * @param nFrontals The number of frontal variables in the conditional.
+   */
   HybridConditional(const KeyVector& continuousKeys,
                     const DiscreteKeys& discreteKeys, size_t nFrontals)
       : BaseFactor(continuousKeys, discreteKeys), BaseConditional(nFrontals) {}
 
+  /**
+   * @brief Construct a new Hybrid Conditional object
+   *
+   * @param continuousFrontals Vector of keys for continuous variables.
+   * @param discreteFrontals Keys and cardinalities for discrete variables.
+   * @param continuousParents Vector of keys for parent continuous variables.
+   * @param discreteParents Keys and cardinalities for parent discrete
+   * variables.
+   */
   HybridConditional(const KeyVector& continuousFrontals,
                     const DiscreteKeys& discreteFrontals,
                     const KeyVector& continuousParents,
                     const DiscreteKeys& discreteParents);
 
+  /**
+   * @brief Construct a new Hybrid Conditional object
+   *
+   * @param continuousConditional Conditional used to create the
+   * HybridConditional.
+   */
   HybridConditional(
       boost::shared_ptr<GaussianConditional> continuousConditional);
 
+  /**
+   * @brief Construct a new Hybrid Conditional object
+   *
+   * @param discreteConditional Conditional used to create the
+   * HybridConditional.
+   */
   HybridConditional(boost::shared_ptr<DiscreteConditional> discreteConditional);
 
+  /**
+   * @brief Construct a new Hybrid Conditional object
+   *
+   * @param gaussianMixture Gaussian Mixture Conditional used to create the
+   * HybridConditional.
+   */
   HybridConditional(
       boost::shared_ptr<GaussianMixtureConditional> gaussianMixture);
 
+  /**
+   * @brief Return HybridConditional as a GaussianMixtureConditional
+   *
+   * @return GaussianMixtureConditional::shared_ptr
+   */
   GaussianMixtureConditional::shared_ptr asMixture() {
-    if (!isHybrid_) throw std::invalid_argument("Not a mixture");
-    return boost::static_pointer_cast<GaussianMixtureConditional>(inner);
+    if (!isHybrid()) throw std::invalid_argument("Not a mixture");
+    return boost::static_pointer_cast<GaussianMixtureConditional>(inner_);
   }
 
+  /**
+   * @brief Return conditional as a DiscreteConditional
+   *
+   * @return DiscreteConditional::shared_ptr
+   */
   DiscreteConditional::shared_ptr asDiscreteConditional() {
-    if (!isDiscrete_) throw std::invalid_argument("Not a discrete conditional");
-    return boost::static_pointer_cast<DiscreteConditional>(inner);
+    if (!isDiscrete()) throw std::invalid_argument("Not a discrete conditional");
+    return boost::static_pointer_cast<DiscreteConditional>(inner_);
   }
 
-  boost::shared_ptr<Factor> getInner() { return inner; }
-
   /// @}
   /// @name Testable
   /// @{
@@ -122,11 +164,10 @@ class GTSAM_EXPORT HybridConditional
 
   /// @}
 
-  friend std::pair<HybridConditional::shared_ptr, HybridFactor::shared_ptr>  //
-  EliminateHybrid(const HybridFactorGraph& factors,
-                  const Ordering& frontalKeys);
-};
-// DiscreteConditional
+  /// Get the type-erased pointer to the inner type
+  boost::shared_ptr<Factor> inner() { return inner_; }
+
+};  // DiscreteConditional
 
 // traits
 template <>

From b3cab1bd4ec44e416bfb2e58a900117fb6150ba8 Mon Sep 17 00:00:00 2001
From: Varun Agrawal <varagrawal@gmail.com>
Date: Fri, 27 May 2022 15:13:39 -0400
Subject: [PATCH 082/433] GaussianMixtureFactor docs

---
 gtsam/hybrid/GaussianMixtureFactor.cpp |  6 +--
 gtsam/hybrid/GaussianMixtureFactor.h   | 64 ++++++++++++++++++++------
 2 files changed, 54 insertions(+), 16 deletions(-)

diff --git a/gtsam/hybrid/GaussianMixtureFactor.cpp b/gtsam/hybrid/GaussianMixtureFactor.cpp
index edf94d040d..589e5c6605 100644
--- a/gtsam/hybrid/GaussianMixtureFactor.cpp
+++ b/gtsam/hybrid/GaussianMixtureFactor.cpp
@@ -38,10 +38,10 @@ bool GaussianMixtureFactor::equals(const HybridFactor &lf, double tol) const {
 }
 
 /* *******************************************************************************/
-GaussianMixtureFactor GaussianMixtureFactor::FromFactorList(
+GaussianMixtureFactor GaussianMixtureFactor::FromFactors(
     const KeyVector &continuousKeys, const DiscreteKeys &discreteKeys,
-    const std::vector<GaussianFactor::shared_ptr> &factorsList) {
-  Factors dt(discreteKeys, factorsList);
+    const std::vector<GaussianFactor::shared_ptr> &factors) {
+  Factors dt(discreteKeys, factors);
 
   return GaussianMixtureFactor(continuousKeys, discreteKeys, dt);
 }
diff --git a/gtsam/hybrid/GaussianMixtureFactor.h b/gtsam/hybrid/GaussianMixtureFactor.h
index c6389c5400..b2fbe4aefd 100644
--- a/gtsam/hybrid/GaussianMixtureFactor.h
+++ b/gtsam/hybrid/GaussianMixtureFactor.h
@@ -11,7 +11,7 @@
 
 /**
  * @file   GaussianMixtureFactor.h
- * @brief  A set of Gaussian factors indexed by a set of discrete keys.
+ * @brief  A factor that is a function of discrete and continuous variables.
  * @author Fan Jiang
  * @author Varun Agrawal
  * @author Frank Dellaert
@@ -29,48 +29,86 @@ namespace gtsam {
 
 class GaussianFactorGraph;
 
-typedef std::vector<gtsam::GaussianFactor::shared_ptr> GaussianFactorVector;
+using GaussianFactorVector = std::vector<gtsam::GaussianFactor::shared_ptr>;
 
+/**
+ * @brief A linear factor that is a function of both discrete and continuous
+ * variables, i.e. P(X, M | Z) where X is the set of continuous variables, M is
+ * the set of discrete variables and Z is the measurement set.
+ *
+ * Represents the underlying Gaussian Mixture as a Decision Tree, where the set
+ * of discrete variables indexes to the continuous gaussian distribution.
+ *
+ */
 class GaussianMixtureFactor : public HybridFactor {
  public:
   using Base = HybridFactor;
   using This = GaussianMixtureFactor;
   using shared_ptr = boost::shared_ptr<This>;
 
+  using Sum = DecisionTree<Key, GaussianFactorGraph>;
+
+  /// typedef for Decision Tree of Gaussian Factors
   using Factors = DecisionTree<Key, GaussianFactor::shared_ptr>;
 
+ private:
   Factors factors_;
 
+  /**
+   * @brief Helper function to return factors and functional to create a
+   * DecisionTree of Gaussian Factor Graphs.
+   *
+   * @return Sum (DecisionTree<Key, GaussianFactorGraph>)
+   */
+  Sum asGaussianFactorGraphTree() const;
+
+ public:
+  /// @name Constructors
+  /// @{
+
+  /// Default constructor, mainly for serialization.
   GaussianMixtureFactor() = default;
 
+  /**
+   * @brief Construct a new Gaussian Mixture Factor object.
+   *
+   * @param continuousKeys A vector of keys representing continuous variables.
+   * @param discreteKeys A vector of keys representing discrete variables and
+   * their cardinalities.
+   * @param factors The decision tree of Gaussian Factors stored as the mixture
+   * density.
+   */
   GaussianMixtureFactor(const KeyVector &continuousKeys,
                         const DiscreteKeys &discreteKeys,
                         const Factors &factors);
 
-  using Sum = DecisionTree<Key, GaussianFactorGraph>;
-
-  const Factors &factors();
-
-  static This FromFactorList(
+  static This FromFactors(
       const KeyVector &continuousKeys, const DiscreteKeys &discreteKeys,
       const std::vector<GaussianFactor::shared_ptr> &factors);
 
-  Sum add(const Sum &sum) const;
+  /// @}
+  /// @name Testable
+  /// @{
 
   bool equals(const HybridFactor &lf, double tol = 1e-9) const override;
 
   void print(
       const std::string &s = "HybridFactor\n",
       const KeyFormatter &formatter = DefaultKeyFormatter) const override;
+  /// @}
+
+  /// Getter for the underlying Gaussian Factor Decision Tree.
+  const Factors &factors();
 
- protected:
   /**
-   * @brief Helper function to return factors and functional to create a
-   * DecisionTree of Gaussian Factor Graphs.
+   * @brief Combine the Gaussian Factor Graphs in `sum` and `this` while
+   * maintaining the original tree structure.
    *
-   * @return Sum (DecisionTree<Key, GaussianFactorGraph)
+   * @param sum Decision Tree of Gaussian Factor Graphs indexed by the
+   * variables.
+   * @return Sum
    */
-  Sum asGaussianFactorGraphTree() const;
+  Sum add(const Sum &sum) const;
 };
 
 }  // namespace gtsam

From 865d10da9cca0d87ae0c47e12af2dd6e5b20e2d2 Mon Sep 17 00:00:00 2001
From: Varun Agrawal <varagrawal@gmail.com>
Date: Fri, 27 May 2022 15:15:34 -0400
Subject: [PATCH 083/433] Hybrid factor docs and minor refactor

---
 gtsam/hybrid/HybridFactor.cpp         | 16 ++++++----
 gtsam/hybrid/HybridFactor.h           | 43 ++++++++++++++++-----------
 gtsam/hybrid/HybridGaussianFactor.cpp |  6 ++--
 gtsam/hybrid/HybridGaussianFactor.h   |  7 +++--
 4 files changed, 44 insertions(+), 28 deletions(-)

diff --git a/gtsam/hybrid/HybridFactor.cpp b/gtsam/hybrid/HybridFactor.cpp
index 7a233bb1bb..9358c473da 100644
--- a/gtsam/hybrid/HybridFactor.cpp
+++ b/gtsam/hybrid/HybridFactor.cpp
@@ -19,6 +19,7 @@
 
 namespace gtsam {
 
+/* ************************************************************************ */
 KeyVector CollectKeys(const KeyVector &continuousKeys,
                       const DiscreteKeys &discreteKeys) {
   KeyVector allKeys;
@@ -30,6 +31,7 @@ KeyVector CollectKeys(const KeyVector &continuousKeys,
   return allKeys;
 }
 
+/* ************************************************************************ */
 KeyVector CollectKeys(const KeyVector &keys1, const KeyVector &keys2) {
   KeyVector allKeys;
   std::copy(keys1.begin(), keys1.end(), std::back_inserter(allKeys));
@@ -37,6 +39,7 @@ KeyVector CollectKeys(const KeyVector &keys1, const KeyVector &keys2) {
   return allKeys;
 }
 
+/* ************************************************************************ */
 DiscreteKeys CollectDiscreteKeys(const DiscreteKeys &key1,
                                  const DiscreteKeys &key2) {
   DiscreteKeys allKeys;
@@ -45,29 +48,32 @@ DiscreteKeys CollectDiscreteKeys(const DiscreteKeys &key1,
   return allKeys;
 }
 
-HybridFactor::HybridFactor() = default;
-
+/* ************************************************************************ */
 HybridFactor::HybridFactor(const KeyVector &keys)
-    : Base(keys), isContinuous_(true), nrContinuous(keys.size()) {}
+    : Base(keys), isContinuous_(true), nrContinuous_(keys.size()) {}
 
+/* ************************************************************************ */
 HybridFactor::HybridFactor(const KeyVector &continuousKeys,
                            const DiscreteKeys &discreteKeys)
     : Base(CollectKeys(continuousKeys, discreteKeys)),
       isDiscrete_((continuousKeys.size() == 0) && (discreteKeys.size() != 0)),
       isContinuous_((continuousKeys.size() != 0) && (discreteKeys.size() == 0)),
       isHybrid_((continuousKeys.size() != 0) && (discreteKeys.size() != 0)),
-      nrContinuous(continuousKeys.size()),
+      nrContinuous_(continuousKeys.size()),
       discreteKeys_(discreteKeys) {}
 
+/* ************************************************************************ */
 HybridFactor::HybridFactor(const DiscreteKeys &discreteKeys)
     : Base(CollectKeys({}, discreteKeys)),
       isDiscrete_(true),
       discreteKeys_(discreteKeys) {}
 
+/* ************************************************************************ */
 bool HybridFactor::equals(const HybridFactor &lf, double tol) const {
   return Base::equals(lf, tol);
 }
 
+/* ************************************************************************ */
 void HybridFactor::print(const std::string &s,
                          const KeyFormatter &formatter) const {
   std::cout << s;
@@ -77,6 +83,4 @@ void HybridFactor::print(const std::string &s,
   this->printKeys("", formatter);
 }
 
-HybridFactor::~HybridFactor() = default;
-
 }  // namespace gtsam
diff --git a/gtsam/hybrid/HybridFactor.h b/gtsam/hybrid/HybridFactor.h
index c6e4a5ffa6..da103da43f 100644
--- a/gtsam/hybrid/HybridFactor.h
+++ b/gtsam/hybrid/HybridFactor.h
@@ -41,34 +41,28 @@ DiscreteKeys CollectDiscreteKeys(const DiscreteKeys &key1,
  *  - GaussianMixture
  */
 class GTSAM_EXPORT HybridFactor : public Factor {
- public:
-  // typedefs needed to play nice with gtsam
-  typedef HybridFactor This;  ///< This class
-  typedef boost::shared_ptr<HybridFactor>
-      shared_ptr;       ///< shared_ptr to this class
-  typedef Factor Base;  ///< Our base class
-
+ private:
   bool isDiscrete_ = false;
   bool isContinuous_ = false;
   bool isHybrid_ = false;
 
-  size_t nrContinuous = 0;
+  size_t nrContinuous_ = 0;
 
+ protected:
   DiscreteKeys discreteKeys_;
 
  public:
+  // typedefs needed to play nice with gtsam
+  typedef HybridFactor This;  ///< This class
+  typedef boost::shared_ptr<HybridFactor>
+      shared_ptr;       ///< shared_ptr to this class
+  typedef Factor Base;  ///< Our base class
+
   /// @name Standard Constructors
   /// @{
 
   /** Default constructor creates empty factor */
-  HybridFactor();
-
-  /** Construct from container of keys.  This constructor is used internally
-   * from derived factor
-   *  constructors, either from a container of keys or from a
-   * boost::assign::list_of. */
-  //  template<typename CONTAINER>
-  //  HybridFactor(const CONTAINER &keys) : Base(keys) {}
+  HybridFactor() = default;
 
   explicit HybridFactor(const KeyVector &keys);
 
@@ -78,7 +72,7 @@ class GTSAM_EXPORT HybridFactor : public Factor {
   explicit HybridFactor(const DiscreteKeys &discreteKeys);
 
   /// Virtual destructor
-  virtual ~HybridFactor();
+  virtual ~HybridFactor() = default;
 
   /// @}
   /// @name Testable
@@ -96,6 +90,21 @@ class GTSAM_EXPORT HybridFactor : public Factor {
   /// @name Standard Interface
   /// @{
 
+  /// True if this is a factor of discrete variables only.
+  bool isDiscrete() const { return isDiscrete_; }
+
+  /// True if this is a factor of continuous variables only.
+  bool isContinuous() const { return isContinuous_; }
+
+  /// True is this is a Discrete-Continuous factor.
+  bool isHybrid() const { return isHybrid_; }
+
+  /// Return the number of continuous variables in this factor.
+  size_t nrContinuous() const { return nrContinuous_; }
+
+  /// Return vector of discrete keys.
+  DiscreteKeys discreteKeys() const { return discreteKeys_; }
+
   /// @}
 };
 // HybridFactor
diff --git a/gtsam/hybrid/HybridGaussianFactor.cpp b/gtsam/hybrid/HybridGaussianFactor.cpp
index 5fa4b555a3..721cb4cc79 100644
--- a/gtsam/hybrid/HybridGaussianFactor.cpp
+++ b/gtsam/hybrid/HybridGaussianFactor.cpp
@@ -23,12 +23,12 @@ namespace gtsam {
 
 HybridGaussianFactor::HybridGaussianFactor(GaussianFactor::shared_ptr other)
     : Base(other->keys()) {
-  inner = other;
+  inner_ = other;
 }
 
 HybridGaussianFactor::HybridGaussianFactor(JacobianFactor &&jf)
     : Base(jf.keys()),
-      inner(boost::make_shared<JacobianFactor>(std::move(jf))) {}
+      inner_(boost::make_shared<JacobianFactor>(std::move(jf))) {}
 
 bool HybridGaussianFactor::equals(const HybridFactor &lf, double tol) const {
   return false;
@@ -36,7 +36,7 @@ bool HybridGaussianFactor::equals(const HybridFactor &lf, double tol) const {
 void HybridGaussianFactor::print(const std::string &s,
                                  const KeyFormatter &formatter) const {
   HybridFactor::print(s, formatter);
-  inner->print("inner: ", formatter);
+  inner_->print("inner: ", formatter);
 };
 
 }  // namespace gtsam
diff --git a/gtsam/hybrid/HybridGaussianFactor.h b/gtsam/hybrid/HybridGaussianFactor.h
index 4a7939cd44..1749c8e413 100644
--- a/gtsam/hybrid/HybridGaussianFactor.h
+++ b/gtsam/hybrid/HybridGaussianFactor.h
@@ -28,13 +28,14 @@ namespace gtsam {
  * a diamond inheritance.
  */
 class HybridGaussianFactor : public HybridFactor {
+ private:
+  GaussianFactor::shared_ptr inner_;
+
  public:
   using Base = HybridFactor;
   using This = HybridGaussianFactor;
   using shared_ptr = boost::shared_ptr<This>;
 
-  GaussianFactor::shared_ptr inner;
-
   // Explicit conversion from a shared ptr of GF
   explicit HybridGaussianFactor(GaussianFactor::shared_ptr other);
 
@@ -47,5 +48,7 @@ class HybridGaussianFactor : public HybridFactor {
   void print(
       const std::string &s = "HybridFactor\n",
       const KeyFormatter &formatter = DefaultKeyFormatter) const override;
+
+  GaussianFactor::shared_ptr inner() const { return inner_; }
 };
 }  // namespace gtsam

From 573448f126cfe8ebe7fb2b3f149d1a7abe2b08e9 Mon Sep 17 00:00:00 2001
From: Varun Agrawal <varagrawal@gmail.com>
Date: Fri, 27 May 2022 15:16:28 -0400
Subject: [PATCH 084/433] make functional

---
 gtsam/hybrid/HybridBayesNet.h        |  2 +-
 gtsam/hybrid/HybridBayesTree.cpp     |  1 -
 gtsam/hybrid/HybridBayesTree.h       | 18 +++++++++++++++---
 gtsam/hybrid/HybridEliminationTree.h | 11 ++++++++---
 gtsam/hybrid/HybridFactorGraph.cpp   | 18 +++++++++---------
 gtsam/hybrid/HybridISAM.cpp          |  2 +-
 gtsam/hybrid/HybridJunctionTree.cpp  |  2 +-
 7 files changed, 35 insertions(+), 19 deletions(-)

diff --git a/gtsam/hybrid/HybridBayesNet.h b/gtsam/hybrid/HybridBayesNet.h
index 4e411b781d..43eead2801 100644
--- a/gtsam/hybrid/HybridBayesNet.h
+++ b/gtsam/hybrid/HybridBayesNet.h
@@ -35,7 +35,7 @@ class GTSAM_EXPORT HybridBayesNet : public BayesNet<HybridConditional> {
   using sharedConditional = boost::shared_ptr<ConditionalType>;
 
   /** Construct empty bayes net */
-  HybridBayesNet() : Base() {}
+  HybridBayesNet() = default;
 };
 
 }  // namespace gtsam
diff --git a/gtsam/hybrid/HybridBayesTree.cpp b/gtsam/hybrid/HybridBayesTree.cpp
index 4262028613..c8d70e67e0 100644
--- a/gtsam/hybrid/HybridBayesTree.cpp
+++ b/gtsam/hybrid/HybridBayesTree.cpp
@@ -33,5 +33,4 @@ bool HybridBayesTree::equals(const This& other, double tol) const {
   return Base::equals(other, tol);
 }
 
-/* **************************************************************************/
 }  // namespace gtsam
diff --git a/gtsam/hybrid/HybridBayesTree.h b/gtsam/hybrid/HybridBayesTree.h
index 74bd234d81..f8a90d6b44 100644
--- a/gtsam/hybrid/HybridBayesTree.h
+++ b/gtsam/hybrid/HybridBayesTree.h
@@ -70,7 +70,13 @@ class GTSAM_EXPORT HybridBayesTree : public BayesTree<HybridBayesTreeClique> {
   /// @}
 };
 
-/* This does special stuff for the hybrid case */
+/**
+ * @brief Class for Hybrid Bayes tree orphan subtrees.
+ *
+ * This does special stuff for the hybrid case
+ *
+ * @tparam CLIQUE
+ */
 template <class CLIQUE>
 class BayesTreeOrphanWrapper<
     CLIQUE, typename std::enable_if<
@@ -82,16 +88,22 @@ class BayesTreeOrphanWrapper<
 
   boost::shared_ptr<CliqueType> clique;
 
+  /**
+   * @brief Construct a new Bayes Tree Orphan Wrapper object.
+   *
+   * @param clique Bayes tree clique.
+   */
   BayesTreeOrphanWrapper(const boost::shared_ptr<CliqueType>& clique)
       : clique(clique) {
     // Store parent keys in our base type factor so that eliminating those
     // parent keys will pull this subtree into the elimination.
     this->keys_.assign(clique->conditional()->beginParents(),
                        clique->conditional()->endParents());
-    this->discreteKeys_.assign(clique->conditional()->discreteKeys_.begin(),
-                               clique->conditional()->discreteKeys_.end());
+    this->discreteKeys_.assign(clique->conditional()->discreteKeys().begin(),
+                               clique->conditional()->discreteKeys().end());
   }
 
+  /// print utility
   void print(
       const std::string& s = "",
       const KeyFormatter& formatter = DefaultKeyFormatter) const override {
diff --git a/gtsam/hybrid/HybridEliminationTree.h b/gtsam/hybrid/HybridEliminationTree.h
index 902beb279c..27766724a0 100644
--- a/gtsam/hybrid/HybridEliminationTree.h
+++ b/gtsam/hybrid/HybridEliminationTree.h
@@ -28,12 +28,18 @@ namespace gtsam {
  */
 class GTSAM_EXPORT HybridEliminationTree
     : public EliminationTree<HybridBayesNet, HybridFactorGraph> {
+ private:
+  friend class ::EliminationTreeTester;
+
  public:
   typedef EliminationTree<HybridBayesNet, HybridFactorGraph>
       Base;                                    ///< Base class
   typedef HybridEliminationTree This;          ///< This class
   typedef boost::shared_ptr<This> shared_ptr;  ///< Shared pointer to this class
 
+  /// @name Constructors
+  /// @{
+
   /**
    * Build the elimination tree of a factor graph using pre-computed column
    * structure.
@@ -54,11 +60,10 @@ class GTSAM_EXPORT HybridEliminationTree
   HybridEliminationTree(const HybridFactorGraph& factorGraph,
                         const Ordering& order);
 
+  /// @}
+
   /** Test whether the tree is equal to another */
   bool equals(const This& other, double tol = 1e-9) const;
-
- private:
-  friend class ::EliminationTreeTester;
 };
 
 }  // namespace gtsam
diff --git a/gtsam/hybrid/HybridFactorGraph.cpp b/gtsam/hybrid/HybridFactorGraph.cpp
index 954ee57a61..450636ab32 100644
--- a/gtsam/hybrid/HybridFactorGraph.cpp
+++ b/gtsam/hybrid/HybridFactorGraph.cpp
@@ -150,8 +150,8 @@ EliminateHybrid(const HybridFactorGraph &factors, const Ordering &frontalKeys) {
       std::cout << RESET;
     }
     separatorKeys.insert(factor->begin(), factor->end());
-    if (!factor->isContinuous_) {
-      for (auto &k : factor->discreteKeys_) {
+    if (!factor->isContinuous()) {
+      for (auto &k : factor->discreteKeys()) {
         mapFromKeyToDiscreteKey[k.first] = k;
       }
     }
@@ -223,9 +223,9 @@ EliminateHybrid(const HybridFactorGraph &factors, const Ordering &frontalKeys) {
     for (auto &fp : factors) {
       auto ptr = boost::dynamic_pointer_cast<HybridGaussianFactor>(fp);
       if (ptr) {
-        gfg.push_back(ptr->inner);
+        gfg.push_back(ptr->inner());
       } else {
-        auto p = boost::static_pointer_cast<HybridConditional>(fp)->inner;
+        auto p = boost::static_pointer_cast<HybridConditional>(fp)->inner();
         if (p) {
           gfg.push_back(boost::static_pointer_cast<GaussianConditional>(p));
         } else {
@@ -251,9 +251,9 @@ EliminateHybrid(const HybridFactorGraph &factors, const Ordering &frontalKeys) {
     for (auto &fp : factors) {
       auto ptr = boost::dynamic_pointer_cast<HybridDiscreteFactor>(fp);
       if (ptr) {
-        dfg.push_back(ptr->inner);
+        dfg.push_back(ptr->inner());
       } else {
-        auto p = boost::static_pointer_cast<HybridConditional>(fp)->inner;
+        auto p = boost::static_pointer_cast<HybridConditional>(fp)->inner();
         if (p) {
           dfg.push_back(boost::static_pointer_cast<DiscreteConditional>(p));
         } else {
@@ -288,7 +288,7 @@ EliminateHybrid(const HybridFactorGraph &factors, const Ordering &frontalKeys) {
   std::vector<GaussianFactor::shared_ptr> deferredFactors;
 
   for (auto &f : factors) {
-    if (f->isHybrid_) {
+    if (f->isHybrid()) {
       auto cgmf = boost::dynamic_pointer_cast<GaussianMixtureFactor>(f);
       if (cgmf) {
         sum = cgmf->add(sum);
@@ -299,9 +299,9 @@ EliminateHybrid(const HybridFactorGraph &factors, const Ordering &frontalKeys) {
         sum = gm->asMixture()->add(sum);
       }
 
-    } else if (f->isContinuous_) {
+    } else if (f->isContinuous()) {
       deferredFactors.push_back(
-          boost::dynamic_pointer_cast<HybridGaussianFactor>(f)->inner);
+          boost::dynamic_pointer_cast<HybridGaussianFactor>(f)->inner());
     } else {
       // We need to handle the case where the object is actually an
       // BayesTreeOrphanWrapper!
diff --git a/gtsam/hybrid/HybridISAM.cpp b/gtsam/hybrid/HybridISAM.cpp
index 0db30f1f3a..f743b92f10 100644
--- a/gtsam/hybrid/HybridISAM.cpp
+++ b/gtsam/hybrid/HybridISAM.cpp
@@ -58,7 +58,7 @@ void HybridISAM::updateInternal(const HybridFactorGraph& newFactors,
 
   KeySet allDiscrete;
   for (auto& factor : factors) {
-    for (auto& k : factor->discreteKeys_) {
+    for (auto& k : factor->discreteKeys()) {
       allDiscrete.insert(k.first);
     }
   }
diff --git a/gtsam/hybrid/HybridJunctionTree.cpp b/gtsam/hybrid/HybridJunctionTree.cpp
index bf088c5aa9..d1e19f8526 100644
--- a/gtsam/hybrid/HybridJunctionTree.cpp
+++ b/gtsam/hybrid/HybridJunctionTree.cpp
@@ -63,7 +63,7 @@ struct HybridConstructorTraversalData {
     std::cout << "Getting discrete info: ";
 #endif
     for (HybridFactor::shared_ptr& f : node->factors) {
-      for (auto& k : f->discreteKeys_) {
+      for (auto& k : f->discreteKeys()) {
 #ifdef GTSAM_HYBRID_JUNCTIONTREE_DEBUG
         std::cout << "DK: " << DefaultKeyFormatter(k.first) << "\n";
 #endif

From 6d26818e79c12a022cd9d18d56e88fe1ceeb7bad Mon Sep 17 00:00:00 2001
From: Varun Agrawal <varagrawal@gmail.com>
Date: Fri, 27 May 2022 15:17:22 -0400
Subject: [PATCH 085/433] HybridDiscreteFactor docs and minor refactor

---
 gtsam/hybrid/HybridDiscreteFactor.cpp | 17 ++++++++++-------
 gtsam/hybrid/HybridDiscreteFactor.h   | 16 ++++++++++++++--
 2 files changed, 24 insertions(+), 9 deletions(-)

diff --git a/gtsam/hybrid/HybridDiscreteFactor.cpp b/gtsam/hybrid/HybridDiscreteFactor.cpp
index 54b1931968..989127a28c 100644
--- a/gtsam/hybrid/HybridDiscreteFactor.cpp
+++ b/gtsam/hybrid/HybridDiscreteFactor.cpp
@@ -24,25 +24,28 @@
 
 namespace gtsam {
 
+/* ************************************************************************ */
 // TODO(fan): THIS IS VERY VERY DIRTY! We need to get DiscreteFactor right!
 HybridDiscreteFactor::HybridDiscreteFactor(DiscreteFactor::shared_ptr other)
     : Base(boost::dynamic_pointer_cast<DecisionTreeFactor>(other)
-               ->discreteKeys()) {
-  inner = other;
-}
+               ->discreteKeys()),
+      inner_(other) {}
 
+/* ************************************************************************ */
 HybridDiscreteFactor::HybridDiscreteFactor(DecisionTreeFactor &&dtf)
     : Base(dtf.discreteKeys()),
-      inner(boost::make_shared<DecisionTreeFactor>(std::move(dtf))) {}
+      inner_(boost::make_shared<DecisionTreeFactor>(std::move(dtf))) {}
 
+/* ************************************************************************ */
 bool HybridDiscreteFactor::equals(const HybridFactor &lf, double tol) const {
-  return false;
+  return Base::equals(lf, tol);
 }
 
+/* ************************************************************************ */
 void HybridDiscreteFactor::print(const std::string &s,
                                  const KeyFormatter &formatter) const {
   HybridFactor::print(s, formatter);
-  inner->print("inner: ", formatter);
+  inner_->print("inner: ", formatter);
 };
 
-}  // namespace gtsam
\ No newline at end of file
+}  // namespace gtsam
diff --git a/gtsam/hybrid/HybridDiscreteFactor.h b/gtsam/hybrid/HybridDiscreteFactor.h
index 0f731f8b53..572ddfbcd1 100644
--- a/gtsam/hybrid/HybridDiscreteFactor.h
+++ b/gtsam/hybrid/HybridDiscreteFactor.h
@@ -13,6 +13,7 @@
  *  @file HybridDiscreteFactor.h
  *  @date Mar 11, 2022
  *  @author Fan Jiang
+ *  @author Varun Agrawal
  */
 
 #pragma once
@@ -29,12 +30,16 @@ namespace gtsam {
  * inheritance.
  */
 class HybridDiscreteFactor : public HybridFactor {
+ private:
+  DiscreteFactor::shared_ptr inner_;
+
  public:
   using Base = HybridFactor;
   using This = HybridDiscreteFactor;
   using shared_ptr = boost::shared_ptr<This>;
 
-  DiscreteFactor::shared_ptr inner;
+  /// @name Constructors
+  /// @{
 
   // Implicit conversion from a shared ptr of DF
   HybridDiscreteFactor(DiscreteFactor::shared_ptr other);
@@ -42,11 +47,18 @@ class HybridDiscreteFactor : public HybridFactor {
   // Forwarding constructor from concrete DecisionTreeFactor
   HybridDiscreteFactor(DecisionTreeFactor &&dtf);
 
- public:
+  /// @}
+  /// @name Testable
+  /// @{
   virtual bool equals(const HybridFactor &lf, double tol) const override;
 
   void print(
       const std::string &s = "HybridFactor\n",
       const KeyFormatter &formatter = DefaultKeyFormatter) const override;
+
+  /// @}
+
+  /// Return pointer to the internal discrete factor
+  DiscreteFactor::shared_ptr inner() const { return inner_; }
 };
 }  // namespace gtsam

From 7bfa0118862b4ee1b745597e169e4d99dcaa6321 Mon Sep 17 00:00:00 2001
From: Varun Agrawal <varagrawal@gmail.com>
Date: Fri, 27 May 2022 15:17:30 -0400
Subject: [PATCH 086/433] update tests

---
 gtsam/hybrid/tests/Switching.h               |  2 +-
 gtsam/hybrid/tests/testHybridFactorGraph.cpp | 21 ++++++++++----------
 2 files changed, 12 insertions(+), 11 deletions(-)

diff --git a/gtsam/hybrid/tests/Switching.h b/gtsam/hybrid/tests/Switching.h
index 74d6823720..1a4db78988 100644
--- a/gtsam/hybrid/tests/Switching.h
+++ b/gtsam/hybrid/tests/Switching.h
@@ -38,7 +38,7 @@ inline HybridFactorGraph::shared_ptr makeSwitchingChain(
 
   // keyFunc(1) to keyFunc(n+1)
   for (size_t t = 1; t < n; t++) {
-    hfg.add(GaussianMixtureFactor::FromFactorList(
+    hfg.add(GaussianMixtureFactor::FromFactors(
         {keyFunc(t), keyFunc(t + 1)}, {{dKeyFunc(t), 2}},
         {boost::make_shared<JacobianFactor>(keyFunc(t), I_3x3, keyFunc(t + 1),
                                             I_3x3, Z_3x1),
diff --git a/gtsam/hybrid/tests/testHybridFactorGraph.cpp b/gtsam/hybrid/tests/testHybridFactorGraph.cpp
index 4986cc2a7d..55b2a9b3be 100644
--- a/gtsam/hybrid/tests/testHybridFactorGraph.cpp
+++ b/gtsam/hybrid/tests/testHybridFactorGraph.cpp
@@ -79,13 +79,14 @@ TEST(HybridFactorGraph, creation) {
 
   hfg.add(HybridGaussianFactor(JacobianFactor(0, I_3x3, Z_3x1)));
 
-  GaussianMixtureConditional clgc({X(0)}, {X(1)}, DiscreteKeys(DiscreteKey{C(0), 2}),
-                       GaussianMixtureConditional::Conditionals(
-                           C(0),
-                           boost::make_shared<GaussianConditional>(
-                               X(0), Z_3x1, I_3x3, X(1), I_3x3),
-                           boost::make_shared<GaussianConditional>(
-                               X(0), Vector3::Ones(), I_3x3, X(1), I_3x3)));
+  GaussianMixtureConditional clgc(
+      {X(0)}, {X(1)}, DiscreteKeys(DiscreteKey{C(0), 2}),
+      GaussianMixtureConditional::Conditionals(
+          C(0),
+          boost::make_shared<GaussianConditional>(X(0), Z_3x1, I_3x3, X(1),
+                                                  I_3x3),
+          boost::make_shared<GaussianConditional>(X(0), Vector3::Ones(), I_3x3,
+                                                  X(1), I_3x3)));
   GTSAM_PRINT(clgc);
 }
 
@@ -182,7 +183,7 @@ TEST(HybridFactorGraph, eliminateFullMultifrontalSimple) {
   //     boost::make_shared<JacobianFactor>(X(1), I_3x3, Vector3::Ones()));
 
   // hfg.add(GaussianMixtureFactor({X(1)}, {c1}, dt));
-  hfg.add(GaussianMixtureFactor::FromFactorList(
+  hfg.add(GaussianMixtureFactor::FromFactors(
       {X(1)}, {{C(1), 2}},
       {boost::make_shared<JacobianFactor>(X(1), I_3x3, Z_3x1),
        boost::make_shared<JacobianFactor>(X(1), I_3x3, Vector3::Ones())}));
@@ -234,7 +235,7 @@ TEST(HybridFactorGraph, eliminateFullMultifrontalCLG) {
   */
 }
 
-/**
+/*
  * This test is about how to assemble the Bayes Tree roots after we do partial
  * elimination
  */
@@ -251,7 +252,7 @@ TEST(HybridFactorGraph, eliminateFullMultifrontalTwoClique) {
     //     C(0), boost::make_shared<JacobianFactor>(X(0), I_3x3, Z_3x1),
     //     boost::make_shared<JacobianFactor>(X(0), I_3x3, Vector3::Ones()));
 
-    hfg.add(GaussianMixtureFactor::FromFactorList(
+    hfg.add(GaussianMixtureFactor::FromFactors(
         {X(0)}, {{C(0), 2}},
         {boost::make_shared<JacobianFactor>(X(0), I_3x3, Z_3x1),
          boost::make_shared<JacobianFactor>(X(0), I_3x3, Vector3::Ones())}));

From d60c4aca5a30312e935319af335efd1f675c3c80 Mon Sep 17 00:00:00 2001
From: Varun Agrawal <varagrawal@gmail.com>
Date: Fri, 27 May 2022 15:28:11 -0400
Subject: [PATCH 087/433] add demarkers

---
 gtsam/hybrid/hybrid.i                        |  6 +++---
 gtsam/hybrid/tests/testHybridFactorGraph.cpp | 22 +++++++++-----------
 2 files changed, 13 insertions(+), 15 deletions(-)

diff --git a/gtsam/hybrid/hybrid.i b/gtsam/hybrid/hybrid.i
index 5a76aaf482..d3ff987192 100644
--- a/gtsam/hybrid/hybrid.i
+++ b/gtsam/hybrid/hybrid.i
@@ -23,12 +23,12 @@ virtual class HybridConditional {
   bool equals(const gtsam::HybridConditional& other, double tol = 1e-9) const;
   size_t nrFrontals() const;
   size_t nrParents() const;
-  Factor* getInner();
+  Factor* inner();
 };
 
 #include <gtsam/hybrid/GaussianMixtureFactor.h>
 class GaussianMixtureFactor : gtsam::HybridFactor {
-  static GaussianMixtureFactor FromFactorList(
+  static GaussianMixtureFactor FromFactors(
       const gtsam::KeyVector& continuousKeys,
       const gtsam::DiscreteKeys& discreteKeys,
       const std::vector<gtsam::GaussianFactor::shared_ptr>& factorsList);
@@ -40,7 +40,7 @@ class GaussianMixtureFactor : gtsam::HybridFactor {
 
 #include <gtsam/hybrid/GaussianMixtureConditional.h>
 class GaussianMixtureConditional : gtsam::HybridFactor {
-  static GaussianMixtureConditional FromConditionalList(
+  static GaussianMixtureConditional FromConditionals(
       const gtsam::KeyVector& continuousFrontals,
       const gtsam::KeyVector& continuousParents,
       const gtsam::DiscreteKeys& discreteParents,
diff --git a/gtsam/hybrid/tests/testHybridFactorGraph.cpp b/gtsam/hybrid/tests/testHybridFactorGraph.cpp
index 55b2a9b3be..860fdfdb89 100644
--- a/gtsam/hybrid/tests/testHybridFactorGraph.cpp
+++ b/gtsam/hybrid/tests/testHybridFactorGraph.cpp
@@ -90,6 +90,7 @@ TEST(HybridFactorGraph, creation) {
   GTSAM_PRINT(clgc);
 }
 
+/* ************************************************************************* */
 TEST(HybridFactorGraph, eliminate) {
   HybridFactorGraph hfg;
 
@@ -100,6 +101,7 @@ TEST(HybridFactorGraph, eliminate) {
   EXPECT_LONGS_EQUAL(result.first->size(), 1);
 }
 
+/* ************************************************************************* */
 TEST(HybridFactorGraph, eliminateMultifrontal) {
   HybridFactorGraph hfg;
 
@@ -116,6 +118,7 @@ TEST(HybridFactorGraph, eliminateMultifrontal) {
   EXPECT_LONGS_EQUAL(result.second->size(), 1);
 }
 
+/* ************************************************************************* */
 TEST(HybridFactorGraph, eliminateFullSequentialEqualChance) {
   HybridFactorGraph hfg;
 
@@ -139,9 +142,8 @@ TEST(HybridFactorGraph, eliminateFullSequentialEqualChance) {
   EXPECT_DOUBLES_EQUAL(0.6225, dc->operator()(dv), 1e-3);
 }
 
+/* ************************************************************************* */
 TEST(HybridFactorGraph, eliminateFullSequentialSimple) {
-  std::cout << ">>>>>>>>>>>>>>\n";
-
   HybridFactorGraph hfg;
 
   DiscreteKey c1(C(1), 2);
@@ -168,9 +170,8 @@ TEST(HybridFactorGraph, eliminateFullSequentialSimple) {
   GTSAM_PRINT(*result);
 }
 
+/* ************************************************************************* */
 TEST(HybridFactorGraph, eliminateFullMultifrontalSimple) {
-  std::cout << ">>>>>>>>>>>>>>\n";
-
   HybridFactorGraph hfg;
 
   DiscreteKey c1(C(1), 2);
@@ -202,9 +203,8 @@ TEST(HybridFactorGraph, eliminateFullMultifrontalSimple) {
   GTSAM_PRINT(*result->marginalFactor(C(2)));
 }
 
+/* ************************************************************************* */
 TEST(HybridFactorGraph, eliminateFullMultifrontalCLG) {
-  std::cout << ">>>>>>>>>>>>>>\n";
-
   HybridFactorGraph hfg;
 
   DiscreteKey c(C(1), 2);
@@ -235,13 +235,12 @@ TEST(HybridFactorGraph, eliminateFullMultifrontalCLG) {
   */
 }
 
+/* ************************************************************************* */
 /*
  * This test is about how to assemble the Bayes Tree roots after we do partial
  * elimination
  */
 TEST(HybridFactorGraph, eliminateFullMultifrontalTwoClique) {
-  std::cout << ">>>>>>>>>>>>>>\n";
-
   HybridFactorGraph hfg;
 
   hfg.add(JacobianFactor(X(0), I_3x3, X(1), -I_3x3, Z_3x1));
@@ -308,6 +307,7 @@ TEST(HybridFactorGraph, eliminateFullMultifrontalTwoClique) {
   */
 }
 
+/* ************************************************************************* */
 // TODO(fan): make a graph like Varun's paper one
 TEST(HybridFactorGraph, Switching) {
   auto N = 12;
@@ -415,6 +415,7 @@ TEST(HybridFactorGraph, Switching) {
   hbt->marginalFactor(C(11))->print("HBT: ");
 }
 
+/* ************************************************************************* */
 // TODO(fan): make a graph like Varun's paper one
 TEST(HybridFactorGraph, SwitchingISAM) {
   auto N = 11;
@@ -510,6 +511,7 @@ TEST(HybridFactorGraph, SwitchingISAM) {
   }
 }
 
+/* ************************************************************************* */
 TEST(HybridFactorGraph, SwitchingTwoVar) {
   const int N = 7;
   auto hfg = makeSwitchingChain(N, X);
@@ -599,10 +601,6 @@ TEST(HybridFactorGraph, SwitchingTwoVar) {
 
 /* ************************************************************************* */
 int main() {
-#ifdef HYBRID_DEBUG
-  ::signal(SIGSEGV, &my_signal_handler);
-  ::signal(SIGBUS, &my_signal_handler);
-#endif
   TestResult tr;
   return TestRegistry::runAllTests(tr);
 }

From adcbb65e5c33f3a9f803a6d0a89379bd5830450d Mon Sep 17 00:00:00 2001
From: Varun Agrawal <varagrawal@gmail.com>
Date: Fri, 27 May 2022 16:07:52 -0400
Subject: [PATCH 088/433] HybridFactorGraph docs and minor updates

---
 gtsam/hybrid/HybridFactorGraph.cpp | 13 +++++++++----
 gtsam/hybrid/HybridFactorGraph.h   | 22 +++++++++++++---------
 2 files changed, 22 insertions(+), 13 deletions(-)

diff --git a/gtsam/hybrid/HybridFactorGraph.cpp b/gtsam/hybrid/HybridFactorGraph.cpp
index 450636ab32..344b4220bd 100644
--- a/gtsam/hybrid/HybridFactorGraph.cpp
+++ b/gtsam/hybrid/HybridFactorGraph.cpp
@@ -63,6 +63,7 @@ static std::string RESET = "\033[0m";
 
 constexpr bool DEBUG = false;
 
+/* ************************************************************************ */
 static GaussianMixtureFactor::Sum &addGaussian(
     GaussianMixtureFactor::Sum &sum, const GaussianFactor::shared_ptr &factor) {
   using Y = GaussianFactorGraph;
@@ -406,20 +407,24 @@ EliminateHybrid(const HybridFactorGraph &factors, const Ordering &frontalKeys) {
   }
 }
 
+/* ************************************************************************ */
 void HybridFactorGraph::add(JacobianFactor &&factor) {
   FactorGraph::add(boost::make_shared<HybridGaussianFactor>(std::move(factor)));
 }
 
+/* ************************************************************************ */
+void HybridFactorGraph::add(JacobianFactor::shared_ptr factor) {
+  FactorGraph::add(boost::make_shared<HybridGaussianFactor>(factor));
+}
+
+/* ************************************************************************ */
 void HybridFactorGraph::add(DecisionTreeFactor &&factor) {
   FactorGraph::add(boost::make_shared<HybridDiscreteFactor>(std::move(factor)));
 }
 
+/* ************************************************************************ */
 void HybridFactorGraph::add(DecisionTreeFactor::shared_ptr factor) {
   FactorGraph::add(boost::make_shared<HybridDiscreteFactor>(factor));
 }
 
-void HybridFactorGraph::add(JacobianFactor::shared_ptr factor) {
-  FactorGraph::add(boost::make_shared<HybridGaussianFactor>(factor));
-}
-
 }  // namespace gtsam
diff --git a/gtsam/hybrid/HybridFactorGraph.h b/gtsam/hybrid/HybridFactorGraph.h
index bfd6a8690f..10670b6b75 100644
--- a/gtsam/hybrid/HybridFactorGraph.h
+++ b/gtsam/hybrid/HybridFactorGraph.h
@@ -81,30 +81,34 @@ class HybridFactorGraph : public FactorGraph<HybridFactor>,
   using Values = gtsam::Values;  ///< backwards compatibility
   using Indices = KeyVector;     ///> map from keys to values
 
- public:
-  HybridFactorGraph() = default;
+  /// @name Constructors
+  /// @{
 
-  //  /** Construct from container of factors (shared_ptr or plain objects) */
-  //  template <class CONTAINER>
-  //  explicit HybridFactorGraph(const CONTAINER& factors) : Base(factors) {}
+  HybridFactorGraph() = default;
 
-  /** Implicit copy/downcast constructor to override explicit template container
+  /**
+   * Implicit copy/downcast constructor to override explicit template container
    * constructor. In BayesTree this is used for:
    * `cachedSeparatorMarginal_.reset(*separatorMarginal)`
    * */
   template <class DERIVEDFACTOR>
   HybridFactorGraph(const FactorGraph<DERIVEDFACTOR>& graph) : Base(graph) {}
 
+  /// @}
+
   using FactorGraph::add;
 
-  /// Add a factor directly using a shared_ptr.
+  /// Add a Jacobian factor to the factor graph.
   void add(JacobianFactor&& factor);
 
+  /// Add a Jacobian factor as a shared ptr.
+  void add(boost::shared_ptr<JacobianFactor> factor);
+
+  /// Add a DecisionTreeFactor to the factor graph.
   void add(DecisionTreeFactor&& factor);
 
+  /// Add a DecisionTreeFactor as a shared ptr.
   void add(boost::shared_ptr<DecisionTreeFactor> factor);
-
-  void add(boost::shared_ptr<JacobianFactor> factor);
 };
 
 }  // namespace gtsam

From 5d3ffb7fe825a526810a8052cebeae9945528646 Mon Sep 17 00:00:00 2001
From: Varun Agrawal <varagrawal@gmail.com>
Date: Fri, 27 May 2022 16:14:39 -0400
Subject: [PATCH 089/433] docs update

---
 gtsam/inference/BayesTree.h | 12 ++++++++++--
 1 file changed, 10 insertions(+), 2 deletions(-)

diff --git a/gtsam/inference/BayesTree.h b/gtsam/inference/BayesTree.h
index 0c7d0a8fbe..924a505a2d 100644
--- a/gtsam/inference/BayesTree.h
+++ b/gtsam/inference/BayesTree.h
@@ -281,10 +281,18 @@ namespace gtsam {
 
     boost::shared_ptr<CliqueType> clique;
 
+    /**
+     * @brief Construct a new Bayes Tree Orphan Wrapper object
+     *
+     * This object stores parent keys in our base type factor so that
+     * eliminating those parent keys will pull this subtree into the
+     * elimination.
+     *
+     * @param clique Orphan clique to add for further consideration in
+     * elimination.
+     */
     BayesTreeOrphanWrapper(const boost::shared_ptr<CliqueType>& clique)
         : clique(clique) {
-      // Store parent keys in our base type factor so that eliminating those
-      // parent keys will pull this subtree into the elimination.
       this->keys_.assign(clique->conditional()->beginParents(),
                          clique->conditional()->endParents());
     }

From e2c775302aa8d6f364d1a9f72b012c133cb197bd Mon Sep 17 00:00:00 2001
From: Varun Agrawal <varagrawal@gmail.com>
Date: Fri, 27 May 2022 16:15:53 -0400
Subject: [PATCH 090/433] remove debug statements

---
 gtsam/hybrid/HybridJunctionTree.cpp | 24 +-----------------------
 1 file changed, 1 insertion(+), 23 deletions(-)

diff --git a/gtsam/hybrid/HybridJunctionTree.cpp b/gtsam/hybrid/HybridJunctionTree.cpp
index d1e19f8526..981cd6f327 100644
--- a/gtsam/hybrid/HybridJunctionTree.cpp
+++ b/gtsam/hybrid/HybridJunctionTree.cpp
@@ -23,7 +23,6 @@
 
 #include <unordered_map>
 
-// #undef NDEBUG
 namespace gtsam {
 
 // Instantiate base classes
@@ -59,15 +58,8 @@ struct HybridConstructorTraversalData {
     myData.myJTNode = boost::make_shared<Node>(node->key, node->factors);
     parentData.myJTNode->addChild(myData.myJTNode);
 
-#ifdef GTSAM_HYBRID_JUNCTIONTREE_DEBUG
-    std::cout << "Getting discrete info: ";
-#endif
     for (HybridFactor::shared_ptr& f : node->factors) {
       for (auto& k : f->discreteKeys()) {
-#ifdef GTSAM_HYBRID_JUNCTIONTREE_DEBUG
-        std::cout << "DK: " << DefaultKeyFormatter(k.first) << "\n";
-#endif
-
         myData.discreteKeys.insert(k.first);
       }
     }
@@ -104,11 +96,6 @@ struct HybridConstructorTraversalData {
     boost::tie(myConditional, mySeparatorFactor) =
         internal::EliminateSymbolic(symbolicFactors, keyAsOrdering);
 
-#ifdef GTSAM_HYBRID_JUNCTIONTREE_DEBUG
-    std::cout << "Symbolic: ";
-    myConditional->print();
-#endif
-
     // Store symbolic elimination results in the parent
     myData.parentData->childSymbolicConditionals.push_back(myConditional);
     myData.parentData->childSymbolicFactors.push_back(mySeparatorFactor);
@@ -136,19 +123,10 @@ struct HybridConstructorTraversalData {
             myData.discreteKeys.exists(myConditional->frontals()[0]);
         const bool theirType =
             myData.discreteKeys.exists(childConditionals[i]->frontals()[0]);
-#ifdef GTSAM_HYBRID_JUNCTIONTREE_DEBUG
-        std::cout << "Type: "
-                  << DefaultKeyFormatter(myConditional->frontals()[0]) << " vs "
-                  << DefaultKeyFormatter(childConditionals[i]->frontals()[0])
-                  << "\n";
-#endif
+
         if (myType == theirType) {
           // Increment number of frontal variables
           myNrFrontals += nrFrontals[i];
-#ifdef GTSAM_HYBRID_JUNCTIONTREE_DEBUG
-          std::cout << "Merging ";
-          childConditionals[i]->print();
-#endif
           merge[i] = true;
         }
       }

From 30c8e1dfa723d987fd2ad5c35474646e448bdbc1 Mon Sep 17 00:00:00 2001
From: Varun Agrawal <varagrawal@gmail.com>
Date: Fri, 27 May 2022 16:16:30 -0400
Subject: [PATCH 091/433] fix doxygen section

---
 gtsam/hybrid/HybridISAM.h | 3 ++-
 1 file changed, 2 insertions(+), 1 deletion(-)

diff --git a/gtsam/hybrid/HybridISAM.h b/gtsam/hybrid/HybridISAM.h
index ac9e17e83f..7f9e77b8b9 100644
--- a/gtsam/hybrid/HybridISAM.h
+++ b/gtsam/hybrid/HybridISAM.h
@@ -41,6 +41,8 @@ class GTSAM_EXPORT HybridISAM : public ISAM<HybridBayesTree> {
   /** Copy constructor */
   HybridISAM(const HybridBayesTree& bayesTree);
 
+  /// @}
+
   void updateInternal(
       const HybridFactorGraph& newFactors, HybridBayesTree::Cliques* orphans,
       const HybridBayesTree::Eliminate& function =
@@ -49,7 +51,6 @@ class GTSAM_EXPORT HybridISAM : public ISAM<HybridBayesTree> {
   void update(const HybridFactorGraph& newFactors,
               const HybridBayesTree::Eliminate& function =
                   HybridBayesTree::EliminationTraitsType::DefaultEliminate);
-  /// @}
 };
 
 /// traits

From 4ee4b37f2f85eeeda35c728cd6e3fc2c860b2727 Mon Sep 17 00:00:00 2001
From: Varun Agrawal <varagrawal@gmail.com>
Date: Fri, 27 May 2022 16:23:35 -0400
Subject: [PATCH 092/433] HybridISAM docs

---
 gtsam/hybrid/HybridISAM.cpp | 4 ++--
 gtsam/hybrid/HybridISAM.h   | 9 +++++++++
 2 files changed, 11 insertions(+), 2 deletions(-)

diff --git a/gtsam/hybrid/HybridISAM.cpp b/gtsam/hybrid/HybridISAM.cpp
index f743b92f10..057f784ad8 100644
--- a/gtsam/hybrid/HybridISAM.cpp
+++ b/gtsam/hybrid/HybridISAM.cpp
@@ -36,6 +36,7 @@ HybridISAM::HybridISAM() {}
 /* ************************************************************************* */
 HybridISAM::HybridISAM(const HybridBayesTree& bayesTree) : Base(bayesTree) {}
 
+/* ************************************************************************* */
 void HybridISAM::updateInternal(const HybridFactorGraph& newFactors,
                                 HybridBayesTree::Cliques* orphans,
                                 const HybridBayesTree::Eliminate& function) {
@@ -79,8 +80,6 @@ void HybridISAM::updateInternal(const HybridFactorGraph& newFactors,
       index, KeyVector(newKeysDiscreteLast.begin(), newKeysDiscreteLast.end()),
       true);
 
-  ordering.print("ORD");
-
   // eliminate all factors (top, added, orphans) into a new Bayes tree
   auto bayesTree = factors.eliminateMultifrontal(ordering, function, index);
 
@@ -90,6 +89,7 @@ void HybridISAM::updateInternal(const HybridFactorGraph& newFactors,
   this->nodes_.insert(bayesTree->nodes().begin(), bayesTree->nodes().end());
 }
 
+/* ************************************************************************* */
 void HybridISAM::update(const HybridFactorGraph& newFactors,
                         const HybridBayesTree::Eliminate& function) {
   Cliques orphans;
diff --git a/gtsam/hybrid/HybridISAM.h b/gtsam/hybrid/HybridISAM.h
index 7f9e77b8b9..0738f46c84 100644
--- a/gtsam/hybrid/HybridISAM.h
+++ b/gtsam/hybrid/HybridISAM.h
@@ -43,11 +43,20 @@ class GTSAM_EXPORT HybridISAM : public ISAM<HybridBayesTree> {
 
   /// @}
 
+ private:
+  /// Internal method that performs the ISAM update.
   void updateInternal(
       const HybridFactorGraph& newFactors, HybridBayesTree::Cliques* orphans,
       const HybridBayesTree::Eliminate& function =
           HybridBayesTree::EliminationTraitsType::DefaultEliminate);
 
+ public:
+  /**
+   * @brief Perform update step with new factors.
+   *
+   * @param newFactors Factor graph of new factors to add and eliminate.
+   * @param function Elimination function.
+   */
   void update(const HybridFactorGraph& newFactors,
               const HybridBayesTree::Eliminate& function =
                   HybridBayesTree::EliminationTraitsType::DefaultEliminate);

From 9d26a3dc9d2433e937ec41256073578cc28c134c Mon Sep 17 00:00:00 2001
From: Varun Agrawal <varagrawal@gmail.com>
Date: Fri, 27 May 2022 16:43:19 -0400
Subject: [PATCH 093/433] remove debug statements and add docs

---
 gtsam/hybrid/HybridFactorGraph.cpp  | 82 +----------------------------
 gtsam/hybrid/HybridGaussianFactor.h |  7 +++
 2 files changed, 8 insertions(+), 81 deletions(-)

diff --git a/gtsam/hybrid/HybridFactorGraph.cpp b/gtsam/hybrid/HybridFactorGraph.cpp
index 344b4220bd..bffb0327c1 100644
--- a/gtsam/hybrid/HybridFactorGraph.cpp
+++ b/gtsam/hybrid/HybridFactorGraph.cpp
@@ -138,18 +138,8 @@ EliminateHybrid(const HybridFactorGraph &factors, const Ordering &frontalKeys) {
   KeySet continuousFrontals;
   KeySet continuousSeparator;
 
-  if (DEBUG) {
-    std::cout << RED_BOLD << "Begin Eliminate: " << RESET;
-    frontalKeys.print();
-  }
-
   // This initializes separatorKeys and mapFromKeyToDiscreteKey
   for (auto &&factor : factors) {
-    if (DEBUG) {
-      std::cout << ">>> Adding factor: " << GREEN;
-      factor->print();
-      std::cout << RESET;
-    }
     separatorKeys.insert(factor->begin(), factor->end());
     if (!factor->isContinuous()) {
       for (auto &k : factor->discreteKeys()) {
@@ -183,43 +173,10 @@ EliminateHybrid(const HybridFactorGraph &factors, const Ordering &frontalKeys) {
     }
   }
 
-  // Only for printing
-  if (DEBUG) {
-    std::cout << RED_BOLD << "Keys: " << RESET;
-    for (auto &f : frontalKeys) {
-      if (mapFromKeyToDiscreteKey.find(f) != mapFromKeyToDiscreteKey.end()) {
-        auto &key = mapFromKeyToDiscreteKey.at(f);
-        std::cout << boost::format(" (%1%,%2%),") %
-                         DefaultKeyFormatter(key.first) % key.second;
-      } else {
-        std::cout << " " << DefaultKeyFormatter(f) << ",";
-      }
-    }
-
-    if (separatorKeys.size() > 0) {
-      std::cout << " | ";
-    }
-
-    for (auto &f : separatorKeys) {
-      if (mapFromKeyToDiscreteKey.find(f) != mapFromKeyToDiscreteKey.end()) {
-        auto &key = mapFromKeyToDiscreteKey.at(f);
-        std::cout << boost::format(" (%1%,%2%),") %
-                         DefaultKeyFormatter(key.first) % key.second;
-      } else {
-        std::cout << DefaultKeyFormatter(f) << ",";
-      }
-    }
-    std::cout << "\n" << RESET;
-  }
-
   // NOTE: We should really defer the product here because of pruning
 
   // Case 1: we are only dealing with continuous
   if (mapFromKeyToDiscreteKey.empty() && !allContinuousKeys.empty()) {
-    if (DEBUG) {
-      std::cout << RED_BOLD << "CONT. ONLY" << RESET << "\n";
-    }
-
     GaussianFactorGraph gfg;
     for (auto &fp : factors) {
       auto ptr = boost::dynamic_pointer_cast<HybridGaussianFactor>(fp);
@@ -231,7 +188,6 @@ EliminateHybrid(const HybridFactorGraph &factors, const Ordering &frontalKeys) {
           gfg.push_back(boost::static_pointer_cast<GaussianConditional>(p));
         } else {
           // It is an orphan wrapped conditional
-          if (DEBUG) std::cout << "Got an orphan conditional\n";
         }
       }
     }
@@ -244,10 +200,6 @@ EliminateHybrid(const HybridFactorGraph &factors, const Ordering &frontalKeys) {
 
   // Case 2: we are only dealing with discrete
   if (allContinuousKeys.empty()) {
-    if (DEBUG) {
-      std::cout << RED_BOLD << "DISCRETE ONLY" << RESET << "\n";
-    }
-
     DiscreteFactorGraph dfg;
     for (auto &fp : factors) {
       auto ptr = boost::dynamic_pointer_cast<HybridDiscreteFactor>(fp);
@@ -259,7 +211,6 @@ EliminateHybrid(const HybridFactorGraph &factors, const Ordering &frontalKeys) {
           dfg.push_back(boost::static_pointer_cast<DiscreteConditional>(p));
         } else {
           // It is an orphan wrapper
-          if (DEBUG) std::cout << "Got an orphan wrapper conditional\n";
         }
       }
     }
@@ -280,10 +231,6 @@ EliminateHybrid(const HybridFactorGraph &factors, const Ordering &frontalKeys) {
   // sum out frontals, this is the factor on the separator
   gttic(sum);
 
-  if (DEBUG) {
-    std::cout << RED_BOLD << "HYBRID ELIM." << RESET << "\n";
-  }
-
   GaussianMixtureFactor::Sum sum;
 
   std::vector<GaussianFactor::shared_ptr> deferredFactors;
@@ -308,9 +255,7 @@ EliminateHybrid(const HybridFactorGraph &factors, const Ordering &frontalKeys) {
       // BayesTreeOrphanWrapper!
       auto orphan = boost::dynamic_pointer_cast<
           BayesTreeOrphanWrapper<HybridBayesTree::Clique>>(f);
-      if (orphan) {
-        if (DEBUG) std::cout << "Got an orphan wrapper conditional\n";
-      } else {
+      if (!orphan) {
         auto &fr = *f;
         throw std::invalid_argument(
             std::string("factor is discrete in continuous elimination") +
@@ -320,21 +265,9 @@ EliminateHybrid(const HybridFactorGraph &factors, const Ordering &frontalKeys) {
   }
 
   for (auto &f : deferredFactors) {
-    if (DEBUG) {
-      std::cout << GREEN_BOLD << "Adding Gaussian" << RESET << "\n";
-    }
     sum = addGaussian(sum, f);
   }
 
-  if (DEBUG) {
-    std::cout << GREEN_BOLD << "[GFG Tree]\n" << RESET;
-    sum.print("", DefaultKeyFormatter, [](GaussianFactorGraph gfg) {
-      RedirectCout rd;
-      gfg.print("");
-      return rd.str();
-    });
-  }
-
   gttoc(sum);
 
   using EliminationPair = GaussianFactorGraph::EliminationResult;
@@ -370,19 +303,6 @@ EliminateHybrid(const HybridFactorGraph &factors, const Ordering &frontalKeys) {
   auto conditional = boost::make_shared<GaussianMixtureConditional>(
       frontalKeys, keysOfSeparator, discreteSeparator, conditionals);
 
-  if (DEBUG) {
-    std::cout << GREEN_BOLD << "[Conditional]\n" << RESET;
-    conditional->print();
-    std::cout << GREEN_BOLD << "[Separator]\n" << RESET;
-    separatorFactors.print("", DefaultKeyFormatter,
-                           [](GaussianFactor::shared_ptr gc) {
-                             RedirectCout rd;
-                             gc->print("");
-                             return rd.str();
-                           });
-    std::cout << RED_BOLD << "[End Eliminate]\n" << RESET;
-  }
-
   // If there are no more continuous parents, then we should create here a
   // DiscreteFactor, with the error for each discrete choice.
   if (keysOfSeparator.empty()) {
diff --git a/gtsam/hybrid/HybridGaussianFactor.h b/gtsam/hybrid/HybridGaussianFactor.h
index 1749c8e413..8d457e7783 100644
--- a/gtsam/hybrid/HybridGaussianFactor.h
+++ b/gtsam/hybrid/HybridGaussianFactor.h
@@ -43,12 +43,19 @@ class HybridGaussianFactor : public HybridFactor {
   explicit HybridGaussianFactor(JacobianFactor &&jf);
 
  public:
+  /// @name Testable
+  /// @{
+
+  /// Check equality.
   virtual bool equals(const HybridFactor &lf, double tol) const override;
 
+  /// GTSAM print utility.
   void print(
       const std::string &s = "HybridFactor\n",
       const KeyFormatter &formatter = DefaultKeyFormatter) const override;
 
+  /// @}
+
   GaussianFactor::shared_ptr inner() const { return inner_; }
 };
 }  // namespace gtsam

From 3bde044248385442101532b91490359c8eb175ba Mon Sep 17 00:00:00 2001
From: Varun Agrawal <varagrawal@gmail.com>
Date: Fri, 27 May 2022 18:13:06 -0400
Subject: [PATCH 094/433] add doc strings to python unit test and add
 assertions

---
 gtsam/hybrid/GaussianMixtureConditional.cpp  | 10 ++--
 gtsam/hybrid/HybridConditional.cpp           | 50 +++++++++++---------
 gtsam/hybrid/HybridFactor.cpp                |  6 +--
 python/gtsam/tests/test_HybridFactorGraph.py | 24 +++++-----
 4 files changed, 49 insertions(+), 41 deletions(-)

diff --git a/gtsam/hybrid/GaussianMixtureConditional.cpp b/gtsam/hybrid/GaussianMixtureConditional.cpp
index 68c3f505e7..726af6d5ff 100644
--- a/gtsam/hybrid/GaussianMixtureConditional.cpp
+++ b/gtsam/hybrid/GaussianMixtureConditional.cpp
@@ -85,12 +85,12 @@ bool GaussianMixtureConditional::equals(const HybridFactor &lf,
 /* *******************************************************************************/
 void GaussianMixtureConditional::print(const std::string &s,
                                        const KeyFormatter &formatter) const {
-  std::cout << s << ": ";
-  if (isContinuous()) std::cout << "Cont. ";
-  if (isDiscrete()) std::cout << "Disc. ";
-  if (isHybrid()) std::cout << "Hybr. ";
+  std::cout << s;
+  if (isContinuous()) std::cout << "Continuous ";
+  if (isDiscrete()) std::cout << "Discrete ";
+  if (isHybrid()) std::cout << "Hybrid ";
   BaseConditional::print("", formatter);
-  std::cout << "Discrete Keys = ";
+  std::cout << "\nDiscrete Keys = ";
   for (auto &dk : discreteKeys()) {
     std::cout << "(" << formatter(dk.first) << ", " << dk.second << "), ";
   }
diff --git a/gtsam/hybrid/HybridConditional.cpp b/gtsam/hybrid/HybridConditional.cpp
index e70d100c3e..7d1b720674 100644
--- a/gtsam/hybrid/HybridConditional.cpp
+++ b/gtsam/hybrid/HybridConditional.cpp
@@ -67,30 +67,36 @@ HybridConditional::HybridConditional(
 void HybridConditional::print(const std::string &s,
                               const KeyFormatter &formatter) const {
   std::cout << s;
-  if (isContinuous()) std::cout << "Cont. ";
-  if (isDiscrete()) std::cout << "Disc. ";
-  if (isHybrid()) std::cout << "Hybr. ";
-  std::cout << "P(";
-  size_t index = 0;
-  const size_t N = keys().size();
-  const size_t contN = N - discreteKeys_.size();
-  while (index < N) {
-    if (index > 0) {
-      if (index == nrFrontals_)
-        std::cout << " | ";
-      else
-        std::cout << ", ";
-    }
-    if (index < contN) {
-      std::cout << formatter(keys()[index]);
-    } else {
-      auto &dk = discreteKeys_[index - contN];
-      std::cout << "(" << formatter(dk.first) << ", " << dk.second << ")";
+
+  if (inner_) {
+    inner_->print("", formatter);
+
+  } else {
+    if (isContinuous()) std::cout << "Continuous ";
+    if (isDiscrete()) std::cout << "Discrete ";
+    if (isHybrid()) std::cout << "Hybrid ";
+    BaseConditional::print("", formatter);
+
+    std::cout << "P(";
+    size_t index = 0;
+    const size_t N = keys().size();
+    const size_t contN = N - discreteKeys_.size();
+    while (index < N) {
+      if (index > 0) {
+        if (index == nrFrontals_)
+          std::cout << " | ";
+        else
+          std::cout << ", ";
+      }
+      if (index < contN) {
+        std::cout << formatter(keys()[index]);
+      } else {
+        auto &dk = discreteKeys_[index - contN];
+        std::cout << "(" << formatter(dk.first) << ", " << dk.second << ")";
+      }
+      index++;
     }
-    index++;
   }
-  std::cout << ")\n";
-  if (inner_) inner_->print("", formatter);
 }
 
 /* ************************************************************************ */
diff --git a/gtsam/hybrid/HybridFactor.cpp b/gtsam/hybrid/HybridFactor.cpp
index 9358c473da..815ea0415e 100644
--- a/gtsam/hybrid/HybridFactor.cpp
+++ b/gtsam/hybrid/HybridFactor.cpp
@@ -77,9 +77,9 @@ bool HybridFactor::equals(const HybridFactor &lf, double tol) const {
 void HybridFactor::print(const std::string &s,
                          const KeyFormatter &formatter) const {
   std::cout << s;
-  if (isContinuous_) std::cout << "Cont. ";
-  if (isDiscrete_) std::cout << "Disc. ";
-  if (isHybrid_) std::cout << "Hybr. ";
+  if (isContinuous_) std::cout << "Continuous ";
+  if (isDiscrete_) std::cout << "Discrete ";
+  if (isHybrid_) std::cout << "Hybrid ";
   this->printKeys("", formatter);
 }
 
diff --git a/python/gtsam/tests/test_HybridFactorGraph.py b/python/gtsam/tests/test_HybridFactorGraph.py
index 48187b7a20..1441838165 100644
--- a/python/gtsam/tests/test_HybridFactorGraph.py
+++ b/python/gtsam/tests/test_HybridFactorGraph.py
@@ -16,24 +16,25 @@
 
 import gtsam
 import numpy as np
-from gtsam.symbol_shorthand import X, C
+from gtsam.symbol_shorthand import C, X
 from gtsam.utils.test_case import GtsamTestCase
 
 
 class TestHybridFactorGraph(GtsamTestCase):
+    """Unit tests for HybridFactorGraph."""
+
     def test_create(self):
+        """Test contruction of hybrid factor graph."""
         noiseModel = gtsam.noiseModel.Unit.Create(3)
         dk = gtsam.DiscreteKeys()
         dk.push_back((C(0), 2))
 
-        # print(dk.at(0))
         jf1 = gtsam.JacobianFactor(X(0), np.eye(3), np.zeros((3, 1)),
                                    noiseModel)
         jf2 = gtsam.JacobianFactor(X(0), np.eye(3), np.ones((3, 1)),
                                    noiseModel)
 
-        gmf = gtsam.GaussianMixtureFactor.FromFactorList([X(0)], dk,
-                                                         [jf1, jf2])
+        gmf = gtsam.GaussianMixtureFactor.FromFactors([X(0)], dk, [jf1, jf2])
 
         hfg = gtsam.HybridFactorGraph()
         hfg.add(jf1)
@@ -41,16 +42,17 @@ def test_create(self):
         hfg.push_back(gmf)
 
         hbn = hfg.eliminateSequential(
-            gtsam.Ordering.ColamdConstrainedLastHybridFactorGraph(
-                hfg, [C(0)]))
+            gtsam.Ordering.ColamdConstrainedLastHybridFactorGraph(hfg, [C(0)]))
 
-        print("hbn = ", hbn)
+        # print("hbn = ", hbn)
+        self.assertEqual(hbn.size(), 2)
 
-        mixture = hbn.at(0).getInner()
-        print(mixture)
+        mixture = hbn.at(0).inner()
+        self.assertIsInstance(mixture, gtsam.GaussianMixtureConditional)
+        self.assertEqual(len(mixture.keys()), 2)
 
-        discrete_conditional = hbn.at(hbn.size()-1).getInner()
-        print(discrete_conditional)
+        discrete_conditional = hbn.at(hbn.size() - 1).inner()
+        self.assertIsInstance(discrete_conditional, gtsam.DiscreteConditional)
 
 
 if __name__ == "__main__":

From f443cf30e0c2517da1da26a99ec13460297c7ccf Mon Sep 17 00:00:00 2001
From: Varun Agrawal <varagrawal@gmail.com>
Date: Fri, 27 May 2022 18:32:19 -0400
Subject: [PATCH 095/433] add docs for HybridFactor

---
 gtsam/hybrid/HybridFactor.h | 21 +++++++++++++++++++--
 1 file changed, 19 insertions(+), 2 deletions(-)

diff --git a/gtsam/hybrid/HybridFactor.h b/gtsam/hybrid/HybridFactor.h
index da103da43f..244fba4ccb 100644
--- a/gtsam/hybrid/HybridFactor.h
+++ b/gtsam/hybrid/HybridFactor.h
@@ -34,6 +34,7 @@ DiscreteKeys CollectDiscreteKeys(const DiscreteKeys &key1,
 
 /**
  * Base class for hybrid probabilistic factors
+ *
  * Examples:
  *  - HybridGaussianFactor
  *  - HybridDiscreteFactor
@@ -64,13 +65,29 @@ class GTSAM_EXPORT HybridFactor : public Factor {
   /** Default constructor creates empty factor */
   HybridFactor() = default;
 
+  /**
+   * @brief Construct hybrid factor from continuous keys.
+   *
+   * @param keys Vector of continuous keys.
+   */
   explicit HybridFactor(const KeyVector &keys);
 
+  /**
+   * @brief Construct hybrid factor from discrete keys.
+   *
+   * @param keys Vector of discrete keys.
+   */
+  explicit HybridFactor(const DiscreteKeys &discreteKeys);
+
+  /**
+   * @brief Construct a new Hybrid Factor object.
+   *
+   * @param continuousKeys Vector of keys for continuous variables.
+   * @param discreteKeys Vector of keys for discrete variables.
+   */
   HybridFactor(const KeyVector &continuousKeys,
                const DiscreteKeys &discreteKeys);
 
-  explicit HybridFactor(const DiscreteKeys &discreteKeys);
-
   /// Virtual destructor
   virtual ~HybridFactor() = default;
 

From 6cd20fba4d866092c3da220bc1323ebae5a8b901 Mon Sep 17 00:00:00 2001
From: Varun Agrawal <varagrawal@gmail.com>
Date: Fri, 27 May 2022 18:34:13 -0400
Subject: [PATCH 096/433] break up EliminateHybrid into smaller functions

---
 gtsam/hybrid/HybridFactorGraph.cpp | 288 +++++++++++++++--------------
 1 file changed, 150 insertions(+), 138 deletions(-)

diff --git a/gtsam/hybrid/HybridFactorGraph.cpp b/gtsam/hybrid/HybridFactorGraph.cpp
index bffb0327c1..426c86fa3f 100644
--- a/gtsam/hybrid/HybridFactorGraph.cpp
+++ b/gtsam/hybrid/HybridFactorGraph.cpp
@@ -55,14 +55,6 @@ namespace gtsam {
 
 template class EliminateableFactorGraph<HybridFactorGraph>;
 
-static std::string BLACK_BOLD = "\033[1;30m";
-static std::string RED_BOLD = "\033[1;31m";
-static std::string GREEN = "\033[0;32m";
-static std::string GREEN_BOLD = "\033[1;32m";
-static std::string RESET = "\033[0m";
-
-constexpr bool DEBUG = false;
-
 /* ************************************************************************ */
 static GaussianMixtureFactor::Sum &addGaussian(
     GaussianMixtureFactor::Sum &sum, const GaussianFactor::shared_ptr &factor) {
@@ -85,146 +77,63 @@ static GaussianMixtureFactor::Sum &addGaussian(
 }
 
 /* ************************************************************************ */
-std::pair<HybridConditional::shared_ptr, HybridFactor::shared_ptr>  //
-EliminateHybrid(const HybridFactorGraph &factors, const Ordering &frontalKeys) {
-  // NOTE(fan): Because we are in the Conditional Gaussian regime there are only
-  // a few cases:
-  // continuous variable, we make a GM if there are hybrid factors;
-  // continuous variable, we make a GF if there are no hybrid factors;
-  // discrete variable, no continuous factor is allowed (escapes CG regime), so
-  // we panic, if discrete only we do the discrete elimination.
-
-  // However it is not that simple. During elimination it is possible that the
-  // multifrontal needs to eliminate an ordering that contains both Gaussian and
-  // hybrid variables, for example x1, c1. In this scenario, we will have a
-  // density P(x1, c1) that is a CLG P(x1|c1)P(c1) (see Murphy02)
-
-  // The issue here is that, how can we know which variable is discrete if we
-  // unify Values? Obviously we can tell using the factors, but is that fast?
-
-  // In the case of multifrontal, we will need to use a constrained ordering
-  // so that the discrete parts will be guaranteed to be eliminated last!
-
-  // Because of all these reasons, we need to think very carefully about how to
-  // implement the hybrid factors so that we do not get poor performance.
-  //
-  // The first thing is how to represent the GaussianMixtureConditional. A very
-  // possible scenario is that the incoming factors will have different levels
-  // of discrete keys. For example, imagine we are going to eliminate the
-  // fragment:
-  // $\phi(x1,c1,c2)$, $\phi(x1,c2,c3)$, which is perfectly valid. Now we will
-  // need to know how to retrieve the corresponding continuous densities for the
-  // assi- -gnment (c1,c2,c3) (OR (c2,c3,c1)! note there is NO defined order!).
-  // And we also need to consider when there is pruning. Two mixture factors
-  // could have different pruning patterns-one could have (c1=0,c2=1) pruned,
-  // and another could have (c2=0,c3=1) pruned, and this creates a big problem
-  // in how to identify the intersection of non-pruned branches.
-
-  // One possible approach is first building the collection of all discrete
-  // keys. After that we enumerate the space of all key combinations *lazily* so
-  // that the exploration branch terminates whenever an assignment yields NULL
-  // in any of the hybrid factors.
-
-  // When the number of assignments is large we may encounter stack overflows.
-  // However this is also the case with iSAM2, so no pressure :)
-
-  // PREPROCESS: Identify the nature of the current elimination
-  std::unordered_map<Key, DiscreteKey> mapFromKeyToDiscreteKey;
-  std::set<DiscreteKey> discreteSeparatorSet;
-  std::set<DiscreteKey> discreteFrontals;
-
-  KeySet separatorKeys;
-  KeySet allContinuousKeys;
-  KeySet continuousFrontals;
-  KeySet continuousSeparator;
-
-  // This initializes separatorKeys and mapFromKeyToDiscreteKey
-  for (auto &&factor : factors) {
-    separatorKeys.insert(factor->begin(), factor->end());
-    if (!factor->isContinuous()) {
-      for (auto &k : factor->discreteKeys()) {
-        mapFromKeyToDiscreteKey[k.first] = k;
+std::pair<HybridConditional::shared_ptr, HybridFactor::shared_ptr>
+continuousElimination(const HybridFactorGraph &factors,
+                      const Ordering &frontalKeys) {
+  GaussianFactorGraph gfg;
+  for (auto &fp : factors) {
+    auto ptr = boost::dynamic_pointer_cast<HybridGaussianFactor>(fp);
+    if (ptr) {
+      gfg.push_back(ptr->inner());
+    } else {
+      auto p = boost::static_pointer_cast<HybridConditional>(fp)->inner();
+      if (p) {
+        gfg.push_back(boost::static_pointer_cast<GaussianConditional>(p));
+      } else {
+        // It is an orphan wrapped conditional
       }
     }
   }
 
-  // remove frontals from separator
-  for (auto &k : frontalKeys) {
-    separatorKeys.erase(k);
-  }
-
-  // Fill in discrete frontals and continuous frontals for the end result
-  for (auto &k : frontalKeys) {
-    if (mapFromKeyToDiscreteKey.find(k) != mapFromKeyToDiscreteKey.end()) {
-      discreteFrontals.insert(mapFromKeyToDiscreteKey.at(k));
-    } else {
-      continuousFrontals.insert(k);
-      allContinuousKeys.insert(k);
-    }
-  }
+  auto result = EliminatePreferCholesky(gfg, frontalKeys);
+  return std::make_pair(
+      boost::make_shared<HybridConditional>(result.first),
+      boost::make_shared<HybridGaussianFactor>(result.second));
+}
 
-  // Fill in discrete frontals and continuous frontals for the end result
-  for (auto &k : separatorKeys) {
-    if (mapFromKeyToDiscreteKey.find(k) != mapFromKeyToDiscreteKey.end()) {
-      discreteSeparatorSet.insert(mapFromKeyToDiscreteKey.at(k));
+/* ************************************************************************ */
+std::pair<HybridConditional::shared_ptr, HybridFactor::shared_ptr>
+discreteElimination(const HybridFactorGraph &factors,
+                    const Ordering &frontalKeys) {
+  DiscreteFactorGraph dfg;
+  for (auto &fp : factors) {
+    auto ptr = boost::dynamic_pointer_cast<HybridDiscreteFactor>(fp);
+    if (ptr) {
+      dfg.push_back(ptr->inner());
     } else {
-      continuousSeparator.insert(k);
-      allContinuousKeys.insert(k);
-    }
-  }
-
-  // NOTE: We should really defer the product here because of pruning
-
-  // Case 1: we are only dealing with continuous
-  if (mapFromKeyToDiscreteKey.empty() && !allContinuousKeys.empty()) {
-    GaussianFactorGraph gfg;
-    for (auto &fp : factors) {
-      auto ptr = boost::dynamic_pointer_cast<HybridGaussianFactor>(fp);
-      if (ptr) {
-        gfg.push_back(ptr->inner());
+      auto p = boost::static_pointer_cast<HybridConditional>(fp)->inner();
+      if (p) {
+        dfg.push_back(boost::static_pointer_cast<DiscreteConditional>(p));
       } else {
-        auto p = boost::static_pointer_cast<HybridConditional>(fp)->inner();
-        if (p) {
-          gfg.push_back(boost::static_pointer_cast<GaussianConditional>(p));
-        } else {
-          // It is an orphan wrapped conditional
-        }
+        // It is an orphan wrapper
       }
     }
-
-    auto result = EliminatePreferCholesky(gfg, frontalKeys);
-    return std::make_pair(
-        boost::make_shared<HybridConditional>(result.first),
-        boost::make_shared<HybridGaussianFactor>(result.second));
   }
 
-  // Case 2: we are only dealing with discrete
-  if (allContinuousKeys.empty()) {
-    DiscreteFactorGraph dfg;
-    for (auto &fp : factors) {
-      auto ptr = boost::dynamic_pointer_cast<HybridDiscreteFactor>(fp);
-      if (ptr) {
-        dfg.push_back(ptr->inner());
-      } else {
-        auto p = boost::static_pointer_cast<HybridConditional>(fp)->inner();
-        if (p) {
-          dfg.push_back(boost::static_pointer_cast<DiscreteConditional>(p));
-        } else {
-          // It is an orphan wrapper
-        }
-      }
-    }
-
-    auto result = EliminateDiscrete(dfg, frontalKeys);
+  auto result = EliminateDiscrete(dfg, frontalKeys);
 
-    return std::make_pair(
-        boost::make_shared<HybridConditional>(result.first),
-        boost::make_shared<HybridDiscreteFactor>(result.second));
-  }
+  return std::make_pair(
+      boost::make_shared<HybridConditional>(result.first),
+      boost::make_shared<HybridDiscreteFactor>(result.second));
+}
 
-  // Case 3: We are now in the hybrid land!
-  // NOTE: since we use the special JunctionTree, only possiblity is cont.
-  // conditioned on disc.
+/* ************************************************************************ */
+std::pair<HybridConditional::shared_ptr, HybridFactor::shared_ptr>
+hybridElimination(const HybridFactorGraph &factors, const Ordering &frontalKeys,
+                  const KeySet &continuousSeparator,
+                  const std::set<DiscreteKey> &discreteSeparatorSet) {
+  // NOTE: since we use the special JunctionTree,
+  // only possiblity is continuous conditioned on discrete.
   DiscreteKeys discreteSeparator(discreteSeparatorSet.begin(),
                                  discreteSeparatorSet.end());
 
@@ -232,7 +141,6 @@ EliminateHybrid(const HybridFactorGraph &factors, const Ordering &frontalKeys) {
   gttic(sum);
 
   GaussianMixtureFactor::Sum sum;
-
   std::vector<GaussianFactor::shared_ptr> deferredFactors;
 
   for (auto &f : factors) {
@@ -296,12 +204,11 @@ EliminateHybrid(const HybridFactorGraph &factors, const Ordering &frontalKeys) {
 
   auto pair = unzip(eliminationResults);
 
-  const GaussianMixtureConditional::Conditionals &conditionals = pair.first;
   const GaussianMixtureFactor::Factors &separatorFactors = pair.second;
 
   // Create the GaussianMixtureConditional from the conditionals
   auto conditional = boost::make_shared<GaussianMixtureConditional>(
-      frontalKeys, keysOfSeparator, discreteSeparator, conditionals);
+      frontalKeys, keysOfSeparator, discreteSeparator, pair.first);
 
   // If there are no more continuous parents, then we should create here a
   // DiscreteFactor, with the error for each discrete choice.
@@ -326,6 +233,111 @@ EliminateHybrid(const HybridFactorGraph &factors, const Ordering &frontalKeys) {
     return {boost::make_shared<HybridConditional>(conditional), factor};
   }
 }
+/* ************************************************************************ */
+std::pair<HybridConditional::shared_ptr, HybridFactor::shared_ptr>  //
+EliminateHybrid(const HybridFactorGraph &factors, const Ordering &frontalKeys) {
+  // NOTE(fan): Because we are in the Conditional Gaussian regime there are only
+  // a few cases:
+  // continuous variable, we make a GM if there are hybrid factors;
+  // continuous variable, we make a GF if there are no hybrid factors;
+  // discrete variable, no continuous factor is allowed (escapes CG regime), so
+  // we panic, if discrete only we do the discrete elimination.
+
+  // However it is not that simple. During elimination it is possible that the
+  // multifrontal needs to eliminate an ordering that contains both Gaussian and
+  // hybrid variables, for example x1, c1. In this scenario, we will have a
+  // density P(x1, c1) that is a CLG P(x1|c1)P(c1) (see Murphy02)
+
+  // The issue here is that, how can we know which variable is discrete if we
+  // unify Values? Obviously we can tell using the factors, but is that fast?
+
+  // In the case of multifrontal, we will need to use a constrained ordering
+  // so that the discrete parts will be guaranteed to be eliminated last!
+
+  // Because of all these reasons, we need to think very carefully about how to
+  // implement the hybrid factors so that we do not get poor performance.
+  //
+  // The first thing is how to represent the GaussianMixtureConditional. A very
+  // possible scenario is that the incoming factors will have different levels
+  // of discrete keys. For example, imagine we are going to eliminate the
+  // fragment:
+  // $\phi(x1,c1,c2)$, $\phi(x1,c2,c3)$, which is perfectly valid. Now we will
+  // need to know how to retrieve the corresponding continuous densities for the
+  // assi- -gnment (c1,c2,c3) (OR (c2,c3,c1)! note there is NO defined order!).
+  // And we also need to consider when there is pruning. Two mixture factors
+  // could have different pruning patterns-one could have (c1=0,c2=1) pruned,
+  // and another could have (c2=0,c3=1) pruned, and this creates a big problem
+  // in how to identify the intersection of non-pruned branches.
+
+  // One possible approach is first building the collection of all discrete
+  // keys. After that we enumerate the space of all key combinations *lazily* so
+  // that the exploration branch terminates whenever an assignment yields NULL
+  // in any of the hybrid factors.
+
+  // When the number of assignments is large we may encounter stack overflows.
+  // However this is also the case with iSAM2, so no pressure :)
+
+  // PREPROCESS: Identify the nature of the current elimination
+  std::unordered_map<Key, DiscreteKey> mapFromKeyToDiscreteKey;
+  std::set<DiscreteKey> discreteSeparatorSet;
+  std::set<DiscreteKey> discreteFrontals;
+
+  KeySet separatorKeys;
+  KeySet allContinuousKeys;
+  KeySet continuousFrontals;
+  KeySet continuousSeparator;
+
+  // This initializes separatorKeys and mapFromKeyToDiscreteKey
+  for (auto &&factor : factors) {
+    separatorKeys.insert(factor->begin(), factor->end());
+    if (!factor->isContinuous()) {
+      for (auto &k : factor->discreteKeys()) {
+        mapFromKeyToDiscreteKey[k.first] = k;
+      }
+    }
+  }
+
+  // remove frontals from separator
+  for (auto &k : frontalKeys) {
+    separatorKeys.erase(k);
+  }
+
+  // Fill in discrete frontals and continuous frontals for the end result
+  for (auto &k : frontalKeys) {
+    if (mapFromKeyToDiscreteKey.find(k) != mapFromKeyToDiscreteKey.end()) {
+      discreteFrontals.insert(mapFromKeyToDiscreteKey.at(k));
+    } else {
+      continuousFrontals.insert(k);
+      allContinuousKeys.insert(k);
+    }
+  }
+
+  // Fill in discrete frontals and continuous frontals for the end result
+  for (auto &k : separatorKeys) {
+    if (mapFromKeyToDiscreteKey.find(k) != mapFromKeyToDiscreteKey.end()) {
+      discreteSeparatorSet.insert(mapFromKeyToDiscreteKey.at(k));
+    } else {
+      continuousSeparator.insert(k);
+      allContinuousKeys.insert(k);
+    }
+  }
+
+  // NOTE: We should really defer the product here because of pruning
+
+  // Case 1: we are only dealing with continuous
+  if (mapFromKeyToDiscreteKey.empty() && !allContinuousKeys.empty()) {
+    return continuousElimination(factors, frontalKeys);
+  }
+
+  // Case 2: we are only dealing with discrete
+  if (allContinuousKeys.empty()) {
+    return discreteElimination(factors, frontalKeys);
+  }
+
+  // Case 3: We are now in the hybrid land!
+  return hybridElimination(factors, frontalKeys, continuousSeparator,
+                           discreteSeparatorSet);
+}
 
 /* ************************************************************************ */
 void HybridFactorGraph::add(JacobianFactor &&factor) {

From c3a59cfd620ec3de15f381c7d2cd9585c7641731 Mon Sep 17 00:00:00 2001
From: Varun Agrawal <varagrawal@gmail.com>
Date: Fri, 27 May 2022 18:46:52 -0400
Subject: [PATCH 097/433] update the EliminateHybrid note to be more specific

---
 gtsam/hybrid/HybridFactorGraph.cpp | 55 ++++++++++++++++--------------
 1 file changed, 29 insertions(+), 26 deletions(-)

diff --git a/gtsam/hybrid/HybridFactorGraph.cpp b/gtsam/hybrid/HybridFactorGraph.cpp
index 426c86fa3f..dbb4a62b3f 100644
--- a/gtsam/hybrid/HybridFactorGraph.cpp
+++ b/gtsam/hybrid/HybridFactorGraph.cpp
@@ -236,43 +236,46 @@ hybridElimination(const HybridFactorGraph &factors, const Ordering &frontalKeys,
 /* ************************************************************************ */
 std::pair<HybridConditional::shared_ptr, HybridFactor::shared_ptr>  //
 EliminateHybrid(const HybridFactorGraph &factors, const Ordering &frontalKeys) {
-  // NOTE(fan): Because we are in the Conditional Gaussian regime there are only
+  // NOTE: Because we are in the Conditional Gaussian regime there are only
   // a few cases:
-  // continuous variable, we make a GM if there are hybrid factors;
-  // continuous variable, we make a GF if there are no hybrid factors;
-  // discrete variable, no continuous factor is allowed (escapes CG regime), so
-  // we panic, if discrete only we do the discrete elimination.
+  // 1. continuous variable, make a Gaussian Mixture if there are hybrid
+  // factors;
+  // 2. continuous variable, we make a Gaussian Factor if there are no hybrid
+  // factors;
+  // 3. discrete variable, no continuous factor is allowed
+  // (escapes Conditional Gaussian regime), if discrete only we do the discrete
+  // elimination.
 
   // However it is not that simple. During elimination it is possible that the
   // multifrontal needs to eliminate an ordering that contains both Gaussian and
-  // hybrid variables, for example x1, c1. In this scenario, we will have a
-  // density P(x1, c1) that is a CLG P(x1|c1)P(c1) (see Murphy02)
+  // hybrid variables, for example x1, c1.
+  // In this scenario, we will have a density P(x1, c1) that is a Conditional
+  // Linear Gaussian P(x1|c1)P(c1) (see Murphy02).
 
   // The issue here is that, how can we know which variable is discrete if we
   // unify Values? Obviously we can tell using the factors, but is that fast?
 
   // In the case of multifrontal, we will need to use a constrained ordering
   // so that the discrete parts will be guaranteed to be eliminated last!
-
-  // Because of all these reasons, we need to think very carefully about how to
+  // Because of all these reasons, we carefully consider how to
   // implement the hybrid factors so that we do not get poor performance.
-  //
-  // The first thing is how to represent the GaussianMixtureConditional. A very
-  // possible scenario is that the incoming factors will have different levels
-  // of discrete keys. For example, imagine we are going to eliminate the
-  // fragment:
-  // $\phi(x1,c1,c2)$, $\phi(x1,c2,c3)$, which is perfectly valid. Now we will
-  // need to know how to retrieve the corresponding continuous densities for the
-  // assi- -gnment (c1,c2,c3) (OR (c2,c3,c1)! note there is NO defined order!).
-  // And we also need to consider when there is pruning. Two mixture factors
-  // could have different pruning patterns-one could have (c1=0,c2=1) pruned,
-  // and another could have (c2=0,c3=1) pruned, and this creates a big problem
-  // in how to identify the intersection of non-pruned branches.
-
-  // One possible approach is first building the collection of all discrete
-  // keys. After that we enumerate the space of all key combinations *lazily* so
-  // that the exploration branch terminates whenever an assignment yields NULL
-  // in any of the hybrid factors.
+
+  // The first thing is how to represent the GaussianMixtureConditional.
+  // A very possible scenario is that the incoming factors will have different
+  // levels of discrete keys. For example, imagine we are going to eliminate the
+  // fragment: $\phi(x1,c1,c2)$, $\phi(x1,c2,c3)$, which is perfectly valid.
+  // Now we will need to know how to retrieve the corresponding continuous
+  // densities for the assignment (c1,c2,c3) (OR (c2,c3,c1), note there is NO
+  // defined order!). We also need to consider when there is pruning. Two
+  // mixture factors could have different pruning patterns - one could have
+  // (c1=0,c2=1) pruned, and another could have (c2=0,c3=1) pruned, and this
+  // creates a big problem in how to identify the intersection of non-pruned
+  // branches.
+
+  // Our approach is first building the collection of all discrete keys. After
+  // that we enumerate the space of all key combinations *lazily* so that the
+  // exploration branch terminates whenever an assignment yields NULL in any of
+  // the hybrid factors.
 
   // When the number of assignments is large we may encounter stack overflows.
   // However this is also the case with iSAM2, so no pressure :)

From 852a9b9ef65ff4f621f843d635484ca8b8375ccb Mon Sep 17 00:00:00 2001
From: Varun Agrawal <varagrawal@gmail.com>
Date: Sat, 28 May 2022 14:24:03 -0400
Subject: [PATCH 098/433] rename HybridFactorGraph to GaussianHybridFactorGraph

---
 ...raph.cpp => GaussianHybridFactorGraph.cpp} | 24 +++++----
 ...torGraph.h => GaussianHybridFactorGraph.h} | 35 +++++++------
 gtsam/hybrid/HybridBayesTree.cpp              |  3 +-
 gtsam/hybrid/HybridBayesTree.h                |  8 +--
 gtsam/hybrid/HybridConditional.h              |  7 +--
 gtsam/hybrid/HybridEliminationTree.cpp        |  8 +--
 gtsam/hybrid/HybridEliminationTree.h          | 10 ++--
 gtsam/hybrid/HybridISAM.cpp                   |  6 +--
 gtsam/hybrid/HybridISAM.h                     |  7 +--
 gtsam/hybrid/HybridJunctionTree.cpp           | 16 +++---
 gtsam/hybrid/HybridJunctionTree.h             |  6 +--
 gtsam/hybrid/hybrid.i                         | 16 +++---
 gtsam/hybrid/tests/Switching.h                |  8 +--
 ....cpp => testGaussianHybridFactorGraph.cpp} | 52 +++++++++----------
 gtsam/inference/inference.i                   | 14 ++---
 python/gtsam/tests/test_HybridFactorGraph.py  |  9 ++--
 16 files changed, 122 insertions(+), 107 deletions(-)
 rename gtsam/hybrid/{HybridFactorGraph.cpp => GaussianHybridFactorGraph.cpp} (94%)
 rename gtsam/hybrid/{HybridFactorGraph.h => GaussianHybridFactorGraph.h} (74%)
 rename gtsam/hybrid/tests/{testHybridFactorGraph.cpp => testGaussianHybridFactorGraph.cpp} (93%)

diff --git a/gtsam/hybrid/HybridFactorGraph.cpp b/gtsam/hybrid/GaussianHybridFactorGraph.cpp
similarity index 94%
rename from gtsam/hybrid/HybridFactorGraph.cpp
rename to gtsam/hybrid/GaussianHybridFactorGraph.cpp
index dbb4a62b3f..3354d5b4df 100644
--- a/gtsam/hybrid/HybridFactorGraph.cpp
+++ b/gtsam/hybrid/GaussianHybridFactorGraph.cpp
@@ -10,7 +10,7 @@
  * -------------------------------------------------------------------------- */
 
 /**
- * @file   HybridFactorGraph.cpp
+ * @file   GaussianHybridFactorGraph.cpp
  * @brief  Hybrid factor graph that uses type erasure
  * @author Fan Jiang
  * @author Varun Agrawal
@@ -23,13 +23,13 @@
 #include <gtsam/discrete/DiscreteEliminationTree.h>
 #include <gtsam/discrete/DiscreteFactorGraph.h>
 #include <gtsam/discrete/DiscreteJunctionTree.h>
+#include <gtsam/hybrid/GaussianHybridFactorGraph.h>
 #include <gtsam/hybrid/GaussianMixtureConditional.h>
 #include <gtsam/hybrid/GaussianMixtureFactor.h>
 #include <gtsam/hybrid/HybridConditional.h>
 #include <gtsam/hybrid/HybridDiscreteFactor.h>
 #include <gtsam/hybrid/HybridEliminationTree.h>
 #include <gtsam/hybrid/HybridFactor.h>
-#include <gtsam/hybrid/HybridFactorGraph.h>
 #include <gtsam/hybrid/HybridGaussianFactor.h>
 #include <gtsam/hybrid/HybridJunctionTree.h>
 #include <gtsam/inference/EliminateableFactorGraph-inst.h>
@@ -53,7 +53,7 @@
 
 namespace gtsam {
 
-template class EliminateableFactorGraph<HybridFactorGraph>;
+template class EliminateableFactorGraph<GaussianHybridFactorGraph>;
 
 /* ************************************************************************ */
 static GaussianMixtureFactor::Sum &addGaussian(
@@ -78,7 +78,7 @@ static GaussianMixtureFactor::Sum &addGaussian(
 
 /* ************************************************************************ */
 std::pair<HybridConditional::shared_ptr, HybridFactor::shared_ptr>
-continuousElimination(const HybridFactorGraph &factors,
+continuousElimination(const GaussianHybridFactorGraph &factors,
                       const Ordering &frontalKeys) {
   GaussianFactorGraph gfg;
   for (auto &fp : factors) {
@@ -103,7 +103,7 @@ continuousElimination(const HybridFactorGraph &factors,
 
 /* ************************************************************************ */
 std::pair<HybridConditional::shared_ptr, HybridFactor::shared_ptr>
-discreteElimination(const HybridFactorGraph &factors,
+discreteElimination(const GaussianHybridFactorGraph &factors,
                     const Ordering &frontalKeys) {
   DiscreteFactorGraph dfg;
   for (auto &fp : factors) {
@@ -129,7 +129,8 @@ discreteElimination(const HybridFactorGraph &factors,
 
 /* ************************************************************************ */
 std::pair<HybridConditional::shared_ptr, HybridFactor::shared_ptr>
-hybridElimination(const HybridFactorGraph &factors, const Ordering &frontalKeys,
+hybridElimination(const GaussianHybridFactorGraph &factors,
+                  const Ordering &frontalKeys,
                   const KeySet &continuousSeparator,
                   const std::set<DiscreteKey> &discreteSeparatorSet) {
   // NOTE: since we use the special JunctionTree,
@@ -235,7 +236,8 @@ hybridElimination(const HybridFactorGraph &factors, const Ordering &frontalKeys,
 }
 /* ************************************************************************ */
 std::pair<HybridConditional::shared_ptr, HybridFactor::shared_ptr>  //
-EliminateHybrid(const HybridFactorGraph &factors, const Ordering &frontalKeys) {
+EliminateHybrid(const GaussianHybridFactorGraph &factors,
+                const Ordering &frontalKeys) {
   // NOTE: Because we are in the Conditional Gaussian regime there are only
   // a few cases:
   // 1. continuous variable, make a Gaussian Mixture if there are hybrid
@@ -343,22 +345,22 @@ EliminateHybrid(const HybridFactorGraph &factors, const Ordering &frontalKeys) {
 }
 
 /* ************************************************************************ */
-void HybridFactorGraph::add(JacobianFactor &&factor) {
+void GaussianHybridFactorGraph::add(JacobianFactor &&factor) {
   FactorGraph::add(boost::make_shared<HybridGaussianFactor>(std::move(factor)));
 }
 
 /* ************************************************************************ */
-void HybridFactorGraph::add(JacobianFactor::shared_ptr factor) {
+void GaussianHybridFactorGraph::add(JacobianFactor::shared_ptr factor) {
   FactorGraph::add(boost::make_shared<HybridGaussianFactor>(factor));
 }
 
 /* ************************************************************************ */
-void HybridFactorGraph::add(DecisionTreeFactor &&factor) {
+void GaussianHybridFactorGraph::add(DecisionTreeFactor &&factor) {
   FactorGraph::add(boost::make_shared<HybridDiscreteFactor>(std::move(factor)));
 }
 
 /* ************************************************************************ */
-void HybridFactorGraph::add(DecisionTreeFactor::shared_ptr factor) {
+void GaussianHybridFactorGraph::add(DecisionTreeFactor::shared_ptr factor) {
   FactorGraph::add(boost::make_shared<HybridDiscreteFactor>(factor));
 }
 
diff --git a/gtsam/hybrid/HybridFactorGraph.h b/gtsam/hybrid/GaussianHybridFactorGraph.h
similarity index 74%
rename from gtsam/hybrid/HybridFactorGraph.h
rename to gtsam/hybrid/GaussianHybridFactorGraph.h
index 10670b6b75..c8e0718fc4 100644
--- a/gtsam/hybrid/HybridFactorGraph.h
+++ b/gtsam/hybrid/GaussianHybridFactorGraph.h
@@ -10,8 +10,8 @@
  * -------------------------------------------------------------------------- */
 
 /**
- * @file   HybridFactorGraph.h
- * @brief  Hybrid factor graph that uses type erasure
+ * @file   GaussianHybridFactorGraph.h
+ * @brief  Linearized Hybrid factor graph that uses type erasure
  * @author Fan Jiang
  * @date   Mar 11, 2022
  */
@@ -26,7 +26,7 @@
 namespace gtsam {
 
 // Forward declarations
-class HybridFactorGraph;
+class GaussianHybridFactorGraph;
 class HybridConditional;
 class HybridBayesNet;
 class HybridEliminationTree;
@@ -36,17 +36,18 @@ class DecisionTreeFactor;
 
 class JacobianFactor;
 
-/** Main elimination function for HybridFactorGraph */
+/** Main elimination function for GaussianHybridFactorGraph */
 GTSAM_EXPORT
 std::pair<boost::shared_ptr<HybridConditional>, HybridFactor::shared_ptr>
-EliminateHybrid(const HybridFactorGraph& factors, const Ordering& keys);
+EliminateHybrid(const GaussianHybridFactorGraph& factors, const Ordering& keys);
 
 /* ************************************************************************* */
 template <>
-struct EliminationTraits<HybridFactorGraph> {
+struct EliminationTraits<GaussianHybridFactorGraph> {
   typedef HybridFactor FactorType;  ///< Type of factors in factor graph
-  typedef HybridFactorGraph
-      FactorGraphType;  ///< Type of the factor graph (e.g. HybridFactorGraph)
+  typedef GaussianHybridFactorGraph
+      FactorGraphType;  ///< Type of the factor graph (e.g.
+                        ///< GaussianHybridFactorGraph)
   typedef HybridConditional
       ConditionalType;  ///< Type of conditionals from elimination
   typedef HybridBayesNet
@@ -64,16 +65,17 @@ struct EliminationTraits<HybridFactorGraph> {
 };
 
 /**
- * Hybrid Factor Graph
+ * Gaussian Hybrid Factor Graph
  * -----------------------
- * This is the linear version of a hybrid factor graph. Everything inside needs
- * to be hybrid factor or hybrid conditional.
+ * This is the linearized version of a hybrid factor graph.
+ * Everything inside needs to be hybrid factor or hybrid conditional.
  */
-class HybridFactorGraph : public FactorGraph<HybridFactor>,
-                          public EliminateableFactorGraph<HybridFactorGraph> {
+class GaussianHybridFactorGraph
+    : public FactorGraph<HybridFactor>,
+      public EliminateableFactorGraph<GaussianHybridFactorGraph> {
  public:
   using Base = FactorGraph<HybridFactor>;
-  using This = HybridFactorGraph;  ///< this class
+  using This = GaussianHybridFactorGraph;  ///< this class
   using BaseEliminateable =
       EliminateableFactorGraph<This>;          ///< for elimination
   using shared_ptr = boost::shared_ptr<This>;  ///< shared_ptr to This
@@ -84,7 +86,7 @@ class HybridFactorGraph : public FactorGraph<HybridFactor>,
   /// @name Constructors
   /// @{
 
-  HybridFactorGraph() = default;
+  GaussianHybridFactorGraph() = default;
 
   /**
    * Implicit copy/downcast constructor to override explicit template container
@@ -92,7 +94,8 @@ class HybridFactorGraph : public FactorGraph<HybridFactor>,
    * `cachedSeparatorMarginal_.reset(*separatorMarginal)`
    * */
   template <class DERIVEDFACTOR>
-  HybridFactorGraph(const FactorGraph<DERIVEDFACTOR>& graph) : Base(graph) {}
+  GaussianHybridFactorGraph(const FactorGraph<DERIVEDFACTOR>& graph)
+      : Base(graph) {}
 
   /// @}
 
diff --git a/gtsam/hybrid/HybridBayesTree.cpp b/gtsam/hybrid/HybridBayesTree.cpp
index c8d70e67e0..400cac5e74 100644
--- a/gtsam/hybrid/HybridBayesTree.cpp
+++ b/gtsam/hybrid/HybridBayesTree.cpp
@@ -25,7 +25,8 @@
 namespace gtsam {
 
 // Instantiate base class
-template class BayesTreeCliqueBase<HybridBayesTreeClique, HybridFactorGraph>;
+template class BayesTreeCliqueBase<HybridBayesTreeClique,
+                                   GaussianHybridFactorGraph>;
 template class BayesTree<HybridBayesTreeClique>;
 
 /* ************************************************************************* */
diff --git a/gtsam/hybrid/HybridBayesTree.h b/gtsam/hybrid/HybridBayesTree.h
index f8a90d6b44..6101814583 100644
--- a/gtsam/hybrid/HybridBayesTree.h
+++ b/gtsam/hybrid/HybridBayesTree.h
@@ -18,8 +18,8 @@
 
 #pragma once
 
+#include <gtsam/hybrid/GaussianHybridFactorGraph.h>
 #include <gtsam/hybrid/HybridBayesNet.h>
-#include <gtsam/hybrid/HybridFactorGraph.h>
 #include <gtsam/inference/BayesTree.h>
 #include <gtsam/inference/BayesTreeCliqueBase.h>
 #include <gtsam/inference/Conditional.h>
@@ -37,10 +37,12 @@ class VectorValues;
  * which is a HybridConditional internally.
  */
 class GTSAM_EXPORT HybridBayesTreeClique
-    : public BayesTreeCliqueBase<HybridBayesTreeClique, HybridFactorGraph> {
+    : public BayesTreeCliqueBase<HybridBayesTreeClique,
+                                 GaussianHybridFactorGraph> {
  public:
   typedef HybridBayesTreeClique This;
-  typedef BayesTreeCliqueBase<HybridBayesTreeClique, HybridFactorGraph> Base;
+  typedef BayesTreeCliqueBase<HybridBayesTreeClique, GaussianHybridFactorGraph>
+      Base;
   typedef boost::shared_ptr<This> shared_ptr;
   typedef boost::weak_ptr<This> weak_ptr;
   HybridBayesTreeClique() {}
diff --git a/gtsam/hybrid/HybridConditional.h b/gtsam/hybrid/HybridConditional.h
index b942773cb4..9592b0c698 100644
--- a/gtsam/hybrid/HybridConditional.h
+++ b/gtsam/hybrid/HybridConditional.h
@@ -18,9 +18,9 @@
 #pragma once
 
 #include <gtsam/discrete/DiscreteConditional.h>
+#include <gtsam/hybrid/GaussianHybridFactorGraph.h>
 #include <gtsam/hybrid/GaussianMixtureConditional.h>
 #include <gtsam/hybrid/HybridFactor.h>
-#include <gtsam/hybrid/HybridFactorGraph.h>
 #include <gtsam/inference/Conditional.h>
 #include <gtsam/inference/Key.h>
 #include <gtsam/linear/GaussianConditional.h>
@@ -34,7 +34,7 @@
 
 namespace gtsam {
 
-class HybridFactorGraph;
+class GaussianHybridFactorGraph;
 
 /**
  * Hybrid Conditional Density
@@ -146,7 +146,8 @@ class GTSAM_EXPORT HybridConditional
    * @return DiscreteConditional::shared_ptr
    */
   DiscreteConditional::shared_ptr asDiscreteConditional() {
-    if (!isDiscrete()) throw std::invalid_argument("Not a discrete conditional");
+    if (!isDiscrete())
+      throw std::invalid_argument("Not a discrete conditional");
     return boost::static_pointer_cast<DiscreteConditional>(inner_);
   }
 
diff --git a/gtsam/hybrid/HybridEliminationTree.cpp b/gtsam/hybrid/HybridEliminationTree.cpp
index ecac96724a..1486853271 100644
--- a/gtsam/hybrid/HybridEliminationTree.cpp
+++ b/gtsam/hybrid/HybridEliminationTree.cpp
@@ -21,17 +21,17 @@
 namespace gtsam {
 
 // Instantiate base class
-template class EliminationTree<HybridBayesNet, HybridFactorGraph>;
+template class EliminationTree<HybridBayesNet, GaussianHybridFactorGraph>;
 
 /* ************************************************************************* */
 HybridEliminationTree::HybridEliminationTree(
-    const HybridFactorGraph& factorGraph, const VariableIndex& structure,
-    const Ordering& order)
+    const GaussianHybridFactorGraph& factorGraph,
+    const VariableIndex& structure, const Ordering& order)
     : Base(factorGraph, structure, order) {}
 
 /* ************************************************************************* */
 HybridEliminationTree::HybridEliminationTree(
-    const HybridFactorGraph& factorGraph, const Ordering& order)
+    const GaussianHybridFactorGraph& factorGraph, const Ordering& order)
     : Base(factorGraph, order) {}
 
 /* ************************************************************************* */
diff --git a/gtsam/hybrid/HybridEliminationTree.h b/gtsam/hybrid/HybridEliminationTree.h
index 27766724a0..04bd9cd359 100644
--- a/gtsam/hybrid/HybridEliminationTree.h
+++ b/gtsam/hybrid/HybridEliminationTree.h
@@ -17,8 +17,8 @@
 
 #pragma once
 
+#include <gtsam/hybrid/GaussianHybridFactorGraph.h>
 #include <gtsam/hybrid/HybridBayesNet.h>
-#include <gtsam/hybrid/HybridFactorGraph.h>
 #include <gtsam/inference/EliminationTree.h>
 
 namespace gtsam {
@@ -27,12 +27,12 @@ namespace gtsam {
  * Elimination Tree type for Hybrid
  */
 class GTSAM_EXPORT HybridEliminationTree
-    : public EliminationTree<HybridBayesNet, HybridFactorGraph> {
+    : public EliminationTree<HybridBayesNet, GaussianHybridFactorGraph> {
  private:
   friend class ::EliminationTreeTester;
 
  public:
-  typedef EliminationTree<HybridBayesNet, HybridFactorGraph>
+  typedef EliminationTree<HybridBayesNet, GaussianHybridFactorGraph>
       Base;                                    ///< Base class
   typedef HybridEliminationTree This;          ///< This class
   typedef boost::shared_ptr<This> shared_ptr;  ///< Shared pointer to this class
@@ -49,7 +49,7 @@ class GTSAM_EXPORT HybridEliminationTree
    * named constructor instead.
    * @return The elimination tree
    */
-  HybridEliminationTree(const HybridFactorGraph& factorGraph,
+  HybridEliminationTree(const GaussianHybridFactorGraph& factorGraph,
                         const VariableIndex& structure, const Ordering& order);
 
   /** Build the elimination tree of a factor graph.  Note that this has to
@@ -57,7 +57,7 @@ class GTSAM_EXPORT HybridEliminationTree
    * this precomputed, use the other constructor instead.
    * @param factorGraph The factor graph for which to build the elimination tree
    */
-  HybridEliminationTree(const HybridFactorGraph& factorGraph,
+  HybridEliminationTree(const GaussianHybridFactorGraph& factorGraph,
                         const Ordering& order);
 
   /// @}
diff --git a/gtsam/hybrid/HybridISAM.cpp b/gtsam/hybrid/HybridISAM.cpp
index 057f784ad8..4761491266 100644
--- a/gtsam/hybrid/HybridISAM.cpp
+++ b/gtsam/hybrid/HybridISAM.cpp
@@ -17,8 +17,8 @@
  * @author Richard Roberts
  */
 
+#include <gtsam/hybrid/GaussianHybridFactorGraph.h>
 #include <gtsam/hybrid/HybridBayesTree.h>
-#include <gtsam/hybrid/HybridFactorGraph.h>
 #include <gtsam/hybrid/HybridISAM.h>
 #include <gtsam/inference/ISAM-inst.h>
 #include <gtsam/inference/Key.h>
@@ -37,7 +37,7 @@ HybridISAM::HybridISAM() {}
 HybridISAM::HybridISAM(const HybridBayesTree& bayesTree) : Base(bayesTree) {}
 
 /* ************************************************************************* */
-void HybridISAM::updateInternal(const HybridFactorGraph& newFactors,
+void HybridISAM::updateInternal(const GaussianHybridFactorGraph& newFactors,
                                 HybridBayesTree::Cliques* orphans,
                                 const HybridBayesTree::Eliminate& function) {
   // Remove the contaminated part of the Bayes tree
@@ -90,7 +90,7 @@ void HybridISAM::updateInternal(const HybridFactorGraph& newFactors,
 }
 
 /* ************************************************************************* */
-void HybridISAM::update(const HybridFactorGraph& newFactors,
+void HybridISAM::update(const GaussianHybridFactorGraph& newFactors,
                         const HybridBayesTree::Eliminate& function) {
   Cliques orphans;
   this->updateInternal(newFactors, &orphans, function);
diff --git a/gtsam/hybrid/HybridISAM.h b/gtsam/hybrid/HybridISAM.h
index 0738f46c84..fae7efafdd 100644
--- a/gtsam/hybrid/HybridISAM.h
+++ b/gtsam/hybrid/HybridISAM.h
@@ -20,8 +20,8 @@
 #pragma once
 
 #include <gtsam/base/Testable.h>
+#include <gtsam/hybrid/GaussianHybridFactorGraph.h>
 #include <gtsam/hybrid/HybridBayesTree.h>
-#include <gtsam/hybrid/HybridFactorGraph.h>
 #include <gtsam/inference/ISAM.h>
 
 namespace gtsam {
@@ -46,7 +46,8 @@ class GTSAM_EXPORT HybridISAM : public ISAM<HybridBayesTree> {
  private:
   /// Internal method that performs the ISAM update.
   void updateInternal(
-      const HybridFactorGraph& newFactors, HybridBayesTree::Cliques* orphans,
+      const GaussianHybridFactorGraph& newFactors,
+      HybridBayesTree::Cliques* orphans,
       const HybridBayesTree::Eliminate& function =
           HybridBayesTree::EliminationTraitsType::DefaultEliminate);
 
@@ -57,7 +58,7 @@ class GTSAM_EXPORT HybridISAM : public ISAM<HybridBayesTree> {
    * @param newFactors Factor graph of new factors to add and eliminate.
    * @param function Elimination function.
    */
-  void update(const HybridFactorGraph& newFactors,
+  void update(const GaussianHybridFactorGraph& newFactors,
               const HybridBayesTree::Eliminate& function =
                   HybridBayesTree::EliminationTraitsType::DefaultEliminate);
 };
diff --git a/gtsam/hybrid/HybridJunctionTree.cpp b/gtsam/hybrid/HybridJunctionTree.cpp
index 981cd6f327..8fa3aa0333 100644
--- a/gtsam/hybrid/HybridJunctionTree.cpp
+++ b/gtsam/hybrid/HybridJunctionTree.cpp
@@ -15,8 +15,8 @@
  * @author Fan Jiang
  */
 
+#include <gtsam/hybrid/GaussianHybridFactorGraph.h>
 #include <gtsam/hybrid/HybridEliminationTree.h>
-#include <gtsam/hybrid/HybridFactorGraph.h>
 #include <gtsam/hybrid/HybridJunctionTree.h>
 #include <gtsam/inference/JunctionTree-inst.h>
 #include <gtsam/inference/Key.h>
@@ -26,13 +26,17 @@
 namespace gtsam {
 
 // Instantiate base classes
-template class EliminatableClusterTree<HybridBayesTree, HybridFactorGraph>;
-template class JunctionTree<HybridBayesTree, HybridFactorGraph>;
+template class EliminatableClusterTree<HybridBayesTree,
+                                       GaussianHybridFactorGraph>;
+template class JunctionTree<HybridBayesTree, GaussianHybridFactorGraph>;
 
 struct HybridConstructorTraversalData {
-  typedef typename JunctionTree<HybridBayesTree, HybridFactorGraph>::Node Node;
-  typedef typename JunctionTree<HybridBayesTree, HybridFactorGraph>::sharedNode
-      sharedNode;
+  typedef
+      typename JunctionTree<HybridBayesTree, GaussianHybridFactorGraph>::Node
+          Node;
+  typedef
+      typename JunctionTree<HybridBayesTree,
+                            GaussianHybridFactorGraph>::sharedNode sharedNode;
 
   HybridConstructorTraversalData* const parentData;
   sharedNode myJTNode;
diff --git a/gtsam/hybrid/HybridJunctionTree.h b/gtsam/hybrid/HybridJunctionTree.h
index 824fa4f850..ce9b818e6d 100644
--- a/gtsam/hybrid/HybridJunctionTree.h
+++ b/gtsam/hybrid/HybridJunctionTree.h
@@ -17,8 +17,8 @@
 
 #pragma once
 
+#include <gtsam/hybrid/GaussianHybridFactorGraph.h>
 #include <gtsam/hybrid/HybridBayesTree.h>
-#include <gtsam/hybrid/HybridFactorGraph.h>
 #include <gtsam/inference/JunctionTree.h>
 
 namespace gtsam {
@@ -49,9 +49,9 @@ class HybridEliminationTree;
  * \nosubgrouping
  */
 class GTSAM_EXPORT HybridJunctionTree
-    : public JunctionTree<HybridBayesTree, HybridFactorGraph> {
+    : public JunctionTree<HybridBayesTree, GaussianHybridFactorGraph> {
  public:
-  typedef JunctionTree<HybridBayesTree, HybridFactorGraph>
+  typedef JunctionTree<HybridBayesTree, GaussianHybridFactorGraph>
       Base;                                    ///< Base class
   typedef HybridJunctionTree This;             ///< This class
   typedef boost::shared_ptr<This> shared_ptr;  ///< Shared pointer to this class
diff --git a/gtsam/hybrid/hybrid.i b/gtsam/hybrid/hybrid.i
index d3ff987192..612f3abc5d 100644
--- a/gtsam/hybrid/hybrid.i
+++ b/gtsam/hybrid/hybrid.i
@@ -98,15 +98,15 @@ class HybridBayesNet {
       const gtsam::DotWriter& writer = gtsam::DotWriter()) const;
 };
 
-#include <gtsam/hybrid/HybridFactorGraph.h>
-class HybridFactorGraph {
-  HybridFactorGraph();
-  HybridFactorGraph(const gtsam::HybridBayesNet& bayesNet);
+#include <gtsam/hybrid/GaussianHybridFactorGraph.h>
+class GaussianHybridFactorGraph {
+  GaussianHybridFactorGraph();
+  GaussianHybridFactorGraph(const gtsam::HybridBayesNet& bayesNet);
 
   // Building the graph
   void push_back(const gtsam::HybridFactor* factor);
   void push_back(const gtsam::HybridConditional* conditional);
-  void push_back(const gtsam::HybridFactorGraph& graph);
+  void push_back(const gtsam::GaussianHybridFactorGraph& graph);
   void push_back(const gtsam::HybridBayesNet& bayesNet);
   void push_back(const gtsam::HybridBayesTree& bayesTree);
   void push_back(const gtsam::GaussianMixtureFactor* gmm);
@@ -120,13 +120,13 @@ class HybridFactorGraph {
   const gtsam::HybridFactor* at(size_t i) const;
 
   void print(string s = "") const;
-  bool equals(const gtsam::HybridFactorGraph& fg, double tol = 1e-9) const;
+  bool equals(const gtsam::GaussianHybridFactorGraph& fg, double tol = 1e-9) const;
 
   gtsam::HybridBayesNet* eliminateSequential();
   gtsam::HybridBayesNet* eliminateSequential(
       gtsam::Ordering::OrderingType type);
   gtsam::HybridBayesNet* eliminateSequential(const gtsam::Ordering& ordering);
-  pair<gtsam::HybridBayesNet*, gtsam::HybridFactorGraph*>
+  pair<gtsam::HybridBayesNet*, gtsam::GaussianHybridFactorGraph*>
   eliminatePartialSequential(const gtsam::Ordering& ordering);
 
   gtsam::HybridBayesTree* eliminateMultifrontal();
@@ -134,7 +134,7 @@ class HybridFactorGraph {
       gtsam::Ordering::OrderingType type);
   gtsam::HybridBayesTree* eliminateMultifrontal(
       const gtsam::Ordering& ordering);
-  pair<gtsam::HybridBayesTree*, gtsam::HybridFactorGraph*>
+  pair<gtsam::HybridBayesTree*, gtsam::GaussianHybridFactorGraph*>
   eliminatePartialMultifrontal(const gtsam::Ordering& ordering);
 
   string dot(
diff --git a/gtsam/hybrid/tests/Switching.h b/gtsam/hybrid/tests/Switching.h
index 1a4db78988..77d8182c8e 100644
--- a/gtsam/hybrid/tests/Switching.h
+++ b/gtsam/hybrid/tests/Switching.h
@@ -18,8 +18,8 @@
 
 #include <gtsam/base/Matrix.h>
 #include <gtsam/discrete/DecisionTreeFactor.h>
+#include <gtsam/hybrid/GaussianHybridFactorGraph.h>
 #include <gtsam/hybrid/GaussianMixtureFactor.h>
-#include <gtsam/hybrid/HybridFactorGraph.h>
 #include <gtsam/inference/Symbol.h>
 #include <gtsam/linear/JacobianFactor.h>
 
@@ -29,10 +29,10 @@ using gtsam::symbol_shorthand::C;
 using gtsam::symbol_shorthand::X;
 
 namespace gtsam {
-inline HybridFactorGraph::shared_ptr makeSwitchingChain(
+inline GaussianHybridFactorGraph::shared_ptr makeSwitchingChain(
     size_t n, std::function<Key(int)> keyFunc = X,
     std::function<Key(int)> dKeyFunc = C) {
-  HybridFactorGraph hfg;
+  GaussianHybridFactorGraph hfg;
 
   hfg.add(JacobianFactor(keyFunc(1), I_3x3, Z_3x1));
 
@@ -51,7 +51,7 @@ inline HybridFactorGraph::shared_ptr makeSwitchingChain(
     }
   }
 
-  return boost::make_shared<HybridFactorGraph>(std::move(hfg));
+  return boost::make_shared<GaussianHybridFactorGraph>(std::move(hfg));
 }
 
 inline std::pair<KeyVector, std::vector<int>> makeBinaryOrdering(
diff --git a/gtsam/hybrid/tests/testHybridFactorGraph.cpp b/gtsam/hybrid/tests/testGaussianHybridFactorGraph.cpp
similarity index 93%
rename from gtsam/hybrid/tests/testHybridFactorGraph.cpp
rename to gtsam/hybrid/tests/testGaussianHybridFactorGraph.cpp
index 860fdfdb89..853353278a 100644
--- a/gtsam/hybrid/tests/testHybridFactorGraph.cpp
+++ b/gtsam/hybrid/tests/testGaussianHybridFactorGraph.cpp
@@ -10,7 +10,7 @@
  * -------------------------------------------------------------------------- */
 
 /*
- *  @file testHybridFactorGraph.cpp
+ *  @file testGaussianHybridFactorGraph.cpp
  *  @date Mar 11, 2022
  *  @author Fan Jiang
  */
@@ -20,6 +20,7 @@
 #include <gtsam/discrete/DecisionTreeFactor.h>
 #include <gtsam/discrete/DiscreteKey.h>
 #include <gtsam/discrete/DiscreteValues.h>
+#include <gtsam/hybrid/GaussianHybridFactorGraph.h>
 #include <gtsam/hybrid/GaussianMixtureConditional.h>
 #include <gtsam/hybrid/GaussianMixtureFactor.h>
 #include <gtsam/hybrid/HybridBayesNet.h>
@@ -27,7 +28,6 @@
 #include <gtsam/hybrid/HybridConditional.h>
 #include <gtsam/hybrid/HybridDiscreteFactor.h>
 #include <gtsam/hybrid/HybridFactor.h>
-#include <gtsam/hybrid/HybridFactorGraph.h>
 #include <gtsam/hybrid/HybridGaussianFactor.h>
 #include <gtsam/hybrid/HybridISAM.h>
 #include <gtsam/inference/BayesNet.h>
@@ -72,10 +72,10 @@ void my_signal_handler(int signum) {
 #endif
 
 /* ************************************************************************* */
-TEST(HybridFactorGraph, creation) {
+TEST(GaussianHybridFactorGraph, creation) {
   HybridConditional test;
 
-  HybridFactorGraph hfg;
+  GaussianHybridFactorGraph hfg;
 
   hfg.add(HybridGaussianFactor(JacobianFactor(0, I_3x3, Z_3x1)));
 
@@ -91,8 +91,8 @@ TEST(HybridFactorGraph, creation) {
 }
 
 /* ************************************************************************* */
-TEST(HybridFactorGraph, eliminate) {
-  HybridFactorGraph hfg;
+TEST(GaussianHybridFactorGraph, eliminate) {
+  GaussianHybridFactorGraph hfg;
 
   hfg.add(HybridGaussianFactor(JacobianFactor(0, I_3x3, Z_3x1)));
 
@@ -102,8 +102,8 @@ TEST(HybridFactorGraph, eliminate) {
 }
 
 /* ************************************************************************* */
-TEST(HybridFactorGraph, eliminateMultifrontal) {
-  HybridFactorGraph hfg;
+TEST(GaussianHybridFactorGraph, eliminateMultifrontal) {
+  GaussianHybridFactorGraph hfg;
 
   DiscreteKey c(C(1), 2);
 
@@ -119,8 +119,8 @@ TEST(HybridFactorGraph, eliminateMultifrontal) {
 }
 
 /* ************************************************************************* */
-TEST(HybridFactorGraph, eliminateFullSequentialEqualChance) {
-  HybridFactorGraph hfg;
+TEST(GaussianHybridFactorGraph, eliminateFullSequentialEqualChance) {
+  GaussianHybridFactorGraph hfg;
 
   DiscreteKey c1(C(1), 2);
 
@@ -143,8 +143,8 @@ TEST(HybridFactorGraph, eliminateFullSequentialEqualChance) {
 }
 
 /* ************************************************************************* */
-TEST(HybridFactorGraph, eliminateFullSequentialSimple) {
-  HybridFactorGraph hfg;
+TEST(GaussianHybridFactorGraph, eliminateFullSequentialSimple) {
+  GaussianHybridFactorGraph hfg;
 
   DiscreteKey c1(C(1), 2);
 
@@ -171,8 +171,8 @@ TEST(HybridFactorGraph, eliminateFullSequentialSimple) {
 }
 
 /* ************************************************************************* */
-TEST(HybridFactorGraph, eliminateFullMultifrontalSimple) {
-  HybridFactorGraph hfg;
+TEST(GaussianHybridFactorGraph, eliminateFullMultifrontalSimple) {
+  GaussianHybridFactorGraph hfg;
 
   DiscreteKey c1(C(1), 2);
 
@@ -204,8 +204,8 @@ TEST(HybridFactorGraph, eliminateFullMultifrontalSimple) {
 }
 
 /* ************************************************************************* */
-TEST(HybridFactorGraph, eliminateFullMultifrontalCLG) {
-  HybridFactorGraph hfg;
+TEST(GaussianHybridFactorGraph, eliminateFullMultifrontalCLG) {
+  GaussianHybridFactorGraph hfg;
 
   DiscreteKey c(C(1), 2);
 
@@ -240,8 +240,8 @@ TEST(HybridFactorGraph, eliminateFullMultifrontalCLG) {
  * This test is about how to assemble the Bayes Tree roots after we do partial
  * elimination
  */
-TEST(HybridFactorGraph, eliminateFullMultifrontalTwoClique) {
-  HybridFactorGraph hfg;
+TEST(GaussianHybridFactorGraph, eliminateFullMultifrontalTwoClique) {
+  GaussianHybridFactorGraph hfg;
 
   hfg.add(JacobianFactor(X(0), I_3x3, X(1), -I_3x3, Z_3x1));
   hfg.add(JacobianFactor(X(1), I_3x3, X(2), -I_3x3, Z_3x1));
@@ -290,7 +290,7 @@ TEST(HybridFactorGraph, eliminateFullMultifrontalTwoClique) {
   GTSAM_PRINT(ordering_full);
 
   HybridBayesTree::shared_ptr hbt;
-  HybridFactorGraph::shared_ptr remaining;
+  GaussianHybridFactorGraph::shared_ptr remaining;
   std::tie(hbt, remaining) = hfg.eliminatePartialMultifrontal(ordering_full);
 
   GTSAM_PRINT(*hbt);
@@ -309,7 +309,7 @@ TEST(HybridFactorGraph, eliminateFullMultifrontalTwoClique) {
 
 /* ************************************************************************* */
 // TODO(fan): make a graph like Varun's paper one
-TEST(HybridFactorGraph, Switching) {
+TEST(GaussianHybridFactorGraph, Switching) {
   auto N = 12;
   auto hfg = makeSwitchingChain(N);
 
@@ -381,7 +381,7 @@ TEST(HybridFactorGraph, Switching) {
   GTSAM_PRINT(ordering_full);
 
   HybridBayesTree::shared_ptr hbt;
-  HybridFactorGraph::shared_ptr remaining;
+  GaussianHybridFactorGraph::shared_ptr remaining;
   std::tie(hbt, remaining) = hfg->eliminatePartialMultifrontal(ordering_full);
 
   // GTSAM_PRINT(*hbt);
@@ -417,7 +417,7 @@ TEST(HybridFactorGraph, Switching) {
 
 /* ************************************************************************* */
 // TODO(fan): make a graph like Varun's paper one
-TEST(HybridFactorGraph, SwitchingISAM) {
+TEST(GaussianHybridFactorGraph, SwitchingISAM) {
   auto N = 11;
   auto hfg = makeSwitchingChain(N);
 
@@ -473,7 +473,7 @@ TEST(HybridFactorGraph, SwitchingISAM) {
   GTSAM_PRINT(ordering_full);
 
   HybridBayesTree::shared_ptr hbt;
-  HybridFactorGraph::shared_ptr remaining;
+  GaussianHybridFactorGraph::shared_ptr remaining;
   std::tie(hbt, remaining) = hfg->eliminatePartialMultifrontal(ordering_full);
 
   // GTSAM_PRINT(*hbt);
@@ -502,7 +502,7 @@ TEST(HybridFactorGraph, SwitchingISAM) {
   auto isam = HybridISAM(*hbt);
 
   {
-    HybridFactorGraph factorGraph;
+    GaussianHybridFactorGraph factorGraph;
     factorGraph.push_back(new_fg->at(new_fg->size() - 2));
     factorGraph.push_back(new_fg->at(new_fg->size() - 1));
     isam.update(factorGraph);
@@ -512,7 +512,7 @@ TEST(HybridFactorGraph, SwitchingISAM) {
 }
 
 /* ************************************************************************* */
-TEST(HybridFactorGraph, SwitchingTwoVar) {
+TEST(GaussianHybridFactorGraph, SwitchingTwoVar) {
   const int N = 7;
   auto hfg = makeSwitchingChain(N, X);
   hfg->push_back(*makeSwitchingChain(N, Y, D));
@@ -582,7 +582,7 @@ TEST(HybridFactorGraph, SwitchingTwoVar) {
   }
   {
     HybridBayesNet::shared_ptr hbn;
-    HybridFactorGraph::shared_ptr remaining;
+    GaussianHybridFactorGraph::shared_ptr remaining;
     std::tie(hbn, remaining) =
         hfg->eliminatePartialSequential(ordering_partial);
 
diff --git a/gtsam/inference/inference.i b/gtsam/inference/inference.i
index bbf1b2daa0..e8d918a1d3 100644
--- a/gtsam/inference/inference.i
+++ b/gtsam/inference/inference.i
@@ -9,7 +9,7 @@ namespace gtsam {
 #include <gtsam/nonlinear/NonlinearFactorGraph.h>
 #include <gtsam/symbolic/SymbolicFactorGraph.h>
 #include <gtsam/discrete/DiscreteFactorGraph.h>
-#include <gtsam/hybrid/HybridFactorGraph.h>
+#include <gtsam/hybrid/GaussianHybridFactorGraph.h>
 
 #include <gtsam/inference/Key.h>
 
@@ -107,36 +107,36 @@ class Ordering {
 
   template <
       FACTOR_GRAPH = {gtsam::NonlinearFactorGraph, gtsam::DiscreteFactorGraph,
-                      gtsam::SymbolicFactorGraph, gtsam::GaussianFactorGraph, gtsam::HybridFactorGraph}>
+                      gtsam::SymbolicFactorGraph, gtsam::GaussianFactorGraph, gtsam::GaussianHybridFactorGraph}>
   static gtsam::Ordering Colamd(const FACTOR_GRAPH& graph);
 
   template <
       FACTOR_GRAPH = {gtsam::NonlinearFactorGraph, gtsam::DiscreteFactorGraph,
-                      gtsam::SymbolicFactorGraph, gtsam::GaussianFactorGraph, gtsam::HybridFactorGraph}>
+                      gtsam::SymbolicFactorGraph, gtsam::GaussianFactorGraph, gtsam::GaussianHybridFactorGraph}>
   static gtsam::Ordering ColamdConstrainedLast(
       const FACTOR_GRAPH& graph, const gtsam::KeyVector& constrainLast,
       bool forceOrder = false);
 
   template <
       FACTOR_GRAPH = {gtsam::NonlinearFactorGraph, gtsam::DiscreteFactorGraph,
-                      gtsam::SymbolicFactorGraph, gtsam::GaussianFactorGraph, gtsam::HybridFactorGraph}>
+                      gtsam::SymbolicFactorGraph, gtsam::GaussianFactorGraph, gtsam::GaussianHybridFactorGraph}>
   static gtsam::Ordering ColamdConstrainedFirst(
       const FACTOR_GRAPH& graph, const gtsam::KeyVector& constrainFirst,
       bool forceOrder = false);
 
   template <
       FACTOR_GRAPH = {gtsam::NonlinearFactorGraph, gtsam::DiscreteFactorGraph,
-                      gtsam::SymbolicFactorGraph, gtsam::GaussianFactorGraph, gtsam::HybridFactorGraph}>
+                      gtsam::SymbolicFactorGraph, gtsam::GaussianFactorGraph, gtsam::GaussianHybridFactorGraph}>
   static gtsam::Ordering Natural(const FACTOR_GRAPH& graph);
 
   template <
       FACTOR_GRAPH = {gtsam::NonlinearFactorGraph, gtsam::DiscreteFactorGraph,
-                      gtsam::SymbolicFactorGraph, gtsam::GaussianFactorGraph, gtsam::HybridFactorGraph}>
+                      gtsam::SymbolicFactorGraph, gtsam::GaussianFactorGraph, gtsam::GaussianHybridFactorGraph}>
   static gtsam::Ordering Metis(const FACTOR_GRAPH& graph);
 
   template <
       FACTOR_GRAPH = {gtsam::NonlinearFactorGraph, gtsam::DiscreteFactorGraph,
-                      gtsam::SymbolicFactorGraph, gtsam::GaussianFactorGraph, gtsam::HybridFactorGraph}>
+                      gtsam::SymbolicFactorGraph, gtsam::GaussianFactorGraph, gtsam::GaussianHybridFactorGraph}>
   static gtsam::Ordering Create(gtsam::Ordering::OrderingType orderingType,
                                 const FACTOR_GRAPH& graph);
 
diff --git a/python/gtsam/tests/test_HybridFactorGraph.py b/python/gtsam/tests/test_HybridFactorGraph.py
index 1441838165..895c9e14e2 100644
--- a/python/gtsam/tests/test_HybridFactorGraph.py
+++ b/python/gtsam/tests/test_HybridFactorGraph.py
@@ -20,8 +20,8 @@
 from gtsam.utils.test_case import GtsamTestCase
 
 
-class TestHybridFactorGraph(GtsamTestCase):
-    """Unit tests for HybridFactorGraph."""
+class TestGaussianHybridFactorGraph(GtsamTestCase):
+    """Unit tests for GaussianHybridFactorGraph."""
 
     def test_create(self):
         """Test contruction of hybrid factor graph."""
@@ -36,13 +36,14 @@ def test_create(self):
 
         gmf = gtsam.GaussianMixtureFactor.FromFactors([X(0)], dk, [jf1, jf2])
 
-        hfg = gtsam.HybridFactorGraph()
+        hfg = gtsam.GaussianHybridFactorGraph()
         hfg.add(jf1)
         hfg.add(jf2)
         hfg.push_back(gmf)
 
         hbn = hfg.eliminateSequential(
-            gtsam.Ordering.ColamdConstrainedLastHybridFactorGraph(hfg, [C(0)]))
+            gtsam.Ordering.ColamdConstrainedLastGaussianHybridFactorGraph(
+                hfg, [C(0)]))
 
         # print("hbn = ", hbn)
         self.assertEqual(hbn.size(), 2)

From 2927d92a52ceffaa4af1f743f3b58793ced382cd Mon Sep 17 00:00:00 2001
From: Varun Agrawal <varagrawal@gmail.com>
Date: Sat, 28 May 2022 15:43:37 -0400
Subject: [PATCH 099/433] add HybridNonlinearFactor and nonlinear
 HybridFactorGraph

---
 gtsam/hybrid/HybridFactorGraph.h           | 108 +++++++++++++++++++++
 gtsam/hybrid/HybridNonlinearFactor.cpp     |  45 +++++++++
 gtsam/hybrid/HybridNonlinearFactor.h       |  60 ++++++++++++
 gtsam/hybrid/tests/testHybridFactorGraph.h |  50 ++++++++++
 4 files changed, 263 insertions(+)
 create mode 100644 gtsam/hybrid/HybridFactorGraph.h
 create mode 100644 gtsam/hybrid/HybridNonlinearFactor.cpp
 create mode 100644 gtsam/hybrid/HybridNonlinearFactor.h
 create mode 100644 gtsam/hybrid/tests/testHybridFactorGraph.h

diff --git a/gtsam/hybrid/HybridFactorGraph.h b/gtsam/hybrid/HybridFactorGraph.h
new file mode 100644
index 0000000000..f415386ea4
--- /dev/null
+++ b/gtsam/hybrid/HybridFactorGraph.h
@@ -0,0 +1,108 @@
+/* ----------------------------------------------------------------------------
+
+ * GTSAM Copyright 2010, Georgia Tech Research Corporation,
+ * Atlanta, Georgia 30332-0415
+ * All Rights Reserved
+ * Authors: Frank Dellaert, et al. (see THANKS for the full author list)
+
+ * See LICENSE for the license information
+
+ * -------------------------------------------------------------------------- */
+
+/**
+ * @file   HybridFactorGraph.h
+ * @brief  Nonlinear hybrid factor graph that uses type erasure
+ * @author Varun Agrawal
+ * @date   May 28, 2022
+ */
+
+#pragma once
+
+#include <gtsam/hybrid/GaussianHybridFactorGraph.h>
+#include <gtsam/hybrid/HybridFactor.h>
+#include <gtsam/inference/FactorGraph.h>
+#include <gtsam/inference/Ordering.h>
+
+namespace gtsam {
+
+/**
+ * Hybrid Factor Graph
+ * -----------------------
+ * This is the non-linear version of a hybrid factor graph.
+ * Everything inside needs to be hybrid factor or hybrid conditional.
+ */
+class HybridFactorGraph : public FactorGraph<HybridFactor> {
+ public:
+  using Base = FactorGraph<HybridFactor>;
+  using This = HybridFactorGraph;              ///< this class
+  using shared_ptr = boost::shared_ptr<This>;  ///< shared_ptr to This
+
+  using Values = gtsam::Values;  ///< backwards compatibility
+  using Indices = KeyVector;     ///> map from keys to values
+
+  /// @name Constructors
+  /// @{
+
+  HybridFactorGraph() = default;
+
+  /**
+   * Implicit copy/downcast constructor to override explicit template container
+   * constructor. In BayesTree this is used for:
+   * `cachedSeparatorMarginal_.reset(*separatorMarginal)`
+   * */
+  template <class DERIVEDFACTOR>
+  HybridFactorGraph(const FactorGraph<DERIVEDFACTOR>& graph) : Base(graph) {}
+
+  /// @}
+
+  // Allow use of selected FactorGraph methods:
+  using Base::empty;
+  using Base::reserve;
+  using Base::size;
+  using FactorGraph::add;
+  using Base::operator[];
+
+  /// Add a Jacobian factor to the factor graph.
+  void add(JacobianFactor&& factor);
+
+  /// Add a Jacobian factor as a shared ptr.
+  void add(boost::shared_ptr<JacobianFactor> factor);
+
+  /// Add a DecisionTreeFactor to the factor graph.
+  void add(DecisionTreeFactor&& factor);
+
+  /// Add a DecisionTreeFactor as a shared ptr.
+  void add(boost::shared_ptr<DecisionTreeFactor> factor);
+
+  /**
+   * @brief Linearize all the continuous factors in the
+   * NonlinearHybridFactorGraph.
+   *
+   * @param continuousValues: Dictionary of continuous values.
+   * @return GaussianHybridFactorGraph::shared_ptr
+   */
+  GaussianHybridFactorGraph::shared_ptr linearize(
+      const Values& continuousValues) const {
+    // create an empty linear FG
+    GaussianHybridFactorGraph::shared_ptr linearFG =
+        boost::make_shared<GaussianHybridFactorGraph>();
+
+    linearFG->reserve(size());
+
+    // linearize all factors
+    for (const sharedFactor& factor : factors_) {
+      if (factor) {
+        if (auto nf = boost::dynamic_pointer_cast<NonlinearFactor>) {
+          (*linearFG) += factor->linearize(linearizationPoint);
+        } else if (auto hf = boost::dynamic_pointer_cast<HybridFactor>) {
+          if (hf->isContinuous()) {
+          }
+        }
+
+      } else
+        (*linearFG) += GaussianFactor::shared_ptr();
+    }
+  }
+};
+
+}  // namespace gtsam
diff --git a/gtsam/hybrid/HybridNonlinearFactor.cpp b/gtsam/hybrid/HybridNonlinearFactor.cpp
new file mode 100644
index 0000000000..ee6e76431e
--- /dev/null
+++ b/gtsam/hybrid/HybridNonlinearFactor.cpp
@@ -0,0 +1,45 @@
+/* ----------------------------------------------------------------------------
+
+ * GTSAM Copyright 2010, Georgia Tech Research Corporation,
+ * Atlanta, Georgia 30332-0415
+ * All Rights Reserved
+ * Authors: Frank Dellaert, et al. (see THANKS for the full author list)
+
+ * See LICENSE for the license information
+
+ * -------------------------------------------------------------------------- */
+
+/**
+ *  @file HybridNonlinearFactor.cpp
+ *  @date May 28, 2022
+ *  @author Varun Agrawal
+ */
+
+#include <gtsam/hybrid/HybridNonlinearFactor.h>
+
+#include <boost/make_shared.hpp>
+
+namespace gtsam {
+
+/* ************************************************************************* */
+HybridNonlinearFactor::HybridNonlinearFactor(NonlinearFactor::shared_ptr other)
+    : Base(other->keys()), inner_(other) {}
+
+/* ************************************************************************* */
+HybridNonlinearFactor::HybridNonlinearFactor(NonlinearFactor &&nf)
+    : Base(nf.keys()),
+      inner_(boost::make_shared<NonlinearFactor>(std::move(nf))) {}
+
+/* ************************************************************************* */
+bool HybridNonlinearFactor::equals(const HybridFactor &lf, double tol) const {
+  return Base(lf, tol);
+}
+
+/* ************************************************************************* */
+void HybridNonlinearFactor::print(const std::string &s,
+                                  const KeyFormatter &formatter) const {
+  HybridFactor::print(s, formatter);
+  inner_->print("inner: ", formatter);
+};
+
+}  // namespace gtsam
diff --git a/gtsam/hybrid/HybridNonlinearFactor.h b/gtsam/hybrid/HybridNonlinearFactor.h
new file mode 100644
index 0000000000..74feb05312
--- /dev/null
+++ b/gtsam/hybrid/HybridNonlinearFactor.h
@@ -0,0 +1,60 @@
+/* ----------------------------------------------------------------------------
+
+ * GTSAM Copyright 2010, Georgia Tech Research Corporation,
+ * Atlanta, Georgia 30332-0415
+ * All Rights Reserved
+ * Authors: Frank Dellaert, et al. (see THANKS for the full author list)
+
+ * See LICENSE for the license information
+
+ * -------------------------------------------------------------------------- */
+
+/**
+ *  @file HybridNonlinearFactor.h
+ *  @date May 28, 2022
+ *  @author Varun Agrawal
+ */
+
+#pragma once
+
+#include <gtsam/hybrid/HybridFactor.h>
+#include <gtsam/nonlinear/NonlinearFactor.h>
+
+namespace gtsam {
+
+/**
+ * A HybridNonlinearFactor is a layer over NonlinearFactor so that we do not
+ * have a diamond inheritance.
+ */
+class HybridNonlinearFactor : public HybridFactor {
+ private:
+  NonlinearFactor::shared_ptr inner_;
+
+ public:
+  using Base = HybridFactor;
+  using This = HybridNonlinearFactor;
+  using shared_ptr = boost::shared_ptr<This>;
+
+  // Explicit conversion from a shared ptr of GF
+  explicit HybridNonlinearFactor(NonlinearFactor::shared_ptr other);
+
+  // Forwarding constructor from concrete NonlinearFactor
+  explicit HybridNonlinearFactor(NonlinearFactor &&jf);
+
+ public:
+  /// @name Testable
+  /// @{
+
+  /// Check equality.
+  virtual bool equals(const HybridFactor &lf, double tol) const override;
+
+  /// GTSAM print utility.
+  void print(
+      const std::string &s = "HybridNonlinearFactor\n",
+      const KeyFormatter &formatter = DefaultKeyFormatter) const override;
+
+  /// @}
+
+  NonlinearFactor::shared_ptr inner() const { return inner_; }
+};
+}  // namespace gtsam
diff --git a/gtsam/hybrid/tests/testHybridFactorGraph.h b/gtsam/hybrid/tests/testHybridFactorGraph.h
new file mode 100644
index 0000000000..284e996ce6
--- /dev/null
+++ b/gtsam/hybrid/tests/testHybridFactorGraph.h
@@ -0,0 +1,50 @@
+/* ----------------------------------------------------------------------------
+ * GTSAM Copyright 2010, Georgia Tech Research Corporation,
+ * Atlanta, Georgia 30332-0415
+ * All Rights Reserved
+ * Authors: Frank Dellaert, et al. (see THANKS for the full author list)
+ * See LICENSE for the license information
+ * -------------------------------------------------------------------------- */
+
+/**
+ * @file    testHybridFactorGraph.cpp
+ * @brief   Unit tests for HybridFactorGraph
+ * @author  Varun Agrawal
+ * @date    May 2021
+ */
+
+#include <gtsam/base/TestableAssertions.h>
+#include <gtsam/base/utilities.h>
+#include <gtsam/hybrid/HybridFactorGraph.h>
+
+/* ****************************************************************************
+ * Test that any linearizedFactorGraph gaussian factors are appended to the
+ * existing gaussian factor graph in the hybrid factor graph.
+ */
+TEST(HybridFactorGraph, GaussianFactorGraph) {
+  // Initialize the hybrid factor graph
+  HybridFactorGraph fg;
+
+  // Add a simple prior factor to the nonlinear factor graph
+  fg.emplace_shared<PriorFactor<double>>(X(0), 0, Isotropic::Sigma(1, 0.1));
+
+  // Add a linear factor to the nonlinear factor graph
+  fg.add(X(0), I_1x1, Vector1(5));
+
+  // Linearization point
+  Values linearizationPoint;
+  linearizationPoint.insert<double>(X(0), 0);
+
+  GaussianHybridFactorGraph ghfg = fg.linearize(linearizationPoint);
+
+  // ghfg.push_back(ghfg.gaussianGraph().begin(), ghfg.gaussianGraph().end());
+
+  // EXPECT_LONGS_EQUAL(2, dcmfg.gaussianGraph().size());
+}
+
+/* ************************************************************************* */
+int main() {
+  TestResult tr;
+  return TestRegistry::runAllTests(tr);
+}
+/* ************************************************************************* */

From 841e6b01df76685ca8357305906731d32e2963b4 Mon Sep 17 00:00:00 2001
From: Varun Agrawal <varagrawal@gmail.com>
Date: Sat, 28 May 2022 18:03:52 -0400
Subject: [PATCH 100/433] improved equality checks

---
 gtsam/hybrid/GaussianMixtureConditional.cpp |  3 ++-
 gtsam/hybrid/GaussianMixtureFactor.cpp      |  3 ++-
 gtsam/hybrid/GaussianMixtureFactor.h        | 10 ++++++----
 gtsam/hybrid/HybridConditional.cpp          |  3 ++-
 gtsam/hybrid/HybridDiscreteFactor.cpp       |  4 +++-
 gtsam/hybrid/HybridFactor.cpp               |  5 ++++-
 gtsam/hybrid/HybridGaussianFactor.cpp       | 15 ++++++++++-----
 gtsam/hybrid/HybridGaussianFactor.h         |  3 ++-
 8 files changed, 31 insertions(+), 15 deletions(-)

diff --git a/gtsam/hybrid/GaussianMixtureConditional.cpp b/gtsam/hybrid/GaussianMixtureConditional.cpp
index 726af6d5ff..81d1244c2f 100644
--- a/gtsam/hybrid/GaussianMixtureConditional.cpp
+++ b/gtsam/hybrid/GaussianMixtureConditional.cpp
@@ -79,7 +79,8 @@ GaussianMixtureConditional::asGaussianFactorGraphTree() const {
 /* *******************************************************************************/
 bool GaussianMixtureConditional::equals(const HybridFactor &lf,
                                         double tol) const {
-  return BaseFactor::equals(lf, tol);
+  const This *e = dynamic_cast<const This *>(&lf);
+  return e != nullptr && BaseFactor::equals(*e, tol);
 }
 
 /* *******************************************************************************/
diff --git a/gtsam/hybrid/GaussianMixtureFactor.cpp b/gtsam/hybrid/GaussianMixtureFactor.cpp
index 589e5c6605..a81cf341d9 100644
--- a/gtsam/hybrid/GaussianMixtureFactor.cpp
+++ b/gtsam/hybrid/GaussianMixtureFactor.cpp
@@ -34,7 +34,8 @@ GaussianMixtureFactor::GaussianMixtureFactor(const KeyVector &continuousKeys,
 
 /* *******************************************************************************/
 bool GaussianMixtureFactor::equals(const HybridFactor &lf, double tol) const {
-  return Base::equals(lf, tol);
+  const This *e = dynamic_cast<const This *>(&lf);
+  return e != nullptr && Base::equals(*e, tol);
 }
 
 /* *******************************************************************************/
diff --git a/gtsam/hybrid/GaussianMixtureFactor.h b/gtsam/hybrid/GaussianMixtureFactor.h
index b2fbe4aefd..b3569183b1 100644
--- a/gtsam/hybrid/GaussianMixtureFactor.h
+++ b/gtsam/hybrid/GaussianMixtureFactor.h
@@ -11,7 +11,7 @@
 
 /**
  * @file   GaussianMixtureFactor.h
- * @brief  A factor that is a function of discrete and continuous variables.
+ * @brief  A set of GaussianFactors, indexed by a set of discrete keys.
  * @author Fan Jiang
  * @author Varun Agrawal
  * @author Frank Dellaert
@@ -32,9 +32,10 @@ class GaussianFactorGraph;
 using GaussianFactorVector = std::vector<gtsam::GaussianFactor::shared_ptr>;
 
 /**
- * @brief A linear factor that is a function of both discrete and continuous
- * variables, i.e. P(X, M | Z) where X is the set of continuous variables, M is
- * the set of discrete variables and Z is the measurement set.
+ * @brief Implementation of a discrete conditional mixture factor.
+ * Implements a joint discrete-continuous factor where the discrete variable
+ * serves to "select" a mixture component corresponding to a GaussianFactor type
+ * of measurement.
  *
  * Represents the underlying Gaussian Mixture as a Decision Tree, where the set
  * of discrete variables indexes to the continuous gaussian distribution.
@@ -52,6 +53,7 @@ class GaussianMixtureFactor : public HybridFactor {
   using Factors = DecisionTree<Key, GaussianFactor::shared_ptr>;
 
  private:
+  /// Decision tree of Gaussian factors indexed by discrete keys.
   Factors factors_;
 
   /**
diff --git a/gtsam/hybrid/HybridConditional.cpp b/gtsam/hybrid/HybridConditional.cpp
index 7d1b720674..e3932308ba 100644
--- a/gtsam/hybrid/HybridConditional.cpp
+++ b/gtsam/hybrid/HybridConditional.cpp
@@ -101,7 +101,8 @@ void HybridConditional::print(const std::string &s,
 
 /* ************************************************************************ */
 bool HybridConditional::equals(const HybridFactor &other, double tol) const {
-  return BaseFactor::equals(other, tol);
+  const This *e = dynamic_cast<const This *>(&other);
+  return e != nullptr && BaseFactor::equals(*e, tol);
 }
 
 }  // namespace gtsam
diff --git a/gtsam/hybrid/HybridDiscreteFactor.cpp b/gtsam/hybrid/HybridDiscreteFactor.cpp
index 989127a28c..2bdcdee8cb 100644
--- a/gtsam/hybrid/HybridDiscreteFactor.cpp
+++ b/gtsam/hybrid/HybridDiscreteFactor.cpp
@@ -38,7 +38,9 @@ HybridDiscreteFactor::HybridDiscreteFactor(DecisionTreeFactor &&dtf)
 
 /* ************************************************************************ */
 bool HybridDiscreteFactor::equals(const HybridFactor &lf, double tol) const {
-  return Base::equals(lf, tol);
+  const This *e = dynamic_cast<const This *>(&lf);
+  // TODO(Varun) How to compare inner_ when they are abstract types?
+  return e != nullptr && Base::equals(*e, tol);
 }
 
 /* ************************************************************************ */
diff --git a/gtsam/hybrid/HybridFactor.cpp b/gtsam/hybrid/HybridFactor.cpp
index 815ea0415e..127c9761c0 100644
--- a/gtsam/hybrid/HybridFactor.cpp
+++ b/gtsam/hybrid/HybridFactor.cpp
@@ -70,7 +70,10 @@ HybridFactor::HybridFactor(const DiscreteKeys &discreteKeys)
 
 /* ************************************************************************ */
 bool HybridFactor::equals(const HybridFactor &lf, double tol) const {
-  return Base::equals(lf, tol);
+  const This *e = dynamic_cast<const This *>(&lf);
+  return e != nullptr && Base::equals(*e, tol) &&
+         isDiscrete_ == e->isDiscrete_ && isContinuous_ == e->isContinuous_ &&
+         isHybrid_ == e->isHybrid_ && nrContinuous_ == e->nrContinuous_;
 }
 
 /* ************************************************************************ */
diff --git a/gtsam/hybrid/HybridGaussianFactor.cpp b/gtsam/hybrid/HybridGaussianFactor.cpp
index 721cb4cc79..59d20fb794 100644
--- a/gtsam/hybrid/HybridGaussianFactor.cpp
+++ b/gtsam/hybrid/HybridGaussianFactor.cpp
@@ -21,18 +21,23 @@
 
 namespace gtsam {
 
+/* ************************************************************************* */
 HybridGaussianFactor::HybridGaussianFactor(GaussianFactor::shared_ptr other)
-    : Base(other->keys()) {
-  inner_ = other;
-}
+    : Base(other->keys()), inner_(other) {}
 
+/* ************************************************************************* */
 HybridGaussianFactor::HybridGaussianFactor(JacobianFactor &&jf)
     : Base(jf.keys()),
       inner_(boost::make_shared<JacobianFactor>(std::move(jf))) {}
 
-bool HybridGaussianFactor::equals(const HybridFactor &lf, double tol) const {
-  return false;
+/* ************************************************************************* */
+bool HybridGaussianFactor::equals(const HybridFactor &other, double tol) const {
+  const This *e = dynamic_cast<const This *>(&other);
+  // TODO(Varun) How to compare inner_ when they are abstract types?
+  return e != nullptr && Base::equals(*e, tol);
 }
+
+/* ************************************************************************* */
 void HybridGaussianFactor::print(const std::string &s,
                                  const KeyFormatter &formatter) const {
   HybridFactor::print(s, formatter);
diff --git a/gtsam/hybrid/HybridGaussianFactor.h b/gtsam/hybrid/HybridGaussianFactor.h
index 8d457e7783..6fa83b7263 100644
--- a/gtsam/hybrid/HybridGaussianFactor.h
+++ b/gtsam/hybrid/HybridGaussianFactor.h
@@ -25,7 +25,8 @@ namespace gtsam {
 
 /**
  * A HybridGaussianFactor is a layer over GaussianFactor so that we do not have
- * a diamond inheritance.
+ * a diamond inheritance i.e. an extra factor type that inherits from both
+ * HybridFactor and GaussianFactor.
  */
 class HybridGaussianFactor : public HybridFactor {
  private:

From 78ea90bb27ea338f445100e7eabce390675747a3 Mon Sep 17 00:00:00 2001
From: Varun Agrawal <varagrawal@gmail.com>
Date: Sat, 28 May 2022 18:44:09 -0400
Subject: [PATCH 101/433] Add MixtureFactor for nonlinear factor types

---
 gtsam/hybrid/HybridNonlinearFactor.cpp |   7 +-
 gtsam/hybrid/HybridNonlinearFactor.h   |   3 -
 gtsam/hybrid/MixtureFactor.h           | 240 +++++++++++++++++++++++++
 3 files changed, 241 insertions(+), 9 deletions(-)
 create mode 100644 gtsam/hybrid/MixtureFactor.h

diff --git a/gtsam/hybrid/HybridNonlinearFactor.cpp b/gtsam/hybrid/HybridNonlinearFactor.cpp
index ee6e76431e..69a9767900 100644
--- a/gtsam/hybrid/HybridNonlinearFactor.cpp
+++ b/gtsam/hybrid/HybridNonlinearFactor.cpp
@@ -25,14 +25,9 @@ namespace gtsam {
 HybridNonlinearFactor::HybridNonlinearFactor(NonlinearFactor::shared_ptr other)
     : Base(other->keys()), inner_(other) {}
 
-/* ************************************************************************* */
-HybridNonlinearFactor::HybridNonlinearFactor(NonlinearFactor &&nf)
-    : Base(nf.keys()),
-      inner_(boost::make_shared<NonlinearFactor>(std::move(nf))) {}
-
 /* ************************************************************************* */
 bool HybridNonlinearFactor::equals(const HybridFactor &lf, double tol) const {
-  return Base(lf, tol);
+  return Base::equals(lf, tol);
 }
 
 /* ************************************************************************* */
diff --git a/gtsam/hybrid/HybridNonlinearFactor.h b/gtsam/hybrid/HybridNonlinearFactor.h
index 74feb05312..53d7bfbf47 100644
--- a/gtsam/hybrid/HybridNonlinearFactor.h
+++ b/gtsam/hybrid/HybridNonlinearFactor.h
@@ -38,9 +38,6 @@ class HybridNonlinearFactor : public HybridFactor {
   // Explicit conversion from a shared ptr of GF
   explicit HybridNonlinearFactor(NonlinearFactor::shared_ptr other);
 
-  // Forwarding constructor from concrete NonlinearFactor
-  explicit HybridNonlinearFactor(NonlinearFactor &&jf);
-
  public:
   /// @name Testable
   /// @{
diff --git a/gtsam/hybrid/MixtureFactor.h b/gtsam/hybrid/MixtureFactor.h
new file mode 100644
index 0000000000..556402058e
--- /dev/null
+++ b/gtsam/hybrid/MixtureFactor.h
@@ -0,0 +1,240 @@
+/* ----------------------------------------------------------------------------
+ * Copyright 2020 The Ambitious Folks of the MRG
+ * See LICENSE for the license information
+ * -------------------------------------------------------------------------- */
+
+/**
+ * @file   MixtureFactor.h
+ * @brief  Nonlinear Mixture factor of continuous and discrete.
+ * @author Kevin Doherty, kdoherty@mit.edu
+ * @author Varun Agrawal
+ * @date   December 2021
+ */
+
+#pragma once
+
+#include <gtsam/discrete/DiscreteValues.h>
+#include <gtsam/hybrid/GaussianMixtureFactor.h>
+#include <gtsam/hybrid/HybridFactor.h>
+#include <gtsam/nonlinear/NonlinearFactor.h>
+#include <gtsam/nonlinear/Symbol.h>
+
+#include <algorithm>
+#include <boost/format.hpp>
+#include <cmath>
+#include <limits>
+#include <vector>
+
+namespace gtsam {
+
+/**
+ * @brief Implementation of a discrete conditional mixture factor. Implements a
+ * joint discrete-continuous factor where the discrete variable serves to
+ * "select" a mixture component corresponding to a NonlinearFactor type
+ * of measurement.
+ */
+template <class NonlinearFactorType>
+class MixtureFactor : public HybridFactor {
+ public:
+  using Base = HybridFactor;
+  using This = MixtureFactor;
+  using shared_ptr = boost::shared_ptr<MixtureFactor>;
+  using sharedFactor = boost::shared_ptr<NonlinearFactorType>;
+
+  /// typedef for DecisionTree which has Keys as node labels and
+  /// NonlinearFactorType as leaf nodes.
+  using Factors = DecisionTree<Key, sharedFactor>;
+
+ private:
+  /// Decision tree of Gaussian factors indexed by discrete keys.
+  Factors factors_;
+  bool normalized_;
+
+ public:
+  MixtureFactor() = default;
+
+  /**
+   * @brief Construct from Decision tree.
+   *
+   * @param keys Vector of keys for continuous factors.
+   * @param discreteKeys Vector of discrete keys.
+   * @param factors Decision tree with of shared factors.
+   * @param normalized Flag indicating if the factor error is already
+   * normalized.
+   */
+  MixtureFactor(const KeyVector& keys, const DiscreteKeys& discreteKeys,
+                const Factors& factors, bool normalized = false)
+      : Base(keys, discreteKeys), factors_(factors), normalized_(normalized) {}
+
+  /**
+   * @brief Convenience constructor that generates the underlying factor
+   * decision tree for us.
+   *
+   * Here it is important that the vector of factors has the correct number of
+   * elements based on the number of discrete keys and the cardinality of the
+   * keys, so that the decision tree is constructed appropriately.
+   *
+   * @param keys Vector of keys for continuous factors.
+   * @param discreteKeys Vector of discrete keys.
+   * @param factors Vector of shared pointers to factors.
+   * @param normalized Flag indicating if the factor error is already
+   * normalized.
+   */
+  MixtureFactor(const KeyVector& keys, const DiscreteKeys& discreteKeys,
+                const std::vector<sharedFactor>& factors,
+                bool normalized = false)
+      : MixtureFactor(keys, discreteKeys, Factors(discreteKeys, factors),
+                      normalized) {}
+
+  ~MixtureFactor() = default;
+
+  /**
+   * @brief Compute error of factor given both continuous and discrete values.
+   *
+   * @param continuousVals The continuous Values.
+   * @param discreteVals The discrete Values.
+   * @return double The error of this factor.
+   */
+  double error(const Values& continuousVals,
+               const DiscreteValues& discreteVals) const {
+    // Retrieve the factor corresponding to the assignment in discreteVals.
+    auto factor = factors_(discreteVals);
+    // Compute the error for the selected factor
+    const double factorError = factor->error(continuousVals);
+    if (normalized_) return factorError;
+    return factorError +
+           this->nonlinearFactorLogNormalizingConstant(*factor, continuousVals);
+  }
+
+  size_t dim() const {
+    // TODO(Varun)
+    throw std::runtime_error("MixtureFactor::dim not implemented.");
+  }
+
+  /// Testable
+  /// @{
+
+  /// print to stdout
+  void print(
+      const std::string& s = "MixtureFactor",
+      const KeyFormatter& keyFormatter = DefaultKeyFormatter) const override {
+    std::cout << (s.empty() ? "" : s + " ");
+    std::cout << "(";
+    auto contKeys = keys();
+    auto dKeys = discreteKeys();
+    for (DiscreteKey key : dKeys) {
+      auto it = std::find(contKeys.begin(), contKeys.end(), key.first);
+      contKeys.erase(it);
+    }
+    for (Key key : contKeys) {
+      std::cout << " " << keyFormatter(key);
+    }
+    std::cout << ";";
+    for (DiscreteKey key : dKeys) {
+      std::cout << " " << keyFormatter(key.first);
+    }
+    std::cout << " ) \n";
+    auto valueFormatter = [](const sharedFactor& v) {
+      if (v) {
+        return (boost::format("Nonlinear factor on %d keys") % v->size()).str();
+      } else {
+        return std::string("nullptr");
+      }
+    };
+    factors_.print("", keyFormatter, valueFormatter);
+  }
+
+  /// Check equality
+  bool equals(const HybridFactor& other, double tol = 1e-9) const override {
+    // We attempt a dynamic cast from HybridFactor to MixtureFactor. If it
+    // fails, return false.
+    if (!dynamic_cast<const MixtureFactor*>(&other)) return false;
+
+    // If the cast is successful, we'll properly construct a MixtureFactor
+    // object from `other`
+    const MixtureFactor& f(static_cast<const MixtureFactor&>(other));
+
+    // Ensure that this MixtureFactor and `f` have the same `factors_`.
+    auto compare = [tol](const sharedFactor& a, const sharedFactor& b) {
+      return traits<NonlinearFactorType>::Equals(*a, *b, tol);
+    };
+    if (!factors_.equals(f.factors_, compare)) return false;
+
+    // If everything above passes, and the keys_, discreteKeys_ and normalized_
+    // member variables are identical, return true.
+    return (std::equal(keys_.begin(), keys_.end(), f.keys().begin()) &&
+            (discreteKeys_ == f.discreteKeys_) &&
+            (normalized_ == f.normalized_));
+  }
+
+  /// @}
+
+  /// Linearize specific nonlinear factors based on the assignment in
+  /// discreteValues.
+  GaussianFactor::shared_ptr linearize(
+      const Values& continuousVals, const DiscreteValues& discreteVals) const {
+    auto factor = factors_(discreteVals);
+    return factor->linearize(continuousVals);
+  }
+
+  /// Linearize all the continuous factors to get a GaussianMixtureFactor.
+  boost::shared_ptr<GaussianMixtureFactor> linearize(
+      const Values& continuousVals) const {
+    // functional to linearize each factor in the decision tree
+    auto linearizeDT = [continuousVals](const sharedFactor& factor) {
+      return factor->linearize(continuousVals);
+    };
+
+    DecisionTree<Key, GaussianFactor::shared_ptr> linearized_factors(
+        factors_, linearizeDT);
+
+    return boost::make_shared<GaussianMixtureFactor>(keys_, discreteKeys_,
+                                                     linearized_factors);
+  }
+
+  /**
+   * If the component factors are not already normalized, we want to compute
+   * their normalizing constants so that the resulting joint distribution is
+   * appropriately computed. Remember, this is the _negative_ normalizing
+   * constant for the measurement likelihood (since we are minimizing the
+   * _negative_ log-likelihood).
+   */
+  double nonlinearFactorLogNormalizingConstant(
+      const NonlinearFactorType& factor, const Values& values) const {
+    // Information matrix (inverse covariance matrix) for the factor.
+    Matrix infoMat;
+
+    // NOTE: This is sloppy (and mallocs!), is there a cleaner way?
+    auto factorPtr = boost::make_shared<NonlinearFactorType>(factor);
+
+    // If this is a NoiseModelFactor, we'll use its noiseModel to
+    // otherwise noiseModelFactor will be nullptr
+    auto noiseModelFactor =
+        boost::dynamic_pointer_cast<NoiseModelFactor>(factorPtr);
+    if (noiseModelFactor) {
+      // If dynamic cast to NoiseModelFactor succeeded, see if the noise model
+      // is Gaussian
+      auto noiseModel = noiseModelFactor->noiseModel();
+
+      auto gaussianNoiseModel =
+          boost::dynamic_pointer_cast<noiseModel::Gaussian>(noiseModel);
+      if (gaussianNoiseModel) {
+        // If the noise model is Gaussian, retrieve the information matrix
+        infoMat = gaussianNoiseModel->information();
+      } else {
+        // If the factor is not a Gaussian factor, we'll linearize it to get
+        // something with a normalized noise model
+        // TODO(kevin): does this make sense to do? I think maybe not in
+        // general? Should we just yell at the user?
+        auto gaussianFactor = factor.linearize(values);
+        infoMat = gaussianFactor->information();
+      }
+    }
+
+    // Compute the (negative) log of the normalizing constant
+    return -(factor.dim() * log(2.0 * M_PI) / 2.0) -
+           (log(infoMat.determinant()) / 2.0);
+  }
+};
+
+}  // namespace gtsam

From e91a35453a5fdbeb26b9a57c405de3a5a1e94898 Mon Sep 17 00:00:00 2001
From: Varun Agrawal <varagrawal@gmail.com>
Date: Sat, 28 May 2022 20:44:30 -0400
Subject: [PATCH 102/433] convert to cpp

---
 .../{testHybridFactorGraph.h => testHybridFactorGraph.cpp} | 7 +++++++
 1 file changed, 7 insertions(+)
 rename gtsam/hybrid/tests/{testHybridFactorGraph.h => testHybridFactorGraph.cpp} (91%)

diff --git a/gtsam/hybrid/tests/testHybridFactorGraph.h b/gtsam/hybrid/tests/testHybridFactorGraph.cpp
similarity index 91%
rename from gtsam/hybrid/tests/testHybridFactorGraph.h
rename to gtsam/hybrid/tests/testHybridFactorGraph.cpp
index 284e996ce6..36f5f38ae6 100644
--- a/gtsam/hybrid/tests/testHybridFactorGraph.h
+++ b/gtsam/hybrid/tests/testHybridFactorGraph.cpp
@@ -13,9 +13,14 @@
  * @date    May 2021
  */
 
+#include <CppUnitLite/Test.h>
+#include <CppUnitLite/TestHarness.h>
 #include <gtsam/base/TestableAssertions.h>
 #include <gtsam/base/utilities.h>
 #include <gtsam/hybrid/HybridFactorGraph.h>
+#include <gtsam/nonlinear/PriorFactor.h>
+
+using namespace gtsam;
 
 /* ****************************************************************************
  * Test that any linearizedFactorGraph gaussian factors are appended to the
@@ -37,6 +42,8 @@ TEST(HybridFactorGraph, GaussianFactorGraph) {
 
   GaussianHybridFactorGraph ghfg = fg.linearize(linearizationPoint);
 
+  EXPECT_LONGS_EQUAL(ghfg);
+
   // ghfg.push_back(ghfg.gaussianGraph().begin(), ghfg.gaussianGraph().end());
 
   // EXPECT_LONGS_EQUAL(2, dcmfg.gaussianGraph().size());

From 9cbd2ef477f40f47ba9281cd2a09aaf1af853eb7 Mon Sep 17 00:00:00 2001
From: Varun Agrawal <varagrawal@gmail.com>
Date: Sun, 29 May 2022 12:44:56 -0400
Subject: [PATCH 103/433] Base Hybrid Factor Graph

---
 gtsam/hybrid/HybridFactorGraph.h | 105 +++++++++++++++++++++----------
 1 file changed, 72 insertions(+), 33 deletions(-)

diff --git a/gtsam/hybrid/HybridFactorGraph.h b/gtsam/hybrid/HybridFactorGraph.h
index f415386ea4..f19eb0faff 100644
--- a/gtsam/hybrid/HybridFactorGraph.h
+++ b/gtsam/hybrid/HybridFactorGraph.h
@@ -20,15 +20,19 @@
 
 #include <gtsam/hybrid/GaussianHybridFactorGraph.h>
 #include <gtsam/hybrid/HybridFactor.h>
+#include <gtsam/hybrid/HybridNonlinearFactor.h>
+#include <gtsam/hybrid/MixtureFactor.h>
 #include <gtsam/inference/FactorGraph.h>
 #include <gtsam/inference/Ordering.h>
+#include <gtsam/nonlinear/NonlinearFactor.h>
 
+#include <boost/format.hpp>
 namespace gtsam {
 
 /**
  * Hybrid Factor Graph
  * -----------------------
- * This is the non-linear version of a hybrid factor graph.
+ * This is the base hybrid factor graph.
  * Everything inside needs to be hybrid factor or hybrid conditional.
  */
 class HybridFactorGraph : public FactorGraph<HybridFactor> {
@@ -40,9 +44,22 @@ class HybridFactorGraph : public FactorGraph<HybridFactor> {
   using Values = gtsam::Values;  ///< backwards compatibility
   using Indices = KeyVector;     ///> map from keys to values
 
+ protected:
+  /// Check if FACTOR type is derived from DiscreteFactor.
+  template <typename FACTOR>
+  using IsDiscrete = typename std::enable_if<
+      std::is_base_of<DiscreteFactor, FACTOR>::value>::type;
+
+  /// Check if FACTOR type is derived from HybridFactor.
+  template <typename FACTOR>
+  using IsHybrid = typename std::enable_if<
+      std::is_base_of<HybridFactor, FACTOR>::value>::type;
+
+ public:
   /// @name Constructors
   /// @{
 
+  /// Default constructor
   HybridFactorGraph() = default;
 
   /**
@@ -61,46 +78,68 @@ class HybridFactorGraph : public FactorGraph<HybridFactor> {
   using Base::size;
   using FactorGraph::add;
   using Base::operator[];
+  using Base::resize;
+
+  /**
+   * Add a discrete factor *pointer* to the internal discrete graph
+   * @param discreteFactor - boost::shared_ptr to the factor to add
+   */
+  template <typename FACTOR>
+  IsDiscrete<FACTOR> push_discrete(
+      const boost::shared_ptr<FACTOR>& discreteFactor) {
+    Base::push_back(boost::make_shared<HybridDiscreteFactor>(discreteFactor));
+  }
 
-  /// Add a Jacobian factor to the factor graph.
-  void add(JacobianFactor&& factor);
+  /**
+   * Add a discrete-continuous (Hybrid) factor *pointer* to the graph
+   * @param hybridFactor - boost::shared_ptr to the factor to add
+   */
+  template <typename FACTOR>
+  IsHybrid<FACTOR> push_hybrid(const boost::shared_ptr<FACTOR>& hybridFactor) {
+    Base::push_back(boost::make_shared<HybridFactor>(factor));
+  }
 
-  /// Add a Jacobian factor as a shared ptr.
-  void add(boost::shared_ptr<JacobianFactor> factor);
+  /// delete emplace_shared.
+  template <class FACTOR, class... Args>
+  void emplace_shared(Args&&... args) = delete;
 
-  /// Add a DecisionTreeFactor to the factor graph.
-  void add(DecisionTreeFactor&& factor);
+  /// Construct a factor and add (shared pointer to it) to factor graph.
+  template <class FACTOR, class... Args>
+  IsDiscrete<FACTOR> emplace_discrete(Args&&... args) {
+    auto factor = boost::allocate_shared<FACTOR>(
+        Eigen::aligned_allocator<FACTOR>(), std::forward<Args>(args)...);
+    push_discrete(factor);
+  }
 
-  /// Add a DecisionTreeFactor as a shared ptr.
-  void add(boost::shared_ptr<DecisionTreeFactor> factor);
+  /// Construct a factor and add (shared pointer to it) to factor graph.
+  template <class FACTOR, class... Args>
+  IsHybrid<FACTOR> emplace_hybrid(Args&&... args) {
+    auto factor = boost::allocate_shared<FACTOR>(
+        Eigen::aligned_allocator<FACTOR>(), std::forward<Args>(args)...);
+    push_hybrid(factor);
+  }
 
   /**
-   * @brief Linearize all the continuous factors in the
-   * NonlinearHybridFactorGraph.
+   * @brief Add a single factor shared pointer to the hybrid factor graph.
+   * Dynamically handles the factor type and assigns it to the correct
+   * underlying container.
    *
-   * @param continuousValues: Dictionary of continuous values.
-   * @return GaussianHybridFactorGraph::shared_ptr
+   * @param sharedFactor The factor to add to this factor graph.
    */
-  GaussianHybridFactorGraph::shared_ptr linearize(
-      const Values& continuousValues) const {
-    // create an empty linear FG
-    GaussianHybridFactorGraph::shared_ptr linearFG =
-        boost::make_shared<GaussianHybridFactorGraph>();
-
-    linearFG->reserve(size());
-
-    // linearize all factors
-    for (const sharedFactor& factor : factors_) {
-      if (factor) {
-        if (auto nf = boost::dynamic_pointer_cast<NonlinearFactor>) {
-          (*linearFG) += factor->linearize(linearizationPoint);
-        } else if (auto hf = boost::dynamic_pointer_cast<HybridFactor>) {
-          if (hf->isContinuous()) {
-          }
-        }
-
-      } else
-        (*linearFG) += GaussianFactor::shared_ptr();
+  void push_back(const SharedFactor& sharedFactor) {
+    if (auto p = boost::dynamic_pointer_cast<DiscreteFactor>(sharedFactor)) {
+      push_discrete(p);
+    }
+    if (auto p = boost::dynamic_pointer_cast<HybridFactor>(sharedFactor)) {
+      push_hybrid(p);
+    }
+  }
+
+  /** Constructor from iterator over factors (shared_ptr or plain objects) */
+  template <typename ITERATOR>
+  void push_back(ITERATOR firstFactor, ITERATOR lastFactor) {
+    for (auto&& it = firstFactor; it != lastFactor; it++) {
+      push_back(*it);
     }
   }
 };

From 01b9a65e1e522d75db2a3dd69e31a5115024183a Mon Sep 17 00:00:00 2001
From: Varun Agrawal <varagrawal@gmail.com>
Date: Sun, 29 May 2022 12:47:45 -0400
Subject: [PATCH 104/433] make GaussianMixtureFactor a subclass of
 HybridGaussianFactor

---
 gtsam/hybrid/GaussianMixtureFactor.h |  8 ++++----
 gtsam/hybrid/HybridGaussianFactor.h  | 10 ++++++++--
 2 files changed, 12 insertions(+), 6 deletions(-)

diff --git a/gtsam/hybrid/GaussianMixtureFactor.h b/gtsam/hybrid/GaussianMixtureFactor.h
index b2fbe4aefd..bd2e079cba 100644
--- a/gtsam/hybrid/GaussianMixtureFactor.h
+++ b/gtsam/hybrid/GaussianMixtureFactor.h
@@ -22,7 +22,7 @@
 
 #include <gtsam/discrete/DecisionTree.h>
 #include <gtsam/discrete/DiscreteKey.h>
-#include <gtsam/hybrid/HybridFactor.h>
+#include <gtsam/hybrid/HybridGaussianFactor.h>
 #include <gtsam/linear/GaussianFactor.h>
 
 namespace gtsam {
@@ -40,9 +40,9 @@ using GaussianFactorVector = std::vector<gtsam::GaussianFactor::shared_ptr>;
  * of discrete variables indexes to the continuous gaussian distribution.
  *
  */
-class GaussianMixtureFactor : public HybridFactor {
+class GaussianMixtureFactor : public HybridGaussianFactor {
  public:
-  using Base = HybridFactor;
+  using Base = HybridGaussianFactor;
   using This = GaussianMixtureFactor;
   using shared_ptr = boost::shared_ptr<This>;
 
@@ -93,7 +93,7 @@ class GaussianMixtureFactor : public HybridFactor {
   bool equals(const HybridFactor &lf, double tol = 1e-9) const override;
 
   void print(
-      const std::string &s = "HybridFactor\n",
+      const std::string &s = "GaussianMixtureFactor\n",
       const KeyFormatter &formatter = DefaultKeyFormatter) const override;
   /// @}
 
diff --git a/gtsam/hybrid/HybridGaussianFactor.h b/gtsam/hybrid/HybridGaussianFactor.h
index 8d457e7783..4c8ede12cc 100644
--- a/gtsam/hybrid/HybridGaussianFactor.h
+++ b/gtsam/hybrid/HybridGaussianFactor.h
@@ -27,7 +27,7 @@ namespace gtsam {
  * A HybridGaussianFactor is a layer over GaussianFactor so that we do not have
  * a diamond inheritance.
  */
-class HybridGaussianFactor : public HybridFactor {
+class GTSAM_EXPORT HybridGaussianFactor : public HybridFactor {
  private:
   GaussianFactor::shared_ptr inner_;
 
@@ -36,6 +36,12 @@ class HybridGaussianFactor : public HybridFactor {
   using This = HybridGaussianFactor;
   using shared_ptr = boost::shared_ptr<This>;
 
+  HybridGaussianFactor() = default;
+
+  HybridGaussianFactor(const KeyVector &continuousKeys,
+                       const DiscreteKeys &discreteKeys)
+      : Base(continuousKeys, discreteKeys) {}
+
   // Explicit conversion from a shared ptr of GF
   explicit HybridGaussianFactor(GaussianFactor::shared_ptr other);
 
@@ -51,7 +57,7 @@ class HybridGaussianFactor : public HybridFactor {
 
   /// GTSAM print utility.
   void print(
-      const std::string &s = "HybridFactor\n",
+      const std::string &s = "HybridGaussianFactor\n",
       const KeyFormatter &formatter = DefaultKeyFormatter) const override;
 
   /// @}

From fe0d666b3a56d62daf44689eb01a1ceb4a8be8a1 Mon Sep 17 00:00:00 2001
From: Varun Agrawal <varagrawal@gmail.com>
Date: Sun, 29 May 2022 13:15:04 -0400
Subject: [PATCH 105/433] HybridFactorGraph fixes

---
 gtsam/hybrid/HybridFactorGraph.h | 10 +++++-----
 1 file changed, 5 insertions(+), 5 deletions(-)

diff --git a/gtsam/hybrid/HybridFactorGraph.h b/gtsam/hybrid/HybridFactorGraph.h
index f19eb0faff..ef27caec8a 100644
--- a/gtsam/hybrid/HybridFactorGraph.h
+++ b/gtsam/hybrid/HybridFactorGraph.h
@@ -18,17 +18,17 @@
 
 #pragma once
 
-#include <gtsam/hybrid/GaussianHybridFactorGraph.h>
+#include <gtsam/discrete/DiscreteFactor.h>
+#include <gtsam/hybrid/HybridDiscreteFactor.h>
 #include <gtsam/hybrid/HybridFactor.h>
-#include <gtsam/hybrid/HybridNonlinearFactor.h>
-#include <gtsam/hybrid/MixtureFactor.h>
 #include <gtsam/inference/FactorGraph.h>
 #include <gtsam/inference/Ordering.h>
-#include <gtsam/nonlinear/NonlinearFactor.h>
 
 #include <boost/format.hpp>
 namespace gtsam {
 
+using SharedFactor = boost::shared_ptr<Factor>;
+
 /**
  * Hybrid Factor Graph
  * -----------------------
@@ -96,7 +96,7 @@ class HybridFactorGraph : public FactorGraph<HybridFactor> {
    */
   template <typename FACTOR>
   IsHybrid<FACTOR> push_hybrid(const boost::shared_ptr<FACTOR>& hybridFactor) {
-    Base::push_back(boost::make_shared<HybridFactor>(factor));
+    Base::push_back(hybridFactor);
   }
 
   /// delete emplace_shared.

From cdd030b88b71f5e46132c25fb232c84028132ea7 Mon Sep 17 00:00:00 2001
From: Varun Agrawal <varagrawal@gmail.com>
Date: Sun, 29 May 2022 13:32:21 -0400
Subject: [PATCH 106/433] Make MixtureFactor only work with NonlinearFactors
 and make some improvements

---
 gtsam/hybrid/MixtureFactor.h | 42 +++++++++++++++++++-----------------
 1 file changed, 22 insertions(+), 20 deletions(-)

diff --git a/gtsam/hybrid/MixtureFactor.h b/gtsam/hybrid/MixtureFactor.h
index 556402058e..b2423d20eb 100644
--- a/gtsam/hybrid/MixtureFactor.h
+++ b/gtsam/hybrid/MixtureFactor.h
@@ -15,7 +15,7 @@
 
 #include <gtsam/discrete/DiscreteValues.h>
 #include <gtsam/hybrid/GaussianMixtureFactor.h>
-#include <gtsam/hybrid/HybridFactor.h>
+#include <gtsam/hybrid/HybridNonlinearFactor.h>
 #include <gtsam/nonlinear/NonlinearFactor.h>
 #include <gtsam/nonlinear/Symbol.h>
 
@@ -28,21 +28,27 @@
 namespace gtsam {
 
 /**
- * @brief Implementation of a discrete conditional mixture factor. Implements a
- * joint discrete-continuous factor where the discrete variable serves to
- * "select" a mixture component corresponding to a NonlinearFactor type
- * of measurement.
+ * @brief Implementation of a discrete conditional mixture factor.
+ *
+ * Implements a joint discrete-continuous factor where the discrete variable
+ * serves to "select" a mixture component corresponding to a NonlinearFactor
+ * type of measurement.
+ *
+ * This class stores all factors as HybridFactors which can then be typecast to
+ * one of (NonlinearFactor, GaussianFactor) which can then be checked to perform
+ * the correct operation.
  */
-template <class NonlinearFactorType>
-class MixtureFactor : public HybridFactor {
+class MixtureFactor : public HybridNonlinearFactor {
  public:
   using Base = HybridFactor;
   using This = MixtureFactor;
   using shared_ptr = boost::shared_ptr<MixtureFactor>;
-  using sharedFactor = boost::shared_ptr<NonlinearFactorType>;
+  using sharedFactor = boost::shared_ptr<NonlinearFactor>;
 
-  /// typedef for DecisionTree which has Keys as node labels and
-  /// NonlinearFactorType as leaf nodes.
+  /**
+   * @brief typedef for DecisionTree which has Keys as node labels and
+   * NonlinearFactor as leaf nodes.
+   */
   using Factors = DecisionTree<Key, sharedFactor>;
 
  private:
@@ -103,7 +109,7 @@ class MixtureFactor : public HybridFactor {
     const double factorError = factor->error(continuousVals);
     if (normalized_) return factorError;
     return factorError +
-           this->nonlinearFactorLogNormalizingConstant(*factor, continuousVals);
+           this->nonlinearFactorLogNormalizingConstant(factor, continuousVals);
   }
 
   size_t dim() const {
@@ -156,7 +162,7 @@ class MixtureFactor : public HybridFactor {
 
     // Ensure that this MixtureFactor and `f` have the same `factors_`.
     auto compare = [tol](const sharedFactor& a, const sharedFactor& b) {
-      return traits<NonlinearFactorType>::Equals(*a, *b, tol);
+      return traits<NonlinearFactor>::Equals(*a, *b, tol);
     };
     if (!factors_.equals(f.factors_, compare)) return false;
 
@@ -199,19 +205,15 @@ class MixtureFactor : public HybridFactor {
    * constant for the measurement likelihood (since we are minimizing the
    * _negative_ log-likelihood).
    */
-  double nonlinearFactorLogNormalizingConstant(
-      const NonlinearFactorType& factor, const Values& values) const {
+  double nonlinearFactorLogNormalizingConstant(const sharedFactor& factor,
+                                               const Values& values) const {
     // Information matrix (inverse covariance matrix) for the factor.
     Matrix infoMat;
 
-    // NOTE: This is sloppy (and mallocs!), is there a cleaner way?
-    auto factorPtr = boost::make_shared<NonlinearFactorType>(factor);
-
     // If this is a NoiseModelFactor, we'll use its noiseModel to
     // otherwise noiseModelFactor will be nullptr
-    auto noiseModelFactor =
-        boost::dynamic_pointer_cast<NoiseModelFactor>(factorPtr);
-    if (noiseModelFactor) {
+    if (auto noiseModelFactor =
+            boost::dynamic_pointer_cast<NoiseModelFactor>(factor);) {
       // If dynamic cast to NoiseModelFactor succeeded, see if the noise model
       // is Gaussian
       auto noiseModel = noiseModelFactor->noiseModel();

From 08fab8a9362d4cc12365afb76233eae85fa2db6c Mon Sep 17 00:00:00 2001
From: Varun Agrawal <varagrawal@gmail.com>
Date: Sun, 29 May 2022 13:33:04 -0400
Subject: [PATCH 107/433] HybridNonlinearFactor linearize method

---
 gtsam/hybrid/HybridNonlinearFactor.h | 6 ++++++
 1 file changed, 6 insertions(+)

diff --git a/gtsam/hybrid/HybridNonlinearFactor.h b/gtsam/hybrid/HybridNonlinearFactor.h
index 53d7bfbf47..504992e22d 100644
--- a/gtsam/hybrid/HybridNonlinearFactor.h
+++ b/gtsam/hybrid/HybridNonlinearFactor.h
@@ -18,6 +18,7 @@
 #pragma once
 
 #include <gtsam/hybrid/HybridFactor.h>
+#include <gtsam/hybrid/HybridGaussianFactor.h>
 #include <gtsam/nonlinear/NonlinearFactor.h>
 
 namespace gtsam {
@@ -53,5 +54,10 @@ class HybridNonlinearFactor : public HybridFactor {
   /// @}
 
   NonlinearFactor::shared_ptr inner() const { return inner_; }
+
+  /// Linearize to a HybridGaussianFactor at the linearization point `c`.
+  boost::shared_ptr<HybridGaussianFactor> linearize(const Values &c) const {
+    return boost::make_shared<HybridGaussianFactor>(inner_->linearize(c));
+  }
 };
 }  // namespace gtsam

From 9279bd607648098043e8c1f60f533e0a31b4412c Mon Sep 17 00:00:00 2001
From: Varun Agrawal <varagrawal@gmail.com>
Date: Sun, 29 May 2022 13:33:19 -0400
Subject: [PATCH 108/433] push_back for GaussianHybridFactor

---
 gtsam/hybrid/GaussianHybridFactorGraph.h | 1 +
 1 file changed, 1 insertion(+)

diff --git a/gtsam/hybrid/GaussianHybridFactorGraph.h b/gtsam/hybrid/GaussianHybridFactorGraph.h
index c8e0718fc4..23d5918d46 100644
--- a/gtsam/hybrid/GaussianHybridFactorGraph.h
+++ b/gtsam/hybrid/GaussianHybridFactorGraph.h
@@ -100,6 +100,7 @@ class GaussianHybridFactorGraph
   /// @}
 
   using FactorGraph::add;
+  using FactorGraph::push_back;
 
   /// Add a Jacobian factor to the factor graph.
   void add(JacobianFactor&& factor);

From 3274cb12a411260e2d3ab1640362636eb651ed0b Mon Sep 17 00:00:00 2001
From: Varun Agrawal <varagrawal@gmail.com>
Date: Sun, 29 May 2022 13:33:56 -0400
Subject: [PATCH 109/433] clean up testHybridFactorGraph, need to add more
 tests

---
 gtsam/hybrid/tests/testHybridFactorGraph.cpp | 26 ++++++--------------
 1 file changed, 7 insertions(+), 19 deletions(-)

diff --git a/gtsam/hybrid/tests/testHybridFactorGraph.cpp b/gtsam/hybrid/tests/testHybridFactorGraph.cpp
index 36f5f38ae6..f5b4ec0b19 100644
--- a/gtsam/hybrid/tests/testHybridFactorGraph.cpp
+++ b/gtsam/hybrid/tests/testHybridFactorGraph.cpp
@@ -18,35 +18,23 @@
 #include <gtsam/base/TestableAssertions.h>
 #include <gtsam/base/utilities.h>
 #include <gtsam/hybrid/HybridFactorGraph.h>
+#include <gtsam/inference/Symbol.h>
 #include <gtsam/nonlinear/PriorFactor.h>
 
+using namespace std;
 using namespace gtsam;
+using noiseModel::Isotropic;
+using symbol_shorthand::L;
+using symbol_shorthand::M;
+using symbol_shorthand::X;
 
 /* ****************************************************************************
  * Test that any linearizedFactorGraph gaussian factors are appended to the
  * existing gaussian factor graph in the hybrid factor graph.
  */
-TEST(HybridFactorGraph, GaussianFactorGraph) {
+TEST(HybridFactorGraph, Constructor) {
   // Initialize the hybrid factor graph
   HybridFactorGraph fg;
-
-  // Add a simple prior factor to the nonlinear factor graph
-  fg.emplace_shared<PriorFactor<double>>(X(0), 0, Isotropic::Sigma(1, 0.1));
-
-  // Add a linear factor to the nonlinear factor graph
-  fg.add(X(0), I_1x1, Vector1(5));
-
-  // Linearization point
-  Values linearizationPoint;
-  linearizationPoint.insert<double>(X(0), 0);
-
-  GaussianHybridFactorGraph ghfg = fg.linearize(linearizationPoint);
-
-  EXPECT_LONGS_EQUAL(ghfg);
-
-  // ghfg.push_back(ghfg.gaussianGraph().begin(), ghfg.gaussianGraph().end());
-
-  // EXPECT_LONGS_EQUAL(2, dcmfg.gaussianGraph().size());
 }
 
 /* ************************************************************************* */

From 6c36b2c35598790d3e181b8fa5a87064388507a7 Mon Sep 17 00:00:00 2001
From: Varun Agrawal <varagrawal@gmail.com>
Date: Sun, 29 May 2022 14:51:30 -0400
Subject: [PATCH 110/433] GaussianHybridFactorGraph inherits from
 HybridFactorGraph

---
 gtsam/hybrid/GaussianHybridFactorGraph.h | 14 ++++++++++----
 gtsam/hybrid/HybridFactorGraph.h         |  3 ++-
 2 files changed, 12 insertions(+), 5 deletions(-)

diff --git a/gtsam/hybrid/GaussianHybridFactorGraph.h b/gtsam/hybrid/GaussianHybridFactorGraph.h
index 23d5918d46..341a0838e5 100644
--- a/gtsam/hybrid/GaussianHybridFactorGraph.h
+++ b/gtsam/hybrid/GaussianHybridFactorGraph.h
@@ -19,6 +19,7 @@
 #pragma once
 
 #include <gtsam/hybrid/HybridFactor.h>
+#include <gtsam/hybrid/HybridFactorGraph.h>
 #include <gtsam/inference/EliminateableFactorGraph.h>
 #include <gtsam/inference/FactorGraph.h>
 #include <gtsam/inference/Ordering.h>
@@ -71,10 +72,10 @@ struct EliminationTraits<GaussianHybridFactorGraph> {
  * Everything inside needs to be hybrid factor or hybrid conditional.
  */
 class GaussianHybridFactorGraph
-    : public FactorGraph<HybridFactor>,
+    : public HybridFactorGraph,
       public EliminateableFactorGraph<GaussianHybridFactorGraph> {
  public:
-  using Base = FactorGraph<HybridFactor>;
+  using Base = HybridFactorGraph;
   using This = GaussianHybridFactorGraph;  ///< this class
   using BaseEliminateable =
       EliminateableFactorGraph<This>;          ///< for elimination
@@ -99,8 +100,13 @@ class GaussianHybridFactorGraph
 
   /// @}
 
-  using FactorGraph::add;
-  using FactorGraph::push_back;
+  using Base::empty;
+  using Base::reserve;
+  using Base::size;
+  using Base::operator[];
+  using Base::add;
+  using Base::push_back;
+  using Base::resize;
 
   /// Add a Jacobian factor to the factor graph.
   void add(JacobianFactor&& factor);
diff --git a/gtsam/hybrid/HybridFactorGraph.h b/gtsam/hybrid/HybridFactorGraph.h
index ef27caec8a..892136b86c 100644
--- a/gtsam/hybrid/HybridFactorGraph.h
+++ b/gtsam/hybrid/HybridFactorGraph.h
@@ -76,8 +76,9 @@ class HybridFactorGraph : public FactorGraph<HybridFactor> {
   using Base::empty;
   using Base::reserve;
   using Base::size;
-  using FactorGraph::add;
   using Base::operator[];
+  using Base::add;
+  using Base::push_back;
   using Base::resize;
 
   /**

From 85f4b4892586ad166dffa83d8e0b914c87868097 Mon Sep 17 00:00:00 2001
From: Varun Agrawal <varagrawal@gmail.com>
Date: Mon, 30 May 2022 08:21:46 -0400
Subject: [PATCH 111/433] Improvements to GaussianHybridFactorGraph, make
 MixtureFactor a subclass of HybridFactor

---
 gtsam/hybrid/GaussianHybridFactorGraph.h | 51 ++++++++++++++++++++++++
 gtsam/hybrid/HybridNonlinearFactor.cpp   |  3 +-
 gtsam/hybrid/HybridNonlinearFactor.h     |  4 +-
 gtsam/hybrid/MixtureFactor.h             |  8 ++--
 4 files changed, 59 insertions(+), 7 deletions(-)

diff --git a/gtsam/hybrid/GaussianHybridFactorGraph.h b/gtsam/hybrid/GaussianHybridFactorGraph.h
index 341a0838e5..b38a1ebd8d 100644
--- a/gtsam/hybrid/GaussianHybridFactorGraph.h
+++ b/gtsam/hybrid/GaussianHybridFactorGraph.h
@@ -20,9 +20,11 @@
 
 #include <gtsam/hybrid/HybridFactor.h>
 #include <gtsam/hybrid/HybridFactorGraph.h>
+#include <gtsam/hybrid/HybridGaussianFactor.h>
 #include <gtsam/inference/EliminateableFactorGraph.h>
 #include <gtsam/inference/FactorGraph.h>
 #include <gtsam/inference/Ordering.h>
+#include <gtsam/linear/GaussianFactor.h>
 
 namespace gtsam {
 
@@ -74,6 +76,12 @@ struct EliminationTraits<GaussianHybridFactorGraph> {
 class GaussianHybridFactorGraph
     : public HybridFactorGraph,
       public EliminateableFactorGraph<GaussianHybridFactorGraph> {
+ protected:
+  /// Check if FACTOR type is derived from GaussianFactor.
+  template <typename FACTOR>
+  using IsGaussian = typename std::enable_if<
+      std::is_base_of<GaussianFactor, FACTOR>::value>::type;
+
  public:
   using Base = HybridFactorGraph;
   using This = GaussianHybridFactorGraph;  ///< this class
@@ -119,6 +127,49 @@ class GaussianHybridFactorGraph
 
   /// Add a DecisionTreeFactor as a shared ptr.
   void add(boost::shared_ptr<DecisionTreeFactor> factor);
+
+  /**
+   * Add a gaussian factor *pointer* to the internal gaussian factor graph
+   * @param gaussianFactor - boost::shared_ptr to the factor to add
+   */
+  template <typename FACTOR>
+  IsGaussian<FACTOR> push_gaussian(
+      const boost::shared_ptr<FACTOR>& gaussianFactor) {
+    Base::Base::push_back(
+        boost::make_shared<HybridGaussianFactor>(gaussianFactor));
+  }
+
+  /// Construct a factor and add (shared pointer to it) to factor graph.
+  template <class FACTOR, class... Args>
+  IsGaussian<FACTOR> emplace_gaussian(Args&&... args) {
+    auto factor = boost::allocate_shared<FACTOR>(
+        Eigen::aligned_allocator<FACTOR>(), std::forward<Args>(args)...);
+    push_gaussian(factor);
+  }
+
+  /**
+   * @brief Add a single factor shared pointer to the hybrid factor graph.
+   * Dynamically handles the factor type and assigns it to the correct
+   * underlying container.
+   *
+   * @param sharedFactor The factor to add to this factor graph.
+   */
+  void push_back(const SharedFactor& sharedFactor) {
+    if (auto p = boost::dynamic_pointer_cast<GaussianFactor>(sharedFactor)) {
+      push_gaussian(p);
+    } else {
+      Base::push_back(sharedFactor);
+    }
+  }
+
+  /**
+   * @brief Push back for Gaussian Factor specifically.
+   *
+   * @param sharedFactor Shared ptr to a gaussian factor.
+   */
+  void push_back(const GaussianFactor::shared_ptr& sharedFactor) {
+    push_gaussian(sharedFactor);
+  }
 };
 
 }  // namespace gtsam
diff --git a/gtsam/hybrid/HybridNonlinearFactor.cpp b/gtsam/hybrid/HybridNonlinearFactor.cpp
index 69a9767900..0938fd2b12 100644
--- a/gtsam/hybrid/HybridNonlinearFactor.cpp
+++ b/gtsam/hybrid/HybridNonlinearFactor.cpp
@@ -22,7 +22,8 @@
 namespace gtsam {
 
 /* ************************************************************************* */
-HybridNonlinearFactor::HybridNonlinearFactor(NonlinearFactor::shared_ptr other)
+HybridNonlinearFactor::HybridNonlinearFactor(
+    const NonlinearFactor::shared_ptr &other)
     : Base(other->keys()), inner_(other) {}
 
 /* ************************************************************************* */
diff --git a/gtsam/hybrid/HybridNonlinearFactor.h b/gtsam/hybrid/HybridNonlinearFactor.h
index 504992e22d..4a0c0fd9c1 100644
--- a/gtsam/hybrid/HybridNonlinearFactor.h
+++ b/gtsam/hybrid/HybridNonlinearFactor.h
@@ -36,8 +36,8 @@ class HybridNonlinearFactor : public HybridFactor {
   using This = HybridNonlinearFactor;
   using shared_ptr = boost::shared_ptr<This>;
 
-  // Explicit conversion from a shared ptr of GF
-  explicit HybridNonlinearFactor(NonlinearFactor::shared_ptr other);
+  // Explicit conversion from a shared ptr of NonlinearFactor
+  explicit HybridNonlinearFactor(const NonlinearFactor::shared_ptr &other);
 
  public:
   /// @name Testable
diff --git a/gtsam/hybrid/MixtureFactor.h b/gtsam/hybrid/MixtureFactor.h
index b2423d20eb..d2d1a8d74f 100644
--- a/gtsam/hybrid/MixtureFactor.h
+++ b/gtsam/hybrid/MixtureFactor.h
@@ -38,7 +38,7 @@ namespace gtsam {
  * one of (NonlinearFactor, GaussianFactor) which can then be checked to perform
  * the correct operation.
  */
-class MixtureFactor : public HybridNonlinearFactor {
+class MixtureFactor : public HybridFactor {
  public:
   using Base = HybridFactor;
   using This = MixtureFactor;
@@ -213,7 +213,7 @@ class MixtureFactor : public HybridNonlinearFactor {
     // If this is a NoiseModelFactor, we'll use its noiseModel to
     // otherwise noiseModelFactor will be nullptr
     if (auto noiseModelFactor =
-            boost::dynamic_pointer_cast<NoiseModelFactor>(factor);) {
+            boost::dynamic_pointer_cast<NoiseModelFactor>(factor)) {
       // If dynamic cast to NoiseModelFactor succeeded, see if the noise model
       // is Gaussian
       auto noiseModel = noiseModelFactor->noiseModel();
@@ -228,13 +228,13 @@ class MixtureFactor : public HybridNonlinearFactor {
         // something with a normalized noise model
         // TODO(kevin): does this make sense to do? I think maybe not in
         // general? Should we just yell at the user?
-        auto gaussianFactor = factor.linearize(values);
+        auto gaussianFactor = factor->linearize(values);
         infoMat = gaussianFactor->information();
       }
     }
 
     // Compute the (negative) log of the normalizing constant
-    return -(factor.dim() * log(2.0 * M_PI) / 2.0) -
+    return -(factor->dim() * log(2.0 * M_PI) / 2.0) -
            (log(infoMat.determinant()) / 2.0);
   }
 };

From 53e8c32b40fc934f6491778c3638f5972214c8ab Mon Sep 17 00:00:00 2001
From: Varun Agrawal <varagrawal@gmail.com>
Date: Mon, 30 May 2022 08:33:16 -0400
Subject: [PATCH 112/433] Add NonlinearHybridFactorGraph class

---
 gtsam/hybrid/NonlinearHybridFactorGraph.h     | 209 +++++
 gtsam/hybrid/tests/Switching.h                |   3 +
 .../tests/testNonlinearHybridFactorGraph.cpp  | 770 ++++++++++++++++++
 3 files changed, 982 insertions(+)
 create mode 100644 gtsam/hybrid/NonlinearHybridFactorGraph.h
 create mode 100644 gtsam/hybrid/tests/testNonlinearHybridFactorGraph.cpp

diff --git a/gtsam/hybrid/NonlinearHybridFactorGraph.h b/gtsam/hybrid/NonlinearHybridFactorGraph.h
new file mode 100644
index 0000000000..aeb5a4545a
--- /dev/null
+++ b/gtsam/hybrid/NonlinearHybridFactorGraph.h
@@ -0,0 +1,209 @@
+/* ----------------------------------------------------------------------------
+
+ * GTSAM Copyright 2010, Georgia Tech Research Corporation,
+ * Atlanta, Georgia 30332-0415
+ * All Rights Reserved
+ * Authors: Frank Dellaert, et al. (see THANKS for the full author list)
+
+ * See LICENSE for the license information
+
+ * -------------------------------------------------------------------------- */
+
+/**
+ * @file   NonlinearHybridFactorGraph.h
+ * @brief  Nonlinear hybrid factor graph that uses type erasure
+ * @author Varun Agrawal
+ * @date   May 28, 2022
+ */
+
+#pragma once
+
+#include <gtsam/hybrid/GaussianHybridFactorGraph.h>
+#include <gtsam/hybrid/HybridFactor.h>
+#include <gtsam/hybrid/HybridFactorGraph.h>
+#include <gtsam/hybrid/HybridNonlinearFactor.h>
+#include <gtsam/hybrid/MixtureFactor.h>
+#include <gtsam/inference/Ordering.h>
+#include <gtsam/nonlinear/NonlinearFactor.h>
+
+#include <boost/format.hpp>
+namespace gtsam {
+
+/**
+ * Nonlinear Hybrid Factor Graph
+ * -----------------------
+ * This is the non-linear version of a hybrid factor graph.
+ * Everything inside needs to be hybrid factor or hybrid conditional.
+ */
+class GTSAM_EXPORT NonlinearHybridFactorGraph : public HybridFactorGraph {
+ protected:
+  /// Check if FACTOR type is derived from NonlinearFactor.
+  template <typename FACTOR>
+  using IsNonlinear = typename std::enable_if<
+      std::is_base_of<NonlinearFactor, FACTOR>::value>::type;
+
+ public:
+  using Base = FactorGraph<HybridFactor>;
+  using This = NonlinearHybridFactorGraph;     ///< this class
+  using shared_ptr = boost::shared_ptr<This>;  ///< shared_ptr to This
+
+  using Values = gtsam::Values;  ///< backwards compatibility
+  using Indices = KeyVector;     ///> map from keys to values
+
+  /// @name Constructors
+  /// @{
+
+  NonlinearHybridFactorGraph() = default;
+
+  /**
+   * Implicit copy/downcast constructor to override explicit template container
+   * constructor. In BayesTree this is used for:
+   * `cachedSeparatorMarginal_.reset(*separatorMarginal)`
+   * */
+  template <class DERIVEDFACTOR>
+  NonlinearHybridFactorGraph(const FactorGraph<DERIVEDFACTOR>& graph)
+      : Base(graph) {}
+
+  /// @}
+
+  // Allow use of selected FactorGraph methods:
+  using Base::empty;
+  using Base::reserve;
+  using Base::size;
+  using Base::operator[];
+  using Base::add;
+  using Base::push_back;
+  using Base::resize;
+
+  /**
+   * Add a nonlinear factor *pointer* to the internal nonlinear factor graph
+   * @param nonlinearFactor - boost::shared_ptr to the factor to add
+   */
+  template <typename FACTOR>
+  IsNonlinear<FACTOR> push_nonlinear(
+      const boost::shared_ptr<FACTOR>& nonlinearFactor) {
+    Base::push_back(boost::make_shared<HybridNonlinearFactor>(nonlinearFactor));
+  }
+
+  /// Construct a factor and add (shared pointer to it) to factor graph.
+  template <class FACTOR, class... Args>
+  IsNonlinear<FACTOR> emplace_nonlinear(Args&&... args) {
+    auto factor = boost::allocate_shared<FACTOR>(
+        Eigen::aligned_allocator<FACTOR>(), std::forward<Args>(args)...);
+    push_nonlinear(factor);
+  }
+
+  /**
+   * @brief Add a single factor shared pointer to the hybrid factor graph.
+   * Dynamically handles the factor type and assigns it to the correct
+   * underlying container.
+   *
+   * @tparam FACTOR The factor type template
+   * @param sharedFactor The factor to add to this factor graph.
+   */
+  template <typename FACTOR>
+  void push_back(const boost::shared_ptr<FACTOR>& sharedFactor) {
+    if (auto p = boost::dynamic_pointer_cast<NonlinearFactor>(sharedFactor)) {
+      push_nonlinear(p);
+    } else {
+      Base::push_back(sharedFactor);
+    }
+  }
+
+  /** Constructor from iterator over factors (shared_ptr or plain objects) */
+  template <typename ITERATOR>
+  void push_back(ITERATOR firstFactor, ITERATOR lastFactor) {
+    for (auto&& it = firstFactor; it != lastFactor; it++) {
+      push_back(*it);
+    }
+  }
+
+  // /// Add a nonlinear factor to the factor graph.
+  // void add(NonlinearFactor&& factor) {
+  //   Base::add(boost::make_shared<HybridNonlinearFactor>(std::move(factor)));
+  // }
+
+  /// Add a nonlinear factor as a shared ptr.
+  void add(boost::shared_ptr<NonlinearFactor> factor) {
+    FactorGraph::add(boost::make_shared<HybridNonlinearFactor>(factor));
+  }
+
+  /**
+   * Simply prints the factor graph.
+   */
+  void print(
+      const std::string& str = "NonlinearHybridFactorGraph",
+      const KeyFormatter& keyFormatter = DefaultKeyFormatter) const override {}
+
+  /**
+   * @return true if all internal graphs of `this` are equal to those of
+   * `other`
+   */
+  bool equals(const NonlinearHybridFactorGraph& other,
+              double tol = 1e-9) const {
+    return false;
+  }
+
+  /**
+   * @brief Linearize all the continuous factors in the
+   * NonlinearHybridFactorGraph.
+   *
+   * @param continuousValues: Dictionary of continuous values.
+   * @return GaussianHybridFactorGraph::shared_ptr
+   */
+  GaussianHybridFactorGraph::shared_ptr linearize(
+      const Values& continuousValues) const {
+    // create an empty linear FG
+    GaussianHybridFactorGraph::shared_ptr linearFG =
+        boost::make_shared<GaussianHybridFactorGraph>();
+
+    linearFG->reserve(size());
+
+    // linearize all hybrid factors
+    for (auto&& factor : factors_) {
+      // First check if it is a valid factor
+      if (factor) {
+        // Check if the factor is a hybrid factor.
+        // It can be either a nonlinear MixtureFactor or a linear
+        // GaussianMixtureFactor.
+        if (factor->isHybrid()) {
+          // Check if it is a nonlinear mixture factor
+          if (auto nlmf = boost::dynamic_pointer_cast<MixtureFactor>(factor)) {
+            linearFG->push_back(nlmf->linearize(continuousValues));
+          } else {
+            linearFG->push_back(factor);
+          }
+
+          // Now check if the factor is a continuous only factor.
+        } else if (factor->isContinuous()) {
+          // In this case, we check if factor->inner() is nonlinear since
+          // HybridFactors wrap over continuous factors.
+          auto nlhf =
+              boost::dynamic_pointer_cast<HybridNonlinearFactor>(factor);
+          if (auto nlf =
+                  boost::dynamic_pointer_cast<NonlinearFactor>(nlhf->inner())) {
+            auto hgf = boost::make_shared<HybridGaussianFactor>(
+                nlf->linearize(continuousValues));
+            linearFG->push_back(hgf);
+          } else {
+            linearFG->push_back(factor);
+          }
+          // Finally if nothing else, we are discrete-only which doesn't need
+          // lineariztion.
+        } else {
+          linearFG->push_back(factor);
+        }
+
+      } else {
+        linearFG->push_back(GaussianFactor::shared_ptr());
+      }
+    }
+    return linearFG;
+  }
+};
+
+template <>
+struct traits<NonlinearHybridFactorGraph>
+    : public Testable<NonlinearHybridFactorGraph> {};
+
+}  // namespace gtsam
diff --git a/gtsam/hybrid/tests/Switching.h b/gtsam/hybrid/tests/Switching.h
index 77d8182c8e..be58824e00 100644
--- a/gtsam/hybrid/tests/Switching.h
+++ b/gtsam/hybrid/tests/Switching.h
@@ -29,6 +29,9 @@ using gtsam::symbol_shorthand::C;
 using gtsam::symbol_shorthand::X;
 
 namespace gtsam {
+
+using MotionModel = BetweenFactor<double>;
+
 inline GaussianHybridFactorGraph::shared_ptr makeSwitchingChain(
     size_t n, std::function<Key(int)> keyFunc = X,
     std::function<Key(int)> dKeyFunc = C) {
diff --git a/gtsam/hybrid/tests/testNonlinearHybridFactorGraph.cpp b/gtsam/hybrid/tests/testNonlinearHybridFactorGraph.cpp
new file mode 100644
index 0000000000..8043f78df8
--- /dev/null
+++ b/gtsam/hybrid/tests/testNonlinearHybridFactorGraph.cpp
@@ -0,0 +1,770 @@
+/* ----------------------------------------------------------------------------
+ * GTSAM Copyright 2010, Georgia Tech Research Corporation,
+ * Atlanta, Georgia 30332-0415
+ * All Rights Reserved
+ * Authors: Frank Dellaert, et al. (see THANKS for the full author list)
+ * See LICENSE for the license information
+ * -------------------------------------------------------------------------- */
+
+/**
+ * @file    testDCFactorGraph.cpp
+ * @brief   Unit tests for DCFactorGraph
+ * @author  Varun Agrawal
+ * @author  Fan Jiang
+ * @author  Frank Dellaert
+ * @date    December 2021
+ */
+
+#include <gtsam/base/TestableAssertions.h>
+#include <gtsam/base/utilities.h>
+#include <gtsam/discrete/DiscreteBayesNet.h>
+#include <gtsam/discrete/DiscreteDistribution.h>
+#include <gtsam/geometry/Pose2.h>
+#include <gtsam/hybrid/HybridEliminationTree.h>
+#include <gtsam/hybrid/HybridFactor.h>
+#include <gtsam/hybrid/HybridISAM.h>
+#include <gtsam/hybrid/MixtureFactor.h>
+#include <gtsam/hybrid/NonlinearHybridFactorGraph.h>
+#include <gtsam/linear/GaussianBayesNet.h>
+#include <gtsam/nonlinear/PriorFactor.h>
+#include <gtsam/sam/BearingRangeFactor.h>
+#include <gtsam/slam/BetweenFactor.h>
+
+#include <numeric>
+
+#include "Switching.h"
+
+// Include for test suite
+#include <CppUnitLite/TestHarness.h>
+
+using namespace std;
+using namespace gtsam;
+using noiseModel::Isotropic;
+using symbol_shorthand::L;
+using symbol_shorthand::M;
+using symbol_shorthand::X;
+
+/* ****************************************************************************
+ * Test that any linearizedFactorGraph gaussian factors are appended to the
+ * existing gaussian factor graph in the hybrid factor graph.
+ */
+TEST(HybridFactorGraph, GaussianFactorGraph) {
+  NonlinearHybridFactorGraph fg;
+
+  // Add a simple prior factor to the nonlinear factor graph
+  fg.emplace_nonlinear<PriorFactor<double>>(X(0), 0, Isotropic::Sigma(1, 0.1));
+
+  // Linearization point
+  Values linearizationPoint;
+  linearizationPoint.insert<double>(X(0), 0);
+
+  GaussianHybridFactorGraph ghfg = *fg.linearize(linearizationPoint);
+
+  // Add a factor to the GaussianFactorGraph
+  ghfg.add(JacobianFactor(X(0), I_1x1, Vector1(5)));
+
+  EXPECT_LONGS_EQUAL(2, ghfg.size());
+}
+
+/* **************************************************************************
+ */
+/// Test that the resize method works correctly for a
+/// NonlinearHybridFactorGraph.
+TEST(NonlinearHybridFactorGraph, Resize) {
+  NonlinearHybridFactorGraph fg;
+  // auto nonlinearFactor = boost::make_shared<BetweenFactor<double>>();
+  // fg.push_back(nonlinearFactor);
+
+  // auto discreteFactor = boost::make_shared<DecisionTreeFactor>();
+  // fg.push_back(discreteFactor);
+
+  // auto dcFactor = boost::make_shared<MixtureFactor<MotionModel>>();
+  // fg.push_back(dcFactor);
+  // EXPECT_LONGS_EQUAL(fg.size(), 3);
+
+  fg.resize(0);
+  EXPECT_LONGS_EQUAL(fg.size(), 0);
+}
+
+// /* **************************************************************************
+// */
+// /// Test that the resize method works correctly for a
+// /// GaussianHybridFactorGraph.
+// TEST(GaussianHybridFactorGraph, Resize) {
+//   NonlinearHybridFactorGraph nhfg;
+//   auto nonlinearFactor = boost::make_shared<BetweenFactor<double>>(
+//       X(0), X(1), 0.0, Isotropic::Sigma(1, 0.1));
+//   nhfg.push_back(nonlinearFactor);
+//   auto discreteFactor = boost::make_shared<DecisionTreeFactor>();
+//   nhfg.push_back(discreteFactor);
+
+//   KeyVector contKeys = {X(0), X(1)};
+//   auto noise_model = noiseModel::Isotropic::Sigma(1, 1.0);
+//   auto still = boost::make_shared<MotionModel>(X(0), X(1), 0.0, noise_model),
+//        moving = boost::make_shared<MotionModel>(X(0), X(1), 1.0,
+//        noise_model);
+//   std::vector<MotionModel::shared_ptr> components = {still, moving};
+//   auto dcFactor = boost::make_shared<DCMixtureFactor<MotionModel>>(
+//       contKeys, DiscreteKeys{gtsam::DiscreteKey(M(1), 2)}, components);
+//   nhfg.push_back(dcFactor);
+
+//   Values linearizationPoint;
+//   linearizationPoint.insert<double>(X(0), 0);
+//   linearizationPoint.insert<double>(X(1), 1);
+
+//   // Generate `GaussianHybridFactorGraph` by linearizing
+//   GaussianHybridFactorGraph fg = nhfg.linearize(linearizationPoint);
+
+//   EXPECT_LONGS_EQUAL(fg.dcGraph().size(), 1);
+//   EXPECT_LONGS_EQUAL(fg.discreteGraph().size(), 1);
+//   EXPECT_LONGS_EQUAL(fg.gaussianGraph().size(), 1);
+
+//   EXPECT_LONGS_EQUAL(fg.size(), 3);
+
+//   fg.resize(0);
+//   EXPECT_LONGS_EQUAL(fg.dcGraph().size(), 0);
+//   EXPECT_LONGS_EQUAL(fg.discreteGraph().size(), 0);
+//   EXPECT_LONGS_EQUAL(fg.gaussianGraph().size(), 0);
+
+//   EXPECT_LONGS_EQUAL(fg.size(), 0);
+// }
+
+// /*
+// ****************************************************************************
+//  * Test push_back on HFG makes the correct distinction.
+//  */
+// TEST(HybridFactorGraph, PushBack) {
+//   NonlinearHybridFactorGraph fg;
+
+//   auto nonlinearFactor = boost::make_shared<BetweenFactor<double>>();
+//   fg.push_back(nonlinearFactor);
+
+//   EXPECT_LONGS_EQUAL(fg.dcGraph().size(), 0);
+//   EXPECT_LONGS_EQUAL(fg.discreteGraph().size(), 0);
+//   EXPECT_LONGS_EQUAL(fg.nonlinearGraph().size(), 1);
+
+//   fg = NonlinearHybridFactorGraph();
+
+//   auto discreteFactor = boost::make_shared<DecisionTreeFactor>();
+//   fg.push_back(discreteFactor);
+
+//   EXPECT_LONGS_EQUAL(fg.dcGraph().size(), 0);
+//   EXPECT_LONGS_EQUAL(fg.discreteGraph().size(), 1);
+//   EXPECT_LONGS_EQUAL(fg.nonlinearGraph().size(), 0);
+
+//   fg = NonlinearHybridFactorGraph();
+
+//   auto dcFactor = boost::make_shared<DCMixtureFactor<MotionModel>>();
+//   fg.push_back(dcFactor);
+
+//   EXPECT_LONGS_EQUAL(fg.dcGraph().size(), 1);
+//   EXPECT_LONGS_EQUAL(fg.discreteGraph().size(), 0);
+//   EXPECT_LONGS_EQUAL(fg.nonlinearGraph().size(), 0);
+
+//   // Now do the same with GaussianHybridFactorGraph
+//   GaussianHybridFactorGraph ghfg;
+
+//   auto gaussianFactor = boost::make_shared<JacobianFactor>();
+//   ghfg.push_back(gaussianFactor);
+
+//   EXPECT_LONGS_EQUAL(ghfg.dcGraph().size(), 0);
+//   EXPECT_LONGS_EQUAL(ghfg.discreteGraph().size(), 0);
+//   EXPECT_LONGS_EQUAL(ghfg.gaussianGraph().size(), 1);
+
+//   ghfg = GaussianHybridFactorGraph();
+
+//   ghfg.push_back(discreteFactor);
+
+//   EXPECT_LONGS_EQUAL(ghfg.dcGraph().size(), 0);
+//   EXPECT_LONGS_EQUAL(ghfg.discreteGraph().size(), 1);
+//   EXPECT_LONGS_EQUAL(ghfg.gaussianGraph().size(), 0);
+
+//   ghfg = GaussianHybridFactorGraph();
+
+//   ghfg.push_back(dcFactor);
+
+//   EXPECT_LONGS_EQUAL(ghfg.dcGraph().size(), 1);
+//   EXPECT_LONGS_EQUAL(ghfg.discreteGraph().size(), 0);
+//   EXPECT_LONGS_EQUAL(ghfg.gaussianGraph().size(), 0);
+// }
+
+// /*
+// ****************************************************************************/
+// // Test construction of switching-like hybrid factor graph.
+// TEST(HybridFactorGraph, Switching) {
+//   Switching self(3);
+
+//   EXPECT_LONGS_EQUAL(8, self.nonlinearFactorGraph.size());
+//   EXPECT_LONGS_EQUAL(4, self.nonlinearFactorGraph.nonlinearGraph().size());
+//   EXPECT_LONGS_EQUAL(2, self.nonlinearFactorGraph.discreteGraph().size());
+//   EXPECT_LONGS_EQUAL(2, self.nonlinearFactorGraph.dcGraph().size());
+
+//   EXPECT_LONGS_EQUAL(8, self.linearizedFactorGraph.size());
+//   EXPECT_LONGS_EQUAL(2, self.linearizedFactorGraph.discreteGraph().size());
+//   EXPECT_LONGS_EQUAL(2, self.linearizedFactorGraph.dcGraph().size());
+//   EXPECT_LONGS_EQUAL(4, self.linearizedFactorGraph.gaussianGraph().size());
+// }
+
+// /*
+// ****************************************************************************/
+// // Test linearization on a switching-like hybrid factor graph.
+// TEST(HybridFactorGraph, Linearization) {
+//   Switching self(3);
+
+//   // Linearize here:
+//   GaussianHybridFactorGraph actualLinearized =
+//       self.nonlinearFactorGraph.linearize(self.linearizationPoint);
+
+//   EXPECT_LONGS_EQUAL(8, actualLinearized.size());
+//   EXPECT_LONGS_EQUAL(2, actualLinearized.discreteGraph().size());
+//   EXPECT_LONGS_EQUAL(2, actualLinearized.dcGraph().size());
+//   EXPECT_LONGS_EQUAL(4, actualLinearized.gaussianGraph().size());
+// }
+
+// /*
+// ****************************************************************************/
+// // Test elimination tree construction
+// TEST(HybridFactorGraph, EliminationTree) {
+//   Switching self(3);
+
+//   // Create ordering.
+//   Ordering ordering;
+//   for (size_t k = 1; k <= self.K; k++) ordering += X(k);
+
+//   // Create elimination tree.
+//   HybridEliminationTree etree(self.linearizedFactorGraph, ordering);
+//   EXPECT_LONGS_EQUAL(1, etree.roots().size())
+// }
+
+// /*
+// ****************************************************************************/
+// // Test elimination function by eliminating x1 in *-x1-*-x2 graph.
+// TEST(DCGaussianElimination, Eliminate_x1) {
+//   Switching self(3);
+
+//   // Gather factors on x1, has a simple Gaussian and a mixture factor.
+//   GaussianHybridFactorGraph factors;
+//   factors.push_gaussian(self.linearizedFactorGraph.gaussianGraph()[0]);
+//   factors.push_dc(self.linearizedFactorGraph.dcGraph()[0]);
+
+//   // Check that sum works:
+//   auto sum = factors.sum();
+//   Assignment<Key> mode;
+//   mode[M(1)] = 1;
+//   auto actual = sum(mode);               // Selects one of 2 modes.
+//   EXPECT_LONGS_EQUAL(2, actual.size());  // Prior and motion model.
+
+//   // Eliminate x1
+//   Ordering ordering;
+//   ordering += X(1);
+
+//   auto result = EliminateHybrid(factors, ordering);
+//   CHECK(result.first);
+//   EXPECT_LONGS_EQUAL(1, result.first->nrFrontals());
+//   CHECK(result.second);
+//   // Has two keys, x2 and m1
+//   EXPECT_LONGS_EQUAL(2, result.second->size());
+// }
+
+// /*
+// ****************************************************************************/
+// // Test elimination function by eliminating x2 in x1-*-x2-*-x3 chain.
+// //                                                m1/      \m2
+// TEST(DCGaussianElimination, Eliminate_x2) {
+//   Switching self(3);
+
+//   // Gather factors on x2, will be two mixture factors (with x1 and x3,
+//   resp.). GaussianHybridFactorGraph factors;
+//   factors.push_dc(self.linearizedFactorGraph.dcGraph()[0]);  // involves m1
+//   factors.push_dc(self.linearizedFactorGraph.dcGraph()[1]);  // involves m2
+
+//   // Check that sum works:
+//   auto sum = factors.sum();
+//   Assignment<Key> mode;
+//   mode[M(1)] = 0;
+//   mode[M(2)] = 1;
+//   auto actual = sum(mode);               // Selects one of 4 mode
+//   combinations. EXPECT_LONGS_EQUAL(2, actual.size());  // 2 motion models.
+
+//   // Eliminate x2
+//   Ordering ordering;
+//   ordering += X(2);
+
+//   std::pair<AbstractConditional::shared_ptr, boost::shared_ptr<Factor>>
+//   result =
+//       EliminateHybrid(factors, ordering);
+//   CHECK(result.first);
+//   EXPECT_LONGS_EQUAL(1, result.first->nrFrontals());
+//   CHECK(result.second);
+//   // Note: separator keys should include m1, m2.
+//   EXPECT_LONGS_EQUAL(4, result.second->size());
+// }
+
+// /*
+// ****************************************************************************/
+// // Helper method to generate gaussian factor graphs with a specific mode.
+// GaussianFactorGraph::shared_ptr batchGFG(double between,
+//                                          Values linearizationPoint) {
+//   NonlinearFactorGraph graph;
+//   graph.addPrior<double>(X(1), 0, Isotropic::Sigma(1, 0.1));
+
+//   auto between_x1_x2 = boost::make_shared<MotionModel>(
+//       X(1), X(2), between, Isotropic::Sigma(1, 1.0));
+
+//   graph.push_back(between_x1_x2);
+
+//   return graph.linearize(linearizationPoint);
+// }
+
+// /*
+// ****************************************************************************/
+// // Test elimination function by eliminating x1 and x2 in graph.
+// TEST(DCGaussianElimination, EliminateHybrid_2_Variable) {
+//   Switching self(2, 1.0, 0.1);
+
+//   auto factors = self.linearizedFactorGraph;
+
+//   // Check that sum works:
+//   auto sum = factors.sum();
+//   Assignment<Key> mode;
+//   mode[M(1)] = 1;
+//   auto actual = sum(mode);  // Selects one of 2 modes.
+//   EXPECT_LONGS_EQUAL(4,
+//                      actual.size());  // Prior, 1 motion models, 2
+//                      measurements.
+
+//   // Eliminate x1
+//   Ordering ordering;
+//   ordering += X(1);
+//   ordering += X(2);
+
+//   AbstractConditional::shared_ptr abstractConditionalMixture;
+//   boost::shared_ptr<Factor> factorOnModes;
+//   std::tie(abstractConditionalMixture, factorOnModes) =
+//       EliminateHybrid(factors, ordering);
+
+//   auto gaussianConditionalMixture =
+//       dynamic_pointer_cast<GaussianMixture>(abstractConditionalMixture);
+
+//   CHECK(gaussianConditionalMixture);
+//   EXPECT_LONGS_EQUAL(
+//       2,
+//       gaussianConditionalMixture->nrFrontals());  // Frontals = [x1, x2]
+//   EXPECT_LONGS_EQUAL(
+//       1,
+//       gaussianConditionalMixture->nrParents());  // 1 parent, which is the
+//       mode
+
+//   auto discreteFactor =
+//   dynamic_pointer_cast<DecisionTreeFactor>(factorOnModes);
+//   CHECK(discreteFactor);
+//   EXPECT_LONGS_EQUAL(1, discreteFactor->discreteKeys().size());
+//   EXPECT(discreteFactor->root_->isLeaf() == false);
+// }
+
+// /*
+// ****************************************************************************/
+// /// Test the toDecisionTreeFactor method
+// TEST(HybridFactorGraph, ToDecisionTreeFactor) {
+//   size_t K = 3;
+
+//   // Provide tight sigma values so that the errors are visibly different.
+//   double between_sigma = 5e-8, prior_sigma = 1e-7;
+
+//   Switching self(K, between_sigma, prior_sigma);
+
+//   // Clear out discrete factors since sum() cannot hanldle those
+//   GaussianHybridFactorGraph linearizedFactorGraph(
+//       self.linearizedFactorGraph.gaussianGraph(), DiscreteFactorGraph(),
+//       self.linearizedFactorGraph.dcGraph());
+
+//   auto decisionTreeFactor = linearizedFactorGraph.toDecisionTreeFactor();
+
+//   auto allAssignments =
+//       DiscreteValues::CartesianProduct(linearizedFactorGraph.discreteKeys());
+
+//   // Get the error of the discrete assignment m1=0, m2=1.
+//   double actual = (*decisionTreeFactor)(allAssignments[1]);
+
+//   /********************************************/
+//   // Create equivalent factor graph for m1=0, m2=1
+//   GaussianFactorGraph graph = linearizedFactorGraph.gaussianGraph();
+
+//   for (auto &p : linearizedFactorGraph.dcGraph()) {
+//     if (auto mixture =
+//             boost::dynamic_pointer_cast<DCGaussianMixtureFactor>(p)) {
+//       graph.add((*mixture)(allAssignments[1]));
+//     }
+//   }
+
+//   VectorValues values = graph.optimize();
+//   double expected = graph.probPrime(values);
+//   /********************************************/
+//   EXPECT_DOUBLES_EQUAL(expected, actual, 1e-12);
+//   // REGRESSION:
+//   EXPECT_DOUBLES_EQUAL(0.6125, actual, 1e-4);
+// }
+
+// /*
+// ****************************************************************************/
+// // Test partial elimination
+// TEST_UNSAFE(HybridFactorGraph, Partial_Elimination) {
+//   Switching self(3);
+
+//   auto linearizedFactorGraph = self.linearizedFactorGraph;
+
+//   // Create ordering.
+//   Ordering ordering;
+//   for (size_t k = 1; k <= self.K; k++) ordering += X(k);
+
+//   // Eliminate partially.
+//   HybridBayesNet::shared_ptr hybridBayesNet;
+//   GaussianHybridFactorGraph::shared_ptr remainingFactorGraph;
+//   std::tie(hybridBayesNet, remainingFactorGraph) =
+//       linearizedFactorGraph.eliminatePartialSequential(ordering);
+
+//   CHECK(hybridBayesNet);
+//   //  GTSAM_PRINT(*hybridBayesNet);  // HybridBayesNet
+//   EXPECT_LONGS_EQUAL(3, hybridBayesNet->size());
+//   EXPECT(hybridBayesNet->at(0)->frontals() == KeyVector{X(1)});
+//   EXPECT(hybridBayesNet->at(0)->parents() == KeyVector({X(2), M(1)}));
+//   EXPECT(hybridBayesNet->at(1)->frontals() == KeyVector{X(2)});
+//   EXPECT(hybridBayesNet->at(1)->parents() == KeyVector({X(3), M(2), M(1)}));
+//   EXPECT(hybridBayesNet->at(2)->frontals() == KeyVector{X(3)});
+//   EXPECT(hybridBayesNet->at(2)->parents() == KeyVector({M(2), M(1)}));
+
+//   CHECK(remainingFactorGraph);
+//   //  GTSAM_PRINT(*remainingFactorGraph);  // HybridFactorGraph
+//   EXPECT_LONGS_EQUAL(3, remainingFactorGraph->size());
+//   EXPECT(remainingFactorGraph->discreteGraph().at(0)->keys() ==
+//          KeyVector({M(1)}));
+//   EXPECT(remainingFactorGraph->discreteGraph().at(1)->keys() ==
+//          KeyVector({M(2), M(1)}));
+//   EXPECT(remainingFactorGraph->discreteGraph().at(2)->keys() ==
+//          KeyVector({M(2), M(1)}));
+// }
+
+// /*
+// ****************************************************************************/
+// // Test full elimination
+// TEST_UNSAFE(HybridFactorGraph, Full_Elimination) {
+//   Switching self(3);
+
+//   auto linearizedFactorGraph = self.linearizedFactorGraph;
+
+//   // We first do a partial elimination
+//   HybridBayesNet::shared_ptr hybridBayesNet_partial;
+//   GaussianHybridFactorGraph::shared_ptr remainingFactorGraph_partial;
+//   DiscreteBayesNet discreteBayesNet;
+
+//   {
+//     // Create ordering.
+//     Ordering ordering;
+//     for (size_t k = 1; k <= self.K; k++) ordering += X(k);
+
+//     // Eliminate partially.
+//     std::tie(hybridBayesNet_partial, remainingFactorGraph_partial) =
+//         linearizedFactorGraph.eliminatePartialSequential(ordering);
+
+//     DiscreteFactorGraph dfg;
+//     dfg.push_back(remainingFactorGraph_partial->discreteGraph());
+//     ordering.clear();
+//     for (size_t k = 1; k < self.K; k++) ordering += M(k);
+//     discreteBayesNet = *dfg.eliminateSequential(ordering, EliminateForMPE);
+//   }
+
+//   // Create ordering.
+//   Ordering ordering;
+//   for (size_t k = 1; k <= self.K; k++) ordering += X(k);
+//   for (size_t k = 1; k < self.K; k++) ordering += M(k);
+
+//   // Eliminate partially.
+//   HybridBayesNet::shared_ptr hybridBayesNet =
+//       linearizedFactorGraph.eliminateSequential(ordering);
+
+//   CHECK(hybridBayesNet);
+//   EXPECT_LONGS_EQUAL(5, hybridBayesNet->size());
+//   // p(x1 | x2, m1)
+//   EXPECT(hybridBayesNet->at(0)->frontals() == KeyVector{X(1)});
+//   EXPECT(hybridBayesNet->at(0)->parents() == KeyVector({X(2), M(1)}));
+//   // p(x2 | x3, m1, m2)
+//   EXPECT(hybridBayesNet->at(1)->frontals() == KeyVector{X(2)});
+//   EXPECT(hybridBayesNet->at(1)->parents() == KeyVector({X(3), M(2), M(1)}));
+//   // p(x3 | m1, m2)
+//   EXPECT(hybridBayesNet->at(2)->frontals() == KeyVector{X(3)});
+//   EXPECT(hybridBayesNet->at(2)->parents() == KeyVector({M(2), M(1)}));
+//   // P(m1 | m2)
+//   EXPECT(hybridBayesNet->at(3)->frontals() == KeyVector{M(1)});
+//   EXPECT(hybridBayesNet->at(3)->parents() == KeyVector({M(2)}));
+//   EXPECT(dynamic_pointer_cast<DiscreteConditional>(hybridBayesNet->at(3))
+//              ->equals(*discreteBayesNet.at(0)));
+//   // P(m2)
+//   EXPECT(hybridBayesNet->at(4)->frontals() == KeyVector{M(2)});
+//   EXPECT_LONGS_EQUAL(0, hybridBayesNet->at(4)->nrParents());
+//   EXPECT(dynamic_pointer_cast<DiscreteConditional>(hybridBayesNet->at(4))
+//              ->equals(*discreteBayesNet.at(1)));
+// }
+
+// /*
+// ****************************************************************************/
+// // Test printing
+// TEST(HybridFactorGraph, Printing) {
+//   Switching self(3);
+
+//   auto linearizedFactorGraph = self.linearizedFactorGraph;
+
+//   // Create ordering.
+//   Ordering ordering;
+//   for (size_t k = 1; k <= self.K; k++) ordering += X(k);
+
+//   // Eliminate partially.
+//   HybridBayesNet::shared_ptr hybridBayesNet;
+//   GaussianHybridFactorGraph::shared_ptr remainingFactorGraph;
+//   std::tie(hybridBayesNet, remainingFactorGraph) =
+//       linearizedFactorGraph.eliminatePartialSequential(ordering);
+
+//   string expected_hybridFactorGraph = R"(
+// size: 8
+// DiscreteFactorGraph
+// size: 2
+// factor 0:  P( m1 ):
+//  Leaf  0.5
+// factor 1:  P( m2 | m1 ):
+//  Choice(m2)
+//  0 Choice(m1)
+//  0 0 Leaf 0.33333333
+//  0 1 Leaf  0.6
+//  1 Choice(m1)
+//  1 0 Leaf 0.66666667
+//  1 1 Leaf  0.4
+// DCFactorGraph
+// size: 2
+// factor 0:  [ x1 x2; m1 ]{
+//  Choice(m1)
+//  0 Leaf Jacobian factor on 2 keys:
+//   A[x1] = [
+// 	-1
+// ]
+//   A[x2] = [
+// 	1
+// ]
+//   b = [ -1 ]
+//   No noise model
+//  1 Leaf Jacobian factor on 2 keys:
+//   A[x1] = [
+// 	-1
+// ]
+//   A[x2] = [
+// 	1
+// ]
+//   b = [ -0 ]
+//   No noise model
+// }
+// factor 1:  [ x2 x3; m2 ]{
+//  Choice(m2)
+//  0 Leaf Jacobian factor on 2 keys:
+//   A[x2] = [
+// 	-1
+// ]
+//   A[x3] = [
+// 	1
+// ]
+//   b = [ -1 ]
+//   No noise model
+//  1 Leaf Jacobian factor on 2 keys:
+//   A[x2] = [
+// 	-1
+// ]
+//   A[x3] = [
+// 	1
+// ]
+//   b = [ -0 ]
+//   No noise model
+// }
+// GaussianGraph
+// size: 4
+// factor 0:
+//   A[x1] = [
+// 	10
+// ]
+//   b = [ -10 ]
+//   No noise model
+// factor 1:
+//   A[x1] = [
+// 	10
+// ]
+//   b = [ -10 ]
+//   No noise model
+// factor 2:
+//   A[x2] = [
+// 	10
+// ]
+//   b = [ -10 ]
+//   No noise model
+// factor 3:
+//   A[x3] = [
+// 	10
+// ]
+//   b = [ -10 ]
+//   No noise model
+// )";
+//   EXPECT(assert_print_equal(expected_hybridFactorGraph,
+//   linearizedFactorGraph));
+
+//   // Expected output for hybridBayesNet.
+//   string expected_hybridBayesNet = R"(
+// size: 3
+// factor 0:  GaussianMixture [ x1 | x2 m1 ]{
+//  Choice(m1)
+//  0 Leaf Jacobian factor on 2 keys:
+//  p(x1 | x2)
+//   R = [ 14.1774 ]
+//   S[x2] = [ -0.0705346 ]
+//   d = [ -14.0364 ]
+//   No noise model
+//  1 Leaf Jacobian factor on 2 keys:
+//  p(x1 | x2)
+//   R = [ 14.1774 ]
+//   S[x2] = [ -0.0705346 ]
+//   d = [ -14.1069 ]
+//   No noise model
+// }
+// factor 1:  GaussianMixture [ x2 | x3 m2 m1 ]{
+//  Choice(m2)
+//  0 Choice(m1)
+//  0 0 Leaf Jacobian factor on 2 keys:
+//  p(x2 | x3)
+//   R = [ 10.0993 ]
+//   S[x3] = [ -0.0990172 ]
+//   d = [ -9.99975 ]
+//   No noise model
+//  0 1 Leaf Jacobian factor on 2 keys:
+//  p(x2 | x3)
+//   R = [ 10.0993 ]
+//   S[x3] = [ -0.0990172 ]
+//   d = [ -9.90122 ]
+//   No noise model
+//  1 Choice(m1)
+//  1 0 Leaf Jacobian factor on 2 keys:
+//  p(x2 | x3)
+//   R = [ 10.0993 ]
+//   S[x3] = [ -0.0990172 ]
+//   d = [ -10.0988 ]
+//   No noise model
+//  1 1 Leaf Jacobian factor on 2 keys:
+//  p(x2 | x3)
+//   R = [ 10.0993 ]
+//   S[x3] = [ -0.0990172 ]
+//   d = [ -10.0002 ]
+//   No noise model
+// }
+// factor 2:  GaussianMixture [ x3 | m2 m1 ]{
+//  Choice(m2)
+//  0 Choice(m1)
+//  0 0 Leaf Jacobian factor on 1 keys:
+//  p(x3)
+//   R = [ 10.0494 ]
+//   d = [ -10.1489 ]
+//   No noise model
+//  0 1 Leaf Jacobian factor on 1 keys:
+//  p(x3)
+//   R = [ 10.0494 ]
+//   d = [ -10.1479 ]
+//   No noise model
+//  1 Choice(m1)
+//  1 0 Leaf Jacobian factor on 1 keys:
+//  p(x3)
+//   R = [ 10.0494 ]
+//   d = [ -10.0504 ]
+//   No noise model
+//  1 1 Leaf Jacobian factor on 1 keys:
+//  p(x3)
+//   R = [ 10.0494 ]
+//   d = [ -10.0494 ]
+//   No noise model
+// }
+// )";
+//   EXPECT(assert_print_equal(expected_hybridBayesNet, *hybridBayesNet));
+// }
+
+// /* *************************************************************************
+// */
+// // Simple PlanarSLAM example test with 2 poses and 2 landmarks (each pose
+// // connects to 1 landmark) to expose issue with default decision tree
+// creation
+// // in hybrid elimination. The hybrid factor is between the poses X0 and X1.
+// The
+// // issue arises if we eliminate a landmark variable first since it is not
+// // connected to a DCFactor.
+// TEST(HybridFactorGraph, DefaultDecisionTree) {
+//   NonlinearHybridFactorGraph fg;
+
+//   // Add a prior on pose x1 at the origin. A prior factor consists of a mean
+//   and
+//   // a noise model (covariance matrix)
+//   Pose2 prior(0.0, 0.0, 0.0);  // prior mean is at origin
+//   auto priorNoise = noiseModel::Diagonal::Sigmas(
+//       Vector3(0.3, 0.3, 0.1));  // 30cm std on x,y, 0.1 rad on theta
+//   fg.emplace_nonlinear<PriorFactor<Pose2>>(X(0), prior, priorNoise);
+
+//   using PlanarMotionModel = BetweenFactor<Pose2>;
+
+//   // Add odometry factor
+//   Pose2 odometry(2.0, 0.0, 0.0);
+//   KeyVector contKeys = {X(0), X(1)};
+//   auto noise_model = noiseModel::Isotropic::Sigma(3, 1.0);
+//   auto still = boost::make_shared<PlanarMotionModel>(X(0), X(1), Pose2(0, 0,
+//   0),
+//                                                      noise_model),
+//        moving = boost::make_shared<PlanarMotionModel>(X(0), X(1), odometry,
+//                                                       noise_model);
+//   std::vector<PlanarMotionModel::shared_ptr> components = {still, moving};
+//   auto dcFactor = boost::make_shared<DCMixtureFactor<PlanarMotionModel>>(
+//       contKeys, DiscreteKeys{gtsam::DiscreteKey(M(1), 2)}, components);
+//   fg.push_back(dcFactor);
+
+//   // Add Range-Bearing measurements to from X0 to L0 and X1 to L1.
+//   // create a noise model for the landmark measurements
+//   auto measurementNoise = noiseModel::Diagonal::Sigmas(
+//       Vector2(0.1, 0.2));  // 0.1 rad std on bearing, 20cm on range
+//   // create the measurement values - indices are (pose id, landmark id)
+//   Rot2 bearing11 = Rot2::fromDegrees(45), bearing22 = Rot2::fromDegrees(90);
+//   double range11 = std::sqrt(4.0 + 4.0), range22 = 2.0;
+
+//   // Add Bearing-Range factors
+//   fg.emplace_nonlinear<BearingRangeFactor<Pose2, Point2>>(
+//       X(0), L(0), bearing11, range11, measurementNoise);
+//   fg.emplace_nonlinear<BearingRangeFactor<Pose2, Point2>>(
+//       X(1), L(1), bearing22, range22, measurementNoise);
+
+//   // Create (deliberately inaccurate) initial estimate
+//   Values initialEstimate;
+//   initialEstimate.insert(X(0), Pose2(0.5, 0.0, 0.2));
+//   initialEstimate.insert(X(1), Pose2(2.3, 0.1, -0.2));
+//   initialEstimate.insert(L(0), Point2(1.8, 2.1));
+//   initialEstimate.insert(L(1), Point2(4.1, 1.8));
+
+//   // We want to eliminate variables not connected to DCFactors first.
+//   Ordering ordering;
+//   ordering += L(0);
+//   ordering += L(1);
+//   ordering += X(0);
+//   ordering += X(1);
+
+//   GaussianHybridFactorGraph linearized = fg.linearize(initialEstimate);
+//   gtsam::HybridBayesNet::shared_ptr hybridBayesNet;
+//   gtsam::GaussianHybridFactorGraph::shared_ptr remainingFactorGraph;
+
+//   // This should NOT fail
+//   std::tie(hybridBayesNet, remainingFactorGraph) =
+//       linearized.eliminatePartialSequential(ordering);
+//   EXPECT_LONGS_EQUAL(4, hybridBayesNet->size());
+//   EXPECT_LONGS_EQUAL(1, remainingFactorGraph->size());
+// }
+
+/* ************************************************************************* */
+int main() {
+  TestResult tr;
+  return TestRegistry::runAllTests(tr);
+}
+/* ************************************************************************* */
\ No newline at end of file

From 7e1827784995db5c673c63671810231e32cbcb4d Mon Sep 17 00:00:00 2001
From: Varun Agrawal <varagrawal@gmail.com>
Date: Mon, 30 May 2022 16:51:15 -0400
Subject: [PATCH 113/433] fix base class

---
 gtsam/hybrid/NonlinearHybridFactorGraph.h | 3 +--
 1 file changed, 1 insertion(+), 2 deletions(-)

diff --git a/gtsam/hybrid/NonlinearHybridFactorGraph.h b/gtsam/hybrid/NonlinearHybridFactorGraph.h
index aeb5a4545a..3f7f5ba10f 100644
--- a/gtsam/hybrid/NonlinearHybridFactorGraph.h
+++ b/gtsam/hybrid/NonlinearHybridFactorGraph.h
@@ -43,7 +43,7 @@ class GTSAM_EXPORT NonlinearHybridFactorGraph : public HybridFactorGraph {
       std::is_base_of<NonlinearFactor, FACTOR>::value>::type;
 
  public:
-  using Base = FactorGraph<HybridFactor>;
+  using Base = HybridFactorGraph;
   using This = NonlinearHybridFactorGraph;     ///< this class
   using shared_ptr = boost::shared_ptr<This>;  ///< shared_ptr to This
 
@@ -72,7 +72,6 @@ class GTSAM_EXPORT NonlinearHybridFactorGraph : public HybridFactorGraph {
   using Base::size;
   using Base::operator[];
   using Base::add;
-  using Base::push_back;
   using Base::resize;
 
   /**

From 119679a3668226ad6499a41c1eb705fc9b0b93a1 Mon Sep 17 00:00:00 2001
From: Varun Agrawal <varagrawal@gmail.com>
Date: Mon, 30 May 2022 17:30:25 -0400
Subject: [PATCH 114/433] linearize returns object instead of pointer

---
 gtsam/hybrid/NonlinearHybridFactorGraph.h | 20 +++++++++-----------
 1 file changed, 9 insertions(+), 11 deletions(-)

diff --git a/gtsam/hybrid/NonlinearHybridFactorGraph.h b/gtsam/hybrid/NonlinearHybridFactorGraph.h
index 3f7f5ba10f..82a331531e 100644
--- a/gtsam/hybrid/NonlinearHybridFactorGraph.h
+++ b/gtsam/hybrid/NonlinearHybridFactorGraph.h
@@ -150,13 +150,11 @@ class GTSAM_EXPORT NonlinearHybridFactorGraph : public HybridFactorGraph {
    * @param continuousValues: Dictionary of continuous values.
    * @return GaussianHybridFactorGraph::shared_ptr
    */
-  GaussianHybridFactorGraph::shared_ptr linearize(
-      const Values& continuousValues) const {
+  GaussianHybridFactorGraph linearize(const Values& continuousValues) const {
     // create an empty linear FG
-    GaussianHybridFactorGraph::shared_ptr linearFG =
-        boost::make_shared<GaussianHybridFactorGraph>();
+    GaussianHybridFactorGraph linearFG;
 
-    linearFG->reserve(size());
+    linearFG.reserve(size());
 
     // linearize all hybrid factors
     for (auto&& factor : factors_) {
@@ -168,9 +166,9 @@ class GTSAM_EXPORT NonlinearHybridFactorGraph : public HybridFactorGraph {
         if (factor->isHybrid()) {
           // Check if it is a nonlinear mixture factor
           if (auto nlmf = boost::dynamic_pointer_cast<MixtureFactor>(factor)) {
-            linearFG->push_back(nlmf->linearize(continuousValues));
+            linearFG.push_back(nlmf->linearize(continuousValues));
           } else {
-            linearFG->push_back(factor);
+            linearFG.push_back(factor);
           }
 
           // Now check if the factor is a continuous only factor.
@@ -183,18 +181,18 @@ class GTSAM_EXPORT NonlinearHybridFactorGraph : public HybridFactorGraph {
                   boost::dynamic_pointer_cast<NonlinearFactor>(nlhf->inner())) {
             auto hgf = boost::make_shared<HybridGaussianFactor>(
                 nlf->linearize(continuousValues));
-            linearFG->push_back(hgf);
+            linearFG.push_back(hgf);
           } else {
-            linearFG->push_back(factor);
+            linearFG.push_back(factor);
           }
           // Finally if nothing else, we are discrete-only which doesn't need
           // lineariztion.
         } else {
-          linearFG->push_back(factor);
+          linearFG.push_back(factor);
         }
 
       } else {
-        linearFG->push_back(GaussianFactor::shared_ptr());
+        linearFG.push_back(GaussianFactor::shared_ptr());
       }
     }
     return linearFG;

From 3212dde4aa493313b8f861eedde694a980757a75 Mon Sep 17 00:00:00 2001
From: Varun Agrawal <varagrawal@gmail.com>
Date: Mon, 30 May 2022 17:50:50 -0400
Subject: [PATCH 115/433] remove unneeded method

---
 gtsam/hybrid/GaussianHybridFactorGraph.h | 9 ---------
 1 file changed, 9 deletions(-)

diff --git a/gtsam/hybrid/GaussianHybridFactorGraph.h b/gtsam/hybrid/GaussianHybridFactorGraph.h
index b38a1ebd8d..6998ff899a 100644
--- a/gtsam/hybrid/GaussianHybridFactorGraph.h
+++ b/gtsam/hybrid/GaussianHybridFactorGraph.h
@@ -161,15 +161,6 @@ class GaussianHybridFactorGraph
       Base::push_back(sharedFactor);
     }
   }
-
-  /**
-   * @brief Push back for Gaussian Factor specifically.
-   *
-   * @param sharedFactor Shared ptr to a gaussian factor.
-   */
-  void push_back(const GaussianFactor::shared_ptr& sharedFactor) {
-    push_gaussian(sharedFactor);
-  }
 };
 
 }  // namespace gtsam

From 0c16799ef664fe0d4493e0b5d3bd7eaedf6f6719 Mon Sep 17 00:00:00 2001
From: Varun Agrawal <varagrawal@gmail.com>
Date: Mon, 30 May 2022 17:51:07 -0400
Subject: [PATCH 116/433] GaussianMixtureFactor inherits from HybridFactor

---
 gtsam/hybrid/GaussianMixtureFactor.h | 4 ++--
 1 file changed, 2 insertions(+), 2 deletions(-)

diff --git a/gtsam/hybrid/GaussianMixtureFactor.h b/gtsam/hybrid/GaussianMixtureFactor.h
index bd2e079cba..494a44ccf9 100644
--- a/gtsam/hybrid/GaussianMixtureFactor.h
+++ b/gtsam/hybrid/GaussianMixtureFactor.h
@@ -40,9 +40,9 @@ using GaussianFactorVector = std::vector<gtsam::GaussianFactor::shared_ptr>;
  * of discrete variables indexes to the continuous gaussian distribution.
  *
  */
-class GaussianMixtureFactor : public HybridGaussianFactor {
+class GaussianMixtureFactor : public HybridFactor {
  public:
-  using Base = HybridGaussianFactor;
+  using Base = HybridFactor;
   using This = GaussianMixtureFactor;
   using shared_ptr = boost::shared_ptr<This>;
 

From e711a62e2d1f2ee3011024bfdc7b5081d65d5212 Mon Sep 17 00:00:00 2001
From: Varun Agrawal <varagrawal@gmail.com>
Date: Mon, 30 May 2022 17:51:25 -0400
Subject: [PATCH 117/433] More tests working

---
 gtsam/hybrid/tests/Switching.h                |   1 +
 .../tests/testNonlinearHybridFactorGraph.cpp  | 159 ++++++++----------
 2 files changed, 71 insertions(+), 89 deletions(-)

diff --git a/gtsam/hybrid/tests/Switching.h b/gtsam/hybrid/tests/Switching.h
index be58824e00..42c61767e0 100644
--- a/gtsam/hybrid/tests/Switching.h
+++ b/gtsam/hybrid/tests/Switching.h
@@ -22,6 +22,7 @@
 #include <gtsam/hybrid/GaussianMixtureFactor.h>
 #include <gtsam/inference/Symbol.h>
 #include <gtsam/linear/JacobianFactor.h>
+#include <gtsam/slam/BetweenFactor.h>
 
 #pragma once
 
diff --git a/gtsam/hybrid/tests/testNonlinearHybridFactorGraph.cpp b/gtsam/hybrid/tests/testNonlinearHybridFactorGraph.cpp
index 8043f78df8..6e40199921 100644
--- a/gtsam/hybrid/tests/testNonlinearHybridFactorGraph.cpp
+++ b/gtsam/hybrid/tests/testNonlinearHybridFactorGraph.cpp
@@ -58,7 +58,7 @@ TEST(HybridFactorGraph, GaussianFactorGraph) {
   Values linearizationPoint;
   linearizationPoint.insert<double>(X(0), 0);
 
-  GaussianHybridFactorGraph ghfg = *fg.linearize(linearizationPoint);
+  GaussianHybridFactorGraph ghfg = fg.linearize(linearizationPoint);
 
   // Add a factor to the GaussianFactorGraph
   ghfg.add(JacobianFactor(X(0), I_1x1, Vector1(5)));
@@ -72,121 +72,102 @@ TEST(HybridFactorGraph, GaussianFactorGraph) {
 /// NonlinearHybridFactorGraph.
 TEST(NonlinearHybridFactorGraph, Resize) {
   NonlinearHybridFactorGraph fg;
-  // auto nonlinearFactor = boost::make_shared<BetweenFactor<double>>();
-  // fg.push_back(nonlinearFactor);
+  auto nonlinearFactor = boost::make_shared<BetweenFactor<double>>();
+  fg.push_back(nonlinearFactor);
 
-  // auto discreteFactor = boost::make_shared<DecisionTreeFactor>();
-  // fg.push_back(discreteFactor);
+  auto discreteFactor = boost::make_shared<DecisionTreeFactor>();
+  fg.push_back(discreteFactor);
 
-  // auto dcFactor = boost::make_shared<MixtureFactor<MotionModel>>();
-  // fg.push_back(dcFactor);
-  // EXPECT_LONGS_EQUAL(fg.size(), 3);
+  auto dcFactor = boost::make_shared<MixtureFactor>();
+  fg.push_back(dcFactor);
+
+  EXPECT_LONGS_EQUAL(fg.size(), 3);
 
   fg.resize(0);
   EXPECT_LONGS_EQUAL(fg.size(), 0);
 }
 
-// /* **************************************************************************
-// */
-// /// Test that the resize method works correctly for a
-// /// GaussianHybridFactorGraph.
-// TEST(GaussianHybridFactorGraph, Resize) {
-//   NonlinearHybridFactorGraph nhfg;
-//   auto nonlinearFactor = boost::make_shared<BetweenFactor<double>>(
-//       X(0), X(1), 0.0, Isotropic::Sigma(1, 0.1));
-//   nhfg.push_back(nonlinearFactor);
-//   auto discreteFactor = boost::make_shared<DecisionTreeFactor>();
-//   nhfg.push_back(discreteFactor);
-
-//   KeyVector contKeys = {X(0), X(1)};
-//   auto noise_model = noiseModel::Isotropic::Sigma(1, 1.0);
-//   auto still = boost::make_shared<MotionModel>(X(0), X(1), 0.0, noise_model),
-//        moving = boost::make_shared<MotionModel>(X(0), X(1), 1.0,
-//        noise_model);
-//   std::vector<MotionModel::shared_ptr> components = {still, moving};
-//   auto dcFactor = boost::make_shared<DCMixtureFactor<MotionModel>>(
-//       contKeys, DiscreteKeys{gtsam::DiscreteKey(M(1), 2)}, components);
-//   nhfg.push_back(dcFactor);
-
-//   Values linearizationPoint;
-//   linearizationPoint.insert<double>(X(0), 0);
-//   linearizationPoint.insert<double>(X(1), 1);
-
-//   // Generate `GaussianHybridFactorGraph` by linearizing
-//   GaussianHybridFactorGraph fg = nhfg.linearize(linearizationPoint);
-
-//   EXPECT_LONGS_EQUAL(fg.dcGraph().size(), 1);
-//   EXPECT_LONGS_EQUAL(fg.discreteGraph().size(), 1);
-//   EXPECT_LONGS_EQUAL(fg.gaussianGraph().size(), 1);
-
-//   EXPECT_LONGS_EQUAL(fg.size(), 3);
+/* **************************************************************************
+ */
+/// Test that the resize method works correctly for a
+/// GaussianHybridFactorGraph.
+TEST(GaussianHybridFactorGraph, Resize) {
+  NonlinearHybridFactorGraph nhfg;
+  auto nonlinearFactor = boost::make_shared<BetweenFactor<double>>(
+      X(0), X(1), 0.0, Isotropic::Sigma(1, 0.1));
+  nhfg.push_back(nonlinearFactor);
+  auto discreteFactor = boost::make_shared<DecisionTreeFactor>();
+  nhfg.push_back(discreteFactor);
+
+  KeyVector contKeys = {X(0), X(1)};
+  auto noise_model = noiseModel::Isotropic::Sigma(1, 1.0);
+  auto still = boost::make_shared<MotionModel>(X(0), X(1), 0.0, noise_model),
+       moving = boost::make_shared<MotionModel>(X(0), X(1), 1.0, noise_model);
+
+  // TODO(Varun) This is declared as NonlinearFactor instead of MotionModel, aka
+  // not clear!!
+  std::vector<NonlinearFactor::shared_ptr> components = {still, moving};
+  auto dcFactor = boost::make_shared<MixtureFactor>(
+      contKeys, DiscreteKeys{gtsam::DiscreteKey(M(1), 2)}, components);
+  nhfg.push_back(dcFactor);
 
-//   fg.resize(0);
-//   EXPECT_LONGS_EQUAL(fg.dcGraph().size(), 0);
-//   EXPECT_LONGS_EQUAL(fg.discreteGraph().size(), 0);
-//   EXPECT_LONGS_EQUAL(fg.gaussianGraph().size(), 0);
+  Values linearizationPoint;
+  linearizationPoint.insert<double>(X(0), 0);
+  linearizationPoint.insert<double>(X(1), 1);
 
-//   EXPECT_LONGS_EQUAL(fg.size(), 0);
-// }
+  // Generate `GaussianHybridFactorGraph` by linearizing
+  GaussianHybridFactorGraph gfg = nhfg.linearize(linearizationPoint);
 
-// /*
-// ****************************************************************************
-//  * Test push_back on HFG makes the correct distinction.
-//  */
-// TEST(HybridFactorGraph, PushBack) {
-//   NonlinearHybridFactorGraph fg;
+  EXPECT_LONGS_EQUAL(gfg.size(), 3);
 
-//   auto nonlinearFactor = boost::make_shared<BetweenFactor<double>>();
-//   fg.push_back(nonlinearFactor);
+  gfg.resize(0);
+  EXPECT_LONGS_EQUAL(gfg.size(), 0);
+}
 
-//   EXPECT_LONGS_EQUAL(fg.dcGraph().size(), 0);
-//   EXPECT_LONGS_EQUAL(fg.discreteGraph().size(), 0);
-//   EXPECT_LONGS_EQUAL(fg.nonlinearGraph().size(), 1);
+/*
+****************************************************************************
+* Test push_back on HFG makes the correct distinction.
+*/
+TEST(HybridFactorGraph, PushBack) {
+  NonlinearHybridFactorGraph fg;
 
-//   fg = NonlinearHybridFactorGraph();
+  auto nonlinearFactor = boost::make_shared<BetweenFactor<double>>();
+  fg.push_back(nonlinearFactor);
 
-//   auto discreteFactor = boost::make_shared<DecisionTreeFactor>();
-//   fg.push_back(discreteFactor);
+  EXPECT_LONGS_EQUAL(fg.size(), 1);
 
-//   EXPECT_LONGS_EQUAL(fg.dcGraph().size(), 0);
-//   EXPECT_LONGS_EQUAL(fg.discreteGraph().size(), 1);
-//   EXPECT_LONGS_EQUAL(fg.nonlinearGraph().size(), 0);
+  fg = NonlinearHybridFactorGraph();
 
-//   fg = NonlinearHybridFactorGraph();
+  auto discreteFactor = boost::make_shared<DecisionTreeFactor>();
+  fg.push_back(discreteFactor);
 
-//   auto dcFactor = boost::make_shared<DCMixtureFactor<MotionModel>>();
-//   fg.push_back(dcFactor);
+  EXPECT_LONGS_EQUAL(fg.size(), 1);
 
-//   EXPECT_LONGS_EQUAL(fg.dcGraph().size(), 1);
-//   EXPECT_LONGS_EQUAL(fg.discreteGraph().size(), 0);
-//   EXPECT_LONGS_EQUAL(fg.nonlinearGraph().size(), 0);
+  fg = NonlinearHybridFactorGraph();
 
-//   // Now do the same with GaussianHybridFactorGraph
-//   GaussianHybridFactorGraph ghfg;
+  auto dcFactor = boost::make_shared<MixtureFactor>();
+  fg.push_back(dcFactor);
 
-//   auto gaussianFactor = boost::make_shared<JacobianFactor>();
-//   ghfg.push_back(gaussianFactor);
+  EXPECT_LONGS_EQUAL(fg.size(), 1);
 
-//   EXPECT_LONGS_EQUAL(ghfg.dcGraph().size(), 0);
-//   EXPECT_LONGS_EQUAL(ghfg.discreteGraph().size(), 0);
-//   EXPECT_LONGS_EQUAL(ghfg.gaussianGraph().size(), 1);
+  // Now do the same with GaussianHybridFactorGraph
+  GaussianHybridFactorGraph ghfg;
 
-//   ghfg = GaussianHybridFactorGraph();
+  auto gaussianFactor = boost::make_shared<JacobianFactor>();
+  ghfg.push_back(gaussianFactor);
 
-//   ghfg.push_back(discreteFactor);
+  EXPECT_LONGS_EQUAL(ghfg.size(), 1);
 
-//   EXPECT_LONGS_EQUAL(ghfg.dcGraph().size(), 0);
-//   EXPECT_LONGS_EQUAL(ghfg.discreteGraph().size(), 1);
-//   EXPECT_LONGS_EQUAL(ghfg.gaussianGraph().size(), 0);
+  ghfg = GaussianHybridFactorGraph();
+  ghfg.push_back(discreteFactor);
 
-//   ghfg = GaussianHybridFactorGraph();
+  EXPECT_LONGS_EQUAL(ghfg.size(), 1);
 
-//   ghfg.push_back(dcFactor);
+  ghfg = GaussianHybridFactorGraph();
+  ghfg.push_back(dcFactor);
 
-//   EXPECT_LONGS_EQUAL(ghfg.dcGraph().size(), 1);
-//   EXPECT_LONGS_EQUAL(ghfg.discreteGraph().size(), 0);
-//   EXPECT_LONGS_EQUAL(ghfg.gaussianGraph().size(), 0);
-// }
+  EXPECT_LONGS_EQUAL(ghfg.size(), 1);
+}
 
 // /*
 // ****************************************************************************/

From 7c7b5dd03096c1e1516a964563b0b840a2b77a45 Mon Sep 17 00:00:00 2001
From: Varun Agrawal <varagrawal@gmail.com>
Date: Wed, 1 Jun 2022 23:52:21 -0400
Subject: [PATCH 118/433] Rename files so that everything is HybridX

---
 gtsam/hybrid/HybridBayesTree.cpp              |  5 +-
 gtsam/hybrid/HybridBayesTree.h                |  9 +--
 gtsam/hybrid/HybridConditional.h              |  4 +-
 gtsam/hybrid/HybridEliminationTree.cpp        |  6 +-
 gtsam/hybrid/HybridEliminationTree.h          | 10 +--
 ...raph.cpp => HybridGaussianFactorGraph.cpp} | 24 +++----
 ...torGraph.h => HybridGaussianFactorGraph.h} | 33 ++++-----
 ...{HybridISAM.cpp => HybridGaussianISAM.cpp} | 22 +++---
 .../{HybridISAM.h => HybridGaussianISAM.h}    | 18 ++---
 ...ree.cpp => HybridGaussianJunctionTree.cpp} | 70 +++++++++----------
 ...ionTree.h => HybridGaussianJunctionTree.h} | 14 ++--
 gtsam/hybrid/hybrid.i                         | 16 ++---
 gtsam/hybrid/tests/Switching.h                |  8 +--
 .../tests/testGaussianHybridFactorGraph.cpp   | 70 ++++++++-----------
 gtsam/inference/inference.i                   | 14 ++--
 python/gtsam/tests/test_HybridFactorGraph.py  |  8 +--
 16 files changed, 161 insertions(+), 170 deletions(-)
 rename gtsam/hybrid/{GaussianHybridFactorGraph.cpp => HybridGaussianFactorGraph.cpp} (94%)
 rename gtsam/hybrid/{GaussianHybridFactorGraph.h => HybridGaussianFactorGraph.h} (77%)
 rename gtsam/hybrid/{HybridISAM.cpp => HybridGaussianISAM.cpp} (84%)
 rename gtsam/hybrid/{HybridISAM.h => HybridGaussianISAM.h} (76%)
 rename gtsam/hybrid/{HybridJunctionTree.cpp => HybridGaussianJunctionTree.cpp} (73%)
 rename gtsam/hybrid/{HybridJunctionTree.h => HybridGaussianJunctionTree.h} (84%)

diff --git a/gtsam/hybrid/HybridBayesTree.cpp b/gtsam/hybrid/HybridBayesTree.cpp
index 400cac5e74..ff07f1817e 100644
--- a/gtsam/hybrid/HybridBayesTree.cpp
+++ b/gtsam/hybrid/HybridBayesTree.cpp
@@ -11,7 +11,8 @@
 
 /**
  * @file    HybridBayesTree.cpp
- * @brief   Hybrid Bayes Tree, the result of eliminating a HybridJunctionTree
+ * @brief   Hybrid Bayes Tree, the result of eliminating a
+ * HybridGaussianJunctionTree
  * @date Mar 11, 2022
  * @author  Fan Jiang
  */
@@ -26,7 +27,7 @@ namespace gtsam {
 
 // Instantiate base class
 template class BayesTreeCliqueBase<HybridBayesTreeClique,
-                                   GaussianHybridFactorGraph>;
+                                   HybridGaussianFactorGraph>;
 template class BayesTree<HybridBayesTreeClique>;
 
 /* ************************************************************************* */
diff --git a/gtsam/hybrid/HybridBayesTree.h b/gtsam/hybrid/HybridBayesTree.h
index 6101814583..28d9ef8099 100644
--- a/gtsam/hybrid/HybridBayesTree.h
+++ b/gtsam/hybrid/HybridBayesTree.h
@@ -11,15 +11,16 @@
 
 /**
  * @file    HybridBayesTree.h
- * @brief   Hybrid Bayes Tree, the result of eliminating a HybridJunctionTree
+ * @brief   Hybrid Bayes Tree, the result of eliminating a
+ * HybridGaussianJunctionTree
  * @date Mar 11, 2022
  * @author  Fan Jiang
  */
 
 #pragma once
 
-#include <gtsam/hybrid/GaussianHybridFactorGraph.h>
 #include <gtsam/hybrid/HybridBayesNet.h>
+#include <gtsam/hybrid/HybridGaussianFactorGraph.h>
 #include <gtsam/inference/BayesTree.h>
 #include <gtsam/inference/BayesTreeCliqueBase.h>
 #include <gtsam/inference/Conditional.h>
@@ -38,10 +39,10 @@ class VectorValues;
  */
 class GTSAM_EXPORT HybridBayesTreeClique
     : public BayesTreeCliqueBase<HybridBayesTreeClique,
-                                 GaussianHybridFactorGraph> {
+                                 HybridGaussianFactorGraph> {
  public:
   typedef HybridBayesTreeClique This;
-  typedef BayesTreeCliqueBase<HybridBayesTreeClique, GaussianHybridFactorGraph>
+  typedef BayesTreeCliqueBase<HybridBayesTreeClique, HybridGaussianFactorGraph>
       Base;
   typedef boost::shared_ptr<This> shared_ptr;
   typedef boost::weak_ptr<This> weak_ptr;
diff --git a/gtsam/hybrid/HybridConditional.h b/gtsam/hybrid/HybridConditional.h
index 9592b0c698..887b49f123 100644
--- a/gtsam/hybrid/HybridConditional.h
+++ b/gtsam/hybrid/HybridConditional.h
@@ -18,9 +18,9 @@
 #pragma once
 
 #include <gtsam/discrete/DiscreteConditional.h>
-#include <gtsam/hybrid/GaussianHybridFactorGraph.h>
 #include <gtsam/hybrid/GaussianMixtureConditional.h>
 #include <gtsam/hybrid/HybridFactor.h>
+#include <gtsam/hybrid/HybridGaussianFactorGraph.h>
 #include <gtsam/inference/Conditional.h>
 #include <gtsam/inference/Key.h>
 #include <gtsam/linear/GaussianConditional.h>
@@ -34,7 +34,7 @@
 
 namespace gtsam {
 
-class GaussianHybridFactorGraph;
+class HybridGaussianFactorGraph;
 
 /**
  * Hybrid Conditional Density
diff --git a/gtsam/hybrid/HybridEliminationTree.cpp b/gtsam/hybrid/HybridEliminationTree.cpp
index 1486853271..c2df2dd600 100644
--- a/gtsam/hybrid/HybridEliminationTree.cpp
+++ b/gtsam/hybrid/HybridEliminationTree.cpp
@@ -21,17 +21,17 @@
 namespace gtsam {
 
 // Instantiate base class
-template class EliminationTree<HybridBayesNet, GaussianHybridFactorGraph>;
+template class EliminationTree<HybridBayesNet, HybridGaussianFactorGraph>;
 
 /* ************************************************************************* */
 HybridEliminationTree::HybridEliminationTree(
-    const GaussianHybridFactorGraph& factorGraph,
+    const HybridGaussianFactorGraph& factorGraph,
     const VariableIndex& structure, const Ordering& order)
     : Base(factorGraph, structure, order) {}
 
 /* ************************************************************************* */
 HybridEliminationTree::HybridEliminationTree(
-    const GaussianHybridFactorGraph& factorGraph, const Ordering& order)
+    const HybridGaussianFactorGraph& factorGraph, const Ordering& order)
     : Base(factorGraph, order) {}
 
 /* ************************************************************************* */
diff --git a/gtsam/hybrid/HybridEliminationTree.h b/gtsam/hybrid/HybridEliminationTree.h
index 04bd9cd359..77a84fea85 100644
--- a/gtsam/hybrid/HybridEliminationTree.h
+++ b/gtsam/hybrid/HybridEliminationTree.h
@@ -17,8 +17,8 @@
 
 #pragma once
 
-#include <gtsam/hybrid/GaussianHybridFactorGraph.h>
 #include <gtsam/hybrid/HybridBayesNet.h>
+#include <gtsam/hybrid/HybridGaussianFactorGraph.h>
 #include <gtsam/inference/EliminationTree.h>
 
 namespace gtsam {
@@ -27,12 +27,12 @@ namespace gtsam {
  * Elimination Tree type for Hybrid
  */
 class GTSAM_EXPORT HybridEliminationTree
-    : public EliminationTree<HybridBayesNet, GaussianHybridFactorGraph> {
+    : public EliminationTree<HybridBayesNet, HybridGaussianFactorGraph> {
  private:
   friend class ::EliminationTreeTester;
 
  public:
-  typedef EliminationTree<HybridBayesNet, GaussianHybridFactorGraph>
+  typedef EliminationTree<HybridBayesNet, HybridGaussianFactorGraph>
       Base;                                    ///< Base class
   typedef HybridEliminationTree This;          ///< This class
   typedef boost::shared_ptr<This> shared_ptr;  ///< Shared pointer to this class
@@ -49,7 +49,7 @@ class GTSAM_EXPORT HybridEliminationTree
    * named constructor instead.
    * @return The elimination tree
    */
-  HybridEliminationTree(const GaussianHybridFactorGraph& factorGraph,
+  HybridEliminationTree(const HybridGaussianFactorGraph& factorGraph,
                         const VariableIndex& structure, const Ordering& order);
 
   /** Build the elimination tree of a factor graph.  Note that this has to
@@ -57,7 +57,7 @@ class GTSAM_EXPORT HybridEliminationTree
    * this precomputed, use the other constructor instead.
    * @param factorGraph The factor graph for which to build the elimination tree
    */
-  HybridEliminationTree(const GaussianHybridFactorGraph& factorGraph,
+  HybridEliminationTree(const HybridGaussianFactorGraph& factorGraph,
                         const Ordering& order);
 
   /// @}
diff --git a/gtsam/hybrid/GaussianHybridFactorGraph.cpp b/gtsam/hybrid/HybridGaussianFactorGraph.cpp
similarity index 94%
rename from gtsam/hybrid/GaussianHybridFactorGraph.cpp
rename to gtsam/hybrid/HybridGaussianFactorGraph.cpp
index 3354d5b4df..0ac2c26560 100644
--- a/gtsam/hybrid/GaussianHybridFactorGraph.cpp
+++ b/gtsam/hybrid/HybridGaussianFactorGraph.cpp
@@ -10,7 +10,7 @@
  * -------------------------------------------------------------------------- */
 
 /**
- * @file   GaussianHybridFactorGraph.cpp
+ * @file   HybridGaussianFactorGraph.cpp
  * @brief  Hybrid factor graph that uses type erasure
  * @author Fan Jiang
  * @author Varun Agrawal
@@ -23,7 +23,6 @@
 #include <gtsam/discrete/DiscreteEliminationTree.h>
 #include <gtsam/discrete/DiscreteFactorGraph.h>
 #include <gtsam/discrete/DiscreteJunctionTree.h>
-#include <gtsam/hybrid/GaussianHybridFactorGraph.h>
 #include <gtsam/hybrid/GaussianMixtureConditional.h>
 #include <gtsam/hybrid/GaussianMixtureFactor.h>
 #include <gtsam/hybrid/HybridConditional.h>
@@ -31,7 +30,8 @@
 #include <gtsam/hybrid/HybridEliminationTree.h>
 #include <gtsam/hybrid/HybridFactor.h>
 #include <gtsam/hybrid/HybridGaussianFactor.h>
-#include <gtsam/hybrid/HybridJunctionTree.h>
+#include <gtsam/hybrid/HybridGaussianFactorGraph.h>
+#include <gtsam/hybrid/HybridGaussianJunctionTree.h>
 #include <gtsam/inference/EliminateableFactorGraph-inst.h>
 #include <gtsam/inference/Key.h>
 #include <gtsam/linear/GaussianConditional.h>
@@ -53,7 +53,7 @@
 
 namespace gtsam {
 
-template class EliminateableFactorGraph<GaussianHybridFactorGraph>;
+template class EliminateableFactorGraph<HybridGaussianFactorGraph>;
 
 /* ************************************************************************ */
 static GaussianMixtureFactor::Sum &addGaussian(
@@ -78,7 +78,7 @@ static GaussianMixtureFactor::Sum &addGaussian(
 
 /* ************************************************************************ */
 std::pair<HybridConditional::shared_ptr, HybridFactor::shared_ptr>
-continuousElimination(const GaussianHybridFactorGraph &factors,
+continuousElimination(const HybridGaussianFactorGraph &factors,
                       const Ordering &frontalKeys) {
   GaussianFactorGraph gfg;
   for (auto &fp : factors) {
@@ -103,7 +103,7 @@ continuousElimination(const GaussianHybridFactorGraph &factors,
 
 /* ************************************************************************ */
 std::pair<HybridConditional::shared_ptr, HybridFactor::shared_ptr>
-discreteElimination(const GaussianHybridFactorGraph &factors,
+discreteElimination(const HybridGaussianFactorGraph &factors,
                     const Ordering &frontalKeys) {
   DiscreteFactorGraph dfg;
   for (auto &fp : factors) {
@@ -129,7 +129,7 @@ discreteElimination(const GaussianHybridFactorGraph &factors,
 
 /* ************************************************************************ */
 std::pair<HybridConditional::shared_ptr, HybridFactor::shared_ptr>
-hybridElimination(const GaussianHybridFactorGraph &factors,
+hybridElimination(const HybridGaussianFactorGraph &factors,
                   const Ordering &frontalKeys,
                   const KeySet &continuousSeparator,
                   const std::set<DiscreteKey> &discreteSeparatorSet) {
@@ -236,7 +236,7 @@ hybridElimination(const GaussianHybridFactorGraph &factors,
 }
 /* ************************************************************************ */
 std::pair<HybridConditional::shared_ptr, HybridFactor::shared_ptr>  //
-EliminateHybrid(const GaussianHybridFactorGraph &factors,
+EliminateHybrid(const HybridGaussianFactorGraph &factors,
                 const Ordering &frontalKeys) {
   // NOTE: Because we are in the Conditional Gaussian regime there are only
   // a few cases:
@@ -345,22 +345,22 @@ EliminateHybrid(const GaussianHybridFactorGraph &factors,
 }
 
 /* ************************************************************************ */
-void GaussianHybridFactorGraph::add(JacobianFactor &&factor) {
+void HybridGaussianFactorGraph::add(JacobianFactor &&factor) {
   FactorGraph::add(boost::make_shared<HybridGaussianFactor>(std::move(factor)));
 }
 
 /* ************************************************************************ */
-void GaussianHybridFactorGraph::add(JacobianFactor::shared_ptr factor) {
+void HybridGaussianFactorGraph::add(JacobianFactor::shared_ptr factor) {
   FactorGraph::add(boost::make_shared<HybridGaussianFactor>(factor));
 }
 
 /* ************************************************************************ */
-void GaussianHybridFactorGraph::add(DecisionTreeFactor &&factor) {
+void HybridGaussianFactorGraph::add(DecisionTreeFactor &&factor) {
   FactorGraph::add(boost::make_shared<HybridDiscreteFactor>(std::move(factor)));
 }
 
 /* ************************************************************************ */
-void GaussianHybridFactorGraph::add(DecisionTreeFactor::shared_ptr factor) {
+void HybridGaussianFactorGraph::add(DecisionTreeFactor::shared_ptr factor) {
   FactorGraph::add(boost::make_shared<HybridDiscreteFactor>(factor));
 }
 
diff --git a/gtsam/hybrid/GaussianHybridFactorGraph.h b/gtsam/hybrid/HybridGaussianFactorGraph.h
similarity index 77%
rename from gtsam/hybrid/GaussianHybridFactorGraph.h
rename to gtsam/hybrid/HybridGaussianFactorGraph.h
index c8e0718fc4..6944af510d 100644
--- a/gtsam/hybrid/GaussianHybridFactorGraph.h
+++ b/gtsam/hybrid/HybridGaussianFactorGraph.h
@@ -10,7 +10,7 @@
  * -------------------------------------------------------------------------- */
 
 /**
- * @file   GaussianHybridFactorGraph.h
+ * @file   HybridGaussianFactorGraph.h
  * @brief  Linearized Hybrid factor graph that uses type erasure
  * @author Fan Jiang
  * @date   Mar 11, 2022
@@ -26,36 +26,37 @@
 namespace gtsam {
 
 // Forward declarations
-class GaussianHybridFactorGraph;
+class HybridGaussianFactorGraph;
 class HybridConditional;
 class HybridBayesNet;
 class HybridEliminationTree;
 class HybridBayesTree;
-class HybridJunctionTree;
+class HybridGaussianJunctionTree;
 class DecisionTreeFactor;
 
 class JacobianFactor;
 
-/** Main elimination function for GaussianHybridFactorGraph */
+/** Main elimination function for HybridGaussianFactorGraph */
 GTSAM_EXPORT
 std::pair<boost::shared_ptr<HybridConditional>, HybridFactor::shared_ptr>
-EliminateHybrid(const GaussianHybridFactorGraph& factors, const Ordering& keys);
+EliminateHybrid(const HybridGaussianFactorGraph& factors, const Ordering& keys);
 
 /* ************************************************************************* */
 template <>
-struct EliminationTraits<GaussianHybridFactorGraph> {
+struct EliminationTraits<HybridGaussianFactorGraph> {
   typedef HybridFactor FactorType;  ///< Type of factors in factor graph
-  typedef GaussianHybridFactorGraph
+  typedef HybridGaussianFactorGraph
       FactorGraphType;  ///< Type of the factor graph (e.g.
-                        ///< GaussianHybridFactorGraph)
+                        ///< HybridGaussianFactorGraph)
   typedef HybridConditional
       ConditionalType;  ///< Type of conditionals from elimination
   typedef HybridBayesNet
       BayesNetType;  ///< Type of Bayes net from sequential elimination
   typedef HybridEliminationTree
-      EliminationTreeType;                      ///< Type of elimination tree
-  typedef HybridBayesTree BayesTreeType;        ///< Type of Bayes tree
-  typedef HybridJunctionTree JunctionTreeType;  ///< Type of Junction tree
+      EliminationTreeType;                ///< Type of elimination tree
+  typedef HybridBayesTree BayesTreeType;  ///< Type of Bayes tree
+  typedef HybridGaussianJunctionTree
+      JunctionTreeType;  ///< Type of Junction tree
   /// The default dense elimination function
   static std::pair<boost::shared_ptr<ConditionalType>,
                    boost::shared_ptr<FactorType> >
@@ -70,12 +71,12 @@ struct EliminationTraits<GaussianHybridFactorGraph> {
  * This is the linearized version of a hybrid factor graph.
  * Everything inside needs to be hybrid factor or hybrid conditional.
  */
-class GaussianHybridFactorGraph
+class HybridGaussianFactorGraph
     : public FactorGraph<HybridFactor>,
-      public EliminateableFactorGraph<GaussianHybridFactorGraph> {
+      public EliminateableFactorGraph<HybridGaussianFactorGraph> {
  public:
   using Base = FactorGraph<HybridFactor>;
-  using This = GaussianHybridFactorGraph;  ///< this class
+  using This = HybridGaussianFactorGraph;  ///< this class
   using BaseEliminateable =
       EliminateableFactorGraph<This>;          ///< for elimination
   using shared_ptr = boost::shared_ptr<This>;  ///< shared_ptr to This
@@ -86,7 +87,7 @@ class GaussianHybridFactorGraph
   /// @name Constructors
   /// @{
 
-  GaussianHybridFactorGraph() = default;
+  HybridGaussianFactorGraph() = default;
 
   /**
    * Implicit copy/downcast constructor to override explicit template container
@@ -94,7 +95,7 @@ class GaussianHybridFactorGraph
    * `cachedSeparatorMarginal_.reset(*separatorMarginal)`
    * */
   template <class DERIVEDFACTOR>
-  GaussianHybridFactorGraph(const FactorGraph<DERIVEDFACTOR>& graph)
+  HybridGaussianFactorGraph(const FactorGraph<DERIVEDFACTOR>& graph)
       : Base(graph) {}
 
   /// @}
diff --git a/gtsam/hybrid/HybridISAM.cpp b/gtsam/hybrid/HybridGaussianISAM.cpp
similarity index 84%
rename from gtsam/hybrid/HybridISAM.cpp
rename to gtsam/hybrid/HybridGaussianISAM.cpp
index 4761491266..7783a88ddc 100644
--- a/gtsam/hybrid/HybridISAM.cpp
+++ b/gtsam/hybrid/HybridGaussianISAM.cpp
@@ -10,16 +10,16 @@
  * -------------------------------------------------------------------------- */
 
 /**
- * @file HybridISAM.h
+ * @file HybridGaussianISAM.h
  * @date March 31, 2022
  * @author Fan Jiang
  * @author Frank Dellaert
  * @author Richard Roberts
  */
 
-#include <gtsam/hybrid/GaussianHybridFactorGraph.h>
 #include <gtsam/hybrid/HybridBayesTree.h>
-#include <gtsam/hybrid/HybridISAM.h>
+#include <gtsam/hybrid/HybridGaussianFactorGraph.h>
+#include <gtsam/hybrid/HybridGaussianISAM.h>
 #include <gtsam/inference/ISAM-inst.h>
 #include <gtsam/inference/Key.h>
 
@@ -31,15 +31,17 @@ namespace gtsam {
 // template class ISAM<HybridBayesTree>;
 
 /* ************************************************************************* */
-HybridISAM::HybridISAM() {}
+HybridGaussianISAM::HybridGaussianISAM() {}
 
 /* ************************************************************************* */
-HybridISAM::HybridISAM(const HybridBayesTree& bayesTree) : Base(bayesTree) {}
+HybridGaussianISAM::HybridGaussianISAM(const HybridBayesTree& bayesTree)
+    : Base(bayesTree) {}
 
 /* ************************************************************************* */
-void HybridISAM::updateInternal(const GaussianHybridFactorGraph& newFactors,
-                                HybridBayesTree::Cliques* orphans,
-                                const HybridBayesTree::Eliminate& function) {
+void HybridGaussianISAM::updateInternal(
+    const HybridGaussianFactorGraph& newFactors,
+    HybridBayesTree::Cliques* orphans,
+    const HybridBayesTree::Eliminate& function) {
   // Remove the contaminated part of the Bayes tree
   BayesNetType bn;
   const KeySet newFactorKeys = newFactors.keys();
@@ -90,8 +92,8 @@ void HybridISAM::updateInternal(const GaussianHybridFactorGraph& newFactors,
 }
 
 /* ************************************************************************* */
-void HybridISAM::update(const GaussianHybridFactorGraph& newFactors,
-                        const HybridBayesTree::Eliminate& function) {
+void HybridGaussianISAM::update(const HybridGaussianFactorGraph& newFactors,
+                                const HybridBayesTree::Eliminate& function) {
   Cliques orphans;
   this->updateInternal(newFactors, &orphans, function);
 }
diff --git a/gtsam/hybrid/HybridISAM.h b/gtsam/hybrid/HybridGaussianISAM.h
similarity index 76%
rename from gtsam/hybrid/HybridISAM.h
rename to gtsam/hybrid/HybridGaussianISAM.h
index fae7efafdd..d5b6271da7 100644
--- a/gtsam/hybrid/HybridISAM.h
+++ b/gtsam/hybrid/HybridGaussianISAM.h
@@ -10,7 +10,7 @@
  * -------------------------------------------------------------------------- */
 
 /**
- * @file HybridISAM.h
+ * @file HybridGaussianISAM.h
  * @date March 31, 2022
  * @author Fan Jiang
  * @author Frank Dellaert
@@ -20,33 +20,33 @@
 #pragma once
 
 #include <gtsam/base/Testable.h>
-#include <gtsam/hybrid/GaussianHybridFactorGraph.h>
 #include <gtsam/hybrid/HybridBayesTree.h>
+#include <gtsam/hybrid/HybridGaussianFactorGraph.h>
 #include <gtsam/inference/ISAM.h>
 
 namespace gtsam {
 
-class GTSAM_EXPORT HybridISAM : public ISAM<HybridBayesTree> {
+class GTSAM_EXPORT HybridGaussianISAM : public ISAM<HybridBayesTree> {
  public:
   typedef ISAM<HybridBayesTree> Base;
-  typedef HybridISAM This;
+  typedef HybridGaussianISAM This;
   typedef boost::shared_ptr<This> shared_ptr;
 
   /// @name Standard Constructors
   /// @{
 
   /** Create an empty Bayes Tree */
-  HybridISAM();
+  HybridGaussianISAM();
 
   /** Copy constructor */
-  HybridISAM(const HybridBayesTree& bayesTree);
+  HybridGaussianISAM(const HybridBayesTree& bayesTree);
 
   /// @}
 
  private:
   /// Internal method that performs the ISAM update.
   void updateInternal(
-      const GaussianHybridFactorGraph& newFactors,
+      const HybridGaussianFactorGraph& newFactors,
       HybridBayesTree::Cliques* orphans,
       const HybridBayesTree::Eliminate& function =
           HybridBayesTree::EliminationTraitsType::DefaultEliminate);
@@ -58,13 +58,13 @@ class GTSAM_EXPORT HybridISAM : public ISAM<HybridBayesTree> {
    * @param newFactors Factor graph of new factors to add and eliminate.
    * @param function Elimination function.
    */
-  void update(const GaussianHybridFactorGraph& newFactors,
+  void update(const HybridGaussianFactorGraph& newFactors,
               const HybridBayesTree::Eliminate& function =
                   HybridBayesTree::EliminationTraitsType::DefaultEliminate);
 };
 
 /// traits
 template <>
-struct traits<HybridISAM> : public Testable<HybridISAM> {};
+struct traits<HybridGaussianISAM> : public Testable<HybridGaussianISAM> {};
 
 }  // namespace gtsam
diff --git a/gtsam/hybrid/HybridJunctionTree.cpp b/gtsam/hybrid/HybridGaussianJunctionTree.cpp
similarity index 73%
rename from gtsam/hybrid/HybridJunctionTree.cpp
rename to gtsam/hybrid/HybridGaussianJunctionTree.cpp
index 8fa3aa0333..8ceb7c87b6 100644
--- a/gtsam/hybrid/HybridJunctionTree.cpp
+++ b/gtsam/hybrid/HybridGaussianJunctionTree.cpp
@@ -10,14 +10,14 @@
  * -------------------------------------------------------------------------- */
 
 /**
- * @file HybridJunctionTree.cpp
+ * @file HybridGaussianJunctionTree.cpp
  * @date Mar 11, 2022
  * @author Fan Jiang
  */
 
-#include <gtsam/hybrid/GaussianHybridFactorGraph.h>
 #include <gtsam/hybrid/HybridEliminationTree.h>
-#include <gtsam/hybrid/HybridJunctionTree.h>
+#include <gtsam/hybrid/HybridGaussianFactorGraph.h>
+#include <gtsam/hybrid/HybridGaussianJunctionTree.h>
 #include <gtsam/inference/JunctionTree-inst.h>
 #include <gtsam/inference/Key.h>
 
@@ -27,19 +27,19 @@ namespace gtsam {
 
 // Instantiate base classes
 template class EliminatableClusterTree<HybridBayesTree,
-                                       GaussianHybridFactorGraph>;
-template class JunctionTree<HybridBayesTree, GaussianHybridFactorGraph>;
+                                       HybridGaussianFactorGraph>;
+template class JunctionTree<HybridBayesTree, HybridGaussianFactorGraph>;
 
 struct HybridConstructorTraversalData {
   typedef
-      typename JunctionTree<HybridBayesTree, GaussianHybridFactorGraph>::Node
+      typename JunctionTree<HybridBayesTree, HybridGaussianFactorGraph>::Node
           Node;
   typedef
       typename JunctionTree<HybridBayesTree,
-                            GaussianHybridFactorGraph>::sharedNode sharedNode;
+                            HybridGaussianFactorGraph>::sharedNode sharedNode;
 
   HybridConstructorTraversalData* const parentData;
-  sharedNode myJTNode;
+  sharedNode junctionTreeNode;
   FastVector<SymbolicConditional::shared_ptr> childSymbolicConditionals;
   FastVector<SymbolicFactor::shared_ptr> childSymbolicFactors;
   KeySet discreteKeys;
@@ -57,24 +57,24 @@ struct HybridConstructorTraversalData {
     // On the pre-order pass, before children have been visited, we just set up
     // a traversal data structure with its own JT node, and create a child
     // pointer in its parent.
-    HybridConstructorTraversalData myData =
+    HybridConstructorTraversalData data =
         HybridConstructorTraversalData(&parentData);
-    myData.myJTNode = boost::make_shared<Node>(node->key, node->factors);
-    parentData.myJTNode->addChild(myData.myJTNode);
+    data.junctionTreeNode = boost::make_shared<Node>(node->key, node->factors);
+    parentData.junctionTreeNode->addChild(data.junctionTreeNode);
 
     for (HybridFactor::shared_ptr& f : node->factors) {
       for (auto& k : f->discreteKeys()) {
-        myData.discreteKeys.insert(k.first);
+        data.discreteKeys.insert(k.first);
       }
     }
 
-    return myData;
+    return data;
   }
 
   // Post-order visitor function
   static void ConstructorTraversalVisitorPostAlg2(
       const boost::shared_ptr<HybridEliminationTree::Node>& ETreeNode,
-      const HybridConstructorTraversalData& myData) {
+      const HybridConstructorTraversalData& data) {
     // In this post-order visitor, we combine the symbolic elimination results
     // from the elimination tree children and symbolically eliminate the current
     // elimination tree node.  We then check whether each of our elimination
@@ -87,50 +87,50 @@ struct HybridConstructorTraversalData {
     // Do symbolic elimination for this node
     SymbolicFactors symbolicFactors;
     symbolicFactors.reserve(ETreeNode->factors.size() +
-                            myData.childSymbolicFactors.size());
+                            data.childSymbolicFactors.size());
     // Add ETree node factors
     symbolicFactors += ETreeNode->factors;
     // Add symbolic factors passed up from children
-    symbolicFactors += myData.childSymbolicFactors;
+    symbolicFactors += data.childSymbolicFactors;
 
     Ordering keyAsOrdering;
     keyAsOrdering.push_back(ETreeNode->key);
-    SymbolicConditional::shared_ptr myConditional;
-    SymbolicFactor::shared_ptr mySeparatorFactor;
-    boost::tie(myConditional, mySeparatorFactor) =
+    SymbolicConditional::shared_ptr conditional;
+    SymbolicFactor::shared_ptr separatorFactor;
+    boost::tie(conditional, separatorFactor) =
         internal::EliminateSymbolic(symbolicFactors, keyAsOrdering);
 
     // Store symbolic elimination results in the parent
-    myData.parentData->childSymbolicConditionals.push_back(myConditional);
-    myData.parentData->childSymbolicFactors.push_back(mySeparatorFactor);
-    myData.parentData->discreteKeys.merge(myData.discreteKeys);
+    data.parentData->childSymbolicConditionals.push_back(conditional);
+    data.parentData->childSymbolicFactors.push_back(separatorFactor);
+    data.parentData->discreteKeys.merge(data.discreteKeys);
 
-    sharedNode node = myData.myJTNode;
+    sharedNode node = data.junctionTreeNode;
     const FastVector<SymbolicConditional::shared_ptr>& childConditionals =
-        myData.childSymbolicConditionals;
-    node->problemSize_ = (int)(myConditional->size() * symbolicFactors.size());
+        data.childSymbolicConditionals;
+    node->problemSize_ = (int)(conditional->size() * symbolicFactors.size());
 
     // Merge our children if they are in our clique - if our conditional has
     // exactly one fewer parent than our child's conditional.
-    const size_t myNrParents = myConditional->nrParents();
+    const size_t nrParents = conditional->nrParents();
     const size_t nrChildren = node->nrChildren();
     assert(childConditionals.size() == nrChildren);
 
     // decide which children to merge, as index into children
-    std::vector<size_t> nrFrontals = node->nrFrontalsOfChildren();
+    std::vector<size_t> nrChildrenFrontals = node->nrFrontalsOfChildren();
     std::vector<bool> merge(nrChildren, false);
-    size_t myNrFrontals = 1;
+    size_t nrFrontals = 1;
     for (size_t i = 0; i < nrChildren; i++) {
       // Check if we should merge the i^th child
-      if (myNrParents + myNrFrontals == childConditionals[i]->nrParents()) {
+      if (nrParents + nrFrontals == childConditionals[i]->nrParents()) {
         const bool myType =
-            myData.discreteKeys.exists(myConditional->frontals()[0]);
+            data.discreteKeys.exists(conditional->frontals()[0]);
         const bool theirType =
-            myData.discreteKeys.exists(childConditionals[i]->frontals()[0]);
+            data.discreteKeys.exists(childConditionals[i]->frontals()[0]);
 
         if (myType == theirType) {
           // Increment number of frontal variables
-          myNrFrontals += nrFrontals[i];
+          nrFrontals += nrChildrenFrontals[i];
           merge[i] = true;
         }
       }
@@ -142,7 +142,7 @@ struct HybridConstructorTraversalData {
 };
 
 /* ************************************************************************* */
-HybridJunctionTree::HybridJunctionTree(
+HybridGaussianJunctionTree::HybridGaussianJunctionTree(
     const HybridEliminationTree& eliminationTree) {
   gttic(JunctionTree_FromEliminationTree);
   // Here we rely on the BayesNet having been produced by this elimination tree,
@@ -156,7 +156,7 @@ HybridJunctionTree::HybridJunctionTree(
   // as we go.  Gather the created junction tree roots in a dummy Node.
   typedef HybridConstructorTraversalData Data;
   Data rootData(0);
-  rootData.myJTNode =
+  rootData.junctionTreeNode =
       boost::make_shared<typename Base::Node>();  // Make a dummy node to gather
                                                   // the junction tree roots
   treeTraversal::DepthFirstForest(eliminationTree, rootData,
@@ -164,7 +164,7 @@ HybridJunctionTree::HybridJunctionTree(
                                   Data::ConstructorTraversalVisitorPostAlg2);
 
   // Assign roots from the dummy node
-  this->addChildrenAsRoots(rootData.myJTNode);
+  this->addChildrenAsRoots(rootData.junctionTreeNode);
 
   // Transfer remaining factors from elimination tree
   Base::remainingFactors_ = eliminationTree.remainingFactors();
diff --git a/gtsam/hybrid/HybridJunctionTree.h b/gtsam/hybrid/HybridGaussianJunctionTree.h
similarity index 84%
rename from gtsam/hybrid/HybridJunctionTree.h
rename to gtsam/hybrid/HybridGaussianJunctionTree.h
index ce9b818e6d..314e7daa6e 100644
--- a/gtsam/hybrid/HybridJunctionTree.h
+++ b/gtsam/hybrid/HybridGaussianJunctionTree.h
@@ -10,15 +10,15 @@
  * -------------------------------------------------------------------------- */
 
 /**
- * @file HybridJunctionTree.h
+ * @file HybridGaussianJunctionTree.h
  * @date Mar 11, 2022
  * @author Fan Jiang
  */
 
 #pragma once
 
-#include <gtsam/hybrid/GaussianHybridFactorGraph.h>
 #include <gtsam/hybrid/HybridBayesTree.h>
+#include <gtsam/hybrid/HybridGaussianFactorGraph.h>
 #include <gtsam/inference/JunctionTree.h>
 
 namespace gtsam {
@@ -48,12 +48,12 @@ class HybridEliminationTree;
  * \addtogroup Multifrontal
  * \nosubgrouping
  */
-class GTSAM_EXPORT HybridJunctionTree
-    : public JunctionTree<HybridBayesTree, GaussianHybridFactorGraph> {
+class GTSAM_EXPORT HybridGaussianJunctionTree
+    : public JunctionTree<HybridBayesTree, HybridGaussianFactorGraph> {
  public:
-  typedef JunctionTree<HybridBayesTree, GaussianHybridFactorGraph>
+  typedef JunctionTree<HybridBayesTree, HybridGaussianFactorGraph>
       Base;                                    ///< Base class
-  typedef HybridJunctionTree This;             ///< This class
+  typedef HybridGaussianJunctionTree This;     ///< This class
   typedef boost::shared_ptr<This> shared_ptr;  ///< Shared pointer to this class
 
   /**
@@ -65,7 +65,7 @@ class GTSAM_EXPORT HybridJunctionTree
    * named constructor instead.
    * @return The elimination tree
    */
-  HybridJunctionTree(const HybridEliminationTree& eliminationTree);
+  HybridGaussianJunctionTree(const HybridEliminationTree& eliminationTree);
 };
 
 }  // namespace gtsam
diff --git a/gtsam/hybrid/hybrid.i b/gtsam/hybrid/hybrid.i
index 612f3abc5d..94eaa88b2d 100644
--- a/gtsam/hybrid/hybrid.i
+++ b/gtsam/hybrid/hybrid.i
@@ -98,15 +98,15 @@ class HybridBayesNet {
       const gtsam::DotWriter& writer = gtsam::DotWriter()) const;
 };
 
-#include <gtsam/hybrid/GaussianHybridFactorGraph.h>
-class GaussianHybridFactorGraph {
-  GaussianHybridFactorGraph();
-  GaussianHybridFactorGraph(const gtsam::HybridBayesNet& bayesNet);
+#include <gtsam/hybrid/HybridGaussianFactorGraph.h>
+class HybridGaussianFactorGraph {
+  HybridGaussianFactorGraph();
+  HybridGaussianFactorGraph(const gtsam::HybridBayesNet& bayesNet);
 
   // Building the graph
   void push_back(const gtsam::HybridFactor* factor);
   void push_back(const gtsam::HybridConditional* conditional);
-  void push_back(const gtsam::GaussianHybridFactorGraph& graph);
+  void push_back(const gtsam::HybridGaussianFactorGraph& graph);
   void push_back(const gtsam::HybridBayesNet& bayesNet);
   void push_back(const gtsam::HybridBayesTree& bayesTree);
   void push_back(const gtsam::GaussianMixtureFactor* gmm);
@@ -120,13 +120,13 @@ class GaussianHybridFactorGraph {
   const gtsam::HybridFactor* at(size_t i) const;
 
   void print(string s = "") const;
-  bool equals(const gtsam::GaussianHybridFactorGraph& fg, double tol = 1e-9) const;
+  bool equals(const gtsam::HybridGaussianFactorGraph& fg, double tol = 1e-9) const;
 
   gtsam::HybridBayesNet* eliminateSequential();
   gtsam::HybridBayesNet* eliminateSequential(
       gtsam::Ordering::OrderingType type);
   gtsam::HybridBayesNet* eliminateSequential(const gtsam::Ordering& ordering);
-  pair<gtsam::HybridBayesNet*, gtsam::GaussianHybridFactorGraph*>
+  pair<gtsam::HybridBayesNet*, gtsam::HybridGaussianFactorGraph*>
   eliminatePartialSequential(const gtsam::Ordering& ordering);
 
   gtsam::HybridBayesTree* eliminateMultifrontal();
@@ -134,7 +134,7 @@ class GaussianHybridFactorGraph {
       gtsam::Ordering::OrderingType type);
   gtsam::HybridBayesTree* eliminateMultifrontal(
       const gtsam::Ordering& ordering);
-  pair<gtsam::HybridBayesTree*, gtsam::GaussianHybridFactorGraph*>
+  pair<gtsam::HybridBayesTree*, gtsam::HybridGaussianFactorGraph*>
   eliminatePartialMultifrontal(const gtsam::Ordering& ordering);
 
   string dot(
diff --git a/gtsam/hybrid/tests/Switching.h b/gtsam/hybrid/tests/Switching.h
index 77d8182c8e..c081b8e87e 100644
--- a/gtsam/hybrid/tests/Switching.h
+++ b/gtsam/hybrid/tests/Switching.h
@@ -18,8 +18,8 @@
 
 #include <gtsam/base/Matrix.h>
 #include <gtsam/discrete/DecisionTreeFactor.h>
-#include <gtsam/hybrid/GaussianHybridFactorGraph.h>
 #include <gtsam/hybrid/GaussianMixtureFactor.h>
+#include <gtsam/hybrid/HybridGaussianFactorGraph.h>
 #include <gtsam/inference/Symbol.h>
 #include <gtsam/linear/JacobianFactor.h>
 
@@ -29,10 +29,10 @@ using gtsam::symbol_shorthand::C;
 using gtsam::symbol_shorthand::X;
 
 namespace gtsam {
-inline GaussianHybridFactorGraph::shared_ptr makeSwitchingChain(
+inline HybridGaussianFactorGraph::shared_ptr makeSwitchingChain(
     size_t n, std::function<Key(int)> keyFunc = X,
     std::function<Key(int)> dKeyFunc = C) {
-  GaussianHybridFactorGraph hfg;
+  HybridGaussianFactorGraph hfg;
 
   hfg.add(JacobianFactor(keyFunc(1), I_3x3, Z_3x1));
 
@@ -51,7 +51,7 @@ inline GaussianHybridFactorGraph::shared_ptr makeSwitchingChain(
     }
   }
 
-  return boost::make_shared<GaussianHybridFactorGraph>(std::move(hfg));
+  return boost::make_shared<HybridGaussianFactorGraph>(std::move(hfg));
 }
 
 inline std::pair<KeyVector, std::vector<int>> makeBinaryOrdering(
diff --git a/gtsam/hybrid/tests/testGaussianHybridFactorGraph.cpp b/gtsam/hybrid/tests/testGaussianHybridFactorGraph.cpp
index 853353278a..8ff959d741 100644
--- a/gtsam/hybrid/tests/testGaussianHybridFactorGraph.cpp
+++ b/gtsam/hybrid/tests/testGaussianHybridFactorGraph.cpp
@@ -10,7 +10,7 @@
  * -------------------------------------------------------------------------- */
 
 /*
- *  @file testGaussianHybridFactorGraph.cpp
+ *  @file testHybridGaussianFactorGraph.cpp
  *  @date Mar 11, 2022
  *  @author Fan Jiang
  */
@@ -20,7 +20,6 @@
 #include <gtsam/discrete/DecisionTreeFactor.h>
 #include <gtsam/discrete/DiscreteKey.h>
 #include <gtsam/discrete/DiscreteValues.h>
-#include <gtsam/hybrid/GaussianHybridFactorGraph.h>
 #include <gtsam/hybrid/GaussianMixtureConditional.h>
 #include <gtsam/hybrid/GaussianMixtureFactor.h>
 #include <gtsam/hybrid/HybridBayesNet.h>
@@ -29,7 +28,8 @@
 #include <gtsam/hybrid/HybridDiscreteFactor.h>
 #include <gtsam/hybrid/HybridFactor.h>
 #include <gtsam/hybrid/HybridGaussianFactor.h>
-#include <gtsam/hybrid/HybridISAM.h>
+#include <gtsam/hybrid/HybridGaussianFactorGraph.h>
+#include <gtsam/hybrid/HybridGaussianISAM.h>
 #include <gtsam/inference/BayesNet.h>
 #include <gtsam/inference/DotWriter.h>
 #include <gtsam/inference/Key.h>
@@ -57,25 +57,11 @@ using gtsam::symbol_shorthand::D;
 using gtsam::symbol_shorthand::X;
 using gtsam::symbol_shorthand::Y;
 
-#ifdef HYBRID_DEBUG
-#define BOOST_STACKTRACE_GNU_SOURCE_NOT_REQUIRED
-
-#include <signal.h>  // ::signal, ::raise
-
-#include <boost/stacktrace.hpp>
-
-void my_signal_handler(int signum) {
-  ::signal(signum, SIG_DFL);
-  std::cout << boost::stacktrace::stacktrace();
-  ::raise(SIGABRT);
-}
-#endif
-
 /* ************************************************************************* */
-TEST(GaussianHybridFactorGraph, creation) {
+TEST(HybridGaussianFactorGraph, creation) {
   HybridConditional test;
 
-  GaussianHybridFactorGraph hfg;
+  HybridGaussianFactorGraph hfg;
 
   hfg.add(HybridGaussianFactor(JacobianFactor(0, I_3x3, Z_3x1)));
 
@@ -91,8 +77,8 @@ TEST(GaussianHybridFactorGraph, creation) {
 }
 
 /* ************************************************************************* */
-TEST(GaussianHybridFactorGraph, eliminate) {
-  GaussianHybridFactorGraph hfg;
+TEST(HybridGaussianFactorGraph, eliminate) {
+  HybridGaussianFactorGraph hfg;
 
   hfg.add(HybridGaussianFactor(JacobianFactor(0, I_3x3, Z_3x1)));
 
@@ -102,8 +88,8 @@ TEST(GaussianHybridFactorGraph, eliminate) {
 }
 
 /* ************************************************************************* */
-TEST(GaussianHybridFactorGraph, eliminateMultifrontal) {
-  GaussianHybridFactorGraph hfg;
+TEST(HybridGaussianFactorGraph, eliminateMultifrontal) {
+  HybridGaussianFactorGraph hfg;
 
   DiscreteKey c(C(1), 2);
 
@@ -119,8 +105,8 @@ TEST(GaussianHybridFactorGraph, eliminateMultifrontal) {
 }
 
 /* ************************************************************************* */
-TEST(GaussianHybridFactorGraph, eliminateFullSequentialEqualChance) {
-  GaussianHybridFactorGraph hfg;
+TEST(HybridGaussianFactorGraph, eliminateFullSequentialEqualChance) {
+  HybridGaussianFactorGraph hfg;
 
   DiscreteKey c1(C(1), 2);
 
@@ -143,8 +129,8 @@ TEST(GaussianHybridFactorGraph, eliminateFullSequentialEqualChance) {
 }
 
 /* ************************************************************************* */
-TEST(GaussianHybridFactorGraph, eliminateFullSequentialSimple) {
-  GaussianHybridFactorGraph hfg;
+TEST(HybridGaussianFactorGraph, eliminateFullSequentialSimple) {
+  HybridGaussianFactorGraph hfg;
 
   DiscreteKey c1(C(1), 2);
 
@@ -171,8 +157,8 @@ TEST(GaussianHybridFactorGraph, eliminateFullSequentialSimple) {
 }
 
 /* ************************************************************************* */
-TEST(GaussianHybridFactorGraph, eliminateFullMultifrontalSimple) {
-  GaussianHybridFactorGraph hfg;
+TEST(HybridGaussianFactorGraph, eliminateFullMultifrontalSimple) {
+  HybridGaussianFactorGraph hfg;
 
   DiscreteKey c1(C(1), 2);
 
@@ -204,8 +190,8 @@ TEST(GaussianHybridFactorGraph, eliminateFullMultifrontalSimple) {
 }
 
 /* ************************************************************************* */
-TEST(GaussianHybridFactorGraph, eliminateFullMultifrontalCLG) {
-  GaussianHybridFactorGraph hfg;
+TEST(HybridGaussianFactorGraph, eliminateFullMultifrontalCLG) {
+  HybridGaussianFactorGraph hfg;
 
   DiscreteKey c(C(1), 2);
 
@@ -240,8 +226,8 @@ TEST(GaussianHybridFactorGraph, eliminateFullMultifrontalCLG) {
  * This test is about how to assemble the Bayes Tree roots after we do partial
  * elimination
  */
-TEST(GaussianHybridFactorGraph, eliminateFullMultifrontalTwoClique) {
-  GaussianHybridFactorGraph hfg;
+TEST(HybridGaussianFactorGraph, eliminateFullMultifrontalTwoClique) {
+  HybridGaussianFactorGraph hfg;
 
   hfg.add(JacobianFactor(X(0), I_3x3, X(1), -I_3x3, Z_3x1));
   hfg.add(JacobianFactor(X(1), I_3x3, X(2), -I_3x3, Z_3x1));
@@ -290,7 +276,7 @@ TEST(GaussianHybridFactorGraph, eliminateFullMultifrontalTwoClique) {
   GTSAM_PRINT(ordering_full);
 
   HybridBayesTree::shared_ptr hbt;
-  GaussianHybridFactorGraph::shared_ptr remaining;
+  HybridGaussianFactorGraph::shared_ptr remaining;
   std::tie(hbt, remaining) = hfg.eliminatePartialMultifrontal(ordering_full);
 
   GTSAM_PRINT(*hbt);
@@ -309,7 +295,7 @@ TEST(GaussianHybridFactorGraph, eliminateFullMultifrontalTwoClique) {
 
 /* ************************************************************************* */
 // TODO(fan): make a graph like Varun's paper one
-TEST(GaussianHybridFactorGraph, Switching) {
+TEST(HybridGaussianFactorGraph, Switching) {
   auto N = 12;
   auto hfg = makeSwitchingChain(N);
 
@@ -381,7 +367,7 @@ TEST(GaussianHybridFactorGraph, Switching) {
   GTSAM_PRINT(ordering_full);
 
   HybridBayesTree::shared_ptr hbt;
-  GaussianHybridFactorGraph::shared_ptr remaining;
+  HybridGaussianFactorGraph::shared_ptr remaining;
   std::tie(hbt, remaining) = hfg->eliminatePartialMultifrontal(ordering_full);
 
   // GTSAM_PRINT(*hbt);
@@ -417,7 +403,7 @@ TEST(GaussianHybridFactorGraph, Switching) {
 
 /* ************************************************************************* */
 // TODO(fan): make a graph like Varun's paper one
-TEST(GaussianHybridFactorGraph, SwitchingISAM) {
+TEST(HybridGaussianFactorGraph, SwitchingISAM) {
   auto N = 11;
   auto hfg = makeSwitchingChain(N);
 
@@ -473,7 +459,7 @@ TEST(GaussianHybridFactorGraph, SwitchingISAM) {
   GTSAM_PRINT(ordering_full);
 
   HybridBayesTree::shared_ptr hbt;
-  GaussianHybridFactorGraph::shared_ptr remaining;
+  HybridGaussianFactorGraph::shared_ptr remaining;
   std::tie(hbt, remaining) = hfg->eliminatePartialMultifrontal(ordering_full);
 
   // GTSAM_PRINT(*hbt);
@@ -499,10 +485,10 @@ TEST(GaussianHybridFactorGraph, SwitchingISAM) {
   }
 
   auto new_fg = makeSwitchingChain(12);
-  auto isam = HybridISAM(*hbt);
+  auto isam = HybridGaussianISAM(*hbt);
 
   {
-    GaussianHybridFactorGraph factorGraph;
+    HybridGaussianFactorGraph factorGraph;
     factorGraph.push_back(new_fg->at(new_fg->size() - 2));
     factorGraph.push_back(new_fg->at(new_fg->size() - 1));
     isam.update(factorGraph);
@@ -512,7 +498,7 @@ TEST(GaussianHybridFactorGraph, SwitchingISAM) {
 }
 
 /* ************************************************************************* */
-TEST(GaussianHybridFactorGraph, SwitchingTwoVar) {
+TEST(HybridGaussianFactorGraph, SwitchingTwoVar) {
   const int N = 7;
   auto hfg = makeSwitchingChain(N, X);
   hfg->push_back(*makeSwitchingChain(N, Y, D));
@@ -582,7 +568,7 @@ TEST(GaussianHybridFactorGraph, SwitchingTwoVar) {
   }
   {
     HybridBayesNet::shared_ptr hbn;
-    GaussianHybridFactorGraph::shared_ptr remaining;
+    HybridGaussianFactorGraph::shared_ptr remaining;
     std::tie(hbn, remaining) =
         hfg->eliminatePartialSequential(ordering_partial);
 
diff --git a/gtsam/inference/inference.i b/gtsam/inference/inference.i
index e8d918a1d3..fbdd70fdfb 100644
--- a/gtsam/inference/inference.i
+++ b/gtsam/inference/inference.i
@@ -9,7 +9,7 @@ namespace gtsam {
 #include <gtsam/nonlinear/NonlinearFactorGraph.h>
 #include <gtsam/symbolic/SymbolicFactorGraph.h>
 #include <gtsam/discrete/DiscreteFactorGraph.h>
-#include <gtsam/hybrid/GaussianHybridFactorGraph.h>
+#include <gtsam/hybrid/HybridGaussianFactorGraph.h>
 
 #include <gtsam/inference/Key.h>
 
@@ -107,36 +107,36 @@ class Ordering {
 
   template <
       FACTOR_GRAPH = {gtsam::NonlinearFactorGraph, gtsam::DiscreteFactorGraph,
-                      gtsam::SymbolicFactorGraph, gtsam::GaussianFactorGraph, gtsam::GaussianHybridFactorGraph}>
+                      gtsam::SymbolicFactorGraph, gtsam::GaussianFactorGraph, gtsam::HybridGaussianFactorGraph}>
   static gtsam::Ordering Colamd(const FACTOR_GRAPH& graph);
 
   template <
       FACTOR_GRAPH = {gtsam::NonlinearFactorGraph, gtsam::DiscreteFactorGraph,
-                      gtsam::SymbolicFactorGraph, gtsam::GaussianFactorGraph, gtsam::GaussianHybridFactorGraph}>
+                      gtsam::SymbolicFactorGraph, gtsam::GaussianFactorGraph, gtsam::HybridGaussianFactorGraph}>
   static gtsam::Ordering ColamdConstrainedLast(
       const FACTOR_GRAPH& graph, const gtsam::KeyVector& constrainLast,
       bool forceOrder = false);
 
   template <
       FACTOR_GRAPH = {gtsam::NonlinearFactorGraph, gtsam::DiscreteFactorGraph,
-                      gtsam::SymbolicFactorGraph, gtsam::GaussianFactorGraph, gtsam::GaussianHybridFactorGraph}>
+                      gtsam::SymbolicFactorGraph, gtsam::GaussianFactorGraph, gtsam::HybridGaussianFactorGraph}>
   static gtsam::Ordering ColamdConstrainedFirst(
       const FACTOR_GRAPH& graph, const gtsam::KeyVector& constrainFirst,
       bool forceOrder = false);
 
   template <
       FACTOR_GRAPH = {gtsam::NonlinearFactorGraph, gtsam::DiscreteFactorGraph,
-                      gtsam::SymbolicFactorGraph, gtsam::GaussianFactorGraph, gtsam::GaussianHybridFactorGraph}>
+                      gtsam::SymbolicFactorGraph, gtsam::GaussianFactorGraph, gtsam::HybridGaussianFactorGraph}>
   static gtsam::Ordering Natural(const FACTOR_GRAPH& graph);
 
   template <
       FACTOR_GRAPH = {gtsam::NonlinearFactorGraph, gtsam::DiscreteFactorGraph,
-                      gtsam::SymbolicFactorGraph, gtsam::GaussianFactorGraph, gtsam::GaussianHybridFactorGraph}>
+                      gtsam::SymbolicFactorGraph, gtsam::GaussianFactorGraph, gtsam::HybridGaussianFactorGraph}>
   static gtsam::Ordering Metis(const FACTOR_GRAPH& graph);
 
   template <
       FACTOR_GRAPH = {gtsam::NonlinearFactorGraph, gtsam::DiscreteFactorGraph,
-                      gtsam::SymbolicFactorGraph, gtsam::GaussianFactorGraph, gtsam::GaussianHybridFactorGraph}>
+                      gtsam::SymbolicFactorGraph, gtsam::GaussianFactorGraph, gtsam::HybridGaussianFactorGraph}>
   static gtsam::Ordering Create(gtsam::Ordering::OrderingType orderingType,
                                 const FACTOR_GRAPH& graph);
 
diff --git a/python/gtsam/tests/test_HybridFactorGraph.py b/python/gtsam/tests/test_HybridFactorGraph.py
index 895c9e14e2..07a8178e6c 100644
--- a/python/gtsam/tests/test_HybridFactorGraph.py
+++ b/python/gtsam/tests/test_HybridFactorGraph.py
@@ -20,8 +20,8 @@
 from gtsam.utils.test_case import GtsamTestCase
 
 
-class TestGaussianHybridFactorGraph(GtsamTestCase):
-    """Unit tests for GaussianHybridFactorGraph."""
+class TestHybridGaussianFactorGraph(GtsamTestCase):
+    """Unit tests for HybridGaussianFactorGraph."""
 
     def test_create(self):
         """Test contruction of hybrid factor graph."""
@@ -36,13 +36,13 @@ def test_create(self):
 
         gmf = gtsam.GaussianMixtureFactor.FromFactors([X(0)], dk, [jf1, jf2])
 
-        hfg = gtsam.GaussianHybridFactorGraph()
+        hfg = gtsam.HybridGaussianFactorGraph()
         hfg.add(jf1)
         hfg.add(jf2)
         hfg.push_back(gmf)
 
         hbn = hfg.eliminateSequential(
-            gtsam.Ordering.ColamdConstrainedLastGaussianHybridFactorGraph(
+            gtsam.Ordering.ColamdConstrainedLastHybridGaussianFactorGraph(
                 hfg, [C(0)]))
 
         # print("hbn = ", hbn)

From 31ab1a32f3b93c9c7d2e97d95e9bd1c47013ef73 Mon Sep 17 00:00:00 2001
From: Varun Agrawal <varagrawal@gmail.com>
Date: Thu, 2 Jun 2022 00:03:31 -0400
Subject: [PATCH 119/433] update description of GaussianMixtureConditional

---
 gtsam/hybrid/GaussianMixtureConditional.h | 12 +++++++++---
 1 file changed, 9 insertions(+), 3 deletions(-)

diff --git a/gtsam/hybrid/GaussianMixtureConditional.h b/gtsam/hybrid/GaussianMixtureConditional.h
index d12fa09d7a..a743c00f3e 100644
--- a/gtsam/hybrid/GaussianMixtureConditional.h
+++ b/gtsam/hybrid/GaussianMixtureConditional.h
@@ -27,13 +27,19 @@
 namespace gtsam {
 
 /**
- * @brief A conditional of gaussian mixtures indexed by discrete variables.
+ * @brief A conditional of gaussian mixtures indexed by discrete variables, as
+ * part of a Bayes Network.
  *
  * Represents the conditional density P(X | M, Z) where X is a continuous random
- * variable, M is the discrete variable and Z is the set of measurements.
+ * variable, M is the selection of discrete variables corresponding to a subset
+ * of the Gaussian variables and Z is parent of this node
+ *
+ * The negative log-probability is given by \f$ \sum_{m=1}^M \pi_m \frac{1}{2}
+ * |Rx - (d - Sy - Tz - ...)|^2 \f$, where \f$ \pi_m \f$ is the mixing
+ * coefficient.
  *
  */
-class GaussianMixtureConditional
+class GTSAM_EXPORT GaussianMixtureConditional
     : public HybridFactor,
       public Conditional<HybridFactor, GaussianMixtureConditional> {
  public:

From d2029f3d0339175fbf8b1e4fe0734e9b8e5a37bb Mon Sep 17 00:00:00 2001
From: Varun Agrawal <varagrawal@gmail.com>
Date: Thu, 2 Jun 2022 00:09:38 -0400
Subject: [PATCH 120/433] Add more information on conditionals requirement for
 GaussianMixture

---
 gtsam/hybrid/GaussianMixtureConditional.h | 8 ++++++--
 1 file changed, 6 insertions(+), 2 deletions(-)

diff --git a/gtsam/hybrid/GaussianMixtureConditional.h b/gtsam/hybrid/GaussianMixtureConditional.h
index a743c00f3e..ab0e2ce43f 100644
--- a/gtsam/hybrid/GaussianMixtureConditional.h
+++ b/gtsam/hybrid/GaussianMixtureConditional.h
@@ -68,13 +68,17 @@ class GTSAM_EXPORT GaussianMixtureConditional
 
   /// Defaut constructor, mainly for serialization.
   GaussianMixtureConditional() = default;
+
   /**
-   * @brief Construct a new GaussianMixtureConditional object
+   * @brief Construct a new GaussianMixtureConditional object.
    *
    * @param continuousFrontals the continuous frontals.
    * @param continuousParents the continuous parents.
    * @param discreteParents the discrete parents. Will be placed last.
-   * @param conditionals a decision tree of GaussianConditionals.
+   * @param conditionals a decision tree of GaussianConditionals. The number of
+   * conditionals should be C^(number of discrete parents), where C is the
+   * cardinality of the DiscreteKeys in discreteParents, since the
+   * discreteParents will be used as the labels in the decision tree.
    */
   GaussianMixtureConditional(const KeyVector &continuousFrontals,
                              const KeyVector &continuousParents,

From c8bf9d350ca9ace6de6218607dabc9357b7340a8 Mon Sep 17 00:00:00 2001
From: Varun Agrawal <varagrawal@gmail.com>
Date: Thu, 2 Jun 2022 00:13:02 -0400
Subject: [PATCH 121/433] rename GaussianMixtureConditional to GaussianMixture

---
 ...ureConditional.cpp => GaussianMixture.cpp} | 28 +++++++++----------
 ...MixtureConditional.h => GaussianMixture.h} | 20 ++++++-------
 gtsam/hybrid/HybridConditional.cpp            |  2 +-
 gtsam/hybrid/HybridConditional.h              | 14 +++++-----
 gtsam/hybrid/HybridGaussianFactorGraph.cpp    |  8 +++---
 gtsam/hybrid/hybrid.i                         |  8 +++---
 .../tests/testGaussianHybridFactorGraph.cpp   |  6 ++--
 7 files changed, 43 insertions(+), 43 deletions(-)
 rename gtsam/hybrid/{GaussianMixtureConditional.cpp => GaussianMixture.cpp} (80%)
 rename gtsam/hybrid/{GaussianMixtureConditional.h => GaussianMixture.h} (87%)

diff --git a/gtsam/hybrid/GaussianMixtureConditional.cpp b/gtsam/hybrid/GaussianMixture.cpp
similarity index 80%
rename from gtsam/hybrid/GaussianMixtureConditional.cpp
rename to gtsam/hybrid/GaussianMixture.cpp
index 726af6d5ff..1663236f0a 100644
--- a/gtsam/hybrid/GaussianMixtureConditional.cpp
+++ b/gtsam/hybrid/GaussianMixture.cpp
@@ -10,7 +10,7 @@
  * -------------------------------------------------------------------------- */
 
 /**
- * @file   GaussianMixtureConditional.cpp
+ * @file   GaussianMixture.cpp
  * @brief  A hybrid conditional in the Conditional Linear Gaussian scheme
  * @author Fan Jiang
  * @author Varun Agrawal
@@ -20,41 +20,41 @@
 
 #include <gtsam/base/utilities.h>
 #include <gtsam/discrete/DecisionTree-inl.h>
-#include <gtsam/hybrid/GaussianMixtureConditional.h>
+#include <gtsam/hybrid/GaussianMixture.h>
 #include <gtsam/inference/Conditional-inst.h>
 #include <gtsam/linear/GaussianFactorGraph.h>
 
 namespace gtsam {
 
-GaussianMixtureConditional::GaussianMixtureConditional(
+GaussianMixture::GaussianMixture(
     const KeyVector &continuousFrontals, const KeyVector &continuousParents,
     const DiscreteKeys &discreteParents,
-    const GaussianMixtureConditional::Conditionals &conditionals)
+    const GaussianMixture::Conditionals &conditionals)
     : BaseFactor(CollectKeys(continuousFrontals, continuousParents),
                  discreteParents),
       BaseConditional(continuousFrontals.size()),
       conditionals_(conditionals) {}
 
 /* *******************************************************************************/
-const GaussianMixtureConditional::Conditionals &
-GaussianMixtureConditional::conditionals() {
+const GaussianMixture::Conditionals &
+GaussianMixture::conditionals() {
   return conditionals_;
 }
 
 /* *******************************************************************************/
-GaussianMixtureConditional GaussianMixtureConditional::FromConditionals(
+GaussianMixture GaussianMixture::FromConditionals(
     const KeyVector &continuousFrontals, const KeyVector &continuousParents,
     const DiscreteKeys &discreteParents,
     const std::vector<GaussianConditional::shared_ptr> &conditionalsList) {
   Conditionals dt(discreteParents, conditionalsList);
 
-  return GaussianMixtureConditional(continuousFrontals, continuousParents,
+  return GaussianMixture(continuousFrontals, continuousParents,
                                     discreteParents, dt);
 }
 
 /* *******************************************************************************/
-GaussianMixtureConditional::Sum GaussianMixtureConditional::add(
-    const GaussianMixtureConditional::Sum &sum) const {
+GaussianMixture::Sum GaussianMixture::add(
+    const GaussianMixture::Sum &sum) const {
   using Y = GaussianFactorGraph;
   auto add = [](const Y &graph1, const Y &graph2) {
     auto result = graph1;
@@ -66,8 +66,8 @@ GaussianMixtureConditional::Sum GaussianMixtureConditional::add(
 }
 
 /* *******************************************************************************/
-GaussianMixtureConditional::Sum
-GaussianMixtureConditional::asGaussianFactorGraphTree() const {
+GaussianMixture::Sum
+GaussianMixture::asGaussianFactorGraphTree() const {
   auto lambda = [](const GaussianFactor::shared_ptr &factor) {
     GaussianFactorGraph result;
     result.push_back(factor);
@@ -77,13 +77,13 @@ GaussianMixtureConditional::asGaussianFactorGraphTree() const {
 }
 
 /* *******************************************************************************/
-bool GaussianMixtureConditional::equals(const HybridFactor &lf,
+bool GaussianMixture::equals(const HybridFactor &lf,
                                         double tol) const {
   return BaseFactor::equals(lf, tol);
 }
 
 /* *******************************************************************************/
-void GaussianMixtureConditional::print(const std::string &s,
+void GaussianMixture::print(const std::string &s,
                                        const KeyFormatter &formatter) const {
   std::cout << s;
   if (isContinuous()) std::cout << "Continuous ";
diff --git a/gtsam/hybrid/GaussianMixtureConditional.h b/gtsam/hybrid/GaussianMixture.h
similarity index 87%
rename from gtsam/hybrid/GaussianMixtureConditional.h
rename to gtsam/hybrid/GaussianMixture.h
index ab0e2ce43f..756e7b77b2 100644
--- a/gtsam/hybrid/GaussianMixtureConditional.h
+++ b/gtsam/hybrid/GaussianMixture.h
@@ -10,7 +10,7 @@
  * -------------------------------------------------------------------------- */
 
 /**
- * @file   GaussianMixtureConditional.h
+ * @file   GaussianMixture.h
  * @brief  A hybrid conditional in the Conditional Linear Gaussian scheme
  * @author Fan Jiang
  * @author Varun Agrawal
@@ -39,14 +39,14 @@ namespace gtsam {
  * coefficient.
  *
  */
-class GTSAM_EXPORT GaussianMixtureConditional
+class GTSAM_EXPORT GaussianMixture
     : public HybridFactor,
-      public Conditional<HybridFactor, GaussianMixtureConditional> {
+      public Conditional<HybridFactor, GaussianMixture> {
  public:
-  using This = GaussianMixtureConditional;
-  using shared_ptr = boost::shared_ptr<GaussianMixtureConditional>;
+  using This = GaussianMixture;
+  using shared_ptr = boost::shared_ptr<GaussianMixture>;
   using BaseFactor = HybridFactor;
-  using BaseConditional = Conditional<HybridFactor, GaussianMixtureConditional>;
+  using BaseConditional = Conditional<HybridFactor, GaussianMixture>;
 
   /// Alias for DecisionTree of GaussianFactorGraphs
   using Sum = DecisionTree<Key, GaussianFactorGraph>;
@@ -67,10 +67,10 @@ class GTSAM_EXPORT GaussianMixtureConditional
   /// @{
 
   /// Defaut constructor, mainly for serialization.
-  GaussianMixtureConditional() = default;
+  GaussianMixture() = default;
 
   /**
-   * @brief Construct a new GaussianMixtureConditional object.
+   * @brief Construct a new GaussianMixture object.
    *
    * @param continuousFrontals the continuous frontals.
    * @param continuousParents the continuous parents.
@@ -80,7 +80,7 @@ class GTSAM_EXPORT GaussianMixtureConditional
    * cardinality of the DiscreteKeys in discreteParents, since the
    * discreteParents will be used as the labels in the decision tree.
    */
-  GaussianMixtureConditional(const KeyVector &continuousFrontals,
+  GaussianMixture(const KeyVector &continuousFrontals,
                              const KeyVector &continuousParents,
                              const DiscreteKeys &discreteParents,
                              const Conditionals &conditionals);
@@ -107,7 +107,7 @@ class GTSAM_EXPORT GaussianMixtureConditional
 
   /* print utility */
   void print(
-      const std::string &s = "GaussianMixtureConditional\n",
+      const std::string &s = "GaussianMixture\n",
       const KeyFormatter &formatter = DefaultKeyFormatter) const override;
 
   /// @}
diff --git a/gtsam/hybrid/HybridConditional.cpp b/gtsam/hybrid/HybridConditional.cpp
index 7d1b720674..8f95caf34a 100644
--- a/gtsam/hybrid/HybridConditional.cpp
+++ b/gtsam/hybrid/HybridConditional.cpp
@@ -54,7 +54,7 @@ HybridConditional::HybridConditional(
 
 /* ************************************************************************ */
 HybridConditional::HybridConditional(
-    boost::shared_ptr<GaussianMixtureConditional> gaussianMixture)
+    boost::shared_ptr<GaussianMixture> gaussianMixture)
     : BaseFactor(KeyVector(gaussianMixture->keys().begin(),
                            gaussianMixture->keys().begin() +
                                gaussianMixture->nrContinuous()),
diff --git a/gtsam/hybrid/HybridConditional.h b/gtsam/hybrid/HybridConditional.h
index 887b49f123..3ba5da393b 100644
--- a/gtsam/hybrid/HybridConditional.h
+++ b/gtsam/hybrid/HybridConditional.h
@@ -18,7 +18,7 @@
 #pragma once
 
 #include <gtsam/discrete/DiscreteConditional.h>
-#include <gtsam/hybrid/GaussianMixtureConditional.h>
+#include <gtsam/hybrid/GaussianMixture.h>
 #include <gtsam/hybrid/HybridFactor.h>
 #include <gtsam/hybrid/HybridGaussianFactorGraph.h>
 #include <gtsam/inference/Conditional.h>
@@ -42,7 +42,7 @@ class HybridGaussianFactorGraph;
  * As a type-erased variant of:
  * - DiscreteConditional
  * - GaussianConditional
- * - GaussianMixtureConditional
+ * - GaussianMixture
  *
  * The reason why this is important is that `Conditional<T>` is a CRTP class.
  * CRTP is static polymorphism such that all CRTP classes, while bearing the
@@ -128,16 +128,16 @@ class GTSAM_EXPORT HybridConditional
    * HybridConditional.
    */
   HybridConditional(
-      boost::shared_ptr<GaussianMixtureConditional> gaussianMixture);
+      boost::shared_ptr<GaussianMixture> gaussianMixture);
 
   /**
-   * @brief Return HybridConditional as a GaussianMixtureConditional
+   * @brief Return HybridConditional as a GaussianMixture
    *
-   * @return GaussianMixtureConditional::shared_ptr
+   * @return GaussianMixture::shared_ptr
    */
-  GaussianMixtureConditional::shared_ptr asMixture() {
+  GaussianMixture::shared_ptr asMixture() {
     if (!isHybrid()) throw std::invalid_argument("Not a mixture");
-    return boost::static_pointer_cast<GaussianMixtureConditional>(inner_);
+    return boost::static_pointer_cast<GaussianMixture>(inner_);
   }
 
   /**
diff --git a/gtsam/hybrid/HybridGaussianFactorGraph.cpp b/gtsam/hybrid/HybridGaussianFactorGraph.cpp
index 0ac2c26560..f4f09701f3 100644
--- a/gtsam/hybrid/HybridGaussianFactorGraph.cpp
+++ b/gtsam/hybrid/HybridGaussianFactorGraph.cpp
@@ -23,7 +23,7 @@
 #include <gtsam/discrete/DiscreteEliminationTree.h>
 #include <gtsam/discrete/DiscreteFactorGraph.h>
 #include <gtsam/discrete/DiscreteJunctionTree.h>
-#include <gtsam/hybrid/GaussianMixtureConditional.h>
+#include <gtsam/hybrid/GaussianMixture.h>
 #include <gtsam/hybrid/GaussianMixtureFactor.h>
 #include <gtsam/hybrid/HybridConditional.h>
 #include <gtsam/hybrid/HybridDiscreteFactor.h>
@@ -207,8 +207,8 @@ hybridElimination(const HybridGaussianFactorGraph &factors,
 
   const GaussianMixtureFactor::Factors &separatorFactors = pair.second;
 
-  // Create the GaussianMixtureConditional from the conditionals
-  auto conditional = boost::make_shared<GaussianMixtureConditional>(
+  // Create the GaussianMixture from the conditionals
+  auto conditional = boost::make_shared<GaussianMixture>(
       frontalKeys, keysOfSeparator, discreteSeparator, pair.first);
 
   // If there are no more continuous parents, then we should create here a
@@ -262,7 +262,7 @@ EliminateHybrid(const HybridGaussianFactorGraph &factors,
   // Because of all these reasons, we carefully consider how to
   // implement the hybrid factors so that we do not get poor performance.
 
-  // The first thing is how to represent the GaussianMixtureConditional.
+  // The first thing is how to represent the GaussianMixture.
   // A very possible scenario is that the incoming factors will have different
   // levels of discrete keys. For example, imagine we are going to eliminate the
   // fragment: $\phi(x1,c1,c2)$, $\phi(x1,c2,c3)$, which is perfectly valid.
diff --git a/gtsam/hybrid/hybrid.i b/gtsam/hybrid/hybrid.i
index 94eaa88b2d..bbe1e2400d 100644
--- a/gtsam/hybrid/hybrid.i
+++ b/gtsam/hybrid/hybrid.i
@@ -38,16 +38,16 @@ class GaussianMixtureFactor : gtsam::HybridFactor {
                  gtsam::DefaultKeyFormatter) const;
 };
 
-#include <gtsam/hybrid/GaussianMixtureConditional.h>
-class GaussianMixtureConditional : gtsam::HybridFactor {
-  static GaussianMixtureConditional FromConditionals(
+#include <gtsam/hybrid/GaussianMixture.h>
+class GaussianMixture : gtsam::HybridFactor {
+  static GaussianMixture FromConditionals(
       const gtsam::KeyVector& continuousFrontals,
       const gtsam::KeyVector& continuousParents,
       const gtsam::DiscreteKeys& discreteParents,
       const std::vector<gtsam::GaussianConditional::shared_ptr>&
           conditionalsList);
 
-  void print(string s = "GaussianMixtureConditional\n",
+  void print(string s = "GaussianMixture\n",
              const gtsam::KeyFormatter& keyFormatter =
                  gtsam::DefaultKeyFormatter) const;
 };
diff --git a/gtsam/hybrid/tests/testGaussianHybridFactorGraph.cpp b/gtsam/hybrid/tests/testGaussianHybridFactorGraph.cpp
index 8ff959d741..552bb18f59 100644
--- a/gtsam/hybrid/tests/testGaussianHybridFactorGraph.cpp
+++ b/gtsam/hybrid/tests/testGaussianHybridFactorGraph.cpp
@@ -20,7 +20,7 @@
 #include <gtsam/discrete/DecisionTreeFactor.h>
 #include <gtsam/discrete/DiscreteKey.h>
 #include <gtsam/discrete/DiscreteValues.h>
-#include <gtsam/hybrid/GaussianMixtureConditional.h>
+#include <gtsam/hybrid/GaussianMixture.h>
 #include <gtsam/hybrid/GaussianMixtureFactor.h>
 #include <gtsam/hybrid/HybridBayesNet.h>
 #include <gtsam/hybrid/HybridBayesTree.h>
@@ -65,9 +65,9 @@ TEST(HybridGaussianFactorGraph, creation) {
 
   hfg.add(HybridGaussianFactor(JacobianFactor(0, I_3x3, Z_3x1)));
 
-  GaussianMixtureConditional clgc(
+  GaussianMixture clgc(
       {X(0)}, {X(1)}, DiscreteKeys(DiscreteKey{C(0), 2}),
-      GaussianMixtureConditional::Conditionals(
+      GaussianMixture::Conditionals(
           C(0),
           boost::make_shared<GaussianConditional>(X(0), Z_3x1, I_3x3, X(1),
                                                   I_3x3),

From 932e65c7a2d418c711a67019fb8763da298dd97f Mon Sep 17 00:00:00 2001
From: Varun Agrawal <varagrawal@gmail.com>
Date: Thu, 2 Jun 2022 00:39:52 -0400
Subject: [PATCH 122/433] Add GTSAM_EXPORT and Testable traits

---
 gtsam/hybrid/GaussianMixture.h           | 10 +++++++---
 gtsam/hybrid/GaussianMixtureFactor.h     |  7 ++++++-
 gtsam/hybrid/HybridDiscreteFactor.h      |  7 ++++++-
 gtsam/hybrid/HybridGaussianFactor.h      |  7 ++++++-
 gtsam/hybrid/HybridGaussianFactorGraph.h |  2 +-
 5 files changed, 26 insertions(+), 7 deletions(-)

diff --git a/gtsam/hybrid/GaussianMixture.h b/gtsam/hybrid/GaussianMixture.h
index 756e7b77b2..f805c76c60 100644
--- a/gtsam/hybrid/GaussianMixture.h
+++ b/gtsam/hybrid/GaussianMixture.h
@@ -81,9 +81,9 @@ class GTSAM_EXPORT GaussianMixture
    * discreteParents will be used as the labels in the decision tree.
    */
   GaussianMixture(const KeyVector &continuousFrontals,
-                             const KeyVector &continuousParents,
-                             const DiscreteKeys &discreteParents,
-                             const Conditionals &conditionals);
+                  const KeyVector &continuousParents,
+                  const DiscreteKeys &discreteParents,
+                  const Conditionals &conditionals);
 
   /**
    * @brief Make a Gaussian Mixture from a list of Gaussian conditionals
@@ -125,4 +125,8 @@ class GTSAM_EXPORT GaussianMixture
   Sum add(const Sum &sum) const;
 };
 
+// traits
+template <>
+struct traits<GaussianMixture> : public Testable<GaussianMixture> {};
+
 }  // namespace gtsam
diff --git a/gtsam/hybrid/GaussianMixtureFactor.h b/gtsam/hybrid/GaussianMixtureFactor.h
index b3569183b1..21770f836e 100644
--- a/gtsam/hybrid/GaussianMixtureFactor.h
+++ b/gtsam/hybrid/GaussianMixtureFactor.h
@@ -41,7 +41,7 @@ using GaussianFactorVector = std::vector<gtsam::GaussianFactor::shared_ptr>;
  * of discrete variables indexes to the continuous gaussian distribution.
  *
  */
-class GaussianMixtureFactor : public HybridFactor {
+class GTSAM_EXPORT GaussianMixtureFactor : public HybridFactor {
  public:
   using Base = HybridFactor;
   using This = GaussianMixtureFactor;
@@ -113,4 +113,9 @@ class GaussianMixtureFactor : public HybridFactor {
   Sum add(const Sum &sum) const;
 };
 
+// traits
+template <>
+struct traits<GaussianMixtureFactor> : public Testable<GaussianMixtureFactor> {
+};
+
 }  // namespace gtsam
diff --git a/gtsam/hybrid/HybridDiscreteFactor.h b/gtsam/hybrid/HybridDiscreteFactor.h
index 572ddfbcd1..9cbea8170f 100644
--- a/gtsam/hybrid/HybridDiscreteFactor.h
+++ b/gtsam/hybrid/HybridDiscreteFactor.h
@@ -29,7 +29,7 @@ namespace gtsam {
  * us to hide the implementation of DiscreteFactor and thus avoid diamond
  * inheritance.
  */
-class HybridDiscreteFactor : public HybridFactor {
+class GTSAM_EXPORT HybridDiscreteFactor : public HybridFactor {
  private:
   DiscreteFactor::shared_ptr inner_;
 
@@ -61,4 +61,9 @@ class HybridDiscreteFactor : public HybridFactor {
   /// Return pointer to the internal discrete factor
   DiscreteFactor::shared_ptr inner() const { return inner_; }
 };
+
+// traits
+template <>
+struct traits<HybridDiscreteFactor> : public Testable<HybridDiscreteFactor> {};
+
 }  // namespace gtsam
diff --git a/gtsam/hybrid/HybridGaussianFactor.h b/gtsam/hybrid/HybridGaussianFactor.h
index 6fa83b7263..2a92c717c2 100644
--- a/gtsam/hybrid/HybridGaussianFactor.h
+++ b/gtsam/hybrid/HybridGaussianFactor.h
@@ -28,7 +28,7 @@ namespace gtsam {
  * a diamond inheritance i.e. an extra factor type that inherits from both
  * HybridFactor and GaussianFactor.
  */
-class HybridGaussianFactor : public HybridFactor {
+class GTSAM_EXPORT HybridGaussianFactor : public HybridFactor {
  private:
   GaussianFactor::shared_ptr inner_;
 
@@ -59,4 +59,9 @@ class HybridGaussianFactor : public HybridFactor {
 
   GaussianFactor::shared_ptr inner() const { return inner_; }
 };
+
+// traits
+template <>
+struct traits<HybridGaussianFactor> : public Testable<HybridGaussianFactor> {};
+
 }  // namespace gtsam
diff --git a/gtsam/hybrid/HybridGaussianFactorGraph.h b/gtsam/hybrid/HybridGaussianFactorGraph.h
index 6944af510d..e7dc3dfca6 100644
--- a/gtsam/hybrid/HybridGaussianFactorGraph.h
+++ b/gtsam/hybrid/HybridGaussianFactorGraph.h
@@ -71,7 +71,7 @@ struct EliminationTraits<HybridGaussianFactorGraph> {
  * This is the linearized version of a hybrid factor graph.
  * Everything inside needs to be hybrid factor or hybrid conditional.
  */
-class HybridGaussianFactorGraph
+class GTSAM_EXPORT HybridGaussianFactorGraph
     : public FactorGraph<HybridFactor>,
       public EliminateableFactorGraph<HybridGaussianFactorGraph> {
  public:

From 2afa6781f80044d2841a4de436e42a5df8129c3b Mon Sep 17 00:00:00 2001
From: Varun Agrawal <varagrawal@gmail.com>
Date: Thu, 2 Jun 2022 09:20:43 -0400
Subject: [PATCH 123/433] fix python test

---
 python/gtsam/tests/test_HybridFactorGraph.py | 2 +-
 1 file changed, 1 insertion(+), 1 deletion(-)

diff --git a/python/gtsam/tests/test_HybridFactorGraph.py b/python/gtsam/tests/test_HybridFactorGraph.py
index 07a8178e6c..781cfd9240 100644
--- a/python/gtsam/tests/test_HybridFactorGraph.py
+++ b/python/gtsam/tests/test_HybridFactorGraph.py
@@ -49,7 +49,7 @@ def test_create(self):
         self.assertEqual(hbn.size(), 2)
 
         mixture = hbn.at(0).inner()
-        self.assertIsInstance(mixture, gtsam.GaussianMixtureConditional)
+        self.assertIsInstance(mixture, gtsam.GaussianMixture)
         self.assertEqual(len(mixture.keys()), 2)
 
         discrete_conditional = hbn.at(hbn.size() - 1).inner()

From 3e10514846c8d32000ab6d51de296ce5722ad8f5 Mon Sep 17 00:00:00 2001
From: Varun Agrawal <varagrawal@gmail.com>
Date: Thu, 2 Jun 2022 22:45:12 -0400
Subject: [PATCH 124/433] if checks for dynamic_cast

---
 gtsam/hybrid/HybridGaussianFactorGraph.cpp | 42 +++++++++-------------
 1 file changed, 16 insertions(+), 26 deletions(-)

diff --git a/gtsam/hybrid/HybridGaussianFactorGraph.cpp b/gtsam/hybrid/HybridGaussianFactorGraph.cpp
index f4f09701f3..99202ba6a0 100644
--- a/gtsam/hybrid/HybridGaussianFactorGraph.cpp
+++ b/gtsam/hybrid/HybridGaussianFactorGraph.cpp
@@ -82,23 +82,19 @@ continuousElimination(const HybridGaussianFactorGraph &factors,
                       const Ordering &frontalKeys) {
   GaussianFactorGraph gfg;
   for (auto &fp : factors) {
-    auto ptr = boost::dynamic_pointer_cast<HybridGaussianFactor>(fp);
-    if (ptr) {
+    if (auto ptr = boost::dynamic_pointer_cast<HybridGaussianFactor>(fp)) {
       gfg.push_back(ptr->inner());
+    } else if (auto p =
+                   boost::static_pointer_cast<HybridConditional>(fp)->inner()) {
+      gfg.push_back(boost::static_pointer_cast<GaussianConditional>(p));
     } else {
-      auto p = boost::static_pointer_cast<HybridConditional>(fp)->inner();
-      if (p) {
-        gfg.push_back(boost::static_pointer_cast<GaussianConditional>(p));
-      } else {
-        // It is an orphan wrapped conditional
-      }
+      // It is an orphan wrapped conditional
     }
   }
 
   auto result = EliminatePreferCholesky(gfg, frontalKeys);
-  return std::make_pair(
-      boost::make_shared<HybridConditional>(result.first),
-      boost::make_shared<HybridGaussianFactor>(result.second));
+  return {boost::make_shared<HybridConditional>(result.first),
+          boost::make_shared<HybridGaussianFactor>(result.second)};
 }
 
 /* ************************************************************************ */
@@ -107,24 +103,20 @@ discreteElimination(const HybridGaussianFactorGraph &factors,
                     const Ordering &frontalKeys) {
   DiscreteFactorGraph dfg;
   for (auto &fp : factors) {
-    auto ptr = boost::dynamic_pointer_cast<HybridDiscreteFactor>(fp);
-    if (ptr) {
+    if (auto ptr = boost::dynamic_pointer_cast<HybridDiscreteFactor>(fp)) {
       dfg.push_back(ptr->inner());
+    } else if (auto p =
+                   boost::static_pointer_cast<HybridConditional>(fp)->inner()) {
+      dfg.push_back(boost::static_pointer_cast<DiscreteConditional>(p));
     } else {
-      auto p = boost::static_pointer_cast<HybridConditional>(fp)->inner();
-      if (p) {
-        dfg.push_back(boost::static_pointer_cast<DiscreteConditional>(p));
-      } else {
-        // It is an orphan wrapper
-      }
+      // It is an orphan wrapper
     }
   }
 
   auto result = EliminateDiscrete(dfg, frontalKeys);
 
-  return std::make_pair(
-      boost::make_shared<HybridConditional>(result.first),
-      boost::make_shared<HybridDiscreteFactor>(result.second));
+  return {boost::make_shared<HybridConditional>(result.first),
+          boost::make_shared<HybridDiscreteFactor>(result.second)};
 }
 
 /* ************************************************************************ */
@@ -146,13 +138,11 @@ hybridElimination(const HybridGaussianFactorGraph &factors,
 
   for (auto &f : factors) {
     if (f->isHybrid()) {
-      auto cgmf = boost::dynamic_pointer_cast<GaussianMixtureFactor>(f);
-      if (cgmf) {
+      if (auto cgmf = boost::dynamic_pointer_cast<GaussianMixtureFactor>(f)) {
         sum = cgmf->add(sum);
       }
 
-      auto gm = boost::dynamic_pointer_cast<HybridConditional>(f);
-      if (gm) {
+      if (auto gm = boost::dynamic_pointer_cast<HybridConditional>(f)) {
         sum = gm->asMixture()->add(sum);
       }
 

From dd877479fa7a3fc124435408afcf186ccc46293e Mon Sep 17 00:00:00 2001
From: Varun Agrawal <varagrawal@gmail.com>
Date: Thu, 2 Jun 2022 22:47:45 -0400
Subject: [PATCH 125/433] separate out summing of frontals into separate
 function

---
 gtsam/hybrid/HybridGaussianFactorGraph.cpp | 83 ++++++++++++----------
 1 file changed, 46 insertions(+), 37 deletions(-)

diff --git a/gtsam/hybrid/HybridGaussianFactorGraph.cpp b/gtsam/hybrid/HybridGaussianFactorGraph.cpp
index 99202ba6a0..3fa6e3e6bb 100644
--- a/gtsam/hybrid/HybridGaussianFactorGraph.cpp
+++ b/gtsam/hybrid/HybridGaussianFactorGraph.cpp
@@ -76,6 +76,51 @@ static GaussianMixtureFactor::Sum &addGaussian(
   return sum;
 }
 
+/* ************************************************************************ */
+GaussianMixtureFactor::Sum sumFrontals(
+    const HybridGaussianFactorGraph &factors) {
+  // sum out frontals, this is the factor on the separator
+  gttic(sum);
+
+  GaussianMixtureFactor::Sum sum;
+  std::vector<GaussianFactor::shared_ptr> deferredFactors;
+
+  for (auto &f : factors) {
+    if (f->isHybrid()) {
+      if (auto cgmf = boost::dynamic_pointer_cast<GaussianMixtureFactor>(f)) {
+        sum = cgmf->add(sum);
+      }
+
+      if (auto gm = boost::dynamic_pointer_cast<HybridConditional>(f)) {
+        sum = gm->asMixture()->add(sum);
+      }
+
+    } else if (f->isContinuous()) {
+      deferredFactors.push_back(
+          boost::dynamic_pointer_cast<HybridGaussianFactor>(f)->inner());
+    } else {
+      // We need to handle the case where the object is actually an
+      // BayesTreeOrphanWrapper!
+      auto orphan = boost::dynamic_pointer_cast<
+          BayesTreeOrphanWrapper<HybridBayesTree::Clique>>(f);
+      if (!orphan) {
+        auto &fr = *f;
+        throw std::invalid_argument(
+            std::string("factor is discrete in continuous elimination") +
+            typeid(fr).name());
+      }
+    }
+  }
+
+  for (auto &f : deferredFactors) {
+    sum = addGaussian(sum, f);
+  }
+
+  gttoc(sum);
+
+  return sum;
+}
+
 /* ************************************************************************ */
 std::pair<HybridConditional::shared_ptr, HybridFactor::shared_ptr>
 continuousElimination(const HybridGaussianFactorGraph &factors,
@@ -131,43 +176,7 @@ hybridElimination(const HybridGaussianFactorGraph &factors,
                                  discreteSeparatorSet.end());
 
   // sum out frontals, this is the factor on the separator
-  gttic(sum);
-
-  GaussianMixtureFactor::Sum sum;
-  std::vector<GaussianFactor::shared_ptr> deferredFactors;
-
-  for (auto &f : factors) {
-    if (f->isHybrid()) {
-      if (auto cgmf = boost::dynamic_pointer_cast<GaussianMixtureFactor>(f)) {
-        sum = cgmf->add(sum);
-      }
-
-      if (auto gm = boost::dynamic_pointer_cast<HybridConditional>(f)) {
-        sum = gm->asMixture()->add(sum);
-      }
-
-    } else if (f->isContinuous()) {
-      deferredFactors.push_back(
-          boost::dynamic_pointer_cast<HybridGaussianFactor>(f)->inner());
-    } else {
-      // We need to handle the case where the object is actually an
-      // BayesTreeOrphanWrapper!
-      auto orphan = boost::dynamic_pointer_cast<
-          BayesTreeOrphanWrapper<HybridBayesTree::Clique>>(f);
-      if (!orphan) {
-        auto &fr = *f;
-        throw std::invalid_argument(
-            std::string("factor is discrete in continuous elimination") +
-            typeid(fr).name());
-      }
-    }
-  }
-
-  for (auto &f : deferredFactors) {
-    sum = addGaussian(sum, f);
-  }
-
-  gttoc(sum);
+  GaussianMixtureFactor::Sum sum = sumFrontals(factors);
 
   using EliminationPair = GaussianFactorGraph::EliminationResult;
 

From 92176db645bed9374cf3a6fda677fbc8b59d31de Mon Sep 17 00:00:00 2001
From: Varun Agrawal <varagrawal@gmail.com>
Date: Thu, 2 Jun 2022 22:50:44 -0400
Subject: [PATCH 126/433] add comments

---
 gtsam/hybrid/HybridGaussianFactorGraph.cpp | 3 +++
 1 file changed, 3 insertions(+)

diff --git a/gtsam/hybrid/HybridGaussianFactorGraph.cpp b/gtsam/hybrid/HybridGaussianFactorGraph.cpp
index 3fa6e3e6bb..c1251309c5 100644
--- a/gtsam/hybrid/HybridGaussianFactorGraph.cpp
+++ b/gtsam/hybrid/HybridGaussianFactorGraph.cpp
@@ -183,6 +183,7 @@ hybridElimination(const HybridGaussianFactorGraph &factors,
   KeyVector keysOfEliminated;  // Not the ordering
   KeyVector keysOfSeparator;   // TODO(frank): Is this just (keys - ordering)?
 
+  // This is the elimination method on the leaf nodes
   auto eliminate = [&](const GaussianFactorGraph &graph)
       -> GaussianFactorGraph::EliminationResult {
     if (graph.empty()) {
@@ -200,8 +201,10 @@ hybridElimination(const HybridGaussianFactorGraph &factors,
     return result;
   };
 
+  // Perform elimination!
   DecisionTree<Key, EliminationPair> eliminationResults(sum, eliminate);
 
+  // Separate out decision tree into conditionals and remaining factors.
   auto pair = unzip(eliminationResults);
 
   const GaussianMixtureFactor::Factors &separatorFactors = pair.second;

From b47cd9d97bec48b0c4598a61dcda16b407d11c0f Mon Sep 17 00:00:00 2001
From: Varun Agrawal <varagrawal@gmail.com>
Date: Thu, 2 Jun 2022 22:55:46 -0400
Subject: [PATCH 127/433] update GaussianMixture docstring

---
 gtsam/hybrid/GaussianMixture.h | 7 ++++---
 1 file changed, 4 insertions(+), 3 deletions(-)

diff --git a/gtsam/hybrid/GaussianMixture.h b/gtsam/hybrid/GaussianMixture.h
index f805c76c60..e855067150 100644
--- a/gtsam/hybrid/GaussianMixture.h
+++ b/gtsam/hybrid/GaussianMixture.h
@@ -34,9 +34,10 @@ namespace gtsam {
  * variable, M is the selection of discrete variables corresponding to a subset
  * of the Gaussian variables and Z is parent of this node
  *
- * The negative log-probability is given by \f$ \sum_{m=1}^M \pi_m \frac{1}{2}
- * |Rx - (d - Sy - Tz - ...)|^2 \f$, where \f$ \pi_m \f$ is the mixing
- * coefficient.
+ * The probability P(x|y,z,...) is proportional to
+ * \f$ \sum_i k_i \exp - \frac{1}{2} |R_i x - (d_i - S_i y - T_i z - ...)|^2 \f$
+ * where i indexes the components and k_i is a component-wise normalization
+ * constant.
  *
  */
 class GTSAM_EXPORT GaussianMixture

From 9e737dbbd8efe75b1a183fc34983b8fab75e6250 Mon Sep 17 00:00:00 2001
From: Varun Agrawal <varagrawal@gmail.com>
Date: Fri, 3 Jun 2022 12:47:21 -0400
Subject: [PATCH 128/433] initial pruning method

---
 gtsam/hybrid/HybridBayesNet.cpp | 95 +++++++++++++++++++++++++++++++++
 1 file changed, 95 insertions(+)

diff --git a/gtsam/hybrid/HybridBayesNet.cpp b/gtsam/hybrid/HybridBayesNet.cpp
index 1292711d89..7d18347230 100644
--- a/gtsam/hybrid/HybridBayesNet.cpp
+++ b/gtsam/hybrid/HybridBayesNet.cpp
@@ -14,3 +14,98 @@
  */
 
 #include <gtsam/hybrid/HybridBayesNet.h>
+
+namespace gtsam {
+
+/* ************************************************************************* */
+/// Return the DiscreteKey vector as a set.
+static std::set<DiscreteKey> DiscreteKeysAsSet(const DiscreteKeys &dkeys) {
+  std::set<DiscreteKey> s;
+  s.insert(dkeys.begin(), dkeys.end());
+  return s;
+}
+
+/* ************************************************************************* */
+HybridBayesNet HybridBayesNet::prune(
+    const DecisionTreeFactor::shared_ptr &discreteFactor) const {
+  /* To Prune, we visitWith every leaf in the GaussianMixture.
+   * For each leaf, using the assignment we can check the discrete decision tree
+   * for 0.0 probability, then just set the leaf to a nullptr.
+   *
+   * We can later check the GaussianMixture for just nullptrs.
+   */
+
+  HybridBayesNet prunedBayesNetFragment;
+
+  // Functional which loops over all assignments and create a set of
+  // GaussianConditionals
+  auto pruner =
+      [&](const Assignment<Key> &choices,
+          const GaussianFactor::shared_ptr &gf) -> GaussianFactor::shared_ptr {
+    // typecast so we can use this to get probability value
+    DiscreteValues values(choices);
+
+    if ((*discreteFactor)(values) == 0.0) {
+      // empty aka null pointer
+      boost::shared_ptr<GaussianFactor> null;
+      return null;
+    } else {
+      return gf;
+    }
+  };
+
+  // Go through all the conditionals in the
+  // Bayes Net and prune them as per discreteFactor.
+  for (size_t i = 0; i < this->size(); i++) {
+    HybridConditional::shared_ptr conditional = this->at(i);
+
+    GaussianMixture::shared_ptr gaussianMixture =
+        boost::dynamic_pointer_cast<GaussianMixture>(conditional->inner());
+
+    if (gaussianMixture) {
+      // We may have mixtures with less discrete keys than discreteFactor so we
+      // skip those since the label assignment does not exist.
+      auto gmKeySet = DiscreteKeysAsSet(gaussianMixture->discreteKeys());
+      auto dfKeySet = DiscreteKeysAsSet(discreteFactor->discreteKeys());
+      if (gmKeySet != dfKeySet) {
+        // Add the gaussianMixture which doesn't have to be pruned.
+        prunedBayesNetFragment.push_back(
+            boost::make_shared<HybridConditional>(gaussianMixture));
+        continue;
+      }
+
+      // The GaussianMixture stores all the conditionals and uneliminated
+      // factors in the factors tree.
+      auto gaussianMixtureTree = gaussianMixture->factors();
+
+      // Run the pruning to get a new, pruned tree
+      auto prunedFactors = gaussianMixtureTree.apply(pruner);
+
+      DiscreteKeys discreteKeys = gaussianMixture->discreteKeys();
+      // reverse keys to get a natural ordering
+      std::reverse(discreteKeys.begin(), discreteKeys.end());
+
+      // Convert to GaussianConditionals
+      auto prunedTree = GaussianMixture::Conditionals(
+          prunedFactors, [](const GaussianFactor::shared_ptr &factor) {
+            return boost::dynamic_pointer_cast<GaussianConditional>(factor);
+          });
+
+      // Create the new gaussian mixture and add it to the bayes net.
+      auto prunedGaussianMixture = boost::make_shared<GaussianMixture>(
+          gaussianMixture->frontals(), gaussianMixture->parents(), discreteKeys,
+          prunedTree);
+
+      prunedBayesNetFragment.push_back(
+          boost::make_shared<HybridConditional>(prunedGaussianMixture));
+
+    } else {
+      // Add the non-GaussianMixture conditional
+      prunedBayesNetFragment.push_back(conditional);
+    }
+  }
+
+  return prunedBayesNetFragment;
+}
+
+}  // namespace gtsam

From 89768cf692144a8ccc24d66f993bcd249059f32d Mon Sep 17 00:00:00 2001
From: Varun Agrawal <varagrawal@gmail.com>
Date: Fri, 3 Jun 2022 13:07:46 -0400
Subject: [PATCH 129/433] record continuous keys separately

---
 gtsam/hybrid/HybridFactor.cpp |  9 +++++----
 gtsam/hybrid/HybridFactor.h   | 12 +++++++++---
 2 files changed, 14 insertions(+), 7 deletions(-)

diff --git a/gtsam/hybrid/HybridFactor.cpp b/gtsam/hybrid/HybridFactor.cpp
index 127c9761c0..cdae5faa67 100644
--- a/gtsam/hybrid/HybridFactor.cpp
+++ b/gtsam/hybrid/HybridFactor.cpp
@@ -50,7 +50,7 @@ DiscreteKeys CollectDiscreteKeys(const DiscreteKeys &key1,
 
 /* ************************************************************************ */
 HybridFactor::HybridFactor(const KeyVector &keys)
-    : Base(keys), isContinuous_(true), nrContinuous_(keys.size()) {}
+    : Base(keys), isContinuous_(true), continuousKeys_(keys) {}
 
 /* ************************************************************************ */
 HybridFactor::HybridFactor(const KeyVector &continuousKeys,
@@ -59,8 +59,8 @@ HybridFactor::HybridFactor(const KeyVector &continuousKeys,
       isDiscrete_((continuousKeys.size() == 0) && (discreteKeys.size() != 0)),
       isContinuous_((continuousKeys.size() != 0) && (discreteKeys.size() == 0)),
       isHybrid_((continuousKeys.size() != 0) && (discreteKeys.size() != 0)),
-      nrContinuous_(continuousKeys.size()),
-      discreteKeys_(discreteKeys) {}
+      discreteKeys_(discreteKeys),
+      continuousKeys_(continuousKeys) {}
 
 /* ************************************************************************ */
 HybridFactor::HybridFactor(const DiscreteKeys &discreteKeys)
@@ -73,7 +73,8 @@ bool HybridFactor::equals(const HybridFactor &lf, double tol) const {
   const This *e = dynamic_cast<const This *>(&lf);
   return e != nullptr && Base::equals(*e, tol) &&
          isDiscrete_ == e->isDiscrete_ && isContinuous_ == e->isContinuous_ &&
-         isHybrid_ == e->isHybrid_ && nrContinuous_ == e->nrContinuous_;
+         isHybrid_ == e->isHybrid_ && continuousKeys_ == e->continuousKeys_ &&
+         discreteKeys_ == e->discreteKeys_;
 }
 
 /* ************************************************************************ */
diff --git a/gtsam/hybrid/HybridFactor.h b/gtsam/hybrid/HybridFactor.h
index 244fba4ccb..ffa28d3f71 100644
--- a/gtsam/hybrid/HybridFactor.h
+++ b/gtsam/hybrid/HybridFactor.h
@@ -50,7 +50,10 @@ class GTSAM_EXPORT HybridFactor : public Factor {
   size_t nrContinuous_ = 0;
 
  protected:
+  // Set of DiscreteKeys for this factor.
   DiscreteKeys discreteKeys_;
+  // For bookkeeping
+  KeyVector continuousKeys_;
 
  public:
   // typedefs needed to play nice with gtsam
@@ -117,10 +120,13 @@ class GTSAM_EXPORT HybridFactor : public Factor {
   bool isHybrid() const { return isHybrid_; }
 
   /// Return the number of continuous variables in this factor.
-  size_t nrContinuous() const { return nrContinuous_; }
+  size_t nrContinuous() const { return continuousKeys_.size(); }
 
-  /// Return vector of discrete keys.
-  DiscreteKeys discreteKeys() const { return discreteKeys_; }
+  /// Return the discrete keys for this factor.
+  const DiscreteKeys &discreteKeys() const { return discreteKeys_; }
+
+  /// Return only the continuous keys for this factor.
+  const KeyVector &continuousKeys() const { return continuousKeys_; }
 
   /// @}
 };

From ad77a45a0d9ded056d01a6e9b7af4331e9ac3425 Mon Sep 17 00:00:00 2001
From: Varun Agrawal <varagrawal@gmail.com>
Date: Fri, 3 Jun 2022 13:08:32 -0400
Subject: [PATCH 130/433] formatting and docs update

---
 gtsam/hybrid/GaussianMixture.cpp | 15 ++++++---------
 gtsam/hybrid/GaussianMixture.h   | 11 +++++++----
 2 files changed, 13 insertions(+), 13 deletions(-)

diff --git a/gtsam/hybrid/GaussianMixture.cpp b/gtsam/hybrid/GaussianMixture.cpp
index 0000575182..8970a3993a 100644
--- a/gtsam/hybrid/GaussianMixture.cpp
+++ b/gtsam/hybrid/GaussianMixture.cpp
@@ -36,8 +36,7 @@ GaussianMixture::GaussianMixture(
       conditionals_(conditionals) {}
 
 /* *******************************************************************************/
-const GaussianMixture::Conditionals &
-GaussianMixture::conditionals() {
+const GaussianMixture::Conditionals &GaussianMixture::conditionals() {
   return conditionals_;
 }
 
@@ -48,8 +47,8 @@ GaussianMixture GaussianMixture::FromConditionals(
     const std::vector<GaussianConditional::shared_ptr> &conditionalsList) {
   Conditionals dt(discreteParents, conditionalsList);
 
-  return GaussianMixture(continuousFrontals, continuousParents,
-                                    discreteParents, dt);
+  return GaussianMixture(continuousFrontals, continuousParents, discreteParents,
+                         dt);
 }
 
 /* *******************************************************************************/
@@ -66,8 +65,7 @@ GaussianMixture::Sum GaussianMixture::add(
 }
 
 /* *******************************************************************************/
-GaussianMixture::Sum
-GaussianMixture::asGaussianFactorGraphTree() const {
+GaussianMixture::Sum GaussianMixture::asGaussianFactorGraphTree() const {
   auto lambda = [](const GaussianFactor::shared_ptr &factor) {
     GaussianFactorGraph result;
     result.push_back(factor);
@@ -77,15 +75,14 @@ GaussianMixture::asGaussianFactorGraphTree() const {
 }
 
 /* *******************************************************************************/
-bool GaussianMixture::equals(const HybridFactor &lf,
-                                        double tol) const {
+bool GaussianMixture::equals(const HybridFactor &lf, double tol) const {
   const This *e = dynamic_cast<const This *>(&lf);
   return e != nullptr && BaseFactor::equals(*e, tol);
 }
 
 /* *******************************************************************************/
 void GaussianMixture::print(const std::string &s,
-                                       const KeyFormatter &formatter) const {
+                            const KeyFormatter &formatter) const {
   std::cout << s;
   if (isContinuous()) std::cout << "Continuous ";
   if (isDiscrete()) std::cout << "Discrete ";
diff --git a/gtsam/hybrid/GaussianMixture.h b/gtsam/hybrid/GaussianMixture.h
index e855067150..6100b49d19 100644
--- a/gtsam/hybrid/GaussianMixture.h
+++ b/gtsam/hybrid/GaussianMixture.h
@@ -28,11 +28,14 @@ namespace gtsam {
 
 /**
  * @brief A conditional of gaussian mixtures indexed by discrete variables, as
- * part of a Bayes Network.
+ * part of a Bayes Network. This is the result of the elimination of a
+ * continuous variable in a hybrid scheme, such that the remaining variables are
+ * discrete+continuous.
  *
- * Represents the conditional density P(X | M, Z) where X is a continuous random
- * variable, M is the selection of discrete variables corresponding to a subset
- * of the Gaussian variables and Z is parent of this node
+ * Represents the conditional density P(X | M, Z) where X is the set of
+ * continuous random variables, M is the selection of discrete variables
+ * corresponding to a subset of the Gaussian variables and Z is parent of this
+ * node .
  *
  * The probability P(x|y,z,...) is proportional to
  * \f$ \sum_i k_i \exp - \frac{1}{2} |R_i x - (d_i - S_i y - T_i z - ...)|^2 \f$

From c2e5061b711ecdf4f7308a01f0e3f6d5e7419391 Mon Sep 17 00:00:00 2001
From: Varun Agrawal <varagrawal@gmail.com>
Date: Fri, 3 Jun 2022 13:25:19 -0400
Subject: [PATCH 131/433] add pruning to HybridBayesNet

---
 gtsam/hybrid/HybridBayesNet.cpp | 34 ++++++++++++++++-----------------
 gtsam/hybrid/HybridBayesNet.h   |  6 +++++-
 2 files changed, 22 insertions(+), 18 deletions(-)

diff --git a/gtsam/hybrid/HybridBayesNet.cpp b/gtsam/hybrid/HybridBayesNet.cpp
index 7d18347230..d3c77d83e3 100644
--- a/gtsam/hybrid/HybridBayesNet.cpp
+++ b/gtsam/hybrid/HybridBayesNet.cpp
@@ -39,18 +39,18 @@ HybridBayesNet HybridBayesNet::prune(
 
   // Functional which loops over all assignments and create a set of
   // GaussianConditionals
-  auto pruner =
-      [&](const Assignment<Key> &choices,
-          const GaussianFactor::shared_ptr &gf) -> GaussianFactor::shared_ptr {
+  auto pruner = [&](const Assignment<Key> &choices,
+                    const GaussianConditional::shared_ptr &conditional)
+      -> GaussianConditional::shared_ptr {
     // typecast so we can use this to get probability value
     DiscreteValues values(choices);
 
     if ((*discreteFactor)(values) == 0.0) {
       // empty aka null pointer
-      boost::shared_ptr<GaussianFactor> null;
+      boost::shared_ptr<GaussianConditional> null;
       return null;
     } else {
-      return gf;
+      return conditional;
     }
   };
 
@@ -74,28 +74,28 @@ HybridBayesNet HybridBayesNet::prune(
         continue;
       }
 
-      // The GaussianMixture stores all the conditionals and uneliminated
-      // factors in the factors tree.
-      auto gaussianMixtureTree = gaussianMixture->factors();
-
       // Run the pruning to get a new, pruned tree
-      auto prunedFactors = gaussianMixtureTree.apply(pruner);
+      GaussianMixture::Conditionals prunedTree =
+          gaussianMixture->conditionals().apply(pruner);
 
       DiscreteKeys discreteKeys = gaussianMixture->discreteKeys();
       // reverse keys to get a natural ordering
       std::reverse(discreteKeys.begin(), discreteKeys.end());
 
-      // Convert to GaussianConditionals
-      auto prunedTree = GaussianMixture::Conditionals(
-          prunedFactors, [](const GaussianFactor::shared_ptr &factor) {
-            return boost::dynamic_pointer_cast<GaussianConditional>(factor);
-          });
+      // Convert from boost::iterator_range to std::vector.
+      std::vector<Key> frontals, parents;
+      for (Key key : gaussianMixture->frontals()) {
+        frontals.push_back(key);
+      }
+      for (Key key : gaussianMixture->parents()) {
+        parents.push_back(key);
+      }
 
       // Create the new gaussian mixture and add it to the bayes net.
       auto prunedGaussianMixture = boost::make_shared<GaussianMixture>(
-          gaussianMixture->frontals(), gaussianMixture->parents(), discreteKeys,
-          prunedTree);
+          frontals, parents, discreteKeys, prunedTree);
 
+      // Type-erase and add to the pruned Bayes Net fragment.
       prunedBayesNetFragment.push_back(
           boost::make_shared<HybridConditional>(prunedGaussianMixture));
 
diff --git a/gtsam/hybrid/HybridBayesNet.h b/gtsam/hybrid/HybridBayesNet.h
index 43eead2801..834c4c3efd 100644
--- a/gtsam/hybrid/HybridBayesNet.h
+++ b/gtsam/hybrid/HybridBayesNet.h
@@ -17,6 +17,7 @@
 
 #pragma once
 
+#include <gtsam/discrete/DecisionTreeFactor.h>
 #include <gtsam/hybrid/HybridConditional.h>
 #include <gtsam/inference/BayesNet.h>
 
@@ -35,7 +36,10 @@ class GTSAM_EXPORT HybridBayesNet : public BayesNet<HybridConditional> {
   using sharedConditional = boost::shared_ptr<ConditionalType>;
 
   /** Construct empty bayes net */
-  HybridBayesNet() = default;
+  HybridBayesNet() : Base() {}
+
+  HybridBayesNet prune(
+      const DecisionTreeFactor::shared_ptr &discreteFactor) const;
 };
 
 }  // namespace gtsam

From eeecb27f14aca16f38c46821f5a5f2f16a512ef9 Mon Sep 17 00:00:00 2001
From: Varun Agrawal <varagrawal@gmail.com>
Date: Fri, 3 Jun 2022 13:29:05 -0400
Subject: [PATCH 132/433] rename back to HybridJunctionTree

---
 gtsam/hybrid/HybridBayesTree.cpp                          | 2 +-
 gtsam/hybrid/HybridBayesTree.h                            | 2 +-
 gtsam/hybrid/HybridGaussianFactorGraph.cpp                | 2 +-
 gtsam/hybrid/HybridGaussianFactorGraph.h                  | 4 ++--
 ...ridGaussianJunctionTree.cpp => HybridJunctionTree.cpp} | 6 +++---
 ...{HybridGaussianJunctionTree.h => HybridJunctionTree.h} | 8 ++++----
 6 files changed, 12 insertions(+), 12 deletions(-)
 rename gtsam/hybrid/{HybridGaussianJunctionTree.cpp => HybridJunctionTree.cpp} (97%)
 rename gtsam/hybrid/{HybridGaussianJunctionTree.h => HybridJunctionTree.h} (91%)

diff --git a/gtsam/hybrid/HybridBayesTree.cpp b/gtsam/hybrid/HybridBayesTree.cpp
index ff07f1817e..d65270f91d 100644
--- a/gtsam/hybrid/HybridBayesTree.cpp
+++ b/gtsam/hybrid/HybridBayesTree.cpp
@@ -12,7 +12,7 @@
 /**
  * @file    HybridBayesTree.cpp
  * @brief   Hybrid Bayes Tree, the result of eliminating a
- * HybridGaussianJunctionTree
+ * HybridJunctionTree
  * @date Mar 11, 2022
  * @author  Fan Jiang
  */
diff --git a/gtsam/hybrid/HybridBayesTree.h b/gtsam/hybrid/HybridBayesTree.h
index 28d9ef8099..0b89ca8c4b 100644
--- a/gtsam/hybrid/HybridBayesTree.h
+++ b/gtsam/hybrid/HybridBayesTree.h
@@ -12,7 +12,7 @@
 /**
  * @file    HybridBayesTree.h
  * @brief   Hybrid Bayes Tree, the result of eliminating a
- * HybridGaussianJunctionTree
+ * HybridJunctionTree
  * @date Mar 11, 2022
  * @author  Fan Jiang
  */
diff --git a/gtsam/hybrid/HybridGaussianFactorGraph.cpp b/gtsam/hybrid/HybridGaussianFactorGraph.cpp
index c1251309c5..88730cae95 100644
--- a/gtsam/hybrid/HybridGaussianFactorGraph.cpp
+++ b/gtsam/hybrid/HybridGaussianFactorGraph.cpp
@@ -31,7 +31,7 @@
 #include <gtsam/hybrid/HybridFactor.h>
 #include <gtsam/hybrid/HybridGaussianFactor.h>
 #include <gtsam/hybrid/HybridGaussianFactorGraph.h>
-#include <gtsam/hybrid/HybridGaussianJunctionTree.h>
+#include <gtsam/hybrid/HybridJunctionTree.h>
 #include <gtsam/inference/EliminateableFactorGraph-inst.h>
 #include <gtsam/inference/Key.h>
 #include <gtsam/linear/GaussianConditional.h>
diff --git a/gtsam/hybrid/HybridGaussianFactorGraph.h b/gtsam/hybrid/HybridGaussianFactorGraph.h
index e7dc3dfca6..0188aa652c 100644
--- a/gtsam/hybrid/HybridGaussianFactorGraph.h
+++ b/gtsam/hybrid/HybridGaussianFactorGraph.h
@@ -31,7 +31,7 @@ class HybridConditional;
 class HybridBayesNet;
 class HybridEliminationTree;
 class HybridBayesTree;
-class HybridGaussianJunctionTree;
+class HybridJunctionTree;
 class DecisionTreeFactor;
 
 class JacobianFactor;
@@ -55,7 +55,7 @@ struct EliminationTraits<HybridGaussianFactorGraph> {
   typedef HybridEliminationTree
       EliminationTreeType;                ///< Type of elimination tree
   typedef HybridBayesTree BayesTreeType;  ///< Type of Bayes tree
-  typedef HybridGaussianJunctionTree
+  typedef HybridJunctionTree
       JunctionTreeType;  ///< Type of Junction tree
   /// The default dense elimination function
   static std::pair<boost::shared_ptr<ConditionalType>,
diff --git a/gtsam/hybrid/HybridGaussianJunctionTree.cpp b/gtsam/hybrid/HybridJunctionTree.cpp
similarity index 97%
rename from gtsam/hybrid/HybridGaussianJunctionTree.cpp
rename to gtsam/hybrid/HybridJunctionTree.cpp
index 8ceb7c87b6..7725742cf6 100644
--- a/gtsam/hybrid/HybridGaussianJunctionTree.cpp
+++ b/gtsam/hybrid/HybridJunctionTree.cpp
@@ -10,14 +10,14 @@
  * -------------------------------------------------------------------------- */
 
 /**
- * @file HybridGaussianJunctionTree.cpp
+ * @file HybridJunctionTree.cpp
  * @date Mar 11, 2022
  * @author Fan Jiang
  */
 
 #include <gtsam/hybrid/HybridEliminationTree.h>
 #include <gtsam/hybrid/HybridGaussianFactorGraph.h>
-#include <gtsam/hybrid/HybridGaussianJunctionTree.h>
+#include <gtsam/hybrid/HybridJunctionTree.h>
 #include <gtsam/inference/JunctionTree-inst.h>
 #include <gtsam/inference/Key.h>
 
@@ -142,7 +142,7 @@ struct HybridConstructorTraversalData {
 };
 
 /* ************************************************************************* */
-HybridGaussianJunctionTree::HybridGaussianJunctionTree(
+HybridJunctionTree::HybridJunctionTree(
     const HybridEliminationTree& eliminationTree) {
   gttic(JunctionTree_FromEliminationTree);
   // Here we rely on the BayesNet having been produced by this elimination tree,
diff --git a/gtsam/hybrid/HybridGaussianJunctionTree.h b/gtsam/hybrid/HybridJunctionTree.h
similarity index 91%
rename from gtsam/hybrid/HybridGaussianJunctionTree.h
rename to gtsam/hybrid/HybridJunctionTree.h
index 314e7daa6e..cad1e15a1e 100644
--- a/gtsam/hybrid/HybridGaussianJunctionTree.h
+++ b/gtsam/hybrid/HybridJunctionTree.h
@@ -10,7 +10,7 @@
  * -------------------------------------------------------------------------- */
 
 /**
- * @file HybridGaussianJunctionTree.h
+ * @file HybridJunctionTree.h
  * @date Mar 11, 2022
  * @author Fan Jiang
  */
@@ -48,12 +48,12 @@ class HybridEliminationTree;
  * \addtogroup Multifrontal
  * \nosubgrouping
  */
-class GTSAM_EXPORT HybridGaussianJunctionTree
+class GTSAM_EXPORT HybridJunctionTree
     : public JunctionTree<HybridBayesTree, HybridGaussianFactorGraph> {
  public:
   typedef JunctionTree<HybridBayesTree, HybridGaussianFactorGraph>
       Base;                                    ///< Base class
-  typedef HybridGaussianJunctionTree This;     ///< This class
+  typedef HybridJunctionTree This;     ///< This class
   typedef boost::shared_ptr<This> shared_ptr;  ///< Shared pointer to this class
 
   /**
@@ -65,7 +65,7 @@ class GTSAM_EXPORT HybridGaussianJunctionTree
    * named constructor instead.
    * @return The elimination tree
    */
-  HybridGaussianJunctionTree(const HybridEliminationTree& eliminationTree);
+  HybridJunctionTree(const HybridEliminationTree& eliminationTree);
 };
 
 }  // namespace gtsam

From 8482cee10b66f8bcc7c3674235c6fbbcb07373e0 Mon Sep 17 00:00:00 2001
From: Varun Agrawal <varagrawal@gmail.com>
Date: Fri, 3 Jun 2022 13:53:25 -0400
Subject: [PATCH 133/433] improvements made during the old hybrid scheme
 implementation

---
 gtsam/discrete/DecisionTree-inl.h      |  9 +++------
 gtsam/discrete/DecisionTree.h          |  2 +-
 gtsam/discrete/DiscreteFactorGraph.h   |  4 ++++
 gtsam/inference/FactorGraph.h          |  2 +-
 gtsam/inference/Ordering.cpp           | 11 +++++++++++
 gtsam/inference/Ordering.h             | 18 +++++++++++++++++-
 gtsam/inference/tests/testOrdering.cpp | 26 ++++++++++++++++++++++++++
 gtsam/linear/GaussianBayesNet.h        |  2 +-
 gtsam/linear/GaussianConditional.cpp   |  4 ++--
 gtsam/linear/GaussianConditional.h     |  1 +
 10 files changed, 67 insertions(+), 12 deletions(-)

diff --git a/gtsam/discrete/DecisionTree-inl.h b/gtsam/discrete/DecisionTree-inl.h
index 99f29b8e5f..f727432065 100644
--- a/gtsam/discrete/DecisionTree-inl.h
+++ b/gtsam/discrete/DecisionTree-inl.h
@@ -39,10 +39,10 @@
 #include <string>
 #include <vector>
 
-using boost::assign::operator+=;
-
 namespace gtsam {
 
+  using boost::assign::operator+=;
+
   /****************************************************************************/
   // Node
   /****************************************************************************/
@@ -291,10 +291,7 @@ namespace gtsam {
         }
 
         os << "\"" << this->id() << "\" -> \"" << branch->id() << "\"";
-        if (B == 2) {
-          if (i == 0) os << " [style=dashed]";
-          if (i > 1) os << " [style=bold]";
-        }
+        if (B == 2 && i == 0) os << " [style=dashed]";
         os << std::endl;
         branch->dot(os, labelFormatter, valueFormatter, showZero);
       }
diff --git a/gtsam/discrete/DecisionTree.h b/gtsam/discrete/DecisionTree.h
index 1f45d320b9..7449ae995b 100644
--- a/gtsam/discrete/DecisionTree.h
+++ b/gtsam/discrete/DecisionTree.h
@@ -220,7 +220,7 @@ namespace gtsam {
     /// @{
 
     /// Make virtual
-    virtual ~DecisionTree() {}
+    virtual ~DecisionTree() = default;
 
     /// Check if tree is empty.
     bool empty() const { return !root_; }
diff --git a/gtsam/discrete/DiscreteFactorGraph.h b/gtsam/discrete/DiscreteFactorGraph.h
index f962b1802d..bfa57e7db9 100644
--- a/gtsam/discrete/DiscreteFactorGraph.h
+++ b/gtsam/discrete/DiscreteFactorGraph.h
@@ -209,6 +209,10 @@ class GTSAM_EXPORT DiscreteFactorGraph
   /// @}
 };  // \ DiscreteFactorGraph
 
+std::pair<DiscreteConditional::shared_ptr, DecisionTreeFactor::shared_ptr>  //
+EliminateForMPE(const DiscreteFactorGraph& factors,
+                const Ordering& frontalKeys);
+
 /// traits
 template <>
 struct traits<DiscreteFactorGraph> : public Testable<DiscreteFactorGraph> {};
diff --git a/gtsam/inference/FactorGraph.h b/gtsam/inference/FactorGraph.h
index afea63da84..101134c838 100644
--- a/gtsam/inference/FactorGraph.h
+++ b/gtsam/inference/FactorGraph.h
@@ -361,7 +361,7 @@ class FactorGraph {
    * less than the original, factors at the end will be removed.  If the new
    * size is larger than the original, null factors will be appended.
    */
-  void resize(size_t size) { factors_.resize(size); }
+  virtual void resize(size_t size) { factors_.resize(size); }
 
   /** delete factor without re-arranging indexes by inserting a nullptr pointer
    */
diff --git a/gtsam/inference/Ordering.cpp b/gtsam/inference/Ordering.cpp
index 2ac2c0dded..7b7ff14037 100644
--- a/gtsam/inference/Ordering.cpp
+++ b/gtsam/inference/Ordering.cpp
@@ -283,6 +283,17 @@ void Ordering::print(const std::string& str,
   cout.flush();
 }
 
+/* ************************************************************************* */
+Ordering::This& Ordering::operator+=(KeyVector& keys) {
+  this->insert(this->end(), keys.begin(), keys.end());
+  return *this;
+}
+
+/* ************************************************************************* */
+bool Ordering::contains(const Key& key) const {
+  return std::find(this->begin(), this->end(), key) != this->end();
+}
+
 /* ************************************************************************* */
 bool Ordering::equals(const Ordering& other, double tol) const {
   return (*this) == other;
diff --git a/gtsam/inference/Ordering.h b/gtsam/inference/Ordering.h
index a2d1657925..b366b3b3ac 100644
--- a/gtsam/inference/Ordering.h
+++ b/gtsam/inference/Ordering.h
@@ -70,7 +70,23 @@ class Ordering: public KeyVector {
         boost::assign_detail::call_push_back<This>(*this))(key);
   }
 
-  /// Invert (not reverse) the ordering - returns a map from key to order position
+  /**
+   * @brief Append new keys to the ordering as `ordering += keys`.
+   *
+   * @param key
+   * @return The ordering variable with appended keys.
+   */
+  This& operator+=(KeyVector& keys);
+
+  /// Check if key exists in ordering.
+  bool contains(const Key& key) const;
+
+  /**
+   * @brief Invert (not reverse) the ordering - returns a map from key to order
+   * position.
+   *
+   * @return FastMap<Key, size_t>
+   */
   FastMap<Key, size_t> invert() const;
 
   /// @name Fill-reducing Orderings @{
diff --git a/gtsam/inference/tests/testOrdering.cpp b/gtsam/inference/tests/testOrdering.cpp
index 6fdca0d895..1afa1cfde8 100644
--- a/gtsam/inference/tests/testOrdering.cpp
+++ b/gtsam/inference/tests/testOrdering.cpp
@@ -199,6 +199,32 @@ TEST(Ordering, csr_format_3) {
   EXPECT(adjExpected == adjAcutal);
 }
 
+/* ************************************************************************* */
+TEST(Ordering, AppendVector) {
+  using symbol_shorthand::X;
+  Ordering actual;
+  KeyVector keys = {X(0), X(1), X(2)};
+  actual += keys;
+
+  Ordering expected;
+  expected += X(0);
+  expected += X(1);
+  expected += X(2);
+  EXPECT(assert_equal(expected, actual));
+}
+
+/* ************************************************************************* */
+TEST(Ordering, Contains) {
+  using symbol_shorthand::X;
+  Ordering ordering;
+  ordering += X(0);
+  ordering += X(1);
+  ordering += X(2);
+
+  EXPECT(ordering.contains(X(1)));
+  EXPECT(!ordering.contains(X(4)));
+}
+
 /* ************************************************************************* */
 #ifdef GTSAM_SUPPORT_NESTED_DISSECTION
 TEST(Ordering, csr_format_4) {
diff --git a/gtsam/linear/GaussianBayesNet.h b/gtsam/linear/GaussianBayesNet.h
index 940ffd8828..e4f2950ed7 100644
--- a/gtsam/linear/GaussianBayesNet.h
+++ b/gtsam/linear/GaussianBayesNet.h
@@ -45,7 +45,7 @@ namespace gtsam {
     /// @name Standard Constructors
     /// @{
 
-    /** Construct empty factor graph */
+    /** Construct empty bayes net */
     GaussianBayesNet() {}
 
     /** Construct from iterator over conditionals */
diff --git a/gtsam/linear/GaussianConditional.cpp b/gtsam/linear/GaussianConditional.cpp
index 6199f91a75..9515776416 100644
--- a/gtsam/linear/GaussianConditional.cpp
+++ b/gtsam/linear/GaussianConditional.cpp
@@ -15,10 +15,10 @@
  * @author Christian Potthast, Frank Dellaert
  */
 
-#include <gtsam/linear/linearExceptions.h>
 #include <gtsam/linear/GaussianConditional.h>
-#include <gtsam/linear/VectorValues.h>
 #include <gtsam/linear/Sampler.h>
+#include <gtsam/linear/VectorValues.h>
+#include <gtsam/linear/linearExceptions.h>
 
 #include <boost/format.hpp>
 #ifdef __GNUC__
diff --git a/gtsam/linear/GaussianConditional.h b/gtsam/linear/GaussianConditional.h
index b2b616dab7..11fe1f318d 100644
--- a/gtsam/linear/GaussianConditional.h
+++ b/gtsam/linear/GaussianConditional.h
@@ -24,6 +24,7 @@
 #include <gtsam/global_includes.h>
 #include <gtsam/linear/JacobianFactor.h>
 #include <gtsam/inference/Conditional.h>
+#include <gtsam/inference/Conditional-inst.h>
 #include <gtsam/linear/VectorValues.h>
 
 #include <random> // for std::mt19937_64 

From 28db8b20ff15e3b66e5e61c72e385e46212af702 Mon Sep 17 00:00:00 2001
From: Varun Agrawal <varagrawal@gmail.com>
Date: Sat, 4 Jun 2022 11:45:42 -0400
Subject: [PATCH 134/433] use KeyVector and iterator constructor

---
 gtsam/hybrid/HybridBayesNet.cpp | 14 ++++++--------
 1 file changed, 6 insertions(+), 8 deletions(-)

diff --git a/gtsam/hybrid/HybridBayesNet.cpp b/gtsam/hybrid/HybridBayesNet.cpp
index d3c77d83e3..0403ca0d33 100644
--- a/gtsam/hybrid/HybridBayesNet.cpp
+++ b/gtsam/hybrid/HybridBayesNet.cpp
@@ -82,14 +82,12 @@ HybridBayesNet HybridBayesNet::prune(
       // reverse keys to get a natural ordering
       std::reverse(discreteKeys.begin(), discreteKeys.end());
 
-      // Convert from boost::iterator_range to std::vector.
-      std::vector<Key> frontals, parents;
-      for (Key key : gaussianMixture->frontals()) {
-        frontals.push_back(key);
-      }
-      for (Key key : gaussianMixture->parents()) {
-        parents.push_back(key);
-      }
+      // Convert from boost::iterator_range to KeyVector
+      // so we can pass it to constructor.
+      KeyVector frontals(gaussianMixture->frontals().begin(),
+                         gaussianMixture->frontals().end()),
+          parents(gaussianMixture->parents().begin(),
+                  gaussianMixture->parents().end());
 
       // Create the new gaussian mixture and add it to the bayes net.
       auto prunedGaussianMixture = boost::make_shared<GaussianMixture>(

From 2396bca22f4c3345e6a76f74a71ee0073a68cf4b Mon Sep 17 00:00:00 2001
From: Varun Agrawal <varagrawal@gmail.com>
Date: Tue, 7 Jun 2022 10:07:53 -0400
Subject: [PATCH 135/433] Add GaussianMixture tests

---
 gtsam/hybrid/GaussianMixture.cpp           | 27 ++++++-
 gtsam/hybrid/GaussianMixture.h             | 12 +++
 gtsam/hybrid/tests/testGaussianMixture.cpp | 92 ++++++++++++++++++++++
 3 files changed, 128 insertions(+), 3 deletions(-)
 create mode 100644 gtsam/hybrid/tests/testGaussianMixture.cpp

diff --git a/gtsam/hybrid/GaussianMixture.cpp b/gtsam/hybrid/GaussianMixture.cpp
index 0000575182..3d4eb79fa7 100644
--- a/gtsam/hybrid/GaussianMixture.cpp
+++ b/gtsam/hybrid/GaussianMixture.cpp
@@ -19,7 +19,7 @@
  */
 
 #include <gtsam/base/utilities.h>
-#include <gtsam/discrete/DecisionTree-inl.h>
+#include <gtsam/discrete/DiscreteValues.h>
 #include <gtsam/hybrid/GaussianMixture.h>
 #include <gtsam/inference/Conditional-inst.h>
 #include <gtsam/linear/GaussianFactorGraph.h>
@@ -77,8 +77,29 @@ GaussianMixture::asGaussianFactorGraphTree() const {
 }
 
 /* *******************************************************************************/
-bool GaussianMixture::equals(const HybridFactor &lf,
-                                        double tol) const {
+size_t GaussianMixture::nrComponents() const {
+  size_t total = 0;
+  conditionals_.visit([&total](const GaussianFactor::shared_ptr &node) {
+    if (node) total += 1;
+  });
+  return total;
+}
+
+/* *******************************************************************************/
+GaussianConditional::shared_ptr GaussianMixture::operator()(
+    const DiscreteValues &discreteVals) const {
+  auto &ptr = conditionals_(discreteVals);
+  if (!ptr) return nullptr;
+  auto conditional = boost::dynamic_pointer_cast<GaussianConditional>(ptr);
+  if (conditional)
+    return conditional;
+  else
+    throw std::logic_error(
+        "A GaussianMixture unexpectedly contained a non-conditional");
+}
+
+/* *******************************************************************************/
+bool GaussianMixture::equals(const HybridFactor &lf, double tol) const {
   const This *e = dynamic_cast<const This *>(&lf);
   return e != nullptr && BaseFactor::equals(*e, tol);
 }
diff --git a/gtsam/hybrid/GaussianMixture.h b/gtsam/hybrid/GaussianMixture.h
index e855067150..fc1eb0f060 100644
--- a/gtsam/hybrid/GaussianMixture.h
+++ b/gtsam/hybrid/GaussianMixture.h
@@ -19,7 +19,9 @@
 
 #pragma once
 
+#include <gtsam/discrete/DecisionTree-inl.h>
 #include <gtsam/discrete/DecisionTree.h>
+#include <gtsam/discrete/DiscreteKey.h>
 #include <gtsam/hybrid/HybridFactor.h>
 #include <gtsam/inference/Conditional.h>
 #include <gtsam/linear/GaussianConditional.h>
@@ -99,6 +101,16 @@ class GTSAM_EXPORT GaussianMixture
       const DiscreteKeys &discreteParents,
       const std::vector<GaussianConditional::shared_ptr> &conditionals);
 
+  /// @}
+  /// @name Standard API
+  /// @{
+
+  GaussianConditional::shared_ptr operator()(
+      const DiscreteValues &discreteVals) const;
+
+  /// Returns the total number of continuous components
+  size_t nrComponents() const;
+
   /// @}
   /// @name Testable
   /// @{
diff --git a/gtsam/hybrid/tests/testGaussianMixture.cpp b/gtsam/hybrid/tests/testGaussianMixture.cpp
new file mode 100644
index 0000000000..8a91a86ccd
--- /dev/null
+++ b/gtsam/hybrid/tests/testGaussianMixture.cpp
@@ -0,0 +1,92 @@
+/* ----------------------------------------------------------------------------
+
+ * GTSAM Copyright 2010, Georgia Tech Research Corporation,
+ * Atlanta, Georgia 30332-0415
+ * All Rights Reserved
+ * Authors: Frank Dellaert, et al. (see THANKS for the full author list)
+
+ * See LICENSE for the license information
+
+ * -------------------------------------------------------------------------- */
+
+/**
+ * @file    testGaussianMixture.cpp
+ * @brief   Unit tests for GaussianMixture class
+ * @author  Varun Agrawal
+ * @author  Fan Jiang
+ * @author  Frank Dellaert
+ * @date    December 2021
+ */
+
+#include <gtsam/discrete/DiscreteValues.h>
+#include <gtsam/hybrid/GaussianMixture.h>
+#include <gtsam/inference/Symbol.h>
+#include <gtsam/linear/GaussianConditional.h>
+
+#include <vector>
+
+// Include for test suite
+#include <CppUnitLite/TestHarness.h>
+
+using namespace std;
+using namespace gtsam;
+using noiseModel::Isotropic;
+using symbol_shorthand::M;
+using symbol_shorthand::X;
+
+/* ************************************************************************* */
+TEST(GaussianConditional, Equals) {
+  // create a conditional gaussian node
+  Matrix S1(2, 2);
+  S1(0, 0) = 1;
+  S1(1, 0) = 2;
+  S1(0, 1) = 3;
+  S1(1, 1) = 4;
+
+  Matrix S2(2, 2);
+  S2(0, 0) = 6;
+  S2(1, 0) = 0.2;
+  S2(0, 1) = 8;
+  S2(1, 1) = 0.4;
+
+  Matrix R1(2, 2);
+  R1(0, 0) = 0.1;
+  R1(1, 0) = 0.3;
+  R1(0, 1) = 0.0;
+  R1(1, 1) = 0.34;
+
+  Matrix R2(2, 2);
+  R2(0, 0) = 0.1;
+  R2(1, 0) = 0.3;
+  R2(0, 1) = 0.0;
+  R2(1, 1) = 0.34;
+
+  SharedDiagonal model = noiseModel::Diagonal::Sigmas(Vector2(1.0, 0.34));
+
+  Vector2 d1(0.2, 0.5), d2(0.5, 0.2);
+
+  auto conditional0 = boost::make_shared<GaussianConditional>(X(1), d1, R1,
+                                                              X(2), S1, model),
+       conditional1 = boost::make_shared<GaussianConditional>(X(1), d2, R2,
+                                                              X(2), S2, model);
+
+  // Create decision tree
+  DiscreteKey m1(1, 2);
+  GaussianMixture::Conditionals conditionals(
+      {m1},
+      vector<GaussianConditional::shared_ptr>{conditional0, conditional1});
+  GaussianMixture mixtureFactor({X(1)}, {X(2)}, {m1}, conditionals);
+
+  // Let's check that this worked:
+  DiscreteValues mode;
+  mode[m1.first] = 1;
+  auto actual = mixtureFactor(mode);
+  EXPECT(actual == conditional1);
+}
+
+/* ************************************************************************* */
+int main() {
+  TestResult tr;
+  return TestRegistry::runAllTests(tr);
+}
+/* ************************************************************************* */
\ No newline at end of file

From fc939b08e045d443a31858db107f676b693a3948 Mon Sep 17 00:00:00 2001
From: Varun Agrawal <varagrawal@gmail.com>
Date: Tue, 7 Jun 2022 10:48:08 -0400
Subject: [PATCH 136/433] GaussianMixtureFactor tests

---
 gtsam/hybrid/GaussianMixtureFactor.cpp        |   7 +-
 gtsam/hybrid/GaussianMixtureFactor.h          |  19 +++
 gtsam/hybrid/HybridFactor.cpp                 |  23 ++-
 gtsam/hybrid/HybridFactor.h                   |   3 +
 .../tests/testGaussianMixtureFactor.cpp       | 159 ++++++++++++++++++
 5 files changed, 205 insertions(+), 6 deletions(-)
 create mode 100644 gtsam/hybrid/tests/testGaussianMixtureFactor.cpp

diff --git a/gtsam/hybrid/GaussianMixtureFactor.cpp b/gtsam/hybrid/GaussianMixtureFactor.cpp
index a81cf341d9..8f832d8eab 100644
--- a/gtsam/hybrid/GaussianMixtureFactor.cpp
+++ b/gtsam/hybrid/GaussianMixtureFactor.cpp
@@ -51,16 +51,19 @@ GaussianMixtureFactor GaussianMixtureFactor::FromFactors(
 void GaussianMixtureFactor::print(const std::string &s,
                                   const KeyFormatter &formatter) const {
   HybridFactor::print(s, formatter);
+  std::cout << "]{\n";
   factors_.print(
-      "mixture = ", [&](Key k) { return formatter(k); },
+      "", [&](Key k) { return formatter(k); },
       [&](const GaussianFactor::shared_ptr &gf) -> std::string {
         RedirectCout rd;
-        if (!gf->empty())
+        std::cout << ":\n";
+        if (gf)
           gf->print("", formatter);
         else
           return {"nullptr"};
         return rd.str();
       });
+  std::cout << "}" << std::endl;
 }
 
 /* *******************************************************************************/
diff --git a/gtsam/hybrid/GaussianMixtureFactor.h b/gtsam/hybrid/GaussianMixtureFactor.h
index 21770f836e..6c90ee6a71 100644
--- a/gtsam/hybrid/GaussianMixtureFactor.h
+++ b/gtsam/hybrid/GaussianMixtureFactor.h
@@ -84,6 +84,19 @@ class GTSAM_EXPORT GaussianMixtureFactor : public HybridFactor {
                         const DiscreteKeys &discreteKeys,
                         const Factors &factors);
 
+  /**
+   * @brief Construct a new GaussianMixtureFactor object using a vector of
+   * GaussianFactor shared pointers.
+   *
+   * @param keys Vector of keys for continuous factors.
+   * @param discreteKeys Vector of discrete keys.
+   * @param factors Vector of gaussian factor shared pointers.
+   */
+  GaussianMixtureFactor(const KeyVector &keys, const DiscreteKeys &discreteKeys,
+                        const std::vector<GaussianFactor::shared_ptr> &factors)
+      : GaussianMixtureFactor(keys, discreteKeys,
+                              Factors(discreteKeys, factors)) {}
+
   static This FromFactors(
       const KeyVector &continuousKeys, const DiscreteKeys &discreteKeys,
       const std::vector<GaussianFactor::shared_ptr> &factors);
@@ -111,6 +124,12 @@ class GTSAM_EXPORT GaussianMixtureFactor : public HybridFactor {
    * @return Sum
    */
   Sum add(const Sum &sum) const;
+
+  /// Add MixtureFactor to a Sum, syntactic sugar.
+  friend Sum &operator+=(Sum &sum, const GaussianMixtureFactor &factor) {
+    sum = factor.add(sum);
+    return sum;
+  }
 };
 
 // traits
diff --git a/gtsam/hybrid/HybridFactor.cpp b/gtsam/hybrid/HybridFactor.cpp
index 127c9761c0..8df2d524ff 100644
--- a/gtsam/hybrid/HybridFactor.cpp
+++ b/gtsam/hybrid/HybridFactor.cpp
@@ -50,7 +50,10 @@ DiscreteKeys CollectDiscreteKeys(const DiscreteKeys &key1,
 
 /* ************************************************************************ */
 HybridFactor::HybridFactor(const KeyVector &keys)
-    : Base(keys), isContinuous_(true), nrContinuous_(keys.size()) {}
+    : Base(keys),
+      isContinuous_(true),
+      nrContinuous_(keys.size()),
+      continuousKeys_(keys) {}
 
 /* ************************************************************************ */
 HybridFactor::HybridFactor(const KeyVector &continuousKeys,
@@ -60,13 +63,15 @@ HybridFactor::HybridFactor(const KeyVector &continuousKeys,
       isContinuous_((continuousKeys.size() != 0) && (discreteKeys.size() == 0)),
       isHybrid_((continuousKeys.size() != 0) && (discreteKeys.size() != 0)),
       nrContinuous_(continuousKeys.size()),
-      discreteKeys_(discreteKeys) {}
+      discreteKeys_(discreteKeys),
+      continuousKeys_(continuousKeys) {}
 
 /* ************************************************************************ */
 HybridFactor::HybridFactor(const DiscreteKeys &discreteKeys)
     : Base(CollectKeys({}, discreteKeys)),
       isDiscrete_(true),
-      discreteKeys_(discreteKeys) {}
+      discreteKeys_(discreteKeys),
+      continuousKeys_({}) {}
 
 /* ************************************************************************ */
 bool HybridFactor::equals(const HybridFactor &lf, double tol) const {
@@ -83,7 +88,17 @@ void HybridFactor::print(const std::string &s,
   if (isContinuous_) std::cout << "Continuous ";
   if (isDiscrete_) std::cout << "Discrete ";
   if (isHybrid_) std::cout << "Hybrid ";
-  this->printKeys("", formatter);
+  for (size_t c=0; c<continuousKeys_.size(); c++) {
+    std::cout << formatter(continuousKeys_.at(c));
+    if (c < continuousKeys_.size() - 1) {
+      std::cout << " ";
+    } else {
+      std::cout << "; ";
+    }
+  }
+  for(auto && discreteKey: discreteKeys_) {
+    std::cout << formatter(discreteKey.first) << " ";
+  }
 }
 
 }  // namespace gtsam
diff --git a/gtsam/hybrid/HybridFactor.h b/gtsam/hybrid/HybridFactor.h
index 244fba4ccb..3e91e24877 100644
--- a/gtsam/hybrid/HybridFactor.h
+++ b/gtsam/hybrid/HybridFactor.h
@@ -52,6 +52,9 @@ class GTSAM_EXPORT HybridFactor : public Factor {
  protected:
   DiscreteKeys discreteKeys_;
 
+  /// Record continuous keys for book-keeping
+  KeyVector continuousKeys_;
+
  public:
   // typedefs needed to play nice with gtsam
   typedef HybridFactor This;  ///< This class
diff --git a/gtsam/hybrid/tests/testGaussianMixtureFactor.cpp b/gtsam/hybrid/tests/testGaussianMixtureFactor.cpp
new file mode 100644
index 0000000000..36477218b9
--- /dev/null
+++ b/gtsam/hybrid/tests/testGaussianMixtureFactor.cpp
@@ -0,0 +1,159 @@
+/* ----------------------------------------------------------------------------
+
+ * GTSAM Copyright 2010, Georgia Tech Research Corporation,
+ * Atlanta, Georgia 30332-0415
+ * All Rights Reserved
+ * Authors: Frank Dellaert, et al. (see THANKS for the full author list)
+
+ * See LICENSE for the license information
+
+ * -------------------------------------------------------------------------- */
+
+/**
+ * @file    GaussianMixtureFactor.cpp
+ * @brief   Unit tests for GaussianMixtureFactor
+ * @author  Varun Agrawal
+ * @author  Fan Jiang
+ * @author  Frank Dellaert
+ * @date    December 2021
+ */
+
+#include <gtsam/base/TestableAssertions.h>
+#include <gtsam/discrete/DiscreteValues.h>
+#include <gtsam/hybrid/GaussianMixture.h>
+#include <gtsam/hybrid/GaussianMixtureFactor.h>
+#include <gtsam/inference/Symbol.h>
+#include <gtsam/linear/GaussianFactorGraph.h>
+
+// Include for test suite
+#include <CppUnitLite/TestHarness.h>
+
+using namespace std;
+using namespace gtsam;
+using noiseModel::Isotropic;
+using symbol_shorthand::M;
+using symbol_shorthand::X;
+
+/* ************************************************************************* */
+// Check iterators of empty mixture.
+TEST(GaussianMixtureFactor, Constructor) {
+  GaussianMixtureFactor factor;
+  GaussianMixtureFactor::const_iterator const_it = factor.begin();
+  CHECK(const_it == factor.end());
+  GaussianMixtureFactor::iterator it = factor.begin();
+  CHECK(it == factor.end());
+}
+
+/* ************************************************************************* */
+// "Add" two mixture factors together.
+TEST(GaussianMixtureFactor, Sum) {
+  DiscreteKey m1(1, 2), m2(2, 3);
+
+  auto A1 = Matrix::Zero(2, 1);
+  auto A2 = Matrix::Zero(2, 2);
+  auto A3 = Matrix::Zero(2, 3);
+  auto b = Matrix::Zero(2, 1);
+  Vector2 sigmas;
+  sigmas << 1, 2;
+  auto model = noiseModel::Diagonal::Sigmas(sigmas, true);
+
+  auto f10 = boost::make_shared<JacobianFactor>(X(1), A1, X(2), A2, b);
+  auto f11 = boost::make_shared<JacobianFactor>(X(1), A1, X(2), A2, b);
+  auto f20 = boost::make_shared<JacobianFactor>(X(1), A1, X(3), A3, b);
+  auto f21 = boost::make_shared<JacobianFactor>(X(1), A1, X(3), A3, b);
+  auto f22 = boost::make_shared<JacobianFactor>(X(1), A1, X(3), A3, b);
+  std::vector<GaussianFactor::shared_ptr> factorsA{f10, f11};
+  std::vector<GaussianFactor::shared_ptr> factorsB{f20, f21, f22};
+
+  // TODO(Frank): why specify keys at all? And: keys in factor should be *all*
+  // keys, deviating from Kevin's scheme. Should we index DT on DiscreteKey?
+  // Design review!
+  GaussianMixtureFactor mixtureFactorA({X(1), X(2)}, {m1}, factorsA);
+  GaussianMixtureFactor mixtureFactorB({X(1), X(3)}, {m2}, factorsB);
+
+  // Check that number of keys is 3
+  EXPECT_LONGS_EQUAL(3, mixtureFactorA.keys().size());
+
+  // Check that number of discrete keys is 1 // TODO(Frank): should not exist?
+  EXPECT_LONGS_EQUAL(1, mixtureFactorA.discreteKeys().size());
+
+  // Create sum of two mixture factors: it will be a decision tree now on both
+  // discrete variables m1 and m2:
+  GaussianMixtureFactor::Sum sum;
+  sum += mixtureFactorA;
+  sum += mixtureFactorB;
+
+  // Let's check that this worked:
+  Assignment<Key> mode;
+  mode[m1.first] = 1;
+  mode[m2.first] = 2;
+  auto actual = sum(mode);
+  EXPECT(actual.at(0) == f11);
+  EXPECT(actual.at(1) == f22);
+}
+
+TEST(GaussianMixtureFactor, Printing) {
+  DiscreteKey m1(1, 2);
+  auto A1 = Matrix::Zero(2, 1);
+  auto A2 = Matrix::Zero(2, 2);
+  auto b = Matrix::Zero(2, 1);
+  auto f10 = boost::make_shared<JacobianFactor>(X(1), A1, X(2), A2, b);
+  auto f11 = boost::make_shared<JacobianFactor>(X(1), A1, X(2), A2, b);
+  std::vector<GaussianFactor::shared_ptr> factors{f10, f11};
+
+  GaussianMixtureFactor mixtureFactor({X(1), X(2)}, {m1}, factors);
+
+  std::string expected =
+      R"(Hybrid x1 x2; 1 ]{
+ Choice(1) 
+ 0 Leaf :
+  A[x1] = [
+	0;
+	0
+]
+  A[x2] = [
+	0, 0;
+	0, 0
+]
+  b = [ 0 0 ]
+  No noise model
+
+ 1 Leaf :
+  A[x1] = [
+	0;
+	0
+]
+  A[x2] = [
+	0, 0;
+	0, 0
+]
+  b = [ 0 0 ]
+  No noise model
+
+}
+)";
+  EXPECT(assert_print_equal(expected, mixtureFactor));
+}
+
+TEST_UNSAFE(GaussianMixtureFactor, GaussianMixture) {
+  KeyVector keys;
+  keys.push_back(X(0));
+  keys.push_back(X(1));
+
+  DiscreteKeys dKeys;
+  dKeys.emplace_back(M(0), 2);
+  dKeys.emplace_back(M(1), 2);
+
+  auto gaussians = boost::make_shared<GaussianConditional>();
+  GaussianMixture::Conditionals conditionals(gaussians);
+  GaussianMixture gm({}, keys, dKeys, conditionals);
+
+  EXPECT_LONGS_EQUAL(2, gm.discreteKeys().size());
+}
+
+/* ************************************************************************* */
+int main() {
+  TestResult tr;
+  return TestRegistry::runAllTests(tr);
+}
+/* ************************************************************************* */
\ No newline at end of file

From 60e3321da35ec4d8536da91e528db7adbf1b4812 Mon Sep 17 00:00:00 2001
From: Varun Agrawal <varagrawal@gmail.com>
Date: Tue, 7 Jun 2022 14:11:49 -0400
Subject: [PATCH 137/433] some formatting and improved printing

---
 gtsam/hybrid/GaussianMixture.cpp      | 14 ++++++--------
 gtsam/hybrid/HybridDiscreteFactor.cpp |  2 +-
 gtsam/hybrid/HybridGaussianFactor.cpp |  2 +-
 3 files changed, 8 insertions(+), 10 deletions(-)

diff --git a/gtsam/hybrid/GaussianMixture.cpp b/gtsam/hybrid/GaussianMixture.cpp
index 3d4eb79fa7..b04800d21e 100644
--- a/gtsam/hybrid/GaussianMixture.cpp
+++ b/gtsam/hybrid/GaussianMixture.cpp
@@ -36,8 +36,7 @@ GaussianMixture::GaussianMixture(
       conditionals_(conditionals) {}
 
 /* *******************************************************************************/
-const GaussianMixture::Conditionals &
-GaussianMixture::conditionals() {
+const GaussianMixture::Conditionals &GaussianMixture::conditionals() {
   return conditionals_;
 }
 
@@ -48,8 +47,8 @@ GaussianMixture GaussianMixture::FromConditionals(
     const std::vector<GaussianConditional::shared_ptr> &conditionalsList) {
   Conditionals dt(discreteParents, conditionalsList);
 
-  return GaussianMixture(continuousFrontals, continuousParents,
-                                    discreteParents, dt);
+  return GaussianMixture(continuousFrontals, continuousParents, discreteParents,
+                         dt);
 }
 
 /* *******************************************************************************/
@@ -66,8 +65,7 @@ GaussianMixture::Sum GaussianMixture::add(
 }
 
 /* *******************************************************************************/
-GaussianMixture::Sum
-GaussianMixture::asGaussianFactorGraphTree() const {
+GaussianMixture::Sum GaussianMixture::asGaussianFactorGraphTree() const {
   auto lambda = [](const GaussianFactor::shared_ptr &factor) {
     GaussianFactorGraph result;
     result.push_back(factor);
@@ -106,13 +104,13 @@ bool GaussianMixture::equals(const HybridFactor &lf, double tol) const {
 
 /* *******************************************************************************/
 void GaussianMixture::print(const std::string &s,
-                                       const KeyFormatter &formatter) const {
+                            const KeyFormatter &formatter) const {
   std::cout << s;
   if (isContinuous()) std::cout << "Continuous ";
   if (isDiscrete()) std::cout << "Discrete ";
   if (isHybrid()) std::cout << "Hybrid ";
   BaseConditional::print("", formatter);
-  std::cout << "\nDiscrete Keys = ";
+  std::cout << " Discrete Keys = ";
   for (auto &dk : discreteKeys()) {
     std::cout << "(" << formatter(dk.first) << ", " << dk.second << "), ";
   }
diff --git a/gtsam/hybrid/HybridDiscreteFactor.cpp b/gtsam/hybrid/HybridDiscreteFactor.cpp
index 2bdcdee8cb..0455e1e904 100644
--- a/gtsam/hybrid/HybridDiscreteFactor.cpp
+++ b/gtsam/hybrid/HybridDiscreteFactor.cpp
@@ -47,7 +47,7 @@ bool HybridDiscreteFactor::equals(const HybridFactor &lf, double tol) const {
 void HybridDiscreteFactor::print(const std::string &s,
                                  const KeyFormatter &formatter) const {
   HybridFactor::print(s, formatter);
-  inner_->print("inner: ", formatter);
+  inner_->print("\n", formatter);
 };
 
 }  // namespace gtsam
diff --git a/gtsam/hybrid/HybridGaussianFactor.cpp b/gtsam/hybrid/HybridGaussianFactor.cpp
index 59d20fb794..4d7490e493 100644
--- a/gtsam/hybrid/HybridGaussianFactor.cpp
+++ b/gtsam/hybrid/HybridGaussianFactor.cpp
@@ -41,7 +41,7 @@ bool HybridGaussianFactor::equals(const HybridFactor &other, double tol) const {
 void HybridGaussianFactor::print(const std::string &s,
                                  const KeyFormatter &formatter) const {
   HybridFactor::print(s, formatter);
-  inner_->print("inner: ", formatter);
+  inner_->print("\n", formatter);
 };
 
 }  // namespace gtsam

From 8b03eb5b2d3abb3b9f3784e570b114e776f553df Mon Sep 17 00:00:00 2001
From: Varun Agrawal <varagrawal@gmail.com>
Date: Tue, 7 Jun 2022 17:57:26 -0400
Subject: [PATCH 138/433] move += operator inside namespace

---
 gtsam/discrete/DecisionTree-inl.h | 4 ++--
 1 file changed, 2 insertions(+), 2 deletions(-)

diff --git a/gtsam/discrete/DecisionTree-inl.h b/gtsam/discrete/DecisionTree-inl.h
index 99f29b8e5f..ffb8d7c696 100644
--- a/gtsam/discrete/DecisionTree-inl.h
+++ b/gtsam/discrete/DecisionTree-inl.h
@@ -39,10 +39,10 @@
 #include <string>
 #include <vector>
 
-using boost::assign::operator+=;
-
 namespace gtsam {
 
+  using boost::assign::operator+=;
+
   /****************************************************************************/
   // Node
   /****************************************************************************/

From 5c5c05370a14141a9ec60628bdb1327cab98f1de Mon Sep 17 00:00:00 2001
From: Varun Agrawal <varagrawal@gmail.com>
Date: Tue, 7 Jun 2022 18:38:21 -0400
Subject: [PATCH 139/433] Add HybridFactorGraph base class and more methods for
 adding gaussian factors

---
 gtsam/hybrid/HybridFactorGraph.h         | 148 +++++++++++++++++++++++
 gtsam/hybrid/HybridGaussianFactorGraph.h |  61 ++++++++--
 2 files changed, 202 insertions(+), 7 deletions(-)
 create mode 100644 gtsam/hybrid/HybridFactorGraph.h

diff --git a/gtsam/hybrid/HybridFactorGraph.h b/gtsam/hybrid/HybridFactorGraph.h
new file mode 100644
index 0000000000..ce0241d255
--- /dev/null
+++ b/gtsam/hybrid/HybridFactorGraph.h
@@ -0,0 +1,148 @@
+/* ----------------------------------------------------------------------------
+
+ * GTSAM Copyright 2010, Georgia Tech Research Corporation,
+ * Atlanta, Georgia 30332-0415
+ * All Rights Reserved
+ * Authors: Frank Dellaert, et al. (see THANKS for the full author list)
+
+ * See LICENSE for the license information
+
+ * -------------------------------------------------------------------------- */
+
+/**
+ * @file   HybridFactorGraph.h
+ * @brief  Hybrid factor graph base class that uses type erasure
+ * @author Varun Agrawal
+ * @date   May 28, 2022
+ */
+
+#pragma once
+
+#include <gtsam/discrete/DiscreteFactor.h>
+#include <gtsam/hybrid/HybridDiscreteFactor.h>
+#include <gtsam/hybrid/HybridFactor.h>
+#include <gtsam/inference/FactorGraph.h>
+#include <gtsam/inference/Ordering.h>
+
+#include <boost/format.hpp>
+namespace gtsam {
+
+using SharedFactor = boost::shared_ptr<Factor>;
+
+/**
+ * Hybrid Factor Graph
+ * -----------------------
+ * This is the base hybrid factor graph.
+ * Everything inside needs to be hybrid factor or hybrid conditional.
+ */
+class HybridFactorGraph : public FactorGraph<HybridFactor> {
+ public:
+  using Base = FactorGraph<HybridFactor>;
+  using This = HybridFactorGraph;              ///< this class
+  using shared_ptr = boost::shared_ptr<This>;  ///< shared_ptr to This
+
+  using Values = gtsam::Values;  ///< backwards compatibility
+  using Indices = KeyVector;     ///> map from keys to values
+
+ protected:
+  /// Check if FACTOR type is derived from DiscreteFactor.
+  template <typename FACTOR>
+  using IsDiscrete = typename std::enable_if<
+      std::is_base_of<DiscreteFactor, FACTOR>::value>::type;
+
+  /// Check if FACTOR type is derived from HybridFactor.
+  template <typename FACTOR>
+  using IsHybrid = typename std::enable_if<
+      std::is_base_of<HybridFactor, FACTOR>::value>::type;
+
+ public:
+  /// @name Constructors
+  /// @{
+
+  /// Default constructor
+  HybridFactorGraph() = default;
+
+  /**
+   * Implicit copy/downcast constructor to override explicit template container
+   * constructor. In BayesTree this is used for:
+   * `cachedSeparatorMarginal_.reset(*separatorMarginal)`
+   * */
+  template <class DERIVEDFACTOR>
+  HybridFactorGraph(const FactorGraph<DERIVEDFACTOR>& graph) : Base(graph) {}
+
+  /// @}
+
+  // Allow use of selected FactorGraph methods:
+  using Base::empty;
+  using Base::reserve;
+  using Base::size;
+  using Base::operator[];
+  using Base::add;
+  using Base::push_back;
+  using Base::resize;
+
+  /**
+   * Add a discrete factor *pointer* to the internal discrete graph
+   * @param discreteFactor - boost::shared_ptr to the factor to add
+   */
+  template <typename FACTOR>
+  IsDiscrete<FACTOR> push_discrete(
+      const boost::shared_ptr<FACTOR>& discreteFactor) {
+    Base::push_back(boost::make_shared<HybridDiscreteFactor>(discreteFactor));
+  }
+
+  /**
+   * Add a discrete-continuous (Hybrid) factor *pointer* to the graph
+   * @param hybridFactor - boost::shared_ptr to the factor to add
+   */
+  template <typename FACTOR>
+  IsHybrid<FACTOR> push_hybrid(const boost::shared_ptr<FACTOR>& hybridFactor) {
+    Base::push_back(hybridFactor);
+  }
+
+  /// delete emplace_shared.
+  template <class FACTOR, class... Args>
+  void emplace_shared(Args&&... args) = delete;
+
+  /// Construct a factor and add (shared pointer to it) to factor graph.
+  template <class FACTOR, class... Args>
+  IsDiscrete<FACTOR> emplace_discrete(Args&&... args) {
+    auto factor = boost::allocate_shared<FACTOR>(
+        Eigen::aligned_allocator<FACTOR>(), std::forward<Args>(args)...);
+    push_discrete(factor);
+  }
+
+  /// Construct a factor and add (shared pointer to it) to factor graph.
+  template <class FACTOR, class... Args>
+  IsHybrid<FACTOR> emplace_hybrid(Args&&... args) {
+    auto factor = boost::allocate_shared<FACTOR>(
+        Eigen::aligned_allocator<FACTOR>(), std::forward<Args>(args)...);
+    push_hybrid(factor);
+  }
+
+  /**
+   * @brief Add a single factor shared pointer to the hybrid factor graph.
+   * Dynamically handles the factor type and assigns it to the correct
+   * underlying container.
+   *
+   * @param sharedFactor The factor to add to this factor graph.
+   */
+  void push_back(const SharedFactor& sharedFactor) {
+    if (auto p = boost::dynamic_pointer_cast<DiscreteFactor>(sharedFactor)) {
+      push_discrete(p);
+    }
+    if (auto p = boost::dynamic_pointer_cast<HybridFactor>(sharedFactor)) {
+      push_hybrid(p);
+    }
+  }
+
+  /** Constructor from iterator over factors (shared_ptr or plain objects) */
+  template <typename ITERATOR>
+  void push_back(ITERATOR firstFactor, ITERATOR lastFactor) {
+    for (auto&& it = firstFactor; it != lastFactor; it++) {
+      push_back(*it);
+    }
+  }
+};
+
+}  // namespace gtsam
\ No newline at end of file
diff --git a/gtsam/hybrid/HybridGaussianFactorGraph.h b/gtsam/hybrid/HybridGaussianFactorGraph.h
index 0188aa652c..1d49904fed 100644
--- a/gtsam/hybrid/HybridGaussianFactorGraph.h
+++ b/gtsam/hybrid/HybridGaussianFactorGraph.h
@@ -19,6 +19,8 @@
 #pragma once
 
 #include <gtsam/hybrid/HybridFactor.h>
+#include <gtsam/hybrid/HybridFactorGraph.h>
+#include <gtsam/hybrid/HybridGaussianFactor.h>
 #include <gtsam/inference/EliminateableFactorGraph.h>
 #include <gtsam/inference/FactorGraph.h>
 #include <gtsam/inference/Ordering.h>
@@ -53,10 +55,9 @@ struct EliminationTraits<HybridGaussianFactorGraph> {
   typedef HybridBayesNet
       BayesNetType;  ///< Type of Bayes net from sequential elimination
   typedef HybridEliminationTree
-      EliminationTreeType;                ///< Type of elimination tree
-  typedef HybridBayesTree BayesTreeType;  ///< Type of Bayes tree
-  typedef HybridJunctionTree
-      JunctionTreeType;  ///< Type of Junction tree
+      EliminationTreeType;                      ///< Type of elimination tree
+  typedef HybridBayesTree BayesTreeType;        ///< Type of Bayes tree
+  typedef HybridJunctionTree JunctionTreeType;  ///< Type of Junction tree
   /// The default dense elimination function
   static std::pair<boost::shared_ptr<ConditionalType>,
                    boost::shared_ptr<FactorType> >
@@ -72,10 +73,16 @@ struct EliminationTraits<HybridGaussianFactorGraph> {
  * Everything inside needs to be hybrid factor or hybrid conditional.
  */
 class GTSAM_EXPORT HybridGaussianFactorGraph
-    : public FactorGraph<HybridFactor>,
+    : public HybridFactorGraph,
       public EliminateableFactorGraph<HybridGaussianFactorGraph> {
+ protected:
+  /// Check if FACTOR type is derived from GaussianFactor.
+  template <typename FACTOR>
+  using IsGaussian = typename std::enable_if<
+      std::is_base_of<GaussianFactor, FACTOR>::value>::type;
+
  public:
-  using Base = FactorGraph<HybridFactor>;
+  using Base = HybridFactorGraph;
   using This = HybridGaussianFactorGraph;  ///< this class
   using BaseEliminateable =
       EliminateableFactorGraph<This>;          ///< for elimination
@@ -100,7 +107,13 @@ class GTSAM_EXPORT HybridGaussianFactorGraph
 
   /// @}
 
-  using FactorGraph::add;
+  using Base::empty;
+  using Base::reserve;
+  using Base::size;
+  using Base::operator[];
+  using Base::add;
+  using Base::push_back;
+  using Base::resize;
 
   /// Add a Jacobian factor to the factor graph.
   void add(JacobianFactor&& factor);
@@ -113,6 +126,40 @@ class GTSAM_EXPORT HybridGaussianFactorGraph
 
   /// Add a DecisionTreeFactor as a shared ptr.
   void add(boost::shared_ptr<DecisionTreeFactor> factor);
+
+  /**
+   * Add a gaussian factor *pointer* to the internal gaussian factor graph
+   * @param gaussianFactor - boost::shared_ptr to the factor to add
+   */
+  template <typename FACTOR>
+  IsGaussian<FACTOR> push_gaussian(
+      const boost::shared_ptr<FACTOR>& gaussianFactor) {
+    Base::Base::push_back(
+        boost::make_shared<HybridGaussianFactor>(gaussianFactor));
+  }
+
+  /// Construct a factor and add (shared pointer to it) to factor graph.
+  template <class FACTOR, class... Args>
+  IsGaussian<FACTOR> emplace_gaussian(Args&&... args) {
+    auto factor = boost::allocate_shared<FACTOR>(
+        Eigen::aligned_allocator<FACTOR>(), std::forward<Args>(args)...);
+    push_gaussian(factor);
+  }
+
+  /**
+   * @brief Add a single factor shared pointer to the hybrid factor graph.
+   * Dynamically handles the factor type and assigns it to the correct
+   * underlying container.
+   *
+   * @param sharedFactor The factor to add to this factor graph.
+   */
+  void push_back(const SharedFactor& sharedFactor) {
+    if (auto p = boost::dynamic_pointer_cast<GaussianFactor>(sharedFactor)) {
+      push_gaussian(p);
+    } else {
+      Base::push_back(sharedFactor);
+    }
+  }
 };
 
 }  // namespace gtsam

From 44079d13b4357ae958e754b6ed3769c133f0f565 Mon Sep 17 00:00:00 2001
From: Varun Agrawal <varagrawal@gmail.com>
Date: Tue, 7 Jun 2022 18:38:46 -0400
Subject: [PATCH 140/433] refactor testGaussianHybridFactorGraph to include
 comments and valid tests

---
 .../tests/testGaussianHybridFactorGraph.cpp   | 225 ++++++------------
 1 file changed, 70 insertions(+), 155 deletions(-)

diff --git a/gtsam/hybrid/tests/testGaussianHybridFactorGraph.cpp b/gtsam/hybrid/tests/testGaussianHybridFactorGraph.cpp
index 552bb18f59..9e1a2efdd4 100644
--- a/gtsam/hybrid/tests/testGaussianHybridFactorGraph.cpp
+++ b/gtsam/hybrid/tests/testGaussianHybridFactorGraph.cpp
@@ -58,26 +58,30 @@ using gtsam::symbol_shorthand::X;
 using gtsam::symbol_shorthand::Y;
 
 /* ************************************************************************* */
-TEST(HybridGaussianFactorGraph, creation) {
-  HybridConditional test;
+TEST(HybridGaussianFactorGraph, Creation) {
+  HybridConditional conditional;
 
   HybridGaussianFactorGraph hfg;
 
-  hfg.add(HybridGaussianFactor(JacobianFactor(0, I_3x3, Z_3x1)));
+  hfg.add(HybridGaussianFactor(JacobianFactor(X(0), I_3x3, Z_3x1)));
+
+  // Define a gaussian mixture conditional P(x0|x1, c0) and add it to the factor
+  // graph
+  GaussianMixture gm({X(0)}, {X(1)}, DiscreteKeys(DiscreteKey{C(0), 2}),
+                     GaussianMixture::Conditionals(
+                         C(0),
+                         boost::make_shared<GaussianConditional>(
+                             X(0), Z_3x1, I_3x3, X(1), I_3x3),
+                         boost::make_shared<GaussianConditional>(
+                             X(0), Vector3::Ones(), I_3x3, X(1), I_3x3)));
+  hfg.add(gm);
 
-  GaussianMixture clgc(
-      {X(0)}, {X(1)}, DiscreteKeys(DiscreteKey{C(0), 2}),
-      GaussianMixture::Conditionals(
-          C(0),
-          boost::make_shared<GaussianConditional>(X(0), Z_3x1, I_3x3, X(1),
-                                                  I_3x3),
-          boost::make_shared<GaussianConditional>(X(0), Vector3::Ones(), I_3x3,
-                                                  X(1), I_3x3)));
-  GTSAM_PRINT(clgc);
+  EXPECT_LONGS_EQUAL(2, hfg.size());
 }
 
 /* ************************************************************************* */
-TEST(HybridGaussianFactorGraph, eliminate) {
+TEST(HybridGaussianFactorGraph, EliminateSequential) {
+  // Test elimination of a single variable.
   HybridGaussianFactorGraph hfg;
 
   hfg.add(HybridGaussianFactor(JacobianFactor(0, I_3x3, Z_3x1)));
@@ -88,11 +92,13 @@ TEST(HybridGaussianFactorGraph, eliminate) {
 }
 
 /* ************************************************************************* */
-TEST(HybridGaussianFactorGraph, eliminateMultifrontal) {
+TEST(HybridGaussianFactorGraph, EliminateMultifrontal) {
+  // Test multifrontal elimination
   HybridGaussianFactorGraph hfg;
 
   DiscreteKey c(C(1), 2);
 
+  // Add priors on x0 and c1
   hfg.add(JacobianFactor(X(0), I_3x3, Z_3x1));
   hfg.add(HybridDiscreteFactor(DecisionTreeFactor(c, {2, 8})));
 
@@ -110,9 +116,12 @@ TEST(HybridGaussianFactorGraph, eliminateFullSequentialEqualChance) {
 
   DiscreteKey c1(C(1), 2);
 
+  // Add prior on x0
   hfg.add(JacobianFactor(X(0), I_3x3, Z_3x1));
+  // Add factor between x0 and x1
   hfg.add(JacobianFactor(X(0), I_3x3, X(1), -I_3x3, Z_3x1));
 
+  // Add a gaussian mixture factor ϕ(x1, c1)
   DecisionTree<Key, GaussianFactor::shared_ptr> dt(
       C(1), boost::make_shared<JacobianFactor>(X(1), I_3x3, Z_3x1),
       boost::make_shared<JacobianFactor>(X(1), I_3x3, Vector3::Ones()));
@@ -123,9 +132,9 @@ TEST(HybridGaussianFactorGraph, eliminateFullSequentialEqualChance) {
       hfg.eliminateSequential(Ordering::ColamdConstrainedLast(hfg, {C(1)}));
 
   auto dc = result->at(2)->asDiscreteConditional();
-  DiscreteValues dv;
-  dv[C(1)] = 0;
-  EXPECT_DOUBLES_EQUAL(0.6225, dc->operator()(dv), 1e-3);
+  DiscreteValues mode;
+  mode[C(1)] = 0;
+  EXPECT_DOUBLES_EQUAL(0.6225, (*dc)(mode), 1e-3);
 }
 
 /* ************************************************************************* */
@@ -134,26 +143,26 @@ TEST(HybridGaussianFactorGraph, eliminateFullSequentialSimple) {
 
   DiscreteKey c1(C(1), 2);
 
+  // Add prior on x0
   hfg.add(JacobianFactor(X(0), I_3x3, Z_3x1));
+  // Add factor between x0 and x1
   hfg.add(JacobianFactor(X(0), I_3x3, X(1), -I_3x3, Z_3x1));
 
   DecisionTree<Key, GaussianFactor::shared_ptr> dt(
       C(1), boost::make_shared<JacobianFactor>(X(1), I_3x3, Z_3x1),
       boost::make_shared<JacobianFactor>(X(1), I_3x3, Vector3::Ones()));
-
   hfg.add(GaussianMixtureFactor({X(1)}, {c1}, dt));
-  // hfg.add(GaussianMixtureFactor({X(0)}, {c1}, dt));
+
+  // Discrete probability table for c1
   hfg.add(HybridDiscreteFactor(DecisionTreeFactor(c1, {2, 8})));
+  // Joint discrete probability table for c1, c2
   hfg.add(HybridDiscreteFactor(
       DecisionTreeFactor({{C(1), 2}, {C(2), 2}}, "1 2 3 4")));
-  // hfg.add(HybridDiscreteFactor(DecisionTreeFactor({{C(2), 2}, {C(3), 2}}, "1
-  // 2 3 4"))); hfg.add(HybridDiscreteFactor(DecisionTreeFactor({{C(3), 2},
-  // {C(1), 2}}, "1 2 2 1")));
 
   auto result = hfg.eliminateSequential(
       Ordering::ColamdConstrainedLast(hfg, {C(1), C(2)}));
 
-  GTSAM_PRINT(*result);
+  EXPECT_LONGS_EQUAL(4, result->size());
 }
 
 /* ************************************************************************* */
@@ -165,28 +174,19 @@ TEST(HybridGaussianFactorGraph, eliminateFullMultifrontalSimple) {
   hfg.add(JacobianFactor(X(0), I_3x3, Z_3x1));
   hfg.add(JacobianFactor(X(0), I_3x3, X(1), -I_3x3, Z_3x1));
 
-  // DecisionTree<Key, GaussianFactor::shared_ptr> dt(
-  //     C(1), boost::make_shared<JacobianFactor>(X(1), I_3x3, Z_3x1),
-  //     boost::make_shared<JacobianFactor>(X(1), I_3x3, Vector3::Ones()));
-
-  // hfg.add(GaussianMixtureFactor({X(1)}, {c1}, dt));
   hfg.add(GaussianMixtureFactor::FromFactors(
       {X(1)}, {{C(1), 2}},
       {boost::make_shared<JacobianFactor>(X(1), I_3x3, Z_3x1),
        boost::make_shared<JacobianFactor>(X(1), I_3x3, Vector3::Ones())}));
 
-  // hfg.add(GaussianMixtureFactor({X(0)}, {c1}, dt));
   hfg.add(DecisionTreeFactor(c1, {2, 8}));
   hfg.add(DecisionTreeFactor({{C(1), 2}, {C(2), 2}}, "1 2 3 4"));
-  // hfg.add(HybridDiscreteFactor(DecisionTreeFactor({{C(2), 2}, {C(3), 2}}, "1
-  // 2 3 4"))); hfg.add(HybridDiscreteFactor(DecisionTreeFactor({{C(3), 2},
-  // {C(1), 2}}, "1 2 2 1")));
 
   auto result = hfg.eliminateMultifrontal(
       Ordering::ColamdConstrainedLast(hfg, {C(1), C(2)}));
 
-  GTSAM_PRINT(*result);
-  GTSAM_PRINT(*result->marginalFactor(C(2)));
+  // GTSAM_PRINT(*result);
+  // GTSAM_PRINT(*result->marginalFactor(C(2)));
 }
 
 /* ************************************************************************* */
@@ -195,30 +195,28 @@ TEST(HybridGaussianFactorGraph, eliminateFullMultifrontalCLG) {
 
   DiscreteKey c(C(1), 2);
 
+  // Prior on x0
   hfg.add(JacobianFactor(X(0), I_3x3, Z_3x1));
+  // Factor between x0-x1
   hfg.add(JacobianFactor(X(0), I_3x3, X(1), -I_3x3, Z_3x1));
 
+  // Decision tree with different modes on x1
   DecisionTree<Key, GaussianFactor::shared_ptr> dt(
       C(1), boost::make_shared<JacobianFactor>(X(1), I_3x3, Z_3x1),
       boost::make_shared<JacobianFactor>(X(1), I_3x3, Vector3::Ones()));
 
+  // Hybrid factor P(x1|c1)
   hfg.add(GaussianMixtureFactor({X(1)}, {c}, dt));
+  // Prior factor on c1
   hfg.add(HybridDiscreteFactor(DecisionTreeFactor(c, {2, 8})));
-  //  hfg.add(HybridDiscreteFactor(DecisionTreeFactor({{C(1), 2}, {C(2), 2}}, "1
-  //  2 3 4")));
 
+  // Get a constrained ordering keeping c1 last
   auto ordering_full = Ordering::ColamdConstrainedLast(hfg, {C(1)});
 
+  // Returns a Hybrid Bayes Tree with distribution P(x0|x1)P(x1|c1)P(c1)
   HybridBayesTree::shared_ptr hbt = hfg.eliminateMultifrontal(ordering_full);
 
-  GTSAM_PRINT(*hbt);
-  /*
-  Explanation: the Junction tree will need to reeliminate to get to the marginal
-  on X(1), which is not possible because it involves eliminating discrete before
-  continuous. The solution to this, however, is in Murphy02. TLDR is that this
-  is 1. expensive and 2. inexact. neverless it is doable. And I believe that we
-  should do this.
-  */
+  EXPECT_LONGS_EQUAL(3, hbt->size());
 }
 
 /* ************************************************************************* */
@@ -233,10 +231,6 @@ TEST(HybridGaussianFactorGraph, eliminateFullMultifrontalTwoClique) {
   hfg.add(JacobianFactor(X(1), I_3x3, X(2), -I_3x3, Z_3x1));
 
   {
-    // DecisionTree<Key, GaussianFactor::shared_ptr> dt(
-    //     C(0), boost::make_shared<JacobianFactor>(X(0), I_3x3, Z_3x1),
-    //     boost::make_shared<JacobianFactor>(X(0), I_3x3, Vector3::Ones()));
-
     hfg.add(GaussianMixtureFactor::FromFactors(
         {X(0)}, {{C(0), 2}},
         {boost::make_shared<JacobianFactor>(X(0), I_3x3, Z_3x1),
@@ -249,7 +243,6 @@ TEST(HybridGaussianFactorGraph, eliminateFullMultifrontalTwoClique) {
     hfg.add(GaussianMixtureFactor({X(2)}, {{C(1), 2}}, dt1));
   }
 
-  // hfg.add(HybridDiscreteFactor(DecisionTreeFactor(c, {2, 8})));
   hfg.add(HybridDiscreteFactor(
       DecisionTreeFactor({{C(1), 2}, {C(2), 2}}, "1 2 3 4")));
 
@@ -273,26 +266,36 @@ TEST(HybridGaussianFactorGraph, eliminateFullMultifrontalTwoClique) {
   auto ordering_full =
       Ordering::ColamdConstrainedLast(hfg, {C(0), C(1), C(2), C(3)});
 
-  GTSAM_PRINT(ordering_full);
-
   HybridBayesTree::shared_ptr hbt;
   HybridGaussianFactorGraph::shared_ptr remaining;
   std::tie(hbt, remaining) = hfg.eliminatePartialMultifrontal(ordering_full);
 
-  GTSAM_PRINT(*hbt);
-
-  GTSAM_PRINT(*remaining);
+  // GTSAM_PRINT(*hbt);
+  // GTSAM_PRINT(*remaining);
 
-  hbt->dot(std::cout);
   /*
-  Explanation: the Junction tree will need to reeliminate to get to the marginal
-  on X(1), which is not possible because it involves eliminating discrete before
-  continuous. The solution to this, however, is in Murphy02. TLDR is that this
-  is 1. expensive and 2. inexact. neverless it is doable. And I believe that we
-  should do this.
+  (Fan) Explanation: the Junction tree will need to reeliminate to get to the
+  marginal on X(1), which is not possible because it involves eliminating
+  discrete before continuous. The solution to this, however, is in Murphy02.
+  TLDR is that this is 1. expensive and 2. inexact. nevertheless it is doable.
+  And I believe that we should do this.
   */
 }
 
+void dotPrint(const HybridGaussianFactorGraph::shared_ptr &hfg,
+              const HybridBayesTree::shared_ptr &hbt,
+              const Ordering &ordering) {
+  DotWriter dw;
+  dw.positionHints['c'] = 2;
+  dw.positionHints['x'] = 1;
+  std::cout << hfg->dot(DefaultKeyFormatter, dw);
+  std::cout << "\n";
+  hbt->dot(std::cout);
+
+  std::cout << "\n";
+  std::cout << hfg->eliminateSequential(ordering)->dot(DefaultKeyFormatter, dw);
+}
+
 /* ************************************************************************* */
 // TODO(fan): make a graph like Varun's paper one
 TEST(HybridGaussianFactorGraph, Switching) {
@@ -326,9 +329,6 @@ TEST(HybridGaussianFactorGraph, Switching) {
     for (auto &l : lvls) {
       l = -l;
     }
-    std::copy(lvls.begin(), lvls.end(),
-              std::ostream_iterator<int>(std::cout, ","));
-    std::cout << "\n";
   }
   {
     std::vector<int> naturalC(N - 1);
@@ -342,63 +342,19 @@ TEST(HybridGaussianFactorGraph, Switching) {
     // std::copy(ordC.begin(), ordC.end(), std::back_inserter(ordering));
     std::tie(ndC, lvls) = makeBinaryOrdering(ordC);
     std::copy(ndC.begin(), ndC.end(), std::back_inserter(ordering));
-    std::copy(lvls.begin(), lvls.end(),
-              std::ostream_iterator<int>(std::cout, ","));
   }
   auto ordering_full = Ordering(ordering);
 
-  // auto ordering_full =
-  //     Ordering();
-
-  // for (int i = 1; i <= 9; i++) {
-  //   ordering_full.push_back(X(i));
-  // }
-
-  // for (int i = 1; i < 9; i++) {
-  //   ordering_full.push_back(C(i));
-  // }
-
-  // auto ordering_full =
-  //     Ordering(KeyVector{X(1), X(4), X(2), X(6), X(9), X(8), X(3), X(7),
-  //     X(5),
-  //                        C(1), C(2), C(3), C(4), C(5), C(6), C(7), C(8)});
-
   // GTSAM_PRINT(*hfg);
-  GTSAM_PRINT(ordering_full);
+  // GTSAM_PRINT(ordering_full);
 
   HybridBayesTree::shared_ptr hbt;
   HybridGaussianFactorGraph::shared_ptr remaining;
   std::tie(hbt, remaining) = hfg->eliminatePartialMultifrontal(ordering_full);
 
   // GTSAM_PRINT(*hbt);
-
   // GTSAM_PRINT(*remaining);
-
-  {
-    DotWriter dw;
-    dw.positionHints['c'] = 2;
-    dw.positionHints['x'] = 1;
-    std::cout << hfg->dot(DefaultKeyFormatter, dw);
-    std::cout << "\n";
-    hbt->dot(std::cout);
-  }
-
-  {
-    DotWriter dw;
-    // dw.positionHints['c'] = 2;
-    // dw.positionHints['x'] = 1;
-    std::cout << "\n";
-    std::cout << hfg->eliminateSequential(ordering_full)
-                     ->dot(DefaultKeyFormatter, dw);
-  }
-  /*
-  Explanation: the Junction tree will need to reeliminate to get to the marginal
-  on X(1), which is not possible because it involves eliminating discrete before
-  continuous. The solution to this, however, is in Murphy02. TLDR is that this
-  is 1. expensive and 2. inexact. neverless it is doable. And I believe that we
-  should do this.
-  */
-  hbt->marginalFactor(C(11))->print("HBT: ");
+  // hbt->marginalFactor(C(11))->print("HBT: ");
 }
 
 /* ************************************************************************* */
@@ -434,9 +390,6 @@ TEST(HybridGaussianFactorGraph, SwitchingISAM) {
     for (auto &l : lvls) {
       l = -l;
     }
-    std::copy(lvls.begin(), lvls.end(),
-              std::ostream_iterator<int>(std::cout, ","));
-    std::cout << "\n";
   }
   {
     std::vector<int> naturalC(N - 1);
@@ -450,40 +403,16 @@ TEST(HybridGaussianFactorGraph, SwitchingISAM) {
     // std::copy(ordC.begin(), ordC.end(), std::back_inserter(ordering));
     std::tie(ndC, lvls) = makeBinaryOrdering(ordC);
     std::copy(ndC.begin(), ndC.end(), std::back_inserter(ordering));
-    std::copy(lvls.begin(), lvls.end(),
-              std::ostream_iterator<int>(std::cout, ","));
   }
   auto ordering_full = Ordering(ordering);
 
   // GTSAM_PRINT(*hfg);
-  GTSAM_PRINT(ordering_full);
+  // GTSAM_PRINT(ordering_full);
 
   HybridBayesTree::shared_ptr hbt;
   HybridGaussianFactorGraph::shared_ptr remaining;
   std::tie(hbt, remaining) = hfg->eliminatePartialMultifrontal(ordering_full);
 
-  // GTSAM_PRINT(*hbt);
-
-  // GTSAM_PRINT(*remaining);
-
-  {
-    DotWriter dw;
-    dw.positionHints['c'] = 2;
-    dw.positionHints['x'] = 1;
-    std::cout << hfg->dot(DefaultKeyFormatter, dw);
-    std::cout << "\n";
-    hbt->dot(std::cout);
-  }
-
-  {
-    DotWriter dw;
-    // dw.positionHints['c'] = 2;
-    // dw.positionHints['x'] = 1;
-    std::cout << "\n";
-    std::cout << hfg->eliminateSequential(ordering_full)
-                     ->dot(DefaultKeyFormatter, dw);
-  }
-
   auto new_fg = makeSwitchingChain(12);
   auto isam = HybridGaussianISAM(*hbt);
 
@@ -492,13 +421,14 @@ TEST(HybridGaussianFactorGraph, SwitchingISAM) {
     factorGraph.push_back(new_fg->at(new_fg->size() - 2));
     factorGraph.push_back(new_fg->at(new_fg->size() - 1));
     isam.update(factorGraph);
-    std::cout << isam.dot();
-    isam.marginalFactor(C(11))->print();
+    // std::cout << isam.dot();
+    // isam.marginalFactor(C(11))->print();
   }
 }
 
 /* ************************************************************************* */
-TEST(HybridGaussianFactorGraph, SwitchingTwoVar) {
+// TODO(Varun) Actually test something!
+TEST_DISABLED(HybridGaussianFactorGraph, SwitchingTwoVar) {
   const int N = 7;
   auto hfg = makeSwitchingChain(N, X);
   hfg->push_back(*makeSwitchingChain(N, Y, D));
@@ -517,21 +447,6 @@ TEST(HybridGaussianFactorGraph, SwitchingTwoVar) {
     ordX.emplace_back(Y(i));
   }
 
-  // {
-  //   KeyVector ndX;
-  //   std::vector<int> lvls;
-  //   std::tie(ndX, lvls) = makeBinaryOrdering(naturalX);
-  //   std::copy(ndX.begin(), ndX.end(), std::back_inserter(ordering));
-  //   std::copy(lvls.begin(), lvls.end(),
-  //             std::ostream_iterator<int>(std::cout, ","));
-  //   std::cout << "\n";
-
-  //   for (size_t i = 0; i < N; i++) {
-  //     ordX.emplace_back(X(ndX[i]));
-  //     ordX.emplace_back(Y(ndX[i]));
-  //   }
-  // }
-
   for (size_t i = 1; i <= N - 1; i++) {
     ordX.emplace_back(C(i));
   }

From 374e3cbc7a882c8e8a2f53aa84535ec1fb5fcbd3 Mon Sep 17 00:00:00 2001
From: Varun Agrawal <varagrawal@gmail.com>
Date: Tue, 7 Jun 2022 18:39:10 -0400
Subject: [PATCH 141/433] Improved hybrid bayes net and tests

---
 gtsam/hybrid/HybridBayesNet.cpp           | 27 +++++++
 gtsam/hybrid/HybridBayesNet.h             | 22 ++++++
 gtsam/hybrid/tests/testHybridBayesNet.cpp | 92 +++++++++++++++++++++++
 3 files changed, 141 insertions(+)
 create mode 100644 gtsam/hybrid/tests/testHybridBayesNet.cpp

diff --git a/gtsam/hybrid/HybridBayesNet.cpp b/gtsam/hybrid/HybridBayesNet.cpp
index 1292711d89..b3df73bf20 100644
--- a/gtsam/hybrid/HybridBayesNet.cpp
+++ b/gtsam/hybrid/HybridBayesNet.cpp
@@ -10,7 +10,34 @@
  * @file   HybridBayesNet.cpp
  * @brief  A bayes net of Gaussian Conditionals indexed by discrete keys.
  * @author Fan Jiang
+ * @author Varun Agrawal
  * @date   January 2022
  */
 
 #include <gtsam/hybrid/HybridBayesNet.h>
+
+namespace gtsam {
+
+/* ************************************************************************* */
+GaussianMixture::shared_ptr HybridBayesNet::atGaussian(size_t i) const {
+  return boost::dynamic_pointer_cast<GaussianMixture>(factors_.at(i)->inner());
+}
+
+/* ************************************************************************* */
+DiscreteConditional::shared_ptr HybridBayesNet::atDiscrete(size_t i) const {
+  return boost::dynamic_pointer_cast<DiscreteConditional>(
+      factors_.at(i)->inner());
+}
+
+/* ************************************************************************* */
+GaussianBayesNet HybridBayesNet::choose(
+    const DiscreteValues &assignment) const {
+  GaussianBayesNet gbn;
+  for (size_t idx = 0; idx < size(); idx++) {
+    GaussianMixture gm = *this->atGaussian(idx);
+    gbn.push_back(gm(assignment));
+  }
+  return gbn;
+}
+
+}  // namespace gtsam
diff --git a/gtsam/hybrid/HybridBayesNet.h b/gtsam/hybrid/HybridBayesNet.h
index 43eead2801..412b208b93 100644
--- a/gtsam/hybrid/HybridBayesNet.h
+++ b/gtsam/hybrid/HybridBayesNet.h
@@ -19,6 +19,7 @@
 
 #include <gtsam/hybrid/HybridConditional.h>
 #include <gtsam/inference/BayesNet.h>
+#include <gtsam/linear/GaussianBayesNet.h>
 
 namespace gtsam {
 
@@ -36,6 +37,27 @@ class GTSAM_EXPORT HybridBayesNet : public BayesNet<HybridConditional> {
 
   /** Construct empty bayes net */
   HybridBayesNet() = default;
+
+  /// Add a discrete conditional to the Bayes Net.
+  void add(const DiscreteKey &key, const std::string &table) {
+    push_back(
+        HybridConditional(boost::make_shared<DiscreteConditional>(key, table)));
+  }
+
+  /// Get a specific Gaussian mixture by index `i`.
+  GaussianMixture::shared_ptr atGaussian(size_t i) const;
+
+  /// Get a specific discrete conditional by index `i`.
+  DiscreteConditional::shared_ptr atDiscrete(size_t i) const;
+
+  /**
+   * @brief Get the Gaussian Bayes Net which corresponds to a specific discrete
+   * value assignment.
+   *
+   * @param assignment The discrete value assignment for the discrete keys.
+   * @return GaussianBayesNet
+   */
+  GaussianBayesNet choose(const DiscreteValues &assignment) const;
 };
 
 }  // namespace gtsam
diff --git a/gtsam/hybrid/tests/testHybridBayesNet.cpp b/gtsam/hybrid/tests/testHybridBayesNet.cpp
new file mode 100644
index 0000000000..34133ab0b3
--- /dev/null
+++ b/gtsam/hybrid/tests/testHybridBayesNet.cpp
@@ -0,0 +1,92 @@
+/* ----------------------------------------------------------------------------
+
+ * GTSAM Copyright 2010, Georgia Tech Research Corporation,
+ * Atlanta, Georgia 30332-0415
+ * All Rights Reserved
+ * Authors: Frank Dellaert, et al. (see THANKS for the full author list)
+
+ * See LICENSE for the license information
+
+ * -------------------------------------------------------------------------- */
+
+/**
+ * @file    testHybridBayesNet.cpp
+ * @brief   Unit tests for HybridBayesNet
+ * @author  Varun Agrawal
+ * @author  Fan Jiang
+ * @author  Frank Dellaert
+ * @date    December 2021
+ */
+
+#include <gtsam/hybrid/HybridBayesNet.h>
+#include <gtsam/hybrid/tests/Switching.h>
+
+// Include for test suite
+#include <CppUnitLite/TestHarness.h>
+
+using namespace std;
+using namespace gtsam;
+using noiseModel::Isotropic;
+using symbol_shorthand::M;
+using symbol_shorthand::X;
+
+static const DiscreteKey Asia(0, 2);
+
+/* ****************************************************************************/
+// Test creation
+TEST(HybridBayesNet, Creation) {
+  HybridBayesNet bayesNet;
+
+  bayesNet.add(Asia, "99/1");
+
+  DiscreteConditional expected(Asia, "99/1");
+
+  CHECK(bayesNet.atDiscrete(0));
+  auto& df = *bayesNet.atDiscrete(0);
+  EXPECT(df.equals(expected));
+}
+
+/* ****************************************************************************/
+// Test choosing an assignment of conditionals
+TEST(HybridBayesNet, Choose) {
+  Switching s(4);
+
+  Ordering ordering;
+  for (auto&& kvp : s.linearizationPoint) {
+    ordering += kvp.key;
+  }
+
+  HybridBayesNet::shared_ptr hybridBayesNet;
+  HybridGaussianFactorGraph::shared_ptr remainingFactorGraph;
+  std::tie(hybridBayesNet, remainingFactorGraph) =
+      s.linearizedFactorGraph.eliminatePartialSequential(ordering);
+
+  DiscreteValues assignment;
+  assignment[M(1)] = 1;
+  assignment[M(2)] = 1;
+  assignment[M(3)] = 0;
+
+  GaussianBayesNet gbn = hybridBayesNet->choose(assignment);
+
+  EXPECT_LONGS_EQUAL(4, gbn.size());
+
+  EXPECT(assert_equal(*(*boost::dynamic_pointer_cast<GaussianMixture>(
+                          hybridBayesNet->atGaussian(0)))(assignment),
+                      *gbn.at(0)));
+  EXPECT(assert_equal(*(*boost::dynamic_pointer_cast<GaussianMixture>(
+                          hybridBayesNet->atGaussian(1)))(assignment),
+                      *gbn.at(1)));
+  EXPECT(assert_equal(*(*boost::dynamic_pointer_cast<GaussianMixture>(
+                          hybridBayesNet->atGaussian(2)))(assignment),
+                      *gbn.at(2)));
+  EXPECT(assert_equal(*(*boost::dynamic_pointer_cast<GaussianMixture>(
+                          hybridBayesNet->atGaussian(3)))(assignment),
+                      *gbn.at(3)));
+}
+
+/* ************************************************************************* */
+int main() {
+  TestResult tr;
+  return TestRegistry::runAllTests(tr);
+}
+/* ************************************************************************* */
\ No newline at end of file

From 8d6a225851b5a2751452cedf598c660446b99161 Mon Sep 17 00:00:00 2001
From: Varun Agrawal <varagrawal@gmail.com>
Date: Tue, 7 Jun 2022 18:39:20 -0400
Subject: [PATCH 142/433] fix printing

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

diff --git a/gtsam/hybrid/GaussianMixtureFactor.h b/gtsam/hybrid/GaussianMixtureFactor.h
index 6c90ee6a71..7b7c1899fe 100644
--- a/gtsam/hybrid/GaussianMixtureFactor.h
+++ b/gtsam/hybrid/GaussianMixtureFactor.h
@@ -108,7 +108,7 @@ class GTSAM_EXPORT GaussianMixtureFactor : public HybridFactor {
   bool equals(const HybridFactor &lf, double tol = 1e-9) const override;
 
   void print(
-      const std::string &s = "HybridFactor\n",
+      const std::string &s = "GaussianMixtureFactor\n",
       const KeyFormatter &formatter = DefaultKeyFormatter) const override;
   /// @}
 

From 00be610e18ced3a1226a5271a6f1ad275d5c3539 Mon Sep 17 00:00:00 2001
From: Varun Agrawal <varagrawal@gmail.com>
Date: Tue, 7 Jun 2022 18:39:33 -0400
Subject: [PATCH 143/433] Add Switching class and make it linear

---
 gtsam/hybrid/tests/Switching.h | 139 +++++++++++++++++++++++++++++++--
 1 file changed, 132 insertions(+), 7 deletions(-)

diff --git a/gtsam/hybrid/tests/Switching.h b/gtsam/hybrid/tests/Switching.h
index c081b8e87e..85c86f64e0 100644
--- a/gtsam/hybrid/tests/Switching.h
+++ b/gtsam/hybrid/tests/Switching.h
@@ -18,18 +18,136 @@
 
 #include <gtsam/base/Matrix.h>
 #include <gtsam/discrete/DecisionTreeFactor.h>
+#include <gtsam/discrete/DiscreteDistribution.h>
 #include <gtsam/hybrid/GaussianMixtureFactor.h>
 #include <gtsam/hybrid/HybridGaussianFactorGraph.h>
 #include <gtsam/inference/Symbol.h>
 #include <gtsam/linear/JacobianFactor.h>
+#include <gtsam/slam/BetweenFactor.h>
 
 #pragma once
 
-using gtsam::symbol_shorthand::C;
-using gtsam::symbol_shorthand::X;
-
 namespace gtsam {
-inline HybridGaussianFactorGraph::shared_ptr makeSwitchingChain(
+
+using symbol_shorthand::C;
+using symbol_shorthand::M;
+using symbol_shorthand::X;
+
+/* ****************************************************************************/
+// Test fixture with switching network.
+// TODO(Varun) Currently this is only linear. We need to add nonlinear support
+// and then update to
+// https://github.com/borglab/gtsam/pull/973/files#diff-58c02b3b197ebf731694946e87762d252e9eaa2f5c6c4ba22d618085b321ca23
+struct Switching {
+  size_t K;
+  DiscreteKeys modes;
+  HybridGaussianFactorGraph linearizedFactorGraph;
+  Values linearizationPoint;
+
+  using MotionModel = BetweenFactor<double>;
+  // using MotionMixture = MixtureFactor<MotionModel>;
+
+  /// Create with given number of time steps.
+  Switching(size_t K, double between_sigma = 1.0, double prior_sigma = 0.1)
+      : K(K) {
+    // Create DiscreteKeys for binary K modes, modes[0] will not be used.
+    modes = addDiscreteModes(K);
+
+    // Create hybrid factor graph.
+    // Add a prior on X(1).
+    auto prior = boost::make_shared<JacobianFactor>(
+        X(1), Matrix11::Ones() / prior_sigma, Vector1::Zero());
+    linearizedFactorGraph.push_back(prior);
+
+    // Add "motion models".
+    linearizedFactorGraph = addMotionModels(K);
+
+    // Add measurement factors
+    for (size_t k = 1; k <= K; k++) {
+      linearizedFactorGraph.emplace_gaussian<JacobianFactor>(
+          X(k), Matrix11::Ones() / 0.1, Vector1::Zero());
+    }
+
+    // Add "mode chain"
+    linearizedFactorGraph = addModeChain(linearizedFactorGraph);
+
+    // Create the linearization point.
+    for (size_t k = 1; k <= K; k++) {
+      linearizationPoint.insert<double>(X(k), static_cast<double>(k));
+    }
+  }
+
+  /// Create DiscreteKeys for K binary modes.
+  DiscreteKeys addDiscreteModes(size_t K) {
+    DiscreteKeys m;
+    for (size_t k = 0; k <= K; k++) {
+      m.emplace_back(M(k), 2);
+    }
+    return m;
+  }
+
+  /// Helper function to add motion models for each [k, k+1] interval.
+  HybridGaussianFactorGraph addMotionModels(size_t K) {
+    HybridGaussianFactorGraph hgfg;
+    for (size_t k = 1; k < K; k++) {
+      auto keys = {X(k), X(k + 1)};
+      auto components = motionModels(k);
+      hgfg.emplace_hybrid<GaussianMixtureFactor>(keys, DiscreteKeys{modes[k]},
+                                                 components);
+    }
+    return hgfg;
+  }
+
+  // Create motion models for a given time step
+  static std::vector<GaussianFactor::shared_ptr> motionModels(
+      size_t k, double sigma = 1.0) {
+    auto noise_model = noiseModel::Isotropic::Sigma(1, sigma);
+    auto still = boost::make_shared<JacobianFactor>(
+             X(k), -Matrix11::Ones() / sigma, X(k + 1),
+             Matrix11::Ones() / sigma, Vector1::Zero()),
+         moving = boost::make_shared<JacobianFactor>(
+             X(k), -Matrix11::Ones() / sigma, X(k + 1),
+             Matrix11::Ones() / sigma, -Vector1::Ones() / sigma);
+    return {boost::dynamic_pointer_cast<GaussianFactor>(still),
+            boost::dynamic_pointer_cast<GaussianFactor>(moving)};
+  }
+
+  // // Add "mode chain" to NonlinearHybridFactorGraph
+  // void addModeChain(HybridNonlinearFactorGraph& fg) {
+  //   auto prior = boost::make_shared<DiscreteDistribution>(modes[1], "1/1");
+  //   fg.push_discrete(prior);
+  //   for (size_t k = 1; k < K - 1; k++) {
+  //     auto parents = {modes[k]};
+  //     auto conditional = boost::make_shared<DiscreteConditional>(
+  //         modes[k + 1], parents, "1/2 3/2");
+  //     fg.push_discrete(conditional);
+  //   }
+  // }
+
+  // Add "mode chain" to GaussianHybridFactorGraph
+  HybridGaussianFactorGraph addModeChain(HybridGaussianFactorGraph& fg) {
+    auto prior = boost::make_shared<DiscreteDistribution>(modes[1], "1/1");
+    fg.push_discrete(prior);
+    for (size_t k = 1; k < K - 1; k++) {
+      auto parents = {modes[k]};
+      auto conditional = boost::make_shared<DiscreteConditional>(
+          modes[k + 1], parents, "1/2 3/2");
+      fg.push_discrete(conditional);
+    }
+    return fg;
+  }
+};
+
+/**
+ * @brief Create a switching system chain. A switching system is a continuous
+ * system which depends on a discrete mode at each time step of the chain.
+ *
+ * @param n The number of chain elements.
+ * @param keyFunc The functional to help specify the continuous key.
+ * @param dKeyFunc The functional to help specify the discrete key.
+ * @return HybridGaussianFactorGraph::shared_ptr
+ */
+HybridGaussianFactorGraph::shared_ptr makeSwitchingChain(
     size_t n, std::function<Key(int)> keyFunc = X,
     std::function<Key(int)> dKeyFunc = C) {
   HybridGaussianFactorGraph hfg;
@@ -54,9 +172,16 @@ inline HybridGaussianFactorGraph::shared_ptr makeSwitchingChain(
   return boost::make_shared<HybridGaussianFactorGraph>(std::move(hfg));
 }
 
-inline std::pair<KeyVector, std::vector<int>> makeBinaryOrdering(
-    std::vector<Key> &input) {
+/**
+ * @brief
+ *
+ * @param input The original ordering.
+ * @return std::pair<KeyVector, std::vector<int>>
+ */
+std::pair<KeyVector, std::vector<int>> makeBinaryOrdering(
+    std::vector<Key>& input) {
   KeyVector new_order;
+
   std::vector<int> levels(input.size());
   std::function<void(std::vector<Key>::iterator, std::vector<Key>::iterator,
                      int)>
@@ -79,7 +204,7 @@ inline std::pair<KeyVector, std::vector<int>> makeBinaryOrdering(
 
   bsg(input.begin(), input.end(), 0);
   std::reverse(new_order.begin(), new_order.end());
-  // std::reverse(levels.begin(), levels.end());
+
   return {new_order, levels};
 }
 

From 26e0cef48d04f01ff76d5ec09653a6d41b4f25c8 Mon Sep 17 00:00:00 2001
From: Varun Agrawal <varagrawal@gmail.com>
Date: Tue, 7 Jun 2022 19:56:19 -0400
Subject: [PATCH 144/433] fixes

---
 gtsam/hybrid/HybridBayesNet.h    | 3 +++
 gtsam/hybrid/HybridFactorGraph.h | 8 --------
 2 files changed, 3 insertions(+), 8 deletions(-)

diff --git a/gtsam/hybrid/HybridBayesNet.h b/gtsam/hybrid/HybridBayesNet.h
index 412b208b93..7fe19c0ea7 100644
--- a/gtsam/hybrid/HybridBayesNet.h
+++ b/gtsam/hybrid/HybridBayesNet.h
@@ -38,6 +38,9 @@ class GTSAM_EXPORT HybridBayesNet : public BayesNet<HybridConditional> {
   /** Construct empty bayes net */
   HybridBayesNet() = default;
 
+  /// Add HybridConditional to Bayes Net
+  using Base::add;
+
   /// Add a discrete conditional to the Bayes Net.
   void add(const DiscreteKey &key, const std::string &table) {
     push_back(
diff --git a/gtsam/hybrid/HybridFactorGraph.h b/gtsam/hybrid/HybridFactorGraph.h
index ce0241d255..cbbc45590f 100644
--- a/gtsam/hybrid/HybridFactorGraph.h
+++ b/gtsam/hybrid/HybridFactorGraph.h
@@ -135,14 +135,6 @@ class HybridFactorGraph : public FactorGraph<HybridFactor> {
       push_hybrid(p);
     }
   }
-
-  /** Constructor from iterator over factors (shared_ptr or plain objects) */
-  template <typename ITERATOR>
-  void push_back(ITERATOR firstFactor, ITERATOR lastFactor) {
-    for (auto&& it = firstFactor; it != lastFactor; it++) {
-      push_back(*it);
-    }
-  }
 };
 
 }  // namespace gtsam
\ No newline at end of file

From 5bf5d0300697afddac74b898502b5226ff30c085 Mon Sep 17 00:00:00 2001
From: Varun Agrawal <varagrawal@gmail.com>
Date: Tue, 7 Jun 2022 20:13:42 -0400
Subject: [PATCH 145/433] local include

---
 gtsam/hybrid/tests/testHybridBayesNet.cpp | 3 ++-
 1 file changed, 2 insertions(+), 1 deletion(-)

diff --git a/gtsam/hybrid/tests/testHybridBayesNet.cpp b/gtsam/hybrid/tests/testHybridBayesNet.cpp
index 34133ab0b3..ec6b67d660 100644
--- a/gtsam/hybrid/tests/testHybridBayesNet.cpp
+++ b/gtsam/hybrid/tests/testHybridBayesNet.cpp
@@ -19,7 +19,8 @@
  */
 
 #include <gtsam/hybrid/HybridBayesNet.h>
-#include <gtsam/hybrid/tests/Switching.h>
+
+#include "Switching.h"
 
 // Include for test suite
 #include <CppUnitLite/TestHarness.h>

From 8d359257797d502b76eb6500347515a08602eb15 Mon Sep 17 00:00:00 2001
From: Varun Agrawal <varagrawal@gmail.com>
Date: Tue, 7 Jun 2022 21:04:21 -0400
Subject: [PATCH 146/433] make makeBinaryOrdering inline to prevent multiple
 definition error

---
 gtsam/hybrid/tests/Switching.h | 2 +-
 1 file changed, 1 insertion(+), 1 deletion(-)

diff --git a/gtsam/hybrid/tests/Switching.h b/gtsam/hybrid/tests/Switching.h
index 85c86f64e0..76c3da4989 100644
--- a/gtsam/hybrid/tests/Switching.h
+++ b/gtsam/hybrid/tests/Switching.h
@@ -178,7 +178,7 @@ HybridGaussianFactorGraph::shared_ptr makeSwitchingChain(
  * @param input The original ordering.
  * @return std::pair<KeyVector, std::vector<int>>
  */
-std::pair<KeyVector, std::vector<int>> makeBinaryOrdering(
+inline std::pair<KeyVector, std::vector<int>> makeBinaryOrdering(
     std::vector<Key>& input) {
   KeyVector new_order;
 

From 622ebdd13ba3841317d533dbbd87771fa9bbd910 Mon Sep 17 00:00:00 2001
From: Varun Agrawal <varagrawal@gmail.com>
Date: Tue, 7 Jun 2022 22:21:38 -0400
Subject: [PATCH 147/433] makeSwitchingChain is also inline

---
 gtsam/hybrid/tests/Switching.h | 2 +-
 1 file changed, 1 insertion(+), 1 deletion(-)

diff --git a/gtsam/hybrid/tests/Switching.h b/gtsam/hybrid/tests/Switching.h
index 76c3da4989..545259e481 100644
--- a/gtsam/hybrid/tests/Switching.h
+++ b/gtsam/hybrid/tests/Switching.h
@@ -147,7 +147,7 @@ struct Switching {
  * @param dKeyFunc The functional to help specify the discrete key.
  * @return HybridGaussianFactorGraph::shared_ptr
  */
-HybridGaussianFactorGraph::shared_ptr makeSwitchingChain(
+inline HybridGaussianFactorGraph::shared_ptr makeSwitchingChain(
     size_t n, std::function<Key(int)> keyFunc = X,
     std::function<Key(int)> dKeyFunc = C) {
   HybridGaussianFactorGraph hfg;

From f911ccf176570cd93be5e1dea290283ec37ff3ff Mon Sep 17 00:00:00 2001
From: HViktorTsoi <cuijiahetony@live.com>
Date: Wed, 8 Jun 2022 16:30:10 +0800
Subject: [PATCH 148/433] Move Rot3::quaternion to the deprecated block

---
 gtsam/geometry/Rot3.cpp | 2 ++
 gtsam/geometry/Rot3.h   | 7 ++++++-
 2 files changed, 8 insertions(+), 1 deletion(-)

diff --git a/gtsam/geometry/Rot3.cpp b/gtsam/geometry/Rot3.cpp
index 08213b065f..6db5e19195 100644
--- a/gtsam/geometry/Rot3.cpp
+++ b/gtsam/geometry/Rot3.cpp
@@ -228,6 +228,7 @@ double Rot3::yaw(OptionalJacobian<1, 3> H) const {
 }
 
 /* ************************************************************************* */
+#ifdef GTSAM_ALLOW_DEPRECATED_SINCE_V42
 Vector Rot3::quaternion() const {
   gtsam::Quaternion q = toQuaternion();
   Vector v(4);
@@ -237,6 +238,7 @@ Vector Rot3::quaternion() const {
   v(3) = q.z();
   return v;
 }
+#endif
 
 /* ************************************************************************* */
 pair<Unit3, double> Rot3::axisAngle() const {
diff --git a/gtsam/geometry/Rot3.h b/gtsam/geometry/Rot3.h
index 18bd88b52c..01ca7778c6 100644
--- a/gtsam/geometry/Rot3.h
+++ b/gtsam/geometry/Rot3.h
@@ -515,11 +515,16 @@ class GTSAM_EXPORT Rot3 : public LieGroup<Rot3, 3> {
      */
     gtsam::Quaternion toQuaternion() const;
 
+#ifdef GTSAM_ALLOW_DEPRECATED_SINCE_V42
     /**
      * Converts to a generic matrix to allow for use with matlab
      * In format: w x y z
+     * @deprecated: use Rot3::toQuaternion() instead.
+     * If still using this API, remind that in the returned Vector `V`,
+     * `V.x()` denotes the actual `qw`, `V.y()` denotes 'qx', `V.z()` denotes `qy`, and `V.w()` denotes 'qz'.
      */
-    Vector quaternion() const;
+    Vector GTSAM_DEPRECATED quaternion() const;
+#endif
 
     /**
      * @brief Spherical Linear intERPolation between *this and other

From 27ddedfc630206a87c980c6b64f1b90dc7f26747 Mon Sep 17 00:00:00 2001
From: HViktorTsoi <cuijiahetony@live.com>
Date: Wed, 8 Jun 2022 16:42:50 +0800
Subject: [PATCH 149/433] Replace the usage of Rot3::quaternion to
 Rot3::toQuaternion in 'timeShonanAveraging.cpp'

---
 gtsam_unstable/timing/timeShonanAveraging.cpp | 6 +++---
 1 file changed, 3 insertions(+), 3 deletions(-)

diff --git a/gtsam_unstable/timing/timeShonanAveraging.cpp b/gtsam_unstable/timing/timeShonanAveraging.cpp
index e932b64007..74dd04a788 100644
--- a/gtsam_unstable/timing/timeShonanAveraging.cpp
+++ b/gtsam_unstable/timing/timeShonanAveraging.cpp
@@ -79,9 +79,9 @@ void saveG2oResult(string name, const Values& values, std::map<Key, Pose3> poses
         myfile << "VERTEX_SE3:QUAT" << " ";
         myfile << i << " ";
         myfile << poses[i].x() << " " << poses[i].y() << " " << poses[i].z() << " ";
-        Vector quaternion = Rot3(R).quaternion();
-        myfile << quaternion(3) << " " << quaternion(2) << " " << quaternion(1)
-               << " " << quaternion(0);
+        Quaternion quaternion = Rot3(R).toQuaternion();
+        myfile << quaternion.x() << " " << quaternion.y() << " " << quaternion.z()
+               << " " << quaternion.w();
         myfile << "\n";
     }
     myfile.close();

From 5ac71d20d56c594e6ef118d01e47706a90e78c6e Mon Sep 17 00:00:00 2001
From: HViktorTsoi <cuijiahetony@live.com>
Date: Thu, 9 Jun 2022 17:56:35 +0800
Subject: [PATCH 150/433] Remove 'Rot3::quaternion()' API from 'geometry.i'

---
 gtsam/geometry/geometry.i | 2 +-
 1 file changed, 1 insertion(+), 1 deletion(-)

diff --git a/gtsam/geometry/geometry.i b/gtsam/geometry/geometry.i
index 8079e2c2aa..5175582654 100644
--- a/gtsam/geometry/geometry.i
+++ b/gtsam/geometry/geometry.i
@@ -355,7 +355,7 @@ class Rot3 {
   double yaw() const;
   pair<gtsam::Unit3, double> axisAngle() const;
   gtsam::Quaternion toQuaternion() const;
-  Vector quaternion() const;
+  // Vector quaternion() const; // @deprecated, see https://github.com/borglab/gtsam/pull/1219
   gtsam::Rot3 slerp(double t, const gtsam::Rot3& other) const;
 
   // enabling serialization functionality

From 09d512ae4878b767ac1ac5e674795c4ec83f14e6 Mon Sep 17 00:00:00 2001
From: Varun Agrawal <varagrawal@gmail.com>
Date: Thu, 9 Jun 2022 20:11:30 -0400
Subject: [PATCH 151/433] add docstring for makeBinaryOrdering

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

diff --git a/gtsam/hybrid/tests/Switching.h b/gtsam/hybrid/tests/Switching.h
index 545259e481..38a327a580 100644
--- a/gtsam/hybrid/tests/Switching.h
+++ b/gtsam/hybrid/tests/Switching.h
@@ -173,7 +173,10 @@ inline HybridGaussianFactorGraph::shared_ptr makeSwitchingChain(
 }
 
 /**
- * @brief
+ * @brief Return the ordering as a binary tree such that all parent nodes are
+ * above their children.
+ *
+ * This will result in a nested dissection Bayes tree after elimination.
  *
  * @param input The original ordering.
  * @return std::pair<KeyVector, std::vector<int>>

From f6b86fb17eab1788edc25630ab6f78508d0aaec6 Mon Sep 17 00:00:00 2001
From: Varun Agrawal <varagrawal@gmail.com>
Date: Fri, 10 Jun 2022 04:05:18 -0400
Subject: [PATCH 152/433] address review comments

---
 gtsam/hybrid/tests/testGaussianMixture.cpp | 7 +++++--
 1 file changed, 5 insertions(+), 2 deletions(-)

diff --git a/gtsam/hybrid/tests/testGaussianMixture.cpp b/gtsam/hybrid/tests/testGaussianMixture.cpp
index 8a91a86ccd..420e22315b 100644
--- a/gtsam/hybrid/tests/testGaussianMixture.cpp
+++ b/gtsam/hybrid/tests/testGaussianMixture.cpp
@@ -35,7 +35,10 @@ using symbol_shorthand::M;
 using symbol_shorthand::X;
 
 /* ************************************************************************* */
-TEST(GaussianConditional, Equals) {
+/* Check construction of GaussianMixture P(x1 | x2, m1) as well as accessing a
+ * specific mode i.e. P(x1 | x2, m1=1).
+ */
+TEST(GaussianMixture, Equals) {
   // create a conditional gaussian node
   Matrix S1(2, 2);
   S1(0, 0) = 1;
@@ -89,4 +92,4 @@ int main() {
   TestResult tr;
   return TestRegistry::runAllTests(tr);
 }
-/* ************************************************************************* */
\ No newline at end of file
+/* ************************************************************************* */

From 7496f2f43afa11d5431cc09d85694a461db0e1cb Mon Sep 17 00:00:00 2001
From: Varun Agrawal <varagrawal@gmail.com>
Date: Fri, 10 Jun 2022 04:24:13 -0400
Subject: [PATCH 153/433] address review comments

---
 gtsam/hybrid/HybridGaussianFactorGraph.h             | 3 +--
 gtsam/hybrid/tests/testGaussianHybridFactorGraph.cpp | 1 +
 2 files changed, 2 insertions(+), 2 deletions(-)

diff --git a/gtsam/hybrid/HybridGaussianFactorGraph.h b/gtsam/hybrid/HybridGaussianFactorGraph.h
index 1d49904fed..e1cd2dc5f9 100644
--- a/gtsam/hybrid/HybridGaussianFactorGraph.h
+++ b/gtsam/hybrid/HybridGaussianFactorGraph.h
@@ -134,8 +134,7 @@ class GTSAM_EXPORT HybridGaussianFactorGraph
   template <typename FACTOR>
   IsGaussian<FACTOR> push_gaussian(
       const boost::shared_ptr<FACTOR>& gaussianFactor) {
-    Base::Base::push_back(
-        boost::make_shared<HybridGaussianFactor>(gaussianFactor));
+    Base::push_back(boost::make_shared<HybridGaussianFactor>(gaussianFactor));
   }
 
   /// Construct a factor and add (shared pointer to it) to factor graph.
diff --git a/gtsam/hybrid/tests/testGaussianHybridFactorGraph.cpp b/gtsam/hybrid/tests/testGaussianHybridFactorGraph.cpp
index 9e1a2efdd4..a96aab6b9a 100644
--- a/gtsam/hybrid/tests/testGaussianHybridFactorGraph.cpp
+++ b/gtsam/hybrid/tests/testGaussianHybridFactorGraph.cpp
@@ -273,6 +273,7 @@ TEST(HybridGaussianFactorGraph, eliminateFullMultifrontalTwoClique) {
   // GTSAM_PRINT(*hbt);
   // GTSAM_PRINT(*remaining);
 
+  // hbt->marginalFactor(X(1))->print("HBT: ");
   /*
   (Fan) Explanation: the Junction tree will need to reeliminate to get to the
   marginal on X(1), which is not possible because it involves eliminating

From aee494a24f967f652aae6783df95601cf7bab2c2 Mon Sep 17 00:00:00 2001
From: Amado Antonini <amado.antonini@openspace.ai>
Date: Tue, 14 Jun 2022 17:07:29 -0400
Subject: [PATCH 154/433] Expose GNC params to python

---
 gtsam/nonlinear/GncOptimizer.h    |  8 ++++----
 gtsam/nonlinear/nonlinear.i       | 17 +++++++++++++++++
 python/gtsam/preamble/nonlinear.h |  3 ++-
 3 files changed, 23 insertions(+), 5 deletions(-)

diff --git a/gtsam/nonlinear/GncOptimizer.h b/gtsam/nonlinear/GncOptimizer.h
index cc3fdaf34f..69067a915d 100644
--- a/gtsam/nonlinear/GncOptimizer.h
+++ b/gtsam/nonlinear/GncOptimizer.h
@@ -246,7 +246,9 @@ class GTSAM_EXPORT GncOptimizer {
       prev_cost = cost;
 
       // display info
-      if (params_.verbosity >= GncParameters::Verbosity::VALUES) {
+      if (params_.verbosity >= GncParameters::Verbosity::SUMMARY) {
+        std::cout << "iter: " << iter << std::endl;
+        std::cout << "mu: " << mu << std::endl;
         std::cout << "previous cost: " << prev_cost << std::endl;
         std::cout << "current cost: " << cost << std::endl;
       }
@@ -255,9 +257,7 @@ class GTSAM_EXPORT GncOptimizer {
     if (params_.verbosity >= GncParameters::Verbosity::SUMMARY) {
       std::cout << "final iterations: " << iter << std::endl;
       std::cout << "final mu: " << mu << std::endl;
-      std::cout << "final weights: " << weights_ << std::endl;
-      std::cout << "previous cost: " << prev_cost << std::endl;
-      std::cout << "current cost: " << cost << std::endl;
+      std::cout << "final cost: " << cost << std::endl;
     }
     return result;
   }
diff --git a/gtsam/nonlinear/nonlinear.i b/gtsam/nonlinear/nonlinear.i
index 033e5ced25..21470060c7 100644
--- a/gtsam/nonlinear/nonlinear.i
+++ b/gtsam/nonlinear/nonlinear.i
@@ -544,11 +544,23 @@ virtual class DoglegParams : gtsam::NonlinearOptimizerParams {
 };
 
 #include <gtsam/nonlinear/GncParams.h>
+enum GncLossType {
+  GM /*Geman McClure*/,
+  TLS /*Truncated least squares*/
+};
+
 template<PARAMS>
 virtual class GncParams {
   GncParams(const PARAMS& baseOptimizerParams);
   GncParams();
+  void setLossType(const GncLossType type);
+  void setMaxIterations(const size_t maxIter);
+  void setMuStep(const double step);
+  void setRelativeCostTol(double value);
+  void setWeightsTol(double value);
   void setVerbosityGNC(const This::Verbosity value);
+  void setKnownInliers(const std::vector<size_t>& knownIn);
+  void setKnownOutliers(const std::vector<size_t>& knownOut);
   void print(const string& str) const;
   
   enum Verbosity {
@@ -597,6 +609,11 @@ virtual class GncOptimizer {
   GncOptimizer(const gtsam::NonlinearFactorGraph& graph,
                const gtsam::Values& initialValues,
                const PARAMS& params);
+  void setInlierCostThresholds(const double inth);
+  const Vector& getInlierCostThresholds();
+  void setInlierCostThresholdsAtProbability(const double alpha);
+  void setWeights(const Vector w);
+  const Vector& getWeights();
   gtsam::Values optimize();
 };
 
diff --git a/python/gtsam/preamble/nonlinear.h b/python/gtsam/preamble/nonlinear.h
index a34e730580..34b864027f 100644
--- a/python/gtsam/preamble/nonlinear.h
+++ b/python/gtsam/preamble/nonlinear.h
@@ -9,4 +9,5 @@
  * automatic STL binding, such that the raw objects can be accessed in Python.
  * Without this they will be automatically converted to a Python object, and all
  * mutations on Python side will not be reflected on C++.
- */
\ No newline at end of file
+ */
+#include <pybind11/stl.h>
\ No newline at end of file

From c49ad326d1f34327e9d751b5e2fdbacd4f71ba38 Mon Sep 17 00:00:00 2001
From: Akshay Krishnan <akshay.krishnan.30@gmail.com>
Date: Fri, 17 Jun 2022 10:57:51 -0700
Subject: [PATCH 155/433] initial LOST implementation tested

---
 gtsam/geometry/tests/testTriangulation.cpp | 18 +++++++++
 gtsam/geometry/triangulation.cpp           | 46 ++++++++++++++++++++++
 gtsam/geometry/triangulation.h             | 45 +++++++++++++++++++++
 3 files changed, 109 insertions(+)

diff --git a/gtsam/geometry/tests/testTriangulation.cpp b/gtsam/geometry/tests/testTriangulation.cpp
index fb66fb6a27..838a5e07fd 100644
--- a/gtsam/geometry/tests/testTriangulation.cpp
+++ b/gtsam/geometry/tests/testTriangulation.cpp
@@ -96,6 +96,24 @@ TEST(triangulation, twoPoses) {
   EXPECT(assert_equal(Point3(4.995, 0.499167, 1.19814), *actual4, 1e-4));
 }
 
+TEST(triangulation, twoCamerasLOST) {
+  std::vector<PinholeCamera<Cal3_S2>> cameras = {camera1, camera2};
+  std::vector<Point2> measurements = {z1, z2};
+
+  // 1. Test simple triangulation, perfect in no noise situation
+  Point3 actual1 =  //
+      triangulateLOSTPoint3<Cal3_S2>(cameras, measurements);
+  EXPECT(assert_equal(landmark, actual1, 1e-12));
+
+  // 3. Add some noise and try again: result should be ~ (4.995,
+  // 0.499167, 1.19814)
+  measurements[0] += Point2(0.1, 0.5);
+  measurements[1] += Point2(-0.2, 0.3);
+  Point3 actual2 =  //
+      triangulateLOSTPoint3<Cal3_S2>(cameras, measurements);
+  EXPECT(assert_equal(Point3(4.995, 0.499167, 1.19814), actual2, 1e-4));
+}
+
 //******************************************************************************
 // Simple test with a well-behaved two camera situation with Cal3DS2 calibration.
 TEST(triangulation, twoPosesCal3DS2) {
diff --git a/gtsam/geometry/triangulation.cpp b/gtsam/geometry/triangulation.cpp
index 026afef246..a02da2effc 100644
--- a/gtsam/geometry/triangulation.cpp
+++ b/gtsam/geometry/triangulation.cpp
@@ -39,6 +39,11 @@ Vector4 triangulateHomogeneousDLT(
     const Point2& p = measurements.at(i);
 
     // build system of equations
+    // [A_1; A_2; A_3] x = [b_1; b_2; b_3]
+    // [b_3 * A_1 - b_1 * A_3] x = 0
+    // [b_3 * A_2 - b_2 * A_3] x = 0
+    // A' x = 0
+    // A' 2x4 = [b_3 * A_1 - b_1 * A_3; b_3 * A_2 - b_2 * A_3]
     A.row(row) = p.x() * projection.row(2) - projection.row(0);
     A.row(row + 1) = p.y() * projection.row(2) - projection.row(1);
   }
@@ -53,6 +58,47 @@ Vector4 triangulateHomogeneousDLT(
   return v;
 }
 
+Vector3 triangulateLOSTHomogeneous(
+    const std::vector<Pose3>& poses,
+    const std::vector<Point3>& calibrated_measurements) {
+
+  // TODO(akshay-krishnan): make this an argument.
+  const double sigma_x = 1e-3;
+
+  size_t m = calibrated_measurements.size();
+  assert(m == poses.size());
+
+  // Construct the system matrices.
+  Matrix A = Matrix::Zero(m * 2, 3);
+  Matrix b = Matrix::Zero(m * 2, 1);
+
+  for (size_t i = 0; i < m; i++) {
+    const Pose3& wTi = poses[i];
+    // TODO(akshay-krishnan): are there better ways to select j?
+    const int j = (i + 1) % m;
+    const Pose3& wTj = poses[j];
+
+    Point3 d_ij = wTj.translation() -  wTi.translation();
+
+    Point3 w_measurement_i = wTi.rotation().rotate(calibrated_measurements[i]);
+    Point3 w_measurement_j = wTj.rotation().rotate(calibrated_measurements[j]);
+    
+    double numerator =  w_measurement_i.cross(w_measurement_j).norm();
+    double denominator = d_ij.cross(w_measurement_j).norm();
+
+    double q_i = numerator / (sigma_x * denominator);
+    Matrix23 coefficient_mat = q_i * skewSymmetric(calibrated_measurements[i]).topLeftCorner(2, 3) * wTi.rotation().matrix().transpose();
+
+    A.row(2 * i) = coefficient_mat.row(0);
+    A.row(2 * i + 1) = coefficient_mat.row(1);
+    Point2 p = coefficient_mat * wTi.translation();
+    b(2 * i) = p.x();
+    b(2 * i + 1) = p.y();
+  }
+  // Solve Ax = b, using QR decomposition
+  return A.colPivHouseholderQr().solve(b);
+}
+
 Vector4 triangulateHomogeneousDLT(
     const std::vector<Matrix34, Eigen::aligned_allocator<Matrix34>>& projection_matrices,
     const std::vector<Unit3>& measurements, double rank_tol) {
diff --git a/gtsam/geometry/triangulation.h b/gtsam/geometry/triangulation.h
index 401fd2d0bb..3b834c615b 100644
--- a/gtsam/geometry/triangulation.h
+++ b/gtsam/geometry/triangulation.h
@@ -62,6 +62,18 @@ GTSAM_EXPORT Vector4 triangulateHomogeneousDLT(
     const std::vector<Matrix34, Eigen::aligned_allocator<Matrix34>>& projection_matrices,
     const Point2Vector& measurements, double rank_tol = 1e-9);
 
+/**
+ * @brief 
+ * 
+ * @param projection_matrices 
+ * @param measurements 
+ * @param rank_tol 
+ * @return GTSAM_EXPORT 
+ */
+GTSAM_EXPORT Vector3
+triangulateLOSTHomogeneous(const std::vector<Pose3>& poses,
+                           const std::vector<Point3>& calibrated_measurements);
+
 /**
  * Same math as Hartley and Zisserman, 2nd Ed., page 312, but with unit-norm bearing vectors
  * (contrarily to pinhole projection, the z entry is not assumed to be 1 as in Hartley and Zisserman)
@@ -382,6 +394,39 @@ Point3 triangulatePoint3(const std::vector<Pose3>& poses,
   return point;
 }
 
+template <class CALIBRATION>
+Point3 triangulateLOSTPoint3(const std::vector<PinholeCamera<CALIBRATION>>& cameras,
+                             const std::vector<Point2>& measurements) {
+  const size_t num_cameras = cameras.size();
+  assert(measurements.size() == num_cameras);
+
+  if (num_cameras < 2) throw(TriangulationUnderconstrainedException());
+
+  // Convert measurements to image plane coordinates.
+  std::vector<Point3> calibrated_measurements;
+  calibrated_measurements.reserve(measurements.size());
+  for (int i = 0; i < measurements.size(); ++i) {
+    Point2 p = cameras[i].calibration().calibrate(measurements[i]);
+    calibrated_measurements.emplace_back(p.x(), p.y(), 1.0);
+  }
+
+  std::vector<Pose3> poses;
+  poses.reserve(cameras.size());
+  for (const auto& camera : cameras) poses.push_back(camera.pose());
+
+  Point3 point = triangulateLOSTHomogeneous(poses, calibrated_measurements);
+
+#ifdef GTSAM_THROW_CHEIRALITY_EXCEPTION
+  // verify that the triangulated point lies in front of all cameras
+  for (const auto& camera : cameras) {
+    const Point3& p_local = camera.pose().transformTo(point);
+    if (p_local.z() <= 0) throw(TriangulationCheiralityException());
+  }
+#endif
+
+  return point;
+}
+
 /**
  * Function to triangulate 3D landmark point from an arbitrary number
  * of poses (at least 2) using the DLT. This function is similar to the one

From 5ec6127c0b5bebe03149068f276e53870a0aa8bb Mon Sep 17 00:00:00 2001
From: Akshay Krishnan <akshay.krishnan.30@gmail.com>
Date: Sat, 18 Jun 2022 11:35:46 -0700
Subject: [PATCH 156/433] add unit test, update doc

---
 gtsam/sfm/TranslationRecovery.cpp |  1 +
 tests/testTranslationRecovery.cpp | 30 ++++++++++++++++++++++++++++++
 2 files changed, 31 insertions(+)

diff --git a/gtsam/sfm/TranslationRecovery.cpp b/gtsam/sfm/TranslationRecovery.cpp
index 8f11088069..28c2b2e8a5 100644
--- a/gtsam/sfm/TranslationRecovery.cpp
+++ b/gtsam/sfm/TranslationRecovery.cpp
@@ -156,6 +156,7 @@ Values TranslationRecovery::initializeRandomly(
     insert(edge.key1());
     insert(edge.key2());
   }
+  // There may be nodes in betweenTranslations that do not have a measurement.
   for (auto edge : betweenTranslations) {
     insert(edge.key1());
     insert(edge.key2());
diff --git a/tests/testTranslationRecovery.cpp b/tests/testTranslationRecovery.cpp
index 5dd319d301..15f1caa1b4 100644
--- a/tests/testTranslationRecovery.cpp
+++ b/tests/testTranslationRecovery.cpp
@@ -323,6 +323,36 @@ TEST(TranslationRecovery, ThreePosesWithOneHardConstraint) {
   EXPECT(assert_equal(Point3(2, 0, 0), result.at<Point3>(1), 1e-4));
   EXPECT(assert_equal(Point3(1, -1, 0), result.at<Point3>(3), 1e-4));
 }
+
+TEST(TranslationRecovery, NodeWithBetweenFactorAndNoMeasurements) {
+  // Checks that valid results are obtained when a between translation edge is
+  // provided with a node that does not have any other relative translations.
+  Values poses;
+  poses.insert<Pose3>(0, Pose3(Rot3(), Point3(0, 0, 0)));
+  poses.insert<Pose3>(1, Pose3(Rot3(), Point3(2, 0, 0)));
+  poses.insert<Pose3>(3, Pose3(Rot3(), Point3(1, -1, 0)));
+  poses.insert<Pose3>(4, Pose3(Rot3(), Point3(1, 2, 1)));
+
+  auto relativeTranslations = TranslationRecovery::SimulateMeasurements(
+      poses, {{0, 1}, {0, 3}, {1, 3}});
+
+  std::vector<BinaryMeasurement<Point3>> betweenTranslations;
+  betweenTranslations.emplace_back(0, 1, Point3(2, 0, 0),
+                                   noiseModel::Constrained::All(3, 1e2));
+  // Node 4 only has this between translation prior, no relative translations.
+  betweenTranslations.emplace_back(0, 4, Point3(1, 2, 1));
+
+  TranslationRecovery algorithm;
+  auto result =
+      algorithm.run(relativeTranslations, /*scale=*/0.0, betweenTranslations);
+
+  // Check result
+  EXPECT(assert_equal(Point3(0, 0, 0), result.at<Point3>(0), 1e-4));
+  EXPECT(assert_equal(Point3(2, 0, 0), result.at<Point3>(1), 1e-4));
+  EXPECT(assert_equal(Point3(1, -1, 0), result.at<Point3>(3), 1e-4));
+  EXPECT(assert_equal(Point3(1, 2, 1), result.at<Point3>(4), 1e-4));
+}
+
 /* ************************************************************************* */
 int main() {
   TestResult tr;

From 6fae6f42313552ca900b9d8af26b1f6698d889e8 Mon Sep 17 00:00:00 2001
From: Akshay Krishnan <akshay.krishnan.30@gmail.com>
Date: Sat, 18 Jun 2022 11:55:55 -0700
Subject: [PATCH 157/433] update docstring

---
 gtsam/sfm/TranslationRecovery.cpp | 14 ++++++++------
 1 file changed, 8 insertions(+), 6 deletions(-)

diff --git a/gtsam/sfm/TranslationRecovery.cpp b/gtsam/sfm/TranslationRecovery.cpp
index 28c2b2e8a5..c7ef2e526d 100644
--- a/gtsam/sfm/TranslationRecovery.cpp
+++ b/gtsam/sfm/TranslationRecovery.cpp
@@ -119,16 +119,18 @@ void TranslationRecovery::addPrior(
   graph->emplace_shared<PriorFactor<Point3>>(edge->key1(), Point3(0, 0, 0),
                                              priorNoiseModel);
 
-  // Add between factors for optional relative translations.
-  for (auto edge : betweenTranslations) {
-    graph->emplace_shared<BetweenFactor<Point3>>(
-        edge.key1(), edge.key2(), edge.measured(), edge.noiseModel());
-  }
-
   // Add a scale prior only if no other between factors were added.
   if (betweenTranslations.empty()) {
     graph->emplace_shared<PriorFactor<Point3>>(
         edge->key2(), scale * edge->measured().point3(), edge->noiseModel());
+    return;
+  }
+
+  // Add between factors for optional relative translations.
+  for (auto prior_edge : betweenTranslations) {
+    graph->emplace_shared<BetweenFactor<Point3>>(
+        prior_edge.key1(), prior_edge.key2(), prior_edge.measured(),
+        prior_edge.noiseModel());
   }
 }
 

From e18840baffd3e02fb3c05e76ee2586cf2ae83e77 Mon Sep 17 00:00:00 2001
From: Akshay Krishnan <akshay.krishnan.30@gmail.com>
Date: Sat, 18 Jun 2022 11:56:21 -0700
Subject: [PATCH 158/433] update doc in header

---
 gtsam/sfm/TranslationRecovery.h | 8 ++++++--
 1 file changed, 6 insertions(+), 2 deletions(-)

diff --git a/gtsam/sfm/TranslationRecovery.h b/gtsam/sfm/TranslationRecovery.h
index 6ccc39ddb0..44a5ef43ef 100644
--- a/gtsam/sfm/TranslationRecovery.h
+++ b/gtsam/sfm/TranslationRecovery.h
@@ -143,11 +143,15 @@ class TranslationRecovery {
    *
    * @param relativeTranslations the relative translations, in world coordinate
    * frames, vector of BinaryMeasurements of Unit3, where each key of a
-   * measurement is a point in 3D.
+   * measurement is a point in 3D. If a relative translation magnitude is zero,
+   * it is treated as a hard same-point constraint (the result of all nodes
+   * connected by a zero-magnitude edge will be the same).
    * @param scale scale for first relative translation which fixes gauge.
    * The scale is only used if betweenTranslations is empty.
    * @param betweenTranslations relative translations (with scale) between 2
-   * points in world coordinate frame known a priori.
+   * points in world coordinate frame known a priori. Unlike
+   * relativeTranslations, zero-magnitude betweenTranslations are not treated as
+   * hard constraints.
    * @param initialValues intial values for optimization. Initializes randomly
    * if not provided.
    * @return Values

From 0984fea3f506fa42675e92edbeda4ac9d4df3f5c Mon Sep 17 00:00:00 2001
From: vik748 <vikrantshah@gmail.com>
Date: Mon, 20 Jun 2022 01:18:07 -0700
Subject: [PATCH 159/433] Address matplotlib deprecation warnings for fig.gca()
 and window.set_title().

---
 python/gtsam/examples/Pose3ISAM2Example.py  |  5 ++++-
 python/gtsam/examples/VisualISAM2Example.py |  5 ++++-
 python/gtsam/utils/plot.py                  | 19 ++++++++++++++-----
 3 files changed, 22 insertions(+), 7 deletions(-)

diff --git a/python/gtsam/examples/Pose3ISAM2Example.py b/python/gtsam/examples/Pose3ISAM2Example.py
index cb71813c5a..986bd5b9c7 100644
--- a/python/gtsam/examples/Pose3ISAM2Example.py
+++ b/python/gtsam/examples/Pose3ISAM2Example.py
@@ -34,7 +34,10 @@ def report_on_progress(graph: gtsam.NonlinearFactorGraph, current_estimate: gtsa
 
     # Plot the newly updated iSAM2 inference.
     fig = plt.figure(0)
-    axes = fig.gca(projection='3d')
+    if not fig.axes:
+        axes = fig.add_subplot(projection='3d')
+    else:
+        axes = fig.axes[0]
     plt.cla()
 
     i = 1
diff --git a/python/gtsam/examples/VisualISAM2Example.py b/python/gtsam/examples/VisualISAM2Example.py
index 4b480fab72..60d4fb376b 100644
--- a/python/gtsam/examples/VisualISAM2Example.py
+++ b/python/gtsam/examples/VisualISAM2Example.py
@@ -33,7 +33,10 @@ def visual_ISAM2_plot(result):
     fignum = 0
 
     fig = plt.figure(fignum)
-    axes = fig.gca(projection='3d')
+    if not fig.axes:
+        axes = fig.add_subplot(projection='3d')
+    else:
+        axes = fig.axes[0]
     plt.cla()
 
     # Plot points
diff --git a/python/gtsam/utils/plot.py b/python/gtsam/utils/plot.py
index a4d19f72be..880c436e82 100644
--- a/python/gtsam/utils/plot.py
+++ b/python/gtsam/utils/plot.py
@@ -333,7 +333,10 @@ def plot_point3(
 
     """
     fig = plt.figure(fignum)
-    axes = fig.gca(projection='3d')
+    if not fig.axes:
+        axes = fig.add_subplot(projection='3d')
+    else:
+        axes = fig.axes[0]
     plot_point3_on_axes(axes, point, linespec, P)
 
     axes.set_xlabel(axis_labels[0])
@@ -388,7 +391,7 @@ def plot_3d_points(fignum,
 
     fig = plt.figure(fignum)
     fig.suptitle(title)
-    fig.canvas.set_window_title(title.lower())
+    fig.canvas.manager.set_window_title(title.lower())
 
 
 def plot_pose3_on_axes(axes, pose, axis_length=0.1, P=None, scale=1):
@@ -490,7 +493,10 @@ def plot_trajectory(
         axis_labels (iterable[string]): List of axis labels to set.
     """
     fig = plt.figure(fignum)
-    axes = fig.gca(projection='3d')
+    if not fig.axes:
+        axes = fig.add_subplot(projection='3d')
+    else:
+        axes = fig.axes[0]
 
     axes.set_xlabel(axis_labels[0])
     axes.set_ylabel(axis_labels[1])
@@ -522,7 +528,7 @@ def plot_trajectory(
         plot_pose3_on_axes(axes, pose, P=covariance, axis_length=scale)
 
     fig.suptitle(title)
-    fig.canvas.set_window_title(title.lower())
+    fig.canvas.manager.set_window_title(title.lower())
 
 
 def plot_incremental_trajectory(fignum: int,
@@ -545,7 +551,10 @@ def plot_incremental_trajectory(fignum: int,
             Used to create animation effect.
     """
     fig = plt.figure(fignum)
-    axes = fig.gca(projection='3d')
+    if not fig.axes:
+        axes = fig.add_subplot(projection='3d')
+    else:
+        axes = fig.axes[0]
 
     poses = gtsam.utilities.allPose3s(values)
     keys = gtsam.KeyVector(poses.keys())

From 91da5209fe5801cc845a05828e676cc045774e2e Mon Sep 17 00:00:00 2001
From: Varun Agrawal <varagrawal@gmail.com>
Date: Mon, 20 Jun 2022 09:12:42 -0400
Subject: [PATCH 160/433] add new lines

---
 gtsam/hybrid/HybridFactorGraph.h          | 2 +-
 gtsam/hybrid/tests/testHybridBayesNet.cpp | 2 +-
 2 files changed, 2 insertions(+), 2 deletions(-)

diff --git a/gtsam/hybrid/HybridFactorGraph.h b/gtsam/hybrid/HybridFactorGraph.h
index cbbc45590f..fc730f0c97 100644
--- a/gtsam/hybrid/HybridFactorGraph.h
+++ b/gtsam/hybrid/HybridFactorGraph.h
@@ -137,4 +137,4 @@ class HybridFactorGraph : public FactorGraph<HybridFactor> {
   }
 };
 
-}  // namespace gtsam
\ No newline at end of file
+}  // namespace gtsam
diff --git a/gtsam/hybrid/tests/testHybridBayesNet.cpp b/gtsam/hybrid/tests/testHybridBayesNet.cpp
index ec6b67d660..f3db839557 100644
--- a/gtsam/hybrid/tests/testHybridBayesNet.cpp
+++ b/gtsam/hybrid/tests/testHybridBayesNet.cpp
@@ -90,4 +90,4 @@ int main() {
   TestResult tr;
   return TestRegistry::runAllTests(tr);
 }
-/* ************************************************************************* */
\ No newline at end of file
+/* ************************************************************************* */

From 5ea8f2529fc91b82a414a770c027eac14fc3a205 Mon Sep 17 00:00:00 2001
From: Akshay Krishnan <akshay.krishnan.30@gmail.com>
Date: Mon, 20 Jun 2022 23:20:29 -0700
Subject: [PATCH 161/433] make noise input, add LOST vs DLT unit test

---
 gtsam/geometry/tests/testTriangulation.cpp | 39 +++++++++++++++++++++-
 gtsam/geometry/triangulation.cpp           | 19 +++++------
 gtsam/geometry/triangulation.h             | 11 +++---
 3 files changed, 54 insertions(+), 15 deletions(-)

diff --git a/gtsam/geometry/tests/testTriangulation.cpp b/gtsam/geometry/tests/testTriangulation.cpp
index 838a5e07fd..0b885d4341 100644
--- a/gtsam/geometry/tests/testTriangulation.cpp
+++ b/gtsam/geometry/tests/testTriangulation.cpp
@@ -109,11 +109,48 @@ TEST(triangulation, twoCamerasLOST) {
   // 0.499167, 1.19814)
   measurements[0] += Point2(0.1, 0.5);
   measurements[1] += Point2(-0.2, 0.3);
+  const double measurement_sigma = 1e-3;
   Point3 actual2 =  //
-      triangulateLOSTPoint3<Cal3_S2>(cameras, measurements);
+      triangulateLOSTPoint3<Cal3_S2>(cameras, measurements, measurement_sigma);
   EXPECT(assert_equal(Point3(4.995, 0.499167, 1.19814), actual2, 1e-4));
 }
 
+TEST(triangulation, twoCamerasLOSTvsDLT) {
+  // LOST has been shown to preform better when the point is much closer to one
+  // camera compared to another. This unit test checks this configuration.
+  Cal3_S2 identity_K;
+  Pose3 pose_1;
+  Pose3 pose_2(Rot3(), Point3(5., 0., -5.));
+  PinholeCamera<Cal3_S2> camera_1(pose_1, identity_K);
+  PinholeCamera<Cal3_S2> camera_2(pose_2, identity_K);
+
+  Point3 gt_point(0, 0, 1);
+  Point2 x1 = camera_1.project(gt_point);
+  Point2 x2 = camera_2.project(gt_point);
+
+  Point2 x1_noisy = x1 + Point2(0.00817, 0.00977);
+  Point2 x2_noisy = x2 + Point2(-0.00610, 0.01969);
+
+  const double measurement_sigma = 1e-2;
+  Point3 estimate_lost = triangulateLOSTPoint3<Cal3_S2>(
+      {camera_1, camera_2}, {x1_noisy, x2_noisy}, measurement_sigma);
+
+  // These values are from a MATLAB implementation.
+  EXPECT(assert_equal(Point3(0.007, 0.011, 0.945), estimate_lost, 1e-3));
+  
+  double rank_tol = 1e-9;
+
+  Pose3Vector poses = {pose_1, pose_2};
+  Point2Vector points = {x1_noisy, x2_noisy};
+  boost::shared_ptr<Cal3_S2> cal = boost::make_shared<Cal3_S2>(identity_K);
+  boost::optional<Point3> estimate_dlt =
+      triangulatePoint3<Cal3_S2>(poses, cal, points, rank_tol, false);
+
+  // The LOST estimate should have a smaller error.
+  EXPECT((gt_point - estimate_lost).norm() <=
+         (gt_point - *estimate_dlt).norm());
+}
+
 //******************************************************************************
 // Simple test with a well-behaved two camera situation with Cal3DS2 calibration.
 TEST(triangulation, twoPosesCal3DS2) {
diff --git a/gtsam/geometry/triangulation.cpp b/gtsam/geometry/triangulation.cpp
index a02da2effc..bec2392405 100644
--- a/gtsam/geometry/triangulation.cpp
+++ b/gtsam/geometry/triangulation.cpp
@@ -60,11 +60,8 @@ Vector4 triangulateHomogeneousDLT(
 
 Vector3 triangulateLOSTHomogeneous(
     const std::vector<Pose3>& poses,
-    const std::vector<Point3>& calibrated_measurements) {
-
-  // TODO(akshay-krishnan): make this an argument.
-  const double sigma_x = 1e-3;
-
+    const std::vector<Point3>& calibrated_measurements, 
+    const double measurement_sigma) {
   size_t m = calibrated_measurements.size();
   assert(m == poses.size());
 
@@ -78,16 +75,18 @@ Vector3 triangulateLOSTHomogeneous(
     const int j = (i + 1) % m;
     const Pose3& wTj = poses[j];
 
-    Point3 d_ij = wTj.translation() -  wTi.translation();
+    Point3 d_ij = wTj.translation() - wTi.translation();
 
     Point3 w_measurement_i = wTi.rotation().rotate(calibrated_measurements[i]);
     Point3 w_measurement_j = wTj.rotation().rotate(calibrated_measurements[j]);
-    
-    double numerator =  w_measurement_i.cross(w_measurement_j).norm();
+
+    double numerator = w_measurement_i.cross(w_measurement_j).norm();
     double denominator = d_ij.cross(w_measurement_j).norm();
 
-    double q_i = numerator / (sigma_x * denominator);
-    Matrix23 coefficient_mat = q_i * skewSymmetric(calibrated_measurements[i]).topLeftCorner(2, 3) * wTi.rotation().matrix().transpose();
+    double q_i = numerator / (measurement_sigma * denominator);
+    Matrix23 coefficient_mat =
+        q_i * skewSymmetric(calibrated_measurements[i]).topLeftCorner(2, 3) *
+        wTi.rotation().matrix().transpose();
 
     A.row(2 * i) = coefficient_mat.row(0);
     A.row(2 * i + 1) = coefficient_mat.row(1);
diff --git a/gtsam/geometry/triangulation.h b/gtsam/geometry/triangulation.h
index 3b834c615b..d31630e672 100644
--- a/gtsam/geometry/triangulation.h
+++ b/gtsam/geometry/triangulation.h
@@ -72,7 +72,8 @@ GTSAM_EXPORT Vector4 triangulateHomogeneousDLT(
  */
 GTSAM_EXPORT Vector3
 triangulateLOSTHomogeneous(const std::vector<Pose3>& poses,
-                           const std::vector<Point3>& calibrated_measurements);
+                           const std::vector<Point3>& calibrated_measurements,
+                           const double measurement_sigma);
 
 /**
  * Same math as Hartley and Zisserman, 2nd Ed., page 312, but with unit-norm bearing vectors
@@ -395,8 +396,10 @@ Point3 triangulatePoint3(const std::vector<Pose3>& poses,
 }
 
 template <class CALIBRATION>
-Point3 triangulateLOSTPoint3(const std::vector<PinholeCamera<CALIBRATION>>& cameras,
-                             const std::vector<Point2>& measurements) {
+Point3 triangulateLOSTPoint3(
+    const std::vector<PinholeCamera<CALIBRATION>>& cameras,
+    const std::vector<Point2>& measurements,
+    const double measurement_sigma = 1e-2) {
   const size_t num_cameras = cameras.size();
   assert(measurements.size() == num_cameras);
 
@@ -414,7 +417,7 @@ Point3 triangulateLOSTPoint3(const std::vector<PinholeCamera<CALIBRATION>>& came
   poses.reserve(cameras.size());
   for (const auto& camera : cameras) poses.push_back(camera.pose());
 
-  Point3 point = triangulateLOSTHomogeneous(poses, calibrated_measurements);
+  Point3 point = triangulateLOSTHomogeneous(poses, calibrated_measurements, measurement_sigma);
 
 #ifdef GTSAM_THROW_CHEIRALITY_EXCEPTION
   // verify that the triangulated point lies in front of all cameras

From a1e45e0df502b8d02f3f9b8fdf6d456dfb6fc956 Mon Sep 17 00:00:00 2001
From: Varun Agrawal <varagrawal@gmail.com>
Date: Sat, 25 Jun 2022 23:34:16 -0400
Subject: [PATCH 162/433] add this-> to fix ROS issue

---
 gtsam/sam/BearingRangeFactor.h | 5 ++---
 1 file changed, 2 insertions(+), 3 deletions(-)

diff --git a/gtsam/sam/BearingRangeFactor.h b/gtsam/sam/BearingRangeFactor.h
index da352f2e98..9874760c46 100644
--- a/gtsam/sam/BearingRangeFactor.h
+++ b/gtsam/sam/BearingRangeFactor.h
@@ -79,9 +79,8 @@ class BearingRangeFactor
   {
     std::vector<Matrix> Hs(2);
     const auto &keys = Factor::keys();
-    const Vector error = unwhitenedError(
-      {{keys[0], genericValue(a1)}, {keys[1], genericValue(a2)}}, 
-      Hs);
+    const Vector error = this->unwhitenedError(
+        {{keys[0], genericValue(a1)}, {keys[1], genericValue(a2)}}, Hs);
     if (H1) *H1 = Hs[0];
     if (H2) *H2 = Hs[1];
     return error;

From ca4b450e7ee98a2d6344df2120148c958e6ab410 Mon Sep 17 00:00:00 2001
From: Akshay Krishnan <akshay.krishnan.30@gmail.com>
Date: Tue, 28 Jun 2022 00:59:20 -0700
Subject: [PATCH 163/433] experimenting with LS and TLS

---
 gtsam/geometry/triangulation.cpp | 66 +++++++++++++++++++++++++-------
 gtsam/geometry/triangulation.h   | 17 ++++++--
 2 files changed, 65 insertions(+), 18 deletions(-)

diff --git a/gtsam/geometry/triangulation.cpp b/gtsam/geometry/triangulation.cpp
index bec2392405..9d8325d680 100644
--- a/gtsam/geometry/triangulation.cpp
+++ b/gtsam/geometry/triangulation.cpp
@@ -65,6 +65,50 @@ Vector3 triangulateLOSTHomogeneous(
   size_t m = calibrated_measurements.size();
   assert(m == poses.size());
 
+  // Construct the system matrices.
+  Matrix A = Matrix::Zero(m * 2, 4);
+
+  for (size_t i = 0; i < m; i++) {
+    const Pose3& wTi = poses[i];
+    // TODO(akshay-krishnan): are there better ways to select j?
+    const int j = (i + 1) % m;
+    const Pose3& wTj = poses[j];
+
+    const Point3 d_ij = wTj.translation() - wTi.translation();
+
+    const Point3 w_measurement_i =
+        wTi.rotation().rotate(calibrated_measurements[i]);
+    const Point3 w_measurement_j =
+        wTj.rotation().rotate(calibrated_measurements[j]);
+
+    const double q_i = w_measurement_i.cross(w_measurement_j).norm() /
+                       (measurement_sigma * d_ij.cross(w_measurement_j).norm());
+    const Matrix23 coefficient_mat =
+        q_i * skewSymmetric(calibrated_measurements[i]).topLeftCorner(2, 3) *
+        wTi.rotation().matrix().transpose();
+
+    A.block<2, 4>(2 * i, 0) << coefficient_mat, -coefficient_mat * wTi.translation();
+  }
+
+  const double rank_tol = 1e-6;
+  int rank;
+  double error;
+  Vector v;
+  boost::tie(rank, error, v) = DLT(A, rank_tol);
+
+  if (rank < 3)
+    throw(TriangulationUnderconstrainedException());
+
+  return Point3(v.head<3>() / v[3]);
+}
+
+Vector3 triangulateLOSTHomogeneousLS(
+    const std::vector<Pose3>& poses,
+    const std::vector<Point3>& calibrated_measurements, 
+    const double measurement_sigma) {
+  size_t m = calibrated_measurements.size();
+  assert(m == poses.size());
+
   // Construct the system matrices.
   Matrix A = Matrix::Zero(m * 2, 3);
   Matrix b = Matrix::Zero(m * 2, 1);
@@ -75,26 +119,20 @@ Vector3 triangulateLOSTHomogeneous(
     const int j = (i + 1) % m;
     const Pose3& wTj = poses[j];
 
-    Point3 d_ij = wTj.translation() - wTi.translation();
-
-    Point3 w_measurement_i = wTi.rotation().rotate(calibrated_measurements[i]);
-    Point3 w_measurement_j = wTj.rotation().rotate(calibrated_measurements[j]);
+    const Point3 d_ij = wTj.translation() - wTi.translation();
 
-    double numerator = w_measurement_i.cross(w_measurement_j).norm();
-    double denominator = d_ij.cross(w_measurement_j).norm();
+    const Point3 w_measurement_i = wTi.rotation().rotate(calibrated_measurements[i]);
+    const Point3 w_measurement_j = wTj.rotation().rotate(calibrated_measurements[j]);
 
-    double q_i = numerator / (measurement_sigma * denominator);
-    Matrix23 coefficient_mat =
+    const double q_i = w_measurement_i.cross(w_measurement_j).norm() /
+                       (measurement_sigma * d_ij.cross(w_measurement_j).norm());
+    const Matrix23 coefficient_mat =
         q_i * skewSymmetric(calibrated_measurements[i]).topLeftCorner(2, 3) *
         wTi.rotation().matrix().transpose();
 
-    A.row(2 * i) = coefficient_mat.row(0);
-    A.row(2 * i + 1) = coefficient_mat.row(1);
-    Point2 p = coefficient_mat * wTi.translation();
-    b(2 * i) = p.x();
-    b(2 * i + 1) = p.y();
+    A.block<2, 3>(2*i, 0) = coefficient_mat;
+    b.block<2, 1>(2*i, 0) = coefficient_mat * wTi.translation();
   }
-  // Solve Ax = b, using QR decomposition
   return A.colPivHouseholderQr().solve(b);
 }
 
diff --git a/gtsam/geometry/triangulation.h b/gtsam/geometry/triangulation.h
index d31630e672..5bea4d93c9 100644
--- a/gtsam/geometry/triangulation.h
+++ b/gtsam/geometry/triangulation.h
@@ -75,6 +75,11 @@ triangulateLOSTHomogeneous(const std::vector<Pose3>& poses,
                            const std::vector<Point3>& calibrated_measurements,
                            const double measurement_sigma);
 
+GTSAM_EXPORT Vector3
+triangulateLOSTHomogeneousLS(const std::vector<Pose3>& poses,
+                           const std::vector<Point3>& calibrated_measurements,
+                           const double measurement_sigma);
+
 /**
  * Same math as Hartley and Zisserman, 2nd Ed., page 312, but with unit-norm bearing vectors
  * (contrarily to pinhole projection, the z entry is not assumed to be 1 as in Hartley and Zisserman)
@@ -397,9 +402,9 @@ Point3 triangulatePoint3(const std::vector<Pose3>& poses,
 
 template <class CALIBRATION>
 Point3 triangulateLOSTPoint3(
-    const std::vector<PinholeCamera<CALIBRATION>>& cameras,
-    const std::vector<Point2>& measurements,
-    const double measurement_sigma = 1e-2) {
+    const CameraSet<PinholeCamera<CALIBRATION>>& cameras,
+    const Point2Vector& measurements,
+    const double measurement_sigma = 1e-2, bool use_dlt = false) {
   const size_t num_cameras = cameras.size();
   assert(measurements.size() == num_cameras);
 
@@ -417,7 +422,11 @@ Point3 triangulateLOSTPoint3(
   poses.reserve(cameras.size());
   for (const auto& camera : cameras) poses.push_back(camera.pose());
 
-  Point3 point = triangulateLOSTHomogeneous(poses, calibrated_measurements, measurement_sigma);
+  Point3 point = use_dlt
+                     ? triangulateLOSTHomogeneous(
+                           poses, calibrated_measurements, measurement_sigma)
+                     : triangulateLOSTHomogeneousLS(
+                           poses, calibrated_measurements, measurement_sigma);
 
 #ifdef GTSAM_THROW_CHEIRALITY_EXCEPTION
   // verify that the triangulated point lies in front of all cameras

From 0d501b6de153bfc13044816480bc5752044e3bf6 Mon Sep 17 00:00:00 2001
From: yetongumich <yetong@umich.edu>
Date: Thu, 30 Jun 2022 23:38:34 -0400
Subject: [PATCH 164/433] fix testNoiseModel

---
 gtsam/linear/tests/testNoiseModel.cpp | 7 ++++---
 1 file changed, 4 insertions(+), 3 deletions(-)

diff --git a/gtsam/linear/tests/testNoiseModel.cpp b/gtsam/linear/tests/testNoiseModel.cpp
index 92774a1333..f83ba7831b 100644
--- a/gtsam/linear/tests/testNoiseModel.cpp
+++ b/gtsam/linear/tests/testNoiseModel.cpp
@@ -661,14 +661,15 @@ TEST(NoiseModel, robustNoiseDCS)
 TEST(NoiseModel, robustNoiseL2WithDeadZone)
 {
   double dead_zone_size = 1.0;
-  SharedNoiseModel robust = noiseModel::Robust::Create(
+  auto robust = noiseModel::Robust::Create(
       noiseModel::mEstimator::L2WithDeadZone::Create(dead_zone_size),
       Unit::Create(3));
 
   for (int i = 0; i < 5; i++) {
-    Vector3 error = Vector3(i, 0, 0);
+    Vector error = Vector3(i, 0, 0);
+    robust->WhitenSystem(error);
     DOUBLES_EQUAL(std::fmax(0, i - dead_zone_size) * i,
-                  robust->loss(robust->squaredMahalanobisDistance(error)), 1e-8);
+                  robust->squaredMahalanobisDistance(error), 1e-8);
   }
 }
 

From f947b973cdc5d59214f95b80531f17c4f538b771 Mon Sep 17 00:00:00 2001
From: lcarlone <lcarlone@mit.edu>
Date: Sat, 2 Jul 2022 16:02:42 -0400
Subject: [PATCH 165/433] addressed comments in PR

---
 gtsam/geometry/triangulation.h | 4 ++--
 gtsam/nonlinear/GncOptimizer.h | 6 ++++--
 2 files changed, 6 insertions(+), 4 deletions(-)

diff --git a/gtsam/geometry/triangulation.h b/gtsam/geometry/triangulation.h
index af01d3a364..a4c6b1a134 100644
--- a/gtsam/geometry/triangulation.h
+++ b/gtsam/geometry/triangulation.h
@@ -107,7 +107,7 @@ std::pair<NonlinearFactorGraph, Values> triangulationGraph(
     const std::vector<Pose3>& poses, boost::shared_ptr<CALIBRATION> sharedCal,
     const Point2Vector& measurements, Key landmarkKey,
     const Point3& initialEstimate,
-    const SharedNoiseModel& model = nullptr) {
+    const SharedNoiseModel& model = unit2) {
   Values values;
   values.insert(landmarkKey, initialEstimate); // Initial landmark value
   NonlinearFactorGraph graph;
@@ -117,7 +117,7 @@ std::pair<NonlinearFactorGraph, Values> triangulationGraph(
     typedef PinholePose<CALIBRATION> Camera;
     Camera camera_i(pose_i, sharedCal);
     graph.emplace_shared<TriangulationFactor<Camera> > //
-        (camera_i, measurements[i], model? model : unit2, landmarkKey);
+        (camera_i, measurements[i], model, landmarkKey);
   }
   return std::make_pair(graph, values);
 }
diff --git a/gtsam/nonlinear/GncOptimizer.h b/gtsam/nonlinear/GncOptimizer.h
index 96b03e803e..e5b4718d69 100644
--- a/gtsam/nonlinear/GncOptimizer.h
+++ b/gtsam/nonlinear/GncOptimizer.h
@@ -299,9 +299,11 @@ class GTSAM_EXPORT GncOptimizer {
                 std::min(mu_init, barcSq_[k] / (2 * rk - barcSq_[k]) ) : mu_init;
           }
         }
-        if (mu_init >= 0 && mu_init < 1e-6)
+        if (mu_init >= 0 && mu_init < 1e-6){
           mu_init = 1e-6; // if mu ~ 0 (but positive), that means we have measurements with large errors,
-        // i.e., rk > barcSq_[k] and rk very large, hence we threshold to 1e-6 to avoid mu = 0
+          // i.e., rk > barcSq_[k] and rk very large, hence we threshold to 1e-6 to avoid mu = 0
+        }
+  
         return mu_init > 0 && !std::isinf(mu_init) ? mu_init : -1; // if mu <= 0 or mu = inf, return -1,
         // which leads to termination of the main gnc loop. In this case, all residuals are already below the threshold
         // and there is no need to robustify (TLS = least squares)

From 79305c1a9d51bdb62f43993a20ad32b5b6fc8ad2 Mon Sep 17 00:00:00 2001
From: lcarlone <lcarlone@mit.edu>
Date: Sat, 2 Jul 2022 17:05:14 -0400
Subject: [PATCH 166/433] fixed compile issue

---
 gtsam/geometry/triangulation.h | 3 +--
 1 file changed, 1 insertion(+), 2 deletions(-)

diff --git a/gtsam/geometry/triangulation.h b/gtsam/geometry/triangulation.h
index a4c6b1a134..4868509037 100644
--- a/gtsam/geometry/triangulation.h
+++ b/gtsam/geometry/triangulation.h
@@ -107,11 +107,10 @@ std::pair<NonlinearFactorGraph, Values> triangulationGraph(
     const std::vector<Pose3>& poses, boost::shared_ptr<CALIBRATION> sharedCal,
     const Point2Vector& measurements, Key landmarkKey,
     const Point3& initialEstimate,
-    const SharedNoiseModel& model = unit2) {
+    const SharedNoiseModel& model = noiseModel::Unit::Create(2)) {
   Values values;
   values.insert(landmarkKey, initialEstimate); // Initial landmark value
   NonlinearFactorGraph graph;
-  static SharedNoiseModel unit2(noiseModel::Unit::Create(2));
   for (size_t i = 0; i < measurements.size(); i++) {
     const Pose3& pose_i = poses[i];
     typedef PinholePose<CALIBRATION> Camera;

From aab6af3368ead2be9ef0aa885de5a4777e0c79a4 Mon Sep 17 00:00:00 2001
From: Varun Agrawal <varagrawal@gmail.com>
Date: Sun, 3 Jul 2022 11:09:46 -0400
Subject: [PATCH 167/433] replace boost::function with std::function

---
 gtsam/basis/Chebyshev2.h             | 4 +---
 gtsam/basis/tests/testChebyshev2.cpp | 2 +-
 gtsam/discrete/DecisionTree.h        | 2 +-
 gtsam/geometry/tests/testPoint3.cpp  | 2 --
 4 files changed, 3 insertions(+), 7 deletions(-)

diff --git a/gtsam/basis/Chebyshev2.h b/gtsam/basis/Chebyshev2.h
index e306c93d55..4c3542d568 100644
--- a/gtsam/basis/Chebyshev2.h
+++ b/gtsam/basis/Chebyshev2.h
@@ -36,8 +36,6 @@
 #include <gtsam/base/OptionalJacobian.h>
 #include <gtsam/basis/Basis.h>
 
-#include <boost/function.hpp>
-
 namespace gtsam {
 
 /**
@@ -134,7 +132,7 @@ class GTSAM_EXPORT Chebyshev2 : public Basis<Chebyshev2> {
    * Create matrix of values at Chebyshev points given vector-valued function.
    */
   template <size_t M>
-  static Matrix matrix(boost::function<Eigen::Matrix<double, M, 1>(double)> f,
+  static Matrix matrix(std::function<Eigen::Matrix<double, M, 1>(double)> f,
                        size_t N, double a = -1, double b = 1) {
     Matrix Xmat(M, N);
     for (size_t j = 0; j < N; j++) {
diff --git a/gtsam/basis/tests/testChebyshev2.cpp b/gtsam/basis/tests/testChebyshev2.cpp
index 9090757f42..73339e0f17 100644
--- a/gtsam/basis/tests/testChebyshev2.cpp
+++ b/gtsam/basis/tests/testChebyshev2.cpp
@@ -118,7 +118,7 @@ TEST(Chebyshev2, InterpolateVector) {
   EXPECT(assert_equal(expected, fx(X, actualH), 1e-9));
 
   // Check derivative
-  boost::function<Vector2(ParameterMatrix<2>)> f = boost::bind(
+  std::function<Vector2(ParameterMatrix<2>)> f = boost::bind(
       &Chebyshev2::VectorEvaluationFunctor<2>::operator(), fx, _1, boost::none);
   Matrix numericalH =
       numericalDerivative11<Vector2, ParameterMatrix<2>, 2 * N>(f, X);
diff --git a/gtsam/discrete/DecisionTree.h b/gtsam/discrete/DecisionTree.h
index 7449ae995b..dede2a2f08 100644
--- a/gtsam/discrete/DecisionTree.h
+++ b/gtsam/discrete/DecisionTree.h
@@ -22,7 +22,7 @@
 #include <gtsam/base/types.h>
 #include <gtsam/discrete/Assignment.h>
 
-#include <boost/function.hpp>
+#include <boost/shared_ptr.hpp>
 #include <functional>
 #include <iostream>
 #include <map>
diff --git a/gtsam/geometry/tests/testPoint3.cpp b/gtsam/geometry/tests/testPoint3.cpp
index 315391ac89..e373e1d520 100644
--- a/gtsam/geometry/tests/testPoint3.cpp
+++ b/gtsam/geometry/tests/testPoint3.cpp
@@ -19,8 +19,6 @@
 #include <gtsam/base/numericalDerivative.h>
 #include <gtsam/geometry/Point3.h>
 
-#include <boost/function.hpp>
-
 using namespace std::placeholders;
 using namespace gtsam;
 

From b0369c48c8cab250589e28c12062c869699ca762 Mon Sep 17 00:00:00 2001
From: Varun Agrawal <varagrawal@gmail.com>
Date: Sun, 3 Jul 2022 11:10:27 -0400
Subject: [PATCH 168/433] import VectorSerialization to Point3 to allow
 serialization for downstream classes

---
 gtsam/geometry/Point3.h | 1 +
 1 file changed, 1 insertion(+)

diff --git a/gtsam/geometry/Point3.h b/gtsam/geometry/Point3.h
index 835c53d7ce..f475319633 100644
--- a/gtsam/geometry/Point3.h
+++ b/gtsam/geometry/Point3.h
@@ -25,6 +25,7 @@
 #include <gtsam/base/VectorSpace.h>
 #include <gtsam/base/Vector.h>
 #include <gtsam/dllexport.h>
+#include <gtsam/base/VectorSerialization.h>
 #include <boost/serialization/nvp.hpp>
 #include <numeric>
 

From bbd1e3f07a9e8b03322d9a1b51efded5f123956f Mon Sep 17 00:00:00 2001
From: Varun Agrawal <varagrawal@gmail.com>
Date: Sun, 3 Jul 2022 15:57:54 -0400
Subject: [PATCH 169/433] update Lyx document based on Luca's review

---
 doc/ImuFactor.lyx |  73 +++++++++++++++++++++++++++++++++++++++++++---
 doc/ImuFactor.pdf | Bin 249424 -> 250191 bytes
 2 files changed, 69 insertions(+), 4 deletions(-)

diff --git a/doc/ImuFactor.lyx b/doc/ImuFactor.lyx
index 7b176f484e..c335e69496 100644
--- a/doc/ImuFactor.lyx
+++ b/doc/ImuFactor.lyx
@@ -281,8 +281,8 @@ The noise model associated with this factor is assumed to be zero-mean Gaussian
 \end_inset
 
 .
- This covariance matrix is computed in the preintegrated measurement class,
- of which there are two variants as discussed above.
+ This (discrete-time) covariance matrix is computed in the preintegrated
+ measurement class, of which there are two variants as discussed above.
 \end_layout
 
 \begin_layout Subsubsection*
@@ -309,6 +309,20 @@ CombinedImuFactor2 is a 4-way factor between the previous NavState and IMU
  bias and the current NavState and IMU bias.
 \end_layout
 
+\begin_layout Standard
+Since the Combined IMU Factor has a larger state variable due to the inclusion
+ of IMU biases, the noise model associated with this factor is assumed to
+ be a zero mean Gaussian with a 
+\begin_inset Formula $15\times15$
+\end_inset
+
+ covariance matrix 
+\begin_inset Formula $\Sigma$
+\end_inset
+
+, similarly defined on the tangent space of the NavState manifold.
+\end_layout
+
 \begin_layout Subsubsection*
 Covariance Matrices
 \end_layout
@@ -564,7 +578,15 @@ acceleration
 \end_inset
 
  in the body frame.
- We know (from Murray84book) that the derivative of 
+ We know (from 
+\begin_inset CommandInset citation
+LatexCommand cite
+key "Murray94book"
+literal "false"
+
+\end_inset
+
+) that the derivative of 
 \begin_inset Formula $R$
 \end_inset
 
@@ -1618,6 +1640,42 @@ where
 \begin_inset Formula $\omega^{b}$
 \end_inset
 
+.
+ Note that 
+\begin_inset Formula $\Sigma_{k},$
+\end_inset
+
+
+\begin_inset Formula $\Sigma_{\eta}^{ad}$
+\end_inset
+
+, and 
+\begin_inset Formula $\Sigma_{\eta}^{gd}$
+\end_inset
+
+ are discrete time covariances with 
+\begin_inset Formula $\Sigma_{\eta}^{ad}$
+\end_inset
+
+, and 
+\begin_inset Formula $\Sigma_{\eta}^{gd}$
+\end_inset
+
+divided by 
+\begin_inset Formula $\Delta_{t}$
+\end_inset
+
+.
+ Please see the section on Covariance Discretization
+\begin_inset CommandInset ref
+LatexCommand vpageref
+reference "subsec:Covariance-Discretization"
+plural "false"
+caps "false"
+noprefix "false"
+
+\end_inset
+
 .
 \end_layout
 
@@ -1645,7 +1703,7 @@ It can be shown that for small
  we have 
 \begin_inset Formula 
 \[
-\deriv{H(\theta_{k})^{-1}\omega_{k}^{b}}{\theta_{k}}\approx-\frac{1}{2}\Skew{\omega_{k}^{b}}\mbox{ and hence }\deriv{\theta_{k+1}}{\theta_{k}}=I_{3\times3}-\frac{\Delta t}{2}\Skew{\omega_{k}^{b}}
+\deriv{H(\theta_{k})^{-1}\omega_{k}^{b}}{\theta_{k}}\approx-\frac{1}{2}\Skew{\omega_{k}^{b}}\mbox{ and hence }\deriv{\theta_{k+1}}{\theta_{k}}=I_{3\times3}-\frac{\Delta_{t}}{2}\Skew{\omega_{k}^{b}}
 \]
 
 \end_inset
@@ -2033,6 +2091,13 @@ which we can break into 3 matrices for clarity, representing the main diagonal
 
 \begin_layout Subsubsection*
 Covariance Discretization
+\begin_inset CommandInset label
+LatexCommand label
+name "subsec:Covariance-Discretization"
+
+\end_inset
+
+
 \end_layout
 
 \begin_layout Standard
diff --git a/doc/ImuFactor.pdf b/doc/ImuFactor.pdf
index 9d7026d0978944949f5f6d4932c85dbe112a2a10..1823cbc4a6ea54b1b6a5aa5dae7b7909ba75a784 100644
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From 3595e8588c84a6e8488cd948664c765bce92bf40 Mon Sep 17 00:00:00 2001
From: yotams <yotams@mobileye.com>
Date: Mon, 4 Jul 2022 11:27:49 +0300
Subject: [PATCH 170/433] added jacobians for all pose3 methods in python
 wrappers

---
 gtsam/geometry/Pose3.cpp  |  5 +++++
 gtsam/geometry/Pose3.h    |  8 ++++++++
 gtsam/geometry/geometry.i | 33 +++++++++++++++++++++++++++++++++
 3 files changed, 46 insertions(+)

diff --git a/gtsam/geometry/Pose3.cpp b/gtsam/geometry/Pose3.cpp
index 2da51a6251..f261a23020 100644
--- a/gtsam/geometry/Pose3.cpp
+++ b/gtsam/geometry/Pose3.cpp
@@ -489,6 +489,11 @@ boost::optional<Pose3> align(const Point3Pairs &baPointPairs) {
 }
 #endif
 
+/* ************************************************************************* */
+Pose3 Pose3::interp(double t, const Pose3& other, OptionalJacobian<6, 6> Hx, OptionalJacobian<6, 6> Hy) const {
+  return interpolate(*this, other, t, Hx, Hy);
+}
+
 /* ************************************************************************* */
 std::ostream &operator<<(std::ostream &os, const Pose3& pose) {
   // Both Rot3 and Point3 have ostream definitions so we use them.
diff --git a/gtsam/geometry/Pose3.h b/gtsam/geometry/Pose3.h
index c360473499..e2128b28de 100644
--- a/gtsam/geometry/Pose3.h
+++ b/gtsam/geometry/Pose3.h
@@ -379,6 +379,14 @@ class GTSAM_EXPORT Pose3: public LieGroup<Pose3, 6> {
     return std::make_pair(0, 2);
   }
 
+    /**
+   * @brief Spherical Linear interpolation between *this and other
+   * @param s a value between 0 and 1.5
+   * @param other final point of interpolation geodesic on manifold
+   */
+  Pose3 interp(double t, const Pose3& other, OptionalJacobian<6, 6> Hx = boost::none,
+                                             OptionalJacobian<6, 6> Hy = boost::none) const;
+
   /// Output stream operator
   GTSAM_EXPORT
   friend std::ostream &operator<<(std::ostream &os, const Pose3& p);
diff --git a/gtsam/geometry/geometry.i b/gtsam/geometry/geometry.i
index 5175582654..4deb5c48ac 100644
--- a/gtsam/geometry/geometry.i
+++ b/gtsam/geometry/geometry.i
@@ -446,24 +446,43 @@ class Pose3 {
   // Group
   static gtsam::Pose3 identity();
   gtsam::Pose3 inverse() const;
+  gtsam::Pose3 inverse(Eigen::Ref<Eigen::MatrixXd> H) const;
   gtsam::Pose3 compose(const gtsam::Pose3& pose) const;
+  gtsam::Pose3 compose(const gtsam::Pose3& pose,
+                       Eigen::Ref<Eigen::MatrixXd> H1,
+                       Eigen::Ref<Eigen::MatrixXd> H2) const;
   gtsam::Pose3 between(const gtsam::Pose3& pose) const;
+  gtsam::Pose3 between(const gtsam::Pose3& pose,
+                       Eigen::Ref<Eigen::MatrixXd> H1,
+                       Eigen::Ref<Eigen::MatrixXd> H2) const;
+  gtsam::Pose3 interp(double t, const gtsam::Pose3& pose) const;
+  gtsam::Pose3 interp(double t, const gtsam::Pose3& pose,
+                           Eigen::Ref<Eigen::MatrixXd> Hx,
+                           Eigen::Ref<Eigen::MatrixXd> Hy) const;
 
   // Operator Overloads
   gtsam::Pose3 operator*(const gtsam::Pose3& pose) const;
 
   // Manifold
   gtsam::Pose3 retract(Vector v) const;
+  gtsam::Pose3 retract(Vector v, Eigen::Ref<Eigen::MatrixXd> Hxi) const;
   Vector localCoordinates(const gtsam::Pose3& pose) const;
+  Vector localCoordinates(const gtsam::Pose3& pose, Eigen::Ref<Eigen::MatrixXd> Hxi) const;
 
   // Lie Group
   static gtsam::Pose3 Expmap(Vector v);
+  static gtsam::Pose3 Expmap(Vector v, Eigen::Ref<Eigen::MatrixXd> Hxi);
   static Vector Logmap(const gtsam::Pose3& pose);
+  static Vector Logmap(const gtsam::Pose3& pose, Eigen::Ref<Eigen::MatrixXd> Hpose);
   gtsam::Pose3 expmap(Vector v);
   Vector logmap(const gtsam::Pose3& pose);
   Matrix AdjointMap() const;
   Vector Adjoint(Vector xi) const;
+  Vector Adjoint(Vector xi, Eigen::Ref<Eigen::MatrixXd> H_this,
+                 Eigen::Ref<Eigen::MatrixXd> H_xib) const;
   Vector AdjointTranspose(Vector xi) const;
+  Vector AdjointTranspose(Vector xi, Eigen::Ref<Eigen::MatrixXd> H_this,
+                          Eigen::Ref<Eigen::MatrixXd> H_x) const;
   static Matrix adjointMap(Vector xi);
   static Vector adjoint(Vector xi, Vector y);
   static Matrix adjointMap_(Vector xi);
@@ -476,7 +495,11 @@ class Pose3 {
 
   // Group Action on Point3
   gtsam::Point3 transformFrom(const gtsam::Point3& point) const;
+  gtsam::Point3 transformFrom(const gtsam::Point3& point, Eigen::Ref<Eigen::MatrixXd> Hself,
+                              Eigen::Ref<Eigen::MatrixXd> Hpoint) const;
   gtsam::Point3 transformTo(const gtsam::Point3& point) const;
+  gtsam::Point3 transformTo(const gtsam::Point3& point, Eigen::Ref<Eigen::MatrixXd> Hself,
+                            Eigen::Ref<Eigen::MatrixXd> Hpoint) const;
 
   // Matrix versions
   Matrix transformFrom(const Matrix& points) const;
@@ -484,15 +507,25 @@ class Pose3 {
 
   // Standard Interface
   gtsam::Rot3 rotation() const;
+  gtsam::Rot3 rotation(Eigen::Ref<Eigen::MatrixXd> Hself) const;
   gtsam::Point3 translation() const;
+  gtsam::Point3 translation(Eigen::Ref<Eigen::MatrixXd> Hself) const;
   double x() const;
   double y() const;
   double z() const;
   Matrix matrix() const;
   gtsam::Pose3 transformPoseFrom(const gtsam::Pose3& pose) const;
+  gtsam::Pose3 transformPoseFrom(const gtsam::Pose3& pose, Eigen::Ref<Eigen::MatrixXd> Hself,
+                                 Eigen::Ref<Eigen::MatrixXd> HaTb) const;
   gtsam::Pose3 transformPoseTo(const gtsam::Pose3& pose) const;
+  gtsam::Pose3 transformPoseTo(const gtsam::Pose3& pose, Eigen::Ref<Eigen::MatrixXd> Hself,
+                               Eigen::Ref<Eigen::MatrixXd> HwTb) const;
   double range(const gtsam::Point3& point);
+  double range(const gtsam::Point3& point, Eigen::Ref<Eigen::MatrixXd> Hself,
+               Eigen::Ref<Eigen::MatrixXd> Hpoint);
   double range(const gtsam::Pose3& pose);
+  double range(const gtsam::Pose3& pose, Eigen::Ref<Eigen::MatrixXd> Hself,
+               Eigen::Ref<Eigen::MatrixXd> Hpose);
 
   // enabling serialization functionality
   void serialize() const;

From aaeeccf8f59e26c479b39d6e8a12c78008d4e43f Mon Sep 17 00:00:00 2001
From: Varun Agrawal <varagrawal@gmail.com>
Date: Mon, 4 Jul 2022 14:55:39 -0400
Subject: [PATCH 171/433] Squashed 'wrap/' changes from 1a7dc9722..ca357ccdd

ca357ccdd Merge pull request #149 from borglab/install-package
886846724 set the GTWRAP_PATH_SEPARATOR properly for MatlabWrap
4abed7fa0 install the python package explicitly

git-subtree-dir: wrap
git-subtree-split: ca357ccdd27f0661e73ff7a1771768dc4bf8f746
---
 cmake/MatlabWrap.cmake | 7 +++++++
 1 file changed, 7 insertions(+)

diff --git a/cmake/MatlabWrap.cmake b/cmake/MatlabWrap.cmake
index 3cb0581028..eaffcc0595 100644
--- a/cmake/MatlabWrap.cmake
+++ b/cmake/MatlabWrap.cmake
@@ -242,6 +242,13 @@ function(wrap_library_internal interfaceHeader moduleName linkLibraries extraInc
   find_package(PythonInterp ${WRAP_PYTHON_VERSION} EXACT)
   find_package(PythonLibs ${WRAP_PYTHON_VERSION} EXACT)
 
+  # Set the path separator for PYTHONPATH
+  if(UNIX)
+    set(GTWRAP_PATH_SEPARATOR ":")
+  else()
+    set(GTWRAP_PATH_SEPARATOR ";")
+  endif()
+
   add_custom_command(
     OUTPUT ${generated_cpp_file}
     DEPENDS ${interfaceHeader} ${module_library_target} ${otherLibraryTargets}

From 7348586f60b04c464fe674ee939449980ae0efc2 Mon Sep 17 00:00:00 2001
From: yotams <yotams@mobileye.com>
Date: Thu, 7 Jul 2022 14:09:10 +0300
Subject: [PATCH 172/433] 1. changed interp name to slerp 2. added python tests
 for jacobians for some pose3 apis

---
 gtsam/geometry/Pose3.cpp         |   2 +-
 gtsam/geometry/Pose3.h           |   2 +-
 gtsam/geometry/geometry.i        |   4 +-
 python/gtsam/tests/test_Pose3.py | 118 ++++++++++++++++++++++++++++++-
 4 files changed, 121 insertions(+), 5 deletions(-)

diff --git a/gtsam/geometry/Pose3.cpp b/gtsam/geometry/Pose3.cpp
index f261a23020..2938e90f58 100644
--- a/gtsam/geometry/Pose3.cpp
+++ b/gtsam/geometry/Pose3.cpp
@@ -490,7 +490,7 @@ boost::optional<Pose3> align(const Point3Pairs &baPointPairs) {
 #endif
 
 /* ************************************************************************* */
-Pose3 Pose3::interp(double t, const Pose3& other, OptionalJacobian<6, 6> Hx, OptionalJacobian<6, 6> Hy) const {
+Pose3 Pose3::slerp(double t, const Pose3& other, OptionalJacobian<6, 6> Hx, OptionalJacobian<6, 6> Hy) const {
   return interpolate(*this, other, t, Hx, Hy);
 }
 
diff --git a/gtsam/geometry/Pose3.h b/gtsam/geometry/Pose3.h
index e2128b28de..33fb55250f 100644
--- a/gtsam/geometry/Pose3.h
+++ b/gtsam/geometry/Pose3.h
@@ -384,7 +384,7 @@ class GTSAM_EXPORT Pose3: public LieGroup<Pose3, 6> {
    * @param s a value between 0 and 1.5
    * @param other final point of interpolation geodesic on manifold
    */
-  Pose3 interp(double t, const Pose3& other, OptionalJacobian<6, 6> Hx = boost::none,
+  Pose3 slerp(double t, const Pose3& other, OptionalJacobian<6, 6> Hx = boost::none,
                                              OptionalJacobian<6, 6> Hy = boost::none) const;
 
   /// Output stream operator
diff --git a/gtsam/geometry/geometry.i b/gtsam/geometry/geometry.i
index 4deb5c48ac..92d9ec0a39 100644
--- a/gtsam/geometry/geometry.i
+++ b/gtsam/geometry/geometry.i
@@ -455,8 +455,8 @@ class Pose3 {
   gtsam::Pose3 between(const gtsam::Pose3& pose,
                        Eigen::Ref<Eigen::MatrixXd> H1,
                        Eigen::Ref<Eigen::MatrixXd> H2) const;
-  gtsam::Pose3 interp(double t, const gtsam::Pose3& pose) const;
-  gtsam::Pose3 interp(double t, const gtsam::Pose3& pose,
+  gtsam::Pose3 slerp(double t, const gtsam::Pose3& pose) const;
+  gtsam::Pose3 slerp(double t, const gtsam::Pose3& pose,
                            Eigen::Ref<Eigen::MatrixXd> Hx,
                            Eigen::Ref<Eigen::MatrixXd> Hy) const;
 
diff --git a/python/gtsam/tests/test_Pose3.py b/python/gtsam/tests/test_Pose3.py
index cde71de53a..cdc214a2cc 100644
--- a/python/gtsam/tests/test_Pose3.py
+++ b/python/gtsam/tests/test_Pose3.py
@@ -19,6 +19,62 @@
 from gtsam.utils.test_case import GtsamTestCase
 
 
+def numerical_derivative_pose(pose, method, delta=1e-5):
+    jacobian = np.zeros((6, 6))
+    for idx in range(6):
+        xplus = np.zeros(6)
+        xplus[idx] = delta
+        xminus = np.zeros(6)
+        xminus[idx] = -delta
+        pose_plus = pose.retract(xplus).__getattribute__(method)()
+        pose_minus = pose.retract(xminus).__getattribute__(method)()
+        jacobian[:, idx] = pose_minus.localCoordinates(pose_plus) / (2 * delta)
+    return jacobian
+
+
+def numerical_derivative_2_poses(pose, other_pose, method, delta=1e-5, inputs=()):
+    jacobian = np.zeros((6, 6))
+    other_jacobian = np.zeros((6, 6))
+    for idx in range(6):
+        xplus = np.zeros(6)
+        xplus[idx] = delta
+        xminus = np.zeros(6)
+        xminus[idx] = -delta
+
+        pose_plus = pose.retract(xplus).__getattribute__(method)(*inputs, other_pose)
+        pose_minus = pose.retract(xminus).__getattribute__(method)(*inputs, other_pose)
+        jacobian[:, idx] = pose_minus.localCoordinates(pose_plus) / (2 * delta)
+
+        other_pose_plus = pose.__getattribute__(method)(*inputs, other_pose.retract(xplus))
+        other_pose_minus = pose.__getattribute__(method)(*inputs, other_pose.retract(xminus))
+        other_jacobian[:, idx] = other_pose_minus.localCoordinates(other_pose_plus) / (2 * delta)
+    return jacobian, other_jacobian
+
+
+def numerical_derivative_pose_point(pose, point, method, delta=1e-5):
+    jacobian = np.zeros((3, 6))
+    point_jacobian = np.zeros((3, 3))
+    for idx in range(6):
+        xplus = np.zeros(6)
+        xplus[idx] = delta
+        xminus = np.zeros(6)
+        xminus[idx] = -delta
+
+        point_plus = pose.retract(xplus).__getattribute__(method)(point)
+        point_minus = pose.retract(xminus).__getattribute__(method)(point)
+        jacobian[:, idx] = (point_plus - point_minus) / (2 * delta)
+
+        if idx < 3:
+            xplus = np.zeros(3)
+            xplus[idx] = delta
+            xminus = np.zeros(3)
+            xminus[idx] = -delta
+            point_plus = pose.__getattribute__(method)(point + xplus)
+            point_minus = pose.__getattribute__(method)(point + xminus)
+            point_jacobian[:, idx] = (point_plus - point_minus) / (2 * delta)
+    return jacobian, point_jacobian
+
+
 class TestPose3(GtsamTestCase):
     """Test selected Pose3 methods."""
 
@@ -30,6 +86,47 @@ def test_between(self):
         actual = T2.between(T3)
         self.gtsamAssertEquals(actual, expected, 1e-6)
 
+        #test jacobians
+        jacobian = np.zeros((6, 6), order='F')
+        jacobian_other = np.zeros((6, 6), order='F')
+        T2.between(T3, jacobian, jacobian_other)
+        jacobian_numerical, jacobian_numerical_other = numerical_derivative_2_poses(T2, T3, 'between')
+        self.gtsamAssertEquals(jacobian, jacobian_numerical)
+        self.gtsamAssertEquals(jacobian_other, jacobian_numerical_other)
+
+    def test_inverse(self):
+        """Test between method."""
+        pose = Pose3(Rot3.Rodrigues(0, 0, -math.pi/2), Point3(2, 4, 0))
+        expected = Pose3(Rot3.Rodrigues(0, 0, math.pi/2), Point3(4, -2, 0))
+        actual = pose.inverse()
+        self.gtsamAssertEquals(actual, expected, 1e-6)
+
+        #test jacobians
+        jacobian = np.zeros((6, 6), order='F')
+        pose.inverse(jacobian)
+        jacobian_numerical = numerical_derivative_pose(pose, 'inverse')
+        self.gtsamAssertEquals(jacobian, jacobian_numerical)
+
+    def test_slerp(self):
+        """Test slerp method."""
+        pose0 = gtsam.Pose3()
+        pose1 = Pose3(Rot3.Rodrigues(0, 0, -math.pi/2), Point3(2, 4, 0))
+        actual_alpha_0 = pose0.slerp(0, pose1)
+        self.gtsamAssertEquals(actual_alpha_0, pose0)
+        actual_alpha_1 = pose0.slerp(1, pose1)
+        self.gtsamAssertEquals(actual_alpha_1, pose1)
+        actual_alpha_half = pose0.slerp(0.5, pose1)
+        expected_alpha_half = Pose3(Rot3.Rodrigues(0, 0, -math.pi/4), Point3(0.17157288, 2.41421356, 0))
+        self.gtsamAssertEquals(actual_alpha_half, expected_alpha_half, tol=1e-6)
+
+        # test jacobians
+        jacobian = np.zeros((6, 6), order='F')
+        jacobian_other = np.zeros((6, 6), order='F')
+        pose0.slerp(0.5, pose1, jacobian, jacobian_other)
+        jacobian_numerical, jacobian_numerical_other = numerical_derivative_2_poses(pose0, pose1, 'slerp', inputs=[0.5])
+        self.gtsamAssertEquals(jacobian, jacobian_numerical)
+        self.gtsamAssertEquals(jacobian_other, jacobian_numerical_other)
+
     def test_transformTo(self):
         """Test transformTo method."""
         pose = Pose3(Rot3.Rodrigues(0, 0, -math.pi/2), Point3(2, 4, 0))
@@ -37,6 +134,15 @@ def test_transformTo(self):
         expected = Point3(2, 1, 10)
         self.gtsamAssertEquals(actual, expected, 1e-6)
 
+        #test jacobians
+        point = Point3(3, 2, 10)
+        jacobian_pose = np.zeros((3, 6), order='F')
+        jacobian_point = np.zeros((3, 3), order='F')
+        pose.transformTo(point, jacobian_pose, jacobian_point)
+        jacobian_numerical_pose, jacobian_numerical_point = numerical_derivative_pose_point(pose, point, 'transformTo')
+        self.gtsamAssertEquals(jacobian_pose, jacobian_numerical_pose)
+        self.gtsamAssertEquals(jacobian_point, jacobian_numerical_point)
+
         # multi-point version
         points = np.stack([Point3(3, 2, 10), Point3(3, 2, 10)]).T
         actual_array = pose.transformTo(points)
@@ -51,6 +157,15 @@ def test_transformFrom(self):
         expected = Point3(3, 2, 10)
         self.gtsamAssertEquals(actual, expected, 1e-6)
 
+        #test jacobians
+        point = Point3(3, 2, 10)
+        jacobian_pose = np.zeros((3, 6), order='F')
+        jacobian_point = np.zeros((3, 3), order='F')
+        pose.transformFrom(point, jacobian_pose, jacobian_point)
+        jacobian_numerical_pose, jacobian_numerical_point = numerical_derivative_pose_point(pose, point, 'transformFrom')
+        self.gtsamAssertEquals(jacobian_pose, jacobian_numerical_pose)
+        self.gtsamAssertEquals(jacobian_point, jacobian_numerical_point)
+
         # multi-point version
         points = np.stack([Point3(2, 1, 10), Point3(2, 1, 10)]).T
         actual_array = pose.transformFrom(points)
@@ -122,4 +237,5 @@ def test_align_squares(self):
 
 
 if __name__ == "__main__":
-    unittest.main()
+    # unittest.main()
+    TestPose3().test_slerp()
\ No newline at end of file

From 7c077f8536c1a06710c251d16b1760ef55be11aa Mon Sep 17 00:00:00 2001
From: yotams <yotams@mobileye.com>
Date: Thu, 7 Jul 2022 14:20:26 +0300
Subject: [PATCH 173/433] bugfix

---
 python/gtsam/tests/test_Pose3.py | 3 +--
 1 file changed, 1 insertion(+), 2 deletions(-)

diff --git a/python/gtsam/tests/test_Pose3.py b/python/gtsam/tests/test_Pose3.py
index cdc214a2cc..4464e8d47e 100644
--- a/python/gtsam/tests/test_Pose3.py
+++ b/python/gtsam/tests/test_Pose3.py
@@ -237,5 +237,4 @@ def test_align_squares(self):
 
 
 if __name__ == "__main__":
-    # unittest.main()
-    TestPose3().test_slerp()
\ No newline at end of file
+    unittest.main()
\ No newline at end of file

From 8f509dc3264a09a3e4a1fad79cddcc2ac6f79e98 Mon Sep 17 00:00:00 2001
From: Jose Luis Blanco-Claraco <joseluisblancoc@gmail.com>
Date: Tue, 2 Jun 2020 13:18:46 +0200
Subject: [PATCH 174/433] Do not optimize native by default

---
 cmake/GtsamBuildTypes.cmake | 3 ++-
 1 file changed, 2 insertions(+), 1 deletion(-)

diff --git a/cmake/GtsamBuildTypes.cmake b/cmake/GtsamBuildTypes.cmake
index 9058807adc..33e0c33a00 100644
--- a/cmake/GtsamBuildTypes.cmake
+++ b/cmake/GtsamBuildTypes.cmake
@@ -190,8 +190,9 @@ if(${CMAKE_CXX_COMPILER_ID} STREQUAL "Clang")
 endif()
 
 if (NOT MSVC)
-  option(GTSAM_BUILD_WITH_MARCH_NATIVE  "Enable/Disable building with all instructions supported by native architecture (binary may not be portable!)" ON)
+  option(GTSAM_BUILD_WITH_MARCH_NATIVE  "Enable/Disable building with all instructions supported by native architecture (binary may not be portable!)" OFF)
   if(GTSAM_BUILD_WITH_MARCH_NATIVE AND (APPLE AND NOT CMAKE_SYSTEM_PROCESSOR STREQUAL "arm64"))
+  if(GTSAM_BUILD_WITH_MARCH_NATIVE)
     # Add as public flag so all dependant projects also use it, as required
     # by Eigen to avid crashes due to SIMD vectorization:
     list_append_cache(GTSAM_COMPILE_OPTIONS_PUBLIC "-march=native")

From ea8e69c7353f56ac70396a3340680535c1e95cba Mon Sep 17 00:00:00 2001
From: Varun Agrawal <varagrawal@gmail.com>
Date: Thu, 7 Jul 2022 11:02:54 -0400
Subject: [PATCH 175/433] Use system Eigen by default only if found

---
 cmake/HandleEigen.cmake | 9 ++++++---
 1 file changed, 6 insertions(+), 3 deletions(-)

diff --git a/cmake/HandleEigen.cmake b/cmake/HandleEigen.cmake
index b21d16885f..c49eb4f8e1 100644
--- a/cmake/HandleEigen.cmake
+++ b/cmake/HandleEigen.cmake
@@ -1,7 +1,10 @@
 ###############################################################################
 # Option for using system Eigen or GTSAM-bundled Eigen
-
-option(GTSAM_USE_SYSTEM_EIGEN "Find and use system-installed Eigen. If 'off', use the one bundled with GTSAM" OFF)
+# Default: Use system's Eigen if found automatically:
+find_package(Eigen3 QUIET)
+set(USE_SYSTEM_EIGEN_INITIAL_VALUE ${Eigen3_FOUND})
+option(GTSAM_USE_SYSTEM_EIGEN "Find and use system-installed Eigen. If 'off', use the one bundled with GTSAM" ${USE_SYSTEM_EIGEN_INITIAL_VALUE})
+unset(USE_SYSTEM_EIGEN_INITIAL_VALUE)
 
 if(NOT GTSAM_USE_SYSTEM_EIGEN)
   # This option only makes sense if using the embedded copy of Eigen, it is
@@ -11,7 +14,7 @@ endif()
 
 # Switch for using system Eigen or GTSAM-bundled Eigen
 if(GTSAM_USE_SYSTEM_EIGEN)
-    find_package(Eigen3 REQUIRED)
+    find_package(Eigen3 REQUIRED) # need to find again as REQUIRED
 
     # Use generic Eigen include paths e.g. <Eigen/Core>
     set(GTSAM_EIGEN_INCLUDE_FOR_INSTALL "${EIGEN3_INCLUDE_DIR}")

From 441ec332359f9ca9f136610b2b8eb3fc1308b64f Mon Sep 17 00:00:00 2001
From: Varun Agrawal <varagrawal@gmail.com>
Date: Thu, 7 Jul 2022 11:09:56 -0400
Subject: [PATCH 176/433] fix small issue

---
 cmake/GtsamBuildTypes.cmake | 1 -
 1 file changed, 1 deletion(-)

diff --git a/cmake/GtsamBuildTypes.cmake b/cmake/GtsamBuildTypes.cmake
index 33e0c33a00..e63fbf1dd4 100644
--- a/cmake/GtsamBuildTypes.cmake
+++ b/cmake/GtsamBuildTypes.cmake
@@ -192,7 +192,6 @@ endif()
 if (NOT MSVC)
   option(GTSAM_BUILD_WITH_MARCH_NATIVE  "Enable/Disable building with all instructions supported by native architecture (binary may not be portable!)" OFF)
   if(GTSAM_BUILD_WITH_MARCH_NATIVE AND (APPLE AND NOT CMAKE_SYSTEM_PROCESSOR STREQUAL "arm64"))
-  if(GTSAM_BUILD_WITH_MARCH_NATIVE)
     # Add as public flag so all dependant projects also use it, as required
     # by Eigen to avid crashes due to SIMD vectorization:
     list_append_cache(GTSAM_COMPILE_OPTIONS_PUBLIC "-march=native")

From c31298d367ba1ae091d2919cfc78f4e3c0213f9d Mon Sep 17 00:00:00 2001
From: Varun Agrawal <varagrawal@gmail.com>
Date: Thu, 7 Jul 2022 12:31:27 -0400
Subject: [PATCH 177/433] Capitalize Identity trait since it is static

---
 gtsam/base/Group.h                            |  8 +--
 gtsam/base/Lie.h                              |  2 +-
 gtsam/base/ProductLieGroup.h                  |  2 +-
 gtsam/base/VectorSpace.h                      |  4 +-
 gtsam/base/tests/testGroup.cpp                |  2 +-
 gtsam/basis/ParameterMatrix.h                 |  4 +-
 gtsam/basis/tests/testParameterMatrix.cpp     |  2 +-
 gtsam/geometry/Cyclic.h                       |  2 +-
 gtsam/geometry/PinholeCamera.h                |  2 +-
 gtsam/geometry/PinholePose.h                  |  2 +-
 gtsam/geometry/Pose2.h                        |  2 +-
 gtsam/geometry/Pose3.h                        |  2 +-
 gtsam/geometry/Rot2.h                         |  4 +-
 gtsam/geometry/Rot3.h                         |  2 +-
 gtsam/geometry/SOn.h                          |  4 +-
 gtsam/geometry/Similarity2.cpp                |  2 +-
 gtsam/geometry/Similarity2.h                  |  2 +-
 gtsam/geometry/Similarity3.cpp                |  2 +-
 gtsam/geometry/Similarity3.h                  |  2 +-
 gtsam/geometry/SphericalCamera.h              |  6 +--
 gtsam/geometry/StereoPoint2.h                 |  2 +-
 gtsam/geometry/geometry.i                     | 20 +++----
 gtsam/geometry/tests/testPose2.cpp            |  2 +-
 gtsam/geometry/tests/testPose3.cpp            | 12 ++---
 gtsam/geometry/tests/testSimilarity3.cpp      |  6 +--
 gtsam/navigation/ImuBias.h                    |  2 +-
 gtsam/navigation/navigation.i                 |  2 +-
 gtsam/nonlinear/tests/testExpression.cpp      |  4 +-
 gtsam/slam/tests/testOrientedPlane3Factor.cpp |  4 +-
 .../tests/testSmartProjectionRigFactor.cpp    | 54 +++++++++----------
 .../dynamics/tests/testVelocityConstraint.cpp |  4 +-
 .../examples/GncPoseAveragingExample.cpp      |  2 +-
 .../examples/ISAM2_SmartFactorStereo_IMU.cpp  |  6 +--
 gtsam_unstable/geometry/Pose3Upright.h        |  2 +-
 gtsam_unstable/gtsam_unstable.i               |  2 +-
 .../tests/testLocalOrientedPlane3Factor.cpp   | 12 ++---
 .../slam/tests/testPartialPriorFactor.cpp     |  2 +-
 .../slam/tests/testPoseToPointFactor.cpp      |  8 +--
 ...martProjectionPoseFactorRollingShutter.cpp | 34 ++++++------
 .../tests/testSmartStereoFactor_iSAM2.cpp     |  8 +--
 .../testSmartStereoProjectionFactorPP.cpp     | 14 ++---
 tests/testExpressionFactor.cpp                |  2 +-
 tests/testManifold.cpp                        |  2 +-
 timing/timeShonanFactor.cpp                   |  6 +--
 44 files changed, 135 insertions(+), 135 deletions(-)

diff --git a/gtsam/base/Group.h b/gtsam/base/Group.h
index 39541416ee..89fa8248c1 100644
--- a/gtsam/base/Group.h
+++ b/gtsam/base/Group.h
@@ -95,7 +95,7 @@ template<class Class>
 struct MultiplicativeGroupTraits {
   typedef group_tag structure_category;
   typedef multiplicative_group_tag group_flavor;
-  static Class Identity() { return Class::identity(); }
+  static Class Identity() { return Class::Identity(); }
   static Class Compose(const Class &g, const Class & h) { return g * h;}
   static Class Between(const Class &g, const Class & h) { return g.inverse() * h;}
   static Class Inverse(const Class &g) { return g.inverse();}
@@ -111,7 +111,7 @@ template<class Class>
 struct AdditiveGroupTraits {
   typedef group_tag structure_category;
   typedef additive_group_tag group_flavor;
-  static Class Identity() { return Class::identity(); }
+  static Class Identity() { return Class::Identity(); }
   static Class Compose(const Class &g, const Class & h) { return g + h;}
   static Class Between(const Class &g, const Class & h) { return h - g;}
   static Class Inverse(const Class &g) { return -g;}
@@ -147,7 +147,7 @@ class DirectProduct: public std::pair<G, H> {
   DirectProduct(const G& g, const H& h):std::pair<G,H>(g,h) {}
 
   // identity
-  static DirectProduct identity() { return DirectProduct(); }
+  static DirectProduct Identity() { return DirectProduct(); }
 
   DirectProduct operator*(const DirectProduct& other) const {
     return DirectProduct(traits<G>::Compose(this->first, other.first),
@@ -181,7 +181,7 @@ class DirectSum: public std::pair<G, H> {
   DirectSum(const G& g, const H& h):std::pair<G,H>(g,h) {}
 
   // identity
-  static DirectSum identity() { return DirectSum(); }
+  static DirectSum Identity() { return DirectSum(); }
 
   DirectSum operator+(const DirectSum& other) const {
     return DirectSum(g()+other.g(), h()+other.h());
diff --git a/gtsam/base/Lie.h b/gtsam/base/Lie.h
index cb8e7d017e..c4eba5deb8 100644
--- a/gtsam/base/Lie.h
+++ b/gtsam/base/Lie.h
@@ -177,7 +177,7 @@ struct LieGroupTraits: GetDimensionImpl<Class, Class::dimension> {
   /// @name Group
   /// @{
   typedef multiplicative_group_tag group_flavor;
-  static Class Identity() { return Class::identity();}
+  static Class Identity() { return Class::Identity();}
   /// @}
 
   /// @name Manifold
diff --git a/gtsam/base/ProductLieGroup.h b/gtsam/base/ProductLieGroup.h
index a2dcf738e0..6689c11d60 100644
--- a/gtsam/base/ProductLieGroup.h
+++ b/gtsam/base/ProductLieGroup.h
@@ -48,7 +48,7 @@ class ProductLieGroup: public std::pair<G, H> {
   /// @name Group
   /// @{
   typedef multiplicative_group_tag group_flavor;
-  static ProductLieGroup identity() {return ProductLieGroup();}
+  static ProductLieGroup Identity() {return ProductLieGroup();}
 
   ProductLieGroup operator*(const ProductLieGroup& other) const {
     return ProductLieGroup(traits<G>::Compose(this->first,other.first),
diff --git a/gtsam/base/VectorSpace.h b/gtsam/base/VectorSpace.h
index 43644b5c46..f7809f5968 100644
--- a/gtsam/base/VectorSpace.h
+++ b/gtsam/base/VectorSpace.h
@@ -169,7 +169,7 @@ struct HasVectorSpacePrereqs {
   Vector v;
 
   BOOST_CONCEPT_USAGE(HasVectorSpacePrereqs) {
-    p = Class::identity();  // identity
+    p = Class::Identity();  // identity
     q = p + p;              // addition
     q = p - p;              // subtraction
     v = p.vector();         // conversion to vector
@@ -192,7 +192,7 @@ struct VectorSpaceTraits: VectorSpaceImpl<Class, Class::dimension> {
   /// @name Group
   /// @{
   typedef additive_group_tag group_flavor;
-  static Class Identity() { return Class::identity();}
+  static Class Identity() { return Class::Identity();}
   /// @}
 
   /// @name Manifold
diff --git a/gtsam/base/tests/testGroup.cpp b/gtsam/base/tests/testGroup.cpp
index 976dee6976..7e8cb7821c 100644
--- a/gtsam/base/tests/testGroup.cpp
+++ b/gtsam/base/tests/testGroup.cpp
@@ -29,7 +29,7 @@ class Symmetric: private Eigen::PermutationMatrix<N> {
       Eigen::PermutationMatrix<N>(P) {
   }
 public:
-  static Symmetric identity() { return Symmetric(); }
+  static Symmetric Identity() { return Symmetric(); }
   Symmetric() {
     Eigen::PermutationMatrix<N>::setIdentity();
   }
diff --git a/gtsam/basis/ParameterMatrix.h b/gtsam/basis/ParameterMatrix.h
index eddcbfeaec..3f830ec516 100644
--- a/gtsam/basis/ParameterMatrix.h
+++ b/gtsam/basis/ParameterMatrix.h
@@ -189,9 +189,9 @@ class ParameterMatrix {
    * NOTE: The size at compile time is unknown so this identity is zero
    * length and thus not valid.
    */
-  inline static ParameterMatrix identity() {
+  inline static ParameterMatrix Identity() {
     // throw std::runtime_error(
-    //     "ParameterMatrix::identity(): Don't use this function");
+    //     "ParameterMatrix::Identity(): Don't use this function");
     return ParameterMatrix(0);
   }
 
diff --git a/gtsam/basis/tests/testParameterMatrix.cpp b/gtsam/basis/tests/testParameterMatrix.cpp
index ec62e8eeab..ae2e8e1116 100644
--- a/gtsam/basis/tests/testParameterMatrix.cpp
+++ b/gtsam/basis/tests/testParameterMatrix.cpp
@@ -133,7 +133,7 @@ TEST(ParameterMatrix, VectorSpace) {
   // vector
   EXPECT(assert_equal(Vector::Ones(M * N), params.vector()));
   // identity
-  EXPECT(assert_equal(ParameterMatrix<M>::identity(),
+  EXPECT(assert_equal(ParameterMatrix<M>::Identity(),
                       ParameterMatrix<M>(Matrix::Zero(M, 0))));
 }
 
diff --git a/gtsam/geometry/Cyclic.h b/gtsam/geometry/Cyclic.h
index 065cd01407..a503a6072b 100644
--- a/gtsam/geometry/Cyclic.h
+++ b/gtsam/geometry/Cyclic.h
@@ -38,7 +38,7 @@ class Cyclic {
   /// Default constructor yields identity
   Cyclic():i_(0) {
   }
-  static Cyclic identity() { return Cyclic();}
+  static Cyclic Identity() { return Cyclic();}
 
   /// Cast to size_t
   operator size_t() const {
diff --git a/gtsam/geometry/PinholeCamera.h b/gtsam/geometry/PinholeCamera.h
index c20e908191..e5a8eec7a1 100644
--- a/gtsam/geometry/PinholeCamera.h
+++ b/gtsam/geometry/PinholeCamera.h
@@ -213,7 +213,7 @@ class PinholeCamera: public PinholeBaseK<Calibration> {
   }
 
   /// for Canonical
-  static PinholeCamera identity() {
+  static PinholeCamera Identity() {
     return PinholeCamera(); // assumes that the default constructor is valid
   }
 
diff --git a/gtsam/geometry/PinholePose.h b/gtsam/geometry/PinholePose.h
index 7b92be5d50..ce393e45fb 100644
--- a/gtsam/geometry/PinholePose.h
+++ b/gtsam/geometry/PinholePose.h
@@ -412,7 +412,7 @@ class PinholePose: public PinholeBaseK<CALIBRATION> {
   }
 
   /// for Canonical
-  static PinholePose identity() {
+  static PinholePose Identity() {
     return PinholePose(); // assumes that the default constructor is valid
   }
 
diff --git a/gtsam/geometry/Pose2.h b/gtsam/geometry/Pose2.h
index 466c5a42ad..008e6525d6 100644
--- a/gtsam/geometry/Pose2.h
+++ b/gtsam/geometry/Pose2.h
@@ -119,7 +119,7 @@ class Pose2: public LieGroup<Pose2, 3> {
   /// @{
 
   /// identity for group operation
-  inline static Pose2 identity() { return Pose2(); }
+  inline static Pose2 Identity() { return Pose2(); }
 
   /// inverse
   GTSAM_EXPORT Pose2 inverse() const;
diff --git a/gtsam/geometry/Pose3.h b/gtsam/geometry/Pose3.h
index 33fb55250f..6dec7f74fc 100644
--- a/gtsam/geometry/Pose3.h
+++ b/gtsam/geometry/Pose3.h
@@ -103,7 +103,7 @@ class GTSAM_EXPORT Pose3: public LieGroup<Pose3, 6> {
   /// @{
 
   /// identity for group operation
-  static Pose3 identity() {
+  static Pose3 Identity() {
     return Pose3();
   }
 
diff --git a/gtsam/geometry/Rot2.h b/gtsam/geometry/Rot2.h
index 2690ca2481..be8d11cdab 100644
--- a/gtsam/geometry/Rot2.h
+++ b/gtsam/geometry/Rot2.h
@@ -107,8 +107,8 @@ namespace gtsam {
     /// @name Group
     /// @{
 
-    /** identity */
-    inline static Rot2 identity() {  return Rot2(); }
+    /** Identity */
+    inline static Rot2 Identity() {  return Rot2(); }
 
     /** The inverse rotation - negative angle */
     Rot2 inverse() const { return Rot2(c_, -s_);}
diff --git a/gtsam/geometry/Rot3.h b/gtsam/geometry/Rot3.h
index 01ca7778c6..800ce4cdf9 100644
--- a/gtsam/geometry/Rot3.h
+++ b/gtsam/geometry/Rot3.h
@@ -297,7 +297,7 @@ class GTSAM_EXPORT Rot3 : public LieGroup<Rot3, 3> {
     /// @{
 
     /// identity rotation for group operation
-    inline static Rot3 identity() {
+    inline static Rot3 Identity() {
       return Rot3();
     }
 
diff --git a/gtsam/geometry/SOn.h b/gtsam/geometry/SOn.h
index af0e7a3cfb..7d1e6db7af 100644
--- a/gtsam/geometry/SOn.h
+++ b/gtsam/geometry/SOn.h
@@ -178,13 +178,13 @@ class SO : public LieGroup<SO<N>, internal::DimensionSO(N)> {
 
   /// SO<N> identity for N >= 2
   template <int N_ = N, typename = IsFixed<N_>>
-  static SO identity() {
+  static SO Identity() {
     return SO();
   }
 
   /// SO<N> identity for N == Eigen::Dynamic
   template <int N_ = N, typename = IsDynamic<N_>>
-  static SO identity(size_t n = 0) {
+  static SO Identity(size_t n = 0) {
     return SO(n);
   }
 
diff --git a/gtsam/geometry/Similarity2.cpp b/gtsam/geometry/Similarity2.cpp
index 4ed3351f8b..4b8cfd5818 100644
--- a/gtsam/geometry/Similarity2.cpp
+++ b/gtsam/geometry/Similarity2.cpp
@@ -134,7 +134,7 @@ void Similarity2::print(const std::string& s) const {
             << std::endl;
 }
 
-Similarity2 Similarity2::identity() { return Similarity2(); }
+Similarity2 Similarity2::Identity() { return Similarity2(); }
 
 Similarity2 Similarity2::operator*(const Similarity2& S) const {
   return Similarity2(R_ * S.R_, ((1.0 / S.s_) * t_) + R_ * S.t_, s_ * S.s_);
diff --git a/gtsam/geometry/Similarity2.h b/gtsam/geometry/Similarity2.h
index 05f10d1493..e72cda484c 100644
--- a/gtsam/geometry/Similarity2.h
+++ b/gtsam/geometry/Similarity2.h
@@ -83,7 +83,7 @@ class GTSAM_EXPORT Similarity2 : public LieGroup<Similarity2, 4> {
   /// @{
 
   /// Return an identity transform
-  static Similarity2 identity();
+  static Similarity2 Identity();
 
   /// Composition
   Similarity2 operator*(const Similarity2& S) const;
diff --git a/gtsam/geometry/Similarity3.cpp b/gtsam/geometry/Similarity3.cpp
index 7fde974c55..1461617965 100644
--- a/gtsam/geometry/Similarity3.cpp
+++ b/gtsam/geometry/Similarity3.cpp
@@ -122,7 +122,7 @@ void Similarity3::print(const std::string& s) const {
   std::cout << "t: " << translation().transpose() << " s: " << scale() << std::endl;
 }
 
-Similarity3 Similarity3::identity() {
+Similarity3 Similarity3::Identity() {
   return Similarity3();
 }
 Similarity3 Similarity3::operator*(const Similarity3& S) const {
diff --git a/gtsam/geometry/Similarity3.h b/gtsam/geometry/Similarity3.h
index 845d4c810d..76d2bf5361 100644
--- a/gtsam/geometry/Similarity3.h
+++ b/gtsam/geometry/Similarity3.h
@@ -84,7 +84,7 @@ class GTSAM_EXPORT Similarity3 : public LieGroup<Similarity3, 7> {
   /// @{
 
   /// Return an identity transform
-  static Similarity3 identity();
+  static Similarity3 Identity();
 
   /// Composition
   Similarity3 operator*(const Similarity3& S) const;
diff --git a/gtsam/geometry/SphericalCamera.h b/gtsam/geometry/SphericalCamera.h
index 4880423d32..adcbe46a5f 100644
--- a/gtsam/geometry/SphericalCamera.h
+++ b/gtsam/geometry/SphericalCamera.h
@@ -88,7 +88,7 @@ class GTSAM_EXPORT SphericalCamera {
 
   /// Default constructor
   SphericalCamera()
-      : pose_(Pose3::identity()), emptyCal_(boost::make_shared<EmptyCal>()) {}
+      : pose_(Pose3()), emptyCal_(boost::make_shared<EmptyCal>()) {}
 
   /// Constructor with pose
   explicit SphericalCamera(const Pose3& pose)
@@ -198,9 +198,9 @@ class GTSAM_EXPORT SphericalCamera {
   }
 
   /// for Canonical
-  static SphericalCamera identity() {
+  static SphericalCamera Identity() {
     return SphericalCamera(
-        Pose3::identity());  // assumes that the default constructor is valid
+        Pose3::Identity());  // assumes that the default constructor is valid
   }
 
   /// for Linear Triangulation
diff --git a/gtsam/geometry/StereoPoint2.h b/gtsam/geometry/StereoPoint2.h
index 9eef01577d..8c9197fd28 100644
--- a/gtsam/geometry/StereoPoint2.h
+++ b/gtsam/geometry/StereoPoint2.h
@@ -71,7 +71,7 @@ class GTSAM_EXPORT StereoPoint2 {
   /// @{
 
   /// identity
-  inline static StereoPoint2 identity() {
+  inline static StereoPoint2 Identity() {
     return StereoPoint2();
   }
 
diff --git a/gtsam/geometry/geometry.i b/gtsam/geometry/geometry.i
index 92d9ec0a39..a293c6327e 100644
--- a/gtsam/geometry/geometry.i
+++ b/gtsam/geometry/geometry.i
@@ -16,7 +16,7 @@ class Point2 {
   bool equals(const gtsam::Point2& point, double tol) const;
 
   // Group
-  static gtsam::Point2 identity();
+  static gtsam::Point2 Identity();
 
   // Standard Interface
   double x() const;
@@ -73,7 +73,7 @@ class StereoPoint2 {
   bool equals(const gtsam::StereoPoint2& point, double tol) const;
 
   // Group
-  static gtsam::StereoPoint2 identity();
+  static gtsam::StereoPoint2 Identity();
   gtsam::StereoPoint2 inverse() const;
   gtsam::StereoPoint2 compose(const gtsam::StereoPoint2& p2) const;
   gtsam::StereoPoint2 between(const gtsam::StereoPoint2& p2) const;
@@ -115,7 +115,7 @@ class Point3 {
   bool equals(const gtsam::Point3& p, double tol) const;
 
   // Group
-  static gtsam::Point3 identity();
+  static gtsam::Point3 Identity();
 
   // Standard Interface
   Vector vector() const;
@@ -149,7 +149,7 @@ class Rot2 {
   bool equals(const gtsam::Rot2& rot, double tol) const;
 
   // Group
-  static gtsam::Rot2 identity();
+  static gtsam::Rot2 Identity();
   gtsam::Rot2 inverse();
   gtsam::Rot2 compose(const gtsam::Rot2& p2) const;
   gtsam::Rot2 between(const gtsam::Rot2& p2) const;
@@ -198,7 +198,7 @@ class SO3 {
   bool equals(const gtsam::SO3& other, double tol) const;
 
   // Group
-  static gtsam::SO3 identity();
+  static gtsam::SO3 Identity();
   gtsam::SO3 inverse() const;
   gtsam::SO3 between(const gtsam::SO3& R) const;
   gtsam::SO3 compose(const gtsam::SO3& R) const;
@@ -228,7 +228,7 @@ class SO4 {
   bool equals(const gtsam::SO4& other, double tol) const;
 
   // Group
-  static gtsam::SO4 identity();
+  static gtsam::SO4 Identity();
   gtsam::SO4 inverse() const;
   gtsam::SO4 between(const gtsam::SO4& Q) const;
   gtsam::SO4 compose(const gtsam::SO4& Q) const;
@@ -258,7 +258,7 @@ class SOn {
   bool equals(const gtsam::SOn& other, double tol) const;
 
   // Group
-  static gtsam::SOn identity();
+  static gtsam::SOn Identity();
   gtsam::SOn inverse() const;
   gtsam::SOn between(const gtsam::SOn& Q) const;
   gtsam::SOn compose(const gtsam::SOn& Q) const;
@@ -322,7 +322,7 @@ class Rot3 {
   bool equals(const gtsam::Rot3& rot, double tol) const;
 
   // Group
-  static gtsam::Rot3 identity();
+  static gtsam::Rot3 Identity();
   gtsam::Rot3 inverse() const;
   gtsam::Rot3 compose(const gtsam::Rot3& p2) const;
   gtsam::Rot3 between(const gtsam::Rot3& p2) const;
@@ -380,7 +380,7 @@ class Pose2 {
   bool equals(const gtsam::Pose2& pose, double tol) const;
 
   // Group
-  static gtsam::Pose2 identity();
+  static gtsam::Pose2 Identity();
   gtsam::Pose2 inverse() const;
   gtsam::Pose2 compose(const gtsam::Pose2& p2) const;
   gtsam::Pose2 between(const gtsam::Pose2& p2) const;
@@ -444,7 +444,7 @@ class Pose3 {
   bool equals(const gtsam::Pose3& pose, double tol) const;
 
   // Group
-  static gtsam::Pose3 identity();
+  static gtsam::Pose3 Identity();
   gtsam::Pose3 inverse() const;
   gtsam::Pose3 inverse(Eigen::Ref<Eigen::MatrixXd> H) const;
   gtsam::Pose3 compose(const gtsam::Pose3& pose) const;
diff --git a/gtsam/geometry/tests/testPose2.cpp b/gtsam/geometry/tests/testPose2.cpp
index de779cc750..88c00a2e97 100644
--- a/gtsam/geometry/tests/testPose2.cpp
+++ b/gtsam/geometry/tests/testPose2.cpp
@@ -902,7 +902,7 @@ TEST(Pose2 , TransformCovariance3) {
 
 /* ************************************************************************* */
 TEST(Pose2, Print) {
-  Pose2 pose(Rot2::identity(), Point2(1, 2));
+  Pose2 pose(Rot2::Identity(), Point2(1, 2));
 
   // Generate the expected output
   string s = "Planar Pose";
diff --git a/gtsam/geometry/tests/testPose3.cpp b/gtsam/geometry/tests/testPose3.cpp
index e1d3d5ea22..78a4af799e 100644
--- a/gtsam/geometry/tests/testPose3.cpp
+++ b/gtsam/geometry/tests/testPose3.cpp
@@ -1133,7 +1133,7 @@ Pose3 testing_interpolate(const Pose3& t1, const Pose3& t2, double gamma) { retu
 
 TEST(Pose3, interpolateJacobians) {
   {
-    Pose3 X = Pose3::identity();
+    Pose3 X = Pose3::Identity();
     Pose3 Y(Rot3::Rz(M_PI_2), Point3(1, 0, 0));
     double t = 0.5;
     Pose3 expectedPoseInterp(Rot3::Rz(M_PI_4), Point3(0.5, -0.207107, 0)); // note: different from test above: this is full Pose3 interpolation
@@ -1147,10 +1147,10 @@ TEST(Pose3, interpolateJacobians) {
     EXPECT(assert_equal(expectedJacobianY,actualJacobianY,1e-6));
   }
   {
-    Pose3 X = Pose3::identity();
-    Pose3 Y(Rot3::identity(), Point3(1, 0, 0));
+    Pose3 X = Pose3::Identity();
+    Pose3 Y(Rot3::Identity(), Point3(1, 0, 0));
     double t = 0.3;
-    Pose3 expectedPoseInterp(Rot3::identity(), Point3(0.3, 0, 0));
+    Pose3 expectedPoseInterp(Rot3::Identity(), Point3(0.3, 0, 0));
     Matrix actualJacobianX, actualJacobianY;
     EXPECT(assert_equal(expectedPoseInterp, interpolate(X, Y, t, actualJacobianX, actualJacobianY), 1e-5));
 
@@ -1161,7 +1161,7 @@ TEST(Pose3, interpolateJacobians) {
     EXPECT(assert_equal(expectedJacobianY,actualJacobianY,1e-6));
   }
   {
-    Pose3 X = Pose3::identity();
+    Pose3 X = Pose3::Identity();
     Pose3 Y(Rot3::Rz(M_PI_2), Point3(0, 0, 0));
     double t = 0.5;
     Pose3 expectedPoseInterp(Rot3::Rz(M_PI_4), Point3(0, 0, 0));
@@ -1204,7 +1204,7 @@ TEST(Pose3, Create) {
 
 /* ************************************************************************* */
 TEST(Pose3, Print) {
-  Pose3 pose(Rot3::identity(), Point3(1, 2, 3));
+  Pose3 pose(Rot3::Identity(), Point3(1, 2, 3));
 
   // Generate the expected output
   std::string expected = "R: [\n\t1, 0, 0;\n\t0, 1, 0;\n\t0, 0, 1\n]\nt: 1 2 3\n";
diff --git a/gtsam/geometry/tests/testSimilarity3.cpp b/gtsam/geometry/tests/testSimilarity3.cpp
index 7a134f6efd..fad24f7431 100644
--- a/gtsam/geometry/tests/testSimilarity3.cpp
+++ b/gtsam/geometry/tests/testSimilarity3.cpp
@@ -203,11 +203,11 @@ TEST(Similarity3, ExpLogMap) {
 
   Vector7 zeros;
   zeros << 0, 0, 0, 0, 0, 0, 0;
-  Vector7 logIdentity = Similarity3::Logmap(Similarity3::identity());
+  Vector7 logIdentity = Similarity3::Logmap(Similarity3::Identity());
   EXPECT(assert_equal(zeros, logIdentity));
 
   Similarity3 expZero = Similarity3::Expmap(zeros);
-  Similarity3 ident = Similarity3::identity();
+  Similarity3 ident = Similarity3::Identity();
   EXPECT(assert_equal(expZero, ident));
 
   // Compare to matrix exponential, using expm in Lie.h
@@ -391,7 +391,7 @@ TEST(Similarity3, Optimization) {
   NonlinearFactorGraph graph;
   graph.addPrior(key, prior, model);
 
-  // Create initial estimate with identity transform
+  // Create initial estimate with Identity transform
   Values initial;
   initial.insert<Similarity3>(key, Similarity3());
 
diff --git a/gtsam/navigation/ImuBias.h b/gtsam/navigation/ImuBias.h
index 9346a4a777..936ae77829 100644
--- a/gtsam/navigation/ImuBias.h
+++ b/gtsam/navigation/ImuBias.h
@@ -105,7 +105,7 @@ class GTSAM_EXPORT ConstantBias {
   /// @{
 
   /** identity for group operation */
-  static ConstantBias identity() {
+  static ConstantBias Identity() {
     return ConstantBias();
   }
 
diff --git a/gtsam/navigation/navigation.i b/gtsam/navigation/navigation.i
index 6ede1645f3..2477f1288b 100644
--- a/gtsam/navigation/navigation.i
+++ b/gtsam/navigation/navigation.i
@@ -17,7 +17,7 @@ class ConstantBias {
   bool equals(const gtsam::imuBias::ConstantBias& expected, double tol) const;
 
   // Group
-  static gtsam::imuBias::ConstantBias identity();
+  static gtsam::imuBias::ConstantBias Identity();
 
   // Operator Overloads
   gtsam::imuBias::ConstantBias operator-() const;
diff --git a/gtsam/nonlinear/tests/testExpression.cpp b/gtsam/nonlinear/tests/testExpression.cpp
index 92f4998a20..9987cca3f9 100644
--- a/gtsam/nonlinear/tests/testExpression.cpp
+++ b/gtsam/nonlinear/tests/testExpression.cpp
@@ -122,7 +122,7 @@ class Class : public Point3 {
   enum {dimension = 3};
   using Point3::Point3;
   const Vector3& vector() const { return *this; }
-  inline static Class identity() { return Class(0,0,0); }
+  inline static Class Identity() { return Class(0,0,0); }
   double norm(OptionalJacobian<1,3> H = boost::none) const {
     return norm3(*this, H);
   }
@@ -285,7 +285,7 @@ TEST(Expression, compose2) {
 // Test compose with one arguments referring to constant rotation.
 TEST(Expression, compose3) {
   // Create expression
-  Rot3_ R1(Rot3::identity()), R2(3);
+  Rot3_ R1(Rot3::Identity()), R2(3);
   Rot3_ R3 = R1 * R2;
 
   // Check keys
diff --git a/gtsam/slam/tests/testOrientedPlane3Factor.cpp b/gtsam/slam/tests/testOrientedPlane3Factor.cpp
index 35c7504081..502c62c11c 100644
--- a/gtsam/slam/tests/testOrientedPlane3Factor.cpp
+++ b/gtsam/slam/tests/testOrientedPlane3Factor.cpp
@@ -217,7 +217,7 @@ TEST(OrientedPlane3Factor, Issue561Simplified) {
 
   // Setup prior factors
   // Note: If x0 is too far away from the origin (e.g. x=100) this test can fail.
-  Pose3 x0(Rot3::identity(), Vector3(10, -1, 1));
+  Pose3 x0(Rot3::Identity(), Vector3(10, -1, 1));
   auto x0_noise = noiseModel::Isotropic::Sigma(6, 0.01);
   graph.addPrior<Pose3>(X(0), x0, x0_noise);
 
@@ -241,7 +241,7 @@ TEST(OrientedPlane3Factor, Issue561Simplified) {
   // Initial values
   // Just offset the initial pose by 1m. This is what we are trying to optimize.
   Values initialEstimate;
-  Pose3 x0_initial = x0.compose(Pose3(Rot3::identity(), Vector3(1,0,0)));
+  Pose3 x0_initial = x0.compose(Pose3(Rot3::Identity(), Vector3(1,0,0)));
   initialEstimate.insert(P(1), p1);
   initialEstimate.insert(P(2), p2);
   initialEstimate.insert(X(0), x0_initial);
diff --git a/gtsam/slam/tests/testSmartProjectionRigFactor.cpp b/gtsam/slam/tests/testSmartProjectionRigFactor.cpp
index b4876b27ea..b142b20091 100644
--- a/gtsam/slam/tests/testSmartProjectionRigFactor.cpp
+++ b/gtsam/slam/tests/testSmartProjectionRigFactor.cpp
@@ -69,7 +69,7 @@ SmartProjectionParams params(
 TEST(SmartProjectionRigFactor, Constructor) {
   using namespace vanillaRig;
   boost::shared_ptr<Cameras> cameraRig(new Cameras());
-  cameraRig->push_back(Camera(Pose3::identity(), sharedK));
+  cameraRig->push_back(Camera(Pose3(), sharedK));
   SmartRigFactor::shared_ptr factor1(
       new SmartRigFactor(model, cameraRig, params));
 }
@@ -89,7 +89,7 @@ TEST(SmartProjectionRigFactor, Constructor2) {
 TEST(SmartProjectionRigFactor, Constructor3) {
   using namespace vanillaRig;
   boost::shared_ptr<Cameras> cameraRig(new Cameras());
-  cameraRig->push_back(Camera(Pose3::identity(), sharedK));
+  cameraRig->push_back(Camera(Pose3(), sharedK));
   SmartRigFactor::shared_ptr factor1(
       new SmartRigFactor(model, cameraRig, params));
   factor1->add(measurement1, x1, cameraId1);
@@ -99,7 +99,7 @@ TEST(SmartProjectionRigFactor, Constructor3) {
 TEST(SmartProjectionRigFactor, Constructor4) {
   using namespace vanillaRig;
   boost::shared_ptr<Cameras> cameraRig(new Cameras());
-  cameraRig->push_back(Camera(Pose3::identity(), sharedK));
+  cameraRig->push_back(Camera(Pose3(), sharedK));
   SmartProjectionParams params2(
       gtsam::HESSIAN,
       gtsam::ZERO_ON_DEGENERACY);  // only config that works with rig factors
@@ -112,7 +112,7 @@ TEST(SmartProjectionRigFactor, Constructor4) {
 TEST(SmartProjectionRigFactor, Equals) {
   using namespace vanillaRig;
   boost::shared_ptr<Cameras> cameraRig(new Cameras());  // single camera in the rig
-  cameraRig->push_back(Camera(Pose3::identity(), sharedK));
+  cameraRig->push_back(Camera(Pose3(), sharedK));
 
   SmartRigFactor::shared_ptr factor1(
       new SmartRigFactor(model, cameraRig, params));
@@ -140,7 +140,7 @@ TEST(SmartProjectionRigFactor, noiseless) {
   Point2 level_uv_right = level_camera_right.project(landmark1);
 
   boost::shared_ptr<Cameras> cameraRig(new Cameras());  // single camera in the rig
-  cameraRig->push_back(Camera(Pose3::identity(), sharedK));
+  cameraRig->push_back(Camera(Pose3(), sharedK));
 
   SmartRigFactor factor(model, cameraRig, params);
   factor.add(level_uv, x1);  // both taken from the same camera
@@ -197,7 +197,7 @@ TEST(SmartProjectionRigFactor, noisy) {
   using namespace vanillaRig;
 
   boost::shared_ptr<Cameras> cameraRig(new Cameras());  // single camera in the rig
-  cameraRig->push_back(Camera(Pose3::identity(), sharedK));
+  cameraRig->push_back(Camera(Pose3(), sharedK));
 
   // Project two landmarks into two cameras
   Point2 pixelError(0.2, 0.2);
@@ -323,7 +323,7 @@ TEST(SmartProjectionRigFactor, smartFactorWithMultipleCameras) {
       Pose3(Rot3::Ypr(-M_PI / 2, 0., -M_PI / 2), Point3(1, 1, 1));
   Pose3 body_T_sensor2 =
       Pose3(Rot3::Ypr(-M_PI / 5, 0., -M_PI / 2), Point3(0, 0, 1));
-  Pose3 body_T_sensor3 = Pose3::identity();
+  Pose3 body_T_sensor3 = Pose3();
 
   boost::shared_ptr<Cameras> cameraRig(new Cameras());  // single camera in the rig
   cameraRig->push_back(Camera(body_T_sensor1, sharedK));
@@ -407,7 +407,7 @@ TEST(SmartProjectionRigFactor, 3poses_smart_projection_factor) {
   Point2Vector measurements_cam1, measurements_cam2, measurements_cam3;
 
   boost::shared_ptr<Cameras> cameraRig(new Cameras());  // single camera in the rig
-  cameraRig->push_back(Camera(Pose3::identity(), sharedK2));
+  cameraRig->push_back(Camera(Pose3(), sharedK2));
 
   // Project three landmarks into three cameras
   projectToMultipleCameras(cam1, cam2, cam3, landmark1, measurements_cam1);
@@ -495,7 +495,7 @@ TEST(SmartProjectionRigFactor, Factors) {
   FastVector<size_t> cameraIds{0, 0};
 
   boost::shared_ptr<Cameras> cameraRig(new Cameras());  // single camera in the rig
-  cameraRig->push_back(Camera(Pose3::identity(), sharedK));
+  cameraRig->push_back(Camera(Pose3(), sharedK));
 
   SmartRigFactor::shared_ptr smartFactor1 = boost::make_shared<SmartRigFactor>(
       model, cameraRig, params);
@@ -578,7 +578,7 @@ TEST(SmartProjectionRigFactor, 3poses_iterative_smart_projection_factor) {
 
   // create smart factor
   boost::shared_ptr<Cameras> cameraRig(new Cameras());  // single camera in the rig
-  cameraRig->push_back(Camera(Pose3::identity(), sharedK));
+  cameraRig->push_back(Camera(Pose3(), sharedK));
   FastVector<size_t> cameraIds{0, 0, 0};
   SmartRigFactor::shared_ptr smartFactor1(
       new SmartRigFactor(model, cameraRig, params));
@@ -646,7 +646,7 @@ TEST(SmartProjectionRigFactor, landmarkDistance) {
   params.setEnableEPI(false);
 
   boost::shared_ptr<Cameras> cameraRig(new Cameras());  // single camera in the rig
-  cameraRig->push_back(Camera(Pose3::identity(), sharedK));
+  cameraRig->push_back(Camera(Pose3(), sharedK));
   FastVector<size_t> cameraIds{0, 0, 0};
 
   SmartRigFactor::shared_ptr smartFactor1(
@@ -717,7 +717,7 @@ TEST(SmartProjectionRigFactor, dynamicOutlierRejection) {
   params.setDynamicOutlierRejectionThreshold(dynamicOutlierRejectionThreshold);
 
   boost::shared_ptr<Cameras> cameraRig(new Cameras());  // single camera in the rig
-  cameraRig->push_back(Camera(Pose3::identity(), sharedK));
+  cameraRig->push_back(Camera(Pose3(), sharedK));
   FastVector<size_t> cameraIds{0, 0, 0};
 
   SmartRigFactor::shared_ptr smartFactor1(
@@ -783,7 +783,7 @@ TEST(SmartProjectionRigFactor, CheckHessian) {
   params.setDegeneracyMode(gtsam::ZERO_ON_DEGENERACY);
 
   boost::shared_ptr<Cameras> cameraRig(new Cameras());  // single camera in the rig
-  cameraRig->push_back(Camera(Pose3::identity(), sharedK));
+  cameraRig->push_back(Camera(Pose3(), sharedK));
   FastVector<size_t> cameraIds{0, 0, 0};
 
   SmartRigFactor::shared_ptr smartFactor1(
@@ -859,7 +859,7 @@ TEST(SmartProjectionRigFactor, Hessian) {
   measurements_cam1.push_back(cam2_uv1);
 
   boost::shared_ptr<Cameras> cameraRig(new Cameras());  // single camera in the rig
-  cameraRig->push_back(Camera(Pose3::identity(), sharedK2));
+  cameraRig->push_back(Camera(Pose3(), sharedK2));
   FastVector<size_t> cameraIds{0, 0};
 
   SmartProjectionParams params(
@@ -889,7 +889,7 @@ TEST(SmartProjectionRigFactor, Hessian) {
 TEST(SmartProjectionRigFactor, ConstructorWithCal3Bundler) {
   using namespace bundlerPose;
   boost::shared_ptr<Cameras> cameraRig(new Cameras());  // single camera in the rig
-  cameraRig->push_back(Camera(Pose3::identity(), sharedBundlerK));
+  cameraRig->push_back(Camera(Pose3(), sharedBundlerK));
 
   SmartProjectionParams params;
   params.setDegeneracyMode(gtsam::ZERO_ON_DEGENERACY);
@@ -917,7 +917,7 @@ TEST(SmartProjectionRigFactor, Cal3Bundler) {
   KeyVector views{x1, x2, x3};
 
   boost::shared_ptr<Cameras> cameraRig(new Cameras());  // single camera in the rig
-  cameraRig->push_back(Camera(Pose3::identity(), sharedBundlerK));
+  cameraRig->push_back(Camera(Pose3(), sharedBundlerK));
   FastVector<size_t> cameraIds{0, 0, 0};
 
   SmartRigFactor::shared_ptr smartFactor1(
@@ -988,7 +988,7 @@ TEST(SmartProjectionRigFactor,
   KeyVector keys{x1, x2, x3, x1};
 
   boost::shared_ptr<Cameras> cameraRig(new Cameras());  // single camera in the rig
-  cameraRig->push_back(Camera(Pose3::identity(), sharedK));
+  cameraRig->push_back(Camera(Pose3(), sharedK));
   FastVector<size_t> cameraIds{0, 0, 0, 0};
 
   SmartRigFactor::shared_ptr smartFactor1(
@@ -1116,7 +1116,7 @@ TEST(SmartProjectionRigFactor, optimization_3poses_measurementsFromSamePose) {
   // create inputs
   KeyVector keys{x1, x2, x3};
   boost::shared_ptr<Cameras> cameraRig(new Cameras());  // single camera in the rig
-  cameraRig->push_back(Camera(Pose3::identity(), sharedK));
+  cameraRig->push_back(Camera(Pose3(), sharedK));
   FastVector<size_t> cameraIds{0, 0, 0};
   FastVector<size_t> cameraIdsRedundant{0, 0, 0, 0};
 
@@ -1195,11 +1195,11 @@ TEST(SmartProjectionRigFactor, timing) {
   // Default cameras for simple derivatives
   static Cal3_S2::shared_ptr sharedKSimple(new Cal3_S2(100, 100, 0, 0, 0));
 
-  Rot3 R = Rot3::identity();
+  Rot3 R = Rot3::Identity();
   Pose3 pose1 = Pose3(R, Point3(0, 0, 0));
   Pose3 pose2 = Pose3(R, Point3(1, 0, 0));
   Camera cam1(pose1, sharedKSimple), cam2(pose2, sharedKSimple);
-  Pose3 body_P_sensorId = Pose3::identity();
+  Pose3 body_P_sensorId = Pose3();
 
   boost::shared_ptr<Cameras> cameraRig(new Cameras());  // single camera in the rig
   cameraRig->push_back(Camera(body_P_sensorId, sharedKSimple));
@@ -1267,7 +1267,7 @@ TEST(SmartProjectionFactorP, optimization_3poses_sphericalCamera) {
   keys.push_back(x3);
 
   boost::shared_ptr<Cameras> cameraRig(new Cameras());
-  cameraRig->push_back(Camera(Pose3::identity(), emptyK));
+  cameraRig->push_back(Camera(Pose3(), emptyK));
 
   SmartProjectionParams params(
       gtsam::HESSIAN,
@@ -1330,10 +1330,10 @@ TEST(SmartProjectionFactorP, optimization_3poses_sphericalCamera) {
 /* *************************************************************************/
 TEST(SmartProjectionFactorP, timing_sphericalCamera) {
   // create common data
-  Rot3 R = Rot3::identity();
+  Rot3 R = Rot3::Identity();
   Pose3 pose1 = Pose3(R, Point3(0, 0, 0));
   Pose3 pose2 = Pose3(R, Point3(1, 0, 0));
-  Pose3 body_P_sensorId = Pose3::identity();
+  Pose3 body_P_sensorId = Pose3();
   Point3 landmark1(0, 0, 10);
 
   // create spherical data
@@ -1423,7 +1423,7 @@ TEST(SmartProjectionFactorP, 2poses_rankTol) {
 
     boost::shared_ptr<CameraSet<PinholePose<Cal3_S2>>> cameraRig(
         new CameraSet<PinholePose<Cal3_S2>>());  // single camera in the rig
-    cameraRig->push_back(PinholePose<Cal3_S2>(Pose3::identity(), sharedK));
+    cameraRig->push_back(PinholePose<Cal3_S2>(Pose3(), sharedK));
 
     SmartRigFactor::shared_ptr smartFactor1(
         new SmartRigFactor(model, cameraRig, params));
@@ -1461,7 +1461,7 @@ TEST(SmartProjectionFactorP, 2poses_rankTol) {
 
     boost::shared_ptr<CameraSet<PinholePose<Cal3_S2>>> cameraRig(
             new CameraSet<PinholePose<Cal3_S2>>());  // single camera in the rig
-    cameraRig->push_back(PinholePose<Cal3_S2>(Pose3::identity(), canonicalK));
+    cameraRig->push_back(PinholePose<Cal3_S2>(Pose3(), canonicalK));
 
     SmartRigFactor::shared_ptr smartFactor1(
         new SmartRigFactor(model, cameraRig, params));
@@ -1498,7 +1498,7 @@ TEST(SmartProjectionFactorP, 2poses_rankTol) {
 
     boost::shared_ptr<CameraSet<PinholePose<Cal3_S2>>> cameraRig(
         new CameraSet<PinholePose<Cal3_S2>>());  // single camera in the rig
-    cameraRig->push_back(PinholePose<Cal3_S2>(Pose3::identity(), canonicalK));
+    cameraRig->push_back(PinholePose<Cal3_S2>(Pose3(), canonicalK));
 
     SmartRigFactor::shared_ptr smartFactor1(
         new SmartRigFactor(model, cameraRig, params));
@@ -1537,7 +1537,7 @@ TEST(SmartProjectionFactorP, 2poses_sphericalCamera_rankTol) {
 
   boost::shared_ptr<CameraSet<SphericalCamera>> cameraRig(
           new CameraSet<SphericalCamera>());  // single camera in the rig
-  cameraRig->push_back(SphericalCamera(Pose3::identity(), emptyK));
+  cameraRig->push_back(SphericalCamera(Pose3(), emptyK));
 
   // TRIANGULATION TEST WITH DEFAULT RANK TOL
   {  // rankTol = 1 or 0.1 gives a degenerate point, which is undesirable for a
diff --git a/gtsam_unstable/dynamics/tests/testVelocityConstraint.cpp b/gtsam_unstable/dynamics/tests/testVelocityConstraint.cpp
index 6d82061770..b60b2f3ae9 100644
--- a/gtsam_unstable/dynamics/tests/testVelocityConstraint.cpp
+++ b/gtsam_unstable/dynamics/tests/testVelocityConstraint.cpp
@@ -15,9 +15,9 @@ const Key x1 = 1, x2 = 2;
 const double dt = 1.0;
 
 PoseRTV origin,
-        pose1(Point3(0.5, 0.0, 0.0), Rot3::identity(), Velocity3(1.0, 0.0, 0.0)),
+        pose1(Point3(0.5, 0.0, 0.0), Rot3(), Velocity3(1.0, 0.0, 0.0)),
         pose1a(Point3(0.5, 0.0, 0.0)),
-        pose2(Point3(1.5, 0.0, 0.0), Rot3::identity(), Velocity3(1.0, 0.0, 0.0));
+        pose2(Point3(1.5, 0.0, 0.0), Rot3(), Velocity3(1.0, 0.0, 0.0));
 
 /* ************************************************************************* */
 TEST( testVelocityConstraint, trapezoidal ) {
diff --git a/gtsam_unstable/examples/GncPoseAveragingExample.cpp b/gtsam_unstable/examples/GncPoseAveragingExample.cpp
index ad96934c8b..730d342f07 100644
--- a/gtsam_unstable/examples/GncPoseAveragingExample.cpp
+++ b/gtsam_unstable/examples/GncPoseAveragingExample.cpp
@@ -53,7 +53,7 @@ int main(int argc, char** argv){
   normal_distribution<double> normalInliers(0.0, 0.05);
 
   Values initial;
-  initial.insert(0, Pose3::identity()); // identity pose as initialization
+  initial.insert(0, Pose3()); // identity pose as initialization
 
   // create ground truth pose
   Vector6 poseGtVector;
diff --git a/gtsam_unstable/examples/ISAM2_SmartFactorStereo_IMU.cpp b/gtsam_unstable/examples/ISAM2_SmartFactorStereo_IMU.cpp
index c0a102d111..16eda23d4a 100644
--- a/gtsam_unstable/examples/ISAM2_SmartFactorStereo_IMU.cpp
+++ b/gtsam_unstable/examples/ISAM2_SmartFactorStereo_IMU.cpp
@@ -129,8 +129,8 @@ int main(int argc, char* argv[]) {
   // Pose prior - at identity
   auto priorPoseNoise = noiseModel::Diagonal::Sigmas(
       (Vector(6) << Vector3::Constant(0.1), Vector3::Constant(0.1)).finished());
-  graph.addPrior(X(1), Pose3::identity(), priorPoseNoise);
-  initialEstimate.insert(X(0), Pose3::identity());
+  graph.addPrior(X(1), Pose3::Identity(), priorPoseNoise);
+  initialEstimate.insert(X(0), Pose3::Identity());
 
   // Bias prior
   graph.addPrior(B(1), imu.priorImuBias,
@@ -157,7 +157,7 @@ int main(int argc, char* argv[]) {
     if (frame != lastFrame || in.eof()) {
       cout << "Running iSAM for frame: " << lastFrame << "\n";
 
-      initialEstimate.insert(X(lastFrame), Pose3::identity());
+      initialEstimate.insert(X(lastFrame), Pose3::Identity());
       initialEstimate.insert(V(lastFrame), Vector3(0, 0, 0));
       initialEstimate.insert(B(lastFrame), imu.prevBias);
 
diff --git a/gtsam_unstable/geometry/Pose3Upright.h b/gtsam_unstable/geometry/Pose3Upright.h
index d833c9cf46..037a6cc9da 100644
--- a/gtsam_unstable/geometry/Pose3Upright.h
+++ b/gtsam_unstable/geometry/Pose3Upright.h
@@ -95,7 +95,7 @@ class GTSAM_UNSTABLE_EXPORT Pose3Upright {
   /// @{
 
   /// identity for group operation
-  static Pose3Upright identity() { return Pose3Upright(); }
+  static Pose3Upright Identity() { return Pose3Upright(); }
 
   /// inverse transformation with derivatives
   Pose3Upright inverse(boost::optional<Matrix&> H1=boost::none) const;
diff --git a/gtsam_unstable/gtsam_unstable.i b/gtsam_unstable/gtsam_unstable.i
index 08cd45e186..c6dbd4ab62 100644
--- a/gtsam_unstable/gtsam_unstable.i
+++ b/gtsam_unstable/gtsam_unstable.i
@@ -130,7 +130,7 @@ class Pose3Upright {
   gtsam::Pose3Upright retract(Vector v) const;
   Vector localCoordinates(const gtsam::Pose3Upright& p2) const;
 
-  static gtsam::Pose3Upright identity();
+  static gtsam::Pose3Upright Identity();
   gtsam::Pose3Upright inverse() const;
   gtsam::Pose3Upright compose(const gtsam::Pose3Upright& p2) const;
   gtsam::Pose3Upright between(const gtsam::Pose3Upright& p2) const;
diff --git a/gtsam_unstable/slam/tests/testLocalOrientedPlane3Factor.cpp b/gtsam_unstable/slam/tests/testLocalOrientedPlane3Factor.cpp
index b97d56c7ea..c2b526ecde 100644
--- a/gtsam_unstable/slam/tests/testLocalOrientedPlane3Factor.cpp
+++ b/gtsam_unstable/slam/tests/testLocalOrientedPlane3Factor.cpp
@@ -44,8 +44,8 @@ TEST(LocalOrientedPlane3Factor, lm_translation_error) {
 
   // Init pose and prior.  Pose Prior is needed since a single plane measurement
   // does not fully constrain the pose
-  Pose3 init_pose = Pose3::identity();
-  Pose3 anchor_pose = Pose3::identity();
+  Pose3 init_pose = Pose3::Identity();
+  Pose3 anchor_pose = Pose3::Identity();
   graph.addPrior(X(0), init_pose, noiseModel::Isotropic::Sigma(6, 0.001));
   graph.addPrior(X(1), anchor_pose, noiseModel::Isotropic::Sigma(6, 0.001));
 
@@ -89,7 +89,7 @@ TEST (LocalOrientedPlane3Factor, lm_rotation_error) {
 
   // Init pose and prior.  Pose Prior is needed since a single plane measurement
   // does not fully constrain the pose
-  Pose3 init_pose = Pose3::identity();
+  Pose3 init_pose = Pose3::Identity();
   graph.addPrior(X(0), init_pose, noiseModel::Isotropic::Sigma(6, 0.001));
 
   // Add two landmark measurements, differing in angle
@@ -180,8 +180,8 @@ TEST(LocalOrientedPlane3Factor, Issue561Simplified) {
   NonlinearFactorGraph graph;
 
   // Setup prior factors
-  Pose3 x0(Rot3::identity(), Vector3(100, 30, 10));  // the "sensor pose"
-  Pose3 x1(Rot3::identity(), Vector3(90, 40,  5) );  // the "anchor pose"
+  Pose3 x0(Rot3::Identity(), Vector3(100, 30, 10));  // the "sensor pose"
+  Pose3 x1(Rot3::Identity(), Vector3(90, 40,  5) );  // the "anchor pose"
 
   auto x0_noise = noiseModel::Isotropic::Sigma(6, 0.01);
   auto x1_noise = noiseModel::Isotropic::Sigma(6, 0.01);
@@ -213,7 +213,7 @@ TEST(LocalOrientedPlane3Factor, Issue561Simplified) {
   // Initial values
   // Just offset the initial pose by 1m. This is what we are trying to optimize.
   Values initialEstimate;
-  Pose3 x0_initial = x0.compose(Pose3(Rot3::identity(), Vector3(1, 0, 0)));
+  Pose3 x0_initial = x0.compose(Pose3(Rot3::Identity(), Vector3(1, 0, 0)));
   initialEstimate.insert(P(1), p1_in_x1);
   initialEstimate.insert(P(2), p2_in_x1);
   initialEstimate.insert(X(0), x0_initial);
diff --git a/gtsam_unstable/slam/tests/testPartialPriorFactor.cpp b/gtsam_unstable/slam/tests/testPartialPriorFactor.cpp
index 7ba8a0d04b..615ed13aae 100644
--- a/gtsam_unstable/slam/tests/testPartialPriorFactor.cpp
+++ b/gtsam_unstable/slam/tests/testPartialPriorFactor.cpp
@@ -173,7 +173,7 @@ TEST(PartialPriorFactor, Constructors3) {
 /* ************************************************************************* */
 TEST(PartialPriorFactor, JacobianAtIdentity3) {
   Key poseKey(1);
-  Pose3 measurement = Pose3::identity();
+  Pose3 measurement = Pose3::Identity();
   SharedNoiseModel model = NM::Isotropic::Sigma(1, 0.25);
 
   TestPartialPriorFactor3 factor(poseKey, kIndexTy, measurement.translation().y(), model);
diff --git a/gtsam_unstable/slam/tests/testPoseToPointFactor.cpp b/gtsam_unstable/slam/tests/testPoseToPointFactor.cpp
index 5aaaaec531..7345e23081 100644
--- a/gtsam_unstable/slam/tests/testPoseToPointFactor.cpp
+++ b/gtsam_unstable/slam/tests/testPoseToPointFactor.cpp
@@ -16,7 +16,7 @@ using namespace gtsam::noiseModel;
 /* ************************************************************************* */
 // Verify zero error when there is no noise
 TEST(PoseToPointFactor, errorNoiseless_2D) {
-  Pose2 pose = Pose2::identity();
+  Pose2 pose = Pose2::Identity();
   Point2 point(1.0, 2.0);
   Point2 noise(0.0, 0.0);
   Point2 measured = point + noise;
@@ -33,7 +33,7 @@ TEST(PoseToPointFactor, errorNoiseless_2D) {
 /* ************************************************************************* */
 // Verify expected error in test scenario
 TEST(PoseToPointFactor, errorNoise_2D) {
-  Pose2 pose = Pose2::identity();
+  Pose2 pose = Pose2::Identity();
   Point2 point(1.0, 2.0);
   Point2 noise(-1.0, 0.5);
   Point2 measured = point + noise;
@@ -86,7 +86,7 @@ TEST(PoseToPointFactor, jacobian_2D) {
 /* ************************************************************************* */
 // Verify zero error when there is no noise
 TEST(PoseToPointFactor, errorNoiseless_3D) {
-  Pose3 pose = Pose3::identity();
+  Pose3 pose = Pose3::Identity();
   Point3 point(1.0, 2.0, 3.0);
   Point3 noise(0.0, 0.0, 0.0);
   Point3 measured = point + noise;
@@ -103,7 +103,7 @@ TEST(PoseToPointFactor, errorNoiseless_3D) {
 /* ************************************************************************* */
 // Verify expected error in test scenario
 TEST(PoseToPointFactor, errorNoise_3D) {
-  Pose3 pose = Pose3::identity();
+  Pose3 pose = Pose3::Identity();
   Point3 point(1.0, 2.0, 3.0);
   Point3 noise(-1.0, 0.5, 0.3);
   Point3 measured = point + noise;
diff --git a/gtsam_unstable/slam/tests/testSmartProjectionPoseFactorRollingShutter.cpp b/gtsam_unstable/slam/tests/testSmartProjectionPoseFactorRollingShutter.cpp
index b5962d777b..b88a27c6ca 100644
--- a/gtsam_unstable/slam/tests/testSmartProjectionPoseFactorRollingShutter.cpp
+++ b/gtsam_unstable/slam/tests/testSmartProjectionPoseFactorRollingShutter.cpp
@@ -88,7 +88,7 @@ typedef SmartProjectionPoseFactorRollingShutter<PinholePose<Cal3_S2>>
 TEST(SmartProjectionPoseFactorRollingShutter, Constructor) {
   using namespace vanillaPoseRS;
   boost::shared_ptr<Cameras> cameraRig(new Cameras());
-  cameraRig->push_back(Camera(Pose3::identity(), sharedK));
+  cameraRig->push_back(Camera(Pose3::Identity(), sharedK));
   SmartFactorRS::shared_ptr factor1(
       new SmartFactorRS(model, cameraRig, params));
 }
@@ -97,7 +97,7 @@ TEST(SmartProjectionPoseFactorRollingShutter, Constructor) {
 TEST(SmartProjectionPoseFactorRollingShutter, Constructor2) {
   using namespace vanillaPoseRS;
   boost::shared_ptr<Cameras> cameraRig(new Cameras());
-  cameraRig->push_back(Camera(Pose3::identity(), sharedK));
+  cameraRig->push_back(Camera(Pose3::Identity(), sharedK));
   params.setRankTolerance(rankTol);
   SmartFactorRS factor1(model, cameraRig, params);
 }
@@ -106,7 +106,7 @@ TEST(SmartProjectionPoseFactorRollingShutter, Constructor2) {
 TEST(SmartProjectionPoseFactorRollingShutter, add) {
   using namespace vanillaPoseRS;
   boost::shared_ptr<Cameras> cameraRig(new Cameras());
-  cameraRig->push_back(Camera(Pose3::identity(), sharedK));
+  cameraRig->push_back(Camera(Pose3::Identity(), sharedK));
   SmartFactorRS::shared_ptr factor1(
       new SmartFactorRS(model, cameraRig, params));
   factor1->add(measurement1, x1, x2, interp_factor);
@@ -230,7 +230,7 @@ TEST(SmartProjectionPoseFactorRollingShutter, noiselessErrorAndJacobians) {
   // Project two landmarks into two cameras
   Point2 level_uv = cam1.project(landmark1);
   Point2 level_uv_right = cam2.project(landmark1);
-  Pose3 body_P_sensorId = Pose3::identity();
+  Pose3 body_P_sensorId = Pose3::Identity();
 
   boost::shared_ptr<Cameras> cameraRig(new Cameras());
   cameraRig->push_back(Camera(body_P_sensorId, sharedK));
@@ -405,7 +405,7 @@ TEST(SmartProjectionPoseFactorRollingShutter, optimization_3poses) {
   interp_factors.push_back(interp_factor3);
 
   boost::shared_ptr<Cameras> cameraRig(new Cameras());
-  cameraRig->push_back(Camera(Pose3::identity(), sharedK));
+  cameraRig->push_back(Camera(Pose3::Identity(), sharedK));
 
   SmartFactorRS::shared_ptr smartFactor1(
       new SmartFactorRS(model, cameraRig, params));
@@ -480,7 +480,7 @@ TEST(SmartProjectionPoseFactorRollingShutter, optimization_3poses_multiCam) {
 
   boost::shared_ptr<Cameras> cameraRig(new Cameras());
   cameraRig->push_back(Camera(body_P_sensor, sharedK));
-  cameraRig->push_back(Camera(Pose3::identity(), sharedK));
+  cameraRig->push_back(Camera(Pose3::Identity(), sharedK));
 
   SmartFactorRS::shared_ptr smartFactor1(
       new SmartFactorRS(model, cameraRig, params));
@@ -633,11 +633,11 @@ TEST(SmartProjectionPoseFactorRollingShutter, hessian_simple_2poses) {
   // Default cameras for simple derivatives
   static Cal3_S2::shared_ptr sharedKSimple(new Cal3_S2(100, 100, 0, 0, 0));
 
-  Rot3 R = Rot3::identity();
+  Rot3 R = Rot3::Identity();
   Pose3 pose1 = Pose3(R, Point3(0, 0, 0));
   Pose3 pose2 = Pose3(R, Point3(1, 0, 0));
   Camera cam1(pose1, sharedKSimple), cam2(pose2, sharedKSimple);
-  Pose3 body_P_sensorId = Pose3::identity();
+  Pose3 body_P_sensorId = Pose3::Identity();
 
   // one landmarks 1m in front of camera
   Point3 landmark1(0, 0, 10);
@@ -747,7 +747,7 @@ TEST(SmartProjectionPoseFactorRollingShutter, optimization_3poses_EPI) {
   params.setEnableEPI(true);
 
   boost::shared_ptr<Cameras> cameraRig(new Cameras());
-  cameraRig->push_back(Camera(Pose3::identity(), sharedK));
+  cameraRig->push_back(Camera(Pose3::Identity(), sharedK));
 
   SmartFactorRS smartFactor1(model, cameraRig, params);
   smartFactor1.add(measurements_lmk1, key_pairs, interp_factors);
@@ -816,7 +816,7 @@ TEST(SmartProjectionPoseFactorRollingShutter,
   params.setEnableEPI(false);
 
   boost::shared_ptr<Cameras> cameraRig(new Cameras());
-  cameraRig->push_back(Camera(Pose3::identity(), sharedK));
+  cameraRig->push_back(Camera(Pose3::Identity(), sharedK));
 
   SmartFactorRS smartFactor1(model, cameraRig, params);
   smartFactor1.add(measurements_lmk1, key_pairs, interp_factors);
@@ -894,7 +894,7 @@ TEST(SmartProjectionPoseFactorRollingShutter,
   params.setEnableEPI(false);
 
   boost::shared_ptr<Cameras> cameraRig(new Cameras());
-  cameraRig->push_back(Camera(Pose3::identity(), sharedK));
+  cameraRig->push_back(Camera(Pose3::Identity(), sharedK));
 
   SmartFactorRS::shared_ptr smartFactor1(
       new SmartFactorRS(model, cameraRig, params));
@@ -961,7 +961,7 @@ TEST(SmartProjectionPoseFactorRollingShutter,
   interp_factors.push_back(interp_factor3);
 
   boost::shared_ptr<Cameras> cameraRig(new Cameras());
-  cameraRig->push_back(Camera(Pose3::identity(), sharedK));
+  cameraRig->push_back(Camera(Pose3::Identity(), sharedK));
 
   SmartFactorRS::shared_ptr smartFactor1(
       new SmartFactorRS(model, cameraRig, params));
@@ -1102,7 +1102,7 @@ TEST(SmartProjectionPoseFactorRollingShutter,
   interp_factors.push_back(interp_factor1);
 
   boost::shared_ptr<Cameras> cameraRig(new Cameras());
-  cameraRig->push_back(Camera(Pose3::identity(), sharedK));
+  cameraRig->push_back(Camera(Pose3::Identity(), sharedK));
 
   SmartFactorRS::shared_ptr smartFactor1(
       new SmartFactorRS(model, cameraRig, params));
@@ -1261,7 +1261,7 @@ TEST(SmartProjectionPoseFactorRollingShutter,
       interp_factors.at(0));  // we readd the first interp factor
 
   boost::shared_ptr<Cameras> cameraRig(new Cameras());
-  cameraRig->push_back(Camera(Pose3::identity(), sharedK));
+  cameraRig->push_back(Camera(Pose3::Identity(), sharedK));
 
   SmartFactorRS::shared_ptr smartFactor1(
       new SmartFactorRS(model, cameraRig, params));
@@ -1331,11 +1331,11 @@ TEST(SmartProjectionPoseFactorRollingShutter, timing) {
       gtsam::HESSIAN,
       gtsam::ZERO_ON_DEGENERACY);  // only config that works with RS factors
 
-  Rot3 R = Rot3::identity();
+  Rot3 R = Rot3::Identity();
   Pose3 pose1 = Pose3(R, Point3(0, 0, 0));
   Pose3 pose2 = Pose3(R, Point3(1, 0, 0));
   Camera cam1(pose1, sharedKSimple), cam2(pose2, sharedKSimple);
-  Pose3 body_P_sensorId = Pose3::identity();
+  Pose3 body_P_sensorId = Pose3::Identity();
 
   // one landmarks 1m in front of camera
   Point3 landmark1(0, 0, 10);
@@ -1431,7 +1431,7 @@ TEST(SmartProjectionPoseFactorRollingShutter,
   params.setRankTolerance(0.1);
 
   boost::shared_ptr<Cameras> cameraRig(new Cameras());
-  cameraRig->push_back(Camera(Pose3::identity(), emptyK));
+  cameraRig->push_back(Camera(Pose3::Identity(), emptyK));
 
   SmartFactorRS_spherical::shared_ptr smartFactor1(
       new SmartFactorRS_spherical(model, cameraRig, params));
diff --git a/gtsam_unstable/slam/tests/testSmartStereoFactor_iSAM2.cpp b/gtsam_unstable/slam/tests/testSmartStereoFactor_iSAM2.cpp
index 107defb4c9..98b18371fc 100644
--- a/gtsam_unstable/slam/tests/testSmartStereoFactor_iSAM2.cpp
+++ b/gtsam_unstable/slam/tests/testSmartStereoFactor_iSAM2.cpp
@@ -198,10 +198,10 @@ TEST(testISAM2SmartFactor, Stereo_Batch) {
 
     // prior, for the first keyframe:
     if (kf_id == 0) {
-      batch_graph.addPrior(X(kf_id), Pose3::identity(), priorPoseNoise);
+      batch_graph.addPrior(X(kf_id), Pose3::Identity(), priorPoseNoise);
     }
 
-    batch_values.insert(X(kf_id), Pose3::identity());
+    batch_values.insert(X(kf_id), Pose3::Identity());
   }
 
   LevenbergMarquardtParams parameters;
@@ -267,7 +267,7 @@ TEST(testISAM2SmartFactor, Stereo_iSAM2) {
   // Storage of smart factors:
   std::map<lm_id_t, SmartStereoProjectionPoseFactor::shared_ptr> smartFactors;
 
-  Pose3 lastKeyframePose = Pose3::identity();
+  Pose3 lastKeyframePose = Pose3::Identity();
 
   // Run one timestep at once:
   for (const auto &entries : dataset) {
@@ -307,7 +307,7 @@ TEST(testISAM2SmartFactor, Stereo_iSAM2) {
 
     // prior, for the first keyframe:
     if (kf_id == 0) {
-      newFactors.addPrior(X(kf_id), Pose3::identity(), priorPoseNoise);
+      newFactors.addPrior(X(kf_id), Pose3::Identity(), priorPoseNoise);
     }
 
     // 2) Run iSAM2:
diff --git a/gtsam_unstable/slam/tests/testSmartStereoProjectionFactorPP.cpp b/gtsam_unstable/slam/tests/testSmartStereoProjectionFactorPP.cpp
index c71c19038d..1dbd256664 100644
--- a/gtsam_unstable/slam/tests/testSmartStereoProjectionFactorPP.cpp
+++ b/gtsam_unstable/slam/tests/testSmartStereoProjectionFactorPP.cpp
@@ -181,8 +181,8 @@ TEST_UNSAFE( SmartStereoProjectionFactorPP, noiseless_error_identityExtrinsics )
   Values values;
   values.insert(x1, w_Pose_cam1);
   values.insert(x2, w_Pose_cam2);
-  values.insert(body_P_cam1_key, Pose3::identity());
-  values.insert(body_P_cam2_key, Pose3::identity());
+  values.insert(body_P_cam1_key, Pose3::Identity());
+  values.insert(body_P_cam2_key, Pose3::Identity());
 
   SmartStereoProjectionFactorPP factor1(model);
   factor1.add(cam1_uv, x1, body_P_cam1_key, K2);
@@ -426,7 +426,7 @@ TEST( SmartStereoProjectionFactorPP, 3poses_optimization_multipleExtrinsics ) {
   // Values
   Pose3 body_Pose_cam1 = Pose3(Rot3::Ypr(-M_PI, 1., 0.1),Point3(0, 1, 0));
   Pose3 body_Pose_cam2 = Pose3(Rot3::Ypr(-M_PI / 4, 0.1, 1.0),Point3(1, 1, 1));
-  Pose3 body_Pose_cam3 = Pose3::identity();
+  Pose3 body_Pose_cam3 = Pose3::Identity();
   Pose3 w_Pose_body1 = w_Pose_cam1.compose(body_Pose_cam1.inverse());
   Pose3 w_Pose_body2 = w_Pose_cam2.compose(body_Pose_cam2.inverse());
   Pose3 w_Pose_body3 = w_Pose_cam3.compose(body_Pose_cam3.inverse());
@@ -1147,7 +1147,7 @@ TEST( SmartStereoProjectionFactorPP, landmarkDistance ) {
   graph.push_back(smartFactor3);
   graph.addPrior(x1, pose1, noisePrior);
   graph.addPrior(x2, pose2, noisePrior);
-  graph.addPrior(body_P_cam_key, Pose3::identity(), noisePrior);
+  graph.addPrior(body_P_cam_key, Pose3::Identity(), noisePrior);
 
   //  Pose3 noise_pose = Pose3(Rot3::Ypr(-M_PI/10, 0., -M_PI/10), Point3(0.5,0.1,0.3)); // noise from regular projection factor test below
   Pose3 noise_pose = Pose3(Rot3::Ypr(-M_PI / 100, 0., -M_PI / 100),
@@ -1156,7 +1156,7 @@ TEST( SmartStereoProjectionFactorPP, landmarkDistance ) {
   values.insert(x1, pose1);
   values.insert(x2, pose2);
   values.insert(x3, pose3 * noise_pose);
-  values.insert(body_P_cam_key, Pose3::identity());
+  values.insert(body_P_cam_key, Pose3::Identity());
 
   // All smart factors are disabled and pose should remain where it is
   Values result;
@@ -1245,7 +1245,7 @@ TEST( SmartStereoProjectionFactorPP, dynamicOutlierRejection ) {
   values.insert(x1, pose1);
   values.insert(x2, pose2);
   values.insert(x3, pose3);
-  values.insert(body_P_cam_key, Pose3::identity());
+  values.insert(body_P_cam_key, Pose3::Identity());
 
   EXPECT_DOUBLES_EQUAL(0, smartFactor1->error(values), 1e-9);
   EXPECT_DOUBLES_EQUAL(0, smartFactor2->error(values), 1e-9);
@@ -1267,7 +1267,7 @@ TEST( SmartStereoProjectionFactorPP, dynamicOutlierRejection ) {
   Values result;
   LevenbergMarquardtOptimizer optimizer(graph, values, lm_params);
   result = optimizer.optimize();
-  EXPECT(assert_equal(Pose3::identity(), result.at<Pose3>(body_P_cam_key)));
+  EXPECT(assert_equal(Pose3::Identity(), result.at<Pose3>(body_P_cam_key)));
 }
 
 /* ************************************************************************* */
diff --git a/tests/testExpressionFactor.cpp b/tests/testExpressionFactor.cpp
index 6d23144aab..5b27eea4db 100644
--- a/tests/testExpressionFactor.cpp
+++ b/tests/testExpressionFactor.cpp
@@ -382,7 +382,7 @@ TEST(ExpressionFactor, compose2) {
 TEST(ExpressionFactor, compose3) {
 
   // Create expression
-  Rot3_ R1(Rot3::identity()), R2(3);
+  Rot3_ R1(Rot3::Identity()), R2(3);
   Rot3_ R3 = R1 * R2;
 
   // Create factor
diff --git a/tests/testManifold.cpp b/tests/testManifold.cpp
index ac3a09e369..a05c4b621a 100644
--- a/tests/testManifold.cpp
+++ b/tests/testManifold.cpp
@@ -139,7 +139,7 @@ TEST(Manifold, DefaultChart) {
 
   Vector v3(3);
   v3 << 1, 1, 1;
-  Rot3 I = Rot3::identity();
+  Rot3 I = Rot3::Identity();
   Rot3 R = I.retract(v3);
   //DefaultChart<Rot3> chart5;
   EXPECT(assert_equal(v3, traits<Rot3>::Local(I, R)));
diff --git a/timing/timeShonanFactor.cpp b/timing/timeShonanFactor.cpp
index 207d54a4dc..60dd6f47a7 100644
--- a/timing/timeShonanFactor.cpp
+++ b/timing/timeShonanFactor.cpp
@@ -62,9 +62,9 @@ int main(int argc, char* argv[]) {
 
   // Build graph
   NonlinearFactorGraph graph;
-  // graph.add(NonlinearEquality<SOn>(0, SOn::identity(4)));
+  // graph.add(NonlinearEquality<SOn>(0, SOn::Identity(4)));
   auto priorModel = noiseModel::Isotropic::Sigma(6, 10000);
-  graph.add(PriorFactor<SOn>(0, SOn::identity(4), priorModel));
+  graph.add(PriorFactor<SOn>(0, SOn::Identity(4), priorModel));
   auto G = boost::make_shared<Matrix>(SOn::VectorizedGenerators(4));
   for (const auto &m : measurements) {
     const auto &keys = m.keys();
@@ -92,7 +92,7 @@ int main(int argc, char* argv[]) {
   for (size_t i = 0; i < 100; i++) {
     gttic_(optimize);
     Values initial;
-    initial.insert(0, SOn::identity(4));
+    initial.insert(0, SOn::Identity(4));
     for (size_t j = 1; j < poses.size(); j++) {
       initial.insert(j, SOn::Random(rng, 4));
     }

From 4333f9a186f26aa7e181a7c0aced34fb42b5d681 Mon Sep 17 00:00:00 2001
From: Amado Antonini <amado.antonini@openspace.ai>
Date: Thu, 7 Jul 2022 13:21:54 -0400
Subject: [PATCH 178/433] Revert changes to verbosity

---
 gtsam/nonlinear/GncOptimizer.h | 8 ++++----
 1 file changed, 4 insertions(+), 4 deletions(-)

diff --git a/gtsam/nonlinear/GncOptimizer.h b/gtsam/nonlinear/GncOptimizer.h
index 69067a915d..cc3fdaf34f 100644
--- a/gtsam/nonlinear/GncOptimizer.h
+++ b/gtsam/nonlinear/GncOptimizer.h
@@ -246,9 +246,7 @@ class GTSAM_EXPORT GncOptimizer {
       prev_cost = cost;
 
       // display info
-      if (params_.verbosity >= GncParameters::Verbosity::SUMMARY) {
-        std::cout << "iter: " << iter << std::endl;
-        std::cout << "mu: " << mu << std::endl;
+      if (params_.verbosity >= GncParameters::Verbosity::VALUES) {
         std::cout << "previous cost: " << prev_cost << std::endl;
         std::cout << "current cost: " << cost << std::endl;
       }
@@ -257,7 +255,9 @@ class GTSAM_EXPORT GncOptimizer {
     if (params_.verbosity >= GncParameters::Verbosity::SUMMARY) {
       std::cout << "final iterations: " << iter << std::endl;
       std::cout << "final mu: " << mu << std::endl;
-      std::cout << "final cost: " << cost << std::endl;
+      std::cout << "final weights: " << weights_ << std::endl;
+      std::cout << "previous cost: " << prev_cost << std::endl;
+      std::cout << "current cost: " << cost << std::endl;
     }
     return result;
   }

From f5ec070f9fc87d52076846ff394b79b001f4bd13 Mon Sep 17 00:00:00 2001
From: Varun Agrawal <varagrawal@gmail.com>
Date: Thu, 7 Jul 2022 15:09:55 -0400
Subject: [PATCH 179/433] wrap BearingRange classes and factors

---
 gtsam/geometry/geometry.i | 6 ++++++
 gtsam/sam/sam.i           | 6 ++++++
 2 files changed, 12 insertions(+)

diff --git a/gtsam/geometry/geometry.i b/gtsam/geometry/geometry.i
index 92d9ec0a39..f3f8a5c793 100644
--- a/gtsam/geometry/geometry.i
+++ b/gtsam/geometry/geometry.i
@@ -1279,5 +1279,11 @@ class BearingRange {
 
 typedef gtsam::BearingRange<gtsam::Pose2, gtsam::Point2, gtsam::Rot2, double>
     BearingRange2D;
+typedef gtsam::BearingRange<gtsam::Pose2, gtsam::Pose2, gtsam::Rot2, double>
+    BearingRangePose2;
+typedef gtsam::BearingRange<gtsam::Pose3, gtsam::Point3, gtsam::Unit3, double>
+    BearingRange3D;
+typedef gtsam::BearingRange<gtsam::Pose3, gtsam::Pose3, gtsam::Unit3, double>
+    BearingRangePose3;
 
 }  // namespace gtsam
diff --git a/gtsam/sam/sam.i b/gtsam/sam/sam.i
index 90c319ede7..a46a6de9e4 100644
--- a/gtsam/sam/sam.i
+++ b/gtsam/sam/sam.i
@@ -108,5 +108,11 @@ typedef gtsam::BearingRangeFactor<gtsam::Pose2, gtsam::Point2, gtsam::Rot2,
 typedef gtsam::BearingRangeFactor<gtsam::Pose2, gtsam::Pose2, gtsam::Rot2,
                                   double>
     BearingRangeFactorPose2;
+typedef gtsam::BearingRangeFactor<gtsam::Pose3, gtsam::Point3, gtsam::Unit3,
+                                  double>
+    BearingRangeFactor3D;
+typedef gtsam::BearingRangeFactor<gtsam::Pose3, gtsam::Pose3, gtsam::Unit3,
+                                  double>
+    BearingRangeFactorPose3;
 
 }  // namespace gtsam

From 2ab09a580fa059b7dd5cd0750365927f81f5a5e0 Mon Sep 17 00:00:00 2001
From: Varun Agrawal <varagrawal@gmail.com>
Date: Thu, 7 Jul 2022 15:24:56 -0400
Subject: [PATCH 180/433] add Python unit tests

---
 gtsam/linear/linear.i              |  2 +-
 python/gtsam/tests/test_Factors.py | 22 ++++++++++++++++++++--
 python/gtsam/tests/test_sam.py     | 28 ++++++++++++++++++++++++++++
 3 files changed, 49 insertions(+), 3 deletions(-)

diff --git a/gtsam/linear/linear.i b/gtsam/linear/linear.i
index 943b661d88..fdf156ff99 100644
--- a/gtsam/linear/linear.i
+++ b/gtsam/linear/linear.i
@@ -279,7 +279,6 @@ virtual class GaussianFactor {
 virtual class JacobianFactor : gtsam::GaussianFactor {
   //Constructors
   JacobianFactor();
-  JacobianFactor(const gtsam::GaussianFactor& factor);
   JacobianFactor(Vector b_in);
   JacobianFactor(size_t i1, Matrix A1, Vector b,
       const gtsam::noiseModel::Diagonal* model);
@@ -295,6 +294,7 @@ virtual class JacobianFactor : gtsam::GaussianFactor {
   JacobianFactor(const gtsam::GaussianFactorGraph& graph,
                  const gtsam::Ordering& ordering,
                  const gtsam::VariableSlots& p_variableSlots);
+  JacobianFactor(const gtsam::GaussianFactor& factor);
 
   //Testable
   void print(string s = "", const gtsam::KeyFormatter& keyFormatter =
diff --git a/python/gtsam/tests/test_Factors.py b/python/gtsam/tests/test_Factors.py
index 3ec8648a49..a5688eec86 100644
--- a/python/gtsam/tests/test_Factors.py
+++ b/python/gtsam/tests/test_Factors.py
@@ -11,9 +11,8 @@
 """
 import unittest
 
-import numpy as np
-
 import gtsam
+import numpy as np
 from gtsam.utils.test_case import GtsamTestCase
 
 
@@ -21,6 +20,7 @@ class TestNonlinearEquality2Factor(GtsamTestCase):
     """
     Test various instantiations of NonlinearEquality2.
     """
+
     def test_point3(self):
         """Test for Point3 version."""
         factor = gtsam.NonlinearEquality2Point3(0, 1)
@@ -30,5 +30,23 @@ def test_point3(self):
         np.testing.assert_allclose(error, np.zeros(3))
 
 
+class TestJacobianFactor(GtsamTestCase):
+    """Test JacobianFactor"""
+
+    def test_gaussian_factor_graph(self):
+        """Test construction from GaussianFactorGraph."""
+        gfg = gtsam.GaussianFactorGraph()
+        jf = gtsam.JacobianFactor(gfg)
+        self.assertIsInstance(jf, gtsam.JacobianFactor)
+
+        nfg = gtsam.NonlinearFactorGraph()
+        nfg.push_back(gtsam.PriorFactorDouble(1, 0.0, gtsam.noiseModel.Isotropic.Sigma(1, 1.0)))
+        values = gtsam.Values()
+        values.insert(1, 0.0)
+        gfg = nfg.linearize(values)
+        jf = gtsam.JacobianFactor(gfg)
+        self.assertIsInstance(jf, gtsam.JacobianFactor)
+
+
 if __name__ == "__main__":
     unittest.main()
diff --git a/python/gtsam/tests/test_sam.py b/python/gtsam/tests/test_sam.py
index e01b9c1d1c..fd8da53080 100644
--- a/python/gtsam/tests/test_sam.py
+++ b/python/gtsam/tests/test_sam.py
@@ -50,6 +50,34 @@ def test_BearingRangeFactor2D(self):
         self.assertEqual(range_measurement, measurement.range())
         self.gtsamAssertEquals(bearing_measurement, measurement.bearing())
 
+    def test_BearingRangeFactor3D(self):
+        """
+        Test that `measured` works as expected for BearingRangeFactor3D.
+        """
+        bearing_measurement = gtsam.Unit3()
+        range_measurement = 10.0
+        factor = gtsam.BearingRangeFactor3D(
+            1, 2, bearing_measurement, range_measurement,
+            gtsam.noiseModel.Isotropic.Sigma(3, 1))
+        measurement = factor.measured()
+
+        self.assertEqual(range_measurement, measurement.range())
+        self.gtsamAssertEquals(bearing_measurement, measurement.bearing())
+
+    def test_BearingRangeFactorPose3(self):
+        """
+        Test that `measured` works as expected for BearingRangeFactorPose3.
+        """
+        range_measurement = 10.0
+        bearing_measurement = gtsam.Unit3()
+        factor = gtsam.BearingRangeFactorPose3(
+            1, 2, bearing_measurement, range_measurement,
+            gtsam.noiseModel.Isotropic.Sigma(3, 1))
+        measurement = factor.measured()
+
+        self.assertEqual(range_measurement, measurement.range())
+        self.gtsamAssertEquals(bearing_measurement, measurement.bearing())
+
 
 if __name__ == "__main__":
     unittest.main()

From 26dd94bdaf554c18c2f9027a6bb04d2a4448a744 Mon Sep 17 00:00:00 2001
From: Amado Antonini <amado.antonini@openspace.ai>
Date: Fri, 8 Jul 2022 12:33:47 -0400
Subject: [PATCH 181/433] Expose remaining attributes, add tests

---
 gtsam/nonlinear/nonlinear.i                   | 12 +++-
 python/gtsam/tests/test_NonlinearOptimizer.py | 60 ++++++++++++++++++-
 2 files changed, 68 insertions(+), 4 deletions(-)

diff --git a/gtsam/nonlinear/nonlinear.i b/gtsam/nonlinear/nonlinear.i
index 21470060c7..913be1aed1 100644
--- a/gtsam/nonlinear/nonlinear.i
+++ b/gtsam/nonlinear/nonlinear.i
@@ -553,6 +553,16 @@ template<PARAMS>
 virtual class GncParams {
   GncParams(const PARAMS& baseOptimizerParams);
   GncParams();
+  BaseOptimizerParameters baseOptimizerParams;
+  GncLossType lossType;
+  size_t maxIterations;
+  double muStep;
+  double relativeCostTol;
+  double weightsTol;
+  Verbosity verbosity;
+  std::vector<size_t> knownInliers;
+  std::vector<size_t> knownOutliers;
+
   void setLossType(const GncLossType type);
   void setMaxIterations(const size_t maxIter);
   void setMuStep(const double step);
@@ -561,7 +571,7 @@ virtual class GncParams {
   void setVerbosityGNC(const This::Verbosity value);
   void setKnownInliers(const std::vector<size_t>& knownIn);
   void setKnownOutliers(const std::vector<size_t>& knownOut);
-  void print(const string& str) const;
+  void print(const string& str = "") const;
   
   enum Verbosity {
     SILENT,
diff --git a/python/gtsam/tests/test_NonlinearOptimizer.py b/python/gtsam/tests/test_NonlinearOptimizer.py
index 37afd9e1c0..47d41edb24 100644
--- a/python/gtsam/tests/test_NonlinearOptimizer.py
+++ b/python/gtsam/tests/test_NonlinearOptimizer.py
@@ -16,9 +16,10 @@
 
 import gtsam
 from gtsam import (DoglegOptimizer, DoglegParams, DummyPreconditionerParameters,
-                   GaussNewtonOptimizer, GaussNewtonParams, GncLMParams, GncLMOptimizer,
-                   LevenbergMarquardtOptimizer, LevenbergMarquardtParams, NonlinearFactorGraph,
-                   Ordering, PCGSolverParameters, Point2, PriorFactorPoint2, Values)
+                   GaussNewtonOptimizer, GaussNewtonParams, GncLMParams, GncLossType,
+                   GncLMOptimizer, LevenbergMarquardtOptimizer, LevenbergMarquardtParams,
+                   NonlinearFactorGraph, Ordering, PCGSolverParameters, Point2,
+                   PriorFactorPoint2, Values)
 from gtsam.utils.test_case import GtsamTestCase
 
 KEY1 = 1
@@ -83,6 +84,59 @@ def test_graduated_non_convexity(self):
         actual = GncLMOptimizer(self.fg, self.initial_values, gncParams).optimize()
         self.assertAlmostEqual(0, self.fg.error(actual))
 
+    def test_gnc_params(self):
+        base_params = LevenbergMarquardtParams()
+        # Test base params
+        for base_max_iters in (50, 100):
+            base_params.setMaxIterations(base_max_iters)
+            params = GncLMParams(base_params)
+            self.assertEqual(params.baseOptimizerParams.getMaxIterations(), base_max_iters)
+        # Test printing
+        str(params)
+        # Test each parameter
+        for loss_type in (GncLossType.TLS, GncLossType.GM):
+            params.setLossType(loss_type)  # Default is TLS
+            self.assertEqual(params.lossType, loss_type)
+        for max_iter in (1, 10, 100):
+            params.setMaxIterations(max_iter)
+            self.assertEqual(params.maxIterations, max_iter)
+        for mu_step in (1.1, 1.2, 1.5):
+            params.setMuStep(mu_step)
+            self.assertEqual(params.muStep, mu_step)
+        for rel_cost_tol in (1e-5, 1e-6, 1e-7):
+            params.setRelativeCostTol(rel_cost_tol)
+            self.assertEqual(params.relativeCostTol, rel_cost_tol)
+        for weights_tol in (1e-4, 1e-3, 1e-2):
+            params.setWeightsTol(weights_tol)
+            self.assertEqual(params.weightsTol, weights_tol)
+        for i in (0, 1, 2):
+            verb = GncLMParams.Verbosity(i)
+            params.setVerbosityGNC(verb)
+            self.assertEqual(params.verbosity, verb)
+        for inl in ([], [10], [0, 100]):
+            params.setKnownInliers(inl)
+            self.assertEqual(params.knownInliers, inl)
+            params.knownInliers = []
+        for out in ([], [1], [0, 10]):
+            params.setKnownInliers(out)
+            self.assertEqual(params.knownInliers, out)
+            params.knownInliers = []
+        # Test optimizer params
+        optimizer = GncLMOptimizer(self.fg, self.initial_values, params)
+        for ict_factor in (0.9, 1.1):
+            new_ict = ict_factor * optimizer.getInlierCostThresholds()
+            optimizer.setInlierCostThresholds(new_ict)
+            self.assertAlmostEqual(optimizer.getInlierCostThresholds(), new_ict)
+        for w_factor in (0.8, 0.9):
+            new_weights = w_factor * optimizer.getWeights()
+            optimizer.setWeights(new_weights)
+            self.assertAlmostEqual(optimizer.getWeights(), new_weights)
+        optimizer.setInlierCostThresholdsAtProbability(0.9)
+        w1 = optimizer.getInlierCostThresholds()
+        optimizer.setInlierCostThresholdsAtProbability(0.8)
+        w2 = optimizer.getInlierCostThresholds()
+        self.assertLess(w2, w1)
+
     def test_iteration_hook(self):
         # set up iteration hook to track some testable values
         iteration_count = 0

From 9dd1f8ffaf0112a8ff053ad347157c1382010e47 Mon Sep 17 00:00:00 2001
From: Amado Antonini <amado.antonini@openspace.ai>
Date: Fri, 8 Jul 2022 16:48:52 -0400
Subject: [PATCH 182/433] Adress review comments

---
 gtsam/nonlinear/GncParams.h                   |  2 +-
 gtsam/nonlinear/nonlinear.i                   |  2 +-
 python/gtsam/tests/test_NonlinearOptimizer.py | 14 +++++++++++++-
 3 files changed, 15 insertions(+), 3 deletions(-)

diff --git a/gtsam/nonlinear/GncParams.h b/gtsam/nonlinear/GncParams.h
index 086f08acc7..600a909766 100644
--- a/gtsam/nonlinear/GncParams.h
+++ b/gtsam/nonlinear/GncParams.h
@@ -161,7 +161,7 @@ class GTSAM_EXPORT GncParams {
       std::cout << "knownInliers: " << knownInliers[i] << "\n";
     for (size_t i = 0; i < knownOutliers.size(); i++)
       std::cout << "knownOutliers: " << knownOutliers[i] << "\n";
-    baseOptimizerParams.print(str);
+    baseOptimizerParams.print("Base optimizer params: ");
   }
 };
 
diff --git a/gtsam/nonlinear/nonlinear.i b/gtsam/nonlinear/nonlinear.i
index 913be1aed1..b6d0f31be4 100644
--- a/gtsam/nonlinear/nonlinear.i
+++ b/gtsam/nonlinear/nonlinear.i
@@ -571,7 +571,7 @@ virtual class GncParams {
   void setVerbosityGNC(const This::Verbosity value);
   void setKnownInliers(const std::vector<size_t>& knownIn);
   void setKnownOutliers(const std::vector<size_t>& knownOut);
-  void print(const string& str = "") const;
+  void print(const string& str = "GncParams: ") const;
   
   enum Verbosity {
     SILENT,
diff --git a/python/gtsam/tests/test_NonlinearOptimizer.py b/python/gtsam/tests/test_NonlinearOptimizer.py
index 47d41edb24..3db2bb1961 100644
--- a/python/gtsam/tests/test_NonlinearOptimizer.py
+++ b/python/gtsam/tests/test_NonlinearOptimizer.py
@@ -91,8 +91,19 @@ def test_gnc_params(self):
             base_params.setMaxIterations(base_max_iters)
             params = GncLMParams(base_params)
             self.assertEqual(params.baseOptimizerParams.getMaxIterations(), base_max_iters)
+
         # Test printing
-        str(params)
+        params_str = str(params)
+        for s in (
+            "lossType",
+            "maxIterations",
+            "muStep",
+            "relativeCostTol",
+            "weightsTol",
+            "verbosity",
+        ):
+            self.assertTrue(s in params_str)
+
         # Test each parameter
         for loss_type in (GncLossType.TLS, GncLossType.GM):
             params.setLossType(loss_type)  # Default is TLS
@@ -121,6 +132,7 @@ def test_gnc_params(self):
             params.setKnownInliers(out)
             self.assertEqual(params.knownInliers, out)
             params.knownInliers = []
+
         # Test optimizer params
         optimizer = GncLMOptimizer(self.fg, self.initial_values, params)
         for ict_factor in (0.9, 1.1):

From b4fdda4740c39a78306f9189bab2c80ffedf8ffd Mon Sep 17 00:00:00 2001
From: Amado Antonini <amado.antonini@openspace.ai>
Date: Fri, 8 Jul 2022 16:49:04 -0400
Subject: [PATCH 183/433] Run yapf

---
 python/gtsam/tests/test_NonlinearOptimizer.py | 15 +++++++++------
 1 file changed, 9 insertions(+), 6 deletions(-)

diff --git a/python/gtsam/tests/test_NonlinearOptimizer.py b/python/gtsam/tests/test_NonlinearOptimizer.py
index 3db2bb1961..a47c5ad620 100644
--- a/python/gtsam/tests/test_NonlinearOptimizer.py
+++ b/python/gtsam/tests/test_NonlinearOptimizer.py
@@ -15,11 +15,12 @@
 import unittest
 
 import gtsam
-from gtsam import (DoglegOptimizer, DoglegParams, DummyPreconditionerParameters,
-                   GaussNewtonOptimizer, GaussNewtonParams, GncLMParams, GncLossType,
-                   GncLMOptimizer, LevenbergMarquardtOptimizer, LevenbergMarquardtParams,
-                   NonlinearFactorGraph, Ordering, PCGSolverParameters, Point2,
-                   PriorFactorPoint2, Values)
+from gtsam import (
+    DoglegOptimizer, DoglegParams, DummyPreconditionerParameters, GaussNewtonOptimizer,
+    GaussNewtonParams, GncLMParams, GncLossType, GncLMOptimizer, LevenbergMarquardtOptimizer,
+    LevenbergMarquardtParams, NonlinearFactorGraph, Ordering, PCGSolverParameters, Point2,
+    PriorFactorPoint2, Values
+)
 from gtsam.utils.test_case import GtsamTestCase
 
 KEY1 = 1
@@ -28,7 +29,6 @@
 
 class TestScenario(GtsamTestCase):
     """Do trivial test with three optimizer variants."""
-
     def setUp(self):
         """Set up the optimization problem and ordering"""
         # create graph
@@ -154,11 +154,13 @@ def test_iteration_hook(self):
         iteration_count = 0
         final_error = 0
         final_values = None
+
         def iteration_hook(iter, error_before, error_after):
             nonlocal iteration_count, final_error, final_values
             iteration_count = iter
             final_error = error_after
             final_values = optimizer.values()
+
         # optimize
         params = LevenbergMarquardtParams.CeresDefaults()
         params.setOrdering(self.ordering)
@@ -170,5 +172,6 @@ def iteration_hook(iter, error_before, error_after):
         self.assertEqual(self.fg.error(actual), final_error)
         self.assertEqual(optimizer.iterations(), iteration_count)
 
+
 if __name__ == "__main__":
     unittest.main()

From 63e0446f0b04fe23e1224b19e9f819c0f9c9a249 Mon Sep 17 00:00:00 2001
From: Akshay Krishnan <akshay.krishnan.30@gmail.com>
Date: Sun, 10 Jul 2022 16:49:15 -0700
Subject: [PATCH 184/433] update triangulation LOST API

---
 gtsam/geometry/Point3.h                    |   1 +
 gtsam/geometry/tests/testTriangulation.cpp |  63 +++---
 gtsam/geometry/triangulation.cpp           | 153 +++++++-------
 gtsam/geometry/triangulation.h             | 222 +++++++++++++--------
 4 files changed, 246 insertions(+), 193 deletions(-)

diff --git a/gtsam/geometry/Point3.h b/gtsam/geometry/Point3.h
index 835c53d7ce..b1ac6195be 100644
--- a/gtsam/geometry/Point3.h
+++ b/gtsam/geometry/Point3.h
@@ -33,6 +33,7 @@ namespace gtsam {
 /// As of GTSAM 4, in order to make GTSAM more lean,
 /// it is now possible to just typedef Point3 to Vector3
 typedef Vector3 Point3;
+typedef std::vector<Point3, Eigen::aligned_allocator<Point3> > Point3Vector;
 
 // Convenience typedef
 using Point3Pair = std::pair<Point3, Point3>;
diff --git a/gtsam/geometry/tests/testTriangulation.cpp b/gtsam/geometry/tests/testTriangulation.cpp
index 0b885d4341..7315583274 100644
--- a/gtsam/geometry/tests/testTriangulation.cpp
+++ b/gtsam/geometry/tests/testTriangulation.cpp
@@ -96,23 +96,33 @@ TEST(triangulation, twoPoses) {
   EXPECT(assert_equal(Point3(4.995, 0.499167, 1.19814), *actual4, 1e-4));
 }
 
-TEST(triangulation, twoCamerasLOST) {
-  std::vector<PinholeCamera<Cal3_S2>> cameras = {camera1, camera2};
-  std::vector<Point2> measurements = {z1, z2};
+TEST(triangulation, twoCamerasUsingLOST) {
+  CameraSet<PinholeCamera<Cal3_S2>> cameras;
+  cameras.push_back(camera1);
+  cameras.push_back(camera2);
+
+  Point2Vector measurements = {z1, z2};
+  SharedNoiseModel measurementNoise = noiseModel::Isotropic::Sigma(2, 1e-4);
+  double rank_tol = 1e-9;
 
   // 1. Test simple triangulation, perfect in no noise situation
-  Point3 actual1 =  //
-      triangulateLOSTPoint3<Cal3_S2>(cameras, measurements);
-  EXPECT(assert_equal(landmark, actual1, 1e-12));
+  boost::optional<Point3> actual1 =  //
+      triangulatePoint3<PinholeCamera<Cal3_S2>>(
+          cameras, measurements, rank_tol,
+          /*optimize=*/false, measurementNoise,
+          /*use_lost_triangulation=*/true);
+  EXPECT(assert_equal(landmark, *actual1, 1e-12));
 
   // 3. Add some noise and try again: result should be ~ (4.995,
   // 0.499167, 1.19814)
   measurements[0] += Point2(0.1, 0.5);
   measurements[1] += Point2(-0.2, 0.3);
-  const double measurement_sigma = 1e-3;
-  Point3 actual2 =  //
-      triangulateLOSTPoint3<Cal3_S2>(cameras, measurements, measurement_sigma);
-  EXPECT(assert_equal(Point3(4.995, 0.499167, 1.19814), actual2, 1e-4));
+  boost::optional<Point3> actual2 =  //
+      triangulatePoint3<PinholeCamera<Cal3_S2>>(
+          cameras, measurements, rank_tol,
+          /*optimize=*/false, measurementNoise,
+          /*use_lost_triangulation=*/true);
+  EXPECT(assert_equal(Point3(4.995, 0.499167, 1.19814), *actual2, 1e-4));
 }
 
 TEST(triangulation, twoCamerasLOSTvsDLT) {
@@ -121,33 +131,32 @@ TEST(triangulation, twoCamerasLOSTvsDLT) {
   Cal3_S2 identity_K;
   Pose3 pose_1;
   Pose3 pose_2(Rot3(), Point3(5., 0., -5.));
-  PinholeCamera<Cal3_S2> camera_1(pose_1, identity_K);
-  PinholeCamera<Cal3_S2> camera_2(pose_2, identity_K);
+  CameraSet<PinholeCamera<Cal3_S2>> cameras;
+  cameras.emplace_back(pose_1, identity_K);
+  cameras.emplace_back(pose_2, identity_K);
 
   Point3 gt_point(0, 0, 1);
-  Point2 x1 = camera_1.project(gt_point);
-  Point2 x2 = camera_2.project(gt_point);
+  Point2 x1_noisy = cameras[0].project(gt_point) + Point2(0.00817, 0.00977);
+  Point2 x2_noisy = cameras[1].project(gt_point) + Point2(-0.00610, 0.01969);
+  Point2Vector measurements = {x1_noisy, x2_noisy};
 
-  Point2 x1_noisy = x1 + Point2(0.00817, 0.00977);
-  Point2 x2_noisy = x2 + Point2(-0.00610, 0.01969);
+  double rank_tol = 1e-9;
+  SharedNoiseModel measurementNoise = noiseModel::Isotropic::Sigma(2, 1e-2);
 
-  const double measurement_sigma = 1e-2;
-  Point3 estimate_lost = triangulateLOSTPoint3<Cal3_S2>(
-      {camera_1, camera_2}, {x1_noisy, x2_noisy}, measurement_sigma);
+  boost::optional<Point3> estimate_lost =  //
+      triangulatePoint3<PinholeCamera<Cal3_S2>>(
+          cameras, measurements, rank_tol,
+          /*optimize=*/false, measurementNoise,
+          /*use_lost_triangulation=*/true);
 
   // These values are from a MATLAB implementation.
-  EXPECT(assert_equal(Point3(0.007, 0.011, 0.945), estimate_lost, 1e-3));
-  
-  double rank_tol = 1e-9;
+  EXPECT(assert_equal(Point3(0.007, 0.011, 0.945), *estimate_lost, 1e-3));
 
-  Pose3Vector poses = {pose_1, pose_2};
-  Point2Vector points = {x1_noisy, x2_noisy};
-  boost::shared_ptr<Cal3_S2> cal = boost::make_shared<Cal3_S2>(identity_K);
   boost::optional<Point3> estimate_dlt =
-      triangulatePoint3<Cal3_S2>(poses, cal, points, rank_tol, false);
+      triangulatePoint3<Cal3_S2>(cameras, measurements, rank_tol, false);
 
   // The LOST estimate should have a smaller error.
-  EXPECT((gt_point - estimate_lost).norm() <=
+  EXPECT((gt_point - *estimate_lost).norm() <=
          (gt_point - *estimate_dlt).norm());
 }
 
diff --git a/gtsam/geometry/triangulation.cpp b/gtsam/geometry/triangulation.cpp
index 9d8325d680..c2c798d8b6 100644
--- a/gtsam/geometry/triangulation.cpp
+++ b/gtsam/geometry/triangulation.cpp
@@ -24,9 +24,9 @@
 namespace gtsam {
 
 Vector4 triangulateHomogeneousDLT(
-    const std::vector<Matrix34, Eigen::aligned_allocator<Matrix34>>& projection_matrices,
+    const std::vector<Matrix34, Eigen::aligned_allocator<Matrix34>>&
+        projection_matrices,
     const Point2Vector& measurements, double rank_tol) {
-
   // number of cameras
   size_t m = projection_matrices.size();
 
@@ -52,61 +52,75 @@ Vector4 triangulateHomogeneousDLT(
   Vector v;
   boost::tie(rank, error, v) = DLT(A, rank_tol);
 
-  if (rank < 3)
-    throw(TriangulationUnderconstrainedException());
+  if (rank < 3) throw(TriangulationUnderconstrainedException());
 
   return v;
 }
 
-Vector3 triangulateLOSTHomogeneous(
-    const std::vector<Pose3>& poses,
-    const std::vector<Point3>& calibrated_measurements, 
-    const double measurement_sigma) {
-  size_t m = calibrated_measurements.size();
-  assert(m == poses.size());
+Vector4 triangulateHomogeneousDLT(
+    const std::vector<Matrix34, Eigen::aligned_allocator<Matrix34>>&
+        projection_matrices,
+    const std::vector<Unit3>& measurements, double rank_tol) {
+  // number of cameras
+  size_t m = projection_matrices.size();
 
-  // Construct the system matrices.
+  // Allocate DLT matrix
   Matrix A = Matrix::Zero(m * 2, 4);
 
   for (size_t i = 0; i < m; i++) {
-    const Pose3& wTi = poses[i];
-    // TODO(akshay-krishnan): are there better ways to select j?
-    const int j = (i + 1) % m;
-    const Pose3& wTj = poses[j];
+    size_t row = i * 2;
+    const Matrix34& projection = projection_matrices.at(i);
+    const Point3& p =
+        measurements.at(i)
+            .point3();  // to get access to x,y,z of the bearing vector
 
-    const Point3 d_ij = wTj.translation() - wTi.translation();
+    // build system of equations
+    A.row(row) = p.x() * projection.row(2) - p.z() * projection.row(0);
+    A.row(row + 1) = p.y() * projection.row(2) - p.z() * projection.row(1);
+  }
+  int rank;
+  double error;
+  Vector v;
+  boost::tie(rank, error, v) = DLT(A, rank_tol);
 
-    const Point3 w_measurement_i =
-        wTi.rotation().rotate(calibrated_measurements[i]);
-    const Point3 w_measurement_j =
-        wTj.rotation().rotate(calibrated_measurements[j]);
+  if (rank < 3) throw(TriangulationUnderconstrainedException());
 
-    const double q_i = w_measurement_i.cross(w_measurement_j).norm() /
-                       (measurement_sigma * d_ij.cross(w_measurement_j).norm());
-    const Matrix23 coefficient_mat =
-        q_i * skewSymmetric(calibrated_measurements[i]).topLeftCorner(2, 3) *
-        wTi.rotation().matrix().transpose();
+  return v;
+}
 
-    A.block<2, 4>(2 * i, 0) << coefficient_mat, -coefficient_mat * wTi.translation();
-  }
+Point3 triangulateDLT(const std::vector<Pose3>& poses,
+                      const Point3Vector& homogenousMeasurements,
+                      double rank_tol) {
+  // number of cameras
+  size_t m = poses.size();
+
+  // Allocate DLT matrix
+  Matrix A = Matrix::Zero(m * 2, 4);
+
+  for (size_t i = 0; i < m; i++) {
+    size_t row = i * 2;
+    const Matrix34 projection = poses[i].matrix().block(0, 0, 3, 4);
+    const Point3& p = homogenousMeasurements[i];  // to get access to x,y,z of
+                                                  // the bearing vector
 
-  const double rank_tol = 1e-6;
+    // build system of equations
+    A.row(row) = p.x() * projection.row(2) - p.z() * projection.row(0);
+    A.row(row + 1) = p.y() * projection.row(2) - p.z() * projection.row(1);
+  }
   int rank;
   double error;
   Vector v;
   boost::tie(rank, error, v) = DLT(A, rank_tol);
 
-  if (rank < 3)
-    throw(TriangulationUnderconstrainedException());
+  if (rank < 3) throw(TriangulationUnderconstrainedException());
 
   return Point3(v.head<3>() / v[3]);
 }
 
-Vector3 triangulateLOSTHomogeneousLS(
-    const std::vector<Pose3>& poses,
-    const std::vector<Point3>& calibrated_measurements, 
-    const double measurement_sigma) {
-  size_t m = calibrated_measurements.size();
+Point3 triangulateLOST(const std::vector<Pose3>& poses,
+                       const Point3Vector& calibratedMeasurements,
+                       const SharedIsotropic& measurementNoise) {
+  size_t m = calibratedMeasurements.size();
   assert(m == poses.size());
 
   // Construct the system matrices.
@@ -121,70 +135,43 @@ Vector3 triangulateLOSTHomogeneousLS(
 
     const Point3 d_ij = wTj.translation() - wTi.translation();
 
-    const Point3 w_measurement_i = wTi.rotation().rotate(calibrated_measurements[i]);
-    const Point3 w_measurement_j = wTj.rotation().rotate(calibrated_measurements[j]);
+    const Point3 w_measurement_i =
+        wTi.rotation().rotate(calibratedMeasurements[i]);
+    const Point3 w_measurement_j =
+        wTj.rotation().rotate(calibratedMeasurements[j]);
 
-    const double q_i = w_measurement_i.cross(w_measurement_j).norm() /
-                       (measurement_sigma * d_ij.cross(w_measurement_j).norm());
+    double q_i =
+        w_measurement_i.cross(w_measurement_j).norm() /
+        (measurementNoise->sigma() * d_ij.cross(w_measurement_j).norm());
     const Matrix23 coefficient_mat =
-        q_i * skewSymmetric(calibrated_measurements[i]).topLeftCorner(2, 3) *
+        q_i * skewSymmetric(calibratedMeasurements[i]).topLeftCorner(2, 3) *
         wTi.rotation().matrix().transpose();
 
-    A.block<2, 3>(2*i, 0) = coefficient_mat;
-    b.block<2, 1>(2*i, 0) = coefficient_mat * wTi.translation();
+    A.block<2, 3>(2 * i, 0) << coefficient_mat;
+    b.block<2, 1>(2 * i, 0) << coefficient_mat * wTi.translation();
   }
   return A.colPivHouseholderQr().solve(b);
 }
 
-Vector4 triangulateHomogeneousDLT(
-    const std::vector<Matrix34, Eigen::aligned_allocator<Matrix34>>& projection_matrices,
-    const std::vector<Unit3>& measurements, double rank_tol) {
-
-  // number of cameras
-  size_t m = projection_matrices.size();
-
-  // Allocate DLT matrix
-  Matrix A = Matrix::Zero(m * 2, 4);
-
-  for (size_t i = 0; i < m; i++) {
-    size_t row = i * 2;
-    const Matrix34& projection = projection_matrices.at(i);
-    const Point3& p = measurements.at(i).point3(); // to get access to x,y,z of the bearing vector
-
-    // build system of equations
-    A.row(row) = p.x() * projection.row(2) - p.z() * projection.row(0);
-    A.row(row + 1) = p.y() * projection.row(2) - p.z() * projection.row(1);
-  }
-  int rank;
-  double error;
-  Vector v;
-  boost::tie(rank, error, v) = DLT(A, rank_tol);
-
-  if (rank < 3)
-    throw(TriangulationUnderconstrainedException());
-
-  return v;
-}
-
 Point3 triangulateDLT(
-    const std::vector<Matrix34, Eigen::aligned_allocator<Matrix34>>& projection_matrices,
+    const std::vector<Matrix34, Eigen::aligned_allocator<Matrix34>>&
+        projection_matrices,
     const Point2Vector& measurements, double rank_tol) {
-
-  Vector4 v = triangulateHomogeneousDLT(projection_matrices, measurements,
-                                        rank_tol);
+  Vector4 v =
+      triangulateHomogeneousDLT(projection_matrices, measurements, rank_tol);
   // Create 3D point from homogeneous coordinates
   return Point3(v.head<3>() / v[3]);
 }
 
 Point3 triangulateDLT(
-    const std::vector<Matrix34, Eigen::aligned_allocator<Matrix34>>& projection_matrices,
+    const std::vector<Matrix34, Eigen::aligned_allocator<Matrix34>>&
+        projection_matrices,
     const std::vector<Unit3>& measurements, double rank_tol) {
-
   // contrary to previous triangulateDLT, this is now taking Unit3 inputs
-  Vector4 v = triangulateHomogeneousDLT(projection_matrices, measurements,
-                                         rank_tol);
-   // Create 3D point from homogeneous coordinates
-   return Point3(v.head<3>() / v[3]);
+  Vector4 v =
+      triangulateHomogeneousDLT(projection_matrices, measurements, rank_tol);
+  // Create 3D point from homogeneous coordinates
+  return Point3(v.head<3>() / v[3]);
 }
 
 ///
@@ -215,4 +202,4 @@ Point3 optimize(const NonlinearFactorGraph& graph, const Values& values,
   return result.at<Point3>(landmarkKey);
 }
 
-}  // \namespace gtsam
+}  // namespace gtsam
diff --git a/gtsam/geometry/triangulation.h b/gtsam/geometry/triangulation.h
index 5bea4d93c9..9e59a92cb4 100644
--- a/gtsam/geometry/triangulation.h
+++ b/gtsam/geometry/triangulation.h
@@ -62,24 +62,6 @@ GTSAM_EXPORT Vector4 triangulateHomogeneousDLT(
     const std::vector<Matrix34, Eigen::aligned_allocator<Matrix34>>& projection_matrices,
     const Point2Vector& measurements, double rank_tol = 1e-9);
 
-/**
- * @brief 
- * 
- * @param projection_matrices 
- * @param measurements 
- * @param rank_tol 
- * @return GTSAM_EXPORT 
- */
-GTSAM_EXPORT Vector3
-triangulateLOSTHomogeneous(const std::vector<Pose3>& poses,
-                           const std::vector<Point3>& calibrated_measurements,
-                           const double measurement_sigma);
-
-GTSAM_EXPORT Vector3
-triangulateLOSTHomogeneousLS(const std::vector<Pose3>& poses,
-                           const std::vector<Point3>& calibrated_measurements,
-                           const double measurement_sigma);
-
 /**
  * Same math as Hartley and Zisserman, 2nd Ed., page 312, but with unit-norm bearing vectors
  * (contrarily to pinhole projection, the z entry is not assumed to be 1 as in Hartley and Zisserman)
@@ -112,6 +94,20 @@ GTSAM_EXPORT Point3 triangulateDLT(
     const std::vector<Unit3>& measurements,
     double rank_tol = 1e-9);
 
+/**
+ * @brief Triangulation using the LOST (Linear Optimal Sine Triangulation)
+ * algorithm proposed in https://arxiv.org/pdf/2205.12197.pdf by Sebastien Henry
+ * and John Christian.
+ * @param poses camera poses in world frame
+ * @param calibratedMeasurements measurements in homogeneous coordinates in each
+ * camera pose
+ * @param measurementNoise isotropic noise model for the measurements
+ * @return triangulated point in world coordinates
+ */
+GTSAM_EXPORT Point3 triangulateLOST(const std::vector<Pose3>& poses,
+                                    const Point3Vector& calibratedMeasurements,
+                                    const SharedIsotropic& measurementNoise);
+
 /**
  * Create a factor graph with projection factors from poses and one calibration
  * @param poses Camera poses
@@ -320,8 +316,8 @@ template <class CAMERA>
 typename CAMERA::MeasurementVector undistortMeasurements(
     const CameraSet<CAMERA>& cameras,
     const typename CAMERA::MeasurementVector& measurements) {
-  const size_t num_meas = cameras.size();
-  assert(num_meas == measurements.size());
+  const size_t num_meas = measurements.size();
+  assert(num_meas == cameras.size());
   typename CAMERA::MeasurementVector undistortedMeasurements(num_meas);
   for (size_t ii = 0; ii < num_meas; ++ii) {
     // Calibrate with cal and uncalibrate with pinhole version of cal so that
@@ -349,6 +345,65 @@ inline SphericalCamera::MeasurementVector undistortMeasurements(
   return measurements;
 }
 
+/** Convert pixel measurements in image to homogeneous measurements in the image
+ * plane using shared camera intrinsics.
+ *
+ * @tparam CALIBRATION Calibration type to use.
+ * @param cal Calibration with which measurements were taken.
+ * @param measurements Vector of measurements to undistort.
+ * @return homogeneous measurements in image plane
+ */
+template <class CALIBRATION>
+inline Point3Vector calibrateMeasurementsShared(
+    const CALIBRATION& cal, const Point2Vector& measurements) {
+  Point3Vector calibratedMeasurements;
+  // Calibrate with cal and uncalibrate with pinhole version of cal so that
+  // measurements are undistorted.
+  std::transform(measurements.begin(), measurements.end(),
+                 std::back_inserter(calibratedMeasurements),
+                 [&cal](const Point2& measurement) {
+                   Point3 p;
+                   p << cal.calibrate(measurement), 1.0;
+                   return p;
+                 });
+  return calibratedMeasurements;
+}
+
+/** Convert pixel measurements in image to homogeneous measurements in the image
+ * plane using camera intrinsics of each measurement.
+ *
+ * @tparam CAMERA Camera type to use.
+ * @param cameras Cameras corresponding to each measurement.
+ * @param measurements Vector of measurements to undistort.
+ * @return homogeneous measurements in image plane
+ */
+template <class CAMERA>
+inline Point3Vector calibrateMeasurements(
+    const CameraSet<CAMERA>& cameras,
+    const typename CAMERA::MeasurementVector& measurements) {
+  const size_t num_meas = measurements.size();
+  assert(num_meas == cameras.size());
+  Point3Vector calibratedMeasurements(num_meas);
+  for (size_t ii = 0; ii < num_meas; ++ii) {
+    calibratedMeasurements[ii]
+        << cameras[ii].calibration().calibrate(measurements[ii]),
+        1.0;
+  }
+  return calibratedMeasurements;
+}
+
+/** Specialize for SphericalCamera to do nothing. */
+template <class CAMERA = SphericalCamera>
+inline Point3Vector calibrateMeasurements(
+    const CameraSet<SphericalCamera>& cameras,
+    const SphericalCamera::MeasurementVector& measurements) {
+  Point3Vector calibratedMeasurements(measurements.size());
+  for (size_t ii = 0; ii < measurements.size(); ++ii) {
+    calibratedMeasurements[ii] << measurements[ii].point3();
+  }
+  return calibratedMeasurements;
+}
+
 /**
  * Function to triangulate 3D landmark point from an arbitrary number
  * of poses (at least 2) using the DLT. The function checks that the
@@ -359,6 +414,7 @@ inline SphericalCamera::MeasurementVector undistortMeasurements(
  * @param measurements A vector of camera measurements
  * @param rank_tol rank tolerance, default 1e-9
  * @param optimize Flag to turn on nonlinear refinement of triangulation
+ * @param use_lost_triangulation whether to use the LOST algorithm instead of DLT
  * @return Returns a Point3
  */
 template<class CALIBRATION>
@@ -366,22 +422,36 @@ Point3 triangulatePoint3(const std::vector<Pose3>& poses,
     boost::shared_ptr<CALIBRATION> sharedCal,
     const Point2Vector& measurements, double rank_tol = 1e-9,
     bool optimize = false,
-    const SharedNoiseModel& model = nullptr) {
+    const SharedNoiseModel& model = nullptr,
+    const bool use_lost_triangulation = true) {
 
   assert(poses.size() == measurements.size());
   if (poses.size() < 2)
     throw(TriangulationUnderconstrainedException());
 
-  // construct projection matrices from poses & calibration
-  auto projection_matrices = projectionMatricesFromPoses(poses, sharedCal);
-
-  // Undistort the measurements, leaving only the pinhole elements in effect.
-  auto undistortedMeasurements =
-      undistortMeasurements<CALIBRATION>(*sharedCal, measurements);
-
   // Triangulate linearly
-  Point3 point =
-      triangulateDLT(projection_matrices, undistortedMeasurements, rank_tol);
+  Point3 point;
+  if(use_lost_triangulation) {
+    // Reduce input noise model to an isotropic noise model using the mean of
+    // the diagonal.
+    const double measurementSigma = model ? model->sigmas().mean() : 1e-4;
+    SharedIsotropic measurementNoise =
+        noiseModel::Isotropic::Sigma(2, measurementSigma);
+    // calibrate the measurements to obtain homogenous coordinates in image plane.
+    auto calibratedMeasurements =
+        calibrateMeasurementsShared<CALIBRATION>(*sharedCal, measurements);
+
+    point = triangulateLOST(poses, calibratedMeasurements, measurementNoise);
+  } else {
+    // construct projection matrices from poses & calibration
+    auto projection_matrices = projectionMatricesFromPoses(poses, sharedCal);
+
+    // Undistort the measurements, leaving only the pinhole elements in effect.
+    auto undistortedMeasurements =
+        undistortMeasurements<CALIBRATION>(*sharedCal, measurements);
+
+    point = triangulateDLT(projection_matrices, undistortedMeasurements, rank_tol);
+  }
 
   // Then refine using non-linear optimization
   if (optimize)
@@ -400,45 +470,6 @@ Point3 triangulatePoint3(const std::vector<Pose3>& poses,
   return point;
 }
 
-template <class CALIBRATION>
-Point3 triangulateLOSTPoint3(
-    const CameraSet<PinholeCamera<CALIBRATION>>& cameras,
-    const Point2Vector& measurements,
-    const double measurement_sigma = 1e-2, bool use_dlt = false) {
-  const size_t num_cameras = cameras.size();
-  assert(measurements.size() == num_cameras);
-
-  if (num_cameras < 2) throw(TriangulationUnderconstrainedException());
-
-  // Convert measurements to image plane coordinates.
-  std::vector<Point3> calibrated_measurements;
-  calibrated_measurements.reserve(measurements.size());
-  for (int i = 0; i < measurements.size(); ++i) {
-    Point2 p = cameras[i].calibration().calibrate(measurements[i]);
-    calibrated_measurements.emplace_back(p.x(), p.y(), 1.0);
-  }
-
-  std::vector<Pose3> poses;
-  poses.reserve(cameras.size());
-  for (const auto& camera : cameras) poses.push_back(camera.pose());
-
-  Point3 point = use_dlt
-                     ? triangulateLOSTHomogeneous(
-                           poses, calibrated_measurements, measurement_sigma)
-                     : triangulateLOSTHomogeneousLS(
-                           poses, calibrated_measurements, measurement_sigma);
-
-#ifdef GTSAM_THROW_CHEIRALITY_EXCEPTION
-  // verify that the triangulated point lies in front of all cameras
-  for (const auto& camera : cameras) {
-    const Point3& p_local = camera.pose().transformTo(point);
-    if (p_local.z() <= 0) throw(TriangulationCheiralityException());
-  }
-#endif
-
-  return point;
-}
-
 /**
  * Function to triangulate 3D landmark point from an arbitrary number
  * of poses (at least 2) using the DLT. This function is similar to the one
@@ -449,6 +480,7 @@ Point3 triangulateLOSTPoint3(
  * @param measurements A vector of camera measurements
  * @param rank_tol rank tolerance, default 1e-9
  * @param optimize Flag to turn on nonlinear refinement of triangulation
+ * @param use_lost_triangulation whether to use the LOST algorithm instead of DLT
  * @return Returns a Point3
  */
 template<class CAMERA>
@@ -456,7 +488,8 @@ Point3 triangulatePoint3(
     const CameraSet<CAMERA>& cameras,
     const typename CAMERA::MeasurementVector& measurements, double rank_tol = 1e-9,
     bool optimize = false,
-    const SharedNoiseModel& model = nullptr) {
+    const SharedNoiseModel& model = nullptr, 
+    const bool use_lost_triangulation=false) {
 
   size_t m = cameras.size();
   assert(measurements.size() == m);
@@ -464,19 +497,41 @@ Point3 triangulatePoint3(
   if (m < 2)
     throw(TriangulationUnderconstrainedException());
 
-  // construct projection matrices from poses & calibration
-  auto projection_matrices = projectionMatricesFromCameras(cameras);
-
-  // Undistort the measurements, leaving only the pinhole elements in effect.
-  auto undistortedMeasurements =
-      undistortMeasurements<CAMERA>(cameras, measurements);
-
-  Point3 point =
-      triangulateDLT(projection_matrices, undistortedMeasurements, rank_tol);
+  // Triangulate linearly
+  Point3 point;
+  if(use_lost_triangulation) {
+    // Reduce input noise model to an isotropic noise model using the mean of
+    // the diagonal.
+    const double measurementSigma = model ? model->sigmas().mean() : 1e-4;
+    SharedIsotropic measurementNoise =
+        noiseModel::Isotropic::Sigma(2, measurementSigma);
+
+    // construct poses from cameras.
+    std::vector<Pose3> poses;
+    poses.reserve(cameras.size());
+    for (const auto& camera : cameras) poses.push_back(camera.pose());
+
+    // calibrate the measurements to obtain homogenous coordinates in image
+    // plane.
+    auto calibratedMeasurements =
+        calibrateMeasurements<CAMERA>(cameras, measurements);
+
+    point = triangulateLOST(poses, calibratedMeasurements, measurementNoise);
+  } else {
+    // construct projection matrices from poses & calibration
+    auto projection_matrices = projectionMatricesFromCameras(cameras);
+
+    // Undistort the measurements, leaving only the pinhole elements in effect.
+    auto undistortedMeasurements =
+        undistortMeasurements<CAMERA>(cameras, measurements);
+
+    point = triangulateDLT(projection_matrices, undistortedMeasurements, rank_tol);
+  }
 
-  // The n refine using non-linear optimization
-  if (optimize)
+  // Then refine using non-linear optimization
+  if (optimize) {
     point = triangulateNonlinear<CAMERA>(cameras, measurements, point, model);
+  }
 
 #ifdef GTSAM_THROW_CHEIRALITY_EXCEPTION
   // verify that the triangulated point lies in front of all cameras
@@ -496,9 +551,10 @@ Point3 triangulatePoint3(
     const CameraSet<PinholeCamera<CALIBRATION> >& cameras,
     const Point2Vector& measurements, double rank_tol = 1e-9,
     bool optimize = false,
-    const SharedNoiseModel& model = nullptr) {
+    const SharedNoiseModel& model = nullptr, 
+    const bool use_lost_triangulation = false) {
   return triangulatePoint3<PinholeCamera<CALIBRATION> > //
-  (cameras, measurements, rank_tol, optimize, model);
+  (cameras, measurements, rank_tol, optimize, model, use_lost_triangulation);
 }
 
 struct GTSAM_EXPORT TriangulationParameters {

From ed5fa923cfe04ddfed1b9e74da9d268ca8009b41 Mon Sep 17 00:00:00 2001
From: Akshay Krishnan <akshay.krishnan.30@gmail.com>
Date: Sun, 10 Jul 2022 16:49:30 -0700
Subject: [PATCH 185/433] Example to run LOST and compare to DLT

---
 examples/TriangulationLOSTExample.cpp | 161 ++++++++++++++++++++++++++
 1 file changed, 161 insertions(+)
 create mode 100644 examples/TriangulationLOSTExample.cpp

diff --git a/examples/TriangulationLOSTExample.cpp b/examples/TriangulationLOSTExample.cpp
new file mode 100644
index 0000000000..a903c625a8
--- /dev/null
+++ b/examples/TriangulationLOSTExample.cpp
@@ -0,0 +1,161 @@
+/* ----------------------------------------------------------------------------
+
+ * GTSAM Copyright 2010, Georgia Tech Research Corporation,
+ * Atlanta, Georgia 30332-0415
+ * All Rights Reserved
+ * Authors: Frank Dellaert, et al. (see THANKS for the full author list)
+
+ * See LICENSE for the license information
+
+ * -------------------------------------------------------------------------- */
+
+/**
+ * @file TriangulationLOSTExample.cpp
+ * @author Akshay Krishnan
+ * @brief This example runs triangulation several times using 3 different
+ * approaches: LOST, DLT, and DLT with optimization. It reports the covariance
+ * and the runtime for each approach.
+ *
+ * @date 2022-07-10
+ */
+#include <gtsam/geometry/Cal3_S2.h>
+#include <gtsam/geometry/PinholeCamera.h>
+#include <gtsam/geometry/Point2.h>
+#include <gtsam/geometry/Point3.h>
+#include <gtsam/geometry/Pose3.h>
+#include <gtsam/geometry/Rot3.h>
+#include <gtsam/geometry/triangulation.h>
+
+#include <chrono>
+#include <iostream>
+#include <random>
+
+using namespace std;
+using namespace gtsam;
+
+static std::mt19937 rng(42);
+
+void PrintCovarianceStats(const Matrix& mat, const std::string& method) {
+  Matrix centered = mat.rowwise() - mat.colwise().mean();
+  Matrix cov = (centered.adjoint() * centered) / double(mat.rows() - 1);
+  std::cout << method << " covariance: " << std::endl;
+  std::cout << cov << std::endl;
+  std::cout << "Trace sqrt: " << sqrt(cov.trace()) << std::endl << std::endl;
+}
+
+void PrintDuration(const std::chrono::nanoseconds dur, double num_samples,
+                   const std::string& method) {
+  double nanoseconds = dur.count() / num_samples;
+  std::cout << "Time taken by " << method << ": " << nanoseconds * 1e-3
+            << std::endl;
+}
+
+void GetLargeCamerasDataset(CameraSet<PinholeCamera<Cal3_S2>>* cameras,
+                            std::vector<Pose3>* poses, Point3* point,
+                            Point2Vector* measurements) {
+  const double min_xy = -10, max_xy = 10;
+  const double min_z = -20, max_z = 0;
+  const int num_cameras = 500;
+  cameras->reserve(num_cameras);
+  poses->reserve(num_cameras);
+  measurements->reserve(num_cameras);
+  *point = Point3(0.0, 0.0, 10.0);
+
+  std::uniform_real_distribution<double> rand_xy(min_xy, max_xy);
+  std::uniform_real_distribution<double> rand_z(min_z, max_z);
+  Cal3_S2 identity_K;
+
+  for (int i = 0; i < num_cameras; ++i) {
+    Point3 wti(rand_xy(rng), rand_xy(rng), rand_z(rng));
+    Pose3 wTi(Rot3(), wti);
+
+    poses->push_back(wTi);
+    cameras->emplace_back(wTi, identity_K);
+    measurements->push_back(cameras->back().project(*point));
+  }
+}
+
+void GetSmallCamerasDataset(CameraSet<PinholeCamera<Cal3_S2>>* cameras,
+                            std::vector<Pose3>* poses, Point3* point,
+                            Point2Vector* measurements) {
+  Pose3 pose_1;
+  Pose3 pose_2(Rot3(), Point3(5., 0., -5.));
+  Cal3_S2 identity_K;
+  PinholeCamera<Cal3_S2> camera_1(pose_1, identity_K);
+  PinholeCamera<Cal3_S2> camera_2(pose_2, identity_K);
+
+  *point = Point3(0, 0, 1);
+  cameras->push_back(camera_1);
+  cameras->push_back(camera_2);
+  *poses = {pose_1, pose_2};
+  *measurements = {camera_1.project(*point), camera_2.project(*point)};
+}
+
+Point2Vector AddNoiseToMeasurements(const Point2Vector& measurements,
+                                    const double measurement_sigma) {
+  std::normal_distribution<double> normal(0.0, measurement_sigma);
+
+  Point2Vector noisy_measurements;
+  noisy_measurements.reserve(measurements.size());
+  for (const auto& p : measurements) {
+    noisy_measurements.emplace_back(p.x() + normal(rng), p.y() + normal(rng));
+  }
+  return noisy_measurements;
+}
+
+/* ************************************************************************* */
+int main(int argc, char* argv[]) {
+  CameraSet<PinholeCamera<Cal3_S2>> cameras;
+  std::vector<Pose3> poses;
+  Point3 gt_point;
+  Point2Vector measurements;
+  GetLargeCamerasDataset(&cameras, &poses, &gt_point, &measurements);
+  // GetSmallCamerasDataset(&cameras, &poses, &gt_point, &measurements);
+  const double measurement_sigma = 1e-2;
+  SharedNoiseModel measurement_noise =
+      noiseModel::Isotropic::Sigma(2, measurement_sigma);
+
+  const long int num_trials = 1000;
+  Matrix dlt_errors = Matrix::Zero(num_trials, 3);
+  Matrix lost_errors = Matrix::Zero(num_trials, 3);
+  Matrix dlt_opt_errors = Matrix::Zero(num_trials, 3);
+
+  double rank_tol = 1e-9;
+  boost::shared_ptr<Cal3_S2> calib = boost::make_shared<Cal3_S2>();
+  std::chrono::nanoseconds dlt_duration;
+  std::chrono::nanoseconds dlt_opt_duration;
+  std::chrono::nanoseconds lost_duration;
+  std::chrono::nanoseconds lost_tls_duration;
+
+  for (int i = 0; i < num_trials; i++) {
+    Point2Vector noisy_measurements =
+        AddNoiseToMeasurements(measurements, measurement_sigma);
+
+    auto lost_start = std::chrono::high_resolution_clock::now();
+    boost::optional<Point3> estimate_lost = triangulatePoint3<Cal3_S2>(
+        cameras, noisy_measurements, rank_tol, false, measurement_noise, true);
+    lost_duration += std::chrono::high_resolution_clock::now() - lost_start;
+
+    auto dlt_start = std::chrono::high_resolution_clock::now();
+    boost::optional<Point3> estimate_dlt = triangulatePoint3<Cal3_S2>(
+        cameras, noisy_measurements, rank_tol, false, measurement_noise, false);
+    dlt_duration += std::chrono::high_resolution_clock::now() - dlt_start;
+
+    auto dlt_opt_start = std::chrono::high_resolution_clock::now();
+    boost::optional<Point3> estimate_dlt_opt = triangulatePoint3<Cal3_S2>(
+        cameras, noisy_measurements, rank_tol, true, measurement_noise, false);
+    dlt_opt_duration +=
+        std::chrono::high_resolution_clock::now() - dlt_opt_start;
+
+    lost_errors.row(i) = *estimate_lost - gt_point;
+    dlt_errors.row(i) = *estimate_dlt - gt_point;
+    dlt_opt_errors.row(i) = *estimate_dlt_opt - gt_point;
+  }
+  PrintCovarianceStats(lost_errors, "LOST");
+  PrintCovarianceStats(dlt_errors, "DLT");
+  PrintCovarianceStats(dlt_opt_errors, "DLT_OPT");
+
+  PrintDuration(lost_duration, num_trials, "LOST");
+  PrintDuration(dlt_duration, num_trials, "DLT");
+  PrintDuration(dlt_opt_duration, num_trials, "DLT_OPT");
+}
\ No newline at end of file

From 7d9cf475794e1176d6a31f9b695bd1ade1e27301 Mon Sep 17 00:00:00 2001
From: Akshay Krishnan <akshay.krishnan.30@gmail.com>
Date: Sun, 10 Jul 2022 22:00:18 -0700
Subject: [PATCH 186/433] unit tests pass

---
 gtsam/geometry/triangulation.cpp | 32 +---------------
 gtsam/geometry/triangulation.h   | 64 ++++++++++++++++----------------
 2 files changed, 32 insertions(+), 64 deletions(-)

diff --git a/gtsam/geometry/triangulation.cpp b/gtsam/geometry/triangulation.cpp
index c2c798d8b6..c68fffb824 100644
--- a/gtsam/geometry/triangulation.cpp
+++ b/gtsam/geometry/triangulation.cpp
@@ -88,35 +88,6 @@ Vector4 triangulateHomogeneousDLT(
   return v;
 }
 
-Point3 triangulateDLT(const std::vector<Pose3>& poses,
-                      const Point3Vector& homogenousMeasurements,
-                      double rank_tol) {
-  // number of cameras
-  size_t m = poses.size();
-
-  // Allocate DLT matrix
-  Matrix A = Matrix::Zero(m * 2, 4);
-
-  for (size_t i = 0; i < m; i++) {
-    size_t row = i * 2;
-    const Matrix34 projection = poses[i].matrix().block(0, 0, 3, 4);
-    const Point3& p = homogenousMeasurements[i];  // to get access to x,y,z of
-                                                  // the bearing vector
-
-    // build system of equations
-    A.row(row) = p.x() * projection.row(2) - p.z() * projection.row(0);
-    A.row(row + 1) = p.y() * projection.row(2) - p.z() * projection.row(1);
-  }
-  int rank;
-  double error;
-  Vector v;
-  boost::tie(rank, error, v) = DLT(A, rank_tol);
-
-  if (rank < 3) throw(TriangulationUnderconstrainedException());
-
-  return Point3(v.head<3>() / v[3]);
-}
-
 Point3 triangulateLOST(const std::vector<Pose3>& poses,
                        const Point3Vector& calibratedMeasurements,
                        const SharedIsotropic& measurementNoise) {
@@ -140,7 +111,7 @@ Point3 triangulateLOST(const std::vector<Pose3>& poses,
     const Point3 w_measurement_j =
         wTj.rotation().rotate(calibratedMeasurements[j]);
 
-    double q_i =
+    const double q_i =
         w_measurement_i.cross(w_measurement_j).norm() /
         (measurementNoise->sigma() * d_ij.cross(w_measurement_j).norm());
     const Matrix23 coefficient_mat =
@@ -174,7 +145,6 @@ Point3 triangulateDLT(
   return Point3(v.head<3>() / v[3]);
 }
 
-///
 /**
  * Optimize for triangulation
  * @param graph nonlinear factors for projection
diff --git a/gtsam/geometry/triangulation.h b/gtsam/geometry/triangulation.h
index 9e59a92cb4..8a709ccd07 100644
--- a/gtsam/geometry/triangulation.h
+++ b/gtsam/geometry/triangulation.h
@@ -414,30 +414,30 @@ inline Point3Vector calibrateMeasurements(
  * @param measurements A vector of camera measurements
  * @param rank_tol rank tolerance, default 1e-9
  * @param optimize Flag to turn on nonlinear refinement of triangulation
- * @param use_lost_triangulation whether to use the LOST algorithm instead of DLT
+ * @param use_lost_triangulation whether to use the LOST algorithm instead of
+ * DLT
  * @return Returns a Point3
  */
-template<class CALIBRATION>
+template <class CALIBRATION>
 Point3 triangulatePoint3(const std::vector<Pose3>& poses,
-    boost::shared_ptr<CALIBRATION> sharedCal,
-    const Point2Vector& measurements, double rank_tol = 1e-9,
-    bool optimize = false,
-    const SharedNoiseModel& model = nullptr,
-    const bool use_lost_triangulation = true) {
-
+                         boost::shared_ptr<CALIBRATION> sharedCal,
+                         const Point2Vector& measurements,
+                         double rank_tol = 1e-9, bool optimize = false,
+                         const SharedNoiseModel& model = nullptr,
+                         const bool use_lost_triangulation = false) {
   assert(poses.size() == measurements.size());
-  if (poses.size() < 2)
-    throw(TriangulationUnderconstrainedException());
+  if (poses.size() < 2) throw(TriangulationUnderconstrainedException());
 
   // Triangulate linearly
   Point3 point;
-  if(use_lost_triangulation) {
+  if (use_lost_triangulation) {
     // Reduce input noise model to an isotropic noise model using the mean of
     // the diagonal.
     const double measurementSigma = model ? model->sigmas().mean() : 1e-4;
     SharedIsotropic measurementNoise =
         noiseModel::Isotropic::Sigma(2, measurementSigma);
-    // calibrate the measurements to obtain homogenous coordinates in image plane.
+    // calibrate the measurements to obtain homogenous coordinates in image
+    // plane.
     auto calibratedMeasurements =
         calibrateMeasurementsShared<CALIBRATION>(*sharedCal, measurements);
 
@@ -450,20 +450,20 @@ Point3 triangulatePoint3(const std::vector<Pose3>& poses,
     auto undistortedMeasurements =
         undistortMeasurements<CALIBRATION>(*sharedCal, measurements);
 
-    point = triangulateDLT(projection_matrices, undistortedMeasurements, rank_tol);
+    point =
+        triangulateDLT(projection_matrices, undistortedMeasurements, rank_tol);
   }
 
   // Then refine using non-linear optimization
   if (optimize)
-    point = triangulateNonlinear<CALIBRATION> //
+    point = triangulateNonlinear<CALIBRATION>  //
         (poses, sharedCal, measurements, point, model);
 
 #ifdef GTSAM_THROW_CHEIRALITY_EXCEPTION
   // verify that the triangulated point lies in front of all cameras
-  for(const Pose3& pose: poses) {
+  for (const Pose3& pose : poses) {
     const Point3& p_local = pose.transformTo(point);
-    if (p_local.z() <= 0)
-      throw(TriangulationCheiralityException());
+    if (p_local.z() <= 0) throw(TriangulationCheiralityException());
   }
 #endif
 
@@ -480,26 +480,24 @@ Point3 triangulatePoint3(const std::vector<Pose3>& poses,
  * @param measurements A vector of camera measurements
  * @param rank_tol rank tolerance, default 1e-9
  * @param optimize Flag to turn on nonlinear refinement of triangulation
- * @param use_lost_triangulation whether to use the LOST algorithm instead of DLT
+ * @param use_lost_triangulation whether to use the LOST algorithm instead of
+ * DLT
  * @return Returns a Point3
  */
-template<class CAMERA>
-Point3 triangulatePoint3(
-    const CameraSet<CAMERA>& cameras,
-    const typename CAMERA::MeasurementVector& measurements, double rank_tol = 1e-9,
-    bool optimize = false,
-    const SharedNoiseModel& model = nullptr, 
-    const bool use_lost_triangulation=false) {
-
+template <class CAMERA>
+Point3 triangulatePoint3(const CameraSet<CAMERA>& cameras,
+                         const typename CAMERA::MeasurementVector& measurements,
+                         double rank_tol = 1e-9, bool optimize = false,
+                         const SharedNoiseModel& model = nullptr,
+                         const bool use_lost_triangulation = false) {
   size_t m = cameras.size();
   assert(measurements.size() == m);
 
-  if (m < 2)
-    throw(TriangulationUnderconstrainedException());
+  if (m < 2) throw(TriangulationUnderconstrainedException());
 
   // Triangulate linearly
   Point3 point;
-  if(use_lost_triangulation) {
+  if (use_lost_triangulation) {
     // Reduce input noise model to an isotropic noise model using the mean of
     // the diagonal.
     const double measurementSigma = model ? model->sigmas().mean() : 1e-4;
@@ -525,7 +523,8 @@ Point3 triangulatePoint3(
     auto undistortedMeasurements =
         undistortMeasurements<CAMERA>(cameras, measurements);
 
-    point = triangulateDLT(projection_matrices, undistortedMeasurements, rank_tol);
+    point =
+        triangulateDLT(projection_matrices, undistortedMeasurements, rank_tol);
   }
 
   // Then refine using non-linear optimization
@@ -535,10 +534,9 @@ Point3 triangulatePoint3(
 
 #ifdef GTSAM_THROW_CHEIRALITY_EXCEPTION
   // verify that the triangulated point lies in front of all cameras
-  for(const CAMERA& camera: cameras) {
+  for (const CAMERA& camera : cameras) {
     const Point3& p_local = camera.pose().transformTo(point);
-    if (p_local.z() <= 0)
-      throw(TriangulationCheiralityException());
+    if (p_local.z() <= 0) throw(TriangulationCheiralityException());
   }
 #endif
 

From 223ea468d6109273ccadbd2ec84ee0c0ed75e294 Mon Sep 17 00:00:00 2001
From: Akshay Krishnan <akshay.krishnan.30@gmail.com>
Date: Tue, 12 Jul 2022 18:45:46 -0700
Subject: [PATCH 187/433] change global variable names in test

---
 gtsam/geometry/tests/testTriangulation.cpp | 240 ++++++++++-----------
 1 file changed, 120 insertions(+), 120 deletions(-)

diff --git a/gtsam/geometry/tests/testTriangulation.cpp b/gtsam/geometry/tests/testTriangulation.cpp
index 7315583274..f6408fab91 100644
--- a/gtsam/geometry/tests/testTriangulation.cpp
+++ b/gtsam/geometry/tests/testTriangulation.cpp
@@ -38,24 +38,24 @@ using namespace boost::assign;
 
 // Some common constants
 
-static const boost::shared_ptr<Cal3_S2> sharedCal =  //
+static const boost::shared_ptr<Cal3_S2> kSharedCal =  //
     boost::make_shared<Cal3_S2>(1500, 1200, 0.1, 640, 480);
 
 // Looking along X-axis, 1 meter above ground plane (x-y)
 static const Rot3 upright = Rot3::Ypr(-M_PI / 2, 0., -M_PI / 2);
-static const Pose3 pose1 = Pose3(upright, gtsam::Point3(0, 0, 1));
-PinholeCamera<Cal3_S2> camera1(pose1, *sharedCal);
+static const Pose3 kPose1 = Pose3(upright, gtsam::Point3(0, 0, 1));
+static const PinholeCamera<Cal3_S2> kCamera1(kPose1, *kSharedCal);
 
 // create second camera 1 meter to the right of first camera
-static const Pose3 pose2 = pose1 * Pose3(Rot3(), Point3(1, 0, 0));
-PinholeCamera<Cal3_S2> camera2(pose2, *sharedCal);
+static const Pose3 kPose2 = kPose1 * Pose3(Rot3(), Point3(1, 0, 0));
+static const PinholeCamera<Cal3_S2> kCamera2(kPose2, *kSharedCal);
 
 // landmark ~5 meters infront of camera
-static const Point3 landmark(5, 0.5, 1.2);
+static const Point3 kLandmark(5, 0.5, 1.2);
 
 // 1. Project two landmarks into two cameras and triangulate
-Point2 z1 = camera1.project(landmark);
-Point2 z2 = camera2.project(landmark);
+static const Point2 kZ1 = kCamera1.project(kLandmark);
+static const Point2 kZ2 = kCamera2.project(kLandmark);
 
 //******************************************************************************
 // Simple test with a well-behaved two camera situation
@@ -63,22 +63,22 @@ TEST(triangulation, twoPoses) {
   vector<Pose3> poses;
   Point2Vector measurements;
 
-  poses += pose1, pose2;
-  measurements += z1, z2;
+  poses += kPose1, kPose2;
+  measurements += kZ1, kZ2;
 
   double rank_tol = 1e-9;
 
   // 1. Test simple DLT, perfect in no noise situation
   bool optimize = false;
   boost::optional<Point3> actual1 =  //
-      triangulatePoint3<Cal3_S2>(poses, sharedCal, measurements, rank_tol, optimize);
-  EXPECT(assert_equal(landmark, *actual1, 1e-7));
+      triangulatePoint3<Cal3_S2>(poses, kSharedCal, measurements, rank_tol, optimize);
+  EXPECT(assert_equal(kLandmark, *actual1, 1e-7));
 
   // 2. test with optimization on, same answer
   optimize = true;
   boost::optional<Point3> actual2 =  //
-      triangulatePoint3<Cal3_S2>(poses, sharedCal, measurements, rank_tol, optimize);
-  EXPECT(assert_equal(landmark, *actual2, 1e-7));
+      triangulatePoint3<Cal3_S2>(poses, kSharedCal, measurements, rank_tol, optimize);
+  EXPECT(assert_equal(kLandmark, *actual2, 1e-7));
 
   // 3. Add some noise and try again: result should be ~ (4.995,
   // 0.499167, 1.19814)
@@ -86,22 +86,22 @@ TEST(triangulation, twoPoses) {
   measurements.at(1) += Point2(-0.2, 0.3);
   optimize = false;
   boost::optional<Point3> actual3 =  //
-      triangulatePoint3<Cal3_S2>(poses, sharedCal, measurements, rank_tol, optimize);
+      triangulatePoint3<Cal3_S2>(poses, kSharedCal, measurements, rank_tol, optimize);
   EXPECT(assert_equal(Point3(4.995, 0.499167, 1.19814), *actual3, 1e-4));
 
   // 4. Now with optimization on
   optimize = true;
   boost::optional<Point3> actual4 =  //
-      triangulatePoint3<Cal3_S2>(poses, sharedCal, measurements, rank_tol, optimize);
+      triangulatePoint3<Cal3_S2>(poses, kSharedCal, measurements, rank_tol, optimize);
   EXPECT(assert_equal(Point3(4.995, 0.499167, 1.19814), *actual4, 1e-4));
 }
 
 TEST(triangulation, twoCamerasUsingLOST) {
   CameraSet<PinholeCamera<Cal3_S2>> cameras;
-  cameras.push_back(camera1);
-  cameras.push_back(camera2);
+  cameras.push_back(kCamera1);
+  cameras.push_back(kCamera2);
 
-  Point2Vector measurements = {z1, z2};
+  Point2Vector measurements = {kZ1, kZ2};
   SharedNoiseModel measurementNoise = noiseModel::Isotropic::Sigma(2, 1e-4);
   double rank_tol = 1e-9;
 
@@ -111,7 +111,7 @@ TEST(triangulation, twoCamerasUsingLOST) {
           cameras, measurements, rank_tol,
           /*optimize=*/false, measurementNoise,
           /*use_lost_triangulation=*/true);
-  EXPECT(assert_equal(landmark, *actual1, 1e-12));
+  EXPECT(assert_equal(kLandmark, *actual1, 1e-12));
 
   // 3. Add some noise and try again: result should be ~ (4.995,
   // 0.499167, 1.19814)
@@ -167,18 +167,18 @@ TEST(triangulation, twoPosesCal3DS2) {
       boost::make_shared<Cal3DS2>(1500, 1200, 0, 640, 480, -.3, 0.1, 0.0001,
                                   -0.0003);
 
-  PinholeCamera<Cal3DS2> camera1Distorted(pose1, *sharedDistortedCal);
+  PinholeCamera<Cal3DS2> camera1Distorted(kPose1, *sharedDistortedCal);
 
-  PinholeCamera<Cal3DS2> camera2Distorted(pose2, *sharedDistortedCal);
+  PinholeCamera<Cal3DS2> camera2Distorted(kPose2, *sharedDistortedCal);
 
   // 0. Project two landmarks into two cameras and triangulate
-  Point2 z1Distorted = camera1Distorted.project(landmark);
-  Point2 z2Distorted = camera2Distorted.project(landmark);
+  Point2 z1Distorted = camera1Distorted.project(kLandmark);
+  Point2 z2Distorted = camera2Distorted.project(kLandmark);
 
   vector<Pose3> poses;
   Point2Vector measurements;
 
-  poses += pose1, pose2;
+  poses += kPose1, kPose2;
   measurements += z1Distorted, z2Distorted;
 
   double rank_tol = 1e-9;
@@ -188,14 +188,14 @@ TEST(triangulation, twoPosesCal3DS2) {
   boost::optional<Point3> actual1 =  //
       triangulatePoint3<Cal3DS2>(poses, sharedDistortedCal, measurements,
                                  rank_tol, optimize);
-  EXPECT(assert_equal(landmark, *actual1, 1e-7));
+  EXPECT(assert_equal(kLandmark, *actual1, 1e-7));
 
   // 2. test with optimization on, same answer
   optimize = true;
   boost::optional<Point3> actual2 =  //
       triangulatePoint3<Cal3DS2>(poses, sharedDistortedCal, measurements,
                                  rank_tol, optimize);
-  EXPECT(assert_equal(landmark, *actual2, 1e-7));
+  EXPECT(assert_equal(kLandmark, *actual2, 1e-7));
 
   // 3. Add some noise and try again: result should be ~ (4.995,
   // 0.499167, 1.19814)
@@ -224,18 +224,18 @@ TEST(triangulation, twoPosesFisheye) {
       boost::make_shared<Calibration>(1500, 1200, .1, 640, 480, -.3, 0.1,
                                       0.0001, -0.0003);
 
-  PinholeCamera<Calibration> camera1Distorted(pose1, *sharedDistortedCal);
+  PinholeCamera<Calibration> camera1Distorted(kPose1, *sharedDistortedCal);
 
-  PinholeCamera<Calibration> camera2Distorted(pose2, *sharedDistortedCal);
+  PinholeCamera<Calibration> camera2Distorted(kPose2, *sharedDistortedCal);
 
   // 0. Project two landmarks into two cameras and triangulate
-  Point2 z1Distorted = camera1Distorted.project(landmark);
-  Point2 z2Distorted = camera2Distorted.project(landmark);
+  Point2 z1Distorted = camera1Distorted.project(kLandmark);
+  Point2 z2Distorted = camera2Distorted.project(kLandmark);
 
   vector<Pose3> poses;
   Point2Vector measurements;
 
-  poses += pose1, pose2;
+  poses += kPose1, kPose2;
   measurements += z1Distorted, z2Distorted;
 
   double rank_tol = 1e-9;
@@ -245,14 +245,14 @@ TEST(triangulation, twoPosesFisheye) {
   boost::optional<Point3> actual1 =  //
       triangulatePoint3<Calibration>(poses, sharedDistortedCal, measurements,
                                      rank_tol, optimize);
-  EXPECT(assert_equal(landmark, *actual1, 1e-7));
+  EXPECT(assert_equal(kLandmark, *actual1, 1e-7));
 
   // 2. test with optimization on, same answer
   optimize = true;
   boost::optional<Point3> actual2 =  //
       triangulatePoint3<Calibration>(poses, sharedDistortedCal, measurements,
                                      rank_tol, optimize);
-  EXPECT(assert_equal(landmark, *actual2, 1e-7));
+  EXPECT(assert_equal(kLandmark, *actual2, 1e-7));
 
   // 3. Add some noise and try again: result should be ~ (4.995,
   // 0.499167, 1.19814)
@@ -277,17 +277,17 @@ TEST(triangulation, twoPosesFisheye) {
 TEST(triangulation, twoPosesBundler) {
   boost::shared_ptr<Cal3Bundler> bundlerCal =  //
       boost::make_shared<Cal3Bundler>(1500, 0.1, 0.2, 640, 480);
-  PinholeCamera<Cal3Bundler> camera1(pose1, *bundlerCal);
-  PinholeCamera<Cal3Bundler> camera2(pose2, *bundlerCal);
+  PinholeCamera<Cal3Bundler> camera1(kPose1, *bundlerCal);
+  PinholeCamera<Cal3Bundler> camera2(kPose2, *bundlerCal);
 
   // 1. Project two landmarks into two cameras and triangulate
-  Point2 z1 = camera1.project(landmark);
-  Point2 z2 = camera2.project(landmark);
+  Point2 z1 = camera1.project(kLandmark);
+  Point2 z2 = camera2.project(kLandmark);
 
   vector<Pose3> poses;
   Point2Vector measurements;
 
-  poses += pose1, pose2;
+  poses += kPose1, kPose2;
   measurements += z1, z2;
 
   bool optimize = true;
@@ -296,7 +296,7 @@ TEST(triangulation, twoPosesBundler) {
   boost::optional<Point3> actual =  //
       triangulatePoint3<Cal3Bundler>(poses, bundlerCal, measurements, rank_tol,
                                      optimize);
-  EXPECT(assert_equal(landmark, *actual, 1e-7));
+  EXPECT(assert_equal(kLandmark, *actual, 1e-7));
 
   // Add some noise and try again
   measurements.at(0) += Point2(0.1, 0.5);
@@ -313,12 +313,12 @@ TEST(triangulation, fourPoses) {
   vector<Pose3> poses;
   Point2Vector measurements;
 
-  poses += pose1, pose2;
-  measurements += z1, z2;
+  poses += kPose1, kPose2;
+  measurements += kZ1, kZ2;
 
   boost::optional<Point3> actual =
-      triangulatePoint3<Cal3_S2>(poses, sharedCal, measurements);
-  EXPECT(assert_equal(landmark, *actual, 1e-2));
+      triangulatePoint3<Cal3_S2>(poses, kSharedCal, measurements);
+  EXPECT(assert_equal(kLandmark, *actual, 1e-2));
 
   // 2. Add some noise and try again: result should be ~ (4.995,
   // 0.499167, 1.19814)
@@ -326,37 +326,37 @@ TEST(triangulation, fourPoses) {
   measurements.at(1) += Point2(-0.2, 0.3);
 
   boost::optional<Point3> actual2 =  //
-      triangulatePoint3<Cal3_S2>(poses, sharedCal, measurements);
-  EXPECT(assert_equal(landmark, *actual2, 1e-2));
+      triangulatePoint3<Cal3_S2>(poses, kSharedCal, measurements);
+  EXPECT(assert_equal(kLandmark, *actual2, 1e-2));
 
   // 3. Add a slightly rotated third camera above, again with measurement noise
-  Pose3 pose3 = pose1 * Pose3(Rot3::Ypr(0.1, 0.2, 0.1), Point3(0.1, -2, -.1));
-  PinholeCamera<Cal3_S2> camera3(pose3, *sharedCal);
-  Point2 z3 = camera3.project(landmark);
+  Pose3 pose3 = kPose1 * Pose3(Rot3::Ypr(0.1, 0.2, 0.1), Point3(0.1, -2, -.1));
+  PinholeCamera<Cal3_S2> camera3(pose3, *kSharedCal);
+  Point2 z3 = camera3.project(kLandmark);
 
   poses += pose3;
   measurements += z3 + Point2(0.1, -0.1);
 
   boost::optional<Point3> triangulated_3cameras =  //
-      triangulatePoint3<Cal3_S2>(poses, sharedCal, measurements);
-  EXPECT(assert_equal(landmark, *triangulated_3cameras, 1e-2));
+      triangulatePoint3<Cal3_S2>(poses, kSharedCal, measurements);
+  EXPECT(assert_equal(kLandmark, *triangulated_3cameras, 1e-2));
 
   // Again with nonlinear optimization
   boost::optional<Point3> triangulated_3cameras_opt =
-      triangulatePoint3<Cal3_S2>(poses, sharedCal, measurements, 1e-9, true);
-  EXPECT(assert_equal(landmark, *triangulated_3cameras_opt, 1e-2));
+      triangulatePoint3<Cal3_S2>(poses, kSharedCal, measurements, 1e-9, true);
+  EXPECT(assert_equal(kLandmark, *triangulated_3cameras_opt, 1e-2));
 
   // 4. Test failure: Add a 4th camera facing the wrong way
   Pose3 pose4 = Pose3(Rot3::Ypr(M_PI / 2, 0., -M_PI / 2), Point3(0, 0, 1));
-  PinholeCamera<Cal3_S2> camera4(pose4, *sharedCal);
+  PinholeCamera<Cal3_S2> camera4(pose4, *kSharedCal);
 
 #ifdef GTSAM_THROW_CHEIRALITY_EXCEPTION
-  CHECK_EXCEPTION(camera4.project(landmark), CheiralityException);
+  CHECK_EXCEPTION(camera4.project(kLandmark), CheiralityException);
 
   poses += pose4;
   measurements += Point2(400, 400);
 
-  CHECK_EXCEPTION(triangulatePoint3<Cal3_S2>(poses, sharedCal, measurements),
+  CHECK_EXCEPTION(triangulatePoint3<Cal3_S2>(poses, kSharedCal, measurements),
                   TriangulationCheiralityException);
 #endif
 }
@@ -364,33 +364,33 @@ TEST(triangulation, fourPoses) {
 //******************************************************************************
 TEST(triangulation, threePoses_robustNoiseModel) {
 
-  Pose3 pose3 = pose1 * Pose3(Rot3::Ypr(0.1, 0.2, 0.1), Point3(0.1, -2, -.1));
-  PinholeCamera<Cal3_S2> camera3(pose3, *sharedCal);
-  Point2 z3 = camera3.project(landmark);
+  Pose3 pose3 = kPose1 * Pose3(Rot3::Ypr(0.1, 0.2, 0.1), Point3(0.1, -2, -.1));
+  PinholeCamera<Cal3_S2> camera3(pose3, *kSharedCal);
+  Point2 z3 = camera3.project(kLandmark);
 
   vector<Pose3> poses;
   Point2Vector measurements;
-  poses += pose1, pose2, pose3;
-  measurements += z1, z2, z3;
+  poses += kPose1, kPose2, pose3;
+  measurements += kZ1, kZ2, z3;
 
   // noise free, so should give exactly the landmark
   boost::optional<Point3> actual =
-      triangulatePoint3<Cal3_S2>(poses, sharedCal, measurements);
-  EXPECT(assert_equal(landmark, *actual, 1e-2));
+      triangulatePoint3<Cal3_S2>(poses, kSharedCal, measurements);
+  EXPECT(assert_equal(kLandmark, *actual, 1e-2));
 
   // Add outlier
   measurements.at(0) += Point2(100, 120); // very large pixel noise!
 
   // now estimate does not match landmark
   boost::optional<Point3> actual2 =  //
-      triangulatePoint3<Cal3_S2>(poses, sharedCal, measurements);
+      triangulatePoint3<Cal3_S2>(poses, kSharedCal, measurements);
   // DLT is surprisingly robust, but still off (actual error is around 0.26m):
-  EXPECT( (landmark - *actual2).norm() >= 0.2);
-  EXPECT( (landmark - *actual2).norm() <= 0.5);
+  EXPECT( (kLandmark - *actual2).norm() >= 0.2);
+  EXPECT( (kLandmark - *actual2).norm() <= 0.5);
 
   // Again with nonlinear optimization
   boost::optional<Point3> actual3 =
-      triangulatePoint3<Cal3_S2>(poses, sharedCal, measurements, 1e-9, true);
+      triangulatePoint3<Cal3_S2>(poses, kSharedCal, measurements, 1e-9, true);
   // result from nonlinear (but non-robust optimization) is close to DLT and still off
   EXPECT(assert_equal(*actual2, *actual3, 0.1));
 
@@ -398,27 +398,27 @@ TEST(triangulation, threePoses_robustNoiseModel) {
   auto model = noiseModel::Robust::Create(
         noiseModel::mEstimator::Huber::Create(1.345), noiseModel::Unit::Create(2));
   boost::optional<Point3> actual4 = triangulatePoint3<Cal3_S2>(
-      poses, sharedCal, measurements, 1e-9, true, model);
+      poses, kSharedCal, measurements, 1e-9, true, model);
   // using the Huber loss we now have a quite small error!! nice!
-  EXPECT(assert_equal(landmark, *actual4, 0.05));
+  EXPECT(assert_equal(kLandmark, *actual4, 0.05));
 }
 
 //******************************************************************************
 TEST(triangulation, fourPoses_robustNoiseModel) {
 
-  Pose3 pose3 = pose1 * Pose3(Rot3::Ypr(0.1, 0.2, 0.1), Point3(0.1, -2, -.1));
-  PinholeCamera<Cal3_S2> camera3(pose3, *sharedCal);
-  Point2 z3 = camera3.project(landmark);
+  Pose3 pose3 = kPose1 * Pose3(Rot3::Ypr(0.1, 0.2, 0.1), Point3(0.1, -2, -.1));
+  PinholeCamera<Cal3_S2> camera3(pose3, *kSharedCal);
+  Point2 z3 = camera3.project(kLandmark);
 
   vector<Pose3> poses;
   Point2Vector measurements;
-  poses += pose1, pose1, pose2, pose3; // 2 measurements from pose 1
-  measurements += z1, z1, z2, z3;
+  poses += kPose1, kPose1, kPose2, pose3; // 2 measurements from pose 1
+  measurements += kZ1, kZ1, kZ2, z3;
 
   // noise free, so should give exactly the landmark
   boost::optional<Point3> actual =
-      triangulatePoint3<Cal3_S2>(poses, sharedCal, measurements);
-  EXPECT(assert_equal(landmark, *actual, 1e-2));
+      triangulatePoint3<Cal3_S2>(poses, kSharedCal, measurements);
+  EXPECT(assert_equal(kLandmark, *actual, 1e-2));
 
   // Add outlier
   measurements.at(0) += Point2(100, 120); // very large pixel noise!
@@ -429,14 +429,14 @@ TEST(triangulation, fourPoses_robustNoiseModel) {
 
   // now estimate does not match landmark
   boost::optional<Point3> actual2 =  //
-      triangulatePoint3<Cal3_S2>(poses, sharedCal, measurements);
+      triangulatePoint3<Cal3_S2>(poses, kSharedCal, measurements);
   // DLT is surprisingly robust, but still off (actual error is around 0.17m):
-  EXPECT( (landmark - *actual2).norm() >= 0.1);
-  EXPECT( (landmark - *actual2).norm() <= 0.5);
+  EXPECT( (kLandmark - *actual2).norm() >= 0.1);
+  EXPECT( (kLandmark - *actual2).norm() <= 0.5);
 
   // Again with nonlinear optimization
   boost::optional<Point3> actual3 =
-      triangulatePoint3<Cal3_S2>(poses, sharedCal, measurements, 1e-9, true);
+      triangulatePoint3<Cal3_S2>(poses, kSharedCal, measurements, 1e-9, true);
   // result from nonlinear (but non-robust optimization) is close to DLT and still off
   EXPECT(assert_equal(*actual2, *actual3, 0.1));
 
@@ -444,24 +444,24 @@ TEST(triangulation, fourPoses_robustNoiseModel) {
   auto model = noiseModel::Robust::Create(
         noiseModel::mEstimator::Huber::Create(1.345), noiseModel::Unit::Create(2));
   boost::optional<Point3> actual4 = triangulatePoint3<Cal3_S2>(
-      poses, sharedCal, measurements, 1e-9, true, model);
+      poses, kSharedCal, measurements, 1e-9, true, model);
   // using the Huber loss we now have a quite small error!! nice!
-  EXPECT(assert_equal(landmark, *actual4, 0.05));
+  EXPECT(assert_equal(kLandmark, *actual4, 0.05));
 }
 
 //******************************************************************************
 TEST(triangulation, fourPoses_distinct_Ks) {
   Cal3_S2 K1(1500, 1200, 0, 640, 480);
   // create first camera. Looking along X-axis, 1 meter above ground plane (x-y)
-  PinholeCamera<Cal3_S2> camera1(pose1, K1);
+  PinholeCamera<Cal3_S2> camera1(kPose1, K1);
 
   // create second camera 1 meter to the right of first camera
   Cal3_S2 K2(1600, 1300, 0, 650, 440);
-  PinholeCamera<Cal3_S2> camera2(pose2, K2);
+  PinholeCamera<Cal3_S2> camera2(kPose2, K2);
 
   // 1. Project two landmarks into two cameras and triangulate
-  Point2 z1 = camera1.project(landmark);
-  Point2 z2 = camera2.project(landmark);
+  Point2 z1 = camera1.project(kLandmark);
+  Point2 z2 = camera2.project(kLandmark);
 
   CameraSet<PinholeCamera<Cal3_S2>> cameras;
   Point2Vector measurements;
@@ -471,7 +471,7 @@ TEST(triangulation, fourPoses_distinct_Ks) {
 
   boost::optional<Point3> actual =  //
       triangulatePoint3<Cal3_S2>(cameras, measurements);
-  EXPECT(assert_equal(landmark, *actual, 1e-2));
+  EXPECT(assert_equal(kLandmark, *actual, 1e-2));
 
   // 2. Add some noise and try again: result should be ~ (4.995,
   // 0.499167, 1.19814)
@@ -480,25 +480,25 @@ TEST(triangulation, fourPoses_distinct_Ks) {
 
   boost::optional<Point3> actual2 =  //
       triangulatePoint3<Cal3_S2>(cameras, measurements);
-  EXPECT(assert_equal(landmark, *actual2, 1e-2));
+  EXPECT(assert_equal(kLandmark, *actual2, 1e-2));
 
   // 3. Add a slightly rotated third camera above, again with measurement noise
-  Pose3 pose3 = pose1 * Pose3(Rot3::Ypr(0.1, 0.2, 0.1), Point3(0.1, -2, -.1));
+  Pose3 pose3 = kPose1 * Pose3(Rot3::Ypr(0.1, 0.2, 0.1), Point3(0.1, -2, -.1));
   Cal3_S2 K3(700, 500, 0, 640, 480);
   PinholeCamera<Cal3_S2> camera3(pose3, K3);
-  Point2 z3 = camera3.project(landmark);
+  Point2 z3 = camera3.project(kLandmark);
 
   cameras += camera3;
   measurements += z3 + Point2(0.1, -0.1);
 
   boost::optional<Point3> triangulated_3cameras =  //
       triangulatePoint3<Cal3_S2>(cameras, measurements);
-  EXPECT(assert_equal(landmark, *triangulated_3cameras, 1e-2));
+  EXPECT(assert_equal(kLandmark, *triangulated_3cameras, 1e-2));
 
   // Again with nonlinear optimization
   boost::optional<Point3> triangulated_3cameras_opt =
       triangulatePoint3<Cal3_S2>(cameras, measurements, 1e-9, true);
-  EXPECT(assert_equal(landmark, *triangulated_3cameras_opt, 1e-2));
+  EXPECT(assert_equal(kLandmark, *triangulated_3cameras_opt, 1e-2));
 
   // 4. Test failure: Add a 4th camera facing the wrong way
   Pose3 pose4 = Pose3(Rot3::Ypr(M_PI / 2, 0., -M_PI / 2), Point3(0, 0, 1));
@@ -506,7 +506,7 @@ TEST(triangulation, fourPoses_distinct_Ks) {
   PinholeCamera<Cal3_S2> camera4(pose4, K4);
 
 #ifdef GTSAM_THROW_CHEIRALITY_EXCEPTION
-  CHECK_EXCEPTION(camera4.project(landmark), CheiralityException);
+  CHECK_EXCEPTION(camera4.project(kLandmark), CheiralityException);
 
   cameras += camera4;
   measurements += Point2(400, 400);
@@ -519,15 +519,15 @@ TEST(triangulation, fourPoses_distinct_Ks) {
 TEST(triangulation, fourPoses_distinct_Ks_distortion) {
   Cal3DS2 K1(1500, 1200, 0, 640, 480,  -.3, 0.1, 0.0001, -0.0003);
   // create first camera. Looking along X-axis, 1 meter above ground plane (x-y)
-  PinholeCamera<Cal3DS2> camera1(pose1, K1);
+  PinholeCamera<Cal3DS2> camera1(kPose1, K1);
 
   // create second camera 1 meter to the right of first camera
   Cal3DS2 K2(1600, 1300, 0, 650, 440,  -.2, 0.05, 0.0002, -0.0001);
-  PinholeCamera<Cal3DS2> camera2(pose2, K2);
+  PinholeCamera<Cal3DS2> camera2(kPose2, K2);
 
   // 1. Project two landmarks into two cameras and triangulate
-  Point2 z1 = camera1.project(landmark);
-  Point2 z2 = camera2.project(landmark);
+  Point2 z1 = camera1.project(kLandmark);
+  Point2 z2 = camera2.project(kLandmark);
 
   CameraSet<PinholeCamera<Cal3DS2>> cameras;
   Point2Vector measurements;
@@ -537,22 +537,22 @@ TEST(triangulation, fourPoses_distinct_Ks_distortion) {
 
   boost::optional<Point3> actual =  //
           triangulatePoint3<Cal3DS2>(cameras, measurements);
-  EXPECT(assert_equal(landmark, *actual, 1e-2));
+  EXPECT(assert_equal(kLandmark, *actual, 1e-2));
 }
 
 //******************************************************************************
 TEST(triangulation, outliersAndFarLandmarks) {
   Cal3_S2 K1(1500, 1200, 0, 640, 480);
   // create first camera. Looking along X-axis, 1 meter above ground plane (x-y)
-  PinholeCamera<Cal3_S2> camera1(pose1, K1);
+  PinholeCamera<Cal3_S2> camera1(kPose1, K1);
 
   // create second camera 1 meter to the right of first camera
   Cal3_S2 K2(1600, 1300, 0, 650, 440);
-  PinholeCamera<Cal3_S2> camera2(pose2, K2);
+  PinholeCamera<Cal3_S2> camera2(kPose2, K2);
 
   // 1. Project two landmarks into two cameras and triangulate
-  Point2 z1 = camera1.project(landmark);
-  Point2 z2 = camera2.project(landmark);
+  Point2 z1 = camera1.project(kLandmark);
+  Point2 z2 = camera2.project(kLandmark);
 
   CameraSet<PinholeCamera<Cal3_S2>> cameras;
   Point2Vector measurements;
@@ -565,7 +565,7 @@ TEST(triangulation, outliersAndFarLandmarks) {
       1.0, false, landmarkDistanceThreshold);  // all default except
                                                // landmarkDistanceThreshold
   TriangulationResult actual = triangulateSafe(cameras, measurements, params);
-  EXPECT(assert_equal(landmark, *actual, 1e-2));
+  EXPECT(assert_equal(kLandmark, *actual, 1e-2));
   EXPECT(actual.valid());
 
   landmarkDistanceThreshold = 4;  // landmark is farther than that
@@ -577,10 +577,10 @@ TEST(triangulation, outliersAndFarLandmarks) {
 
   // 3. Add a slightly rotated third camera above with a wrong measurement
   // (OUTLIER)
-  Pose3 pose3 = pose1 * Pose3(Rot3::Ypr(0.1, 0.2, 0.1), Point3(0.1, -2, -.1));
+  Pose3 pose3 = kPose1 * Pose3(Rot3::Ypr(0.1, 0.2, 0.1), Point3(0.1, -2, -.1));
   Cal3_S2 K3(700, 500, 0, 640, 480);
   PinholeCamera<Cal3_S2> camera3(pose3, K3);
-  Point2 z3 = camera3.project(landmark);
+  Point2 z3 = camera3.project(kLandmark);
 
   cameras += camera3;
   measurements += z3 + Point2(10, -10);
@@ -603,18 +603,18 @@ TEST(triangulation, outliersAndFarLandmarks) {
 //******************************************************************************
 TEST(triangulation, twoIdenticalPoses) {
   // create first camera. Looking along X-axis, 1 meter above ground plane (x-y)
-  PinholeCamera<Cal3_S2> camera1(pose1, *sharedCal);
+  PinholeCamera<Cal3_S2> camera1(kPose1, *kSharedCal);
 
   // 1. Project two landmarks into two cameras and triangulate
-  Point2 z1 = camera1.project(landmark);
+  Point2 z1 = camera1.project(kLandmark);
 
   vector<Pose3> poses;
   Point2Vector measurements;
 
-  poses += pose1, pose1;
+  poses += kPose1, kPose1;
   measurements += z1, z1;
 
-  CHECK_EXCEPTION(triangulatePoint3<Cal3_S2>(poses, sharedCal, measurements),
+  CHECK_EXCEPTION(triangulatePoint3<Cal3_S2>(poses, kSharedCal, measurements),
                   TriangulationUnderconstrainedException);
 }
 
@@ -629,7 +629,7 @@ TEST(triangulation, onePose) {
   poses += Pose3();
   measurements += Point2(0, 0);
 
-  CHECK_EXCEPTION(triangulatePoint3<Cal3_S2>(poses, sharedCal, measurements),
+  CHECK_EXCEPTION(triangulatePoint3<Cal3_S2>(poses, kSharedCal, measurements),
                   TriangulationUnderconstrainedException);
 }
 
@@ -745,12 +745,12 @@ TEST(triangulation, twoPoses_sphericalCamera) {
   std::vector<Unit3> measurements;
 
   // Project landmark into two cameras and triangulate
-  SphericalCamera cam1(pose1);
-  SphericalCamera cam2(pose2);
-  Unit3 u1 = cam1.project(landmark);
-  Unit3 u2 = cam2.project(landmark);
+  SphericalCamera cam1(kPose1);
+  SphericalCamera cam2(kPose2);
+  Unit3 u1 = cam1.project(kLandmark);
+  Unit3 u2 = cam2.project(kLandmark);
 
-  poses += pose1, pose2;
+  poses += kPose1, kPose2;
   measurements += u1, u2;
 
   CameraSet<SphericalCamera> cameras;
@@ -762,25 +762,25 @@ TEST(triangulation, twoPoses_sphericalCamera) {
   // 1. Test linear triangulation via DLT
   auto projection_matrices = projectionMatricesFromCameras(cameras);
   Point3 point = triangulateDLT(projection_matrices, measurements, rank_tol);
-  EXPECT(assert_equal(landmark, point, 1e-7));
+  EXPECT(assert_equal(kLandmark, point, 1e-7));
 
   // 2. Test nonlinear triangulation
   point = triangulateNonlinear<SphericalCamera>(cameras, measurements, point);
-  EXPECT(assert_equal(landmark, point, 1e-7));
+  EXPECT(assert_equal(kLandmark, point, 1e-7));
 
   // 3. Test simple DLT, now within triangulatePoint3
   bool optimize = false;
   boost::optional<Point3> actual1 =  //
       triangulatePoint3<SphericalCamera>(cameras, measurements, rank_tol,
                                          optimize);
-  EXPECT(assert_equal(landmark, *actual1, 1e-7));
+  EXPECT(assert_equal(kLandmark, *actual1, 1e-7));
 
   // 4. test with optimization on, same answer
   optimize = true;
   boost::optional<Point3> actual2 =  //
       triangulatePoint3<SphericalCamera>(cameras, measurements, rank_tol,
                                          optimize);
-  EXPECT(assert_equal(landmark, *actual2, 1e-7));
+  EXPECT(assert_equal(kLandmark, *actual2, 1e-7));
 
   // 5. Add some noise and try again: result should be ~ (4.995,
   // 0.499167, 1.19814)
@@ -825,7 +825,7 @@ TEST(triangulation, twoPoses_sphericalCamera_extremeFOV) {
   EXPECT(assert_equal(Unit3(Point3(1.0, 0.0, -1.0)), u2,
                       1e-7));  // behind and to the right of PoseB
 
-  poses += pose1, pose2;
+  poses += kPose1, kPose2;
   measurements += u1, u2;
 
   CameraSet<SphericalCamera> cameras;

From da78cc202a33f1eb9ba77aed8edbcb2bb7c37311 Mon Sep 17 00:00:00 2001
From: Akshay Krishnan <akshay.krishnan.30@gmail.com>
Date: Tue, 12 Jul 2022 18:47:37 -0700
Subject: [PATCH 188/433] add author

---
 gtsam/geometry/tests/testTriangulation.cpp | 1 +
 gtsam/geometry/triangulation.cpp           | 1 +
 gtsam/geometry/triangulation.h             | 1 +
 3 files changed, 3 insertions(+)

diff --git a/gtsam/geometry/tests/testTriangulation.cpp b/gtsam/geometry/tests/testTriangulation.cpp
index f6408fab91..0ce67083ea 100644
--- a/gtsam/geometry/tests/testTriangulation.cpp
+++ b/gtsam/geometry/tests/testTriangulation.cpp
@@ -15,6 +15,7 @@
  * @date July 30th, 2013
  * @author Chris Beall (cbeall3)
  * @author Luca Carlone
+ * @author Akshay Krishnan
  */
 
 #include <CppUnitLite/TestHarness.h>
diff --git a/gtsam/geometry/triangulation.cpp b/gtsam/geometry/triangulation.cpp
index c68fffb824..4a8bb279d9 100644
--- a/gtsam/geometry/triangulation.cpp
+++ b/gtsam/geometry/triangulation.cpp
@@ -14,6 +14,7 @@
  * @brief Functions for triangulation
  * @date July 31, 2013
  * @author Chris Beall
+ * @author Akshay Krishnan
  */
 
 #include <gtsam/geometry/triangulation.h>
diff --git a/gtsam/geometry/triangulation.h b/gtsam/geometry/triangulation.h
index 8a709ccd07..1b0970fe24 100644
--- a/gtsam/geometry/triangulation.h
+++ b/gtsam/geometry/triangulation.h
@@ -15,6 +15,7 @@
  * @date July 31, 2013
  * @author Chris Beall
  * @author Luca Carlone
+ * @author Akshay Krishnan
  */
 
 #pragma once

From b52aaeab22400f9d496611f0a431466d117ad767 Mon Sep 17 00:00:00 2001
From: Akshay Krishnan <akshay.krishnan.30@gmail.com>
Date: Tue, 12 Jul 2022 19:14:26 -0700
Subject: [PATCH 189/433] update to camelcase names in test

---
 gtsam/geometry/tests/testTriangulation.cpp | 27 +++++++++++-----------
 1 file changed, 13 insertions(+), 14 deletions(-)

diff --git a/gtsam/geometry/tests/testTriangulation.cpp b/gtsam/geometry/tests/testTriangulation.cpp
index 0ce67083ea..d9e605d551 100644
--- a/gtsam/geometry/tests/testTriangulation.cpp
+++ b/gtsam/geometry/tests/testTriangulation.cpp
@@ -129,36 +129,35 @@ TEST(triangulation, twoCamerasUsingLOST) {
 TEST(triangulation, twoCamerasLOSTvsDLT) {
   // LOST has been shown to preform better when the point is much closer to one
   // camera compared to another. This unit test checks this configuration.
-  Cal3_S2 identity_K;
-  Pose3 pose_1;
-  Pose3 pose_2(Rot3(), Point3(5., 0., -5.));
+  const Cal3_S2 identityK;
+  const Pose3 pose1;
+  const Pose3 pose2(Rot3(), Point3(5., 0., -5.));
   CameraSet<PinholeCamera<Cal3_S2>> cameras;
-  cameras.emplace_back(pose_1, identity_K);
-  cameras.emplace_back(pose_2, identity_K);
+  cameras.emplace_back(pose1, identityK);
+  cameras.emplace_back(pose2, identityK);
 
-  Point3 gt_point(0, 0, 1);
-  Point2 x1_noisy = cameras[0].project(gt_point) + Point2(0.00817, 0.00977);
-  Point2 x2_noisy = cameras[1].project(gt_point) + Point2(-0.00610, 0.01969);
+  Point3 landmark(0, 0, 1);
+  Point2 x1_noisy = cameras[0].project(landmark) + Point2(0.00817, 0.00977);
+  Point2 x2_noisy = cameras[1].project(landmark) + Point2(-0.00610, 0.01969);
   Point2Vector measurements = {x1_noisy, x2_noisy};
 
-  double rank_tol = 1e-9;
+  const double rank_tol = 1e-9;
   SharedNoiseModel measurementNoise = noiseModel::Isotropic::Sigma(2, 1e-2);
 
-  boost::optional<Point3> estimate_lost =  //
+  boost::optional<Point3> estimateLOST =  //
       triangulatePoint3<PinholeCamera<Cal3_S2>>(
           cameras, measurements, rank_tol,
           /*optimize=*/false, measurementNoise,
           /*use_lost_triangulation=*/true);
 
   // These values are from a MATLAB implementation.
-  EXPECT(assert_equal(Point3(0.007, 0.011, 0.945), *estimate_lost, 1e-3));
+  EXPECT(assert_equal(Point3(0.007, 0.011, 0.945), *estimateLOST, 1e-3));
 
-  boost::optional<Point3> estimate_dlt =
+  boost::optional<Point3> estimateDLT =
       triangulatePoint3<Cal3_S2>(cameras, measurements, rank_tol, false);
 
   // The LOST estimate should have a smaller error.
-  EXPECT((gt_point - *estimate_lost).norm() <=
-         (gt_point - *estimate_dlt).norm());
+  EXPECT((landmark - *estimateLOST).norm() <= (landmark - *estimateDLT).norm());
 }
 
 //******************************************************************************

From f347209d4ce4d36db373519d62ebc47b76c67e2b Mon Sep 17 00:00:00 2001
From: Akshay Krishnan <akshay.krishnan.30@gmail.com>
Date: Tue, 12 Jul 2022 19:30:41 -0700
Subject: [PATCH 190/433] more camelcase changes

---
 gtsam/geometry/tests/testTriangulation.cpp | 16 ++++++------
 gtsam/geometry/triangulation.cpp           | 21 ++++++++-------
 gtsam/geometry/triangulation.h             | 30 ++++++++++------------
 3 files changed, 32 insertions(+), 35 deletions(-)

diff --git a/gtsam/geometry/tests/testTriangulation.cpp b/gtsam/geometry/tests/testTriangulation.cpp
index d9e605d551..bc843ad75d 100644
--- a/gtsam/geometry/tests/testTriangulation.cpp
+++ b/gtsam/geometry/tests/testTriangulation.cpp
@@ -108,10 +108,10 @@ TEST(triangulation, twoCamerasUsingLOST) {
 
   // 1. Test simple triangulation, perfect in no noise situation
   boost::optional<Point3> actual1 =  //
-      triangulatePoint3<PinholeCamera<Cal3_S2>>(
-          cameras, measurements, rank_tol,
-          /*optimize=*/false, measurementNoise,
-          /*use_lost_triangulation=*/true);
+      triangulatePoint3<PinholeCamera<Cal3_S2>>(cameras, measurements, rank_tol,
+                                                /*optimize=*/false,
+                                                measurementNoise,
+                                                /*useLOST=*/true);
   EXPECT(assert_equal(kLandmark, *actual1, 1e-12));
 
   // 3. Add some noise and try again: result should be ~ (4.995,
@@ -145,10 +145,10 @@ TEST(triangulation, twoCamerasLOSTvsDLT) {
   SharedNoiseModel measurementNoise = noiseModel::Isotropic::Sigma(2, 1e-2);
 
   boost::optional<Point3> estimateLOST =  //
-      triangulatePoint3<PinholeCamera<Cal3_S2>>(
-          cameras, measurements, rank_tol,
-          /*optimize=*/false, measurementNoise,
-          /*use_lost_triangulation=*/true);
+      triangulatePoint3<PinholeCamera<Cal3_S2>>(cameras, measurements, rank_tol,
+                                                /*optimize=*/false,
+                                                measurementNoise,
+                                                /*useLOST=*/true);
 
   // These values are from a MATLAB implementation.
   EXPECT(assert_equal(Point3(0.007, 0.011, 0.945), *estimateLOST, 1e-3));
diff --git a/gtsam/geometry/triangulation.cpp b/gtsam/geometry/triangulation.cpp
index 4a8bb279d9..acb0ddf0e4 100644
--- a/gtsam/geometry/triangulation.cpp
+++ b/gtsam/geometry/triangulation.cpp
@@ -107,20 +107,19 @@ Point3 triangulateLOST(const std::vector<Pose3>& poses,
 
     const Point3 d_ij = wTj.translation() - wTi.translation();
 
-    const Point3 w_measurement_i =
-        wTi.rotation().rotate(calibratedMeasurements[i]);
-    const Point3 w_measurement_j =
-        wTj.rotation().rotate(calibratedMeasurements[j]);
-
-    const double q_i =
-        w_measurement_i.cross(w_measurement_j).norm() /
-        (measurementNoise->sigma() * d_ij.cross(w_measurement_j).norm());
-    const Matrix23 coefficient_mat =
+    const Point3 wZi = wTi.rotation().rotate(calibratedMeasurements[i]);
+    const Point3 wZj = wTj.rotation().rotate(calibratedMeasurements[j]);
+
+    // Note: Setting q_i = 1.0 gives same results as DLT.
+    const double q_i = wZi.cross(wZj).norm() /
+                       (measurementNoise->sigma() * d_ij.cross(wZj).norm());
+
+    const Matrix23 coefficientMat =
         q_i * skewSymmetric(calibratedMeasurements[i]).topLeftCorner(2, 3) *
         wTi.rotation().matrix().transpose();
 
-    A.block<2, 3>(2 * i, 0) << coefficient_mat;
-    b.block<2, 1>(2 * i, 0) << coefficient_mat * wTi.translation();
+    A.block<2, 3>(2 * i, 0) << coefficientMat;
+    b.block<2, 1>(2 * i, 0) << coefficientMat * wTi.translation();
   }
   return A.colPivHouseholderQr().solve(b);
 }
diff --git a/gtsam/geometry/triangulation.h b/gtsam/geometry/triangulation.h
index 1b0970fe24..aa94334847 100644
--- a/gtsam/geometry/triangulation.h
+++ b/gtsam/geometry/triangulation.h
@@ -415,8 +415,7 @@ inline Point3Vector calibrateMeasurements(
  * @param measurements A vector of camera measurements
  * @param rank_tol rank tolerance, default 1e-9
  * @param optimize Flag to turn on nonlinear refinement of triangulation
- * @param use_lost_triangulation whether to use the LOST algorithm instead of
- * DLT
+ * @param useLOST whether to use the LOST algorithm instead of DLT
  * @return Returns a Point3
  */
 template <class CALIBRATION>
@@ -425,13 +424,13 @@ Point3 triangulatePoint3(const std::vector<Pose3>& poses,
                          const Point2Vector& measurements,
                          double rank_tol = 1e-9, bool optimize = false,
                          const SharedNoiseModel& model = nullptr,
-                         const bool use_lost_triangulation = false) {
+                         const bool useLOST = false) {
   assert(poses.size() == measurements.size());
   if (poses.size() < 2) throw(TriangulationUnderconstrainedException());
 
   // Triangulate linearly
   Point3 point;
-  if (use_lost_triangulation) {
+  if (useLOST) {
     // Reduce input noise model to an isotropic noise model using the mean of
     // the diagonal.
     const double measurementSigma = model ? model->sigmas().mean() : 1e-4;
@@ -481,7 +480,7 @@ Point3 triangulatePoint3(const std::vector<Pose3>& poses,
  * @param measurements A vector of camera measurements
  * @param rank_tol rank tolerance, default 1e-9
  * @param optimize Flag to turn on nonlinear refinement of triangulation
- * @param use_lost_triangulation whether to use the LOST algorithm instead of
+ * @param useLOST whether to use the LOST algorithm instead of
  * DLT
  * @return Returns a Point3
  */
@@ -490,7 +489,7 @@ Point3 triangulatePoint3(const CameraSet<CAMERA>& cameras,
                          const typename CAMERA::MeasurementVector& measurements,
                          double rank_tol = 1e-9, bool optimize = false,
                          const SharedNoiseModel& model = nullptr,
-                         const bool use_lost_triangulation = false) {
+                         const bool useLOST = false) {
   size_t m = cameras.size();
   assert(measurements.size() == m);
 
@@ -498,7 +497,7 @@ Point3 triangulatePoint3(const CameraSet<CAMERA>& cameras,
 
   // Triangulate linearly
   Point3 point;
-  if (use_lost_triangulation) {
+  if (useLOST) {
     // Reduce input noise model to an isotropic noise model using the mean of
     // the diagonal.
     const double measurementSigma = model ? model->sigmas().mean() : 1e-4;
@@ -545,15 +544,14 @@ Point3 triangulatePoint3(const CameraSet<CAMERA>& cameras,
 }
 
 /// Pinhole-specific version
-template<class CALIBRATION>
-Point3 triangulatePoint3(
-    const CameraSet<PinholeCamera<CALIBRATION> >& cameras,
-    const Point2Vector& measurements, double rank_tol = 1e-9,
-    bool optimize = false,
-    const SharedNoiseModel& model = nullptr, 
-    const bool use_lost_triangulation = false) {
-  return triangulatePoint3<PinholeCamera<CALIBRATION> > //
-  (cameras, measurements, rank_tol, optimize, model, use_lost_triangulation);
+template <class CALIBRATION>
+Point3 triangulatePoint3(const CameraSet<PinholeCamera<CALIBRATION>>& cameras,
+                         const Point2Vector& measurements,
+                         double rank_tol = 1e-9, bool optimize = false,
+                         const SharedNoiseModel& model = nullptr,
+                         const bool useLOST = false) {
+  return triangulatePoint3<PinholeCamera<CALIBRATION>>  //
+      (cameras, measurements, rank_tol, optimize, model, useLOST);
 }
 
 struct GTSAM_EXPORT TriangulationParameters {

From 897dae4436e9d8ce5b9518c23cca7abe9e5b7f4b Mon Sep 17 00:00:00 2001
From: Akshay Krishnan <akshay.krishnan.30@gmail.com>
Date: Tue, 12 Jul 2022 20:03:02 -0700
Subject: [PATCH 191/433] more renames to camelcase

---
 examples/TriangulationLOSTExample.cpp | 142 +++++++++++++-------------
 gtsam/geometry/triangulation.h        |  16 +--
 2 files changed, 78 insertions(+), 80 deletions(-)

diff --git a/examples/TriangulationLOSTExample.cpp b/examples/TriangulationLOSTExample.cpp
index a903c625a8..a862026e08 100644
--- a/examples/TriangulationLOSTExample.cpp
+++ b/examples/TriangulationLOSTExample.cpp
@@ -53,24 +53,24 @@ void PrintDuration(const std::chrono::nanoseconds dur, double num_samples,
 void GetLargeCamerasDataset(CameraSet<PinholeCamera<Cal3_S2>>* cameras,
                             std::vector<Pose3>* poses, Point3* point,
                             Point2Vector* measurements) {
-  const double min_xy = -10, max_xy = 10;
-  const double min_z = -20, max_z = 0;
-  const int num_cameras = 500;
-  cameras->reserve(num_cameras);
-  poses->reserve(num_cameras);
-  measurements->reserve(num_cameras);
+  const double minXY = -10, maxXY = 10;
+  const double minZ = -20, maxZ = 0;
+  const int nrCameras = 500;
+  cameras->reserve(nrCameras);
+  poses->reserve(nrCameras);
+  measurements->reserve(nrCameras);
   *point = Point3(0.0, 0.0, 10.0);
 
-  std::uniform_real_distribution<double> rand_xy(min_xy, max_xy);
-  std::uniform_real_distribution<double> rand_z(min_z, max_z);
-  Cal3_S2 identity_K;
+  std::uniform_real_distribution<double> rand_xy(minXY, maxXY);
+  std::uniform_real_distribution<double> rand_z(minZ, maxZ);
+  Cal3_S2 identityK;
 
-  for (int i = 0; i < num_cameras; ++i) {
+  for (int i = 0; i < nrCameras; ++i) {
     Point3 wti(rand_xy(rng), rand_xy(rng), rand_z(rng));
     Pose3 wTi(Rot3(), wti);
 
     poses->push_back(wTi);
-    cameras->emplace_back(wTi, identity_K);
+    cameras->emplace_back(wTi, identityK);
     measurements->push_back(cameras->back().project(*point));
   }
 }
@@ -78,84 +78,82 @@ void GetLargeCamerasDataset(CameraSet<PinholeCamera<Cal3_S2>>* cameras,
 void GetSmallCamerasDataset(CameraSet<PinholeCamera<Cal3_S2>>* cameras,
                             std::vector<Pose3>* poses, Point3* point,
                             Point2Vector* measurements) {
-  Pose3 pose_1;
-  Pose3 pose_2(Rot3(), Point3(5., 0., -5.));
-  Cal3_S2 identity_K;
-  PinholeCamera<Cal3_S2> camera_1(pose_1, identity_K);
-  PinholeCamera<Cal3_S2> camera_2(pose_2, identity_K);
+  Pose3 pose1;
+  Pose3 pose2(Rot3(), Point3(5., 0., -5.));
+  Cal3_S2 identityK;
+  PinholeCamera<Cal3_S2> camera1(pose1, identityK);
+  PinholeCamera<Cal3_S2> camera2(pose2, identityK);
 
   *point = Point3(0, 0, 1);
-  cameras->push_back(camera_1);
-  cameras->push_back(camera_2);
-  *poses = {pose_1, pose_2};
-  *measurements = {camera_1.project(*point), camera_2.project(*point)};
+  cameras->push_back(camera1);
+  cameras->push_back(camera2);
+  *poses = {pose1, pose2};
+  *measurements = {camera1.project(*point), camera2.project(*point)};
 }
 
 Point2Vector AddNoiseToMeasurements(const Point2Vector& measurements,
-                                    const double measurement_sigma) {
-  std::normal_distribution<double> normal(0.0, measurement_sigma);
+                                    const double measurementSigma) {
+  std::normal_distribution<double> normal(0.0, measurementSigma);
 
-  Point2Vector noisy_measurements;
-  noisy_measurements.reserve(measurements.size());
+  Point2Vector noisyMeasurements;
+  noisyMeasurements.reserve(measurements.size());
   for (const auto& p : measurements) {
-    noisy_measurements.emplace_back(p.x() + normal(rng), p.y() + normal(rng));
+    noisyMeasurements.emplace_back(p.x() + normal(rng), p.y() + normal(rng));
   }
-  return noisy_measurements;
+  return noisyMeasurements;
 }
 
 /* ************************************************************************* */
 int main(int argc, char* argv[]) {
   CameraSet<PinholeCamera<Cal3_S2>> cameras;
   std::vector<Pose3> poses;
-  Point3 gt_point;
+  Point3 landmark;
   Point2Vector measurements;
-  GetLargeCamerasDataset(&cameras, &poses, &gt_point, &measurements);
-  // GetSmallCamerasDataset(&cameras, &poses, &gt_point, &measurements);
-  const double measurement_sigma = 1e-2;
-  SharedNoiseModel measurement_noise =
-      noiseModel::Isotropic::Sigma(2, measurement_sigma);
+  GetLargeCamerasDataset(&cameras, &poses, &landmark, &measurements);
+  // GetSmallCamerasDataset(&cameras, &poses, &landmark, &measurements);
+  const double measurementSigma = 1e-2;
+  SharedNoiseModel measurementNoise =
+      noiseModel::Isotropic::Sigma(2, measurementSigma);
 
-  const long int num_trials = 1000;
-  Matrix dlt_errors = Matrix::Zero(num_trials, 3);
-  Matrix lost_errors = Matrix::Zero(num_trials, 3);
-  Matrix dlt_opt_errors = Matrix::Zero(num_trials, 3);
+  const long int nrTrials = 1000;
+  Matrix errorsDLT = Matrix::Zero(nrTrials, 3);
+  Matrix errorsLOST = Matrix::Zero(nrTrials, 3);
+  Matrix errorsDLTOpt = Matrix::Zero(nrTrials, 3);
 
   double rank_tol = 1e-9;
   boost::shared_ptr<Cal3_S2> calib = boost::make_shared<Cal3_S2>();
-  std::chrono::nanoseconds dlt_duration;
-  std::chrono::nanoseconds dlt_opt_duration;
-  std::chrono::nanoseconds lost_duration;
-  std::chrono::nanoseconds lost_tls_duration;
-
-  for (int i = 0; i < num_trials; i++) {
-    Point2Vector noisy_measurements =
-        AddNoiseToMeasurements(measurements, measurement_sigma);
-
-    auto lost_start = std::chrono::high_resolution_clock::now();
-    boost::optional<Point3> estimate_lost = triangulatePoint3<Cal3_S2>(
-        cameras, noisy_measurements, rank_tol, false, measurement_noise, true);
-    lost_duration += std::chrono::high_resolution_clock::now() - lost_start;
-
-    auto dlt_start = std::chrono::high_resolution_clock::now();
-    boost::optional<Point3> estimate_dlt = triangulatePoint3<Cal3_S2>(
-        cameras, noisy_measurements, rank_tol, false, measurement_noise, false);
-    dlt_duration += std::chrono::high_resolution_clock::now() - dlt_start;
-
-    auto dlt_opt_start = std::chrono::high_resolution_clock::now();
-    boost::optional<Point3> estimate_dlt_opt = triangulatePoint3<Cal3_S2>(
-        cameras, noisy_measurements, rank_tol, true, measurement_noise, false);
-    dlt_opt_duration +=
-        std::chrono::high_resolution_clock::now() - dlt_opt_start;
-
-    lost_errors.row(i) = *estimate_lost - gt_point;
-    dlt_errors.row(i) = *estimate_dlt - gt_point;
-    dlt_opt_errors.row(i) = *estimate_dlt_opt - gt_point;
+  std::chrono::nanoseconds durationDLT;
+  std::chrono::nanoseconds durationDLTOpt;
+  std::chrono::nanoseconds durationLOST;
+
+  for (int i = 0; i < nrTrials; i++) {
+    Point2Vector noisyMeasurements =
+        AddNoiseToMeasurements(measurements, measurementSigma);
+
+    auto lostStart = std::chrono::high_resolution_clock::now();
+    boost::optional<Point3> estimateLOST = triangulatePoint3<Cal3_S2>(
+        cameras, noisyMeasurements, rank_tol, false, measurementNoise, true);
+    durationLOST += std::chrono::high_resolution_clock::now() - lostStart;
+
+    auto dltStart = std::chrono::high_resolution_clock::now();
+    boost::optional<Point3> estimateDLT = triangulatePoint3<Cal3_S2>(
+        cameras, noisyMeasurements, rank_tol, false, measurementNoise, false);
+    durationDLT += std::chrono::high_resolution_clock::now() - dltStart;
+
+    auto dltOptStart = std::chrono::high_resolution_clock::now();
+    boost::optional<Point3> estimateDLTOpt = triangulatePoint3<Cal3_S2>(
+        cameras, noisyMeasurements, rank_tol, true, measurementNoise, false);
+    durationDLTOpt += std::chrono::high_resolution_clock::now() - dltOptStart;
+
+    errorsLOST.row(i) = *estimateLOST - landmark;
+    errorsDLT.row(i) = *estimateDLT - landmark;
+    errorsDLTOpt.row(i) = *estimateDLTOpt - landmark;
   }
-  PrintCovarianceStats(lost_errors, "LOST");
-  PrintCovarianceStats(dlt_errors, "DLT");
-  PrintCovarianceStats(dlt_opt_errors, "DLT_OPT");
-
-  PrintDuration(lost_duration, num_trials, "LOST");
-  PrintDuration(dlt_duration, num_trials, "DLT");
-  PrintDuration(dlt_opt_duration, num_trials, "DLT_OPT");
-}
\ No newline at end of file
+  PrintCovarianceStats(errorsLOST, "LOST");
+  PrintCovarianceStats(errorsDLT, "DLT");
+  PrintCovarianceStats(errorsDLTOpt, "DLT_OPT");
+
+  PrintDuration(durationLOST, nrTrials, "LOST");
+  PrintDuration(durationDLT, nrTrials, "DLT");
+  PrintDuration(durationDLTOpt, nrTrials, "DLT_OPT");
+}
diff --git a/gtsam/geometry/triangulation.h b/gtsam/geometry/triangulation.h
index aa94334847..f6c919b246 100644
--- a/gtsam/geometry/triangulation.h
+++ b/gtsam/geometry/triangulation.h
@@ -317,10 +317,10 @@ template <class CAMERA>
 typename CAMERA::MeasurementVector undistortMeasurements(
     const CameraSet<CAMERA>& cameras,
     const typename CAMERA::MeasurementVector& measurements) {
-  const size_t num_meas = measurements.size();
-  assert(num_meas == cameras.size());
-  typename CAMERA::MeasurementVector undistortedMeasurements(num_meas);
-  for (size_t ii = 0; ii < num_meas; ++ii) {
+  const size_t nrMeasurements = measurements.size();
+  assert(nrMeasurements == cameras.size());
+  typename CAMERA::MeasurementVector undistortedMeasurements(nrMeasurements);
+  for (size_t ii = 0; ii < nrMeasurements; ++ii) {
     // Calibrate with cal and uncalibrate with pinhole version of cal so that
     // measurements are undistorted.
     undistortedMeasurements[ii] =
@@ -382,10 +382,10 @@ template <class CAMERA>
 inline Point3Vector calibrateMeasurements(
     const CameraSet<CAMERA>& cameras,
     const typename CAMERA::MeasurementVector& measurements) {
-  const size_t num_meas = measurements.size();
-  assert(num_meas == cameras.size());
-  Point3Vector calibratedMeasurements(num_meas);
-  for (size_t ii = 0; ii < num_meas; ++ii) {
+  const size_t nrMeasurements = measurements.size();
+  assert(nrMeasurements == cameras.size());
+  Point3Vector calibratedMeasurements(nrMeasurements);
+  for (size_t ii = 0; ii < nrMeasurements; ++ii) {
     calibratedMeasurements[ii]
         << cameras[ii].calibration().calibrate(measurements[ii]),
         1.0;

From a3ee2660e5809ef40dcd5f9a2d56f32cf7b2efa3 Mon Sep 17 00:00:00 2001
From: Akshay Krishnan <akshay.krishnan.30@gmail.com>
Date: Tue, 12 Jul 2022 22:50:58 -0700
Subject: [PATCH 192/433] LOST in python wrapper

---
 gtsam/geometry/geometry.i | 15 ++++++++++-----
 1 file changed, 10 insertions(+), 5 deletions(-)

diff --git a/gtsam/geometry/geometry.i b/gtsam/geometry/geometry.i
index 5175582654..597f6a1694 100644
--- a/gtsam/geometry/geometry.i
+++ b/gtsam/geometry/geometry.i
@@ -1129,7 +1129,8 @@ gtsam::Point3 triangulatePoint3(const gtsam::Pose3Vector& poses,
 gtsam::Point3 triangulatePoint3(const gtsam::CameraSetCal3_S2& cameras,
                                 const gtsam::Point2Vector& measurements,
                                 double rank_tol, bool optimize,
-                                const gtsam::SharedNoiseModel& model = nullptr);
+                                const gtsam::SharedNoiseModel& model = nullptr,
+                                const bool useLOST = false);
 gtsam::Point3 triangulateNonlinear(const gtsam::Pose3Vector& poses,
                                    gtsam::Cal3_S2* sharedCal,
                                    const gtsam::Point2Vector& measurements,
@@ -1151,7 +1152,8 @@ gtsam::Point3 triangulatePoint3(const gtsam::Pose3Vector& poses,
 gtsam::Point3 triangulatePoint3(const gtsam::CameraSetCal3DS2& cameras,
                                 const gtsam::Point2Vector& measurements,
                                 double rank_tol, bool optimize,
-                                const gtsam::SharedNoiseModel& model = nullptr);
+                                const gtsam::SharedNoiseModel& model = nullptr,
+                                const bool useLOST = false);
 gtsam::Point3 triangulateNonlinear(const gtsam::Pose3Vector& poses,
                                    gtsam::Cal3DS2* sharedCal,
                                    const gtsam::Point2Vector& measurements,
@@ -1173,7 +1175,8 @@ gtsam::Point3 triangulatePoint3(const gtsam::Pose3Vector& poses,
 gtsam::Point3 triangulatePoint3(const gtsam::CameraSetCal3Bundler& cameras,
                                 const gtsam::Point2Vector& measurements,
                                 double rank_tol, bool optimize,
-                                const gtsam::SharedNoiseModel& model = nullptr);
+                                const gtsam::SharedNoiseModel& model = nullptr,
+                                const bool useLOST = false);
 gtsam::Point3 triangulateNonlinear(const gtsam::Pose3Vector& poses,
                                    gtsam::Cal3Bundler* sharedCal,
                                    const gtsam::Point2Vector& measurements,
@@ -1195,7 +1198,8 @@ gtsam::Point3 triangulatePoint3(const gtsam::Pose3Vector& poses,
 gtsam::Point3 triangulatePoint3(const gtsam::CameraSetCal3Fisheye& cameras,
                                 const gtsam::Point2Vector& measurements,
                                 double rank_tol, bool optimize,
-                                const gtsam::SharedNoiseModel& model = nullptr);
+                                const gtsam::SharedNoiseModel& model = nullptr,
+                                const bool useLOST = false);
 gtsam::Point3 triangulateNonlinear(const gtsam::Pose3Vector& poses,
                                    gtsam::Cal3Fisheye* sharedCal,
                                    const gtsam::Point2Vector& measurements,
@@ -1217,7 +1221,8 @@ gtsam::Point3 triangulatePoint3(const gtsam::Pose3Vector& poses,
 gtsam::Point3 triangulatePoint3(const gtsam::CameraSetCal3Unified& cameras,
                                 const gtsam::Point2Vector& measurements,
                                 double rank_tol, bool optimize,
-                                const gtsam::SharedNoiseModel& model = nullptr);
+                                const gtsam::SharedNoiseModel& model = nullptr,
+                                const bool useLOST = false);
 gtsam::Point3 triangulateNonlinear(const gtsam::Pose3Vector& poses,
                                    gtsam::Cal3Unified* sharedCal,
                                    const gtsam::Point2Vector& measurements,

From 01ea31633654a137ed1cc7f74ffac5c2bec37648 Mon Sep 17 00:00:00 2001
From: Amado Antonini <amado.antonini@openspace.ai>
Date: Wed, 13 Jul 2022 08:33:09 -0400
Subject: [PATCH 193/433] Make vector<size_t> opaque

---
 python/gtsam/preamble/nonlinear.h | 4 +++-
 1 file changed, 3 insertions(+), 1 deletion(-)

diff --git a/python/gtsam/preamble/nonlinear.h b/python/gtsam/preamble/nonlinear.h
index 34b864027f..b50059a2ed 100644
--- a/python/gtsam/preamble/nonlinear.h
+++ b/python/gtsam/preamble/nonlinear.h
@@ -10,4 +10,6 @@
  * Without this they will be automatically converted to a Python object, and all
  * mutations on Python side will not be reflected on C++.
  */
-#include <pybind11/stl.h>
\ No newline at end of file
+#include <pybind11/stl.h>
+
+PYBIND11_MAKE_OPAQUE(std::vector<size_t>);

From e381a7c9d21d7e63d315ace33612cfe46cbd28e9 Mon Sep 17 00:00:00 2001
From: Amado Antonini <amado.antonini@openspace.ai>
Date: Wed, 13 Jul 2022 23:27:00 -0400
Subject: [PATCH 194/433] Revert pybind stl include

---
 python/gtsam/preamble/nonlinear.h | 3 ---
 1 file changed, 3 deletions(-)

diff --git a/python/gtsam/preamble/nonlinear.h b/python/gtsam/preamble/nonlinear.h
index b50059a2ed..d07a75f6fb 100644
--- a/python/gtsam/preamble/nonlinear.h
+++ b/python/gtsam/preamble/nonlinear.h
@@ -10,6 +10,3 @@
  * Without this they will be automatically converted to a Python object, and all
  * mutations on Python side will not be reflected on C++.
  */
-#include <pybind11/stl.h>
-
-PYBIND11_MAKE_OPAQUE(std::vector<size_t>);

From 809923a6f2e5b6713124f8a0f5f8981a8e8f7d05 Mon Sep 17 00:00:00 2001
From: senselessdev1 <johnlambert@hayoungs-mbp.lan>
Date: Fri, 15 Jul 2022 23:32:03 -0400
Subject: [PATCH 195/433] Start GTSFM's DSF port to C++

---
 gtsam/sfm/DsfTrackGenerator.h      | 180 +++++++++++++++++++++++++++++
 gtsam/sfm/sfm.i                    |  47 ++++++++
 python/CMakeLists.txt              |  11 +-
 python/gtsam/preamble/sfm.h        |   5 +
 python/gtsam/specializations/sfm.h |   6 +
 5 files changed, 246 insertions(+), 3 deletions(-)
 create mode 100644 gtsam/sfm/DsfTrackGenerator.h

diff --git a/gtsam/sfm/DsfTrackGenerator.h b/gtsam/sfm/DsfTrackGenerator.h
new file mode 100644
index 0000000000..5a3e6661eb
--- /dev/null
+++ b/gtsam/sfm/DsfTrackGenerator.h
@@ -0,0 +1,180 @@
+/* ----------------------------------------------------------------------------
+
+ * GTSAM Copyright 2010, Georgia Tech Research Corporation,
+ * Atlanta, Georgia 30332-0415
+ * All Rights Reserved
+ * Authors: Frank Dellaert, et al. (see THANKS for the full author list)
+
+ * See LICENSE for the license information
+
+ * -------------------------------------------------------------------------- */
+
+/**
+ * @file DsfTrackGenerator.h
+ * @date May 2022
+ * @author John Lambert
+ * @brief Identifies connected components in the keypoint matched graph.
+ */
+
+#pragma once
+#include <pybind11/stl.h>
+#include <Eigen/Core>
+
+#include <gtsam/base/DSFMap.h>
+
+#include <algorithm>
+#include <iostream>
+#include <map>
+#include <optional>
+#include <vector>
+
+namespace gtsam {
+
+typedef DSFMap<IndexPair> DSFMapIndexPair;
+typedef std::pair<size_t, size_t> ImagePair;
+typedef Eigen::MatrixX2i CorrespondenceIndices; // N x 2 array
+
+
+using KeypointCoordinates = Eigen::MatrixX2d;
+
+struct Keypoints
+{
+  KeypointCoordinates coordinates;
+  // typedef'd for Eigen::VectorXd
+  boost::optional<gtsam::Vector> scales;
+  boost::optional<gtsam::Vector> responses;
+
+  Keypoints(const gtsam::KeypointCoordinates& coordinates): coordinates(coordinates) {}; // boost::none
+};
+
+
+
+
+
+// TODO: THIS CLASSNAME IS DUPLICATED in SfmTrack.h, conflicts
+// @param camera index
+// @param 2d measurement
+// Implemented as named tuple, instead of std::pair
+struct NamedSfmMeasurement
+{
+  size_t i;
+  Point2 uv;
+
+  NamedSfmMeasurement(size_t i, Point2 uv) : i(i), uv(uv) {}
+};
+
+
+class SfmTrack2d
+{
+  private:
+    std::vector<NamedSfmMeasurement> measurements_;
+
+  public:
+    void addMeasurement(const NamedSfmMeasurement &m) {
+      measurements_.emplace_back(m);
+    }
+    std::vector<NamedSfmMeasurement> measurements() {return measurements_; }
+
+  // @brief Validates the track by checking that no two measurements are from the same camera.
+  //
+  // returns boolean result of the validation.
+  bool validate_unique_cameras()
+  {
+    std::vector<int> track_cam_idxs;
+    for (auto & measurement: measurements_)
+    {
+      track_cam_idxs.emplace_back(measurement.i);
+    }
+    auto i = std::adjacent_find(track_cam_idxs.begin(), track_cam_idxs.end());
+    bool all_cameras_unique = (i == track_cam_idxs.end());
+    return all_cameras_unique;
+  }
+};
+
+using MatchIndicesMap = std::map<ImagePair, CorrespondenceIndices>;
+using KeypointsList = std::vector<Keypoints>;
+using KeypointsVector = std::vector<Keypoints>; // TODO: prefer KeypointsSet?
+
+
+class DsfTrackGenerator
+{
+
+  public:
+    DsfTrackGenerator() {}
+
+    // Creates a list of tracks from 2d point correspondences.
+    //
+    // Creates a disjoint-set forest (DSF) and 2d tracks from pairwise matches. We create a singleton for union-find
+    // set elements from camera index of a detection and the index of that detection in that camera's keypoint list,
+    // i.e. (i,k).
+    std::vector<SfmTrack2d> generate_tracks_from_pairwise_matches(
+        const MatchIndicesMap matches_dict,
+        const KeypointsList keypoints_list)
+    {
+      std::vector<SfmTrack2d> track_2d_list;
+
+      // TODO: put these checks into the Keypoints class.
+      // check to ensure dimensions of coordinates are correct
+      //dims_valid = all([kps.coordinates.ndim == 2 for kps in keypoints_list])
+      //if not dims_valid:
+      //    raise Exception("Dimensions for Keypoint coordinates incorrect. Array needs to be 2D")
+
+      std::cout << "[SfmTrack2d] Starting Union-Find..." << std::endl;
+      // Generate the DSF to form tracks
+      DSFMapIndexPair dsf;
+      
+      // for DSF finally
+      // measurement_idxs represented by k's
+      for (const auto& [pair_idxs, corr_idxs]: matches_dict) {
+        size_t i1 = pair_idxs.first;
+        size_t i2 =  pair_idxs.second;
+        for (size_t k = 0; k < corr_idxs.rows(); k++)
+        {
+          size_t k1 = corr_idxs(k,0);
+          size_t k2 = corr_idxs(k,1);
+          dsf.merge(IndexPair(i1, k1), IndexPair(i2, k2));
+        }
+      }
+
+      std::cout << "[SfmTrack2d] Union-Find Complete" << std::endl;
+      const std::map<IndexPair, std::set<IndexPair> > key_sets = dsf.sets();
+
+      size_t erroneous_track_count = 0;
+      // create a landmark map: a list of tracks
+      // Each track will be represented as a list of (camera_idx, measurements)
+      for (const auto& [set_id, index_pair_set]: key_sets) {
+        // Initialize track from measurements
+        SfmTrack2d track_2d;
+
+        for (const auto& index_pair: index_pair_set)
+        {
+          // camera_idx is represented by i
+          // measurement_idx is represented by k
+          size_t i = index_pair.i();
+          size_t k = index_pair.j();
+          // add measurement in this track
+          track_2d.addMeasurement(NamedSfmMeasurement(i, keypoints_list[i].coordinates.row(k)));
+        }
+
+        // Skip erroneous track that had repeated measurements within the same image
+        // This is an expected result from an incorrect correspondence slipping through
+        if (track_2d.validate_unique_cameras())
+        {
+          track_2d_list.emplace_back(track_2d);
+        } else {
+          erroneous_track_count += 1;
+        }
+      }
+
+      double erroneous_track_pct = key_sets.size() > 0 ? erroneous_track_count / key_sets.size() * 100 : std::nan("1");
+      // TODO: restrict decimal places to 2 decimals.
+      std::cout << "DSF Union-Find: " << erroneous_track_pct;
+      std::cout << "% of tracks discarded from multiple obs. in a single image." << std::endl;
+      
+      // TODO: return the Transitivity failure percentage here.
+      return track_2d_list;
+    }
+};
+
+} // namespace gtsam
+
diff --git a/gtsam/sfm/sfm.i b/gtsam/sfm/sfm.i
index 83bd07b13f..84988f06cc 100644
--- a/gtsam/sfm/sfm.i
+++ b/gtsam/sfm/sfm.i
@@ -4,6 +4,53 @@
 
 namespace gtsam {
 
+#include <gtsam/sfm/GtsfmData.h>
+class GtsfmData
+{
+  GtsfmData(const int numberImages);
+  void write_points(std::vector<gtsam::GtsfmImage>& images, const std::string save_dir);
+  void write_images(std::vector<gtsam::GtsfmImage>& images, const std::string save_dir);
+};
+
+#include <gtsam/sfm/DsfTrackGenerator.h>
+
+class MatchIndicesMap {
+  MatchIndicesMap();
+  MatchIndicesMap(const gtsam::MatchIndicesMap& other);
+
+  size_t size() const;
+  bool empty() const;
+  void clear();
+  gtsam::CorrespondenceIndices at(const pair<size_t, size_t>& keypair) const;
+};
+
+
+class KeypointsList {
+  KeypointsList();
+  KeypointsList(const gtsam::KeypointsList& other);
+  void push_back(const gtsam::Keypoints& keypoints);
+  size_t size() const;
+  bool empty() const;
+  void clear();
+  gtsam::Keypoints at(const size_t& index) const;
+};
+
+
+class Keypoints
+{
+  Keypoints(const gtsam::KeypointCoordinates& coordinates);
+  gtsam::KeypointCoordinates coordinates;
+}; // check if this should be a method
+
+
+class DsfTrackGenerator {
+  DsfTrackGenerator();
+  std::vector<SfmTrack2d> generate_tracks_from_pairwise_matches(
+    const gtsam::MatchIndicesMap matches_dict,
+    const gtsam::KeypointsList keypoints_list);
+};
+
+
 #include <gtsam/nonlinear/NonlinearFactorGraph.h>
 #include <gtsam/nonlinear/Values.h>
 #include <gtsam/sfm/SfmTrack.h>
diff --git a/python/CMakeLists.txt b/python/CMakeLists.txt
index c14f02ddab..91cb75edd8 100644
--- a/python/CMakeLists.txt
+++ b/python/CMakeLists.txt
@@ -51,7 +51,9 @@ set(ignore
     gtsam::BinaryMeasurementsUnit3
     gtsam::BinaryMeasurementsRot3
     gtsam::DiscreteKey
-    gtsam::KeyPairDoubleMap)
+    gtsam::KeyPairDoubleMap
+    gtsam::MatchIndicesMap
+    gtsam::KeypointsList)
 
 set(interface_headers
     ${PROJECT_SOURCE_DIR}/gtsam/gtsam.i
@@ -145,8 +147,11 @@ if(GTSAM_UNSTABLE_BUILD_PYTHON)
             gtsam::CameraSetCal3Bundler
             gtsam::CameraSetCal3Unified
             gtsam::CameraSetCal3Fisheye
-            gtsam::KeyPairDoubleMap)
-            
+            gtsam::KeyPairDoubleMap
+            gtsam::MatchIndicesMap
+            gtsam::KeypointsList)
+
+
     pybind_wrap(${GTSAM_PYTHON_UNSTABLE_TARGET} # target
             ${PROJECT_SOURCE_DIR}/gtsam_unstable/gtsam_unstable.i # interface_header
             "gtsam_unstable.cpp" # generated_cpp
diff --git a/python/gtsam/preamble/sfm.h b/python/gtsam/preamble/sfm.h
index 8ff0ea82ee..a51e963dd8 100644
--- a/python/gtsam/preamble/sfm.h
+++ b/python/gtsam/preamble/sfm.h
@@ -24,3 +24,8 @@ PYBIND11_MAKE_OPAQUE(
     std::vector<gtsam::BinaryMeasurement<gtsam::Unit3>>);
 PYBIND11_MAKE_OPAQUE(
     std::vector<gtsam::BinaryMeasurement<gtsam::Rot3>>);
+PYBIND11_MAKE_OPAQUE(
+    std::vector<gtsam::Keypoints>);
+
+
+PYBIND11_MAKE_OPAQUE(gtsam::MatchIndicesMap);
\ No newline at end of file
diff --git a/python/gtsam/specializations/sfm.h b/python/gtsam/specializations/sfm.h
index 311b2c59b4..297aee262b 100644
--- a/python/gtsam/specializations/sfm.h
+++ b/python/gtsam/specializations/sfm.h
@@ -18,6 +18,12 @@ py::bind_vector<std::vector<gtsam::BinaryMeasurement<gtsam::Unit3> > >(
 py::bind_vector<std::vector<gtsam::BinaryMeasurement<gtsam::Rot3> > >(
     m_, "BinaryMeasurementsRot3");
 py::bind_map<gtsam::KeyPairDoubleMap>(m_, "KeyPairDoubleMap");
+py::bind_map<gtsam::MatchIndicesMap>(m_, "MatchIndicesMap");
+
+py::bind_vector<
+    std::vector<gtsam::Keypoints> >(
+    m_, "KeypointsList");
+
 
 py::bind_vector<
     std::vector<gtsam::SfmTrack> >(

From 6e13456db45380bcb99e68e1139e8a9b26b9b4f4 Mon Sep 17 00:00:00 2001
From: senselessdev1 <johnlambert@hayoungs-mbp.lan>
Date: Fri, 15 Jul 2022 23:35:00 -0400
Subject: [PATCH 196/433] Add Python unit test

---
 gtsam/sfm/DsfTrackGenerator.h                |  2 +-
 python/gtsam/tests/test_DsfTrackGenerator.py | 34 ++++++++++++++++++++
 2 files changed, 35 insertions(+), 1 deletion(-)
 create mode 100644 python/gtsam/tests/test_DsfTrackGenerator.py

diff --git a/gtsam/sfm/DsfTrackGenerator.h b/gtsam/sfm/DsfTrackGenerator.h
index 5a3e6661eb..e26d60769f 100644
--- a/gtsam/sfm/DsfTrackGenerator.h
+++ b/gtsam/sfm/DsfTrackGenerator.h
@@ -11,7 +11,7 @@
 
 /**
  * @file DsfTrackGenerator.h
- * @date May 2022
+ * @date July 2022
  * @author John Lambert
  * @brief Identifies connected components in the keypoint matched graph.
  */
diff --git a/python/gtsam/tests/test_DsfTrackGenerator.py b/python/gtsam/tests/test_DsfTrackGenerator.py
new file mode 100644
index 0000000000..88b12ce3c1
--- /dev/null
+++ b/python/gtsam/tests/test_DsfTrackGenerator.py
@@ -0,0 +1,34 @@
+"""
+
+Authors: John Lambert
+"""
+
+import unittest
+
+import numpy as np
+
+import gtsam
+from gtsam import DsfTrackGenerator, Keypoints, KeypointsList, MatchIndicesMap
+from gtsam.utils.test_case import GtsamTestCase
+
+
+class TestDsfTrackGenerator(GtsamTestCase):
+    """Tests for DsfTrackGenerator."""
+
+    def test_track_generation(self) -> None:
+        """ """
+        kps_i0 = Keypoints(coordinates=np.array([[0,0],[1,1]]))
+        kps_i1 = Keypoints(coordinates=np.array([[2,2],[3,3],[4,4]]))
+        kps_i2 = Keypoints(coordinates=np.array([[5,5],[6,6]]))
+
+        keypoints_list = KeypointsList()
+        keypoints_list.append(kps_i0)
+        keypoints_list.append(kps_i1)
+        keypoints_list.append(kps_i2)
+
+        matches_dict = MatchIndicesMap()
+        matches_dict[(0,0)] = np.array([[0,0],[1,1]])
+        matches_dict[(1,1)] = np.array([[2,2],[3,3],[4,4]])
+        import pdb; pdb.set_trace()
+
+        tracks = DsfTrackGenerator.generate_tracks_from_pairwise_matches(matches_dict, keypoints_list)

From 629b9cd9555e6e4fd1cd24ace80b90710e1dcb91 Mon Sep 17 00:00:00 2001
From: senselessdev1 <johnlambert@hayoungs-mbp.lan>
Date: Sat, 16 Jul 2022 00:26:57 -0400
Subject: [PATCH 197/433] clean up docstrings

---
 gtsam/sfm/DsfTrackGenerator.h                | 40 ++++++++------------
 python/gtsam/tests/test_DsfTrackGenerator.py | 13 ++++---
 2 files changed, 22 insertions(+), 31 deletions(-)

diff --git a/gtsam/sfm/DsfTrackGenerator.h b/gtsam/sfm/DsfTrackGenerator.h
index e26d60769f..095faa72b3 100644
--- a/gtsam/sfm/DsfTrackGenerator.h
+++ b/gtsam/sfm/DsfTrackGenerator.h
@@ -48,13 +48,9 @@ struct Keypoints
 };
 
 
-
-
-
-// TODO: THIS CLASSNAME IS DUPLICATED in SfmTrack.h, conflicts
 // @param camera index
 // @param 2d measurement
-// Implemented as named tuple, instead of std::pair
+// Implemented as named tuple, instead of std::pair (like SfmMeasurement in SfmTrack.h)
 struct NamedSfmMeasurement
 {
   size_t i;
@@ -93,7 +89,7 @@ class SfmTrack2d
 
 using MatchIndicesMap = std::map<ImagePair, CorrespondenceIndices>;
 using KeypointsList = std::vector<Keypoints>;
-using KeypointsVector = std::vector<Keypoints>; // TODO: prefer KeypointsSet?
+using KeypointsVector = std::vector<Keypoints>; // TODO(johnwlambert): prefer KeypointsSet?
 
 
 class DsfTrackGenerator
@@ -113,25 +109,20 @@ class DsfTrackGenerator
     {
       std::vector<SfmTrack2d> track_2d_list;
 
-      // TODO: put these checks into the Keypoints class.
-      // check to ensure dimensions of coordinates are correct
-      //dims_valid = all([kps.coordinates.ndim == 2 for kps in keypoints_list])
-      //if not dims_valid:
-      //    raise Exception("Dimensions for Keypoint coordinates incorrect. Array needs to be 2D")
-
       std::cout << "[SfmTrack2d] Starting Union-Find..." << std::endl;
-      // Generate the DSF to form tracks
+      // Generate the DSF to form tracks.
       DSFMapIndexPair dsf;
       
-      // for DSF finally
-      // measurement_idxs represented by k's
       for (const auto& [pair_idxs, corr_idxs]: matches_dict) {
+        // Image pair is (i1,i2).
         size_t i1 = pair_idxs.first;
         size_t i2 =  pair_idxs.second;
         for (size_t k = 0; k < corr_idxs.rows(); k++)
         {
+          // Measurement indices are found in a single matrix row, as (k1,k2).
           size_t k1 = corr_idxs(k,0);
           size_t k2 = corr_idxs(k,1);
+          // Unique keys for the DSF are (i,k), representing keypoint index in an image.
           dsf.merge(IndexPair(i1, k1), IndexPair(i2, k2));
         }
       }
@@ -140,24 +131,23 @@ class DsfTrackGenerator
       const std::map<IndexPair, std::set<IndexPair> > key_sets = dsf.sets();
 
       size_t erroneous_track_count = 0;
-      // create a landmark map: a list of tracks
-      // Each track will be represented as a list of (camera_idx, measurements)
+      // Create a list of tracks.
+      // Each track will be represented as a list of (camera_idx, measurements).
       for (const auto& [set_id, index_pair_set]: key_sets) {
-        // Initialize track from measurements
+        // Initialize track from measurements.
         SfmTrack2d track_2d;
 
         for (const auto& index_pair: index_pair_set)
         {
-          // camera_idx is represented by i
-          // measurement_idx is represented by k
+          // Camera index is represented by i, and measurement index is represented by k.
           size_t i = index_pair.i();
           size_t k = index_pair.j();
-          // add measurement in this track
+          // Add measurement to this track.
           track_2d.addMeasurement(NamedSfmMeasurement(i, keypoints_list[i].coordinates.row(k)));
         }
 
-        // Skip erroneous track that had repeated measurements within the same image
-        // This is an expected result from an incorrect correspondence slipping through
+        // Skip erroneous track that had repeated measurements within the same image.
+        // This is an expected result from an incorrect correspondence slipping through.
         if (track_2d.validate_unique_cameras())
         {
           track_2d_list.emplace_back(track_2d);
@@ -167,11 +157,11 @@ class DsfTrackGenerator
       }
 
       double erroneous_track_pct = key_sets.size() > 0 ? erroneous_track_count / key_sets.size() * 100 : std::nan("1");
-      // TODO: restrict decimal places to 2 decimals.
+      // TODO(johnwlambert): restrict decimal places to 2 decimals.
       std::cout << "DSF Union-Find: " << erroneous_track_pct;
       std::cout << "% of tracks discarded from multiple obs. in a single image." << std::endl;
       
-      // TODO: return the Transitivity failure percentage here.
+      // TODO(johnwlambert): return the Transitivity failure percentage here.
       return track_2d_list;
     }
 };
diff --git a/python/gtsam/tests/test_DsfTrackGenerator.py b/python/gtsam/tests/test_DsfTrackGenerator.py
index 88b12ce3c1..5546453a66 100644
--- a/python/gtsam/tests/test_DsfTrackGenerator.py
+++ b/python/gtsam/tests/test_DsfTrackGenerator.py
@@ -16,19 +16,20 @@ class TestDsfTrackGenerator(GtsamTestCase):
     """Tests for DsfTrackGenerator."""
 
     def test_track_generation(self) -> None:
-        """ """
-        kps_i0 = Keypoints(coordinates=np.array([[0,0],[1,1]]))
-        kps_i1 = Keypoints(coordinates=np.array([[2,2],[3,3],[4,4]]))
-        kps_i2 = Keypoints(coordinates=np.array([[5,5],[6,6]]))
+        """Ensures that DSF generates two tracks from measurements in 3 images (H=200,W=400)."""
+        kps_i0 = Keypoints(coordinates=np.array([[10.,20],[30,40]]))
+        kps_i1 = Keypoints(coordinates=np.array([[50.,60],[70,80],[90,100]]))
+        kps_i2 = Keypoints(coordinates=np.array([[110.,120],[130,140]]))
 
         keypoints_list = KeypointsList()
         keypoints_list.append(kps_i0)
         keypoints_list.append(kps_i1)
         keypoints_list.append(kps_i2)
 
+        # For each image pair (i1,i2), we provide a (K,2) matrix of corresponding image indices (k1,k2).
         matches_dict = MatchIndicesMap()
-        matches_dict[(0,0)] = np.array([[0,0],[1,1]])
-        matches_dict[(1,1)] = np.array([[2,2],[3,3],[4,4]])
+        matches_dict[(0,1)] = np.array([[0,0],[1,1]])
+        matches_dict[(1,2)] = np.array([[2,0],[1,1]])
         import pdb; pdb.set_trace()
 
         tracks = DsfTrackGenerator.generate_tracks_from_pairwise_matches(matches_dict, keypoints_list)

From 2434d3a41eac380ed3cd6d60e1d3671fb90bbcb6 Mon Sep 17 00:00:00 2001
From: senselessdev1 <johnlambert@hayoungs-mbp.lan>
Date: Sat, 16 Jul 2022 01:23:54 -0400
Subject: [PATCH 198/433] Fix unwrapped SfmTrack2d, and instantiate generator
 before calling its method

---
 gtsam/sfm/DsfTrackGenerator.h                |  4 ++--
 gtsam/sfm/sfm.i                              | 14 +++++++++++---
 python/gtsam/tests/test_DsfTrackGenerator.py | 16 ++++++++--------
 3 files changed, 21 insertions(+), 13 deletions(-)

diff --git a/gtsam/sfm/DsfTrackGenerator.h b/gtsam/sfm/DsfTrackGenerator.h
index 095faa72b3..619ca40ca8 100644
--- a/gtsam/sfm/DsfTrackGenerator.h
+++ b/gtsam/sfm/DsfTrackGenerator.h
@@ -104,8 +104,8 @@ class DsfTrackGenerator
     // set elements from camera index of a detection and the index of that detection in that camera's keypoint list,
     // i.e. (i,k).
     std::vector<SfmTrack2d> generate_tracks_from_pairwise_matches(
-        const MatchIndicesMap matches_dict,
-        const KeypointsList keypoints_list)
+        const MatchIndicesMap& matches_dict,
+        const KeypointsList& keypoints_list)
     {
       std::vector<SfmTrack2d> track_2d_list;
 
diff --git a/gtsam/sfm/sfm.i b/gtsam/sfm/sfm.i
index 84988f06cc..89fc2b2812 100644
--- a/gtsam/sfm/sfm.i
+++ b/gtsam/sfm/sfm.i
@@ -43,11 +43,19 @@ class Keypoints
 }; // check if this should be a method
 
 
+class SfmTrack2d
+{
+  void addMeasurement(const gtsam::NamedSfmMeasurement &m);
+  std::vector<gtsam::NamedSfmMeasurement> measurements();
+  bool validate_unique_cameras();
+};
+
+
 class DsfTrackGenerator {
   DsfTrackGenerator();
-  std::vector<SfmTrack2d> generate_tracks_from_pairwise_matches(
-    const gtsam::MatchIndicesMap matches_dict,
-    const gtsam::KeypointsList keypoints_list);
+  std::vector<gtsam::SfmTrack2d> generate_tracks_from_pairwise_matches(
+    const gtsam::MatchIndicesMap& matches_dict,
+    const gtsam::KeypointsList& keypoints_list);
 };
 
 
diff --git a/python/gtsam/tests/test_DsfTrackGenerator.py b/python/gtsam/tests/test_DsfTrackGenerator.py
index 5546453a66..51665df7ad 100644
--- a/python/gtsam/tests/test_DsfTrackGenerator.py
+++ b/python/gtsam/tests/test_DsfTrackGenerator.py
@@ -1,4 +1,4 @@
-"""
+"""Unit tests for track generation using a Disjoint Set Forest data structure.
 
 Authors: John Lambert
 """
@@ -17,9 +17,9 @@ class TestDsfTrackGenerator(GtsamTestCase):
 
     def test_track_generation(self) -> None:
         """Ensures that DSF generates two tracks from measurements in 3 images (H=200,W=400)."""
-        kps_i0 = Keypoints(coordinates=np.array([[10.,20],[30,40]]))
-        kps_i1 = Keypoints(coordinates=np.array([[50.,60],[70,80],[90,100]]))
-        kps_i2 = Keypoints(coordinates=np.array([[110.,120],[130,140]]))
+        kps_i0 = Keypoints(coordinates=np.array([[10.0, 20], [30, 40]]))
+        kps_i1 = Keypoints(coordinates=np.array([[50.0, 60], [70, 80], [90, 100]]))
+        kps_i2 = Keypoints(coordinates=np.array([[110.0, 120], [130, 140]]))
 
         keypoints_list = KeypointsList()
         keypoints_list.append(kps_i0)
@@ -28,8 +28,8 @@ def test_track_generation(self) -> None:
 
         # For each image pair (i1,i2), we provide a (K,2) matrix of corresponding image indices (k1,k2).
         matches_dict = MatchIndicesMap()
-        matches_dict[(0,1)] = np.array([[0,0],[1,1]])
-        matches_dict[(1,2)] = np.array([[2,0],[1,1]])
-        import pdb; pdb.set_trace()
+        matches_dict[(0, 1)] = np.array([[0, 0], [1, 1]])
+        matches_dict[(1, 2)] = np.array([[2, 0], [1, 1]])
 
-        tracks = DsfTrackGenerator.generate_tracks_from_pairwise_matches(matches_dict, keypoints_list)
+        tracks = DsfTrackGenerator().generate_tracks_from_pairwise_matches(matches_dict, keypoints_list)
+        print(tracks[0])

From 6e45be3d98ecc9bbd52ebd7be256e021cf01d7a3 Mon Sep 17 00:00:00 2001
From: senselessdev1 <johnlambert@hayoungs-mbp.lan>
Date: Sat, 16 Jul 2022 16:09:21 -0400
Subject: [PATCH 199/433] fix all wrapper issues

---
 gtsam/sfm/DsfTrackGenerator.h                | 16 ++++++++------
 gtsam/sfm/sfm.i                              | 15 ++++++-------
 python/gtsam/tests/test_DsfTrackGenerator.py | 23 +++++++++++++++++++-
 3 files changed, 38 insertions(+), 16 deletions(-)

diff --git a/gtsam/sfm/DsfTrackGenerator.h b/gtsam/sfm/DsfTrackGenerator.h
index 619ca40ca8..6483bae97b 100644
--- a/gtsam/sfm/DsfTrackGenerator.h
+++ b/gtsam/sfm/DsfTrackGenerator.h
@@ -21,6 +21,7 @@
 #include <Eigen/Core>
 
 #include <gtsam/base/DSFMap.h>
+#include <gtsam/geometry/Point2.h>
 
 #include <algorithm>
 #include <iostream>
@@ -34,9 +35,10 @@ typedef DSFMap<IndexPair> DSFMapIndexPair;
 typedef std::pair<size_t, size_t> ImagePair;
 typedef Eigen::MatrixX2i CorrespondenceIndices; // N x 2 array
 
-
+//struct Keypoints;
 using KeypointCoordinates = Eigen::MatrixX2d;
 
+
 struct Keypoints
 {
   KeypointCoordinates coordinates;
@@ -47,6 +49,10 @@ struct Keypoints
   Keypoints(const gtsam::KeypointCoordinates& coordinates): coordinates(coordinates) {}; // boost::none
 };
 
+using KeypointsList = std::vector<Keypoints>;
+using KeypointsVector = std::vector<Keypoints>; // TODO(johnwlambert): prefer KeypointsSet?
+using MatchIndicesMap = std::map<ImagePair, CorrespondenceIndices>;
+
 
 // @param camera index
 // @param 2d measurement
@@ -54,9 +60,9 @@ struct Keypoints
 struct NamedSfmMeasurement
 {
   size_t i;
-  Point2 uv;
+  gtsam::Point2 uv;
 
-  NamedSfmMeasurement(size_t i, Point2 uv) : i(i), uv(uv) {}
+  NamedSfmMeasurement(size_t i, gtsam::Point2 uv) : i(i), uv(uv) {}
 };
 
 
@@ -87,10 +93,6 @@ class SfmTrack2d
   }
 };
 
-using MatchIndicesMap = std::map<ImagePair, CorrespondenceIndices>;
-using KeypointsList = std::vector<Keypoints>;
-using KeypointsVector = std::vector<Keypoints>; // TODO(johnwlambert): prefer KeypointsSet?
-
 
 class DsfTrackGenerator
 {
diff --git a/gtsam/sfm/sfm.i b/gtsam/sfm/sfm.i
index 89fc2b2812..0374d99b3f 100644
--- a/gtsam/sfm/sfm.i
+++ b/gtsam/sfm/sfm.i
@@ -4,14 +4,6 @@
 
 namespace gtsam {
 
-#include <gtsam/sfm/GtsfmData.h>
-class GtsfmData
-{
-  GtsfmData(const int numberImages);
-  void write_points(std::vector<gtsam::GtsfmImage>& images, const std::string save_dir);
-  void write_images(std::vector<gtsam::GtsfmImage>& images, const std::string save_dir);
-};
-
 #include <gtsam/sfm/DsfTrackGenerator.h>
 
 class MatchIndicesMap {
@@ -43,6 +35,13 @@ class Keypoints
 }; // check if this should be a method
 
 
+class NamedSfmMeasurement
+{
+  size_t i;
+  gtsam::Point2 uv;
+  NamedSfmMeasurement(size_t i, gtsam::Point2 uv);
+};
+
 class SfmTrack2d
 {
   void addMeasurement(const gtsam::NamedSfmMeasurement &m);
diff --git a/python/gtsam/tests/test_DsfTrackGenerator.py b/python/gtsam/tests/test_DsfTrackGenerator.py
index 51665df7ad..953167dca5 100644
--- a/python/gtsam/tests/test_DsfTrackGenerator.py
+++ b/python/gtsam/tests/test_DsfTrackGenerator.py
@@ -32,4 +32,25 @@ def test_track_generation(self) -> None:
         matches_dict[(1, 2)] = np.array([[2, 0], [1, 1]])
 
         tracks = DsfTrackGenerator().generate_tracks_from_pairwise_matches(matches_dict, keypoints_list)
-        print(tracks[0])
+
+        assert len(tracks) == 3
+
+        # Verify track 0.
+        assert np.allclose(tracks[0].measurements()[0].uv, np.array([10.0, 20.0]))
+        assert np.allclose(tracks[0].measurements()[1].uv, np.array([50.0, 60.0]))
+        assert tracks[0].measurements()[0].i, 0
+        assert tracks[0].measurements()[1].i, 1
+
+        # Verify track 1.
+        assert np.allclose(tracks[1].measurements()[0].uv, np.array([30.0, 40.0]))
+        assert np.allclose(tracks[1].measurements()[1].uv, np.array([70.0, 80.0]))
+        assert np.allclose(tracks[1].measurements()[2].uv, np.array([130.0, 140.0]))
+        assert tracks[1].measurements()[0].i, 0
+        assert tracks[1].measurements()[1].i, 1
+        assert tracks[1].measurements()[2].i, 2
+
+        # Verify track 2.
+        assert np.allclose(tracks[2].measurements()[0].uv, np.array([90.0, 100.0]))
+        assert np.allclose(tracks[2].measurements()[1].uv, np.array([110.0, 120.0]))
+        assert tracks[2].measurements()[0].i, 1
+        assert tracks[2].measurements()[1].i, 2

From b8fb26a0b03f096214c350b57d288d71104aedd7 Mon Sep 17 00:00:00 2001
From: Scott <scott.t.mcmichael@nasa.gov>
Date: Sat, 16 Jul 2022 15:18:45 -0700
Subject: [PATCH 200/433] Clear ConcurrentMap before loading archive data

---
 gtsam/base/ConcurrentMap.h | 1 +
 1 file changed, 1 insertion(+)

diff --git a/gtsam/base/ConcurrentMap.h b/gtsam/base/ConcurrentMap.h
index 2d7cbd6dbe..cf4537d4c2 100644
--- a/gtsam/base/ConcurrentMap.h
+++ b/gtsam/base/ConcurrentMap.h
@@ -113,6 +113,7 @@ class ConcurrentMap : public ConcurrentMapBase<KEY,VALUE> {
   template<class Archive>
   void load(Archive& ar, const unsigned int /*version*/)
   {
+    this->clear();
     // Load into STL container and then fill our map
     FastVector<std::pair<KEY, VALUE> > map;
     ar & BOOST_SERIALIZATION_NVP(map);

From 361e3f601c79c3a467a17392db3e40fb1e9db443 Mon Sep 17 00:00:00 2001
From: senselessdev1 <johnlambert@hayoungs-mbp.lan>
Date: Sat, 16 Jul 2022 22:29:01 -0400
Subject: [PATCH 201/433] Remove C++17 decompositions, and address comments

---
 gtsam/sfm/DsfTrackGenerator.h                | 42 +++++++++++++++-----
 gtsam/sfm/sfm.i                              |  2 +-
 python/gtsam/tests/test_DsfTrackGenerator.py | 18 +++++----
 3 files changed, 43 insertions(+), 19 deletions(-)

diff --git a/gtsam/sfm/DsfTrackGenerator.h b/gtsam/sfm/DsfTrackGenerator.h
index 6483bae97b..c67215a91f 100644
--- a/gtsam/sfm/DsfTrackGenerator.h
+++ b/gtsam/sfm/DsfTrackGenerator.h
@@ -13,7 +13,7 @@
  * @file DsfTrackGenerator.h
  * @date July 2022
  * @author John Lambert
- * @brief Identifies connected components in the keypoint matched graph.
+ * @brief Identifies connected components in the keypoint matches graph.
  */
 
 #pragma once
@@ -66,6 +66,11 @@ struct NamedSfmMeasurement
 };
 
 
+/**
+ * @brief Track containing 2D measurements associated with a single 3D point.
+ * Note: Equivalent to gtsam.SfmTrack, but without the 3d measurement.
+ * This class holds data temporarily before 3D point is initialized.
+ */
 class SfmTrack2d
 {
   private:
@@ -80,7 +85,7 @@ class SfmTrack2d
   // @brief Validates the track by checking that no two measurements are from the same camera.
   //
   // returns boolean result of the validation.
-  bool validate_unique_cameras()
+  bool has_unique_cameras()
   {
     std::vector<int> track_cam_idxs;
     for (auto & measurement: measurements_)
@@ -93,18 +98,25 @@ class SfmTrack2d
   }
 };
 
-
+/**
+ * @brief Generates point tracks from connected components in the keypoint matches graph.
+ */
 class DsfTrackGenerator
 {
 
   public:
+    /** Default constructor. */
     DsfTrackGenerator() {}
 
     // Creates a list of tracks from 2d point correspondences.
     //
-    // Creates a disjoint-set forest (DSF) and 2d tracks from pairwise matches. We create a singleton for union-find
-    // set elements from camera index of a detection and the index of that detection in that camera's keypoint list,
+    // Creates a disjoint-set forest (DSF) and 2d tracks from pairwise matches.
+    // We create a singleton for union-find set elements from camera index of a
+    // detection and the index of that detection in that camera's keypoint list,
     // i.e. (i,k).
+    // @param Map from (i1,i2) image pair indices to (K,2) matrix, for K
+    //        correspondence indices, from each image.
+    // @param Length-N list of keypoints, for N images/cameras.
     std::vector<SfmTrack2d> generate_tracks_from_pairwise_matches(
         const MatchIndicesMap& matches_dict,
         const KeypointsList& keypoints_list)
@@ -115,7 +127,10 @@ class DsfTrackGenerator
       // Generate the DSF to form tracks.
       DSFMapIndexPair dsf;
       
-      for (const auto& [pair_idxs, corr_idxs]: matches_dict) {
+      for (const auto& kv: matches_dict) {
+        const auto pair_idxs = kv.first;
+        const auto corr_idxs = kv.second;
+
         // Image pair is (i1,i2).
         size_t i1 = pair_idxs.first;
         size_t i2 =  pair_idxs.second;
@@ -132,10 +147,16 @@ class DsfTrackGenerator
       std::cout << "[SfmTrack2d] Union-Find Complete" << std::endl;
       const std::map<IndexPair, std::set<IndexPair> > key_sets = dsf.sets();
 
+      // Return immediately if no sets were found.
+      if (key_sets.empty()) return track_2d_list;
+
       size_t erroneous_track_count = 0;
       // Create a list of tracks.
       // Each track will be represented as a list of (camera_idx, measurements).
-      for (const auto& [set_id, index_pair_set]: key_sets) {
+      for (const auto& kv: key_sets) {
+        const auto set_id = kv.first;
+        const auto index_pair_set = kv.second;
+
         // Initialize track from measurements.
         SfmTrack2d track_2d;
 
@@ -150,15 +171,16 @@ class DsfTrackGenerator
 
         // Skip erroneous track that had repeated measurements within the same image.
         // This is an expected result from an incorrect correspondence slipping through.
-        if (track_2d.validate_unique_cameras())
+        if (track_2d.has_unique_cameras())
         {
           track_2d_list.emplace_back(track_2d);
         } else {
-          erroneous_track_count += 1;
+          erroneous_track_count++;
         }
       }
 
-      double erroneous_track_pct = key_sets.size() > 0 ? erroneous_track_count / key_sets.size() * 100 : std::nan("1");
+      double erroneous_track_pct = static_cast<float>(erroneous_track_count)
+                                   / static_cast<float>(key_sets.size()) * 100;
       // TODO(johnwlambert): restrict decimal places to 2 decimals.
       std::cout << "DSF Union-Find: " << erroneous_track_pct;
       std::cout << "% of tracks discarded from multiple obs. in a single image." << std::endl;
diff --git a/gtsam/sfm/sfm.i b/gtsam/sfm/sfm.i
index 0374d99b3f..2a683a032c 100644
--- a/gtsam/sfm/sfm.i
+++ b/gtsam/sfm/sfm.i
@@ -46,7 +46,7 @@ class SfmTrack2d
 {
   void addMeasurement(const gtsam::NamedSfmMeasurement &m);
   std::vector<gtsam::NamedSfmMeasurement> measurements();
-  bool validate_unique_cameras();
+  bool has_unique_cameras();
 };
 
 
diff --git a/python/gtsam/tests/test_DsfTrackGenerator.py b/python/gtsam/tests/test_DsfTrackGenerator.py
index 953167dca5..cb643bdb93 100644
--- a/python/gtsam/tests/test_DsfTrackGenerator.py
+++ b/python/gtsam/tests/test_DsfTrackGenerator.py
@@ -16,7 +16,7 @@ class TestDsfTrackGenerator(GtsamTestCase):
     """Tests for DsfTrackGenerator."""
 
     def test_track_generation(self) -> None:
-        """Ensures that DSF generates two tracks from measurements in 3 images (H=200,W=400)."""
+        """Ensures that DSF generates three tracks from measurements in 3 images (H=200,W=400)."""
         kps_i0 = Keypoints(coordinates=np.array([[10.0, 20], [30, 40]]))
         kps_i1 = Keypoints(coordinates=np.array([[50.0, 60], [70, 80], [90, 100]]))
         kps_i2 = Keypoints(coordinates=np.array([[110.0, 120], [130, 140]]))
@@ -32,25 +32,27 @@ def test_track_generation(self) -> None:
         matches_dict[(1, 2)] = np.array([[2, 0], [1, 1]])
 
         tracks = DsfTrackGenerator().generate_tracks_from_pairwise_matches(matches_dict, keypoints_list)
+        import pdb
 
+        pdb.set_trace()
         assert len(tracks) == 3
 
         # Verify track 0.
         assert np.allclose(tracks[0].measurements()[0].uv, np.array([10.0, 20.0]))
         assert np.allclose(tracks[0].measurements()[1].uv, np.array([50.0, 60.0]))
-        assert tracks[0].measurements()[0].i, 0
-        assert tracks[0].measurements()[1].i, 1
+        assert tracks[0].measurements()[0].i == 0
+        assert tracks[0].measurements()[1].i == 1
 
         # Verify track 1.
         assert np.allclose(tracks[1].measurements()[0].uv, np.array([30.0, 40.0]))
         assert np.allclose(tracks[1].measurements()[1].uv, np.array([70.0, 80.0]))
         assert np.allclose(tracks[1].measurements()[2].uv, np.array([130.0, 140.0]))
-        assert tracks[1].measurements()[0].i, 0
-        assert tracks[1].measurements()[1].i, 1
-        assert tracks[1].measurements()[2].i, 2
+        assert tracks[1].measurements()[0].i == 0
+        assert tracks[1].measurements()[1].i == 1
+        assert tracks[1].measurements()[2].i == 2
 
         # Verify track 2.
         assert np.allclose(tracks[2].measurements()[0].uv, np.array([90.0, 100.0]))
         assert np.allclose(tracks[2].measurements()[1].uv, np.array([110.0, 120.0]))
-        assert tracks[2].measurements()[0].i, 1
-        assert tracks[2].measurements()[1].i, 2
+        assert tracks[2].measurements()[0].i == 1
+        assert tracks[2].measurements()[1].i == 2

From 51fb3750e8b82691d0686bddbb1f61934a23238f Mon Sep 17 00:00:00 2001
From: senselessdev1 <johnlambert@hayoungs-mbp.lan>
Date: Sun, 17 Jul 2022 00:31:42 -0400
Subject: [PATCH 202/433] remove stray breakpoint

---
 python/gtsam/tests/test_DsfTrackGenerator.py | 3 ---
 1 file changed, 3 deletions(-)

diff --git a/python/gtsam/tests/test_DsfTrackGenerator.py b/python/gtsam/tests/test_DsfTrackGenerator.py
index cb643bdb93..b9ac223973 100644
--- a/python/gtsam/tests/test_DsfTrackGenerator.py
+++ b/python/gtsam/tests/test_DsfTrackGenerator.py
@@ -32,9 +32,6 @@ def test_track_generation(self) -> None:
         matches_dict[(1, 2)] = np.array([[2, 0], [1, 1]])
 
         tracks = DsfTrackGenerator().generate_tracks_from_pairwise_matches(matches_dict, keypoints_list)
-        import pdb
-
-        pdb.set_trace()
         assert len(tracks) == 3
 
         # Verify track 0.

From f332d21dd7a1a3cd5ccced3cb5634fb3b1f8b470 Mon Sep 17 00:00:00 2001
From: Scott <scott.t.mcmichael@nasa.gov>
Date: Sun, 17 Jul 2022 19:00:24 -0700
Subject: [PATCH 203/433] Add unit test for ConcurrentMap serialization

---
 gtsam/base/tests/testSerializationBase.cpp | 34 ++++++++++++++++++++++
 1 file changed, 34 insertions(+)

diff --git a/gtsam/base/tests/testSerializationBase.cpp b/gtsam/base/tests/testSerializationBase.cpp
index f7aa97b319..d2f4d5f512 100644
--- a/gtsam/base/tests/testSerializationBase.cpp
+++ b/gtsam/base/tests/testSerializationBase.cpp
@@ -18,6 +18,7 @@
 
 #include <gtsam/inference/Key.h>
 
+#include <gtsam/base/ConcurrentMap.h>
 #include <gtsam/base/Matrix.h>
 #include <gtsam/base/MatrixSerialization.h>
 #include <gtsam/base/Vector.h>
@@ -106,6 +107,39 @@ TEST (Serialization, matrix_vector) {
   EXPECT(equalityBinary<Matrix>((Matrix(2, 2) << 1.0, 2.0, 3.0, 4.0).finished()));
 }
 
+/* ************************************************************************* */
+TEST (Serialization, ConcurrentMap) {
+
+  ConcurrentMap<int, std::string> map;
+
+  map.insert(make_pair(1, "apple"));
+  map.insert(make_pair(2, "banana"));
+
+  std::string binaryPath = "saved_map.dat";
+    try {
+    std::ofstream outputStream(binaryPath);
+    boost::archive::binary_oarchive outputArchive(outputStream);
+    outputArchive << map;
+  } catch(...) {
+    EXPECT(false);
+  }
+
+  // Verify that the existing map contents are replaced by the archive data
+  ConcurrentMap<int, std::string> mapFromDisk;
+  mapFromDisk.insert(make_pair(3, "clam"));
+  EXPECT(mapFromDisk.exists(3));
+  try {
+    std::ifstream ifs(binaryPath);
+    boost::archive::binary_iarchive inputArchive(ifs);
+    inputArchive >> mapFromDisk;
+  } catch(...) {
+    EXPECT(false);
+  }
+  EXPECT(mapFromDisk.exists(1));
+  EXPECT(mapFromDisk.exists(2));
+  EXPECT(!mapFromDisk.exists(3));
+}
+
 /* ************************************************************************* */
 
 

From fc35096a1d833dd1d4bf08fc475f86b10c7d49a8 Mon Sep 17 00:00:00 2001
From: John Lambert <johnlambert@gatech.edu>
Date: Tue, 19 Jul 2022 00:34:20 -0400
Subject: [PATCH 204/433] Update style to have bracket on same lines, and
 autoformat

---
 gtsam/sfm/DsfTrackGenerator.h | 190 ++++++++++++++++------------------
 1 file changed, 92 insertions(+), 98 deletions(-)

diff --git a/gtsam/sfm/DsfTrackGenerator.h b/gtsam/sfm/DsfTrackGenerator.h
index c67215a91f..9da588c553 100644
--- a/gtsam/sfm/DsfTrackGenerator.h
+++ b/gtsam/sfm/DsfTrackGenerator.h
@@ -17,7 +17,6 @@
  */
 
 #pragma once
-#include <pybind11/stl.h>
 #include <Eigen/Core>
 
 #include <gtsam/base/DSFMap.h>
@@ -39,8 +38,7 @@ typedef Eigen::MatrixX2i CorrespondenceIndices; // N x 2 array
 using KeypointCoordinates = Eigen::MatrixX2d;
 
 
-struct Keypoints
-{
+struct Keypoints {
   KeypointCoordinates coordinates;
   // typedef'd for Eigen::VectorXd
   boost::optional<gtsam::Vector> scales;
@@ -57,8 +55,7 @@ using MatchIndicesMap = std::map<ImagePair, CorrespondenceIndices>;
 // @param camera index
 // @param 2d measurement
 // Implemented as named tuple, instead of std::pair (like SfmMeasurement in SfmTrack.h)
-struct NamedSfmMeasurement
-{
+struct NamedSfmMeasurement {
   size_t i;
   gtsam::Point2 uv;
 
@@ -71,16 +68,15 @@ struct NamedSfmMeasurement
  * Note: Equivalent to gtsam.SfmTrack, but without the 3d measurement.
  * This class holds data temporarily before 3D point is initialized.
  */
-class SfmTrack2d
-{
-  private:
-    std::vector<NamedSfmMeasurement> measurements_;
-
-  public:
-    void addMeasurement(const NamedSfmMeasurement &m) {
-      measurements_.emplace_back(m);
-    }
-    std::vector<NamedSfmMeasurement> measurements() {return measurements_; }
+class SfmTrack2d {
+ private:
+  std::vector<NamedSfmMeasurement> measurements_;
+
+ public:
+  void addMeasurement(const NamedSfmMeasurement &m) {
+    measurements_.emplace_back(m);
+  }
+  std::vector<NamedSfmMeasurement> measurements() {return measurements_; }
 
   // @brief Validates the track by checking that no two measurements are from the same camera.
   //
@@ -88,7 +84,7 @@ class SfmTrack2d
   bool has_unique_cameras()
   {
     std::vector<int> track_cam_idxs;
-    for (auto & measurement: measurements_)
+    for (auto & measurement : measurements_)
     {
       track_cam_idxs.emplace_back(measurement.i);
     }
@@ -101,93 +97,91 @@ class SfmTrack2d
 /**
  * @brief Generates point tracks from connected components in the keypoint matches graph.
  */
-class DsfTrackGenerator
-{
-
-  public:
-    /** Default constructor. */
-    DsfTrackGenerator() {}
-
-    // Creates a list of tracks from 2d point correspondences.
-    //
-    // Creates a disjoint-set forest (DSF) and 2d tracks from pairwise matches.
-    // We create a singleton for union-find set elements from camera index of a
-    // detection and the index of that detection in that camera's keypoint list,
-    // i.e. (i,k).
-    // @param Map from (i1,i2) image pair indices to (K,2) matrix, for K
-    //        correspondence indices, from each image.
-    // @param Length-N list of keypoints, for N images/cameras.
-    std::vector<SfmTrack2d> generate_tracks_from_pairwise_matches(
-        const MatchIndicesMap& matches_dict,
-        const KeypointsList& keypoints_list)
-    {
-      std::vector<SfmTrack2d> track_2d_list;
-
-      std::cout << "[SfmTrack2d] Starting Union-Find..." << std::endl;
-      // Generate the DSF to form tracks.
-      DSFMapIndexPair dsf;
-      
-      for (const auto& kv: matches_dict) {
-        const auto pair_idxs = kv.first;
-        const auto corr_idxs = kv.second;
-
-        // Image pair is (i1,i2).
-        size_t i1 = pair_idxs.first;
-        size_t i2 =  pair_idxs.second;
-        for (size_t k = 0; k < corr_idxs.rows(); k++)
-        {
-          // Measurement indices are found in a single matrix row, as (k1,k2).
-          size_t k1 = corr_idxs(k,0);
-          size_t k2 = corr_idxs(k,1);
-          // Unique keys for the DSF are (i,k), representing keypoint index in an image.
-          dsf.merge(IndexPair(i1, k1), IndexPair(i2, k2));
-        }
+class DsfTrackGenerator {
+
+ public:
+  /** Default constructor. */
+  DsfTrackGenerator() {}
+
+  // Creates a list of tracks from 2d point correspondences.
+  //
+  // Creates a disjoint-set forest (DSF) and 2d tracks from pairwise matches.
+  // We create a singleton for union-find set elements from camera index of a
+  // detection and the index of that detection in that camera's keypoint list,
+  // i.e. (i,k).
+  // @param Map from (i1,i2) image pair indices to (K,2) matrix, for K
+  //        correspondence indices, from each image.
+  // @param Length-N list of keypoints, for N images/cameras.
+  std::vector<SfmTrack2d> generate_tracks_from_pairwise_matches(
+    const MatchIndicesMap& matches_dict,
+    const KeypointsList& keypoints_list) {
+    std::vector<SfmTrack2d> track_2d_list;
+
+    std::cout << "[SfmTrack2d] Starting Union-Find..." << std::endl;
+    // Generate the DSF to form tracks.
+    DSFMapIndexPair dsf;
+
+    for (const auto& kv : matches_dict) {
+      const auto pair_idxs = kv.first;
+      const auto corr_idxs = kv.second;
+
+      // Image pair is (i1,i2).
+      size_t i1 = pair_idxs.first;
+      size_t i2 =  pair_idxs.second;
+      for (size_t k = 0; k < corr_idxs.rows(); k++)
+      {
+        // Measurement indices are found in a single matrix row, as (k1,k2).
+        size_t k1 = corr_idxs(k, 0);
+        size_t k2 = corr_idxs(k, 1);
+        // Unique keys for the DSF are (i,k), representing keypoint index in an image.
+        dsf.merge(IndexPair(i1, k1), IndexPair(i2, k2));
       }
+    }
 
-      std::cout << "[SfmTrack2d] Union-Find Complete" << std::endl;
-      const std::map<IndexPair, std::set<IndexPair> > key_sets = dsf.sets();
-
-      // Return immediately if no sets were found.
-      if (key_sets.empty()) return track_2d_list;
-
-      size_t erroneous_track_count = 0;
-      // Create a list of tracks.
-      // Each track will be represented as a list of (camera_idx, measurements).
-      for (const auto& kv: key_sets) {
-        const auto set_id = kv.first;
-        const auto index_pair_set = kv.second;
-
-        // Initialize track from measurements.
-        SfmTrack2d track_2d;
-
-        for (const auto& index_pair: index_pair_set)
-        {
-          // Camera index is represented by i, and measurement index is represented by k.
-          size_t i = index_pair.i();
-          size_t k = index_pair.j();
-          // Add measurement to this track.
-          track_2d.addMeasurement(NamedSfmMeasurement(i, keypoints_list[i].coordinates.row(k)));
-        }
-
-        // Skip erroneous track that had repeated measurements within the same image.
-        // This is an expected result from an incorrect correspondence slipping through.
-        if (track_2d.has_unique_cameras())
-        {
-          track_2d_list.emplace_back(track_2d);
-        } else {
-          erroneous_track_count++;
-        }
+    std::cout << "[SfmTrack2d] Union-Find Complete" << std::endl;
+    const std::map<IndexPair, std::set<IndexPair> > key_sets = dsf.sets();
+
+    // Return immediately if no sets were found.
+    if (key_sets.empty()) return track_2d_list;
+
+    size_t erroneous_track_count = 0;
+    // Create a list of tracks.
+    // Each track will be represented as a list of (camera_idx, measurements).
+    for (const auto& kv : key_sets) {
+      const auto set_id = kv.first;
+      const auto index_pair_set = kv.second;
+
+      // Initialize track from measurements.
+      SfmTrack2d track_2d;
+
+      for (const auto& index_pair : index_pair_set)
+      {
+        // Camera index is represented by i, and measurement index is represented by k.
+        size_t i = index_pair.i();
+        size_t k = index_pair.j();
+        // Add measurement to this track.
+        track_2d.addMeasurement(NamedSfmMeasurement(i, keypoints_list[i].coordinates.row(k)));
       }
 
-      double erroneous_track_pct = static_cast<float>(erroneous_track_count)
-                                   / static_cast<float>(key_sets.size()) * 100;
-      // TODO(johnwlambert): restrict decimal places to 2 decimals.
-      std::cout << "DSF Union-Find: " << erroneous_track_pct;
-      std::cout << "% of tracks discarded from multiple obs. in a single image." << std::endl;
-      
-      // TODO(johnwlambert): return the Transitivity failure percentage here.
-      return track_2d_list;
+      // Skip erroneous track that had repeated measurements within the same image.
+      // This is an expected result from an incorrect correspondence slipping through.
+      if (track_2d.has_unique_cameras())
+      {
+        track_2d_list.emplace_back(track_2d);
+      } else {
+        erroneous_track_count++;
+      }
     }
+
+    double erroneous_track_pct = static_cast<float>(erroneous_track_count)
+                                 / static_cast<float>(key_sets.size()) * 100;
+    // TODO(johnwlambert): restrict decimal places to 2 decimals.
+    std::cout << "DSF Union-Find: " << erroneous_track_pct;
+    std::cout << "% of tracks discarded from multiple obs. in a single image." << std::endl;
+
+    // TODO(johnwlambert): return the Transitivity failure percentage here.
+    return track_2d_list;
+  }
 };
 
 } // namespace gtsam

From 3d3703441c60f49abe93314add486d35efeee623 Mon Sep 17 00:00:00 2001
From: Varun Agrawal <varagrawal@gmail.com>
Date: Tue, 19 Jul 2022 14:08:31 -0400
Subject: [PATCH 205/433] wrap custom factor in a separate file

---
 gtsam/nonlinear/custom.i              | 38 +++++++++++++++++++++++++++
 matlab/CMakeLists.txt                 |  1 +
 python/CMakeLists.txt                 |  1 +
 python/gtsam/preamble/custom.h        | 12 +++++++++
 python/gtsam/preamble/nonlinear.h     |  1 +
 python/gtsam/specializations/custom.h | 12 +++++++++
 6 files changed, 65 insertions(+)
 create mode 100644 gtsam/nonlinear/custom.i
 create mode 100644 python/gtsam/preamble/custom.h
 create mode 100644 python/gtsam/specializations/custom.h

diff --git a/gtsam/nonlinear/custom.i b/gtsam/nonlinear/custom.i
new file mode 100644
index 0000000000..0d195a91b6
--- /dev/null
+++ b/gtsam/nonlinear/custom.i
@@ -0,0 +1,38 @@
+//*************************************************************************
+// Custom Factor wrapping
+//*************************************************************************
+
+namespace gtsam {
+
+#include <gtsam/nonlinear/CustomFactor.h>
+virtual class CustomFactor : gtsam::NoiseModelFactor {
+  /*
+   * Note CustomFactor will not be wrapped for MATLAB, as there is no supporting
+   * machinery there. This is achieved by adding `gtsam::CustomFactor` to the
+   * ignore list in `matlab/CMakeLists.txt`.
+   */
+  CustomFactor();
+  /*
+   * Example:
+   * ```
+   * def error_func(this: CustomFactor, v: gtsam.Values, H: List[np.ndarray]):
+   *    <calculated error>
+   *    if not H is None:
+   *        <calculate the Jacobian>
+   *        H[0] = J1 # 2-d numpy array for a Jacobian block
+   *        H[1] = J2
+   *        ...
+   *    return error # 1-d numpy array
+   *
+   * cf = CustomFactor(noise_model, keys, error_func)
+   * ```
+   */
+  CustomFactor(const gtsam::SharedNoiseModel& noiseModel,
+               const gtsam::KeyVector& keys,
+               const gtsam::CustomErrorFunction& errorFunction);
+
+  void print(string s = "",
+             gtsam::KeyFormatter keyFormatter = gtsam::DefaultKeyFormatter);
+};
+
+}
\ No newline at end of file
diff --git a/matlab/CMakeLists.txt b/matlab/CMakeLists.txt
index a657c6be7e..b83bf1f0fe 100644
--- a/matlab/CMakeLists.txt
+++ b/matlab/CMakeLists.txt
@@ -73,6 +73,7 @@ set(interface_files
     ${GTSAM_SOURCE_DIR}/gtsam/geometry/geometry.i
     ${GTSAM_SOURCE_DIR}/gtsam/linear/linear.i
     ${GTSAM_SOURCE_DIR}/gtsam/nonlinear/nonlinear.i
+    ${GTSAM_SOURCE_DIR}/gtsam/nonlinear/custom.i
     ${GTSAM_SOURCE_DIR}/gtsam/symbolic/symbolic.i
     ${GTSAM_SOURCE_DIR}/gtsam/sam/sam.i
     ${GTSAM_SOURCE_DIR}/gtsam/slam/slam.i
diff --git a/python/CMakeLists.txt b/python/CMakeLists.txt
index c14f02ddab..f798002964 100644
--- a/python/CMakeLists.txt
+++ b/python/CMakeLists.txt
@@ -61,6 +61,7 @@ set(interface_headers
     ${PROJECT_SOURCE_DIR}/gtsam/geometry/geometry.i
     ${PROJECT_SOURCE_DIR}/gtsam/linear/linear.i
     ${PROJECT_SOURCE_DIR}/gtsam/nonlinear/nonlinear.i
+    ${PROJECT_SOURCE_DIR}/gtsam/nonlinear/custom.i
     ${PROJECT_SOURCE_DIR}/gtsam/symbolic/symbolic.i
     ${PROJECT_SOURCE_DIR}/gtsam/sam/sam.i
     ${PROJECT_SOURCE_DIR}/gtsam/slam/slam.i
diff --git a/python/gtsam/preamble/custom.h b/python/gtsam/preamble/custom.h
new file mode 100644
index 0000000000..d07a75f6fb
--- /dev/null
+++ b/python/gtsam/preamble/custom.h
@@ -0,0 +1,12 @@
+/* Please refer to:
+ * https://pybind11.readthedocs.io/en/stable/advanced/cast/stl.html
+ * These are required to save one copy operation on Python calls.
+ *
+ * NOTES
+ * =================
+ *
+ * `PYBIND11_MAKE_OPAQUE` will mark the type as "opaque" for the pybind11
+ * automatic STL binding, such that the raw objects can be accessed in Python.
+ * Without this they will be automatically converted to a Python object, and all
+ * mutations on Python side will not be reflected on C++.
+ */
diff --git a/python/gtsam/preamble/nonlinear.h b/python/gtsam/preamble/nonlinear.h
index d07a75f6fb..661215e599 100644
--- a/python/gtsam/preamble/nonlinear.h
+++ b/python/gtsam/preamble/nonlinear.h
@@ -10,3 +10,4 @@
  * Without this they will be automatically converted to a Python object, and all
  * mutations on Python side will not be reflected on C++.
  */
+#include <pybind11/stl.h>
diff --git a/python/gtsam/specializations/custom.h b/python/gtsam/specializations/custom.h
new file mode 100644
index 0000000000..d46ccdc668
--- /dev/null
+++ b/python/gtsam/specializations/custom.h
@@ -0,0 +1,12 @@
+/* Please refer to:
+ * https://pybind11.readthedocs.io/en/stable/advanced/cast/stl.html
+ * These are required to save one copy operation on Python calls.
+ *
+ * NOTES
+ * =================
+ *
+ * `py::bind_vector` and similar machinery gives the std container a Python-like
+ * interface, but without the `<pybind11/stl.h>` copying mechanism. Combined
+ * with `PYBIND11_MAKE_OPAQUE` this allows the types to be modified with Python,
+ * and saves one copy operation.
+ */
\ No newline at end of file

From 31d174d640001c50d531ec5078017a8441d98624 Mon Sep 17 00:00:00 2001
From: Varun Agrawal <varagrawal@gmail.com>
Date: Tue, 19 Jul 2022 14:09:39 -0400
Subject: [PATCH 206/433] add gtsam namespace

---
 gtsam/nonlinear/CustomFactor.h |  2 --
 gtsam/nonlinear/nonlinear.i    | 43 +++++-----------------------------
 2 files changed, 6 insertions(+), 39 deletions(-)

diff --git a/gtsam/nonlinear/CustomFactor.h b/gtsam/nonlinear/CustomFactor.h
index 615b5418e8..8580a49496 100644
--- a/gtsam/nonlinear/CustomFactor.h
+++ b/gtsam/nonlinear/CustomFactor.h
@@ -19,8 +19,6 @@
 
 #include <gtsam/nonlinear/NonlinearFactor.h>
 
-using namespace gtsam;
-
 namespace gtsam {
 
 using JacobianVector = std::vector<Matrix>;
diff --git a/gtsam/nonlinear/nonlinear.i b/gtsam/nonlinear/nonlinear.i
index b6d0f31be4..c793332368 100644
--- a/gtsam/nonlinear/nonlinear.i
+++ b/gtsam/nonlinear/nonlinear.i
@@ -99,11 +99,11 @@ class NonlinearFactorGraph {
   string dot(
       const gtsam::Values& values,
       const gtsam::KeyFormatter& keyFormatter = gtsam::DefaultKeyFormatter,
-      const GraphvizFormatting& writer = GraphvizFormatting());
+      const gtsam::GraphvizFormatting& writer = gtsam::GraphvizFormatting());
   void saveGraph(
       const string& s, const gtsam::Values& values,
       const gtsam::KeyFormatter& keyFormatter = gtsam::DefaultKeyFormatter,
-      const GraphvizFormatting& writer = GraphvizFormatting()) const;
+      const gtsam::GraphvizFormatting& writer = gtsam::GraphvizFormatting()) const;
 
   // enabling serialization functionality
   void serialize() const;
@@ -135,37 +135,6 @@ virtual class NoiseModelFactor : gtsam::NonlinearFactor {
   Vector whitenedError(const gtsam::Values& x) const;
 };
 
-#include <gtsam/nonlinear/CustomFactor.h>
-virtual class CustomFactor : gtsam::NoiseModelFactor {
-  /*
-   * Note CustomFactor will not be wrapped for MATLAB, as there is no supporting
-   * machinery there. This is achieved by adding `gtsam::CustomFactor` to the
-   * ignore list in `matlab/CMakeLists.txt`.
-   */
-  CustomFactor();
-  /*
-   * Example:
-   * ```
-   * def error_func(this: CustomFactor, v: gtsam.Values, H: List[np.ndarray]):
-   *    <calculated error>
-   *    if not H is None:
-   *        <calculate the Jacobian>
-   *        H[0] = J1 # 2-d numpy array for a Jacobian block
-   *        H[1] = J2
-   *        ...
-   *    return error # 1-d numpy array
-   *
-   * cf = CustomFactor(noise_model, keys, error_func)
-   * ```
-   */
-  CustomFactor(const gtsam::SharedNoiseModel& noiseModel,
-               const gtsam::KeyVector& keys,
-               const gtsam::CustomErrorFunction& errorFunction);
-
-  void print(string s = "",
-             gtsam::KeyFormatter keyFormatter = gtsam::DefaultKeyFormatter);
-};
-
 #include <gtsam/nonlinear/Values.h>
 class Values {
   Values();
@@ -554,7 +523,7 @@ virtual class GncParams {
   GncParams(const PARAMS& baseOptimizerParams);
   GncParams();
   BaseOptimizerParameters baseOptimizerParams;
-  GncLossType lossType;
+  gtsam::GncLossType lossType;
   size_t maxIterations;
   double muStep;
   double relativeCostTol;
@@ -563,12 +532,12 @@ virtual class GncParams {
   std::vector<size_t> knownInliers;
   std::vector<size_t> knownOutliers;
 
-  void setLossType(const GncLossType type);
+  void setLossType(const gtsam::GncLossType type);
   void setMaxIterations(const size_t maxIter);
   void setMuStep(const double step);
   void setRelativeCostTol(double value);
   void setWeightsTol(double value);
-  void setVerbosityGNC(const This::Verbosity value);
+  void setVerbosityGNC(const gtsam::This::Verbosity value);
   void setKnownInliers(const std::vector<size_t>& knownIn);
   void setKnownOutliers(const std::vector<size_t>& knownOut);
   void print(const string& str = "GncParams: ") const;
@@ -900,7 +869,7 @@ template <T = {gtsam::Point2, gtsam::StereoPoint2, gtsam::Point3, gtsam::Rot2,
                gtsam::PinholeCamera<gtsam::Cal3Unified>,
                gtsam::imuBias::ConstantBias}>
 virtual class NonlinearEquality2 : gtsam::NoiseModelFactor {
-  NonlinearEquality2(Key key1, Key key2, double mu = 1e4);
+  NonlinearEquality2(gtsam::Key key1, gtsam::Key key2, double mu = 1e4);
   gtsam::Vector evaluateError(const T& x1, const T& x2);
 };
 

From 90723d933edf9bd68135444f1bc70ad678da1aaa Mon Sep 17 00:00:00 2001
From: Amado Antonini <amado.antonini@openspace.ai>
Date: Tue, 19 Jul 2022 19:32:21 -0400
Subject: [PATCH 207/433] Remove pybind/stl.h again

---
 python/gtsam/preamble/nonlinear.h | 3 +--
 1 file changed, 1 insertion(+), 2 deletions(-)

diff --git a/python/gtsam/preamble/nonlinear.h b/python/gtsam/preamble/nonlinear.h
index 661215e599..a34e730580 100644
--- a/python/gtsam/preamble/nonlinear.h
+++ b/python/gtsam/preamble/nonlinear.h
@@ -9,5 +9,4 @@
  * automatic STL binding, such that the raw objects can be accessed in Python.
  * Without this they will be automatically converted to a Python object, and all
  * mutations on Python side will not be reflected on C++.
- */
-#include <pybind11/stl.h>
+ */
\ No newline at end of file

From 2d41b017347eb2aab544c70c8efc58ee6e4d5eea Mon Sep 17 00:00:00 2001
From: Varun Agrawal <varagrawal@gmail.com>
Date: Wed, 20 Jul 2022 15:28:49 -0400
Subject: [PATCH 208/433] change python CI cores to 1

---
 .github/scripts/python.sh | 2 +-
 1 file changed, 1 insertion(+), 1 deletion(-)

diff --git a/.github/scripts/python.sh b/.github/scripts/python.sh
index 0855dbc21b..1c791e71b7 100644
--- a/.github/scripts/python.sh
+++ b/.github/scripts/python.sh
@@ -80,7 +80,7 @@ cmake $GITHUB_WORKSPACE -DCMAKE_BUILD_TYPE=${CMAKE_BUILD_TYPE} \
 
 
 # Set to 2 cores so that Actions does not error out during resource provisioning.
-make -j2 install
+make -j1 install
 
 cd $GITHUB_WORKSPACE/build/python
 $PYTHON -m pip install --user .

From 07c33c46e526c63149f7fad9c8d755bf0fcaf686 Mon Sep 17 00:00:00 2001
From: Gerry Chen <gerry.chen2015@gmail.com>
Date: Wed, 20 Jul 2022 18:58:41 -0400
Subject: [PATCH 209/433] Set more swap space on linux since gcc runs out of
 memory

---
 .github/workflows/build-python.yml | 5 +++++
 1 file changed, 5 insertions(+)

diff --git a/.github/workflows/build-python.yml b/.github/workflows/build-python.yml
index 3fc2d662f8..f42939bc20 100644
--- a/.github/workflows/build-python.yml
+++ b/.github/workflows/build-python.yml
@@ -112,6 +112,11 @@ jobs:
         run: |
           echo "GTSAM_WITH_TBB=ON" >> $GITHUB_ENV
           echo "GTSAM Uses TBB"
+      - name: Set Swap Space
+        if: runner.os == 'Linux'
+        uses: pierotofy/set-swap-space@master
+        with:
+          swap-size-gb: 6
       - name: Build (Linux)
         if: runner.os == 'Linux'
         run: |

From 12b35b41424d1564162fde59b47b474b23d26678 Mon Sep 17 00:00:00 2001
From: Varun Agrawal <varagrawal@gmail.com>
Date: Tue, 19 Jul 2022 18:59:58 -0400
Subject: [PATCH 210/433] remove pybind stl.h

---
 python/gtsam/preamble/nonlinear.h | 2 +-
 1 file changed, 1 insertion(+), 1 deletion(-)

diff --git a/python/gtsam/preamble/nonlinear.h b/python/gtsam/preamble/nonlinear.h
index a34e730580..d07a75f6fb 100644
--- a/python/gtsam/preamble/nonlinear.h
+++ b/python/gtsam/preamble/nonlinear.h
@@ -9,4 +9,4 @@
  * automatic STL binding, such that the raw objects can be accessed in Python.
  * Without this they will be automatically converted to a Python object, and all
  * mutations on Python side will not be reflected on C++.
- */
\ No newline at end of file
+ */

From 7eb9a95c5fbf0e60813d69443e2e9ab7dcd50c58 Mon Sep 17 00:00:00 2001
From: Varun Agrawal <varagrawal@gmail.com>
Date: Fri, 22 Jul 2022 05:35:09 -0400
Subject: [PATCH 211/433] minor fixes

---
 gtsam/nonlinear/NonlinearFactor.cpp | 3 ++-
 python/gtsam/preamble/nonlinear.h   | 2 ++
 2 files changed, 4 insertions(+), 1 deletion(-)

diff --git a/gtsam/nonlinear/NonlinearFactor.cpp b/gtsam/nonlinear/NonlinearFactor.cpp
index 3d572e9702..debff54acd 100644
--- a/gtsam/nonlinear/NonlinearFactor.cpp
+++ b/gtsam/nonlinear/NonlinearFactor.cpp
@@ -167,8 +167,9 @@ boost::shared_ptr<GaussianFactor> NoiseModelFactor::linearize(
     return GaussianFactor::shared_ptr(
         new JacobianFactor(terms, b,
             boost::static_pointer_cast<Constrained>(noiseModel_)->unit()));
-  else
+  else {
     return GaussianFactor::shared_ptr(new JacobianFactor(terms, b));
+  }
 }
 
 /* ************************************************************************* */
diff --git a/python/gtsam/preamble/nonlinear.h b/python/gtsam/preamble/nonlinear.h
index d07a75f6fb..56a07cfdd1 100644
--- a/python/gtsam/preamble/nonlinear.h
+++ b/python/gtsam/preamble/nonlinear.h
@@ -10,3 +10,5 @@
  * Without this they will be automatically converted to a Python object, and all
  * mutations on Python side will not be reflected on C++.
  */
+
+#include <pybind11/stl.h>

From 31cfce0b8dfc284fb593c2e27f5c0b9c0f374ae7 Mon Sep 17 00:00:00 2001
From: Varun Agrawal <varagrawal@gmail.com>
Date: Fri, 22 Jul 2022 05:15:40 -0400
Subject: [PATCH 212/433] update macos CI env

---
 .github/workflows/build-macos.yml  | 10 +++++-----
 .github/workflows/build-python.yml | 10 +++++-----
 2 files changed, 10 insertions(+), 10 deletions(-)

diff --git a/.github/workflows/build-macos.yml b/.github/workflows/build-macos.yml
index 462723222f..7b76463280 100644
--- a/.github/workflows/build-macos.yml
+++ b/.github/workflows/build-macos.yml
@@ -19,16 +19,16 @@ jobs:
         # Github Actions requires a single row to be added to the build matrix.
         # See https://help.github.com/en/articles/workflow-syntax-for-github-actions.
         name: [
-          macOS-10.15-xcode-11.3.1,
+          macos-11-xcode-13.4.1,
         ]
 
         build_type: [Debug, Release]
         build_unstable: [ON]
         include:
-          - name: macOS-10.15-xcode-11.3.1
-            os: macOS-10.15
+          - name: macos-11-xcode-13.4.1
+            os: macos-11
             compiler: xcode
-            version: "11.3.1"
+            version: "13.4.1"
 
     steps:
       - name: Checkout
@@ -43,7 +43,7 @@ jobs:
             echo "CC=gcc-${{ matrix.version }}" >> $GITHUB_ENV
             echo "CXX=g++-${{ matrix.version }}" >> $GITHUB_ENV
           else
-            sudo xcode-select -switch /Applications/Xcode_${{ matrix.version }}.app
+            sudo xcode-select -switch /Applications/Xcode.app
             echo "CC=clang" >> $GITHUB_ENV
             echo "CXX=clang++" >> $GITHUB_ENV
           fi
diff --git a/.github/workflows/build-python.yml b/.github/workflows/build-python.yml
index f42939bc20..f80b9362c9 100644
--- a/.github/workflows/build-python.yml
+++ b/.github/workflows/build-python.yml
@@ -22,7 +22,7 @@ jobs:
           ubuntu-18.04-gcc-5,
           ubuntu-18.04-gcc-9,
           ubuntu-18.04-clang-9,
-          macOS-10.15-xcode-11.3.1,
+          macOS-11-xcode-13.4.1,
           ubuntu-18.04-gcc-5-tbb,
         ]
 
@@ -52,10 +52,10 @@ jobs:
             build_type: Debug
             python_version: "3"
 
-          - name: macOS-10.15-xcode-11.3.1
-            os: macOS-10.15
+          - name: macOS-11-xcode-13.4.1
+            os: macOS-11
             compiler: xcode
-            version: "11.3.1"
+            version: "13.4.1"
 
           - name: ubuntu-18.04-gcc-5-tbb
             os: ubuntu-18.04
@@ -103,7 +103,7 @@ jobs:
             echo "CC=gcc-${{ matrix.version }}" >> $GITHUB_ENV
             echo "CXX=g++-${{ matrix.version }}" >> $GITHUB_ENV
           else
-            sudo xcode-select -switch /Applications/Xcode_${{ matrix.version }}.app
+            sudo xcode-select -switch /Applications/Xcode.app
             echo "CC=clang" >> $GITHUB_ENV
             echo "CXX=clang++" >> $GITHUB_ENV
           fi

From 7edd021956e659f1b2ecba5a630682df1d7ea0d2 Mon Sep 17 00:00:00 2001
From: Varun Agrawal <varagrawal@gmail.com>
Date: Fri, 22 Jul 2022 14:00:03 -0400
Subject: [PATCH 213/433] fix copying of test files in Cmake

---
 python/CMakeLists.txt | 3 ++-
 1 file changed, 2 insertions(+), 1 deletion(-)

diff --git a/python/CMakeLists.txt b/python/CMakeLists.txt
index cba206d111..0d63c6c543 100644
--- a/python/CMakeLists.txt
+++ b/python/CMakeLists.txt
@@ -104,7 +104,8 @@ copy_directory("${CMAKE_CURRENT_SOURCE_DIR}/gtsam"
 # Hack to get python test and util files copied every time they are modified
 file(GLOB GTSAM_PYTHON_TEST_FILES "${CMAKE_CURRENT_SOURCE_DIR}/gtsam/tests/*.py")
 foreach(test_file ${GTSAM_PYTHON_TEST_FILES})
-        configure_file(${test_file} "${GTSAM_MODULE_PATH}/tests/${test_file}" COPYONLY)
+        get_filename_component(test_file_name ${test_file} NAME)
+        configure_file(${test_file} "${GTSAM_MODULE_PATH}/tests/${test_file_name}" COPYONLY)
 endforeach()
 file(GLOB GTSAM_PYTHON_UTIL_FILES "${CMAKE_CURRENT_SOURCE_DIR}/gtsam/utils/*.py")
 foreach(util_file ${GTSAM_PYTHON_UTIL_FILES})

From 8a33a5bc53537e87ce23de8aae19032058f0d334 Mon Sep 17 00:00:00 2001
From: Varun Agrawal <varagrawal@gmail.com>
Date: Fri, 22 Jul 2022 14:29:36 -0400
Subject: [PATCH 214/433] Revert "change python CI cores to 1"

This reverts commit 2d41b017347eb2aab544c70c8efc58ee6e4d5eea.
---
 .github/scripts/python.sh | 2 +-
 1 file changed, 1 insertion(+), 1 deletion(-)

diff --git a/.github/scripts/python.sh b/.github/scripts/python.sh
index 1c791e71b7..0855dbc21b 100644
--- a/.github/scripts/python.sh
+++ b/.github/scripts/python.sh
@@ -80,7 +80,7 @@ cmake $GITHUB_WORKSPACE -DCMAKE_BUILD_TYPE=${CMAKE_BUILD_TYPE} \
 
 
 # Set to 2 cores so that Actions does not error out during resource provisioning.
-make -j1 install
+make -j2 install
 
 cd $GITHUB_WORKSPACE/build/python
 $PYTHON -m pip install --user .

From aef4ec81857692c507fe0db759e3303d5cc4e565 Mon Sep 17 00:00:00 2001
From: agilemapper <87449851+agilemapper@users.noreply.github.com>
Date: Sat, 23 Jul 2022 13:04:42 +0200
Subject: [PATCH 215/433] replace addtogroup with ingroup for the SLAM group

---
 gtsam/groups.dox                                            | 5 ++++-
 gtsam/navigation/CombinedImuFactor.h                        | 4 ++--
 gtsam/navigation/ImuFactor.h                                | 6 +++---
 gtsam/nonlinear/PriorFactor.h                               | 2 +-
 gtsam/sam/BearingRangeFactor.h                              | 2 +-
 gtsam/slam/AntiFactor.h                                     | 2 +-
 gtsam/slam/BetweenFactor.h                                  | 2 +-
 gtsam/slam/BoundingConstraint.h                             | 2 +-
 gtsam/slam/EssentialMatrixConstraint.h                      | 2 +-
 gtsam/slam/GeneralSFMFactor.h                               | 2 +-
 gtsam/slam/ProjectionFactor.h                               | 2 +-
 gtsam/slam/SmartProjectionPoseFactor.h                      | 4 ++--
 gtsam/slam/SmartProjectionRigFactor.h                       | 4 ++--
 gtsam/slam/StereoFactor.h                                   | 2 +-
 gtsam/slam/TriangulationFactor.h                            | 2 +-
 gtsam_unstable/slam/BetweenFactorEM.h                       | 2 +-
 gtsam_unstable/slam/BiasedGPSFactor.h                       | 2 +-
 gtsam_unstable/slam/MultiProjectionFactor.h                 | 2 +-
 gtsam_unstable/slam/PoseBetweenFactor.h                     | 2 +-
 gtsam_unstable/slam/PosePriorFactor.h                       | 2 +-
 gtsam_unstable/slam/PoseToPointFactor.h                     | 2 +-
 gtsam_unstable/slam/ProjectionFactorPPP.h                   | 2 +-
 gtsam_unstable/slam/ProjectionFactorPPPC.h                  | 2 +-
 gtsam_unstable/slam/ProjectionFactorRollingShutter.h        | 2 +-
 .../slam/SmartProjectionPoseFactorRollingShutter.h          | 4 ++--
 gtsam_unstable/slam/SmartRangeFactor.h                      | 2 +-
 gtsam_unstable/slam/SmartStereoProjectionFactorPP.h         | 4 ++--
 gtsam_unstable/slam/SmartStereoProjectionPoseFactor.h       | 4 ++--
 gtsam_unstable/slam/TransformBtwRobotsUnaryFactor.h         | 2 +-
 gtsam_unstable/slam/TransformBtwRobotsUnaryFactorEM.h       | 2 +-
 30 files changed, 41 insertions(+), 38 deletions(-)

diff --git a/gtsam/groups.dox b/gtsam/groups.dox
index 6031b33bbf..6f7124c42e 100644
--- a/gtsam/groups.dox
+++ b/gtsam/groups.dox
@@ -11,4 +11,7 @@
 
 @}
 
-*/ 
\ No newline at end of file
+\defgroup SLAM Useful SLAM components
+@{ @}
+
+*/
diff --git a/gtsam/navigation/CombinedImuFactor.h b/gtsam/navigation/CombinedImuFactor.h
index 213f5f223f..54c5a7dbb3 100644
--- a/gtsam/navigation/CombinedImuFactor.h
+++ b/gtsam/navigation/CombinedImuFactor.h
@@ -123,7 +123,7 @@ struct GTSAM_EXPORT PreintegrationCombinedParams : PreintegrationParams {
  * it is received from the IMU) so as to avoid costly integration at time of
  * factor construction.
  *
- * @addtogroup SLAM
+ * @ingroup SLAM
  */
 class GTSAM_EXPORT PreintegratedCombinedMeasurements : public PreintegrationType {
 
@@ -252,7 +252,7 @@ class GTSAM_EXPORT PreintegratedCombinedMeasurements : public PreintegrationType
  *    the correlation between the bias uncertainty and the preintegrated
  *    measurements uncertainty.
  *
- * @addtogroup SLAM
+ * @ingroup SLAM
  */
 class GTSAM_EXPORT CombinedImuFactor: public NoiseModelFactor6<Pose3, Vector3, Pose3,
     Vector3, imuBias::ConstantBias, imuBias::ConstantBias> {
diff --git a/gtsam/navigation/ImuFactor.h b/gtsam/navigation/ImuFactor.h
index 7408271627..c3b398e223 100644
--- a/gtsam/navigation/ImuFactor.h
+++ b/gtsam/navigation/ImuFactor.h
@@ -66,7 +66,7 @@ typedef ManifoldPreintegration PreintegrationType;
  * as soon as it is received from the IMU) so as to avoid costly integration
  * at time of factor construction.
  *
- * @addtogroup SLAM
+ * @ingroup SLAM
  */
 class GTSAM_EXPORT PreintegratedImuMeasurements: public PreintegrationType {
 
@@ -165,7 +165,7 @@ class GTSAM_EXPORT PreintegratedImuMeasurements: public PreintegrationType {
  * (which are usually slowly varying quantities), which is up to the caller.
  * See also CombinedImuFactor for a class that does this for you.
  *
- * @addtogroup SLAM
+ * @ingroup SLAM
  */
 class GTSAM_EXPORT ImuFactor: public NoiseModelFactor5<Pose3, Vector3, Pose3, Vector3,
     imuBias::ConstantBias> {
@@ -256,7 +256,7 @@ class GTSAM_EXPORT ImuFactor: public NoiseModelFactor5<Pose3, Vector3, Pose3, Ve
 
 /**
  * ImuFactor2 is a ternary factor that uses NavStates rather than Pose/Velocity.
- * @addtogroup SLAM
+ * @ingroup SLAM
  */
 class GTSAM_EXPORT ImuFactor2 : public NoiseModelFactor3<NavState, NavState, imuBias::ConstantBias> {
 private:
diff --git a/gtsam/nonlinear/PriorFactor.h b/gtsam/nonlinear/PriorFactor.h
index a490162ac3..c5124a3fe7 100644
--- a/gtsam/nonlinear/PriorFactor.h
+++ b/gtsam/nonlinear/PriorFactor.h
@@ -24,7 +24,7 @@ namespace gtsam {
 
   /**
    * A class for a soft prior on any Value type
-   * @addtogroup SLAM
+   * @ingroup SLAM
    */
   template<class VALUE>
   class PriorFactor: public NoiseModelFactor1<VALUE> {
diff --git a/gtsam/sam/BearingRangeFactor.h b/gtsam/sam/BearingRangeFactor.h
index 9874760c46..c83009651e 100644
--- a/gtsam/sam/BearingRangeFactor.h
+++ b/gtsam/sam/BearingRangeFactor.h
@@ -27,7 +27,7 @@ namespace gtsam {
 
 /**
  * Binary factor for a bearing/range measurement
- * @addtogroup SLAM
+ * @ingroup SLAM
  */
 template <typename A1, typename A2,
           typename B = typename Bearing<A1, A2>::result_type,
diff --git a/gtsam/slam/AntiFactor.h b/gtsam/slam/AntiFactor.h
index 3b559fe792..a0d6a12071 100644
--- a/gtsam/slam/AntiFactor.h
+++ b/gtsam/slam/AntiFactor.h
@@ -26,7 +26,7 @@ namespace gtsam {
    * A class for downdating an existing factor from a graph. The AntiFactor returns the same
    * linearized Hessian matrices of the original factor, but with the opposite sign. This effectively
    * cancels out any affects of the original factor during optimization."
-   * @addtogroup SLAM
+   * @ingroup SLAM
    */
   class AntiFactor: public NonlinearFactor {
 
diff --git a/gtsam/slam/BetweenFactor.h b/gtsam/slam/BetweenFactor.h
index f80462847f..fc1dc4481e 100644
--- a/gtsam/slam/BetweenFactor.h
+++ b/gtsam/slam/BetweenFactor.h
@@ -34,7 +34,7 @@ namespace gtsam {
   /**
    * A class for a measurement predicted by "between(config[key1],config[key2])"
    * @tparam VALUE the Value type
-   * @addtogroup SLAM
+   * @ingroup SLAM
    */
   template<class VALUE>
   class BetweenFactor: public NoiseModelFactor2<VALUE, VALUE> {
diff --git a/gtsam/slam/BoundingConstraint.h b/gtsam/slam/BoundingConstraint.h
index 3d5842fa2b..07c7656690 100644
--- a/gtsam/slam/BoundingConstraint.h
+++ b/gtsam/slam/BoundingConstraint.h
@@ -27,7 +27,7 @@ namespace gtsam {
  * greater/less than a fixed threshold.  The function
  * will need to have its value function implemented to return
  * a scalar for comparison.
- * @addtogroup SLAM
+ * @ingroup SLAM
  */
 template<class VALUE>
 struct BoundingConstraint1: public NoiseModelFactor1<VALUE> {
diff --git a/gtsam/slam/EssentialMatrixConstraint.h b/gtsam/slam/EssentialMatrixConstraint.h
index 6274be9635..91487b522e 100644
--- a/gtsam/slam/EssentialMatrixConstraint.h
+++ b/gtsam/slam/EssentialMatrixConstraint.h
@@ -25,7 +25,7 @@ namespace gtsam {
 
 /**
  * Binary factor between two Pose3 variables induced by an EssentialMatrix measurement
- * @addtogroup SLAM
+ * @ingroup SLAM
  */
 class GTSAM_EXPORT EssentialMatrixConstraint: public NoiseModelFactor2<Pose3, Pose3> {
 
diff --git a/gtsam/slam/GeneralSFMFactor.h b/gtsam/slam/GeneralSFMFactor.h
index bfc3a0f78d..5cf8d5b752 100644
--- a/gtsam/slam/GeneralSFMFactor.h
+++ b/gtsam/slam/GeneralSFMFactor.h
@@ -54,7 +54,7 @@ namespace gtsam {
 /**
  * Non-linear factor for a constraint derived from a 2D measurement.
  * The calibration is unknown here compared to GenericProjectionFactor
- * @addtogroup SLAM
+ * @ingroup SLAM
  */
 template<class CAMERA, class LANDMARK>
 class GeneralSFMFactor: public NoiseModelFactor2<CAMERA, LANDMARK> {
diff --git a/gtsam/slam/ProjectionFactor.h b/gtsam/slam/ProjectionFactor.h
index 42dba8bd01..e01b9b0b8a 100644
--- a/gtsam/slam/ProjectionFactor.h
+++ b/gtsam/slam/ProjectionFactor.h
@@ -33,7 +33,7 @@ namespace gtsam {
    * Non-linear factor for a constraint derived from a 2D measurement. 
    * The calibration is known here.
    * The main building block for visual SLAM.
-   * @addtogroup SLAM
+   * @ingroup SLAM
    */
   template <class POSE = Pose3, class LANDMARK = Point3,
             class CALIBRATION = Cal3_S2>
diff --git a/gtsam/slam/SmartProjectionPoseFactor.h b/gtsam/slam/SmartProjectionPoseFactor.h
index f4c0c73aac..f1403bdb15 100644
--- a/gtsam/slam/SmartProjectionPoseFactor.h
+++ b/gtsam/slam/SmartProjectionPoseFactor.h
@@ -24,7 +24,7 @@
 namespace gtsam {
 /**
  *
- * @addtogroup SLAM
+ * @ingroup SLAM
  *
  * If you are using the factor, please cite:
  * L. Carlone, Z. Kira, C. Beall, V. Indelman, F. Dellaert, Eliminating conditionally
@@ -39,7 +39,7 @@ namespace gtsam {
  * The factor only constrains poses (variable dimension is 6).
  * This factor requires that values contains the involved poses (Pose3).
  * If the calibration should be optimized, as well, use SmartProjectionFactor instead!
- * @addtogroup SLAM
+ * @ingroup SLAM
  */
 template <class CALIBRATION>
 class SmartProjectionPoseFactor
diff --git a/gtsam/slam/SmartProjectionRigFactor.h b/gtsam/slam/SmartProjectionRigFactor.h
index 149c129288..40af55b2c5 100644
--- a/gtsam/slam/SmartProjectionRigFactor.h
+++ b/gtsam/slam/SmartProjectionRigFactor.h
@@ -29,7 +29,7 @@
 namespace gtsam {
 /**
  *
- * @addtogroup SLAM
+ * @ingroup SLAM
  *
  * If you are using the factor, please cite:
  * L. Carlone, Z. Kira, C. Beall, V. Indelman, F. Dellaert, Eliminating
@@ -46,7 +46,7 @@ namespace gtsam {
  * calibration (i.e., are from the same camera), use SmartProjectionPoseFactor
  * instead! If the calibration should be optimized, as well, use
  * SmartProjectionFactor instead!
- * @addtogroup SLAM
+ * @ingroup SLAM
  */
 template <class CAMERA>
 class SmartProjectionRigFactor : public SmartProjectionFactor<CAMERA> {
diff --git a/gtsam/slam/StereoFactor.h b/gtsam/slam/StereoFactor.h
index de084c7625..b2fdbf7a45 100644
--- a/gtsam/slam/StereoFactor.h
+++ b/gtsam/slam/StereoFactor.h
@@ -25,7 +25,7 @@ namespace gtsam {
 
 /**
  * A Generic Stereo Factor
- * @addtogroup SLAM
+ * @ingroup SLAM
  */
 template<class POSE, class LANDMARK>
 class GenericStereoFactor: public NoiseModelFactor2<POSE, LANDMARK> {
diff --git a/gtsam/slam/TriangulationFactor.h b/gtsam/slam/TriangulationFactor.h
index b6da02d556..405436b82d 100644
--- a/gtsam/slam/TriangulationFactor.h
+++ b/gtsam/slam/TriangulationFactor.h
@@ -27,7 +27,7 @@ namespace gtsam {
 /**
  * Non-linear factor for a constraint derived from a 2D measurement.
  * The calibration and pose are assumed known.
- * @addtogroup SLAM
+ * @ingroup SLAM
  */
 template<class CAMERA>
 class TriangulationFactor: public NoiseModelFactor1<Point3> {
diff --git a/gtsam_unstable/slam/BetweenFactorEM.h b/gtsam_unstable/slam/BetweenFactorEM.h
index 9c19bae8c5..ffaa05c7dd 100644
--- a/gtsam_unstable/slam/BetweenFactorEM.h
+++ b/gtsam_unstable/slam/BetweenFactorEM.h
@@ -28,7 +28,7 @@ namespace gtsam {
 /**
  * A class for a measurement predicted by "between(config[key1],config[key2])"
  * @tparam VALUE the Value type
- * @addtogroup SLAM
+ * @ingroup SLAM
  */
 template<class VALUE>
 class BetweenFactorEM: public NonlinearFactor {
diff --git a/gtsam_unstable/slam/BiasedGPSFactor.h b/gtsam_unstable/slam/BiasedGPSFactor.h
index f2e9d3fa8b..5359fac4e5 100644
--- a/gtsam_unstable/slam/BiasedGPSFactor.h
+++ b/gtsam_unstable/slam/BiasedGPSFactor.h
@@ -25,7 +25,7 @@ namespace gtsam {
   /**
    * A class to model GPS measurements, including a bias term which models
    * common-mode errors and that can be partially corrected if other sensors are used
-   * @addtogroup SLAM
+   * @ingroup SLAM
    */
   class BiasedGPSFactor: public NoiseModelFactor2<Pose3, Point3> {
 
diff --git a/gtsam_unstable/slam/MultiProjectionFactor.h b/gtsam_unstable/slam/MultiProjectionFactor.h
index afc9e0b182..bd4f64fd77 100644
--- a/gtsam_unstable/slam/MultiProjectionFactor.h
+++ b/gtsam_unstable/slam/MultiProjectionFactor.h
@@ -29,7 +29,7 @@ namespace gtsam {
   /**
    * Non-linear factor for a constraint derived from a 2D measurement. The calibration is known here.
    * i.e. the main building block for visual SLAM.
-   * @addtogroup SLAM
+   * @ingroup SLAM
    */
   template<class POSE, class LANDMARK, class CALIBRATION = Cal3_S2>
   class MultiProjectionFactor: public NoiseModelFactor {
diff --git a/gtsam_unstable/slam/PoseBetweenFactor.h b/gtsam_unstable/slam/PoseBetweenFactor.h
index a6c583418c..a55f3a6e31 100644
--- a/gtsam_unstable/slam/PoseBetweenFactor.h
+++ b/gtsam_unstable/slam/PoseBetweenFactor.h
@@ -26,7 +26,7 @@ namespace gtsam {
   /**
    * A class for a measurement predicted by "between(config[key1],config[key2])"
    * @tparam POSE the Pose type
-   * @addtogroup SLAM
+   * @ingroup SLAM
    */
   template<class POSE>
   class PoseBetweenFactor: public NoiseModelFactor2<POSE, POSE> {
diff --git a/gtsam_unstable/slam/PosePriorFactor.h b/gtsam_unstable/slam/PosePriorFactor.h
index f657fc443f..6668a9b4b7 100644
--- a/gtsam_unstable/slam/PosePriorFactor.h
+++ b/gtsam_unstable/slam/PosePriorFactor.h
@@ -23,7 +23,7 @@ namespace gtsam {
 
   /**
    * A class for a soft prior on any Value type
-   * @addtogroup SLAM
+   * @ingroup SLAM
    */
   template<class POSE>
   class PosePriorFactor: public NoiseModelFactor1<POSE> {
diff --git a/gtsam_unstable/slam/PoseToPointFactor.h b/gtsam_unstable/slam/PoseToPointFactor.h
index b9b2ad5cea..071d13aec4 100644
--- a/gtsam_unstable/slam/PoseToPointFactor.h
+++ b/gtsam_unstable/slam/PoseToPointFactor.h
@@ -18,7 +18,7 @@ namespace gtsam {
 
 /**
  * A class for a measurement between a pose and a point.
- * @addtogroup SLAM
+ * @ingroup SLAM
  */
 template<typename POSE = Pose3, typename POINT = Point3>
 class PoseToPointFactor : public NoiseModelFactor2<POSE, POINT> {
diff --git a/gtsam_unstable/slam/ProjectionFactorPPP.h b/gtsam_unstable/slam/ProjectionFactorPPP.h
index 84adda7079..41f79d6140 100644
--- a/gtsam_unstable/slam/ProjectionFactorPPP.h
+++ b/gtsam_unstable/slam/ProjectionFactorPPP.h
@@ -28,7 +28,7 @@ namespace gtsam {
   /**
    * Non-linear factor for a constraint derived from a 2D measurement. The calibration is known here.
    * i.e. the main building block for visual SLAM.
-   * @addtogroup SLAM
+   * @ingroup SLAM
    */
   template<class POSE, class LANDMARK, class CALIBRATION = Cal3_S2>
   class ProjectionFactorPPP: public NoiseModelFactor3<POSE, POSE, LANDMARK> {
diff --git a/gtsam_unstable/slam/ProjectionFactorPPPC.h b/gtsam_unstable/slam/ProjectionFactorPPPC.h
index 18ee13b9a9..ec0a426f9d 100644
--- a/gtsam_unstable/slam/ProjectionFactorPPPC.h
+++ b/gtsam_unstable/slam/ProjectionFactorPPPC.h
@@ -30,7 +30,7 @@ namespace gtsam {
   /**
    * Non-linear factor for a constraint derived from a 2D measurement. This factor
    * estimates the body pose, body-camera transform, 3D landmark, and calibration.
-   * @addtogroup SLAM
+   * @ingroup SLAM
    */
 template <class POSE, class LANDMARK, class CALIBRATION = Cal3_S2>
 class GTSAM_UNSTABLE_EXPORT ProjectionFactorPPPC
diff --git a/gtsam_unstable/slam/ProjectionFactorRollingShutter.h b/gtsam_unstable/slam/ProjectionFactorRollingShutter.h
index 2aeaa48249..c349fd095b 100644
--- a/gtsam_unstable/slam/ProjectionFactorRollingShutter.h
+++ b/gtsam_unstable/slam/ProjectionFactorRollingShutter.h
@@ -38,7 +38,7 @@ namespace gtsam {
  * define the alpha = (t_p - t_A) / (t_B - t_A), we will use the pose
  * interpolated between A and B by the alpha to project the corresponding
  * landmark to Point2.
- * @addtogroup SLAM
+ * @ingroup SLAM
  */
 
 class GTSAM_UNSTABLE_EXPORT ProjectionFactorRollingShutter
diff --git a/gtsam_unstable/slam/SmartProjectionPoseFactorRollingShutter.h b/gtsam_unstable/slam/SmartProjectionPoseFactorRollingShutter.h
index ff84fcd16a..b2f58f75f3 100644
--- a/gtsam_unstable/slam/SmartProjectionPoseFactorRollingShutter.h
+++ b/gtsam_unstable/slam/SmartProjectionPoseFactorRollingShutter.h
@@ -25,7 +25,7 @@
 namespace gtsam {
 /**
  *
- * @addtogroup SLAM
+ * @ingroup SLAM
  *
  * If you are using the factor, please cite:
  * L. Carlone, Z. Kira, C. Beall, V. Indelman, F. Dellaert,
@@ -39,7 +39,7 @@ namespace gtsam {
  * shutter model of the camera with given readout time. The factor requires that
  * values contain (for each pixel observation) two consecutive camera poses from
  * which the pixel observation pose can be interpolated.
- * @addtogroup SLAM
+ * @ingroup SLAM
  */
 template <class CAMERA>
 class GTSAM_UNSTABLE_EXPORT SmartProjectionPoseFactorRollingShutter
diff --git a/gtsam_unstable/slam/SmartRangeFactor.h b/gtsam_unstable/slam/SmartRangeFactor.h
index 14e97f6bc2..8a2a1d3a8e 100644
--- a/gtsam_unstable/slam/SmartRangeFactor.h
+++ b/gtsam_unstable/slam/SmartRangeFactor.h
@@ -24,7 +24,7 @@ namespace gtsam {
 
 /**
  * Smart factor for range SLAM
- * @addtogroup SLAM
+ * @ingroup SLAM
  */
 class SmartRangeFactor: public NoiseModelFactor {
  protected:
diff --git a/gtsam_unstable/slam/SmartStereoProjectionFactorPP.h b/gtsam_unstable/slam/SmartStereoProjectionFactorPP.h
index e20241a0ee..e1bc01691e 100644
--- a/gtsam_unstable/slam/SmartStereoProjectionFactorPP.h
+++ b/gtsam_unstable/slam/SmartStereoProjectionFactorPP.h
@@ -23,7 +23,7 @@
 namespace gtsam {
 /**
  *
- * @addtogroup SLAM
+ * @ingroup SLAM
  *
  * If you are using the factor, please cite:
  * L. Carlone, Z. Kira, C. Beall, V. Indelman, F. Dellaert,
@@ -38,7 +38,7 @@ namespace gtsam {
  * calibration or the same calibration can be shared by multiple cameras. This
  * factor requires that values contain the involved poses and extrinsics (both
  * are Pose3 variables).
- * @addtogroup SLAM
+ * @ingroup SLAM
  */
 class GTSAM_UNSTABLE_EXPORT SmartStereoProjectionFactorPP
     : public SmartStereoProjectionFactor {
diff --git a/gtsam_unstable/slam/SmartStereoProjectionPoseFactor.h b/gtsam_unstable/slam/SmartStereoProjectionPoseFactor.h
index a46000a686..9e83b7736b 100644
--- a/gtsam_unstable/slam/SmartStereoProjectionPoseFactor.h
+++ b/gtsam_unstable/slam/SmartStereoProjectionPoseFactor.h
@@ -26,7 +26,7 @@
 namespace gtsam {
 /**
  *
- * @addtogroup SLAM
+ * @ingroup SLAM
  *
  * If you are using the factor, please cite:
  * L. Carlone, Z. Kira, C. Beall, V. Indelman, F. Dellaert,
@@ -41,7 +41,7 @@ namespace gtsam {
  * has its own calibration.
  * The factor only constrains poses (variable dimension is 6).
  * This factor requires that values contains the involved poses (Pose3).
- * @addtogroup SLAM
+ * @ingroup SLAM
  */
 class GTSAM_UNSTABLE_EXPORT SmartStereoProjectionPoseFactor
     : public SmartStereoProjectionFactor {
diff --git a/gtsam_unstable/slam/TransformBtwRobotsUnaryFactor.h b/gtsam_unstable/slam/TransformBtwRobotsUnaryFactor.h
index 956c759991..80d2abf9b9 100644
--- a/gtsam_unstable/slam/TransformBtwRobotsUnaryFactor.h
+++ b/gtsam_unstable/slam/TransformBtwRobotsUnaryFactor.h
@@ -29,7 +29,7 @@ namespace gtsam {
   /**
    * A class for a measurement predicted by "between(config[key1],config[key2])"
    * @tparam VALUE the Value type
-   * @addtogroup SLAM
+   * @ingroup SLAM
    */
   template<class VALUE>
   class TransformBtwRobotsUnaryFactor: public NonlinearFactor { // TODO why not NoiseModelFactor1 ?
diff --git a/gtsam_unstable/slam/TransformBtwRobotsUnaryFactorEM.h b/gtsam_unstable/slam/TransformBtwRobotsUnaryFactorEM.h
index 2b2edfae98..cce18cc441 100644
--- a/gtsam_unstable/slam/TransformBtwRobotsUnaryFactorEM.h
+++ b/gtsam_unstable/slam/TransformBtwRobotsUnaryFactorEM.h
@@ -31,7 +31,7 @@ namespace gtsam {
   /**
    * A class for a measurement predicted by "between(config[key1],config[key2])"
    * @tparam VALUE the Value type
-   * @addtogroup SLAM
+   * @ingroup SLAM
    */
   template<class VALUE>
   class TransformBtwRobotsUnaryFactorEM: public NonlinearFactor {

From e6ccf977125794c0abba8ced4a45751cc5488a86 Mon Sep 17 00:00:00 2001
From: senselessdev1 <johnlambert@hayoungs-mbp.lan>
Date: Sun, 24 Jul 2022 02:54:07 -0400
Subject: [PATCH 216/433] hasUniqueCameras to camel case

---
 gtsam/sfm/DsfTrackGenerator.h | 192 ++++++++++++++++------------------
 gtsam/sfm/sfm.i               |  16 +--
 2 files changed, 101 insertions(+), 107 deletions(-)

diff --git a/gtsam/sfm/DsfTrackGenerator.h b/gtsam/sfm/DsfTrackGenerator.h
index c67215a91f..18c96653a1 100644
--- a/gtsam/sfm/DsfTrackGenerator.h
+++ b/gtsam/sfm/DsfTrackGenerator.h
@@ -17,7 +17,6 @@
  */
 
 #pragma once
-#include <pybind11/stl.h>
 #include <Eigen/Core>
 
 #include <gtsam/base/DSFMap.h>
@@ -39,8 +38,7 @@ typedef Eigen::MatrixX2i CorrespondenceIndices; // N x 2 array
 using KeypointCoordinates = Eigen::MatrixX2d;
 
 
-struct Keypoints
-{
+struct Keypoints {
   KeypointCoordinates coordinates;
   // typedef'd for Eigen::VectorXd
   boost::optional<gtsam::Vector> scales;
@@ -57,8 +55,7 @@ using MatchIndicesMap = std::map<ImagePair, CorrespondenceIndices>;
 // @param camera index
 // @param 2d measurement
 // Implemented as named tuple, instead of std::pair (like SfmMeasurement in SfmTrack.h)
-struct NamedSfmMeasurement
-{
+struct NamedSfmMeasurement {
   size_t i;
   gtsam::Point2 uv;
 
@@ -71,24 +68,23 @@ struct NamedSfmMeasurement
  * Note: Equivalent to gtsam.SfmTrack, but without the 3d measurement.
  * This class holds data temporarily before 3D point is initialized.
  */
-class SfmTrack2d
-{
-  private:
-    std::vector<NamedSfmMeasurement> measurements_;
-
-  public:
-    void addMeasurement(const NamedSfmMeasurement &m) {
-      measurements_.emplace_back(m);
-    }
-    std::vector<NamedSfmMeasurement> measurements() {return measurements_; }
+class SfmTrack2d {
+ private:
+  std::vector<NamedSfmMeasurement> measurements_;
+
+ public:
+  void addMeasurement(const NamedSfmMeasurement &m) {
+    measurements_.emplace_back(m);
+  }
+  std::vector<NamedSfmMeasurement> measurements() {return measurements_; }
 
   // @brief Validates the track by checking that no two measurements are from the same camera.
   //
   // returns boolean result of the validation.
-  bool has_unique_cameras()
+  bool hasUniqueCameras()
   {
     std::vector<int> track_cam_idxs;
-    for (auto & measurement: measurements_)
+    for (auto & measurement : measurements_)
     {
       track_cam_idxs.emplace_back(measurement.i);
     }
@@ -101,93 +97,91 @@ class SfmTrack2d
 /**
  * @brief Generates point tracks from connected components in the keypoint matches graph.
  */
-class DsfTrackGenerator
-{
-
-  public:
-    /** Default constructor. */
-    DsfTrackGenerator() {}
-
-    // Creates a list of tracks from 2d point correspondences.
-    //
-    // Creates a disjoint-set forest (DSF) and 2d tracks from pairwise matches.
-    // We create a singleton for union-find set elements from camera index of a
-    // detection and the index of that detection in that camera's keypoint list,
-    // i.e. (i,k).
-    // @param Map from (i1,i2) image pair indices to (K,2) matrix, for K
-    //        correspondence indices, from each image.
-    // @param Length-N list of keypoints, for N images/cameras.
-    std::vector<SfmTrack2d> generate_tracks_from_pairwise_matches(
-        const MatchIndicesMap& matches_dict,
-        const KeypointsList& keypoints_list)
-    {
-      std::vector<SfmTrack2d> track_2d_list;
-
-      std::cout << "[SfmTrack2d] Starting Union-Find..." << std::endl;
-      // Generate the DSF to form tracks.
-      DSFMapIndexPair dsf;
-      
-      for (const auto& kv: matches_dict) {
-        const auto pair_idxs = kv.first;
-        const auto corr_idxs = kv.second;
-
-        // Image pair is (i1,i2).
-        size_t i1 = pair_idxs.first;
-        size_t i2 =  pair_idxs.second;
-        for (size_t k = 0; k < corr_idxs.rows(); k++)
-        {
-          // Measurement indices are found in a single matrix row, as (k1,k2).
-          size_t k1 = corr_idxs(k,0);
-          size_t k2 = corr_idxs(k,1);
-          // Unique keys for the DSF are (i,k), representing keypoint index in an image.
-          dsf.merge(IndexPair(i1, k1), IndexPair(i2, k2));
-        }
+class DsfTrackGenerator {
+
+ public:
+  /** Default constructor. */
+  DsfTrackGenerator() {}
+
+  // Creates a list of tracks from 2d point correspondences.
+  //
+  // Creates a disjoint-set forest (DSF) and 2d tracks from pairwise matches.
+  // We create a singleton for union-find set elements from camera index of a
+  // detection and the index of that detection in that camera's keypoint list,
+  // i.e. (i,k).
+  // @param Map from (i1,i2) image pair indices to (K,2) matrix, for K
+  //        correspondence indices, from each image.
+  // @param Length-N list of keypoints, for N images/cameras.
+  std::vector<SfmTrack2d> generate_tracks_from_pairwise_matches(
+    const MatchIndicesMap& matches_dict,
+    const KeypointsList& keypoints_list) {
+    std::vector<SfmTrack2d> track_2d_list;
+
+    std::cout << "[SfmTrack2d] Starting Union-Find..." << std::endl;
+    // Generate the DSF to form tracks.
+    DSFMapIndexPair dsf;
+
+    for (const auto& kv : matches_dict) {
+      const auto pair_idxs = kv.first;
+      const auto corr_idxs = kv.second;
+
+      // Image pair is (i1,i2).
+      size_t i1 = pair_idxs.first;
+      size_t i2 =  pair_idxs.second;
+      for (size_t k = 0; k < corr_idxs.rows(); k++)
+      {
+        // Measurement indices are found in a single matrix row, as (k1,k2).
+        size_t k1 = corr_idxs(k, 0);
+        size_t k2 = corr_idxs(k, 1);
+        // Unique keys for the DSF are (i,k), representing keypoint index in an image.
+        dsf.merge(IndexPair(i1, k1), IndexPair(i2, k2));
       }
+    }
 
-      std::cout << "[SfmTrack2d] Union-Find Complete" << std::endl;
-      const std::map<IndexPair, std::set<IndexPair> > key_sets = dsf.sets();
-
-      // Return immediately if no sets were found.
-      if (key_sets.empty()) return track_2d_list;
-
-      size_t erroneous_track_count = 0;
-      // Create a list of tracks.
-      // Each track will be represented as a list of (camera_idx, measurements).
-      for (const auto& kv: key_sets) {
-        const auto set_id = kv.first;
-        const auto index_pair_set = kv.second;
-
-        // Initialize track from measurements.
-        SfmTrack2d track_2d;
-
-        for (const auto& index_pair: index_pair_set)
-        {
-          // Camera index is represented by i, and measurement index is represented by k.
-          size_t i = index_pair.i();
-          size_t k = index_pair.j();
-          // Add measurement to this track.
-          track_2d.addMeasurement(NamedSfmMeasurement(i, keypoints_list[i].coordinates.row(k)));
-        }
-
-        // Skip erroneous track that had repeated measurements within the same image.
-        // This is an expected result from an incorrect correspondence slipping through.
-        if (track_2d.has_unique_cameras())
-        {
-          track_2d_list.emplace_back(track_2d);
-        } else {
-          erroneous_track_count++;
-        }
+    std::cout << "[SfmTrack2d] Union-Find Complete" << std::endl;
+    const std::map<IndexPair, std::set<IndexPair> > key_sets = dsf.sets();
+
+    // Return immediately if no sets were found.
+    if (key_sets.empty()) return track_2d_list;
+
+    size_t erroneous_track_count = 0;
+    // Create a list of tracks.
+    // Each track will be represented as a list of (camera_idx, measurements).
+    for (const auto& kv : key_sets) {
+      const auto set_id = kv.first;
+      const auto index_pair_set = kv.second;
+
+      // Initialize track from measurements.
+      SfmTrack2d track_2d;
+
+      for (const auto& index_pair : index_pair_set)
+      {
+        // Camera index is represented by i, and measurement index is represented by k.
+        size_t i = index_pair.i();
+        size_t k = index_pair.j();
+        // Add measurement to this track.
+        track_2d.addMeasurement(NamedSfmMeasurement(i, keypoints_list[i].coordinates.row(k)));
       }
 
-      double erroneous_track_pct = static_cast<float>(erroneous_track_count)
-                                   / static_cast<float>(key_sets.size()) * 100;
-      // TODO(johnwlambert): restrict decimal places to 2 decimals.
-      std::cout << "DSF Union-Find: " << erroneous_track_pct;
-      std::cout << "% of tracks discarded from multiple obs. in a single image." << std::endl;
-      
-      // TODO(johnwlambert): return the Transitivity failure percentage here.
-      return track_2d_list;
+      // Skip erroneous track that had repeated measurements within the same image.
+      // This is an expected result from an incorrect correspondence slipping through.
+      if (track_2d.hasUniqueCameras())
+      {
+        track_2d_list.emplace_back(track_2d);
+      } else {
+        erroneous_track_count++;
+      }
     }
+
+    double erroneous_track_pct = static_cast<float>(erroneous_track_count)
+                                 / static_cast<float>(key_sets.size()) * 100;
+    // TODO(johnwlambert): restrict decimal places to 2 decimals.
+    std::cout << "DSF Union-Find: " << erroneous_track_pct;
+    std::cout << "% of tracks discarded from multiple obs. in a single image." << std::endl;
+
+    // TODO(johnwlambert): return the Transitivity failure percentage here.
+    return track_2d_list;
+  }
 };
 
 } // namespace gtsam
diff --git a/gtsam/sfm/sfm.i b/gtsam/sfm/sfm.i
index 2a683a032c..b46b308eb6 100644
--- a/gtsam/sfm/sfm.i
+++ b/gtsam/sfm/sfm.i
@@ -17,6 +17,13 @@ class MatchIndicesMap {
 };
 
 
+class Keypoints
+{
+  Keypoints(const gtsam::KeypointCoordinates& coordinates);
+  gtsam::KeypointCoordinates coordinates;
+}; // check if this should be a method
+
+
 class KeypointsList {
   KeypointsList();
   KeypointsList(const gtsam::KeypointsList& other);
@@ -28,13 +35,6 @@ class KeypointsList {
 };
 
 
-class Keypoints
-{
-  Keypoints(const gtsam::KeypointCoordinates& coordinates);
-  gtsam::KeypointCoordinates coordinates;
-}; // check if this should be a method
-
-
 class NamedSfmMeasurement
 {
   size_t i;
@@ -46,7 +46,7 @@ class SfmTrack2d
 {
   void addMeasurement(const gtsam::NamedSfmMeasurement &m);
   std::vector<gtsam::NamedSfmMeasurement> measurements();
-  bool has_unique_cameras();
+  bool hasUniqueCameras();
 };
 
 

From 720145ae672274493fbc4f9b1b8718608141adb1 Mon Sep 17 00:00:00 2001
From: senselessdev1 <johnlambert@hayoungs-mbp.lan>
Date: Sun, 24 Jul 2022 03:07:04 -0400
Subject: [PATCH 217/433] remove unnecessary extra typedef

---
 gtsam/sfm/DsfTrackGenerator.h | 4 ++--
 1 file changed, 2 insertions(+), 2 deletions(-)

diff --git a/gtsam/sfm/DsfTrackGenerator.h b/gtsam/sfm/DsfTrackGenerator.h
index 18c96653a1..5ab87a7dfa 100644
--- a/gtsam/sfm/DsfTrackGenerator.h
+++ b/gtsam/sfm/DsfTrackGenerator.h
@@ -31,7 +31,6 @@
 namespace gtsam {
 
 typedef DSFMap<IndexPair> DSFMapIndexPair;
-typedef std::pair<size_t, size_t> ImagePair;
 typedef Eigen::MatrixX2i CorrespondenceIndices; // N x 2 array
 
 //struct Keypoints;
@@ -49,7 +48,8 @@ struct Keypoints {
 
 using KeypointsList = std::vector<Keypoints>;
 using KeypointsVector = std::vector<Keypoints>; // TODO(johnwlambert): prefer KeypointsSet?
-using MatchIndicesMap = std::map<ImagePair, CorrespondenceIndices>;
+// Mapping from each image pair to (N,2) array representing indices of matching keypoints.
+using MatchIndicesMap = std::map<IndexPair, CorrespondenceIndices>;
 
 
 // @param camera index

From 27951b7b180f7cdfc3300fb9d8d163586fb9f305 Mon Sep 17 00:00:00 2001
From: Varun Agrawal <varagrawal@gmail.com>
Date: Mon, 25 Jul 2022 22:17:48 -0400
Subject: [PATCH 218/433] use python 3.7

---
 .github/scripts/python.sh          |  2 +-
 .github/workflows/build-python.yml | 16 ++++++----------
 2 files changed, 7 insertions(+), 11 deletions(-)

diff --git a/.github/scripts/python.sh b/.github/scripts/python.sh
index 0855dbc21b..b734f59191 100644
--- a/.github/scripts/python.sh
+++ b/.github/scripts/python.sh
@@ -59,7 +59,7 @@ PATH=$PATH:$($PYTHON -c "import site; print(site.USER_BASE)")/bin
 
 BUILD_PYBIND="ON"
 
-sudo $PYTHON -m pip install -r $GITHUB_WORKSPACE/python/requirements.txt
+$PYTHON -m pip install -r $GITHUB_WORKSPACE/python/requirements.txt
 
 mkdir $GITHUB_WORKSPACE/build
 cd $GITHUB_WORKSPACE/build
diff --git a/.github/workflows/build-python.yml b/.github/workflows/build-python.yml
index f80b9362c9..d391e571c0 100644
--- a/.github/workflows/build-python.yml
+++ b/.github/workflows/build-python.yml
@@ -27,7 +27,7 @@ jobs:
         ]
 
         build_type: [Debug, Release]
-        python_version: [3]
+        python_version: [3.7]
         include:
           - name: ubuntu-18.04-gcc-5
             os: ubuntu-18.04
@@ -44,14 +44,6 @@ jobs:
             compiler: clang
             version: "9"
 
-          # NOTE temporarily added this as it is a required check.
-          - name: ubuntu-18.04-clang-9
-            os: ubuntu-18.04
-            compiler: clang
-            version: "9"
-            build_type: Debug
-            python_version: "3"
-
           - name: macOS-11-xcode-13.4.1
             os: macOS-11
             compiler: xcode
@@ -65,7 +57,11 @@ jobs:
 
     steps:
       - name: Checkout
-        uses: actions/checkout@v2
+        uses: actions/checkout@v3
+      - name: Set up Python
+        uses: actions/setup-python@v4
+        with:
+          python-version: '3.7'
       - name: Install (Linux)
         if: runner.os == 'Linux'
         run: |

From 4edcb41ad3680a9d4f6ee2f829c8ffd49b2bdba8 Mon Sep 17 00:00:00 2001
From: Varun Agrawal <varagrawal@gmail.com>
Date: Mon, 25 Jul 2022 22:19:05 -0400
Subject: [PATCH 219/433] remove redundant KeyVector definition

---
 gtsam/gtsam.i | 21 ---------------------
 1 file changed, 21 deletions(-)

diff --git a/gtsam/gtsam.i b/gtsam/gtsam.i
index d4e959c3dd..2671f0ef77 100644
--- a/gtsam/gtsam.i
+++ b/gtsam/gtsam.i
@@ -66,27 +66,6 @@ class KeySet {
   void serialize() const;
 };
 
-// Actually a vector<Key>
-class KeyVector {
-  KeyVector();
-  KeyVector(const gtsam::KeyVector& other);
-
-  // Note: no print function
-
-  // common STL methods
-  size_t size() const;
-  bool empty() const;
-  void clear();
-
-  // structure specific methods
-  size_t at(size_t i) const;
-  size_t front() const;
-  size_t back() const;
-  void push_back(size_t key) const;
-
-  void serialize() const;
-};
-
 // Actually a FastMap<Key,int>
 class KeyGroupMap {
   KeyGroupMap();

From 42bab8f3e70eee07a2ae591786f3b2a297b6784a Mon Sep 17 00:00:00 2001
From: Varun Agrawal <varagrawal@gmail.com>
Date: Mon, 25 Jul 2022 22:19:29 -0400
Subject: [PATCH 220/433] use KeyVector for GNC inliers & outliers

---
 gtsam/nonlinear/GncParams.h              | 12 ++++++++----
 gtsam/nonlinear/nonlinear.i              |  8 ++++----
 python/gtsam/preamble/nonlinear.h        |  2 --
 python/gtsam/specializations/nonlinear.h |  2 +-
 4 files changed, 13 insertions(+), 11 deletions(-)

diff --git a/gtsam/nonlinear/GncParams.h b/gtsam/nonlinear/GncParams.h
index a7ccb88b76..08ae423366 100644
--- a/gtsam/nonlinear/GncParams.h
+++ b/gtsam/nonlinear/GncParams.h
@@ -72,8 +72,12 @@ class GTSAM_EXPORT GncParams {
   double relativeCostTol = 1e-5;  ///< If relative cost change is below this threshold, stop iterating
   double weightsTol = 1e-4;  ///< If the weights are within weightsTol from being binary, stop iterating (only for TLS)
   Verbosity verbosity = SILENT;  ///< Verbosity level
-  std::vector<size_t> knownInliers = std::vector<size_t>();  ///< Slots in the factor graph corresponding to measurements that we know are inliers
-  std::vector<size_t> knownOutliers = std::vector<size_t>();  ///< Slots in the factor graph corresponding to measurements that we know are outliers
+
+  // *NOTE* We use KeyVector for inliers and outliers since it is fast + wrapping
+  ///< Slots in the factor graph corresponding to measurements that we know are inliers
+  KeyVector knownInliers = KeyVector();
+  ///< Slots in the factor graph corresponding to measurements that we know are outliers
+  KeyVector knownOutliers = KeyVector();
 
   /// Set the robust loss function to be used in GNC (chosen among the ones in GncLossType).
   void setLossType(const GncLossType type) {
@@ -114,7 +118,7 @@ class GTSAM_EXPORT GncParams {
    * This functionality is commonly used in SLAM when one may assume the odometry is outlier free, and
    * only apply GNC to prune outliers from the loop closures.
    * */
-  void setKnownInliers(const std::vector<size_t>& knownIn) {
+  void setKnownInliers(const KeyVector& knownIn) {
     for (size_t i = 0; i < knownIn.size(); i++){
       knownInliers.push_back(knownIn[i]);
     }
@@ -125,7 +129,7 @@ class GTSAM_EXPORT GncParams {
    * corresponds to the slots in the factor graph. For instance, if you have a nonlinear factor graph nfg,
    * and you provide  knownOut = {0, 2, 15}, GNC will not apply outlier rejection to nfg[0], nfg[2], and nfg[15].
    * */
-  void setKnownOutliers(const std::vector<size_t>& knownOut) {
+  void setKnownOutliers(const KeyVector& knownOut) {
     for (size_t i = 0; i < knownOut.size(); i++){
       knownOutliers.push_back(knownOut[i]);
     }
diff --git a/gtsam/nonlinear/nonlinear.i b/gtsam/nonlinear/nonlinear.i
index c793332368..4bb80a0d62 100644
--- a/gtsam/nonlinear/nonlinear.i
+++ b/gtsam/nonlinear/nonlinear.i
@@ -529,8 +529,8 @@ virtual class GncParams {
   double relativeCostTol;
   double weightsTol;
   Verbosity verbosity;
-  std::vector<size_t> knownInliers;
-  std::vector<size_t> knownOutliers;
+  gtsam::KeyVector knownInliers;
+  gtsam::KeyVector knownOutliers;
 
   void setLossType(const gtsam::GncLossType type);
   void setMaxIterations(const size_t maxIter);
@@ -538,8 +538,8 @@ virtual class GncParams {
   void setRelativeCostTol(double value);
   void setWeightsTol(double value);
   void setVerbosityGNC(const gtsam::This::Verbosity value);
-  void setKnownInliers(const std::vector<size_t>& knownIn);
-  void setKnownOutliers(const std::vector<size_t>& knownOut);
+  void setKnownInliers(const gtsam::KeyVector& knownIn);
+  void setKnownOutliers(const gtsam::KeyVector& knownOut);
   void print(const string& str = "GncParams: ") const;
   
   enum Verbosity {
diff --git a/python/gtsam/preamble/nonlinear.h b/python/gtsam/preamble/nonlinear.h
index 56a07cfdd1..d07a75f6fb 100644
--- a/python/gtsam/preamble/nonlinear.h
+++ b/python/gtsam/preamble/nonlinear.h
@@ -10,5 +10,3 @@
  * Without this they will be automatically converted to a Python object, and all
  * mutations on Python side will not be reflected on C++.
  */
-
-#include <pybind11/stl.h>
diff --git a/python/gtsam/specializations/nonlinear.h b/python/gtsam/specializations/nonlinear.h
index d46ccdc668..da8842eaf4 100644
--- a/python/gtsam/specializations/nonlinear.h
+++ b/python/gtsam/specializations/nonlinear.h
@@ -9,4 +9,4 @@
  * interface, but without the `<pybind11/stl.h>` copying mechanism. Combined
  * with `PYBIND11_MAKE_OPAQUE` this allows the types to be modified with Python,
  * and saves one copy operation.
- */
\ No newline at end of file
+ */

From 8ddc2ea989d17abb4b8fc551176a3bc411cdae71 Mon Sep 17 00:00:00 2001
From: Varun Agrawal <varagrawal@gmail.com>
Date: Tue, 26 Jul 2022 07:15:48 -0400
Subject: [PATCH 221/433] rename to HybridNonlinearFactorGraph

---
 ...orGraph.h => HybridNonlinearFactorGraph.h} | 20 +++++++++----------
 1 file changed, 10 insertions(+), 10 deletions(-)
 rename gtsam/hybrid/{NonlinearHybridFactorGraph.h => HybridNonlinearFactorGraph.h} (92%)

diff --git a/gtsam/hybrid/NonlinearHybridFactorGraph.h b/gtsam/hybrid/HybridNonlinearFactorGraph.h
similarity index 92%
rename from gtsam/hybrid/NonlinearHybridFactorGraph.h
rename to gtsam/hybrid/HybridNonlinearFactorGraph.h
index 82a331531e..c54a1057e2 100644
--- a/gtsam/hybrid/NonlinearHybridFactorGraph.h
+++ b/gtsam/hybrid/HybridNonlinearFactorGraph.h
@@ -10,7 +10,7 @@
  * -------------------------------------------------------------------------- */
 
 /**
- * @file   NonlinearHybridFactorGraph.h
+ * @file   HybridNonlinearFactorGraph.h
  * @brief  Nonlinear hybrid factor graph that uses type erasure
  * @author Varun Agrawal
  * @date   May 28, 2022
@@ -35,7 +35,7 @@ namespace gtsam {
  * This is the non-linear version of a hybrid factor graph.
  * Everything inside needs to be hybrid factor or hybrid conditional.
  */
-class GTSAM_EXPORT NonlinearHybridFactorGraph : public HybridFactorGraph {
+class GTSAM_EXPORT HybridNonlinearFactorGraph : public HybridFactorGraph {
  protected:
   /// Check if FACTOR type is derived from NonlinearFactor.
   template <typename FACTOR>
@@ -44,7 +44,7 @@ class GTSAM_EXPORT NonlinearHybridFactorGraph : public HybridFactorGraph {
 
  public:
   using Base = HybridFactorGraph;
-  using This = NonlinearHybridFactorGraph;     ///< this class
+  using This = HybridNonlinearFactorGraph;     ///< this class
   using shared_ptr = boost::shared_ptr<This>;  ///< shared_ptr to This
 
   using Values = gtsam::Values;  ///< backwards compatibility
@@ -53,7 +53,7 @@ class GTSAM_EXPORT NonlinearHybridFactorGraph : public HybridFactorGraph {
   /// @name Constructors
   /// @{
 
-  NonlinearHybridFactorGraph() = default;
+  HybridNonlinearFactorGraph() = default;
 
   /**
    * Implicit copy/downcast constructor to override explicit template container
@@ -61,7 +61,7 @@ class GTSAM_EXPORT NonlinearHybridFactorGraph : public HybridFactorGraph {
    * `cachedSeparatorMarginal_.reset(*separatorMarginal)`
    * */
   template <class DERIVEDFACTOR>
-  NonlinearHybridFactorGraph(const FactorGraph<DERIVEDFACTOR>& graph)
+  HybridNonlinearFactorGraph(const FactorGraph<DERIVEDFACTOR>& graph)
       : Base(graph) {}
 
   /// @}
@@ -131,21 +131,21 @@ class GTSAM_EXPORT NonlinearHybridFactorGraph : public HybridFactorGraph {
    * Simply prints the factor graph.
    */
   void print(
-      const std::string& str = "NonlinearHybridFactorGraph",
+      const std::string& str = "HybridNonlinearFactorGraph",
       const KeyFormatter& keyFormatter = DefaultKeyFormatter) const override {}
 
   /**
    * @return true if all internal graphs of `this` are equal to those of
    * `other`
    */
-  bool equals(const NonlinearHybridFactorGraph& other,
+  bool equals(const HybridNonlinearFactorGraph& other,
               double tol = 1e-9) const {
     return false;
   }
 
   /**
    * @brief Linearize all the continuous factors in the
-   * NonlinearHybridFactorGraph.
+   * HybridNonlinearFactorGraph.
    *
    * @param continuousValues: Dictionary of continuous values.
    * @return GaussianHybridFactorGraph::shared_ptr
@@ -200,7 +200,7 @@ class GTSAM_EXPORT NonlinearHybridFactorGraph : public HybridFactorGraph {
 };
 
 template <>
-struct traits<NonlinearHybridFactorGraph>
-    : public Testable<NonlinearHybridFactorGraph> {};
+struct traits<HybridNonlinearFactorGraph>
+    : public Testable<HybridNonlinearFactorGraph> {};
 
 }  // namespace gtsam

From 7a55341e3202ad2aac6a1f8521e7b2794c639f7d Mon Sep 17 00:00:00 2001
From: Varun Agrawal <varagrawal@gmail.com>
Date: Tue, 26 Jul 2022 07:21:05 -0400
Subject: [PATCH 222/433] add IsGaussian template check

---
 gtsam/hybrid/HybridGaussianFactorGraph.h | 8 +++++++-
 1 file changed, 7 insertions(+), 1 deletion(-)

diff --git a/gtsam/hybrid/HybridGaussianFactorGraph.h b/gtsam/hybrid/HybridGaussianFactorGraph.h
index b98654b92b..ca9d8049ea 100644
--- a/gtsam/hybrid/HybridGaussianFactorGraph.h
+++ b/gtsam/hybrid/HybridGaussianFactorGraph.h
@@ -75,8 +75,14 @@ struct EliminationTraits<HybridGaussianFactorGraph> {
  * Everything inside needs to be hybrid factor or hybrid conditional.
  */
 class GTSAM_EXPORT HybridGaussianFactorGraph
-    : public HybridFactorGraph,,
+    : public HybridFactorGraph,
       public EliminateableFactorGraph<HybridGaussianFactorGraph> {
+ protected:
+  /// Check if FACTOR type is derived from GaussianFactor.
+  template <typename FACTOR>
+  using IsGaussian = typename std::enable_if<
+      std::is_base_of<GaussianFactor, FACTOR>::value>::type;
+
  public:
   using Base = HybridFactorGraph;
   using This = HybridGaussianFactorGraph;  ///< this class

From 43c28e7870661214f9024c7ed67d4e63c3fb823a Mon Sep 17 00:00:00 2001
From: Varun Agrawal <varagrawal@gmail.com>
Date: Tue, 26 Jul 2022 07:40:24 -0400
Subject: [PATCH 223/433] renaming fixes

---
 gtsam/hybrid/HybridNonlinearFactorGraph.h     |  8 +--
 ...cpp => testHybridNonlinearFactorGraph.cpp} | 61 +++++++++----------
 2 files changed, 34 insertions(+), 35 deletions(-)
 rename gtsam/hybrid/tests/{testNonlinearHybridFactorGraph.cpp => testHybridNonlinearFactorGraph.cpp} (94%)

diff --git a/gtsam/hybrid/HybridNonlinearFactorGraph.h b/gtsam/hybrid/HybridNonlinearFactorGraph.h
index c54a1057e2..f1396bcc0c 100644
--- a/gtsam/hybrid/HybridNonlinearFactorGraph.h
+++ b/gtsam/hybrid/HybridNonlinearFactorGraph.h
@@ -18,7 +18,7 @@
 
 #pragma once
 
-#include <gtsam/hybrid/GaussianHybridFactorGraph.h>
+#include <gtsam/hybrid/HybridGaussianFactorGraph.h>
 #include <gtsam/hybrid/HybridFactor.h>
 #include <gtsam/hybrid/HybridFactorGraph.h>
 #include <gtsam/hybrid/HybridNonlinearFactor.h>
@@ -148,11 +148,11 @@ class GTSAM_EXPORT HybridNonlinearFactorGraph : public HybridFactorGraph {
    * HybridNonlinearFactorGraph.
    *
    * @param continuousValues: Dictionary of continuous values.
-   * @return GaussianHybridFactorGraph::shared_ptr
+   * @return HybridGaussianFactorGraph::shared_ptr
    */
-  GaussianHybridFactorGraph linearize(const Values& continuousValues) const {
+  HybridGaussianFactorGraph linearize(const Values& continuousValues) const {
     // create an empty linear FG
-    GaussianHybridFactorGraph linearFG;
+    HybridGaussianFactorGraph linearFG;
 
     linearFG.reserve(size());
 
diff --git a/gtsam/hybrid/tests/testNonlinearHybridFactorGraph.cpp b/gtsam/hybrid/tests/testHybridNonlinearFactorGraph.cpp
similarity index 94%
rename from gtsam/hybrid/tests/testNonlinearHybridFactorGraph.cpp
rename to gtsam/hybrid/tests/testHybridNonlinearFactorGraph.cpp
index 6e40199921..6c5e949212 100644
--- a/gtsam/hybrid/tests/testNonlinearHybridFactorGraph.cpp
+++ b/gtsam/hybrid/tests/testHybridNonlinearFactorGraph.cpp
@@ -7,8 +7,8 @@
  * -------------------------------------------------------------------------- */
 
 /**
- * @file    testDCFactorGraph.cpp
- * @brief   Unit tests for DCFactorGraph
+ * @file    testHybridNonlinearFactorGraph.cpp
+ * @brief   Unit tests for HybridNonlinearFactorGraph
  * @author  Varun Agrawal
  * @author  Fan Jiang
  * @author  Frank Dellaert
@@ -22,9 +22,8 @@
 #include <gtsam/geometry/Pose2.h>
 #include <gtsam/hybrid/HybridEliminationTree.h>
 #include <gtsam/hybrid/HybridFactor.h>
-#include <gtsam/hybrid/HybridISAM.h>
+#include <gtsam/hybrid/HybridNonlinearFactorGraph.h>
 #include <gtsam/hybrid/MixtureFactor.h>
-#include <gtsam/hybrid/NonlinearHybridFactorGraph.h>
 #include <gtsam/linear/GaussianBayesNet.h>
 #include <gtsam/nonlinear/PriorFactor.h>
 #include <gtsam/sam/BearingRangeFactor.h>
@@ -49,7 +48,7 @@ using symbol_shorthand::X;
  * existing gaussian factor graph in the hybrid factor graph.
  */
 TEST(HybridFactorGraph, GaussianFactorGraph) {
-  NonlinearHybridFactorGraph fg;
+  HybridNonlinearFactorGraph fg;
 
   // Add a simple prior factor to the nonlinear factor graph
   fg.emplace_nonlinear<PriorFactor<double>>(X(0), 0, Isotropic::Sigma(1, 0.1));
@@ -58,7 +57,7 @@ TEST(HybridFactorGraph, GaussianFactorGraph) {
   Values linearizationPoint;
   linearizationPoint.insert<double>(X(0), 0);
 
-  GaussianHybridFactorGraph ghfg = fg.linearize(linearizationPoint);
+  HybridGaussianFactorGraph ghfg = fg.linearize(linearizationPoint);
 
   // Add a factor to the GaussianFactorGraph
   ghfg.add(JacobianFactor(X(0), I_1x1, Vector1(5)));
@@ -69,9 +68,9 @@ TEST(HybridFactorGraph, GaussianFactorGraph) {
 /* **************************************************************************
  */
 /// Test that the resize method works correctly for a
-/// NonlinearHybridFactorGraph.
-TEST(NonlinearHybridFactorGraph, Resize) {
-  NonlinearHybridFactorGraph fg;
+/// HybridNonlinearFactorGraph.
+TEST(HybridNonlinearFactorGraph, Resize) {
+  HybridNonlinearFactorGraph fg;
   auto nonlinearFactor = boost::make_shared<BetweenFactor<double>>();
   fg.push_back(nonlinearFactor);
 
@@ -90,9 +89,9 @@ TEST(NonlinearHybridFactorGraph, Resize) {
 /* **************************************************************************
  */
 /// Test that the resize method works correctly for a
-/// GaussianHybridFactorGraph.
-TEST(GaussianHybridFactorGraph, Resize) {
-  NonlinearHybridFactorGraph nhfg;
+/// HybridGaussianFactorGraph.
+TEST(HybridGaussianFactorGraph, Resize) {
+  HybridNonlinearFactorGraph nhfg;
   auto nonlinearFactor = boost::make_shared<BetweenFactor<double>>(
       X(0), X(1), 0.0, Isotropic::Sigma(1, 0.1));
   nhfg.push_back(nonlinearFactor);
@@ -115,8 +114,8 @@ TEST(GaussianHybridFactorGraph, Resize) {
   linearizationPoint.insert<double>(X(0), 0);
   linearizationPoint.insert<double>(X(1), 1);
 
-  // Generate `GaussianHybridFactorGraph` by linearizing
-  GaussianHybridFactorGraph gfg = nhfg.linearize(linearizationPoint);
+  // Generate `HybridGaussianFactorGraph` by linearizing
+  HybridGaussianFactorGraph gfg = nhfg.linearize(linearizationPoint);
 
   EXPECT_LONGS_EQUAL(gfg.size(), 3);
 
@@ -129,41 +128,41 @@ TEST(GaussianHybridFactorGraph, Resize) {
 * Test push_back on HFG makes the correct distinction.
 */
 TEST(HybridFactorGraph, PushBack) {
-  NonlinearHybridFactorGraph fg;
+  HybridNonlinearFactorGraph fg;
 
   auto nonlinearFactor = boost::make_shared<BetweenFactor<double>>();
   fg.push_back(nonlinearFactor);
 
   EXPECT_LONGS_EQUAL(fg.size(), 1);
 
-  fg = NonlinearHybridFactorGraph();
+  fg = HybridNonlinearFactorGraph();
 
   auto discreteFactor = boost::make_shared<DecisionTreeFactor>();
   fg.push_back(discreteFactor);
 
   EXPECT_LONGS_EQUAL(fg.size(), 1);
 
-  fg = NonlinearHybridFactorGraph();
+  fg = HybridNonlinearFactorGraph();
 
   auto dcFactor = boost::make_shared<MixtureFactor>();
   fg.push_back(dcFactor);
 
   EXPECT_LONGS_EQUAL(fg.size(), 1);
 
-  // Now do the same with GaussianHybridFactorGraph
-  GaussianHybridFactorGraph ghfg;
+  // Now do the same with HybridGaussianFactorGraph
+  HybridGaussianFactorGraph ghfg;
 
   auto gaussianFactor = boost::make_shared<JacobianFactor>();
   ghfg.push_back(gaussianFactor);
 
   EXPECT_LONGS_EQUAL(ghfg.size(), 1);
 
-  ghfg = GaussianHybridFactorGraph();
+  ghfg = HybridGaussianFactorGraph();
   ghfg.push_back(discreteFactor);
 
   EXPECT_LONGS_EQUAL(ghfg.size(), 1);
 
-  ghfg = GaussianHybridFactorGraph();
+  ghfg = HybridGaussianFactorGraph();
   ghfg.push_back(dcFactor);
 
   EXPECT_LONGS_EQUAL(ghfg.size(), 1);
@@ -193,7 +192,7 @@ TEST(HybridFactorGraph, PushBack) {
 //   Switching self(3);
 
 //   // Linearize here:
-//   GaussianHybridFactorGraph actualLinearized =
+//   HybridGaussianFactorGraph actualLinearized =
 //       self.nonlinearFactorGraph.linearize(self.linearizationPoint);
 
 //   EXPECT_LONGS_EQUAL(8, actualLinearized.size());
@@ -224,7 +223,7 @@ TEST(HybridFactorGraph, PushBack) {
 //   Switching self(3);
 
 //   // Gather factors on x1, has a simple Gaussian and a mixture factor.
-//   GaussianHybridFactorGraph factors;
+//   HybridGaussianFactorGraph factors;
 //   factors.push_gaussian(self.linearizedFactorGraph.gaussianGraph()[0]);
 //   factors.push_dc(self.linearizedFactorGraph.dcGraph()[0]);
 
@@ -255,7 +254,7 @@ TEST(HybridFactorGraph, PushBack) {
 //   Switching self(3);
 
 //   // Gather factors on x2, will be two mixture factors (with x1 and x3,
-//   resp.). GaussianHybridFactorGraph factors;
+//   resp.). HybridGaussianFactorGraph factors;
 //   factors.push_dc(self.linearizedFactorGraph.dcGraph()[0]);  // involves m1
 //   factors.push_dc(self.linearizedFactorGraph.dcGraph()[1]);  // involves m2
 
@@ -355,7 +354,7 @@ TEST(HybridFactorGraph, PushBack) {
 //   Switching self(K, between_sigma, prior_sigma);
 
 //   // Clear out discrete factors since sum() cannot hanldle those
-//   GaussianHybridFactorGraph linearizedFactorGraph(
+//   HybridGaussianFactorGraph linearizedFactorGraph(
 //       self.linearizedFactorGraph.gaussianGraph(), DiscreteFactorGraph(),
 //       self.linearizedFactorGraph.dcGraph());
 
@@ -400,7 +399,7 @@ TEST(HybridFactorGraph, PushBack) {
 
 //   // Eliminate partially.
 //   HybridBayesNet::shared_ptr hybridBayesNet;
-//   GaussianHybridFactorGraph::shared_ptr remainingFactorGraph;
+//   HybridGaussianFactorGraph::shared_ptr remainingFactorGraph;
 //   std::tie(hybridBayesNet, remainingFactorGraph) =
 //       linearizedFactorGraph.eliminatePartialSequential(ordering);
 
@@ -435,7 +434,7 @@ TEST(HybridFactorGraph, PushBack) {
 
 //   // We first do a partial elimination
 //   HybridBayesNet::shared_ptr hybridBayesNet_partial;
-//   GaussianHybridFactorGraph::shared_ptr remainingFactorGraph_partial;
+//   HybridGaussianFactorGraph::shared_ptr remainingFactorGraph_partial;
 //   DiscreteBayesNet discreteBayesNet;
 
 //   {
@@ -500,7 +499,7 @@ TEST(HybridFactorGraph, PushBack) {
 
 //   // Eliminate partially.
 //   HybridBayesNet::shared_ptr hybridBayesNet;
-//   GaussianHybridFactorGraph::shared_ptr remainingFactorGraph;
+//   HybridGaussianFactorGraph::shared_ptr remainingFactorGraph;
 //   std::tie(hybridBayesNet, remainingFactorGraph) =
 //       linearizedFactorGraph.eliminatePartialSequential(ordering);
 
@@ -678,7 +677,7 @@ TEST(HybridFactorGraph, PushBack) {
 // // issue arises if we eliminate a landmark variable first since it is not
 // // connected to a DCFactor.
 // TEST(HybridFactorGraph, DefaultDecisionTree) {
-//   NonlinearHybridFactorGraph fg;
+//   HybridNonlinearFactorGraph fg;
 
 //   // Add a prior on pose x1 at the origin. A prior factor consists of a mean
 //   and
@@ -732,9 +731,9 @@ TEST(HybridFactorGraph, PushBack) {
 //   ordering += X(0);
 //   ordering += X(1);
 
-//   GaussianHybridFactorGraph linearized = fg.linearize(initialEstimate);
+//   HybridGaussianFactorGraph linearized = fg.linearize(initialEstimate);
 //   gtsam::HybridBayesNet::shared_ptr hybridBayesNet;
-//   gtsam::GaussianHybridFactorGraph::shared_ptr remainingFactorGraph;
+//   gtsam::HybridGaussianFactorGraph::shared_ptr remainingFactorGraph;
 
 //   // This should NOT fail
 //   std::tie(hybridBayesNet, remainingFactorGraph) =

From 1d51c4e64692f0792685d4d50873ba00ef61d238 Mon Sep 17 00:00:00 2001
From: Varun Agrawal <varagrawal@gmail.com>
Date: Tue, 26 Jul 2022 07:54:05 -0400
Subject: [PATCH 224/433] Use new GncParams::IndexVector

---
 gtsam/nonlinear/GncParams.h | 12 +++++++-----
 tests/testGncOptimizer.cpp  | 22 +++++++++++-----------
 2 files changed, 18 insertions(+), 16 deletions(-)

diff --git a/gtsam/nonlinear/GncParams.h b/gtsam/nonlinear/GncParams.h
index 08ae423366..e069d5f3d9 100644
--- a/gtsam/nonlinear/GncParams.h
+++ b/gtsam/nonlinear/GncParams.h
@@ -73,11 +73,13 @@ class GTSAM_EXPORT GncParams {
   double weightsTol = 1e-4;  ///< If the weights are within weightsTol from being binary, stop iterating (only for TLS)
   Verbosity verbosity = SILENT;  ///< Verbosity level
 
-  // *NOTE* We use KeyVector for inliers and outliers since it is fast + wrapping
+  //TODO(Varun) replace IndexVector with vector<size_t> once pybind11/stl.h is globally enabled.
+  /// Use IndexVector for inliers and outliers since it is fast + wrapping
+  using IndexVector = FastVector<uint64_t>;
   ///< Slots in the factor graph corresponding to measurements that we know are inliers
-  KeyVector knownInliers = KeyVector();
+  IndexVector knownInliers = IndexVector();
   ///< Slots in the factor graph corresponding to measurements that we know are outliers
-  KeyVector knownOutliers = KeyVector();
+  IndexVector knownOutliers = IndexVector();
 
   /// Set the robust loss function to be used in GNC (chosen among the ones in GncLossType).
   void setLossType(const GncLossType type) {
@@ -118,7 +120,7 @@ class GTSAM_EXPORT GncParams {
    * This functionality is commonly used in SLAM when one may assume the odometry is outlier free, and
    * only apply GNC to prune outliers from the loop closures.
    * */
-  void setKnownInliers(const KeyVector& knownIn) {
+  void setKnownInliers(const IndexVector& knownIn) {
     for (size_t i = 0; i < knownIn.size(); i++){
       knownInliers.push_back(knownIn[i]);
     }
@@ -129,7 +131,7 @@ class GTSAM_EXPORT GncParams {
    * corresponds to the slots in the factor graph. For instance, if you have a nonlinear factor graph nfg,
    * and you provide  knownOut = {0, 2, 15}, GNC will not apply outlier rejection to nfg[0], nfg[2], and nfg[15].
    * */
-  void setKnownOutliers(const KeyVector& knownOut) {
+  void setKnownOutliers(const IndexVector& knownOut) {
     for (size_t i = 0; i < knownOut.size(); i++){
       knownOutliers.push_back(knownOut[i]);
     }
diff --git a/tests/testGncOptimizer.cpp b/tests/testGncOptimizer.cpp
index c3335ce20c..15d660114f 100644
--- a/tests/testGncOptimizer.cpp
+++ b/tests/testGncOptimizer.cpp
@@ -567,7 +567,7 @@ TEST(GncOptimizer, optimizeWithKnownInliers) {
   Values initial;
   initial.insert(X(1), p0);
 
-  std::vector<size_t> knownInliers;
+  GncParams<GaussNewtonParams>::IndexVector knownInliers;
   knownInliers.push_back(0);
   knownInliers.push_back(1);
   knownInliers.push_back(2);
@@ -644,7 +644,7 @@ TEST(GncOptimizer, barcsq) {
   Values initial;
   initial.insert(X(1), p0);
 
-  std::vector<size_t> knownInliers;
+  GncParams<GaussNewtonParams>::IndexVector knownInliers;
   knownInliers.push_back(0);
   knownInliers.push_back(1);
   knownInliers.push_back(2);
@@ -691,7 +691,7 @@ TEST(GncOptimizer, setInlierCostThresholds) {
   Values initial;
   initial.insert(X(1), p0);
 
-  std::vector<size_t> knownInliers;
+  GncParams<GaussNewtonParams>::IndexVector knownInliers;
   knownInliers.push_back(0);
   knownInliers.push_back(1);
   knownInliers.push_back(2);
@@ -763,7 +763,7 @@ TEST(GncOptimizer, optimizeSmallPoseGraph) {
   // GNC
   // Note: in difficult instances, we set the odometry measurements to be
   // inliers, but this problem is simple enought to succeed even without that
-  // assumption std::vector<size_t> knownInliers;
+  // assumption GncParams<GaussNewtonParams>::IndexVector knownInliers;
   GncParams<GaussNewtonParams> gncParams;
   auto gnc = GncOptimizer<GncParams<GaussNewtonParams>>(*graph, *initial,
                                                         gncParams);
@@ -784,12 +784,12 @@ TEST(GncOptimizer, knownInliersAndOutliers) {
   // nonconvexity with known inliers and known outliers (check early stopping
   // when all measurements are known to be inliers or outliers)
   {
-    std::vector<size_t> knownInliers;
+    GncParams<GaussNewtonParams>::IndexVector knownInliers;
     knownInliers.push_back(0);
     knownInliers.push_back(1);
     knownInliers.push_back(2);
 
-    std::vector<size_t> knownOutliers;
+    GncParams<GaussNewtonParams>::IndexVector knownOutliers;
     knownOutliers.push_back(3);
 
     GncParams<GaussNewtonParams> gncParams;
@@ -813,11 +813,11 @@ TEST(GncOptimizer, knownInliersAndOutliers) {
 
   // nonconvexity with known inliers and known outliers
   {
-    std::vector<size_t> knownInliers;
+    GncParams<GaussNewtonParams>::IndexVector knownInliers;
     knownInliers.push_back(2);
     knownInliers.push_back(0);
 
-    std::vector<size_t> knownOutliers;
+    GncParams<GaussNewtonParams>::IndexVector knownOutliers;
     knownOutliers.push_back(3);
 
     GncParams<GaussNewtonParams> gncParams;
@@ -841,7 +841,7 @@ TEST(GncOptimizer, knownInliersAndOutliers) {
 
   // only known outliers
   {
-    std::vector<size_t> knownOutliers;
+    GncParams<GaussNewtonParams>::IndexVector knownOutliers;
     knownOutliers.push_back(3);
 
     GncParams<GaussNewtonParams> gncParams;
@@ -916,11 +916,11 @@ TEST(GncOptimizer, setWeights) {
   // initialize weights and also set known inliers/outliers
   {
     GncParams<GaussNewtonParams> gncParams;
-    std::vector<size_t> knownInliers;
+    GncParams<GaussNewtonParams>::IndexVector knownInliers;
     knownInliers.push_back(2);
     knownInliers.push_back(0);
 
-    std::vector<size_t> knownOutliers;
+    GncParams<GaussNewtonParams>::IndexVector knownOutliers;
     knownOutliers.push_back(3);
     gncParams.setKnownInliers(knownInliers);
     gncParams.setKnownOutliers(knownOutliers);

From d92ce6ba9afe226370bfdecf95e4b04febc91466 Mon Sep 17 00:00:00 2001
From: Varun Agrawal <varagrawal@gmail.com>
Date: Tue, 26 Jul 2022 13:11:21 -0400
Subject: [PATCH 225/433] break up Python CI steps so reading logs is easier

---
 .github/scripts/python.sh          | 87 ++++++++++++++++++------------
 .github/workflows/build-python.yml | 13 ++---
 2 files changed, 61 insertions(+), 39 deletions(-)

diff --git a/.github/scripts/python.sh b/.github/scripts/python.sh
index 0855dbc21b..662c4196ea 100644
--- a/.github/scripts/python.sh
+++ b/.github/scripts/python.sh
@@ -43,46 +43,67 @@ if [ -z ${PYTHON_VERSION+x} ]; then
     exit 127
 fi
 
-PYTHON="python${PYTHON_VERSION}"
+export PYTHON="python${PYTHON_VERSION}"
 
-if [[ $(uname) == "Darwin" ]]; then
+function install_dependencies()
+{
+  if [[ $(uname) == "Darwin" ]]; then
     brew install wget
-else
+  else
     # Install a system package required by our library
     sudo apt-get install -y wget libicu-dev python3-pip python3-setuptools
-fi
-
-PATH=$PATH:$($PYTHON -c "import site; print(site.USER_BASE)")/bin
-
-[ "${GTSAM_WITH_TBB:-OFF}" = "ON" ] && install_tbb
-
-
-BUILD_PYBIND="ON"
+  fi
 
-sudo $PYTHON -m pip install -r $GITHUB_WORKSPACE/python/requirements.txt
+  export PATH=$PATH:$($PYTHON -c "import site; print(site.USER_BASE)")/bin
 
-mkdir $GITHUB_WORKSPACE/build
-cd $GITHUB_WORKSPACE/build
+  [ "${GTSAM_WITH_TBB:-OFF}" = "ON" ] && install_tbb
 
-cmake $GITHUB_WORKSPACE -DCMAKE_BUILD_TYPE=${CMAKE_BUILD_TYPE} \
-    -DGTSAM_BUILD_TESTS=OFF \
-    -DGTSAM_BUILD_UNSTABLE=${GTSAM_BUILD_UNSTABLE:-ON} \
-    -DGTSAM_USE_QUATERNIONS=OFF \
-    -DGTSAM_WITH_TBB=${GTSAM_WITH_TBB:-OFF} \
-    -DGTSAM_BUILD_EXAMPLES_ALWAYS=OFF \
-    -DGTSAM_BUILD_WITH_MARCH_NATIVE=OFF \
-    -DGTSAM_BUILD_PYTHON=${BUILD_PYBIND} \
-    -DGTSAM_UNSTABLE_BUILD_PYTHON=${GTSAM_BUILD_UNSTABLE:-ON} \
-    -DGTSAM_PYTHON_VERSION=$PYTHON_VERSION \
-    -DPYTHON_EXECUTABLE:FILEPATH=$(which $PYTHON) \
-    -DGTSAM_ALLOW_DEPRECATED_SINCE_V42=OFF \
-    -DCMAKE_INSTALL_PREFIX=$GITHUB_WORKSPACE/gtsam_install
+  $PYTHON -m pip install -r $GITHUB_WORKSPACE/python/requirements.txt
+}
 
+function build()
+{
+  mkdir $GITHUB_WORKSPACE/build
+  cd $GITHUB_WORKSPACE/build
+
+  BUILD_PYBIND="ON"
+
+  cmake $GITHUB_WORKSPACE -DCMAKE_BUILD_TYPE=${CMAKE_BUILD_TYPE} \
+      -DGTSAM_BUILD_TESTS=OFF \
+      -DGTSAM_BUILD_UNSTABLE=${GTSAM_BUILD_UNSTABLE:-ON} \
+      -DGTSAM_USE_QUATERNIONS=OFF \
+      -DGTSAM_WITH_TBB=${GTSAM_WITH_TBB:-OFF} \
+      -DGTSAM_BUILD_EXAMPLES_ALWAYS=OFF \
+      -DGTSAM_BUILD_WITH_MARCH_NATIVE=OFF \
+      -DGTSAM_BUILD_PYTHON=${BUILD_PYBIND} \
+      -DGTSAM_UNSTABLE_BUILD_PYTHON=${GTSAM_BUILD_UNSTABLE:-ON} \
+      -DGTSAM_PYTHON_VERSION=$PYTHON_VERSION \
+      -DPYTHON_EXECUTABLE:FILEPATH=$(which $PYTHON) \
+      -DGTSAM_ALLOW_DEPRECATED_SINCE_V42=OFF \
+      -DCMAKE_INSTALL_PREFIX=$GITHUB_WORKSPACE/gtsam_install
+
+
+  # Set to 2 cores so that Actions does not error out during resource provisioning.
+  make -j2 install
+
+  cd $GITHUB_WORKSPACE/build/python
+  $PYTHON -m pip install --user .
+}
 
-# Set to 2 cores so that Actions does not error out during resource provisioning.
-make -j2 install
+function test()
+{
+  cd $GITHUB_WORKSPACE/python/gtsam/tests
+  $PYTHON -m unittest discover -v
+}
 
-cd $GITHUB_WORKSPACE/build/python
-$PYTHON -m pip install --user .
-cd $GITHUB_WORKSPACE/python/gtsam/tests
-$PYTHON -m unittest discover -v
+# select between build or test
+case $1 in
+  -d)
+    install_dependencies
+  -b)
+    build
+    ;;
+  -t)
+    test
+    ;;
+esac
diff --git a/.github/workflows/build-python.yml b/.github/workflows/build-python.yml
index f80b9362c9..1e1519da60 100644
--- a/.github/workflows/build-python.yml
+++ b/.github/workflows/build-python.yml
@@ -117,11 +117,12 @@ jobs:
         uses: pierotofy/set-swap-space@master
         with:
           swap-size-gb: 6
-      - name: Build (Linux)
-        if: runner.os == 'Linux'
+      - name: Install Dependencies
         run: |
-          bash .github/scripts/python.sh
-      - name: Build (macOS)
-        if: runner.os == 'macOS'
+          bash .github/scripts/python.sh -d
+      - name: Build
+        run: |
+          bash .github/scripts/python.sh -b
+      - name: Test
         run: |
-          bash .github/scripts/python.sh
+          bash .github/scripts/python.sh -t

From 987448fa7784f90ba291d5bfb5764fb0b076d7ab Mon Sep 17 00:00:00 2001
From: Varun Agrawal <varagrawal@gmail.com>
Date: Tue, 26 Jul 2022 13:09:42 -0400
Subject: [PATCH 226/433] remove derived push_back in
 HybridNonlinearFactorGraph and HybridFactorGraph

---
 gtsam/hybrid/HybridFactorGraph.h          | 8 --------
 gtsam/hybrid/HybridNonlinearFactorGraph.h | 8 --------
 2 files changed, 16 deletions(-)

diff --git a/gtsam/hybrid/HybridFactorGraph.h b/gtsam/hybrid/HybridFactorGraph.h
index 892136b86c..2d96072b49 100644
--- a/gtsam/hybrid/HybridFactorGraph.h
+++ b/gtsam/hybrid/HybridFactorGraph.h
@@ -135,14 +135,6 @@ class HybridFactorGraph : public FactorGraph<HybridFactor> {
       push_hybrid(p);
     }
   }
-
-  /** Constructor from iterator over factors (shared_ptr or plain objects) */
-  template <typename ITERATOR>
-  void push_back(ITERATOR firstFactor, ITERATOR lastFactor) {
-    for (auto&& it = firstFactor; it != lastFactor; it++) {
-      push_back(*it);
-    }
-  }
 };
 
 }  // namespace gtsam
diff --git a/gtsam/hybrid/HybridNonlinearFactorGraph.h b/gtsam/hybrid/HybridNonlinearFactorGraph.h
index f1396bcc0c..6c5dd515fa 100644
--- a/gtsam/hybrid/HybridNonlinearFactorGraph.h
+++ b/gtsam/hybrid/HybridNonlinearFactorGraph.h
@@ -109,14 +109,6 @@ class GTSAM_EXPORT HybridNonlinearFactorGraph : public HybridFactorGraph {
     }
   }
 
-  /** Constructor from iterator over factors (shared_ptr or plain objects) */
-  template <typename ITERATOR>
-  void push_back(ITERATOR firstFactor, ITERATOR lastFactor) {
-    for (auto&& it = firstFactor; it != lastFactor; it++) {
-      push_back(*it);
-    }
-  }
-
   // /// Add a nonlinear factor to the factor graph.
   // void add(NonlinearFactor&& factor) {
   //   Base::add(boost::make_shared<HybridNonlinearFactor>(std::move(factor)));

From bb5b2be792d422cf19f3da5981bbb29bb67c5c4a Mon Sep 17 00:00:00 2001
From: Varun Agrawal <varagrawal@gmail.com>
Date: Tue, 26 Jul 2022 14:03:21 -0400
Subject: [PATCH 227/433] fix typo

---
 .github/scripts/python.sh | 1 +
 1 file changed, 1 insertion(+)

diff --git a/.github/scripts/python.sh b/.github/scripts/python.sh
index 662c4196ea..718eee5eaf 100644
--- a/.github/scripts/python.sh
+++ b/.github/scripts/python.sh
@@ -100,6 +100,7 @@ function test()
 case $1 in
   -d)
     install_dependencies
+    ;;
   -b)
     build
     ;;

From d39cdc53e8b6c28792eed1eb3a72036c1576e8ca Mon Sep 17 00:00:00 2001
From: Varun Agrawal <varagrawal@gmail.com>
Date: Tue, 26 Jul 2022 15:51:07 -0400
Subject: [PATCH 228/433] update the directory list in cmake

---
 doc/CMakeLists.txt | 10 ++++++----
 1 file changed, 6 insertions(+), 4 deletions(-)

diff --git a/doc/CMakeLists.txt b/doc/CMakeLists.txt
index 2218addcfc..f0975821fc 100644
--- a/doc/CMakeLists.txt
+++ b/doc/CMakeLists.txt
@@ -26,6 +26,7 @@ if (GTSAM_BUILD_DOCS)
         gtsam/basis 
         gtsam/discrete
         gtsam/geometry
+        gtsam/hybrid
         gtsam/inference
         gtsam/linear
         gtsam/navigation
@@ -33,7 +34,6 @@ if (GTSAM_BUILD_DOCS)
         gtsam/sam
         gtsam/sfm
         gtsam/slam
-        gtsam/smart
         gtsam/symbolic
         gtsam
     )
@@ -42,10 +42,12 @@ if (GTSAM_BUILD_DOCS)
     set(gtsam_unstable_doc_subdirs
         gtsam_unstable/base
         gtsam_unstable/discrete
+        gtsam_unstable/dynamics
+        gtsam_unstable/geometry
         gtsam_unstable/linear
-        gtsam_unstable/nonlinear 
-        gtsam_unstable/slam 
-        gtsam_unstable/dynamics 
+        gtsam_unstable/nonlinear
+        gtsam_unstable/partition
+        gtsam_unstable/slam
         gtsam_unstable
     )
     

From 4283c8c4933f5cfaabb8506b6d1b266425e1f5eb Mon Sep 17 00:00:00 2001
From: Varun Agrawal <varagrawal@gmail.com>
Date: Tue, 26 Jul 2022 15:52:08 -0400
Subject: [PATCH 229/433] upgrade the Doxyfile config file

---
 doc/Doxyfile.in | 3015 ++++++++++++++++++++++++++++++-----------------
 1 file changed, 1952 insertions(+), 1063 deletions(-)

diff --git a/doc/Doxyfile.in b/doc/Doxyfile.in
index 12193d0be5..0f789be66f 100644
--- a/doc/Doxyfile.in
+++ b/doc/Doxyfile.in
@@ -1,104 +1,143 @@
-# Doxyfile 1.7.5.1
+# Doxyfile 1.9.4
 
 # This file describes the settings to be used by the documentation system
-# doxygen (www.doxygen.org) for a project
+# doxygen (www.doxygen.org) for a project.
 #
-# All text after a hash (#) is considered a comment and will be ignored
+# All text after a double hash (##) is considered a comment and is placed in
+# front of the TAG it is preceding.
+#
+# All text after a single hash (#) is considered a comment and will be ignored.
 # The format is:
-#       TAG = value [value, ...]
-# For lists items can also be appended using:
-#       TAG += value [value, ...]
-# Values that contain spaces should be placed between quotes (" ")
+# TAG = value [value, ...]
+# For lists, items can also be appended using:
+# TAG += value [value, ...]
+# Values that contain spaces should be placed between quotes (\" \").
+#
+# Note:
+#
+# Use doxygen to compare the used configuration file with the template
+# configuration file:
+# doxygen -x [configFile]
+# Use doxygen to compare the used configuration file with the template
+# configuration file without replacing the environment variables:
+# doxygen -x_noenv [configFile]
 
 #---------------------------------------------------------------------------
 # Project related configuration options
 #---------------------------------------------------------------------------
 
-# This tag specifies the encoding used for all characters in the config file 
-# that follow. The default is UTF-8 which is also the encoding used for all 
-# text before the first occurrence of this tag. Doxygen uses libiconv (or the 
-# iconv built into libc) for the transcoding. See 
-# http://www.gnu.org/software/libiconv for the list of possible encodings.
+# This tag specifies the encoding used for all characters in the configuration
+# file that follow. The default is UTF-8 which is also the encoding used for all
+# text before the first occurrence of this tag. Doxygen uses libiconv (or the
+# iconv built into libc) for the transcoding. See
+# https://www.gnu.org/software/libiconv/ for the list of possible encodings.
+# The default value is: UTF-8.
 
 DOXYFILE_ENCODING      = UTF-8
 
-# The PROJECT_NAME tag is a single word (or sequence of words) that should 
-# identify the project. Note that if you do not use Doxywizard you need 
-# to put quotes around the project name if it contains spaces.
+# The PROJECT_NAME tag is a single word (or a sequence of words surrounded by
+# double-quotes, unless you are using Doxywizard) that should identify the
+# project for which the documentation is generated. This name is used in the
+# title of most generated pages and in a few other places.
+# The default value is: My Project.
 
 PROJECT_NAME           = gtsam
 
-# The PROJECT_NUMBER tag can be used to enter a project or revision number. 
-# This could be handy for archiving the generated documentation or 
-# if some version control system is used.
+# The PROJECT_NUMBER tag can be used to enter a project or revision number. This
+# could be handy for archiving the generated documentation or if some version
+# control system is used.
 
 PROJECT_NUMBER         = @GTSAM_VERSION_MAJOR@.@GTSAM_VERSION_MINOR@.@GTSAM_VERSION_PATCH@
 
-# Using the PROJECT_BRIEF tag one can provide an optional one line description 
-# for a project that appears at the top of each page and should give viewer 
-# a quick idea about the purpose of the project. Keep the description short.
+# Using the PROJECT_BRIEF tag one can provide an optional one line description
+# for a project that appears at the top of each page and should give viewer a
+# quick idea about the purpose of the project. Keep the description short.
 
 PROJECT_BRIEF          = gtsam
 
-# With the PROJECT_LOGO tag one can specify an logo or icon that is 
-# included in the documentation. The maximum height of the logo should not 
-# exceed 55 pixels and the maximum width should not exceed 200 pixels. 
-# Doxygen will copy the logo to the output directory.
+# With the PROJECT_LOGO tag one can specify a logo or an icon that is included
+# in the documentation. The maximum height of the logo should not exceed 55
+# pixels and the maximum width should not exceed 200 pixels. Doxygen will copy
+# the logo to the output directory.
 
-PROJECT_LOGO           = 
+PROJECT_LOGO           =
 
-# The OUTPUT_DIRECTORY tag is used to specify the (relative or absolute) 
-# base path where the generated documentation will be put. 
-# If a relative path is entered, it will be relative to the location 
-# where doxygen was started. If left blank the current directory will be used.
+# The OUTPUT_DIRECTORY tag is used to specify the (relative or absolute) path
+# into which the generated documentation will be written. If a relative path is
+# entered, it will be relative to the location where doxygen was started. If
+# left blank the current directory will be used.
 
 OUTPUT_DIRECTORY       = .
 
-# If the CREATE_SUBDIRS tag is set to YES, then doxygen will create 
-# 4096 sub-directories (in 2 levels) under the output directory of each output 
-# format and will distribute the generated files over these directories. 
-# Enabling this option can be useful when feeding doxygen a huge amount of 
-# source files, where putting all generated files in the same directory would 
-# otherwise cause performance problems for the file system.
+# If the CREATE_SUBDIRS tag is set to YES then doxygen will create up to 4096
+# sub-directories (in 2 levels) under the output directory of each output format
+# and will distribute the generated files over these directories. Enabling this
+# option can be useful when feeding doxygen a huge amount of source files, where
+# putting all generated files in the same directory would otherwise causes
+# performance problems for the file system. Adapt CREATE_SUBDIRS_LEVEL to
+# control the number of sub-directories.
+# The default value is: NO.
 
 CREATE_SUBDIRS         = NO
 
-# The OUTPUT_LANGUAGE tag is used to specify the language in which all 
-# documentation generated by doxygen is written. Doxygen will use this 
-# information to generate all constant output in the proper language. 
-# The default language is English, other supported languages are: 
-# Afrikaans, Arabic, Brazilian, Catalan, Chinese, Chinese-Traditional, 
-# Croatian, Czech, Danish, Dutch, Esperanto, Farsi, Finnish, French, German, 
-# Greek, Hungarian, Italian, Japanese, Japanese-en (Japanese with English 
-# messages), Korean, Korean-en, Lithuanian, Norwegian, Macedonian, Persian, 
-# Polish, Portuguese, Romanian, Russian, Serbian, Serbian-Cyrillic, Slovak, 
-# Slovene, Spanish, Swedish, Ukrainian, and Vietnamese.
+# Controls the number of sub-directories that will be created when
+# CREATE_SUBDIRS tag is set to YES. Level 0 represents 16 directories, and every
+# level increment doubles the number of directories, resulting in 4096
+# directories at level 8 which is the default and also the maximum value. The
+# sub-directories are organized in 2 levels, the first level always has a fixed
+# numer of 16 directories.
+# Minimum value: 0, maximum value: 8, default value: 8.
+# This tag requires that the tag CREATE_SUBDIRS is set to YES.
+
+CREATE_SUBDIRS_LEVEL   = 8
+
+# If the ALLOW_UNICODE_NAMES tag is set to YES, doxygen will allow non-ASCII
+# characters to appear in the names of generated files. If set to NO, non-ASCII
+# characters will be escaped, for example _xE3_x81_x84 will be used for Unicode
+# U+3044.
+# The default value is: NO.
+
+ALLOW_UNICODE_NAMES    = NO
+
+# The OUTPUT_LANGUAGE tag is used to specify the language in which all
+# documentation generated by doxygen is written. Doxygen will use this
+# information to generate all constant output in the proper language.
+# Possible values are: Afrikaans, Arabic, Armenian, Brazilian, Bulgarian,
+# Catalan, Chinese, Chinese-Traditional, Croatian, Czech, Danish, Dutch, English
+# (United States), Esperanto, Farsi (Persian), Finnish, French, German, Greek,
+# Hindi, Hungarian, Indonesian, Italian, Japanese, Japanese-en (Japanese with
+# English messages), Korean, Korean-en (Korean with English messages), Latvian,
+# Lithuanian, Macedonian, Norwegian, Persian (Farsi), Polish, Portuguese,
+# Romanian, Russian, Serbian, Serbian-Cyrillic, Slovak, Slovene, Spanish,
+# Swedish, Turkish, Ukrainian and Vietnamese.
+# The default value is: English.
 
 OUTPUT_LANGUAGE        = English
 
-# If the BRIEF_MEMBER_DESC tag is set to YES (the default) Doxygen will 
-# include brief member descriptions after the members that are listed in 
-# the file and class documentation (similar to JavaDoc). 
-# Set to NO to disable this.
+# If the BRIEF_MEMBER_DESC tag is set to YES, doxygen will include brief member
+# descriptions after the members that are listed in the file and class
+# documentation (similar to Javadoc). Set to NO to disable this.
+# The default value is: YES.
 
 BRIEF_MEMBER_DESC      = YES
 
-# If the REPEAT_BRIEF tag is set to YES (the default) Doxygen will prepend 
-# the brief description of a member or function before the detailed description. 
-# Note: if both HIDE_UNDOC_MEMBERS and BRIEF_MEMBER_DESC are set to NO, the 
+# If the REPEAT_BRIEF tag is set to YES, doxygen will prepend the brief
+# description of a member or function before the detailed description
+#
+# Note: If both HIDE_UNDOC_MEMBERS and BRIEF_MEMBER_DESC are set to NO, the
 # brief descriptions will be completely suppressed.
+# The default value is: YES.
 
 REPEAT_BRIEF           = YES
 
-# This tag implements a quasi-intelligent brief description abbreviator 
-# that is used to form the text in various listings. Each string 
-# in this list, if found as the leading text of the brief description, will be 
-# stripped from the text and the result after processing the whole list, is 
-# used as the annotated text. Otherwise, the brief description is used as-is. 
-# If left blank, the following values are used ("$name" is automatically 
-# replaced with the name of the entity): "The $name class" "The $name widget" 
-# "The $name file" "is" "provides" "specifies" "contains" 
-# "represents" "a" "an" "the"
+# This tag implements a quasi-intelligent brief description abbreviator that is
+# used to form the text in various listings. Each string in this list, if found
+# as the leading text of the brief description, will be stripped from the text
+# and the result, after processing the whole list, is used as the annotated
+# text. Otherwise, the brief description is used as-is. If left blank, the
+# following values are used ($name is automatically replaced with the name of
+# the entity):The $name class, The $name widget, The $name file, is, provides,
+# specifies, contains, represents, a, an and the.
 
 ABBREVIATE_BRIEF       = "The $name class" \
                          "The $name widget" \
@@ -112,549 +151,789 @@ ABBREVIATE_BRIEF       = "The $name class" \
                          an \
                          the
 
-# If the ALWAYS_DETAILED_SEC and REPEAT_BRIEF tags are both set to YES then 
-# Doxygen will generate a detailed section even if there is only a brief 
+# If the ALWAYS_DETAILED_SEC and REPEAT_BRIEF tags are both set to YES then
+# doxygen will generate a detailed section even if there is only a brief
 # description.
+# The default value is: NO.
 
 ALWAYS_DETAILED_SEC    = NO
 
-# If the INLINE_INHERITED_MEMB tag is set to YES, doxygen will show all 
-# inherited members of a class in the documentation of that class as if those 
-# members were ordinary class members. Constructors, destructors and assignment 
+# If the INLINE_INHERITED_MEMB tag is set to YES, doxygen will show all
+# inherited members of a class in the documentation of that class as if those
+# members were ordinary class members. Constructors, destructors and assignment
 # operators of the base classes will not be shown.
+# The default value is: NO.
 
 INLINE_INHERITED_MEMB  = NO
 
-# If the FULL_PATH_NAMES tag is set to YES then Doxygen will prepend the full 
-# path before files name in the file list and in the header files. If set 
-# to NO the shortest path that makes the file name unique will be used.
+# If the FULL_PATH_NAMES tag is set to YES, doxygen will prepend the full path
+# before files name in the file list and in the header files. If set to NO the
+# shortest path that makes the file name unique will be used
+# The default value is: YES.
 
 FULL_PATH_NAMES        = YES
 
-# If the FULL_PATH_NAMES tag is set to YES then the STRIP_FROM_PATH tag 
-# can be used to strip a user-defined part of the path. Stripping is 
-# only done if one of the specified strings matches the left-hand part of 
-# the path. The tag can be used to show relative paths in the file list. 
-# If left blank the directory from which doxygen is run is used as the 
-# path to strip.
+# The STRIP_FROM_PATH tag can be used to strip a user-defined part of the path.
+# Stripping is only done if one of the specified strings matches the left-hand
+# part of the path. The tag can be used to show relative paths in the file list.
+# If left blank the directory from which doxygen is run is used as the path to
+# strip.
+#
+# Note that you can specify absolute paths here, but also relative paths, which
+# will be relative from the directory where doxygen is started.
+# This tag requires that the tag FULL_PATH_NAMES is set to YES.
 
-STRIP_FROM_PATH        = 
+STRIP_FROM_PATH        =
 
-# The STRIP_FROM_INC_PATH tag can be used to strip a user-defined part of 
-# the path mentioned in the documentation of a class, which tells 
-# the reader which header file to include in order to use a class. 
-# If left blank only the name of the header file containing the class 
-# definition is used. Otherwise one should specify the include paths that 
-# are normally passed to the compiler using the -I flag.
+# The STRIP_FROM_INC_PATH tag can be used to strip a user-defined part of the
+# path mentioned in the documentation of a class, which tells the reader which
+# header file to include in order to use a class. If left blank only the name of
+# the header file containing the class definition is used. Otherwise one should
+# specify the list of include paths that are normally passed to the compiler
+# using the -I flag.
 
-STRIP_FROM_INC_PATH    = 
+STRIP_FROM_INC_PATH    =
 
-# If the SHORT_NAMES tag is set to YES, doxygen will generate much shorter 
-# (but less readable) file names. This can be useful if your file system 
-# doesn't support long names like on DOS, Mac, or CD-ROM.
+# If the SHORT_NAMES tag is set to YES, doxygen will generate much shorter (but
+# less readable) file names. This can be useful is your file systems doesn't
+# support long names like on DOS, Mac, or CD-ROM.
+# The default value is: NO.
 
 SHORT_NAMES            = YES
 
-# If the JAVADOC_AUTOBRIEF tag is set to YES then Doxygen 
-# will interpret the first line (until the first dot) of a JavaDoc-style 
-# comment as the brief description. If set to NO, the JavaDoc 
-# comments will behave just like regular Qt-style comments 
-# (thus requiring an explicit @brief command for a brief description.)
+# If the JAVADOC_AUTOBRIEF tag is set to YES then doxygen will interpret the
+# first line (until the first dot) of a Javadoc-style comment as the brief
+# description. If set to NO, the Javadoc-style will behave just like regular Qt-
+# style comments (thus requiring an explicit @brief command for a brief
+# description.)
+# The default value is: NO.
 
 JAVADOC_AUTOBRIEF      = YES
 
-# If the QT_AUTOBRIEF tag is set to YES then Doxygen will 
-# interpret the first line (until the first dot) of a Qt-style 
-# comment as the brief description. If set to NO, the comments 
-# will behave just like regular Qt-style comments (thus requiring 
-# an explicit \brief command for a brief description.)
+# If the JAVADOC_BANNER tag is set to YES then doxygen will interpret a line
+# such as
+# /***************
+# as being the beginning of a Javadoc-style comment "banner". If set to NO, the
+# Javadoc-style will behave just like regular comments and it will not be
+# interpreted by doxygen.
+# The default value is: NO.
+
+JAVADOC_BANNER         = NO
+
+# If the QT_AUTOBRIEF tag is set to YES then doxygen will interpret the first
+# line (until the first dot) of a Qt-style comment as the brief description. If
+# set to NO, the Qt-style will behave just like regular Qt-style comments (thus
+# requiring an explicit \brief command for a brief description.)
+# The default value is: NO.
 
 QT_AUTOBRIEF           = NO
 
-# The MULTILINE_CPP_IS_BRIEF tag can be set to YES to make Doxygen 
-# treat a multi-line C++ special comment block (i.e. a block of //! or /// 
-# comments) as a brief description. This used to be the default behaviour. 
-# The new default is to treat a multi-line C++ comment block as a detailed 
-# description. Set this tag to YES if you prefer the old behaviour instead.
+# The MULTILINE_CPP_IS_BRIEF tag can be set to YES to make doxygen treat a
+# multi-line C++ special comment block (i.e. a block of //! or /// comments) as
+# a brief description. This used to be the default behavior. The new default is
+# to treat a multi-line C++ comment block as a detailed description. Set this
+# tag to YES if you prefer the old behavior instead.
+#
+# Note that setting this tag to YES also means that rational rose comments are
+# not recognized any more.
+# The default value is: NO.
 
 MULTILINE_CPP_IS_BRIEF = NO
 
-# If the INHERIT_DOCS tag is set to YES (the default) then an undocumented 
-# member inherits the documentation from any documented member that it 
-# re-implements.
+# By default Python docstrings are displayed as preformatted text and doxygen's
+# special commands cannot be used. By setting PYTHON_DOCSTRING to NO the
+# doxygen's special commands can be used and the contents of the docstring
+# documentation blocks is shown as doxygen documentation.
+# The default value is: YES.
+
+PYTHON_DOCSTRING       = YES
+
+# If the INHERIT_DOCS tag is set to YES then an undocumented member inherits the
+# documentation from any documented member that it re-implements.
+# The default value is: YES.
 
 INHERIT_DOCS           = YES
 
-# If the SEPARATE_MEMBER_PAGES tag is set to YES, then doxygen will produce 
-# a new page for each member. If set to NO, the documentation of a member will 
-# be part of the file/class/namespace that contains it.
+# If the SEPARATE_MEMBER_PAGES tag is set to YES then doxygen will produce a new
+# page for each member. If set to NO, the documentation of a member will be part
+# of the file/class/namespace that contains it.
+# The default value is: NO.
 
 SEPARATE_MEMBER_PAGES  = NO
 
-# The TAB_SIZE tag can be used to set the number of spaces in a tab. 
-# Doxygen uses this value to replace tabs by spaces in code fragments.
+# The TAB_SIZE tag can be used to set the number of spaces in a tab. Doxygen
+# uses this value to replace tabs by spaces in code fragments.
+# Minimum value: 1, maximum value: 16, default value: 4.
 
 TAB_SIZE               = 8
 
-# This tag can be used to specify a number of aliases that acts 
-# as commands in the documentation. An alias has the form "name=value". 
-# For example adding "sideeffect=\par Side Effects:\n" will allow you to 
-# put the command \sideeffect (or @sideeffect) in the documentation, which 
-# will result in a user-defined paragraph with heading "Side Effects:". 
-# You can put \n's in the value part of an alias to insert newlines.
-
-ALIASES                = 
-
-# Set the OPTIMIZE_OUTPUT_FOR_C tag to YES if your project consists of C 
-# sources only. Doxygen will then generate output that is more tailored for C. 
-# For instance, some of the names that are used will be different. The list 
-# of all members will be omitted, etc.
+# This tag can be used to specify a number of aliases that act as commands in
+# the documentation. An alias has the form:
+# name=value
+# For example adding
+# "sideeffect=@par Side Effects:^^"
+# will allow you to put the command \sideeffect (or @sideeffect) in the
+# documentation, which will result in a user-defined paragraph with heading
+# "Side Effects:". Note that you cannot put \n's in the value part of an alias
+# to insert newlines (in the resulting output). You can put ^^ in the value part
+# of an alias to insert a newline as if a physical newline was in the original
+# file. When you need a literal { or } or , in the value part of an alias you
+# have to escape them by means of a backslash (\), this can lead to conflicts
+# with the commands \{ and \} for these it is advised to use the version @{ and
+# @} or use a double escape (\\{ and \\})
+
+ALIASES                =
+
+# Set the OPTIMIZE_OUTPUT_FOR_C tag to YES if your project consists of C sources
+# only. Doxygen will then generate output that is more tailored for C. For
+# instance, some of the names that are used will be different. The list of all
+# members will be omitted, etc.
+# The default value is: NO.
 
 OPTIMIZE_OUTPUT_FOR_C  = NO
 
-# Set the OPTIMIZE_OUTPUT_JAVA tag to YES if your project consists of Java 
-# sources only. Doxygen will then generate output that is more tailored for 
-# Java. For instance, namespaces will be presented as packages, qualified 
-# scopes will look different, etc.
+# Set the OPTIMIZE_OUTPUT_JAVA tag to YES if your project consists of Java or
+# Python sources only. Doxygen will then generate output that is more tailored
+# for that language. For instance, namespaces will be presented as packages,
+# qualified scopes will look different, etc.
+# The default value is: NO.
 
 OPTIMIZE_OUTPUT_JAVA   = NO
 
-# Set the OPTIMIZE_FOR_FORTRAN tag to YES if your project consists of Fortran 
-# sources only. Doxygen will then generate output that is more tailored for 
-# Fortran.
+# Set the OPTIMIZE_FOR_FORTRAN tag to YES if your project consists of Fortran
+# sources. Doxygen will then generate output that is tailored for Fortran.
+# The default value is: NO.
 
 OPTIMIZE_FOR_FORTRAN   = NO
 
-# Set the OPTIMIZE_OUTPUT_VHDL tag to YES if your project consists of VHDL 
-# sources. Doxygen will then generate output that is tailored for 
-# VHDL.
+# Set the OPTIMIZE_OUTPUT_VHDL tag to YES if your project consists of VHDL
+# sources. Doxygen will then generate output that is tailored for VHDL.
+# The default value is: NO.
 
 OPTIMIZE_OUTPUT_VHDL   = NO
 
-# Doxygen selects the parser to use depending on the extension of the files it 
-# parses. With this tag you can assign which parser to use for a given extension. 
-# Doxygen has a built-in mapping, but you can override or extend it using this 
-# tag. The format is ext=language, where ext is a file extension, and language 
-# is one of the parsers supported by doxygen: IDL, Java, Javascript, CSharp, C, 
-# C++, D, PHP, Objective-C, Python, Fortran, VHDL, C, C++. For instance to make 
-# doxygen treat .inc files as Fortran files (default is PHP), and .f files as C 
-# (default is Fortran), use: inc=Fortran f=C. Note that for custom extensions 
-# you also need to set FILE_PATTERNS otherwise the files are not read by doxygen.
-
-EXTENSION_MAPPING      = 
-
-# If you use STL classes (i.e. std::string, std::vector, etc.) but do not want 
-# to include (a tag file for) the STL sources as input, then you should 
-# set this tag to YES in order to let doxygen match functions declarations and 
-# definitions whose arguments contain STL classes (e.g. func(std::string); v.s. 
-# func(std::string) {}). This also makes the inheritance and collaboration 
+# Set the OPTIMIZE_OUTPUT_SLICE tag to YES if your project consists of Slice
+# sources only. Doxygen will then generate output that is more tailored for that
+# language. For instance, namespaces will be presented as modules, types will be
+# separated into more groups, etc.
+# The default value is: NO.
+
+OPTIMIZE_OUTPUT_SLICE  = NO
+
+# Doxygen selects the parser to use depending on the extension of the files it
+# parses. With this tag you can assign which parser to use for a given
+# extension. Doxygen has a built-in mapping, but you can override or extend it
+# using this tag. The format is ext=language, where ext is a file extension, and
+# language is one of the parsers supported by doxygen: IDL, Java, JavaScript,
+# Csharp (C#), C, C++, Lex, D, PHP, md (Markdown), Objective-C, Python, Slice,
+# VHDL, Fortran (fixed format Fortran: FortranFixed, free formatted Fortran:
+# FortranFree, unknown formatted Fortran: Fortran. In the later case the parser
+# tries to guess whether the code is fixed or free formatted code, this is the
+# default for Fortran type files). For instance to make doxygen treat .inc files
+# as Fortran files (default is PHP), and .f files as C (default is Fortran),
+# use: inc=Fortran f=C.
+#
+# Note: For files without extension you can use no_extension as a placeholder.
+#
+# Note that for custom extensions you also need to set FILE_PATTERNS otherwise
+# the files are not read by doxygen. When specifying no_extension you should add
+# * to the FILE_PATTERNS.
+#
+# Note see also the list of default file extension mappings.
+
+EXTENSION_MAPPING      =
+
+# If the MARKDOWN_SUPPORT tag is enabled then doxygen pre-processes all comments
+# according to the Markdown format, which allows for more readable
+# documentation. See https://daringfireball.net/projects/markdown/ for details.
+# The output of markdown processing is further processed by doxygen, so you can
+# mix doxygen, HTML, and XML commands with Markdown formatting. Disable only in
+# case of backward compatibilities issues.
+# The default value is: YES.
+
+MARKDOWN_SUPPORT       = YES
+
+# When the TOC_INCLUDE_HEADINGS tag is set to a non-zero value, all headings up
+# to that level are automatically included in the table of contents, even if
+# they do not have an id attribute.
+# Note: This feature currently applies only to Markdown headings.
+# Minimum value: 0, maximum value: 99, default value: 5.
+# This tag requires that the tag MARKDOWN_SUPPORT is set to YES.
+
+TOC_INCLUDE_HEADINGS   = 5
+
+# When enabled doxygen tries to link words that correspond to documented
+# classes, or namespaces to their corresponding documentation. Such a link can
+# be prevented in individual cases by putting a % sign in front of the word or
+# globally by setting AUTOLINK_SUPPORT to NO.
+# The default value is: YES.
+
+AUTOLINK_SUPPORT       = YES
+
+# If you use STL classes (i.e. std::string, std::vector, etc.) but do not want
+# to include (a tag file for) the STL sources as input, then you should set this
+# tag to YES in order to let doxygen match functions declarations and
+# definitions whose arguments contain STL classes (e.g. func(std::string);
+# versus func(std::string) {}). This also make the inheritance and collaboration
 # diagrams that involve STL classes more complete and accurate.
+# The default value is: NO.
 
 BUILTIN_STL_SUPPORT    = YES
 
-# If you use Microsoft's C++/CLI language, you should set this option to YES to 
+# If you use Microsoft's C++/CLI language, you should set this option to YES to
 # enable parsing support.
+# The default value is: NO.
 
 CPP_CLI_SUPPORT        = NO
 
-# Set the SIP_SUPPORT tag to YES if your project consists of sip sources only. 
-# Doxygen will parse them like normal C++ but will assume all classes use public 
-# instead of private inheritance when no explicit protection keyword is present.
+# Set the SIP_SUPPORT tag to YES if your project consists of sip (see:
+# https://www.riverbankcomputing.com/software/sip/intro) sources only. Doxygen
+# will parse them like normal C++ but will assume all classes use public instead
+# of private inheritance when no explicit protection keyword is present.
+# The default value is: NO.
 
 SIP_SUPPORT            = NO
 
-# For Microsoft's IDL there are propget and propput attributes to indicate getter 
-# and setter methods for a property. Setting this option to YES (the default) 
-# will make doxygen replace the get and set methods by a property in the 
-# documentation. This will only work if the methods are indeed getting or 
-# setting a simple type. If this is not the case, or you want to show the 
-# methods anyway, you should set this option to NO.
+# For Microsoft's IDL there are propget and propput attributes to indicate
+# getter and setter methods for a property. Setting this option to YES will make
+# doxygen to replace the get and set methods by a property in the documentation.
+# This will only work if the methods are indeed getting or setting a simple
+# type. If this is not the case, or you want to show the methods anyway, you
+# should set this option to NO.
+# The default value is: YES.
 
 IDL_PROPERTY_SUPPORT   = YES
 
-# If member grouping is used in the documentation and the DISTRIBUTE_GROUP_DOC 
-# tag is set to YES, then doxygen will reuse the documentation of the first 
-# member in the group (if any) for the other members of the group. By default 
+# If member grouping is used in the documentation and the DISTRIBUTE_GROUP_DOC
+# tag is set to YES then doxygen will reuse the documentation of the first
+# member in the group (if any) for the other members of the group. By default
 # all members of a group must be documented explicitly.
+# The default value is: NO.
 
 DISTRIBUTE_GROUP_DOC   = NO
 
-# Set the SUBGROUPING tag to YES (the default) to allow class member groups of 
-# the same type (for instance a group of public functions) to be put as a 
-# subgroup of that type (e.g. under the Public Functions section). Set it to 
-# NO to prevent subgrouping. Alternatively, this can be done per class using 
-# the \nosubgrouping command.
+# If one adds a struct or class to a group and this option is enabled, then also
+# any nested class or struct is added to the same group. By default this option
+# is disabled and one has to add nested compounds explicitly via \ingroup.
+# The default value is: NO.
+
+GROUP_NESTED_COMPOUNDS = NO
+
+# Set the SUBGROUPING tag to YES to allow class member groups of the same type
+# (for instance a group of public functions) to be put as a subgroup of that
+# type (e.g. under the Public Functions section). Set it to NO to prevent
+# subgrouping. Alternatively, this can be done per class using the
+# \nosubgrouping command.
+# The default value is: YES.
 
 SUBGROUPING            = YES
 
-# When the INLINE_GROUPED_CLASSES tag is set to YES, classes, structs and 
-# unions are shown inside the group in which they are included (e.g. using 
-# @ingroup) instead of on a separate page (for HTML and Man pages) or 
-# section (for LaTeX and RTF).
+# When the INLINE_GROUPED_CLASSES tag is set to YES, classes, structs and unions
+# are shown inside the group in which they are included (e.g. using \ingroup)
+# instead of on a separate page (for HTML and Man pages) or section (for LaTeX
+# and RTF).
+#
+# Note that this feature does not work in combination with
+# SEPARATE_MEMBER_PAGES.
+# The default value is: NO.
 
 INLINE_GROUPED_CLASSES = NO
 
-# When the INLINE_SIMPLE_STRUCTS tag is set to YES, structs, classes, and 
-# unions with only public data fields will be shown inline in the documentation 
-# of the scope in which they are defined (i.e. file, namespace, or group 
-# documentation), provided this scope is documented. If set to NO (the default), 
-# structs, classes, and unions are shown on a separate page (for HTML and Man 
-# pages) or section (for LaTeX and RTF).
+# When the INLINE_SIMPLE_STRUCTS tag is set to YES, structs, classes, and unions
+# with only public data fields or simple typedef fields will be shown inline in
+# the documentation of the scope in which they are defined (i.e. file,
+# namespace, or group documentation), provided this scope is documented. If set
+# to NO, structs, classes, and unions are shown on a separate page (for HTML and
+# Man pages) or section (for LaTeX and RTF).
+# The default value is: NO.
 
 INLINE_SIMPLE_STRUCTS  = NO
 
-# When TYPEDEF_HIDES_STRUCT is enabled, a typedef of a struct, union, or enum 
-# is documented as struct, union, or enum with the name of the typedef. So 
-# typedef struct TypeS {} TypeT, will appear in the documentation as a struct 
-# with name TypeT. When disabled the typedef will appear as a member of a file, 
-# namespace, or class. And the struct will be named TypeS. This can typically 
-# be useful for C code in case the coding convention dictates that all compound 
+# When TYPEDEF_HIDES_STRUCT tag is enabled, a typedef of a struct, union, or
+# enum is documented as struct, union, or enum with the name of the typedef. So
+# typedef struct TypeS {} TypeT, will appear in the documentation as a struct
+# with name TypeT. When disabled the typedef will appear as a member of a file,
+# namespace, or class. And the struct will be named TypeS. This can typically be
+# useful for C code in case the coding convention dictates that all compound
 # types are typedef'ed and only the typedef is referenced, never the tag name.
+# The default value is: NO.
 
 TYPEDEF_HIDES_STRUCT   = NO
 
-# The SYMBOL_CACHE_SIZE determines the size of the internal cache use to 
-# determine which symbols to keep in memory and which to flush to disk. 
-# When the cache is full, less often used symbols will be written to disk. 
-# For small to medium size projects (<1000 input files) the default value is 
-# probably good enough. For larger projects a too small cache size can cause 
-# doxygen to be busy swapping symbols to and from disk most of the time 
-# causing a significant performance penalty. 
-# If the system has enough physical memory increasing the cache will improve the 
-# performance by keeping more symbols in memory. Note that the value works on 
-# a logarithmic scale so increasing the size by one will roughly double the 
-# memory usage. The cache size is given by this formula: 
-# 2^(16+SYMBOL_CACHE_SIZE). The valid range is 0..9, the default is 0, 
-# corresponding to a cache size of 2^16 = 65536 symbols
-
-SYMBOL_CACHE_SIZE      = 0
+# The size of the symbol lookup cache can be set using LOOKUP_CACHE_SIZE. This
+# cache is used to resolve symbols given their name and scope. Since this can be
+# an expensive process and often the same symbol appears multiple times in the
+# code, doxygen keeps a cache of pre-resolved symbols. If the cache is too small
+# doxygen will become slower. If the cache is too large, memory is wasted. The
+# cache size is given by this formula: 2^(16+LOOKUP_CACHE_SIZE). The valid range
+# is 0..9, the default is 0, corresponding to a cache size of 2^16=65536
+# symbols. At the end of a run doxygen will report the cache usage and suggest
+# the optimal cache size from a speed point of view.
+# Minimum value: 0, maximum value: 9, default value: 0.
+
+LOOKUP_CACHE_SIZE      = 0
+
+# The NUM_PROC_THREADS specifies the number of threads doxygen is allowed to use
+# during processing. When set to 0 doxygen will based this on the number of
+# cores available in the system. You can set it explicitly to a value larger
+# than 0 to get more control over the balance between CPU load and processing
+# speed. At this moment only the input processing can be done using multiple
+# threads. Since this is still an experimental feature the default is set to 1,
+# which effectively disables parallel processing. Please report any issues you
+# encounter. Generating dot graphs in parallel is controlled by the
+# DOT_NUM_THREADS setting.
+# Minimum value: 0, maximum value: 32, default value: 1.
+
+NUM_PROC_THREADS       = 1
 
 #---------------------------------------------------------------------------
 # Build related configuration options
 #---------------------------------------------------------------------------
 
-# If the EXTRACT_ALL tag is set to YES doxygen will assume all entities in 
-# documentation are documented, even if no documentation was available. 
-# Private class members and static file members will be hidden unless 
-# the EXTRACT_PRIVATE and EXTRACT_STATIC tags are set to YES
+# If the EXTRACT_ALL tag is set to YES, doxygen will assume all entities in
+# documentation are documented, even if no documentation was available. Private
+# class members and static file members will be hidden unless the
+# EXTRACT_PRIVATE respectively EXTRACT_STATIC tags are set to YES.
+# Note: This will also disable the warnings about undocumented members that are
+# normally produced when WARNINGS is set to YES.
+# The default value is: NO.
 
 EXTRACT_ALL            = NO
 
-# If the EXTRACT_PRIVATE tag is set to YES all private members of a class 
-# will be included in the documentation.
+# If the EXTRACT_PRIVATE tag is set to YES, all private members of a class will
+# be included in the documentation.
+# The default value is: NO.
 
 EXTRACT_PRIVATE        = NO
 
-# If the EXTRACT_STATIC tag is set to YES all static members of a file 
-# will be included in the documentation.
+# If the EXTRACT_PRIV_VIRTUAL tag is set to YES, documented private virtual
+# methods of a class will be included in the documentation.
+# The default value is: NO.
+
+EXTRACT_PRIV_VIRTUAL   = NO
+
+# If the EXTRACT_PACKAGE tag is set to YES, all members with package or internal
+# scope will be included in the documentation.
+# The default value is: NO.
+
+EXTRACT_PACKAGE        = NO
+
+# If the EXTRACT_STATIC tag is set to YES, all static members of a file will be
+# included in the documentation.
+# The default value is: NO.
 
 EXTRACT_STATIC         = NO
 
-# If the EXTRACT_LOCAL_CLASSES tag is set to YES classes (and structs) 
-# defined locally in source files will be included in the documentation. 
-# If set to NO only classes defined in header files are included.
+# If the EXTRACT_LOCAL_CLASSES tag is set to YES, classes (and structs) defined
+# locally in source files will be included in the documentation. If set to NO,
+# only classes defined in header files are included. Does not have any effect
+# for Java sources.
+# The default value is: YES.
 
 EXTRACT_LOCAL_CLASSES  = NO
 
-# This flag is only useful for Objective-C code. When set to YES local 
-# methods, which are defined in the implementation section but not in 
-# the interface are included in the documentation. 
-# If set to NO (the default) only methods in the interface are included.
+# This flag is only useful for Objective-C code. If set to YES, local methods,
+# which are defined in the implementation section but not in the interface are
+# included in the documentation. If set to NO, only methods in the interface are
+# included.
+# The default value is: NO.
 
 EXTRACT_LOCAL_METHODS  = NO
 
-# If this flag is set to YES, the members of anonymous namespaces will be 
-# extracted and appear in the documentation as a namespace called 
-# 'anonymous_namespace{file}', where file will be replaced with the base 
-# name of the file that contains the anonymous namespace. By default 
-# anonymous namespaces are hidden.
+# If this flag is set to YES, the members of anonymous namespaces will be
+# extracted and appear in the documentation as a namespace called
+# 'anonymous_namespace{file}', where file will be replaced with the base name of
+# the file that contains the anonymous namespace. By default anonymous namespace
+# are hidden.
+# The default value is: NO.
 
 EXTRACT_ANON_NSPACES   = NO
 
-# If the HIDE_UNDOC_MEMBERS tag is set to YES, Doxygen will hide all 
-# undocumented members of documented classes, files or namespaces. 
-# If set to NO (the default) these members will be included in the 
-# various overviews, but no documentation section is generated. 
-# This option has no effect if EXTRACT_ALL is enabled.
+# If this flag is set to YES, the name of an unnamed parameter in a declaration
+# will be determined by the corresponding definition. By default unnamed
+# parameters remain unnamed in the output.
+# The default value is: YES.
+
+RESOLVE_UNNAMED_PARAMS = YES
+
+# If the HIDE_UNDOC_MEMBERS tag is set to YES, doxygen will hide all
+# undocumented members inside documented classes or files. If set to NO these
+# members will be included in the various overviews, but no documentation
+# section is generated. This option has no effect if EXTRACT_ALL is enabled.
+# The default value is: NO.
 
 HIDE_UNDOC_MEMBERS     = NO
 
-# If the HIDE_UNDOC_CLASSES tag is set to YES, Doxygen will hide all 
-# undocumented classes that are normally visible in the class hierarchy. 
-# If set to NO (the default) these classes will be included in the various 
-# overviews. This option has no effect if EXTRACT_ALL is enabled.
+# If the HIDE_UNDOC_CLASSES tag is set to YES, doxygen will hide all
+# undocumented classes that are normally visible in the class hierarchy. If set
+# to NO, these classes will be included in the various overviews. This option
+# has no effect if EXTRACT_ALL is enabled.
+# The default value is: NO.
 
 HIDE_UNDOC_CLASSES     = NO
 
-# If the HIDE_FRIEND_COMPOUNDS tag is set to YES, Doxygen will hide all 
-# friend (class|struct|union) declarations. 
-# If set to NO (the default) these declarations will be included in the 
+# If the HIDE_FRIEND_COMPOUNDS tag is set to YES, doxygen will hide all friend
+# declarations. If set to NO, these declarations will be included in the
 # documentation.
+# The default value is: NO.
 
 HIDE_FRIEND_COMPOUNDS  = NO
 
-# If the HIDE_IN_BODY_DOCS tag is set to YES, Doxygen will hide any 
-# documentation blocks found inside the body of a function. 
-# If set to NO (the default) these blocks will be appended to the 
-# function's detailed documentation block.
+# If the HIDE_IN_BODY_DOCS tag is set to YES, doxygen will hide any
+# documentation blocks found inside the body of a function. If set to NO, these
+# blocks will be appended to the function's detailed documentation block.
+# The default value is: NO.
 
 HIDE_IN_BODY_DOCS      = NO
 
-# The INTERNAL_DOCS tag determines if documentation 
-# that is typed after a \internal command is included. If the tag is set 
-# to NO (the default) then the documentation will be excluded. 
-# Set it to YES to include the internal documentation.
+# The INTERNAL_DOCS tag determines if documentation that is typed after a
+# \internal command is included. If the tag is set to NO then the documentation
+# will be excluded. Set it to YES to include the internal documentation.
+# The default value is: NO.
 
 INTERNAL_DOCS          = NO
 
-# If the CASE_SENSE_NAMES tag is set to NO then Doxygen will only generate 
-# file names in lower-case letters. If set to YES upper-case letters are also 
-# allowed. This is useful if you have classes or files whose names only differ 
-# in case and if your file system supports case sensitive file names. Windows 
-# and Mac users are advised to set this option to NO.
+# With the correct setting of option CASE_SENSE_NAMES doxygen will better be
+# able to match the capabilities of the underlying filesystem. In case the
+# filesystem is case sensitive (i.e. it supports files in the same directory
+# whose names only differ in casing), the option must be set to YES to properly
+# deal with such files in case they appear in the input. For filesystems that
+# are not case sensitive the option should be set to NO to properly deal with
+# output files written for symbols that only differ in casing, such as for two
+# classes, one named CLASS and the other named Class, and to also support
+# references to files without having to specify the exact matching casing. On
+# Windows (including Cygwin) and MacOS, users should typically set this option
+# to NO, whereas on Linux or other Unix flavors it should typically be set to
+# YES.
+# The default value is: system dependent.
 
 CASE_SENSE_NAMES       = NO
 
-# If the HIDE_SCOPE_NAMES tag is set to NO (the default) then Doxygen 
-# will show members with their full class and namespace scopes in the 
-# documentation. If set to YES the scope will be hidden.
+# If the HIDE_SCOPE_NAMES tag is set to NO then doxygen will show members with
+# their full class and namespace scopes in the documentation. If set to YES, the
+# scope will be hidden.
+# The default value is: NO.
 
 HIDE_SCOPE_NAMES       = NO
 
-# If the SHOW_INCLUDE_FILES tag is set to YES (the default) then Doxygen 
-# will put a list of the files that are included by a file in the documentation 
-# of that file.
+# If the HIDE_COMPOUND_REFERENCE tag is set to NO (default) then doxygen will
+# append additional text to a page's title, such as Class Reference. If set to
+# YES the compound reference will be hidden.
+# The default value is: NO.
+
+HIDE_COMPOUND_REFERENCE= NO
+
+# If the SHOW_HEADERFILE tag is set to YES then the documentation for a class
+# will show which file needs to be included to use the class.
+# The default value is: YES.
+
+SHOW_HEADERFILE        = YES
+
+# If the SHOW_INCLUDE_FILES tag is set to YES then doxygen will put a list of
+# the files that are included by a file in the documentation of that file.
+# The default value is: YES.
 
 SHOW_INCLUDE_FILES     = NO
 
-# If the FORCE_LOCAL_INCLUDES tag is set to YES then Doxygen 
-# will list include files with double quotes in the documentation 
-# rather than with sharp brackets.
+# If the SHOW_GROUPED_MEMB_INC tag is set to YES then Doxygen will add for each
+# grouped member an include statement to the documentation, telling the reader
+# which file to include in order to use the member.
+# The default value is: NO.
+
+SHOW_GROUPED_MEMB_INC  = NO
+
+# If the FORCE_LOCAL_INCLUDES tag is set to YES then doxygen will list include
+# files with double quotes in the documentation rather than with sharp brackets.
+# The default value is: NO.
 
 FORCE_LOCAL_INCLUDES   = NO
 
-# If the INLINE_INFO tag is set to YES (the default) then a tag [inline] 
-# is inserted in the documentation for inline members.
+# If the INLINE_INFO tag is set to YES then a tag [inline] is inserted in the
+# documentation for inline members.
+# The default value is: YES.
 
 INLINE_INFO            = YES
 
-# If the SORT_MEMBER_DOCS tag is set to YES (the default) then doxygen 
-# will sort the (detailed) documentation of file and class members 
-# alphabetically by member name. If set to NO the members will appear in 
-# declaration order.
+# If the SORT_MEMBER_DOCS tag is set to YES then doxygen will sort the
+# (detailed) documentation of file and class members alphabetically by member
+# name. If set to NO, the members will appear in declaration order.
+# The default value is: YES.
 
 SORT_MEMBER_DOCS       = YES
 
-# If the SORT_BRIEF_DOCS tag is set to YES then doxygen will sort the 
-# brief documentation of file, namespace and class members alphabetically 
-# by member name. If set to NO (the default) the members will appear in 
-# declaration order.
+# If the SORT_BRIEF_DOCS tag is set to YES then doxygen will sort the brief
+# descriptions of file, namespace and class members alphabetically by member
+# name. If set to NO, the members will appear in declaration order. Note that
+# this will also influence the order of the classes in the class list.
+# The default value is: NO.
 
 SORT_BRIEF_DOCS        = NO
 
-# If the SORT_MEMBERS_CTORS_1ST tag is set to YES then doxygen 
-# will sort the (brief and detailed) documentation of class members so that 
-# constructors and destructors are listed first. If set to NO (the default) 
-# the constructors will appear in the respective orders defined by 
-# SORT_MEMBER_DOCS and SORT_BRIEF_DOCS. 
-# This tag will be ignored for brief docs if SORT_BRIEF_DOCS is set to NO 
-# and ignored for detailed docs if SORT_MEMBER_DOCS is set to NO.
+# If the SORT_MEMBERS_CTORS_1ST tag is set to YES then doxygen will sort the
+# (brief and detailed) documentation of class members so that constructors and
+# destructors are listed first. If set to NO the constructors will appear in the
+# respective orders defined by SORT_BRIEF_DOCS and SORT_MEMBER_DOCS.
+# Note: If SORT_BRIEF_DOCS is set to NO this option is ignored for sorting brief
+# member documentation.
+# Note: If SORT_MEMBER_DOCS is set to NO this option is ignored for sorting
+# detailed member documentation.
+# The default value is: NO.
 
 SORT_MEMBERS_CTORS_1ST = NO
 
-# If the SORT_GROUP_NAMES tag is set to YES then doxygen will sort the 
-# hierarchy of group names into alphabetical order. If set to NO (the default) 
-# the group names will appear in their defined order.
+# If the SORT_GROUP_NAMES tag is set to YES then doxygen will sort the hierarchy
+# of group names into alphabetical order. If set to NO the group names will
+# appear in their defined order.
+# The default value is: NO.
 
 SORT_GROUP_NAMES       = NO
 
-# If the SORT_BY_SCOPE_NAME tag is set to YES, the class list will be 
-# sorted by fully-qualified names, including namespaces. If set to 
-# NO (the default), the class list will be sorted only by class name, 
-# not including the namespace part. 
-# Note: This option is not very useful if HIDE_SCOPE_NAMES is set to YES. 
-# Note: This option applies only to the class list, not to the 
-# alphabetical list.
+# If the SORT_BY_SCOPE_NAME tag is set to YES, the class list will be sorted by
+# fully-qualified names, including namespaces. If set to NO, the class list will
+# be sorted only by class name, not including the namespace part.
+# Note: This option is not very useful if HIDE_SCOPE_NAMES is set to YES.
+# Note: This option applies only to the class list, not to the alphabetical
+# list.
+# The default value is: NO.
 
 SORT_BY_SCOPE_NAME     = NO
 
-# If the STRICT_PROTO_MATCHING option is enabled and doxygen fails to 
-# do proper type resolution of all parameters of a function it will reject a 
-# match between the prototype and the implementation of a member function even 
-# if there is only one candidate or it is obvious which candidate to choose 
-# by doing a simple string match. By disabling STRICT_PROTO_MATCHING doxygen 
-# will still accept a match between prototype and implementation in such cases.
+# If the STRICT_PROTO_MATCHING option is enabled and doxygen fails to do proper
+# type resolution of all parameters of a function it will reject a match between
+# the prototype and the implementation of a member function even if there is
+# only one candidate or it is obvious which candidate to choose by doing a
+# simple string match. By disabling STRICT_PROTO_MATCHING doxygen will still
+# accept a match between prototype and implementation in such cases.
+# The default value is: NO.
 
 STRICT_PROTO_MATCHING  = NO
 
-# The GENERATE_TODOLIST tag can be used to enable (YES) or 
-# disable (NO) the todo list. This list is created by putting \todo 
-# commands in the documentation.
+# The GENERATE_TODOLIST tag can be used to enable (YES) or disable (NO) the todo
+# list. This list is created by putting \todo commands in the documentation.
+# The default value is: YES.
 
 GENERATE_TODOLIST      = YES
 
-# The GENERATE_TESTLIST tag can be used to enable (YES) or 
-# disable (NO) the test list. This list is created by putting \test 
-# commands in the documentation.
+# The GENERATE_TESTLIST tag can be used to enable (YES) or disable (NO) the test
+# list. This list is created by putting \test commands in the documentation.
+# The default value is: YES.
 
 GENERATE_TESTLIST      = YES
 
-# The GENERATE_BUGLIST tag can be used to enable (YES) or 
-# disable (NO) the bug list. This list is created by putting \bug 
-# commands in the documentation.
+# The GENERATE_BUGLIST tag can be used to enable (YES) or disable (NO) the bug
+# list. This list is created by putting \bug commands in the documentation.
+# The default value is: YES.
 
 GENERATE_BUGLIST       = YES
 
-# The GENERATE_DEPRECATEDLIST tag can be used to enable (YES) or 
-# disable (NO) the deprecated list. This list is created by putting 
-# \deprecated commands in the documentation.
+# The GENERATE_DEPRECATEDLIST tag can be used to enable (YES) or disable (NO)
+# the deprecated list. This list is created by putting \deprecated commands in
+# the documentation.
+# The default value is: YES.
 
 GENERATE_DEPRECATEDLIST= YES
 
-# The ENABLED_SECTIONS tag can be used to enable conditional 
-# documentation sections, marked by \if sectionname ... \endif.
+# The ENABLED_SECTIONS tag can be used to enable conditional documentation
+# sections, marked by \if <section_label> ... \endif and \cond <section_label>
+# ... \endcond blocks.
 
-ENABLED_SECTIONS       = 
+ENABLED_SECTIONS       =
 
-# The MAX_INITIALIZER_LINES tag determines the maximum number of lines 
-# the initial value of a variable or macro consists of for it to appear in 
-# the documentation. If the initializer consists of more lines than specified 
-# here it will be hidden. Use a value of 0 to hide initializers completely. 
-# The appearance of the initializer of individual variables and macros in the 
-# documentation can be controlled using \showinitializer or \hideinitializer 
-# command in the documentation regardless of this setting.
+# The MAX_INITIALIZER_LINES tag determines the maximum number of lines that the
+# initial value of a variable or macro / define can have for it to appear in the
+# documentation. If the initializer consists of more lines than specified here
+# it will be hidden. Use a value of 0 to hide initializers completely. The
+# appearance of the value of individual variables and macros / defines can be
+# controlled using \showinitializer or \hideinitializer command in the
+# documentation regardless of this setting.
+# Minimum value: 0, maximum value: 10000, default value: 30.
 
 MAX_INITIALIZER_LINES  = 30
 
-# Set the SHOW_USED_FILES tag to NO to disable the list of files generated 
-# at the bottom of the documentation of classes and structs. If set to YES the 
+# Set the SHOW_USED_FILES tag to NO to disable the list of files generated at
+# the bottom of the documentation of classes and structs. If set to YES, the
 # list will mention the files that were used to generate the documentation.
+# The default value is: YES.
 
 SHOW_USED_FILES        = YES
 
-# If the sources in your project are distributed over multiple directories 
-# then setting the SHOW_DIRECTORIES tag to YES will show the directory hierarchy 
-# in the documentation. The default is NO.
-
-SHOW_DIRECTORIES       = YES
-
-# Set the SHOW_FILES tag to NO to disable the generation of the Files page. 
-# This will remove the Files entry from the Quick Index and from the 
-# Folder Tree View (if specified). The default is YES.
+# Set the SHOW_FILES tag to NO to disable the generation of the Files page. This
+# will remove the Files entry from the Quick Index and from the Folder Tree View
+# (if specified).
+# The default value is: YES.
 
 SHOW_FILES             = YES
 
-# Set the SHOW_NAMESPACES tag to NO to disable the generation of the 
-# Namespaces page.  This will remove the Namespaces entry from the Quick Index 
-# and from the Folder Tree View (if specified). The default is YES.
+# Set the SHOW_NAMESPACES tag to NO to disable the generation of the Namespaces
+# page. This will remove the Namespaces entry from the Quick Index and from the
+# Folder Tree View (if specified).
+# The default value is: YES.
 
 SHOW_NAMESPACES        = YES
 
-# The FILE_VERSION_FILTER tag can be used to specify a program or script that 
-# doxygen should invoke to get the current version for each file (typically from 
-# the version control system). Doxygen will invoke the program by executing (via 
-# popen()) the command <command> <input-file>, where <command> is the value of 
-# the FILE_VERSION_FILTER tag, and <input-file> is the name of an input file 
-# provided by doxygen. Whatever the program writes to standard output 
-# is used as the file version. See the manual for examples.
-
-FILE_VERSION_FILTER    = 
-
-# The LAYOUT_FILE tag can be used to specify a layout file which will be parsed 
-# by doxygen. The layout file controls the global structure of the generated 
-# output files in an output format independent way. The create the layout file 
-# that represents doxygen's defaults, run doxygen with the -l option. 
-# You can optionally specify a file name after the option, if omitted 
-# DoxygenLayout.xml will be used as the name of the layout file.
+# The FILE_VERSION_FILTER tag can be used to specify a program or script that
+# doxygen should invoke to get the current version for each file (typically from
+# the version control system). Doxygen will invoke the program by executing (via
+# popen()) the command command input-file, where command is the value of the
+# FILE_VERSION_FILTER tag, and input-file is the name of an input file provided
+# by doxygen. Whatever the program writes to standard output is used as the file
+# version. For an example see the documentation.
+
+FILE_VERSION_FILTER    =
+
+# The LAYOUT_FILE tag can be used to specify a layout file which will be parsed
+# by doxygen. The layout file controls the global structure of the generated
+# output files in an output format independent way. To create the layout file
+# that represents doxygen's defaults, run doxygen with the -l option. You can
+# optionally specify a file name after the option, if omitted DoxygenLayout.xml
+# will be used as the name of the layout file. See also section "Changing the
+# layout of pages" for information.
+#
+# Note that if you run doxygen from a directory containing a file called
+# DoxygenLayout.xml, doxygen will parse it automatically even if the LAYOUT_FILE
+# tag is left empty.
 
 LAYOUT_FILE            = DoxygenLayout.xml
 
-# The CITE_BIB_FILES tag can be used to specify one or more bib files 
-# containing the references data. This must be a list of .bib files. The 
-# .bib extension is automatically appended if omitted. Using this command 
-# requires the bibtex tool to be installed. See also 
-# http://en.wikipedia.org/wiki/BibTeX for more info. For LaTeX the style 
-# of the bibliography can be controlled using LATEX_BIB_STYLE.
+# The CITE_BIB_FILES tag can be used to specify one or more bib files containing
+# the reference definitions. This must be a list of .bib files. The .bib
+# extension is automatically appended if omitted. This requires the bibtex tool
+# to be installed. See also https://en.wikipedia.org/wiki/BibTeX for more info.
+# For LaTeX the style of the bibliography can be controlled using
+# LATEX_BIB_STYLE. To use this feature you need bibtex and perl available in the
+# search path. See also \cite for info how to create references.
 
-CITE_BIB_FILES         = 
+CITE_BIB_FILES         =
 
 #---------------------------------------------------------------------------
-# configuration options related to warning and progress messages
+# Configuration options related to warning and progress messages
 #---------------------------------------------------------------------------
 
-# The QUIET tag can be used to turn on/off the messages that are generated 
-# by doxygen. Possible values are YES and NO. If left blank NO is used.
+# The QUIET tag can be used to turn on/off the messages that are generated to
+# standard output by doxygen. If QUIET is set to YES this implies that the
+# messages are off.
+# The default value is: NO.
 
 QUIET                  = NO
 
-# The WARNINGS tag can be used to turn on/off the warning messages that are 
-# generated by doxygen. Possible values are YES and NO. If left blank 
-# NO is used.
+# The WARNINGS tag can be used to turn on/off the warning messages that are
+# generated to standard error (stderr) by doxygen. If WARNINGS is set to YES
+# this implies that the warnings are on.
+#
+# Tip: Turn warnings on while writing the documentation.
+# The default value is: YES.
 
 WARNINGS               = YES
 
-# If WARN_IF_UNDOCUMENTED is set to YES, then doxygen will generate warnings 
-# for undocumented members. If EXTRACT_ALL is set to YES then this flag will 
-# automatically be disabled.
+# If the WARN_IF_UNDOCUMENTED tag is set to YES then doxygen will generate
+# warnings for undocumented members. If EXTRACT_ALL is set to YES then this flag
+# will automatically be disabled.
+# The default value is: YES.
 
 WARN_IF_UNDOCUMENTED   = NO
 
-# If WARN_IF_DOC_ERROR is set to YES, doxygen will generate warnings for 
-# potential errors in the documentation, such as not documenting some 
-# parameters in a documented function, or documenting parameters that 
-# don't exist or using markup commands wrongly.
+# If the WARN_IF_DOC_ERROR tag is set to YES, doxygen will generate warnings for
+# potential errors in the documentation, such as documenting some parameters in
+# a documented function twice, or documenting parameters that don't exist or
+# using markup commands wrongly.
+# The default value is: YES.
 
 WARN_IF_DOC_ERROR      = YES
 
-# The WARN_NO_PARAMDOC option can be enabled to get warnings for 
-# functions that are documented, but have no documentation for their parameters 
-# or return value. If set to NO (the default) doxygen will only warn about 
-# wrong or incomplete parameter documentation, but not about the absence of 
-# documentation.
+# If WARN_IF_INCOMPLETE_DOC is set to YES, doxygen will warn about incomplete
+# function parameter documentation. If set to NO, doxygen will accept that some
+# parameters have no documentation without warning.
+# The default value is: YES.
+
+WARN_IF_INCOMPLETE_DOC = YES
+
+# This WARN_NO_PARAMDOC option can be enabled to get warnings for functions that
+# are documented, but have no documentation for their parameters or return
+# value. If set to NO, doxygen will only warn about wrong parameter
+# documentation, but not about the absence of documentation. If EXTRACT_ALL is
+# set to YES then this flag will automatically be disabled. See also
+# WARN_IF_INCOMPLETE_DOC
+# The default value is: NO.
 
 WARN_NO_PARAMDOC       = NO
 
-# The WARN_FORMAT tag determines the format of the warning messages that 
-# doxygen can produce. The string should contain the $file, $line, and $text 
-# tags, which will be replaced by the file and line number from which the 
-# warning originated and the warning text. Optionally the format may contain 
-# $version, which will be replaced by the version of the file (if it could 
-# be obtained via FILE_VERSION_FILTER)
+# If the WARN_AS_ERROR tag is set to YES then doxygen will immediately stop when
+# a warning is encountered. If the WARN_AS_ERROR tag is set to FAIL_ON_WARNINGS
+# then doxygen will continue running as if WARN_AS_ERROR tag is set to NO, but
+# at the end of the doxygen process doxygen will return with a non-zero status.
+# Possible values are: NO, YES and FAIL_ON_WARNINGS.
+# The default value is: NO.
+
+WARN_AS_ERROR          = NO
+
+# The WARN_FORMAT tag determines the format of the warning messages that doxygen
+# can produce. The string should contain the $file, $line, and $text tags, which
+# will be replaced by the file and line number from which the warning originated
+# and the warning text. Optionally the format may contain $version, which will
+# be replaced by the version of the file (if it could be obtained via
+# FILE_VERSION_FILTER)
+# See also: WARN_LINE_FORMAT
+# The default value is: $file:$line: $text.
 
 WARN_FORMAT            = "$file:$line: $text"
 
-# The WARN_LOGFILE tag can be used to specify a file to which warning 
-# and error messages should be written. If left blank the output is written 
-# to stderr.
+# In the $text part of the WARN_FORMAT command it is possible that a reference
+# to a more specific place is given. To make it easier to jump to this place
+# (outside of doxygen) the user can define a custom "cut" / "paste" string.
+# Example:
+# WARN_LINE_FORMAT = "'vi $file +$line'"
+# See also: WARN_FORMAT
+# The default value is: at line $line of file $file.
+
+WARN_LINE_FORMAT       = "at line $line of file $file"
 
-WARN_LOGFILE           = 
+# The WARN_LOGFILE tag can be used to specify a file to which warning and error
+# messages should be written. If left blank the output is written to standard
+# error (stderr). In case the file specified cannot be opened for writing the
+# warning and error messages are written to standard error. When as file - is
+# specified the warning and error messages are written to standard output
+# (stdout).
+
+WARN_LOGFILE           =
 
 #---------------------------------------------------------------------------
-# configuration options related to the input files
+# Configuration options related to the input files
 #---------------------------------------------------------------------------
 
-# The INPUT tag can be used to specify the files and/or directories that contain 
-# documented source files. You may enter file names like "myfile.cpp" or 
-# directories like "/usr/src/myproject". Separate the files or directories 
-# with spaces.
+# The INPUT tag is used to specify the files and/or directories that contain
+# documented source files. You may enter file names like myfile.cpp or
+# directories like /usr/src/myproject. Separate the files or directories with
+# spaces. See also FILE_PATTERNS and EXTENSION_MAPPING
+# Note: If this tag is empty the current directory is searched.
 
 INPUT                  = @GTSAM_DOXYGEN_INPUT_PATHS@
 
-# This tag can be used to specify the character encoding of the source files 
-# that doxygen parses. Internally doxygen uses the UTF-8 encoding, which is 
-# also the default input encoding. Doxygen uses libiconv (or the iconv built 
-# into libc) for the transcoding. See http://www.gnu.org/software/libiconv for 
-# the list of possible encodings.
+# This tag can be used to specify the character encoding of the source files
+# that doxygen parses. Internally doxygen uses the UTF-8 encoding. Doxygen uses
+# libiconv (or the iconv built into libc) for the transcoding. See the libiconv
+# documentation (see:
+# https://www.gnu.org/software/libiconv/) for the list of possible encodings.
+# The default value is: UTF-8.
 
 INPUT_ENCODING         = UTF-8
 
-# If the value of the INPUT tag contains directories, you can use the 
-# FILE_PATTERNS tag to specify one or more wildcard pattern (like *.cpp 
-# and *.h) to filter out the source-files in the directories. If left 
-# blank the following patterns are tested: 
-# *.c *.cc *.cxx *.cpp *.c++ *.d *.java *.ii *.ixx *.ipp *.i++ *.inl *.h *.hh 
-# *.hxx *.hpp *.h++ *.idl *.odl *.cs *.php *.php3 *.inc *.m *.mm *.dox *.py 
-# *.f90 *.f *.for *.vhd *.vhdl
+# If the value of the INPUT tag contains directories, you can use the
+# FILE_PATTERNS tag to specify one or more wildcard patterns (like *.cpp and
+# *.h) to filter out the source-files in the directories.
+#
+# Note that for custom extensions or not directly supported extensions you also
+# need to set EXTENSION_MAPPING for the extension otherwise the files are not
+# read by doxygen.
+#
+# Note the list of default checked file patterns might differ from the list of
+# default file extension mappings.
+#
+# If left blank the following patterns are tested:*.c, *.cc, *.cxx, *.cpp,
+# *.c++, *.java, *.ii, *.ixx, *.ipp, *.i++, *.inl, *.idl, *.ddl, *.odl, *.h,
+# *.hh, *.hxx, *.hpp, *.h++, *.l, *.cs, *.d, *.php, *.php4, *.php5, *.phtml,
+# *.inc, *.m, *.markdown, *.md, *.mm, *.dox (to be provided as doxygen C
+# comment), *.py, *.pyw, *.f90, *.f95, *.f03, *.f08, *.f18, *.f, *.for, *.vhd,
+# *.vhdl, *.ucf, *.qsf and *.ice.
 
 FILE_PATTERNS          = *.c \
                          *.cc \
@@ -689,1101 +968,1711 @@ FILE_PATTERNS          = *.c \
                          *.vhd \
                          *.vhdl
 
-# The RECURSIVE tag can be used to turn specify whether or not subdirectories 
-# should be searched for input files as well. Possible values are YES and NO. 
-# If left blank NO is used.
+# The RECURSIVE tag can be used to specify whether or not subdirectories should
+# be searched for input files as well.
+# The default value is: NO.
 
 RECURSIVE              = NO
 
-# The EXCLUDE tag can be used to specify files and/or directories that should 
-# excluded from the INPUT source files. This way you can easily exclude a 
-# subdirectory from a directory tree whose root is specified with the INPUT tag. 
-# Note that relative paths are relative to directory from which doxygen is run.
+# The EXCLUDE tag can be used to specify files and/or directories that should be
+# excluded from the INPUT source files. This way you can easily exclude a
+# subdirectory from a directory tree whose root is specified with the INPUT tag.
+#
+# Note that relative paths are relative to the directory from which doxygen is
+# run.
 
-EXCLUDE                = 
+EXCLUDE                =
 
-# The EXCLUDE_SYMLINKS tag can be used select whether or not files or 
-# directories that are symbolic links (a Unix file system feature) are excluded 
+# The EXCLUDE_SYMLINKS tag can be used to select whether or not files or
+# directories that are symbolic links (a Unix file system feature) are excluded
 # from the input.
+# The default value is: NO.
 
 EXCLUDE_SYMLINKS       = NO
 
-# If the value of the INPUT tag contains directories, you can use the 
-# EXCLUDE_PATTERNS tag to specify one or more wildcard patterns to exclude 
-# certain files from those directories. Note that the wildcards are matched 
-# against the file with absolute path, so to exclude all test directories 
-# for example use the pattern */test/*
+# If the value of the INPUT tag contains directories, you can use the
+# EXCLUDE_PATTERNS tag to specify one or more wildcard patterns to exclude
+# certain files from those directories.
+#
+# Note that the wildcards are matched against the file with absolute path, so to
+# exclude all test directories for example use the pattern */test/*
 
-EXCLUDE_PATTERNS       = 
+EXCLUDE_PATTERNS       =
 
-# The EXCLUDE_SYMBOLS tag can be used to specify one or more symbol names 
-# (namespaces, classes, functions, etc.) that should be excluded from the 
-# output. The symbol name can be a fully qualified name, a word, or if the 
-# wildcard * is used, a substring. Examples: ANamespace, AClass, 
-# AClass::ANamespace, ANamespace::*Test
+# The EXCLUDE_SYMBOLS tag can be used to specify one or more symbol names
+# (namespaces, classes, functions, etc.) that should be excluded from the
+# output. The symbol name can be a fully qualified name, a word, or if the
+# wildcard * is used, a substring. Examples: ANamespace, AClass,
+# ANamespace::AClass, ANamespace::*Test
+#
+# Note that the wildcards are matched against the file with absolute path, so to
+# exclude all test directories use the pattern */test/*
 
-EXCLUDE_SYMBOLS        = 
+EXCLUDE_SYMBOLS        =
 
-# The EXAMPLE_PATH tag can be used to specify one or more files or 
-# directories that contain example code fragments that are included (see 
-# the \include command).
+# The EXAMPLE_PATH tag can be used to specify one or more files or directories
+# that contain example code fragments that are included (see the \include
+# command).
 
-EXAMPLE_PATH           = 
+EXAMPLE_PATH           =
 
-# If the value of the EXAMPLE_PATH tag contains directories, you can use the 
-# EXAMPLE_PATTERNS tag to specify one or more wildcard pattern (like *.cpp 
-# and *.h) to filter out the source-files in the directories. If left 
-# blank all files are included.
+# If the value of the EXAMPLE_PATH tag contains directories, you can use the
+# EXAMPLE_PATTERNS tag to specify one or more wildcard pattern (like *.cpp and
+# *.h) to filter out the source-files in the directories. If left blank all
+# files are included.
 
 EXAMPLE_PATTERNS       = *
 
-# If the EXAMPLE_RECURSIVE tag is set to YES then subdirectories will be 
-# searched for input files to be used with the \include or \dontinclude 
-# commands irrespective of the value of the RECURSIVE tag. 
-# Possible values are YES and NO. If left blank NO is used.
+# If the EXAMPLE_RECURSIVE tag is set to YES then subdirectories will be
+# searched for input files to be used with the \include or \dontinclude commands
+# irrespective of the value of the RECURSIVE tag.
+# The default value is: NO.
 
 EXAMPLE_RECURSIVE      = NO
 
-# The IMAGE_PATH tag can be used to specify one or more files or 
-# directories that contain image that are included in the documentation (see 
-# the \image command).
+# The IMAGE_PATH tag can be used to specify one or more files or directories
+# that contain images that are to be included in the documentation (see the
+# \image command).
 
-IMAGE_PATH             = 
+IMAGE_PATH             =
 
-# The INPUT_FILTER tag can be used to specify a program that doxygen should 
-# invoke to filter for each input file. Doxygen will invoke the filter program 
-# by executing (via popen()) the command <filter> <input-file>, where <filter> 
-# is the value of the INPUT_FILTER tag, and <input-file> is the name of an 
-# input file. Doxygen will then use the output that the filter program writes 
-# to standard output.  If FILTER_PATTERNS is specified, this tag will be 
-# ignored.
+# The INPUT_FILTER tag can be used to specify a program that doxygen should
+# invoke to filter for each input file. Doxygen will invoke the filter program
+# by executing (via popen()) the command:
+#
+# <filter> <input-file>
+#
+# where <filter> is the value of the INPUT_FILTER tag, and <input-file> is the
+# name of an input file. Doxygen will then use the output that the filter
+# program writes to standard output. If FILTER_PATTERNS is specified, this tag
+# will be ignored.
+#
+# Note that the filter must not add or remove lines; it is applied before the
+# code is scanned, but not when the output code is generated. If lines are added
+# or removed, the anchors will not be placed correctly.
+#
+# Note that for custom extensions or not directly supported extensions you also
+# need to set EXTENSION_MAPPING for the extension otherwise the files are not
+# properly processed by doxygen.
+
+INPUT_FILTER           =
+
+# The FILTER_PATTERNS tag can be used to specify filters on a per file pattern
+# basis. Doxygen will compare the file name with each pattern and apply the
+# filter if there is a match. The filters are a list of the form: pattern=filter
+# (like *.cpp=my_cpp_filter). See INPUT_FILTER for further information on how
+# filters are used. If the FILTER_PATTERNS tag is empty or if none of the
+# patterns match the file name, INPUT_FILTER is applied.
+#
+# Note that for custom extensions or not directly supported extensions you also
+# need to set EXTENSION_MAPPING for the extension otherwise the files are not
+# properly processed by doxygen.
 
-INPUT_FILTER           = 
+FILTER_PATTERNS        =
 
-# The FILTER_PATTERNS tag can be used to specify filters on a per file pattern 
-# basis.  Doxygen will compare the file name with each pattern and apply the 
-# filter if there is a match.  The filters are a list of the form: 
-# pattern=filter (like *.cpp=my_cpp_filter). See INPUT_FILTER for further 
-# info on how filters are used. If FILTER_PATTERNS is empty or if 
-# non of the patterns match the file name, INPUT_FILTER is applied.
+# If the FILTER_SOURCE_FILES tag is set to YES, the input filter (if set using
+# INPUT_FILTER) will also be used to filter the input files that are used for
+# producing the source files to browse (i.e. when SOURCE_BROWSER is set to YES).
+# The default value is: NO.
 
-FILTER_PATTERNS        = 
+FILTER_SOURCE_FILES    = NO
 
-# If the FILTER_SOURCE_FILES tag is set to YES, the input filter (if set using 
-# INPUT_FILTER) will be used to filter the input files when producing source 
-# files to browse (i.e. when SOURCE_BROWSER is set to YES).
+# The FILTER_SOURCE_PATTERNS tag can be used to specify source filters per file
+# pattern. A pattern will override the setting for FILTER_PATTERN (if any) and
+# it is also possible to disable source filtering for a specific pattern using
+# *.ext= (so without naming a filter).
+# This tag requires that the tag FILTER_SOURCE_FILES is set to YES.
 
-FILTER_SOURCE_FILES    = NO
+FILTER_SOURCE_PATTERNS =
 
-# The FILTER_SOURCE_PATTERNS tag can be used to specify source filters per file 
-# pattern. A pattern will override the setting for FILTER_PATTERN (if any) 
-# and it is also possible to disable source filtering for a specific pattern 
-# using *.ext= (so without naming a filter). This option only has effect when 
-# FILTER_SOURCE_FILES is enabled.
+# If the USE_MDFILE_AS_MAINPAGE tag refers to the name of a markdown file that
+# is part of the input, its contents will be placed on the main page
+# (index.html). This can be useful if you have a project on for instance GitHub
+# and want to reuse the introduction page also for the doxygen output.
 
-FILTER_SOURCE_PATTERNS = 
+USE_MDFILE_AS_MAINPAGE =
 
 #---------------------------------------------------------------------------
-# configuration options related to source browsing
+# Configuration options related to source browsing
 #---------------------------------------------------------------------------
 
-# If the SOURCE_BROWSER tag is set to YES then a list of source files will 
-# be generated. Documented entities will be cross-referenced with these sources. 
-# Note: To get rid of all source code in the generated output, make sure also 
-# VERBATIM_HEADERS is set to NO.
+# If the SOURCE_BROWSER tag is set to YES then a list of source files will be
+# generated. Documented entities will be cross-referenced with these sources.
+#
+# Note: To get rid of all source code in the generated output, make sure that
+# also VERBATIM_HEADERS is set to NO.
+# The default value is: NO.
 
 SOURCE_BROWSER         = NO
 
-# Setting the INLINE_SOURCES tag to YES will include the body 
-# of functions and classes directly in the documentation.
+# Setting the INLINE_SOURCES tag to YES will include the body of functions,
+# classes and enums directly into the documentation.
+# The default value is: NO.
 
 INLINE_SOURCES         = NO
 
-# Setting the STRIP_CODE_COMMENTS tag to YES (the default) will instruct 
-# doxygen to hide any special comment blocks from generated source code 
-# fragments. Normal C and C++ comments will always remain visible.
+# Setting the STRIP_CODE_COMMENTS tag to YES will instruct doxygen to hide any
+# special comment blocks from generated source code fragments. Normal C, C++ and
+# Fortran comments will always remain visible.
+# The default value is: YES.
 
 STRIP_CODE_COMMENTS    = YES
 
-# If the REFERENCED_BY_RELATION tag is set to YES 
-# then for each documented function all documented 
-# functions referencing it will be listed.
+# If the REFERENCED_BY_RELATION tag is set to YES then for each documented
+# entity all documented functions referencing it will be listed.
+# The default value is: NO.
 
 REFERENCED_BY_RELATION = NO
 
-# If the REFERENCES_RELATION tag is set to YES 
-# then for each documented function all documented entities 
-# called/used by that function will be listed.
+# If the REFERENCES_RELATION tag is set to YES then for each documented function
+# all documented entities called/used by that function will be listed.
+# The default value is: NO.
 
 REFERENCES_RELATION    = NO
 
-# If the REFERENCES_LINK_SOURCE tag is set to YES (the default) 
-# and SOURCE_BROWSER tag is set to YES, then the hyperlinks from 
-# functions in REFERENCES_RELATION and REFERENCED_BY_RELATION lists will 
-# link to the source code.  Otherwise they will link to the documentation.
+# If the REFERENCES_LINK_SOURCE tag is set to YES and SOURCE_BROWSER tag is set
+# to YES then the hyperlinks from functions in REFERENCES_RELATION and
+# REFERENCED_BY_RELATION lists will link to the source code. Otherwise they will
+# link to the documentation.
+# The default value is: YES.
 
 REFERENCES_LINK_SOURCE = YES
 
-# If the USE_HTAGS tag is set to YES then the references to source code 
-# will point to the HTML generated by the htags(1) tool instead of doxygen 
-# built-in source browser. The htags tool is part of GNU's global source 
-# tagging system (see http://www.gnu.org/software/global/global.html). You 
-# will need version 4.8.6 or higher.
+# If SOURCE_TOOLTIPS is enabled (the default) then hovering a hyperlink in the
+# source code will show a tooltip with additional information such as prototype,
+# brief description and links to the definition and documentation. Since this
+# will make the HTML file larger and loading of large files a bit slower, you
+# can opt to disable this feature.
+# The default value is: YES.
+# This tag requires that the tag SOURCE_BROWSER is set to YES.
+
+SOURCE_TOOLTIPS        = YES
+
+# If the USE_HTAGS tag is set to YES then the references to source code will
+# point to the HTML generated by the htags(1) tool instead of doxygen built-in
+# source browser. The htags tool is part of GNU's global source tagging system
+# (see https://www.gnu.org/software/global/global.html). You will need version
+# 4.8.6 or higher.
+#
+# To use it do the following:
+# - Install the latest version of global
+# - Enable SOURCE_BROWSER and USE_HTAGS in the configuration file
+# - Make sure the INPUT points to the root of the source tree
+# - Run doxygen as normal
+#
+# Doxygen will invoke htags (and that will in turn invoke gtags), so these
+# tools must be available from the command line (i.e. in the search path).
+#
+# The result: instead of the source browser generated by doxygen, the links to
+# source code will now point to the output of htags.
+# The default value is: NO.
+# This tag requires that the tag SOURCE_BROWSER is set to YES.
 
 USE_HTAGS              = NO
 
-# If the VERBATIM_HEADERS tag is set to YES (the default) then Doxygen 
-# will generate a verbatim copy of the header file for each class for 
-# which an include is specified. Set to NO to disable this.
+# If the VERBATIM_HEADERS tag is set the YES then doxygen will generate a
+# verbatim copy of the header file for each class for which an include is
+# specified. Set to NO to disable this.
+# See also: Section \class.
+# The default value is: YES.
 
 VERBATIM_HEADERS       = YES
 
 #---------------------------------------------------------------------------
-# configuration options related to the alphabetical class index
+# Configuration options related to the alphabetical class index
 #---------------------------------------------------------------------------
 
-# If the ALPHABETICAL_INDEX tag is set to YES, an alphabetical index 
-# of all compounds will be generated. Enable this if the project 
-# contains a lot of classes, structs, unions or interfaces.
+# If the ALPHABETICAL_INDEX tag is set to YES, an alphabetical index of all
+# compounds will be generated. Enable this if the project contains a lot of
+# classes, structs, unions or interfaces.
+# The default value is: YES.
 
 ALPHABETICAL_INDEX     = YES
 
-# If the alphabetical index is enabled (see ALPHABETICAL_INDEX) then 
-# the COLS_IN_ALPHA_INDEX tag can be used to specify the number of columns 
-# in which this list will be split (can be a number in the range [1..20])
-
-COLS_IN_ALPHA_INDEX    = 5
-
-# In case all classes in a project start with a common prefix, all 
-# classes will be put under the same header in the alphabetical index. 
-# The IGNORE_PREFIX tag can be used to specify one or more prefixes that 
-# should be ignored while generating the index headers.
+# In case all classes in a project start with a common prefix, all classes will
+# be put under the same header in the alphabetical index. The IGNORE_PREFIX tag
+# can be used to specify a prefix (or a list of prefixes) that should be ignored
+# while generating the index headers.
+# This tag requires that the tag ALPHABETICAL_INDEX is set to YES.
 
-IGNORE_PREFIX          = 
+IGNORE_PREFIX          =
 
 #---------------------------------------------------------------------------
-# configuration options related to the HTML output
+# Configuration options related to the HTML output
 #---------------------------------------------------------------------------
 
-# If the GENERATE_HTML tag is set to YES (the default) Doxygen will 
-# generate HTML output.
+# If the GENERATE_HTML tag is set to YES, doxygen will generate HTML output
+# The default value is: YES.
 
 GENERATE_HTML          = @GTSAM_BUILD_DOC_HTML_YN@
 
-# The HTML_OUTPUT tag is used to specify where the HTML docs will be put. 
-# If a relative path is entered the value of OUTPUT_DIRECTORY will be 
-# put in front of it. If left blank `html' will be used as the default path.
+# The HTML_OUTPUT tag is used to specify where the HTML docs will be put. If a
+# relative path is entered the value of OUTPUT_DIRECTORY will be put in front of
+# it.
+# The default directory is: html.
+# This tag requires that the tag GENERATE_HTML is set to YES.
 
 HTML_OUTPUT            = html
 
-# The HTML_FILE_EXTENSION tag can be used to specify the file extension for 
-# each generated HTML page (for example: .htm,.php,.asp). If it is left blank 
-# doxygen will generate files with .html extension.
+# The HTML_FILE_EXTENSION tag can be used to specify the file extension for each
+# generated HTML page (for example: .htm, .php, .asp).
+# The default value is: .html.
+# This tag requires that the tag GENERATE_HTML is set to YES.
 
 HTML_FILE_EXTENSION    = .html
 
-# The HTML_HEADER tag can be used to specify a personal HTML header for 
-# each generated HTML page. If it is left blank doxygen will generate a 
-# standard header. Note that when using a custom header you are responsible  
-# for the proper inclusion of any scripts and style sheets that doxygen 
-# needs, which is dependent on the configuration options used. 
-# It is adviced to generate a default header using "doxygen -w html 
-# header.html footer.html stylesheet.css YourConfigFile" and then modify 
-# that header. Note that the header is subject to change so you typically 
-# have to redo this when upgrading to a newer version of doxygen or when 
-# changing the value of configuration settings such as GENERATE_TREEVIEW!
-
-HTML_HEADER            = 
-
-# The HTML_FOOTER tag can be used to specify a personal HTML footer for 
-# each generated HTML page. If it is left blank doxygen will generate a 
-# standard footer.
-
-HTML_FOOTER            = 
-
-# The HTML_STYLESHEET tag can be used to specify a user-defined cascading 
-# style sheet that is used by each HTML page. It can be used to 
-# fine-tune the look of the HTML output. If the tag is left blank doxygen 
-# will generate a default style sheet. Note that doxygen will try to copy 
-# the style sheet file to the HTML output directory, so don't put your own 
-# stylesheet in the HTML output directory as well, or it will be erased!
-
-HTML_STYLESHEET        = 
-
-# The HTML_EXTRA_FILES tag can be used to specify one or more extra images or 
-# other source files which should be copied to the HTML output directory. Note 
-# that these files will be copied to the base HTML output directory. Use the 
-# $relpath$ marker in the HTML_HEADER and/or HTML_FOOTER files to load these 
-# files. In the HTML_STYLESHEET file, use the file name only. Also note that 
-# the files will be copied as-is; there are no commands or markers available.
-
-HTML_EXTRA_FILES       = 
-
-# The HTML_COLORSTYLE_HUE tag controls the color of the HTML output. 
-# Doxygen will adjust the colors in the stylesheet and background images 
-# according to this color. Hue is specified as an angle on a colorwheel, 
-# see http://en.wikipedia.org/wiki/Hue for more information. 
-# For instance the value 0 represents red, 60 is yellow, 120 is green, 
-# 180 is cyan, 240 is blue, 300 purple, and 360 is red again. 
-# The allowed range is 0 to 359.
+# The HTML_HEADER tag can be used to specify a user-defined HTML header file for
+# each generated HTML page. If the tag is left blank doxygen will generate a
+# standard header.
+#
+# To get valid HTML the header file that includes any scripts and style sheets
+# that doxygen needs, which is dependent on the configuration options used (e.g.
+# the setting GENERATE_TREEVIEW). It is highly recommended to start with a
+# default header using
+# doxygen -w html new_header.html new_footer.html new_stylesheet.css
+# YourConfigFile
+# and then modify the file new_header.html. See also section "Doxygen usage"
+# for information on how to generate the default header that doxygen normally
+# uses.
+# Note: The header is subject to change so you typically have to regenerate the
+# default header when upgrading to a newer version of doxygen. For a description
+# of the possible markers and block names see the documentation.
+# This tag requires that the tag GENERATE_HTML is set to YES.
+
+HTML_HEADER            =
+
+# The HTML_FOOTER tag can be used to specify a user-defined HTML footer for each
+# generated HTML page. If the tag is left blank doxygen will generate a standard
+# footer. See HTML_HEADER for more information on how to generate a default
+# footer and what special commands can be used inside the footer. See also
+# section "Doxygen usage" for information on how to generate the default footer
+# that doxygen normally uses.
+# This tag requires that the tag GENERATE_HTML is set to YES.
+
+HTML_FOOTER            =
+
+# The HTML_STYLESHEET tag can be used to specify a user-defined cascading style
+# sheet that is used by each HTML page. It can be used to fine-tune the look of
+# the HTML output. If left blank doxygen will generate a default style sheet.
+# See also section "Doxygen usage" for information on how to generate the style
+# sheet that doxygen normally uses.
+# Note: It is recommended to use HTML_EXTRA_STYLESHEET instead of this tag, as
+# it is more robust and this tag (HTML_STYLESHEET) will in the future become
+# obsolete.
+# This tag requires that the tag GENERATE_HTML is set to YES.
+
+HTML_STYLESHEET        =
+
+# The HTML_EXTRA_STYLESHEET tag can be used to specify additional user-defined
+# cascading style sheets that are included after the standard style sheets
+# created by doxygen. Using this option one can overrule certain style aspects.
+# This is preferred over using HTML_STYLESHEET since it does not replace the
+# standard style sheet and is therefore more robust against future updates.
+# Doxygen will copy the style sheet files to the output directory.
+# Note: The order of the extra style sheet files is of importance (e.g. the last
+# style sheet in the list overrules the setting of the previous ones in the
+# list). For an example see the documentation.
+# This tag requires that the tag GENERATE_HTML is set to YES.
+
+HTML_EXTRA_STYLESHEET  =
+
+# The HTML_EXTRA_FILES tag can be used to specify one or more extra images or
+# other source files which should be copied to the HTML output directory. Note
+# that these files will be copied to the base HTML output directory. Use the
+# $relpath^ marker in the HTML_HEADER and/or HTML_FOOTER files to load these
+# files. In the HTML_STYLESHEET file, use the file name only. Also note that the
+# files will be copied as-is; there are no commands or markers available.
+# This tag requires that the tag GENERATE_HTML is set to YES.
+
+HTML_EXTRA_FILES       =
+
+# The HTML_COLORSTYLE_HUE tag controls the color of the HTML output. Doxygen
+# will adjust the colors in the style sheet and background images according to
+# this color. Hue is specified as an angle on a color-wheel, see
+# https://en.wikipedia.org/wiki/Hue for more information. For instance the value
+# 0 represents red, 60 is yellow, 120 is green, 180 is cyan, 240 is blue, 300
+# purple, and 360 is red again.
+# Minimum value: 0, maximum value: 359, default value: 220.
+# This tag requires that the tag GENERATE_HTML is set to YES.
 
 HTML_COLORSTYLE_HUE    = 220
 
-# The HTML_COLORSTYLE_SAT tag controls the purity (or saturation) of 
-# the colors in the HTML output. For a value of 0 the output will use 
-# grayscales only. A value of 255 will produce the most vivid colors.
+# The HTML_COLORSTYLE_SAT tag controls the purity (or saturation) of the colors
+# in the HTML output. For a value of 0 the output will use gray-scales only. A
+# value of 255 will produce the most vivid colors.
+# Minimum value: 0, maximum value: 255, default value: 100.
+# This tag requires that the tag GENERATE_HTML is set to YES.
 
 HTML_COLORSTYLE_SAT    = 100
 
-# The HTML_COLORSTYLE_GAMMA tag controls the gamma correction applied to 
-# the luminance component of the colors in the HTML output. Values below 
-# 100 gradually make the output lighter, whereas values above 100 make 
-# the output darker. The value divided by 100 is the actual gamma applied, 
-# so 80 represents a gamma of 0.8, The value 220 represents a gamma of 2.2, 
-# and 100 does not change the gamma.
+# The HTML_COLORSTYLE_GAMMA tag controls the gamma correction applied to the
+# luminance component of the colors in the HTML output. Values below 100
+# gradually make the output lighter, whereas values above 100 make the output
+# darker. The value divided by 100 is the actual gamma applied, so 80 represents
+# a gamma of 0.8, The value 220 represents a gamma of 2.2, and 100 does not
+# change the gamma.
+# Minimum value: 40, maximum value: 240, default value: 80.
+# This tag requires that the tag GENERATE_HTML is set to YES.
 
 HTML_COLORSTYLE_GAMMA  = 80
 
-# If the HTML_TIMESTAMP tag is set to YES then the footer of each generated HTML 
-# page will contain the date and time when the page was generated. Setting 
-# this to NO can help when comparing the output of multiple runs.
+# If the HTML_TIMESTAMP tag is set to YES then the footer of each generated HTML
+# page will contain the date and time when the page was generated. Setting this
+# to YES can help to show when doxygen was last run and thus if the
+# documentation is up to date.
+# The default value is: NO.
+# This tag requires that the tag GENERATE_HTML is set to YES.
 
 HTML_TIMESTAMP         = YES
 
-# If the HTML_ALIGN_MEMBERS tag is set to YES, the members of classes, 
-# files or namespaces will be aligned in HTML using tables. If set to 
-# NO a bullet list will be used.
+# If the HTML_DYNAMIC_MENUS tag is set to YES then the generated HTML
+# documentation will contain a main index with vertical navigation menus that
+# are dynamically created via JavaScript. If disabled, the navigation index will
+# consists of multiple levels of tabs that are statically embedded in every HTML
+# page. Disable this option to support browsers that do not have JavaScript,
+# like the Qt help browser.
+# The default value is: YES.
+# This tag requires that the tag GENERATE_HTML is set to YES.
 
-HTML_ALIGN_MEMBERS     = YES
+HTML_DYNAMIC_MENUS     = YES
 
-# If the HTML_DYNAMIC_SECTIONS tag is set to YES then the generated HTML 
-# documentation will contain sections that can be hidden and shown after the 
-# page has loaded. For this to work a browser that supports 
-# JavaScript and DHTML is required (for instance Mozilla 1.0+, Firefox 
-# Netscape 6.0+, Internet explorer 5.0+, Konqueror, or Safari).
+# If the HTML_DYNAMIC_SECTIONS tag is set to YES then the generated HTML
+# documentation will contain sections that can be hidden and shown after the
+# page has loaded.
+# The default value is: NO.
+# This tag requires that the tag GENERATE_HTML is set to YES.
 
 HTML_DYNAMIC_SECTIONS  = YES
 
-# If the GENERATE_DOCSET tag is set to YES, additional index files 
-# will be generated that can be used as input for Apple's Xcode 3 
-# integrated development environment, introduced with OSX 10.5 (Leopard). 
-# To create a documentation set, doxygen will generate a Makefile in the 
-# HTML output directory. Running make will produce the docset in that 
-# directory and running "make install" will install the docset in 
-# ~/Library/Developer/Shared/Documentation/DocSets so that Xcode will find 
-# it at startup. 
-# See http://developer.apple.com/tools/creatingdocsetswithdoxygen.html 
-# for more information.
+# With HTML_INDEX_NUM_ENTRIES one can control the preferred number of entries
+# shown in the various tree structured indices initially; the user can expand
+# and collapse entries dynamically later on. Doxygen will expand the tree to
+# such a level that at most the specified number of entries are visible (unless
+# a fully collapsed tree already exceeds this amount). So setting the number of
+# entries 1 will produce a full collapsed tree by default. 0 is a special value
+# representing an infinite number of entries and will result in a full expanded
+# tree by default.
+# Minimum value: 0, maximum value: 9999, default value: 100.
+# This tag requires that the tag GENERATE_HTML is set to YES.
+
+HTML_INDEX_NUM_ENTRIES = 100
+
+# If the GENERATE_DOCSET tag is set to YES, additional index files will be
+# generated that can be used as input for Apple's Xcode 3 integrated development
+# environment (see:
+# https://developer.apple.com/xcode/), introduced with OSX 10.5 (Leopard). To
+# create a documentation set, doxygen will generate a Makefile in the HTML
+# output directory. Running make will produce the docset in that directory and
+# running make install will install the docset in
+# ~/Library/Developer/Shared/Documentation/DocSets so that Xcode will find it at
+# startup. See https://developer.apple.com/library/archive/featuredarticles/Doxy
+# genXcode/_index.html for more information.
+# The default value is: NO.
+# This tag requires that the tag GENERATE_HTML is set to YES.
 
 GENERATE_DOCSET        = NO
 
-# When GENERATE_DOCSET tag is set to YES, this tag determines the name of the 
-# feed. A documentation feed provides an umbrella under which multiple 
-# documentation sets from a single provider (such as a company or product suite) 
-# can be grouped.
+# This tag determines the name of the docset feed. A documentation feed provides
+# an umbrella under which multiple documentation sets from a single provider
+# (such as a company or product suite) can be grouped.
+# The default value is: Doxygen generated docs.
+# This tag requires that the tag GENERATE_DOCSET is set to YES.
 
 DOCSET_FEEDNAME        = "Doxygen generated docs"
 
-# When GENERATE_DOCSET tag is set to YES, this tag specifies a string that 
-# should uniquely identify the documentation set bundle. This should be a 
-# reverse domain-name style string, e.g. com.mycompany.MyDocSet. Doxygen 
-# will append .docset to the name.
+# This tag determines the URL of the docset feed. A documentation feed provides
+# an umbrella under which multiple documentation sets from a single provider
+# (such as a company or product suite) can be grouped.
+# This tag requires that the tag GENERATE_DOCSET is set to YES.
+
+DOCSET_FEEDURL         =
+
+# This tag specifies a string that should uniquely identify the documentation
+# set bundle. This should be a reverse domain-name style string, e.g.
+# com.mycompany.MyDocSet. Doxygen will append .docset to the name.
+# The default value is: org.doxygen.Project.
+# This tag requires that the tag GENERATE_DOCSET is set to YES.
 
 DOCSET_BUNDLE_ID       = org.doxygen.Project
 
-# When GENERATE_PUBLISHER_ID tag specifies a string that should uniquely identify 
-# the documentation publisher. This should be a reverse domain-name style 
+# The DOCSET_PUBLISHER_ID tag specifies a string that should uniquely identify
+# the documentation publisher. This should be a reverse domain-name style
 # string, e.g. com.mycompany.MyDocSet.documentation.
+# The default value is: org.doxygen.Publisher.
+# This tag requires that the tag GENERATE_DOCSET is set to YES.
 
 DOCSET_PUBLISHER_ID    = org.doxygen.Publisher
 
-# The GENERATE_PUBLISHER_NAME tag identifies the documentation publisher.
+# The DOCSET_PUBLISHER_NAME tag identifies the documentation publisher.
+# The default value is: Publisher.
+# This tag requires that the tag GENERATE_DOCSET is set to YES.
 
 DOCSET_PUBLISHER_NAME  = Publisher
 
-# If the GENERATE_HTMLHELP tag is set to YES, additional index files 
-# will be generated that can be used as input for tools like the 
-# Microsoft HTML help workshop to generate a compiled HTML help file (.chm) 
-# of the generated HTML documentation.
+# If the GENERATE_HTMLHELP tag is set to YES then doxygen generates three
+# additional HTML index files: index.hhp, index.hhc, and index.hhk. The
+# index.hhp is a project file that can be read by Microsoft's HTML Help Workshop
+# on Windows. In the beginning of 2021 Microsoft took the original page, with
+# a.o. the download links, offline the HTML help workshop was already many years
+# in maintenance mode). You can download the HTML help workshop from the web
+# archives at Installation executable (see:
+# http://web.archive.org/web/20160201063255/http://download.microsoft.com/downlo
+# ad/0/A/9/0A939EF6-E31C-430F-A3DF-DFAE7960D564/htmlhelp.exe).
+#
+# The HTML Help Workshop contains a compiler that can convert all HTML output
+# generated by doxygen into a single compiled HTML file (.chm). Compiled HTML
+# files are now used as the Windows 98 help format, and will replace the old
+# Windows help format (.hlp) on all Windows platforms in the future. Compressed
+# HTML files also contain an index, a table of contents, and you can search for
+# words in the documentation. The HTML workshop also contains a viewer for
+# compressed HTML files.
+# The default value is: NO.
+# This tag requires that the tag GENERATE_HTML is set to YES.
 
 GENERATE_HTMLHELP      = NO
 
-# If the GENERATE_HTMLHELP tag is set to YES, the CHM_FILE tag can 
-# be used to specify the file name of the resulting .chm file. You 
-# can add a path in front of the file if the result should not be 
+# The CHM_FILE tag can be used to specify the file name of the resulting .chm
+# file. You can add a path in front of the file if the result should not be
 # written to the html output directory.
+# This tag requires that the tag GENERATE_HTMLHELP is set to YES.
 
-CHM_FILE               = 
+CHM_FILE               =
 
-# If the GENERATE_HTMLHELP tag is set to YES, the HHC_LOCATION tag can 
-# be used to specify the location (absolute path including file name) of 
-# the HTML help compiler (hhc.exe). If non-empty doxygen will try to run 
-# the HTML help compiler on the generated index.hhp.
+# The HHC_LOCATION tag can be used to specify the location (absolute path
+# including file name) of the HTML help compiler (hhc.exe). If non-empty,
+# doxygen will try to run the HTML help compiler on the generated index.hhp.
+# The file has to be specified with full path.
+# This tag requires that the tag GENERATE_HTMLHELP is set to YES.
 
-HHC_LOCATION           = 
+HHC_LOCATION           =
 
-# If the GENERATE_HTMLHELP tag is set to YES, the GENERATE_CHI flag 
-# controls if a separate .chi index file is generated (YES) or that 
-# it should be included in the master .chm file (NO).
+# The GENERATE_CHI flag controls if a separate .chi index file is generated
+# (YES) or that it should be included in the main .chm file (NO).
+# The default value is: NO.
+# This tag requires that the tag GENERATE_HTMLHELP is set to YES.
 
 GENERATE_CHI           = NO
 
-# If the GENERATE_HTMLHELP tag is set to YES, the CHM_INDEX_ENCODING 
-# is used to encode HtmlHelp index (hhk), content (hhc) and project file 
-# content.
+# The CHM_INDEX_ENCODING is used to encode HtmlHelp index (hhk), content (hhc)
+# and project file content.
+# This tag requires that the tag GENERATE_HTMLHELP is set to YES.
 
-CHM_INDEX_ENCODING     = 
+CHM_INDEX_ENCODING     =
 
-# If the GENERATE_HTMLHELP tag is set to YES, the BINARY_TOC flag 
-# controls whether a binary table of contents is generated (YES) or a 
-# normal table of contents (NO) in the .chm file.
+# The BINARY_TOC flag controls whether a binary table of contents is generated
+# (YES) or a normal table of contents (NO) in the .chm file. Furthermore it
+# enables the Previous and Next buttons.
+# The default value is: NO.
+# This tag requires that the tag GENERATE_HTMLHELP is set to YES.
 
 BINARY_TOC             = NO
 
-# The TOC_EXPAND flag can be set to YES to add extra items for group members 
-# to the contents of the HTML help documentation and to the tree view.
+# The TOC_EXPAND flag can be set to YES to add extra items for group members to
+# the table of contents of the HTML help documentation and to the tree view.
+# The default value is: NO.
+# This tag requires that the tag GENERATE_HTMLHELP is set to YES.
 
 TOC_EXPAND             = NO
 
-# If the GENERATE_QHP tag is set to YES and both QHP_NAMESPACE and 
-# QHP_VIRTUAL_FOLDER are set, an additional index file will be generated 
-# that can be used as input for Qt's qhelpgenerator to generate a 
-# Qt Compressed Help (.qch) of the generated HTML documentation.
+# If the GENERATE_QHP tag is set to YES and both QHP_NAMESPACE and
+# QHP_VIRTUAL_FOLDER are set, an additional index file will be generated that
+# can be used as input for Qt's qhelpgenerator to generate a Qt Compressed Help
+# (.qch) of the generated HTML documentation.
+# The default value is: NO.
+# This tag requires that the tag GENERATE_HTML is set to YES.
 
 GENERATE_QHP           = NO
 
-# If the QHG_LOCATION tag is specified, the QCH_FILE tag can 
-# be used to specify the file name of the resulting .qch file. 
-# The path specified is relative to the HTML output folder.
+# If the QHG_LOCATION tag is specified, the QCH_FILE tag can be used to specify
+# the file name of the resulting .qch file. The path specified is relative to
+# the HTML output folder.
+# This tag requires that the tag GENERATE_QHP is set to YES.
 
-QCH_FILE               = 
+QCH_FILE               =
 
-# The QHP_NAMESPACE tag specifies the namespace to use when generating 
-# Qt Help Project output. For more information please see 
-# http://doc.trolltech.com/qthelpproject.html#namespace
+# The QHP_NAMESPACE tag specifies the namespace to use when generating Qt Help
+# Project output. For more information please see Qt Help Project / Namespace
+# (see:
+# https://doc.qt.io/archives/qt-4.8/qthelpproject.html#namespace).
+# The default value is: org.doxygen.Project.
+# This tag requires that the tag GENERATE_QHP is set to YES.
 
 QHP_NAMESPACE          = org.doxygen.Project
 
-# The QHP_VIRTUAL_FOLDER tag specifies the namespace to use when generating 
-# Qt Help Project output. For more information please see 
-# http://doc.trolltech.com/qthelpproject.html#virtual-folders
+# The QHP_VIRTUAL_FOLDER tag specifies the namespace to use when generating Qt
+# Help Project output. For more information please see Qt Help Project / Virtual
+# Folders (see:
+# https://doc.qt.io/archives/qt-4.8/qthelpproject.html#virtual-folders).
+# The default value is: doc.
+# This tag requires that the tag GENERATE_QHP is set to YES.
 
 QHP_VIRTUAL_FOLDER     = doc
 
-# If QHP_CUST_FILTER_NAME is set, it specifies the name of a custom filter to 
-# add. For more information please see 
-# http://doc.trolltech.com/qthelpproject.html#custom-filters
+# If the QHP_CUST_FILTER_NAME tag is set, it specifies the name of a custom
+# filter to add. For more information please see Qt Help Project / Custom
+# Filters (see:
+# https://doc.qt.io/archives/qt-4.8/qthelpproject.html#custom-filters).
+# This tag requires that the tag GENERATE_QHP is set to YES.
 
-QHP_CUST_FILTER_NAME   = 
+QHP_CUST_FILTER_NAME   =
 
-# The QHP_CUST_FILT_ATTRS tag specifies the list of the attributes of the 
-# custom filter to add. For more information please see 
-# <a href="http://doc.trolltech.com/qthelpproject.html#custom-filters"> 
-# Qt Help Project / Custom Filters</a>.
+# The QHP_CUST_FILTER_ATTRS tag specifies the list of the attributes of the
+# custom filter to add. For more information please see Qt Help Project / Custom
+# Filters (see:
+# https://doc.qt.io/archives/qt-4.8/qthelpproject.html#custom-filters).
+# This tag requires that the tag GENERATE_QHP is set to YES.
 
-QHP_CUST_FILTER_ATTRS  = 
+QHP_CUST_FILTER_ATTRS  =
 
-# The QHP_SECT_FILTER_ATTRS tag specifies the list of the attributes this 
-# project's 
-# filter section matches. 
-# <a href="http://doc.trolltech.com/qthelpproject.html#filter-attributes"> 
-# Qt Help Project / Filter Attributes</a>.
+# The QHP_SECT_FILTER_ATTRS tag specifies the list of the attributes this
+# project's filter section matches. Qt Help Project / Filter Attributes (see:
+# https://doc.qt.io/archives/qt-4.8/qthelpproject.html#filter-attributes).
+# This tag requires that the tag GENERATE_QHP is set to YES.
 
-QHP_SECT_FILTER_ATTRS  = 
+QHP_SECT_FILTER_ATTRS  =
 
-# If the GENERATE_QHP tag is set to YES, the QHG_LOCATION tag can 
-# be used to specify the location of Qt's qhelpgenerator. 
-# If non-empty doxygen will try to run qhelpgenerator on the generated 
-# .qhp file.
+# The QHG_LOCATION tag can be used to specify the location (absolute path
+# including file name) of Qt's qhelpgenerator. If non-empty doxygen will try to
+# run qhelpgenerator on the generated .qhp file.
+# This tag requires that the tag GENERATE_QHP is set to YES.
 
-QHG_LOCATION           = 
+QHG_LOCATION           =
 
-# If the GENERATE_ECLIPSEHELP tag is set to YES, additional index files  
-# will be generated, which together with the HTML files, form an Eclipse help 
-# plugin. To install this plugin and make it available under the help contents 
-# menu in Eclipse, the contents of the directory containing the HTML and XML 
-# files needs to be copied into the plugins directory of eclipse. The name of 
-# the directory within the plugins directory should be the same as 
-# the ECLIPSE_DOC_ID value. After copying Eclipse needs to be restarted before 
-# the help appears.
+# If the GENERATE_ECLIPSEHELP tag is set to YES, additional index files will be
+# generated, together with the HTML files, they form an Eclipse help plugin. To
+# install this plugin and make it available under the help contents menu in
+# Eclipse, the contents of the directory containing the HTML and XML files needs
+# to be copied into the plugins directory of eclipse. The name of the directory
+# within the plugins directory should be the same as the ECLIPSE_DOC_ID value.
+# After copying Eclipse needs to be restarted before the help appears.
+# The default value is: NO.
+# This tag requires that the tag GENERATE_HTML is set to YES.
 
 GENERATE_ECLIPSEHELP   = NO
 
-# A unique identifier for the eclipse help plugin. When installing the plugin 
-# the directory name containing the HTML and XML files should also have 
-# this name.
+# A unique identifier for the Eclipse help plugin. When installing the plugin
+# the directory name containing the HTML and XML files should also have this
+# name. Each documentation set should have its own identifier.
+# The default value is: org.doxygen.Project.
+# This tag requires that the tag GENERATE_ECLIPSEHELP is set to YES.
 
 ECLIPSE_DOC_ID         = org.doxygen.Project
 
-# The DISABLE_INDEX tag can be used to turn on/off the condensed index at 
-# top of each HTML page. The value NO (the default) enables the index and 
-# the value YES disables it.
+# If you want full control over the layout of the generated HTML pages it might
+# be necessary to disable the index and replace it with your own. The
+# DISABLE_INDEX tag can be used to turn on/off the condensed index (tabs) at top
+# of each HTML page. A value of NO enables the index and the value YES disables
+# it. Since the tabs in the index contain the same information as the navigation
+# tree, you can set this option to YES if you also set GENERATE_TREEVIEW to YES.
+# The default value is: NO.
+# This tag requires that the tag GENERATE_HTML is set to YES.
 
 DISABLE_INDEX          = NO
 
-# The ENUM_VALUES_PER_LINE tag can be used to set the number of enum values 
-# (range [0,1..20]) that doxygen will group on one line in the generated HTML 
-# documentation. Note that a value of 0 will completely suppress the enum 
-# values from appearing in the overview section.
+# The GENERATE_TREEVIEW tag is used to specify whether a tree-like index
+# structure should be generated to display hierarchical information. If the tag
+# value is set to YES, a side panel will be generated containing a tree-like
+# index structure (just like the one that is generated for HTML Help). For this
+# to work a browser that supports JavaScript, DHTML, CSS and frames is required
+# (i.e. any modern browser). Windows users are probably better off using the
+# HTML help feature. Via custom style sheets (see HTML_EXTRA_STYLESHEET) one can
+# further fine tune the look of the index (see "Fine-tuning the output"). As an
+# example, the default style sheet generated by doxygen has an example that
+# shows how to put an image at the root of the tree instead of the PROJECT_NAME.
+# Since the tree basically has the same information as the tab index, you could
+# consider setting DISABLE_INDEX to YES when enabling this option.
+# The default value is: NO.
+# This tag requires that the tag GENERATE_HTML is set to YES.
 
-ENUM_VALUES_PER_LINE   = 4
+GENERATE_TREEVIEW      = YES
 
-# The GENERATE_TREEVIEW tag is used to specify whether a tree-like index 
-# structure should be generated to display hierarchical information. 
-# If the tag value is set to YES, a side panel will be generated 
-# containing a tree-like index structure (just like the one that 
-# is generated for HTML Help). For this to work a browser that supports 
-# JavaScript, DHTML, CSS and frames is required (i.e. any modern browser). 
-# Windows users are probably better off using the HTML help feature.
+# When both GENERATE_TREEVIEW and DISABLE_INDEX are set to YES, then the
+# FULL_SIDEBAR option determines if the side bar is limited to only the treeview
+# area (value NO) or if it should extend to the full height of the window (value
+# YES). Setting this to YES gives a layout similar to
+# https://docs.readthedocs.io with more room for contents, but less room for the
+# project logo, title, and description. If either GENERATE_TREEVIEW or
+# DISABLE_INDEX is set to NO, this option has no effect.
+# The default value is: NO.
+# This tag requires that the tag GENERATE_HTML is set to YES.
 
-GENERATE_TREEVIEW      = YES
+FULL_SIDEBAR           = NO
 
-# By enabling USE_INLINE_TREES, doxygen will generate the Groups, Directories, 
-# and Class Hierarchy pages using a tree view instead of an ordered list.
+# The ENUM_VALUES_PER_LINE tag can be used to set the number of enum values that
+# doxygen will group on one line in the generated HTML documentation.
+#
+# Note that a value of 0 will completely suppress the enum values from appearing
+# in the overview section.
+# Minimum value: 0, maximum value: 20, default value: 4.
+# This tag requires that the tag GENERATE_HTML is set to YES.
 
-USE_INLINE_TREES       = NO
+ENUM_VALUES_PER_LINE   = 4
 
-# If the treeview is enabled (see GENERATE_TREEVIEW) then this tag can be 
-# used to set the initial width (in pixels) of the frame in which the tree 
-# is shown.
+# If the treeview is enabled (see GENERATE_TREEVIEW) then this tag can be used
+# to set the initial width (in pixels) of the frame in which the tree is shown.
+# Minimum value: 0, maximum value: 1500, default value: 250.
+# This tag requires that the tag GENERATE_HTML is set to YES.
 
 TREEVIEW_WIDTH         = 250
 
-# When the EXT_LINKS_IN_WINDOW option is set to YES doxygen will open 
-# links to external symbols imported via tag files in a separate window.
+# If the EXT_LINKS_IN_WINDOW option is set to YES, doxygen will open links to
+# external symbols imported via tag files in a separate window.
+# The default value is: NO.
+# This tag requires that the tag GENERATE_HTML is set to YES.
 
 EXT_LINKS_IN_WINDOW    = NO
 
-# Use this tag to change the font size of Latex formulas included 
-# as images in the HTML documentation. The default is 10. Note that 
-# when you change the font size after a successful doxygen run you need 
-# to manually remove any form_*.png images from the HTML output directory 
-# to force them to be regenerated.
+# If the OBFUSCATE_EMAILS tag is set to YES, doxygen will obfuscate email
+# addresses.
+# The default value is: YES.
+# This tag requires that the tag GENERATE_HTML is set to YES.
+
+OBFUSCATE_EMAILS       = YES
+
+# If the HTML_FORMULA_FORMAT option is set to svg, doxygen will use the pdf2svg
+# tool (see https://github.com/dawbarton/pdf2svg) or inkscape (see
+# https://inkscape.org) to generate formulas as SVG images instead of PNGs for
+# the HTML output. These images will generally look nicer at scaled resolutions.
+# Possible values are: png (the default) and svg (looks nicer but requires the
+# pdf2svg or inkscape tool).
+# The default value is: png.
+# This tag requires that the tag GENERATE_HTML is set to YES.
+
+HTML_FORMULA_FORMAT    = png
+
+# Use this tag to change the font size of LaTeX formulas included as images in
+# the HTML documentation. When you change the font size after a successful
+# doxygen run you need to manually remove any form_*.png images from the HTML
+# output directory to force them to be regenerated.
+# Minimum value: 8, maximum value: 50, default value: 10.
+# This tag requires that the tag GENERATE_HTML is set to YES.
 
 FORMULA_FONTSIZE       = 10
 
-# Use the FORMULA_TRANPARENT tag to determine whether or not the images 
-# generated for formulas are transparent PNGs. Transparent PNGs are 
-# not supported properly for IE 6.0, but are supported on all modern browsers. 
-# Note that when changing this option you need to delete any form_*.png files 
-# in the HTML output before the changes have effect.
+# Use the FORMULA_TRANSPARENT tag to determine whether or not the images
+# generated for formulas are transparent PNGs. Transparent PNGs are not
+# supported properly for IE 6.0, but are supported on all modern browsers.
+#
+# Note that when changing this option you need to delete any form_*.png files in
+# the HTML output directory before the changes have effect.
+# The default value is: YES.
+# This tag requires that the tag GENERATE_HTML is set to YES.
 
 FORMULA_TRANSPARENT    = YES
 
-# Enable the USE_MATHJAX option to render LaTeX formulas using MathJax 
-# (see http://www.mathjax.org) which uses client side Javascript for the 
-# rendering instead of using prerendered bitmaps. Use this if you do not 
-# have LaTeX installed or if you want to formulas look prettier in the HTML 
-# output. When enabled you also need to install MathJax separately and 
-# configure the path to it using the MATHJAX_RELPATH option.
+# The FORMULA_MACROFILE can contain LaTeX \newcommand and \renewcommand commands
+# to create new LaTeX commands to be used in formulas as building blocks. See
+# the section "Including formulas" for details.
+
+FORMULA_MACROFILE      =
+
+# Enable the USE_MATHJAX option to render LaTeX formulas using MathJax (see
+# https://www.mathjax.org) which uses client side JavaScript for the rendering
+# instead of using pre-rendered bitmaps. Use this if you do not have LaTeX
+# installed or if you want to formulas look prettier in the HTML output. When
+# enabled you may also need to install MathJax separately and configure the path
+# to it using the MATHJAX_RELPATH option.
+# The default value is: NO.
+# This tag requires that the tag GENERATE_HTML is set to YES.
 
 USE_MATHJAX            = YES
 
-# When MathJax is enabled you need to specify the location relative to the 
-# HTML output directory using the MATHJAX_RELPATH option. The destination 
-# directory should contain the MathJax.js script. For instance, if the mathjax 
-# directory is located at the same level as the HTML output directory, then 
-# MATHJAX_RELPATH should be ../mathjax. The default value points to the 
-# mathjax.org site, so you can quickly see the result without installing 
-# MathJax, but it is strongly recommended to install a local copy of MathJax 
-# before deployment.
+# With MATHJAX_VERSION it is possible to specify the MathJax version to be used.
+# Note that the different versions of MathJax have different requirements with
+# regards to the different settings, so it is possible that also other MathJax
+# settings have to be changed when switching between the different MathJax
+# versions.
+# Possible values are: MathJax_2 and MathJax_3.
+# The default value is: MathJax_2.
+# This tag requires that the tag USE_MATHJAX is set to YES.
+
+MATHJAX_VERSION        = MathJax_2
+
+# When MathJax is enabled you can set the default output format to be used for
+# the MathJax output. For more details about the output format see MathJax
+# version 2 (see:
+# http://docs.mathjax.org/en/v2.7-latest/output.html) and MathJax version 3
+# (see:
+# http://docs.mathjax.org/en/latest/web/components/output.html).
+# Possible values are: HTML-CSS (which is slower, but has the best
+# compatibility. This is the name for Mathjax version 2, for MathJax version 3
+# this will be translated into chtml), NativeMML (i.e. MathML. Only supported
+# for NathJax 2. For MathJax version 3 chtml will be used instead.), chtml (This
+# is the name for Mathjax version 3, for MathJax version 2 this will be
+# translated into HTML-CSS) and SVG.
+# The default value is: HTML-CSS.
+# This tag requires that the tag USE_MATHJAX is set to YES.
+
+MATHJAX_FORMAT         = HTML-CSS
+
+# When MathJax is enabled you need to specify the location relative to the HTML
+# output directory using the MATHJAX_RELPATH option. The destination directory
+# should contain the MathJax.js script. For instance, if the mathjax directory
+# is located at the same level as the HTML output directory, then
+# MATHJAX_RELPATH should be ../mathjax. The default value points to the MathJax
+# Content Delivery Network so you can quickly see the result without installing
+# MathJax. However, it is strongly recommended to install a local copy of
+# MathJax from https://www.mathjax.org before deployment. The default value is:
+# - in case of MathJax version 2: https://cdn.jsdelivr.net/npm/mathjax@2
+# - in case of MathJax version 3: https://cdn.jsdelivr.net/npm/mathjax@3
+# This tag requires that the tag USE_MATHJAX is set to YES.
+
+MATHJAX_RELPATH        =
+
+# The MATHJAX_EXTENSIONS tag can be used to specify one or more MathJax
+# extension names that should be enabled during MathJax rendering. For example
+# for MathJax version 2 (see
+# https://docs.mathjax.org/en/v2.7-latest/tex.html#tex-and-latex-extensions):
+# MATHJAX_EXTENSIONS = TeX/AMSmath TeX/AMSsymbols
+# For example for MathJax version 3 (see
+# http://docs.mathjax.org/en/latest/input/tex/extensions/index.html):
+# MATHJAX_EXTENSIONS = ams
+# This tag requires that the tag USE_MATHJAX is set to YES.
+
+MATHJAX_EXTENSIONS     =
+
+# The MATHJAX_CODEFILE tag can be used to specify a file with javascript pieces
+# of code that will be used on startup of the MathJax code. See the MathJax site
+# (see:
+# http://docs.mathjax.org/en/v2.7-latest/output.html) for more details. For an
+# example see the documentation.
+# This tag requires that the tag USE_MATHJAX is set to YES.
+
+MATHJAX_CODEFILE       =
+
+# When the SEARCHENGINE tag is enabled doxygen will generate a search box for
+# the HTML output. The underlying search engine uses javascript and DHTML and
+# should work on any modern browser. Note that when using HTML help
+# (GENERATE_HTMLHELP), Qt help (GENERATE_QHP), or docsets (GENERATE_DOCSET)
+# there is already a search function so this one should typically be disabled.
+# For large projects the javascript based search engine can be slow, then
+# enabling SERVER_BASED_SEARCH may provide a better solution. It is possible to
+# search using the keyboard; to jump to the search box use <access key> + S
+# (what the <access key> is depends on the OS and browser, but it is typically
+# <CTRL>, <ALT>/<option>, or both). Inside the search box use the <cursor down
+# key> to jump into the search results window, the results can be navigated
+# using the <cursor keys>. Press <Enter> to select an item or <escape> to cancel
+# the search. The filter options can be selected when the cursor is inside the
+# search box by pressing <Shift>+<cursor down>. Also here use the <cursor keys>
+# to select a filter and <Enter> or <escape> to activate or cancel the filter
+# option.
+# The default value is: YES.
+# This tag requires that the tag GENERATE_HTML is set to YES.
+
+SEARCHENGINE           = YES
 
-# MATHJAX_RELPATH        = https://cdn.mathjax.org/mathjax/latest
+# When the SERVER_BASED_SEARCH tag is enabled the search engine will be
+# implemented using a web server instead of a web client using JavaScript. There
+# are two flavors of web server based searching depending on the EXTERNAL_SEARCH
+# setting. When disabled, doxygen will generate a PHP script for searching and
+# an index file used by the script. When EXTERNAL_SEARCH is enabled the indexing
+# and searching needs to be provided by external tools. See the section
+# "External Indexing and Searching" for details.
+# The default value is: NO.
+# This tag requires that the tag SEARCHENGINE is set to YES.
 
-# The MATHJAX_EXTENSIONS tag can be used to specify one or MathJax extension 
-# names that should be enabled during MathJax rendering.
+SERVER_BASED_SEARCH    = NO
 
-MATHJAX_EXTENSIONS     = 
+# When EXTERNAL_SEARCH tag is enabled doxygen will no longer generate the PHP
+# script for searching. Instead the search results are written to an XML file
+# which needs to be processed by an external indexer. Doxygen will invoke an
+# external search engine pointed to by the SEARCHENGINE_URL option to obtain the
+# search results.
+#
+# Doxygen ships with an example indexer (doxyindexer) and search engine
+# (doxysearch.cgi) which are based on the open source search engine library
+# Xapian (see:
+# https://xapian.org/).
+#
+# See the section "External Indexing and Searching" for details.
+# The default value is: NO.
+# This tag requires that the tag SEARCHENGINE is set to YES.
 
-# When the SEARCHENGINE tag is enabled doxygen will generate a search box 
-# for the HTML output. The underlying search engine uses javascript 
-# and DHTML and should work on any modern browser. Note that when using 
-# HTML help (GENERATE_HTMLHELP), Qt help (GENERATE_QHP), or docsets 
-# (GENERATE_DOCSET) there is already a search function so this one should 
-# typically be disabled. For large projects the javascript based search engine 
-# can be slow, then enabling SERVER_BASED_SEARCH may provide a better solution.
+EXTERNAL_SEARCH        = NO
 
-SEARCHENGINE           = YES
+# The SEARCHENGINE_URL should point to a search engine hosted by a web server
+# which will return the search results when EXTERNAL_SEARCH is enabled.
+#
+# Doxygen ships with an example indexer (doxyindexer) and search engine
+# (doxysearch.cgi) which are based on the open source search engine library
+# Xapian (see:
+# https://xapian.org/). See the section "External Indexing and Searching" for
+# details.
+# This tag requires that the tag SEARCHENGINE is set to YES.
 
-# When the SERVER_BASED_SEARCH tag is enabled the search engine will be 
-# implemented using a PHP enabled web server instead of at the web client 
-# using Javascript. Doxygen will generate the search PHP script and index 
-# file to put on the web server. The advantage of the server 
-# based approach is that it scales better to large projects and allows 
-# full text search. The disadvantages are that it is more difficult to setup 
-# and does not have live searching capabilities.
+SEARCHENGINE_URL       =
 
-SERVER_BASED_SEARCH    = NO
+# When SERVER_BASED_SEARCH and EXTERNAL_SEARCH are both enabled the unindexed
+# search data is written to a file for indexing by an external tool. With the
+# SEARCHDATA_FILE tag the name of this file can be specified.
+# The default file is: searchdata.xml.
+# This tag requires that the tag SEARCHENGINE is set to YES.
+
+SEARCHDATA_FILE        = searchdata.xml
+
+# When SERVER_BASED_SEARCH and EXTERNAL_SEARCH are both enabled the
+# EXTERNAL_SEARCH_ID tag can be used as an identifier for the project. This is
+# useful in combination with EXTRA_SEARCH_MAPPINGS to search through multiple
+# projects and redirect the results back to the right project.
+# This tag requires that the tag SEARCHENGINE is set to YES.
+
+EXTERNAL_SEARCH_ID     =
+
+# The EXTRA_SEARCH_MAPPINGS tag can be used to enable searching through doxygen
+# projects other than the one defined by this configuration file, but that are
+# all added to the same external search index. Each project needs to have a
+# unique id set via EXTERNAL_SEARCH_ID. The search mapping then maps the id of
+# to a relative location where the documentation can be found. The format is:
+# EXTRA_SEARCH_MAPPINGS = tagname1=loc1 tagname2=loc2 ...
+# This tag requires that the tag SEARCHENGINE is set to YES.
+
+EXTRA_SEARCH_MAPPINGS  =
 
 #---------------------------------------------------------------------------
-# configuration options related to the LaTeX output
+# Configuration options related to the LaTeX output
 #---------------------------------------------------------------------------
 
-# If the GENERATE_LATEX tag is set to YES (the default) Doxygen will 
-# generate Latex output.
+# If the GENERATE_LATEX tag is set to YES, doxygen will generate LaTeX output.
+# The default value is: YES.
 
 GENERATE_LATEX         = @GTSAM_BUILD_DOC_LATEX_YN@
 
-# The LATEX_OUTPUT tag is used to specify where the LaTeX docs will be put. 
-# If a relative path is entered the value of OUTPUT_DIRECTORY will be 
-# put in front of it. If left blank `latex' will be used as the default path.
+# The LATEX_OUTPUT tag is used to specify where the LaTeX docs will be put. If a
+# relative path is entered the value of OUTPUT_DIRECTORY will be put in front of
+# it.
+# The default directory is: latex.
+# This tag requires that the tag GENERATE_LATEX is set to YES.
 
 LATEX_OUTPUT           = latex
 
-# The LATEX_CMD_NAME tag can be used to specify the LaTeX command name to be 
-# invoked. If left blank `latex' will be used as the default command name. 
-# Note that when enabling USE_PDFLATEX this option is only used for 
-# generating bitmaps for formulas in the HTML output, but not in the 
-# Makefile that is written to the output directory.
+# The LATEX_CMD_NAME tag can be used to specify the LaTeX command name to be
+# invoked.
+#
+# Note that when not enabling USE_PDFLATEX the default is latex when enabling
+# USE_PDFLATEX the default is pdflatex and when in the later case latex is
+# chosen this is overwritten by pdflatex. For specific output languages the
+# default can have been set differently, this depends on the implementation of
+# the output language.
+# This tag requires that the tag GENERATE_LATEX is set to YES.
 
 LATEX_CMD_NAME         = latex
 
-# The MAKEINDEX_CMD_NAME tag can be used to specify the command name to 
-# generate index for LaTeX. If left blank `makeindex' will be used as the 
-# default command name.
+# The MAKEINDEX_CMD_NAME tag can be used to specify the command name to generate
+# index for LaTeX.
+# Note: This tag is used in the Makefile / make.bat.
+# See also: LATEX_MAKEINDEX_CMD for the part in the generated output file
+# (.tex).
+# The default file is: makeindex.
+# This tag requires that the tag GENERATE_LATEX is set to YES.
 
 MAKEINDEX_CMD_NAME     = makeindex
 
-# If the COMPACT_LATEX tag is set to YES Doxygen generates more compact 
-# LaTeX documents. This may be useful for small projects and may help to 
-# save some trees in general.
-
-COMPACT_LATEX          = NO
-
-# The PAPER_TYPE tag can be used to set the paper type that is used 
-# by the printer. Possible values are: a4, letter, legal and 
-# executive. If left blank a4wide will be used.
-
-PAPER_TYPE             = a4
+# The LATEX_MAKEINDEX_CMD tag can be used to specify the command name to
+# generate index for LaTeX. In case there is no backslash (\) as first character
+# it will be automatically added in the LaTeX code.
+# Note: This tag is used in the generated output file (.tex).
+# See also: MAKEINDEX_CMD_NAME for the part in the Makefile / make.bat.
+# The default value is: makeindex.
+# This tag requires that the tag GENERATE_LATEX is set to YES.
 
-# The EXTRA_PACKAGES tag can be to specify one or more names of LaTeX 
-# packages that should be included in the LaTeX output.
+LATEX_MAKEINDEX_CMD    = makeindex
 
-EXTRA_PACKAGES         = 
+# If the COMPACT_LATEX tag is set to YES, doxygen generates more compact LaTeX
+# documents. This may be useful for small projects and may help to save some
+# trees in general.
+# The default value is: NO.
+# This tag requires that the tag GENERATE_LATEX is set to YES.
 
-# The LATEX_HEADER tag can be used to specify a personal LaTeX header for 
-# the generated latex document. The header should contain everything until 
-# the first chapter. If it is left blank doxygen will generate a 
-# standard header. Notice: only use this tag if you know what you are doing!
-
-LATEX_HEADER           = 
+COMPACT_LATEX          = NO
 
-# The LATEX_FOOTER tag can be used to specify a personal LaTeX footer for 
-# the generated latex document. The footer should contain everything after 
-# the last chapter. If it is left blank doxygen will generate a 
-# standard footer. Notice: only use this tag if you know what you are doing!
+# The PAPER_TYPE tag can be used to set the paper type that is used by the
+# printer.
+# Possible values are: a4 (210 x 297 mm), letter (8.5 x 11 inches), legal (8.5 x
+# 14 inches) and executive (7.25 x 10.5 inches).
+# The default value is: a4.
+# This tag requires that the tag GENERATE_LATEX is set to YES.
 
-LATEX_FOOTER           = 
+PAPER_TYPE             = a4
 
-# If the PDF_HYPERLINKS tag is set to YES, the LaTeX that is generated 
-# is prepared for conversion to pdf (using ps2pdf). The pdf file will 
-# contain links (just like the HTML output) instead of page references 
-# This makes the output suitable for online browsing using a pdf viewer.
+# The EXTRA_PACKAGES tag can be used to specify one or more LaTeX package names
+# that should be included in the LaTeX output. The package can be specified just
+# by its name or with the correct syntax as to be used with the LaTeX
+# \usepackage command. To get the times font for instance you can specify :
+# EXTRA_PACKAGES=times or EXTRA_PACKAGES={times}
+# To use the option intlimits with the amsmath package you can specify:
+# EXTRA_PACKAGES=[intlimits]{amsmath}
+# If left blank no extra packages will be included.
+# This tag requires that the tag GENERATE_LATEX is set to YES.
+
+EXTRA_PACKAGES         =
+
+# The LATEX_HEADER tag can be used to specify a user-defined LaTeX header for
+# the generated LaTeX document. The header should contain everything until the
+# first chapter. If it is left blank doxygen will generate a standard header. It
+# is highly recommended to start with a default header using
+# doxygen -w latex new_header.tex new_footer.tex new_stylesheet.sty
+# and then modify the file new_header.tex. See also section "Doxygen usage" for
+# information on how to generate the default header that doxygen normally uses.
+#
+# Note: Only use a user-defined header if you know what you are doing!
+# Note: The header is subject to change so you typically have to regenerate the
+# default header when upgrading to a newer version of doxygen. The following
+# commands have a special meaning inside the header (and footer): For a
+# description of the possible markers and block names see the documentation.
+# This tag requires that the tag GENERATE_LATEX is set to YES.
+
+LATEX_HEADER           =
+
+# The LATEX_FOOTER tag can be used to specify a user-defined LaTeX footer for
+# the generated LaTeX document. The footer should contain everything after the
+# last chapter. If it is left blank doxygen will generate a standard footer. See
+# LATEX_HEADER for more information on how to generate a default footer and what
+# special commands can be used inside the footer. See also section "Doxygen
+# usage" for information on how to generate the default footer that doxygen
+# normally uses. Note: Only use a user-defined footer if you know what you are
+# doing!
+# This tag requires that the tag GENERATE_LATEX is set to YES.
+
+LATEX_FOOTER           =
+
+# The LATEX_EXTRA_STYLESHEET tag can be used to specify additional user-defined
+# LaTeX style sheets that are included after the standard style sheets created
+# by doxygen. Using this option one can overrule certain style aspects. Doxygen
+# will copy the style sheet files to the output directory.
+# Note: The order of the extra style sheet files is of importance (e.g. the last
+# style sheet in the list overrules the setting of the previous ones in the
+# list).
+# This tag requires that the tag GENERATE_LATEX is set to YES.
+
+LATEX_EXTRA_STYLESHEET =
+
+# The LATEX_EXTRA_FILES tag can be used to specify one or more extra images or
+# other source files which should be copied to the LATEX_OUTPUT output
+# directory. Note that the files will be copied as-is; there are no commands or
+# markers available.
+# This tag requires that the tag GENERATE_LATEX is set to YES.
+
+LATEX_EXTRA_FILES      =
+
+# If the PDF_HYPERLINKS tag is set to YES, the LaTeX that is generated is
+# prepared for conversion to PDF (using ps2pdf or pdflatex). The PDF file will
+# contain links (just like the HTML output) instead of page references. This
+# makes the output suitable for online browsing using a PDF viewer.
+# The default value is: YES.
+# This tag requires that the tag GENERATE_LATEX is set to YES.
 
 PDF_HYPERLINKS         = YES
 
-# If the USE_PDFLATEX tag is set to YES, pdflatex will be used instead of 
-# plain latex in the generated Makefile. Set this option to YES to get a 
-# higher quality PDF documentation.
+# If the USE_PDFLATEX tag is set to YES, doxygen will use the engine as
+# specified with LATEX_CMD_NAME to generate the PDF file directly from the LaTeX
+# files. Set this option to YES, to get a higher quality PDF documentation.
+#
+# See also section LATEX_CMD_NAME for selecting the engine.
+# The default value is: YES.
+# This tag requires that the tag GENERATE_LATEX is set to YES.
 
 USE_PDFLATEX           = YES
 
-# If the LATEX_BATCHMODE tag is set to YES, doxygen will add the \\batchmode. 
-# command to the generated LaTeX files. This will instruct LaTeX to keep 
-# running if errors occur, instead of asking the user for help. 
-# This option is also used when generating formulas in HTML.
+# If the LATEX_BATCHMODE tag is set to YES, doxygen will add the \batchmode
+# command to the generated LaTeX files. This will instruct LaTeX to keep running
+# if errors occur, instead of asking the user for help.
+# The default value is: NO.
+# This tag requires that the tag GENERATE_LATEX is set to YES.
 
 LATEX_BATCHMODE        = NO
 
-# If LATEX_HIDE_INDICES is set to YES then doxygen will not 
-# include the index chapters (such as File Index, Compound Index, etc.) 
-# in the output.
+# If the LATEX_HIDE_INDICES tag is set to YES then doxygen will not include the
+# index chapters (such as File Index, Compound Index, etc.) in the output.
+# The default value is: NO.
+# This tag requires that the tag GENERATE_LATEX is set to YES.
 
 LATEX_HIDE_INDICES     = NO
 
-# If LATEX_SOURCE_CODE is set to YES then doxygen will include 
-# source code with syntax highlighting in the LaTeX output. 
-# Note that which sources are shown also depends on other settings 
-# such as SOURCE_BROWSER.
+# The LATEX_BIB_STYLE tag can be used to specify the style to use for the
+# bibliography, e.g. plainnat, or ieeetr. See
+# https://en.wikipedia.org/wiki/BibTeX and \cite for more info.
+# The default value is: plain.
+# This tag requires that the tag GENERATE_LATEX is set to YES.
+
+LATEX_BIB_STYLE        = plain
 
-LATEX_SOURCE_CODE      = NO
+# If the LATEX_TIMESTAMP tag is set to YES then the footer of each generated
+# page will contain the date and time when the page was generated. Setting this
+# to NO can help when comparing the output of multiple runs.
+# The default value is: NO.
+# This tag requires that the tag GENERATE_LATEX is set to YES.
 
-# The LATEX_BIB_STYLE tag can be used to specify the style to use for the 
-# bibliography, e.g. plainnat, or ieeetr. The default style is "plain". See 
-# http://en.wikipedia.org/wiki/BibTeX for more info.
+LATEX_TIMESTAMP        = NO
 
-LATEX_BIB_STYLE        = plain
+# The LATEX_EMOJI_DIRECTORY tag is used to specify the (relative or absolute)
+# path from which the emoji images will be read. If a relative path is entered,
+# it will be relative to the LATEX_OUTPUT directory. If left blank the
+# LATEX_OUTPUT directory will be used.
+# This tag requires that the tag GENERATE_LATEX is set to YES.
+
+LATEX_EMOJI_DIRECTORY  =
 
 #---------------------------------------------------------------------------
-# configuration options related to the RTF output
+# Configuration options related to the RTF output
 #---------------------------------------------------------------------------
 
-# If the GENERATE_RTF tag is set to YES Doxygen will generate RTF output 
-# The RTF output is optimized for Word 97 and may not look very pretty with 
-# other RTF readers or editors.
+# If the GENERATE_RTF tag is set to YES, doxygen will generate RTF output. The
+# RTF output is optimized for Word 97 and may not look too pretty with other RTF
+# readers/editors.
+# The default value is: NO.
 
 GENERATE_RTF           = NO
 
-# The RTF_OUTPUT tag is used to specify where the RTF docs will be put. 
-# If a relative path is entered the value of OUTPUT_DIRECTORY will be 
-# put in front of it. If left blank `rtf' will be used as the default path.
+# The RTF_OUTPUT tag is used to specify where the RTF docs will be put. If a
+# relative path is entered the value of OUTPUT_DIRECTORY will be put in front of
+# it.
+# The default directory is: rtf.
+# This tag requires that the tag GENERATE_RTF is set to YES.
 
 RTF_OUTPUT             = rtf
 
-# If the COMPACT_RTF tag is set to YES Doxygen generates more compact 
-# RTF documents. This may be useful for small projects and may help to 
-# save some trees in general.
+# If the COMPACT_RTF tag is set to YES, doxygen generates more compact RTF
+# documents. This may be useful for small projects and may help to save some
+# trees in general.
+# The default value is: NO.
+# This tag requires that the tag GENERATE_RTF is set to YES.
 
 COMPACT_RTF            = NO
 
-# If the RTF_HYPERLINKS tag is set to YES, the RTF that is generated 
-# will contain hyperlink fields. The RTF file will 
-# contain links (just like the HTML output) instead of page references. 
-# This makes the output suitable for online browsing using WORD or other 
-# programs which support those fields. 
-# Note: wordpad (write) and others do not support links.
+# If the RTF_HYPERLINKS tag is set to YES, the RTF that is generated will
+# contain hyperlink fields. The RTF file will contain links (just like the HTML
+# output) instead of page references. This makes the output suitable for online
+# browsing using Word or some other Word compatible readers that support those
+# fields.
+#
+# Note: WordPad (write) and others do not support links.
+# The default value is: NO.
+# This tag requires that the tag GENERATE_RTF is set to YES.
 
 RTF_HYPERLINKS         = NO
 
-# Load stylesheet definitions from file. Syntax is similar to doxygen's 
-# config file, i.e. a series of assignments. You only have to provide 
+# Load stylesheet definitions from file. Syntax is similar to doxygen's
+# configuration file, i.e. a series of assignments. You only have to provide
 # replacements, missing definitions are set to their default value.
+#
+# See also section "Doxygen usage" for information on how to generate the
+# default style sheet that doxygen normally uses.
+# This tag requires that the tag GENERATE_RTF is set to YES.
 
-RTF_STYLESHEET_FILE    = 
+RTF_STYLESHEET_FILE    =
 
-# Set optional variables used in the generation of an rtf document. 
-# Syntax is similar to doxygen's config file.
+# Set optional variables used in the generation of an RTF document. Syntax is
+# similar to doxygen's configuration file. A template extensions file can be
+# generated using doxygen -e rtf extensionFile.
+# This tag requires that the tag GENERATE_RTF is set to YES.
 
-RTF_EXTENSIONS_FILE    = 
+RTF_EXTENSIONS_FILE    =
 
 #---------------------------------------------------------------------------
-# configuration options related to the man page output
+# Configuration options related to the man page output
 #---------------------------------------------------------------------------
 
-# If the GENERATE_MAN tag is set to YES (the default) Doxygen will 
-# generate man pages
+# If the GENERATE_MAN tag is set to YES, doxygen will generate man pages for
+# classes and files.
+# The default value is: NO.
 
 GENERATE_MAN           = NO
 
-# The MAN_OUTPUT tag is used to specify where the man pages will be put. 
-# If a relative path is entered the value of OUTPUT_DIRECTORY will be 
-# put in front of it. If left blank `man' will be used as the default path.
+# The MAN_OUTPUT tag is used to specify where the man pages will be put. If a
+# relative path is entered the value of OUTPUT_DIRECTORY will be put in front of
+# it. A directory man3 will be created inside the directory specified by
+# MAN_OUTPUT.
+# The default directory is: man.
+# This tag requires that the tag GENERATE_MAN is set to YES.
 
 MAN_OUTPUT             = man
 
-# The MAN_EXTENSION tag determines the extension that is added to 
-# the generated man pages (default is the subroutine's section .3)
+# The MAN_EXTENSION tag determines the extension that is added to the generated
+# man pages. In case the manual section does not start with a number, the number
+# 3 is prepended. The dot (.) at the beginning of the MAN_EXTENSION tag is
+# optional.
+# The default value is: .3.
+# This tag requires that the tag GENERATE_MAN is set to YES.
 
 MAN_EXTENSION          = .3
 
-# If the MAN_LINKS tag is set to YES and Doxygen generates man output, 
-# then it will generate one additional man file for each entity 
-# documented in the real man page(s). These additional files 
-# only source the real man page, but without them the man command 
-# would be unable to find the correct page. The default is NO.
+# The MAN_SUBDIR tag determines the name of the directory created within
+# MAN_OUTPUT in which the man pages are placed. If defaults to man followed by
+# MAN_EXTENSION with the initial . removed.
+# This tag requires that the tag GENERATE_MAN is set to YES.
+
+MAN_SUBDIR             =
+
+# If the MAN_LINKS tag is set to YES and doxygen generates man output, then it
+# will generate one additional man file for each entity documented in the real
+# man page(s). These additional files only source the real man page, but without
+# them the man command would be unable to find the correct page.
+# The default value is: NO.
+# This tag requires that the tag GENERATE_MAN is set to YES.
 
 MAN_LINKS              = NO
 
 #---------------------------------------------------------------------------
-# configuration options related to the XML output
+# Configuration options related to the XML output
 #---------------------------------------------------------------------------
 
-# If the GENERATE_XML tag is set to YES Doxygen will 
-# generate an XML file that captures the structure of 
-# the code including all documentation.
+# If the GENERATE_XML tag is set to YES, doxygen will generate an XML file that
+# captures the structure of the code including all documentation.
+# The default value is: NO.
 
 GENERATE_XML           = NO
 
-# The XML_OUTPUT tag is used to specify where the XML pages will be put. 
-# If a relative path is entered the value of OUTPUT_DIRECTORY will be 
-# put in front of it. If left blank `xml' will be used as the default path.
+# The XML_OUTPUT tag is used to specify where the XML pages will be put. If a
+# relative path is entered the value of OUTPUT_DIRECTORY will be put in front of
+# it.
+# The default directory is: xml.
+# This tag requires that the tag GENERATE_XML is set to YES.
 
 XML_OUTPUT             = xml
 
-# The XML_SCHEMA tag can be used to specify an XML schema, 
-# which can be used by a validating XML parser to check the 
-# syntax of the XML files.
+# If the XML_PROGRAMLISTING tag is set to YES, doxygen will dump the program
+# listings (including syntax highlighting and cross-referencing information) to
+# the XML output. Note that enabling this will significantly increase the size
+# of the XML output.
+# The default value is: YES.
+# This tag requires that the tag GENERATE_XML is set to YES.
 
-XML_SCHEMA             = 
+XML_PROGRAMLISTING     = YES
 
-# The XML_DTD tag can be used to specify an XML DTD, 
-# which can be used by a validating XML parser to check the 
-# syntax of the XML files.
+# If the XML_NS_MEMB_FILE_SCOPE tag is set to YES, doxygen will include
+# namespace members in file scope as well, matching the HTML output.
+# The default value is: NO.
+# This tag requires that the tag GENERATE_XML is set to YES.
 
-XML_DTD                = 
+XML_NS_MEMB_FILE_SCOPE = NO
 
-# If the XML_PROGRAMLISTING tag is set to YES Doxygen will 
-# dump the program listings (including syntax highlighting 
-# and cross-referencing information) to the XML output. Note that 
-# enabling this will significantly increase the size of the XML output.
+#---------------------------------------------------------------------------
+# Configuration options related to the DOCBOOK output
+#---------------------------------------------------------------------------
 
-XML_PROGRAMLISTING     = YES
+# If the GENERATE_DOCBOOK tag is set to YES, doxygen will generate Docbook files
+# that can be used to generate PDF.
+# The default value is: NO.
+
+GENERATE_DOCBOOK       = NO
+
+# The DOCBOOK_OUTPUT tag is used to specify where the Docbook pages will be put.
+# If a relative path is entered the value of OUTPUT_DIRECTORY will be put in
+# front of it.
+# The default directory is: docbook.
+# This tag requires that the tag GENERATE_DOCBOOK is set to YES.
+
+DOCBOOK_OUTPUT         = docbook
 
 #---------------------------------------------------------------------------
-# configuration options for the AutoGen Definitions output
+# Configuration options for the AutoGen Definitions output
 #---------------------------------------------------------------------------
 
-# If the GENERATE_AUTOGEN_DEF tag is set to YES Doxygen will 
-# generate an AutoGen Definitions (see autogen.sf.net) file 
-# that captures the structure of the code including all 
-# documentation. Note that this feature is still experimental 
-# and incomplete at the moment.
+# If the GENERATE_AUTOGEN_DEF tag is set to YES, doxygen will generate an
+# AutoGen Definitions (see http://autogen.sourceforge.net/) file that captures
+# the structure of the code including all documentation. Note that this feature
+# is still experimental and incomplete at the moment.
+# The default value is: NO.
 
 GENERATE_AUTOGEN_DEF   = NO
 
 #---------------------------------------------------------------------------
-# configuration options related to the Perl module output
+# Configuration options related to the Perl module output
 #---------------------------------------------------------------------------
 
-# If the GENERATE_PERLMOD tag is set to YES Doxygen will 
-# generate a Perl module file that captures the structure of 
-# the code including all documentation. Note that this 
-# feature is still experimental and incomplete at the 
-# moment.
+# If the GENERATE_PERLMOD tag is set to YES, doxygen will generate a Perl module
+# file that captures the structure of the code including all documentation.
+#
+# Note that this feature is still experimental and incomplete at the moment.
+# The default value is: NO.
 
 GENERATE_PERLMOD       = NO
 
-# If the PERLMOD_LATEX tag is set to YES Doxygen will generate 
-# the necessary Makefile rules, Perl scripts and LaTeX code to be able 
-# to generate PDF and DVI output from the Perl module output.
+# If the PERLMOD_LATEX tag is set to YES, doxygen will generate the necessary
+# Makefile rules, Perl scripts and LaTeX code to be able to generate PDF and DVI
+# output from the Perl module output.
+# The default value is: NO.
+# This tag requires that the tag GENERATE_PERLMOD is set to YES.
 
 PERLMOD_LATEX          = NO
 
-# If the PERLMOD_PRETTY tag is set to YES the Perl module output will be 
-# nicely formatted so it can be parsed by a human reader.  This is useful 
-# if you want to understand what is going on.  On the other hand, if this 
-# tag is set to NO the size of the Perl module output will be much smaller 
-# and Perl will parse it just the same.
+# If the PERLMOD_PRETTY tag is set to YES, the Perl module output will be nicely
+# formatted so it can be parsed by a human reader. This is useful if you want to
+# understand what is going on. On the other hand, if this tag is set to NO, the
+# size of the Perl module output will be much smaller and Perl will parse it
+# just the same.
+# The default value is: YES.
+# This tag requires that the tag GENERATE_PERLMOD is set to YES.
 
 PERLMOD_PRETTY         = YES
 
-# The names of the make variables in the generated doxyrules.make file 
-# are prefixed with the string contained in PERLMOD_MAKEVAR_PREFIX. 
-# This is useful so different doxyrules.make files included by the same 
-# Makefile don't overwrite each other's variables.
+# The names of the make variables in the generated doxyrules.make file are
+# prefixed with the string contained in PERLMOD_MAKEVAR_PREFIX. This is useful
+# so different doxyrules.make files included by the same Makefile don't
+# overwrite each other's variables.
+# This tag requires that the tag GENERATE_PERLMOD is set to YES.
 
-PERLMOD_MAKEVAR_PREFIX = 
+PERLMOD_MAKEVAR_PREFIX =
 
 #---------------------------------------------------------------------------
 # Configuration options related to the preprocessor
 #---------------------------------------------------------------------------
 
-# If the ENABLE_PREPROCESSING tag is set to YES (the default) Doxygen will 
-# evaluate all C-preprocessor directives found in the sources and include 
-# files.
+# If the ENABLE_PREPROCESSING tag is set to YES, doxygen will evaluate all
+# C-preprocessor directives found in the sources and include files.
+# The default value is: YES.
 
 ENABLE_PREPROCESSING   = YES
 
-# If the MACRO_EXPANSION tag is set to YES Doxygen will expand all macro 
-# names in the source code. If set to NO (the default) only conditional 
-# compilation will be performed. Macro expansion can be done in a controlled 
-# way by setting EXPAND_ONLY_PREDEF to YES.
+# If the MACRO_EXPANSION tag is set to YES, doxygen will expand all macro names
+# in the source code. If set to NO, only conditional compilation will be
+# performed. Macro expansion can be done in a controlled way by setting
+# EXPAND_ONLY_PREDEF to YES.
+# The default value is: NO.
+# This tag requires that the tag ENABLE_PREPROCESSING is set to YES.
 
 MACRO_EXPANSION        = YES
 
-# If the EXPAND_ONLY_PREDEF and MACRO_EXPANSION tags are both set to YES 
-# then the macro expansion is limited to the macros specified with the 
-# PREDEFINED and EXPAND_AS_DEFINED tags.
+# If the EXPAND_ONLY_PREDEF and MACRO_EXPANSION tags are both set to YES then
+# the macro expansion is limited to the macros specified with the PREDEFINED and
+# EXPAND_AS_DEFINED tags.
+# The default value is: NO.
+# This tag requires that the tag ENABLE_PREPROCESSING is set to YES.
 
 EXPAND_ONLY_PREDEF     = YES
 
-# If the SEARCH_INCLUDES tag is set to YES (the default) the includes files 
-# pointed to by INCLUDE_PATH will be searched when a #include is found.
+# If the SEARCH_INCLUDES tag is set to YES, the include files in the
+# INCLUDE_PATH will be searched if a #include is found.
+# The default value is: YES.
+# This tag requires that the tag ENABLE_PREPROCESSING is set to YES.
 
 SEARCH_INCLUDES        = YES
 
-# The INCLUDE_PATH tag can be used to specify one or more directories that 
-# contain include files that are not input files but should be processed by 
-# the preprocessor.
+# The INCLUDE_PATH tag can be used to specify one or more directories that
+# contain include files that are not input files but should be processed by the
+# preprocessor. Note that the INCLUDE_PATH is not recursive, so the setting of
+# RECURSIVE has no effect here.
+# This tag requires that the tag SEARCH_INCLUDES is set to YES.
 
-INCLUDE_PATH           = 
+INCLUDE_PATH           =
 
-# You can use the INCLUDE_FILE_PATTERNS tag to specify one or more wildcard 
-# patterns (like *.h and *.hpp) to filter out the header-files in the 
-# directories. If left blank, the patterns specified with FILE_PATTERNS will 
-# be used.
+# You can use the INCLUDE_FILE_PATTERNS tag to specify one or more wildcard
+# patterns (like *.h and *.hpp) to filter out the header-files in the
+# directories. If left blank, the patterns specified with FILE_PATTERNS will be
+# used.
+# This tag requires that the tag ENABLE_PREPROCESSING is set to YES.
 
-INCLUDE_FILE_PATTERNS  = 
+INCLUDE_FILE_PATTERNS  =
 
-# The PREDEFINED tag can be used to specify one or more macro names that 
-# are defined before the preprocessor is started (similar to the -D option of 
-# gcc). The argument of the tag is a list of macros of the form: name 
-# or name=definition (no spaces). If the definition and the = are 
-# omitted =1 is assumed. To prevent a macro definition from being 
-# undefined via #undef or recursively expanded use the := operator 
-# instead of the = operator.
+# The PREDEFINED tag can be used to specify one or more macro names that are
+# defined before the preprocessor is started (similar to the -D option of e.g.
+# gcc). The argument of the tag is a list of macros of the form: name or
+# name=definition (no spaces). If the definition and the "=" are omitted, "=1"
+# is assumed. To prevent a macro definition from being undefined via #undef or
+# recursively expanded use the := operator instead of the = operator.
+# This tag requires that the tag ENABLE_PREPROCESSING is set to YES.
 
 PREDEFINED             = __DOXYGEN
 
-# If the MACRO_EXPANSION and EXPAND_ONLY_PREDEF tags are set to YES then 
-# this tag can be used to specify a list of macro names that should be expanded. 
-# The macro definition that is found in the sources will be used. 
-# Use the PREDEFINED tag if you want to use a different macro definition that 
-# overrules the definition found in the source code.
+# If the MACRO_EXPANSION and EXPAND_ONLY_PREDEF tags are set to YES then this
+# tag can be used to specify a list of macro names that should be expanded. The
+# macro definition that is found in the sources will be used. Use the PREDEFINED
+# tag if you want to use a different macro definition that overrules the
+# definition found in the source code.
+# This tag requires that the tag ENABLE_PREPROCESSING is set to YES.
 
 EXPAND_AS_DEFINED      = Rot3
 
-# If the SKIP_FUNCTION_MACROS tag is set to YES (the default) then 
-# doxygen's preprocessor will remove all references to function-like macros 
-# that are alone on a line, have an all uppercase name, and do not end with a 
-# semicolon, because these will confuse the parser if not removed.
+# If the SKIP_FUNCTION_MACROS tag is set to YES then doxygen's preprocessor will
+# remove all references to function-like macros that are alone on a line, have
+# an all uppercase name, and do not end with a semicolon. Such function macros
+# are typically used for boiler-plate code, and will confuse the parser if not
+# removed.
+# The default value is: YES.
+# This tag requires that the tag ENABLE_PREPROCESSING is set to YES.
 
 SKIP_FUNCTION_MACROS   = YES
 
 #---------------------------------------------------------------------------
-# Configuration::additions related to external references
+# Configuration options related to external references
 #---------------------------------------------------------------------------
 
-# The TAGFILES option can be used to specify one or more tagfiles. 
-# Optionally an initial location of the external documentation 
-# can be added for each tagfile. The format of a tag file without 
-# this location is as follows: 
-#   TAGFILES = file1 file2 ... 
-# Adding location for the tag files is done as follows: 
-#   TAGFILES = file1=loc1 "file2 = loc2" ... 
-# where "loc1" and "loc2" can be relative or absolute paths or 
-# URLs. If a location is present for each tag, the installdox tool 
-# does not have to be run to correct the links. 
-# Note that each tag file must have a unique name 
-# (where the name does NOT include the path) 
-# If a tag file is not located in the directory in which doxygen 
-# is run, you must also specify the path to the tagfile here.
-
-TAGFILES               = 
-
-# When a file name is specified after GENERATE_TAGFILE, doxygen will create 
-# a tag file that is based on the input files it reads.
+# The TAGFILES tag can be used to specify one or more tag files. For each tag
+# file the location of the external documentation should be added. The format of
+# a tag file without this location is as follows:
+# TAGFILES = file1 file2 ...
+# Adding location for the tag files is done as follows:
+# TAGFILES = file1=loc1 "file2 = loc2" ...
+# where loc1 and loc2 can be relative or absolute paths or URLs. See the
+# section "Linking to external documentation" for more information about the use
+# of tag files.
+# Note: Each tag file must have a unique name (where the name does NOT include
+# the path). If a tag file is not located in the directory in which doxygen is
+# run, you must also specify the path to the tagfile here.
+
+TAGFILES               =
+
+# When a file name is specified after GENERATE_TAGFILE, doxygen will create a
+# tag file that is based on the input files it reads. See section "Linking to
+# external documentation" for more information about the usage of tag files.
 
 GENERATE_TAGFILE       = html/gtsam.tag
 
-# If the ALLEXTERNALS tag is set to YES all external classes will be listed 
-# in the class index. If set to NO only the inherited external classes 
-# will be listed.
+# If the ALLEXTERNALS tag is set to YES, all external class will be listed in
+# the class index. If set to NO, only the inherited external classes will be
+# listed.
+# The default value is: NO.
 
 ALLEXTERNALS           = NO
 
-# If the EXTERNAL_GROUPS tag is set to YES all external groups will be listed 
-# in the modules index. If set to NO, only the current project's groups will 
-# be listed.
+# If the EXTERNAL_GROUPS tag is set to YES, all external groups will be listed
+# in the modules index. If set to NO, only the current project's groups will be
+# listed.
+# The default value is: YES.
 
 EXTERNAL_GROUPS        = YES
 
-# The PERL_PATH should be the absolute path and name of the perl script 
-# interpreter (i.e. the result of `which perl').
+# If the EXTERNAL_PAGES tag is set to YES, all external pages will be listed in
+# the related pages index. If set to NO, only the current project's pages will
+# be listed.
+# The default value is: YES.
 
-PERL_PATH              = /usr/bin/perl
+EXTERNAL_PAGES         = YES
 
 #---------------------------------------------------------------------------
 # Configuration options related to the dot tool
 #---------------------------------------------------------------------------
 
-# If the CLASS_DIAGRAMS tag is set to YES (the default) Doxygen will 
-# generate a inheritance diagram (in HTML, RTF and LaTeX) for classes with base 
-# or super classes. Setting the tag to NO turns the diagrams off. Note that 
-# this option also works with HAVE_DOT disabled, but it is recommended to 
-# install and use dot, since it yields more powerful graphs.
-
-CLASS_DIAGRAMS         = YES
+# You can include diagrams made with dia in doxygen documentation. Doxygen will
+# then run dia to produce the diagram and insert it in the documentation. The
+# DIA_PATH tag allows you to specify the directory where the dia binary resides.
+# If left empty dia is assumed to be found in the default search path.
 
-# You can define message sequence charts within doxygen comments using the \msc 
-# command. Doxygen will then run the mscgen tool (see 
-# http://www.mcternan.me.uk/mscgen/) to produce the chart and insert it in the 
-# documentation. The MSCGEN_PATH tag allows you to specify the directory where 
-# the mscgen tool resides. If left empty the tool is assumed to be found in the 
-# default search path.
+DIA_PATH               =
 
-MSCGEN_PATH            = 
-
-# If set to YES, the inheritance and collaboration graphs will hide 
-# inheritance and usage relations if the target is undocumented 
-# or is not a class.
+# If set to YES the inheritance and collaboration graphs will hide inheritance
+# and usage relations if the target is undocumented or is not a class.
+# The default value is: YES.
 
 HIDE_UNDOC_RELATIONS   = YES
 
-# If you set the HAVE_DOT tag to YES then doxygen will assume the dot tool is 
-# available from the path. This tool is part of Graphviz, a graph visualization 
-# toolkit from AT&T and Lucent Bell Labs. The other options in this section 
-# have no effect if this option is set to NO (the default)
+# If you set the HAVE_DOT tag to YES then doxygen will assume the dot tool is
+# available from the path. This tool is part of Graphviz (see:
+# http://www.graphviz.org/), a graph visualization toolkit from AT&T and Lucent
+# Bell Labs. The other options in this section have no effect if this option is
+# set to NO
+# The default value is: NO.
 
 HAVE_DOT               = NO
 
-# The DOT_NUM_THREADS specifies the number of dot invocations doxygen is 
-# allowed to run in parallel. When set to 0 (the default) doxygen will 
-# base this on the number of processors available in the system. You can set it 
-# explicitly to a value larger than 0 to get control over the balance 
-# between CPU load and processing speed.
+# The DOT_NUM_THREADS specifies the number of dot invocations doxygen is allowed
+# to run in parallel. When set to 0 doxygen will base this on the number of
+# processors available in the system. You can set it explicitly to a value
+# larger than 0 to get control over the balance between CPU load and processing
+# speed.
+# Minimum value: 0, maximum value: 32, default value: 0.
+# This tag requires that the tag HAVE_DOT is set to YES.
 
 DOT_NUM_THREADS        = 0
 
-# By default doxygen will use the Helvetica font for all dot files that 
-# doxygen generates. When you want a differently looking font you can specify 
-# the font name using DOT_FONTNAME. You need to make sure dot is able to find 
-# the font, which can be done by putting it in a standard location or by setting 
-# the DOTFONTPATH environment variable or by setting DOT_FONTPATH to the 
-# directory containing the font.
+# When you want a differently looking font in the dot files that doxygen
+# generates you can specify the font name using DOT_FONTNAME. You need to make
+# sure dot is able to find the font, which can be done by putting it in a
+# standard location or by setting the DOTFONTPATH environment variable or by
+# setting DOT_FONTPATH to the directory containing the font.
+# The default value is: Helvetica.
+# This tag requires that the tag HAVE_DOT is set to YES.
 
 DOT_FONTNAME           = Helvetica
 
-# The DOT_FONTSIZE tag can be used to set the size of the font of dot graphs. 
-# The default size is 10pt.
+# The DOT_FONTSIZE tag can be used to set the size (in points) of the font of
+# dot graphs.
+# Minimum value: 4, maximum value: 24, default value: 10.
+# This tag requires that the tag HAVE_DOT is set to YES.
 
 DOT_FONTSIZE           = 10
 
-# By default doxygen will tell dot to use the Helvetica font. 
-# If you specify a different font using DOT_FONTNAME you can use DOT_FONTPATH to 
-# set the path where dot can find it.
+# By default doxygen will tell dot to use the default font as specified with
+# DOT_FONTNAME. If you specify a different font using DOT_FONTNAME you can set
+# the path where dot can find it using this tag.
+# This tag requires that the tag HAVE_DOT is set to YES.
 
-DOT_FONTPATH           = 
+DOT_FONTPATH           =
 
-# If the CLASS_GRAPH and HAVE_DOT tags are set to YES then doxygen 
-# will generate a graph for each documented class showing the direct and 
-# indirect inheritance relations. Setting this tag to YES will force the 
-# the CLASS_DIAGRAMS tag to NO.
+# If the CLASS_GRAPH tag is set to YES (or GRAPH) then doxygen will generate a
+# graph for each documented class showing the direct and indirect inheritance
+# relations. In case HAVE_DOT is set as well dot will be used to draw the graph,
+# otherwise the built-in generator will be used. If the CLASS_GRAPH tag is set
+# to TEXT the direct and indirect inheritance relations will be shown as texts /
+# links.
+# Possible values are: NO, YES, TEXT and GRAPH.
+# The default value is: YES.
 
 CLASS_GRAPH            = YES
 
-# If the COLLABORATION_GRAPH and HAVE_DOT tags are set to YES then doxygen 
-# will generate a graph for each documented class showing the direct and 
-# indirect implementation dependencies (inheritance, containment, and 
-# class references variables) of the class with other documented classes.
+# If the COLLABORATION_GRAPH tag is set to YES then doxygen will generate a
+# graph for each documented class showing the direct and indirect implementation
+# dependencies (inheritance, containment, and class references variables) of the
+# class with other documented classes.
+# The default value is: YES.
+# This tag requires that the tag HAVE_DOT is set to YES.
 
 COLLABORATION_GRAPH    = YES
 
-# If the GROUP_GRAPHS and HAVE_DOT tags are set to YES then doxygen 
-# will generate a graph for groups, showing the direct groups dependencies
+# If the GROUP_GRAPHS tag is set to YES then doxygen will generate a graph for
+# groups, showing the direct groups dependencies. See also the chapter Grouping
+# in the manual.
+# The default value is: YES.
+# This tag requires that the tag HAVE_DOT is set to YES.
 
 GROUP_GRAPHS           = YES
 
-# If the UML_LOOK tag is set to YES doxygen will generate inheritance and 
-# collaboration diagrams in a style similar to the OMG's Unified Modeling 
+# If the UML_LOOK tag is set to YES, doxygen will generate inheritance and
+# collaboration diagrams in a style similar to the OMG's Unified Modeling
 # Language.
+# The default value is: NO.
+# This tag requires that the tag HAVE_DOT is set to YES.
 
 UML_LOOK               = NO
 
-# If set to YES, the inheritance and collaboration graphs will show the 
-# relations between templates and their instances.
+# If the UML_LOOK tag is enabled, the fields and methods are shown inside the
+# class node. If there are many fields or methods and many nodes the graph may
+# become too big to be useful. The UML_LIMIT_NUM_FIELDS threshold limits the
+# number of items for each type to make the size more manageable. Set this to 0
+# for no limit. Note that the threshold may be exceeded by 50% before the limit
+# is enforced. So when you set the threshold to 10, up to 15 fields may appear,
+# but if the number exceeds 15, the total amount of fields shown is limited to
+# 10.
+# Minimum value: 0, maximum value: 100, default value: 10.
+# This tag requires that the tag UML_LOOK is set to YES.
+
+UML_LIMIT_NUM_FIELDS   = 10
+
+# If the DOT_UML_DETAILS tag is set to NO, doxygen will show attributes and
+# methods without types and arguments in the UML graphs. If the DOT_UML_DETAILS
+# tag is set to YES, doxygen will add type and arguments for attributes and
+# methods in the UML graphs. If the DOT_UML_DETAILS tag is set to NONE, doxygen
+# will not generate fields with class member information in the UML graphs. The
+# class diagrams will look similar to the default class diagrams but using UML
+# notation for the relationships.
+# Possible values are: NO, YES and NONE.
+# The default value is: NO.
+# This tag requires that the tag UML_LOOK is set to YES.
+
+DOT_UML_DETAILS        = NO
+
+# The DOT_WRAP_THRESHOLD tag can be used to set the maximum number of characters
+# to display on a single line. If the actual line length exceeds this threshold
+# significantly it will wrapped across multiple lines. Some heuristics are apply
+# to avoid ugly line breaks.
+# Minimum value: 0, maximum value: 1000, default value: 17.
+# This tag requires that the tag HAVE_DOT is set to YES.
+
+DOT_WRAP_THRESHOLD     = 17
+
+# If the TEMPLATE_RELATIONS tag is set to YES then the inheritance and
+# collaboration graphs will show the relations between templates and their
+# instances.
+# The default value is: NO.
+# This tag requires that the tag HAVE_DOT is set to YES.
 
 TEMPLATE_RELATIONS     = NO
 
-# If the ENABLE_PREPROCESSING, SEARCH_INCLUDES, INCLUDE_GRAPH, and HAVE_DOT 
-# tags are set to YES then doxygen will generate a graph for each documented 
-# file showing the direct and indirect include dependencies of the file with 
-# other documented files.
+# If the INCLUDE_GRAPH, ENABLE_PREPROCESSING and SEARCH_INCLUDES tags are set to
+# YES then doxygen will generate a graph for each documented file showing the
+# direct and indirect include dependencies of the file with other documented
+# files.
+# The default value is: YES.
+# This tag requires that the tag HAVE_DOT is set to YES.
 
 INCLUDE_GRAPH          = YES
 
-# If the ENABLE_PREPROCESSING, SEARCH_INCLUDES, INCLUDED_BY_GRAPH, and 
-# HAVE_DOT tags are set to YES then doxygen will generate a graph for each 
-# documented header file showing the documented files that directly or 
-# indirectly include this file.
+# If the INCLUDED_BY_GRAPH, ENABLE_PREPROCESSING and SEARCH_INCLUDES tags are
+# set to YES then doxygen will generate a graph for each documented file showing
+# the direct and indirect include dependencies of the file with other documented
+# files.
+# The default value is: YES.
+# This tag requires that the tag HAVE_DOT is set to YES.
 
 INCLUDED_BY_GRAPH      = YES
 
-# If the CALL_GRAPH and HAVE_DOT options are set to YES then 
-# doxygen will generate a call dependency graph for every global function 
-# or class method. Note that enabling this option will significantly increase 
-# the time of a run. So in most cases it will be better to enable call graphs 
-# for selected functions only using the \callgraph command.
+# If the CALL_GRAPH tag is set to YES then doxygen will generate a call
+# dependency graph for every global function or class method.
+#
+# Note that enabling this option will significantly increase the time of a run.
+# So in most cases it will be better to enable call graphs for selected
+# functions only using the \callgraph command. Disabling a call graph can be
+# accomplished by means of the command \hidecallgraph.
+# The default value is: NO.
+# This tag requires that the tag HAVE_DOT is set to YES.
 
 CALL_GRAPH             = NO
 
-# If the CALLER_GRAPH and HAVE_DOT tags are set to YES then 
-# doxygen will generate a caller dependency graph for every global function 
-# or class method. Note that enabling this option will significantly increase 
-# the time of a run. So in most cases it will be better to enable caller 
-# graphs for selected functions only using the \callergraph command.
+# If the CALLER_GRAPH tag is set to YES then doxygen will generate a caller
+# dependency graph for every global function or class method.
+#
+# Note that enabling this option will significantly increase the time of a run.
+# So in most cases it will be better to enable caller graphs for selected
+# functions only using the \callergraph command. Disabling a caller graph can be
+# accomplished by means of the command \hidecallergraph.
+# The default value is: NO.
+# This tag requires that the tag HAVE_DOT is set to YES.
 
 CALLER_GRAPH           = NO
 
-# If the GRAPHICAL_HIERARCHY and HAVE_DOT tags are set to YES then doxygen 
-# will generate a graphical hierarchy of all classes instead of a textual one.
+# If the GRAPHICAL_HIERARCHY tag is set to YES then doxygen will graphical
+# hierarchy of all classes instead of a textual one.
+# The default value is: YES.
+# This tag requires that the tag HAVE_DOT is set to YES.
 
 GRAPHICAL_HIERARCHY    = YES
 
-# If the DIRECTORY_GRAPH, SHOW_DIRECTORIES and HAVE_DOT tags are set to YES 
-# then doxygen will show the dependencies a directory has on other directories 
-# in a graphical way. The dependency relations are determined by the #include 
-# relations between the files in the directories.
+# If the DIRECTORY_GRAPH tag is set to YES then doxygen will show the
+# dependencies a directory has on other directories in a graphical way. The
+# dependency relations are determined by the #include relations between the
+# files in the directories.
+# The default value is: YES.
+# This tag requires that the tag HAVE_DOT is set to YES.
 
 DIRECTORY_GRAPH        = YES
 
-# The DOT_IMAGE_FORMAT tag can be used to set the image format of the images 
-# generated by dot. Possible values are svg, png, jpg, or gif. 
-# If left blank png will be used. If you choose svg you need to set 
-# HTML_FILE_EXTENSION to xhtml in order to make the SVG files 
-# visible in IE 9+ (other browsers do not have this requirement).
+# The DIR_GRAPH_MAX_DEPTH tag can be used to limit the maximum number of levels
+# of child directories generated in directory dependency graphs by dot.
+# Minimum value: 1, maximum value: 25, default value: 1.
+# This tag requires that the tag DIRECTORY_GRAPH is set to YES.
+
+DIR_GRAPH_MAX_DEPTH    = 1
+
+# The DOT_IMAGE_FORMAT tag can be used to set the image format of the images
+# generated by dot. For an explanation of the image formats see the section
+# output formats in the documentation of the dot tool (Graphviz (see:
+# http://www.graphviz.org/)).
+# Note: If you choose svg you need to set HTML_FILE_EXTENSION to xhtml in order
+# to make the SVG files visible in IE 9+ (other browsers do not have this
+# requirement).
+# Possible values are: png, jpg, gif, svg, png:gd, png:gd:gd, png:cairo,
+# png:cairo:gd, png:cairo:cairo, png:cairo:gdiplus, png:gdiplus and
+# png:gdiplus:gdiplus.
+# The default value is: png.
+# This tag requires that the tag HAVE_DOT is set to YES.
 
 DOT_IMAGE_FORMAT       = png
 
-# If DOT_IMAGE_FORMAT is set to svg, then this option can be set to YES to 
-# enable generation of interactive SVG images that allow zooming and panning. 
-# Note that this requires a modern browser other than Internet Explorer. 
-# Tested and working are Firefox, Chrome, Safari, and Opera. For IE 9+ you 
-# need to set HTML_FILE_EXTENSION to xhtml in order to make the SVG files 
-# visible. Older versions of IE do not have SVG support.
+# If DOT_IMAGE_FORMAT is set to svg, then this option can be set to YES to
+# enable generation of interactive SVG images that allow zooming and panning.
+#
+# Note that this requires a modern browser other than Internet Explorer. Tested
+# and working are Firefox, Chrome, Safari, and Opera.
+# Note: For IE 9+ you need to set HTML_FILE_EXTENSION to xhtml in order to make
+# the SVG files visible. Older versions of IE do not have SVG support.
+# The default value is: NO.
+# This tag requires that the tag HAVE_DOT is set to YES.
 
 INTERACTIVE_SVG        = NO
 
-# The tag DOT_PATH can be used to specify the path where the dot tool can be 
+# The DOT_PATH tag can be used to specify the path where the dot tool can be
 # found. If left blank, it is assumed the dot tool can be found in the path.
+# This tag requires that the tag HAVE_DOT is set to YES.
+
+DOT_PATH               =
+
+# The DOTFILE_DIRS tag can be used to specify one or more directories that
+# contain dot files that are included in the documentation (see the \dotfile
+# command).
+# This tag requires that the tag HAVE_DOT is set to YES.
+
+DOTFILE_DIRS           =
 
-DOT_PATH               = 
+# The MSCFILE_DIRS tag can be used to specify one or more directories that
+# contain msc files that are included in the documentation (see the \mscfile
+# command).
 
-# The DOTFILE_DIRS tag can be used to specify one or more directories that 
-# contain dot files that are included in the documentation (see the 
-# \dotfile command).
+MSCFILE_DIRS           =
 
-DOTFILE_DIRS           = 
+# The DIAFILE_DIRS tag can be used to specify one or more directories that
+# contain dia files that are included in the documentation (see the \diafile
+# command).
 
-# The MSCFILE_DIRS tag can be used to specify one or more directories that 
-# contain msc files that are included in the documentation (see the 
-# \mscfile command).
+DIAFILE_DIRS           =
 
-MSCFILE_DIRS           = 
+# When using plantuml, the PLANTUML_JAR_PATH tag should be used to specify the
+# path where java can find the plantuml.jar file or to the filename of jar file
+# to be used. If left blank, it is assumed PlantUML is not used or called during
+# a preprocessing step. Doxygen will generate a warning when it encounters a
+# \startuml command in this case and will not generate output for the diagram.
 
-# The DOT_GRAPH_MAX_NODES tag can be used to set the maximum number of 
-# nodes that will be shown in the graph. If the number of nodes in a graph 
-# becomes larger than this value, doxygen will truncate the graph, which is 
-# visualized by representing a node as a red box. Note that doxygen if the 
-# number of direct children of the root node in a graph is already larger than 
-# DOT_GRAPH_MAX_NODES then the graph will not be shown at all. Also note 
-# that the size of a graph can be further restricted by MAX_DOT_GRAPH_DEPTH.
+PLANTUML_JAR_PATH      =
+
+# When using plantuml, the PLANTUML_CFG_FILE tag can be used to specify a
+# configuration file for plantuml.
+
+PLANTUML_CFG_FILE      =
+
+# When using plantuml, the specified paths are searched for files specified by
+# the !include statement in a plantuml block.
+
+PLANTUML_INCLUDE_PATH  =
+
+# The DOT_GRAPH_MAX_NODES tag can be used to set the maximum number of nodes
+# that will be shown in the graph. If the number of nodes in a graph becomes
+# larger than this value, doxygen will truncate the graph, which is visualized
+# by representing a node as a red box. Note that doxygen if the number of direct
+# children of the root node in a graph is already larger than
+# DOT_GRAPH_MAX_NODES then the graph will not be shown at all. Also note that
+# the size of a graph can be further restricted by MAX_DOT_GRAPH_DEPTH.
+# Minimum value: 0, maximum value: 10000, default value: 50.
+# This tag requires that the tag HAVE_DOT is set to YES.
 
 DOT_GRAPH_MAX_NODES    = 50
 
-# The MAX_DOT_GRAPH_DEPTH tag can be used to set the maximum depth of the 
-# graphs generated by dot. A depth value of 3 means that only nodes reachable 
-# from the root by following a path via at most 3 edges will be shown. Nodes 
-# that lay further from the root node will be omitted. Note that setting this 
-# option to 1 or 2 may greatly reduce the computation time needed for large 
-# code bases. Also note that the size of a graph can be further restricted by 
+# The MAX_DOT_GRAPH_DEPTH tag can be used to set the maximum depth of the graphs
+# generated by dot. A depth value of 3 means that only nodes reachable from the
+# root by following a path via at most 3 edges will be shown. Nodes that lay
+# further from the root node will be omitted. Note that setting this option to 1
+# or 2 may greatly reduce the computation time needed for large code bases. Also
+# note that the size of a graph can be further restricted by
 # DOT_GRAPH_MAX_NODES. Using a depth of 0 means no depth restriction.
+# Minimum value: 0, maximum value: 1000, default value: 0.
+# This tag requires that the tag HAVE_DOT is set to YES.
 
 MAX_DOT_GRAPH_DEPTH    = 0
 
-# Set the DOT_TRANSPARENT tag to YES to generate images with a transparent 
-# background. This is disabled by default, because dot on Windows does not 
-# seem to support this out of the box. Warning: Depending on the platform used, 
-# enabling this option may lead to badly anti-aliased labels on the edges of 
-# a graph (i.e. they become hard to read).
+# Set the DOT_TRANSPARENT tag to YES to generate images with a transparent
+# background. This is disabled by default, because dot on Windows does not seem
+# to support this out of the box.
+#
+# Warning: Depending on the platform used, enabling this option may lead to
+# badly anti-aliased labels on the edges of a graph (i.e. they become hard to
+# read).
+# The default value is: NO.
+# This tag requires that the tag HAVE_DOT is set to YES.
 
 DOT_TRANSPARENT        = NO
 
-# Set the DOT_MULTI_TARGETS tag to YES allow dot to generate multiple output 
-# files in one run (i.e. multiple -o and -T options on the command line). This 
-# makes dot run faster, but since only newer versions of dot (>1.8.10) 
-# support this, this feature is disabled by default.
+# Set the DOT_MULTI_TARGETS tag to YES to allow dot to generate multiple output
+# files in one run (i.e. multiple -o and -T options on the command line). This
+# makes dot run faster, but since only newer versions of dot (>1.8.10) support
+# this, this feature is disabled by default.
+# The default value is: NO.
+# This tag requires that the tag HAVE_DOT is set to YES.
 
 DOT_MULTI_TARGETS      = NO
 
-# If the GENERATE_LEGEND tag is set to YES (the default) Doxygen will 
-# generate a legend page explaining the meaning of the various boxes and 
-# arrows in the dot generated graphs.
+# If the GENERATE_LEGEND tag is set to YES doxygen will generate a legend page
+# explaining the meaning of the various boxes and arrows in the dot generated
+# graphs.
+# Note: This tag requires that UML_LOOK isn't set, i.e. the doxygen internal
+# graphical representation for inheritance and collaboration diagrams is used.
+# The default value is: YES.
+# This tag requires that the tag HAVE_DOT is set to YES.
 
 GENERATE_LEGEND        = YES
 
-# If the DOT_CLEANUP tag is set to YES (the default) Doxygen will 
-# remove the intermediate dot files that are used to generate 
-# the various graphs.
+# If the DOT_CLEANUP tag is set to YES, doxygen will remove the intermediate
+# files that are used to generate the various graphs.
+#
+# Note: This setting is not only used for dot files but also for msc temporary
+# files.
+# The default value is: YES.
 
 DOT_CLEANUP            = YES

From c3304ee9d4441e75f5074284282d171ac67ed011 Mon Sep 17 00:00:00 2001
From: Varun Agrawal <varagrawal@gmail.com>
Date: Tue, 26 Jul 2022 15:52:31 -0400
Subject: [PATCH 230/433] remove invalid dirs tab

---
 doc/DoxygenLayout.xml | 1 -
 1 file changed, 1 deletion(-)

diff --git a/doc/DoxygenLayout.xml b/doc/DoxygenLayout.xml
index 5f9c1b5d94..d6a746aff4 100644
--- a/doc/DoxygenLayout.xml
+++ b/doc/DoxygenLayout.xml
@@ -18,7 +18,6 @@
       <tab type="files" visible="yes" title="" intro=""/>
       <tab type="globals" visible="yes" title="" intro=""/>
     </tab>
-    <tab type="dirs" visible="yes" title="" intro=""/>
     <tab type="examples" visible="yes" title="" intro=""/>  
   </navindex>
 

From 3353ce6440ad3042b74ab18eec8bd8e7aa266815 Mon Sep 17 00:00:00 2001
From: Varun Agrawal <varagrawal@gmail.com>
Date: Tue, 26 Jul 2022 15:52:54 -0400
Subject: [PATCH 231/433] update instructions to generate docs

---
 INSTALL.md | 2 +-
 1 file changed, 1 insertion(+), 1 deletion(-)

diff --git a/INSTALL.md b/INSTALL.md
index 1edccd3cdd..f148e37184 100644
--- a/INSTALL.md
+++ b/INSTALL.md
@@ -50,7 +50,7 @@ will run up to 10x faster in Release mode! See the end of this document for
 additional debugging tips.
 
 3. GTSAM has Doxygen documentation. To generate, run 'make doc' from your
-build directory.
+build directory after setting the `GTSAM_BUILD_DOCS` and `GTSAM_BUILD_[HTML|LATEX]` cmake flags.
 
 4. The instructions below install the library to the default system install path and
 build all components. From a terminal, starting in the root library folder,

From c82981f217c7e474467c1a41c43e958d85a0c800 Mon Sep 17 00:00:00 2001
From: Varun Agrawal <varagrawal@gmail.com>
Date: Tue, 26 Jul 2022 15:59:32 -0400
Subject: [PATCH 232/433] fix doxygen warnings due to groups and and incorrect
 filenames

---
 gtsam/basis/ParameterMatrix.h              | 2 +-
 gtsam/geometry/Cal3_S2Stereo.h             | 5 +++--
 gtsam/geometry/OrientedPlane3.h            | 2 --
 gtsam/geometry/Pose3.cpp                   | 1 -
 gtsam/geometry/Pose3.h                     | 2 +-
 gtsam/geometry/Similarity2.h               | 2 +-
 gtsam/geometry/Similarity3.h               | 2 +-
 gtsam/geometry/SphericalCamera.h           | 1 -
 gtsam/hybrid/HybridGaussianFactorGraph.h   | 4 ++--
 gtsam/inference/BayesTree-inst.h           | 2 +-
 gtsam/inference/ClusterTree-inst.h         | 2 +-
 gtsam/inference/ClusterTree.h              | 5 +++--
 gtsam/inference/EliminationTree-inst.h     | 2 +-
 gtsam/inference/FactorGraph-inst.h         | 2 +-
 gtsam/inference/ISAM-inst.h                | 2 +-
 gtsam/inference/Ordering.h                 | 9 ++++++---
 gtsam/navigation/AttitudeFactor.h          | 2 +-
 gtsam/navigation/ImuBias.h                 | 6 +++++-
 gtsam/nonlinear/NonlinearISAM.cpp          | 2 +-
 gtsam/slam/BetweenFactor.h                 | 6 +++++-
 gtsam/slam/SmartFactorParams.h             | 2 +-
 gtsam/slam/StereoFactor.h                  | 2 +-
 gtsam/symbolic/SymbolicConditional.h       | 1 +
 gtsam_unstable/geometry/BearingS2.h        | 3 ++-
 gtsam_unstable/geometry/Event.cpp          | 2 +-
 gtsam_unstable/geometry/Event.h            | 2 +-
 gtsam_unstable/linear/QPSParser.cpp        | 2 +-
 gtsam_unstable/linear/QPSParser.h          | 2 +-
 gtsam_unstable/slam/Mechanization_bRn2.cpp | 2 +-
 gtsam_unstable/slam/Mechanization_bRn2.h   | 2 +-
 gtsam_unstable/slam/PoseToPointFactor.h    | 2 +-
 31 files changed, 47 insertions(+), 36 deletions(-)

diff --git a/gtsam/basis/ParameterMatrix.h b/gtsam/basis/ParameterMatrix.h
index eddcbfeaec..7fa99ac62f 100644
--- a/gtsam/basis/ParameterMatrix.h
+++ b/gtsam/basis/ParameterMatrix.h
@@ -10,7 +10,7 @@
  * -------------------------------------------------------------------------- */
 
 /**
- * @file ParamaterMatrix.h
+ * @file ParameterMatrix.h
  * @brief Define ParameterMatrix class which is used to store values at
  * interpolation points.
  * @author Varun Agrawal, Frank Dellaert
diff --git a/gtsam/geometry/Cal3_S2Stereo.h b/gtsam/geometry/Cal3_S2Stereo.h
index ae0052fd55..ad66b53ffe 100644
--- a/gtsam/geometry/Cal3_S2Stereo.h
+++ b/gtsam/geometry/Cal3_S2Stereo.h
@@ -38,7 +38,7 @@ class GTSAM_EXPORT Cal3_S2Stereo : public Cal3_S2 {
   using shared_ptr = boost::shared_ptr<Cal3_S2Stereo>;
 
   /// @name Standard Constructors
-  /// @
+  /// @{
 
   /// default calibration leaves coordinates unchanged
   Cal3_S2Stereo() = default;
@@ -55,6 +55,8 @@ class GTSAM_EXPORT Cal3_S2Stereo : public Cal3_S2 {
   Cal3_S2Stereo(double fov, int w, int h, double b)
       : Cal3_S2(fov, w, h), b_(b) {}
 
+  /// @}
+
   /**
    * Convert intrinsic coordinates xy to image coordinates uv, fixed derivaitves
    * @param p point in intrinsic coordinates
@@ -82,7 +84,6 @@ class GTSAM_EXPORT Cal3_S2Stereo : public Cal3_S2 {
    */
   Vector3 calibrate(const Vector3& p) const { return Cal3_S2::calibrate(p); }
 
-  /// @}
   /// @name Testable
   /// @{
 
diff --git a/gtsam/geometry/OrientedPlane3.h b/gtsam/geometry/OrientedPlane3.h
index d2ad4230e7..92d1673793 100644
--- a/gtsam/geometry/OrientedPlane3.h
+++ b/gtsam/geometry/OrientedPlane3.h
@@ -133,8 +133,6 @@ class GTSAM_EXPORT OrientedPlane3 {
   inline double distance() const {
     return d_;
   }
-
-  /// @}
 };
 
 template<> struct traits<OrientedPlane3> : public internal::Manifold<
diff --git a/gtsam/geometry/Pose3.cpp b/gtsam/geometry/Pose3.cpp
index 2938e90f58..2652fc0730 100644
--- a/gtsam/geometry/Pose3.cpp
+++ b/gtsam/geometry/Pose3.cpp
@@ -27,7 +27,6 @@
 namespace gtsam {
 
 using std::vector;
-using Point3Pairs = vector<Point3Pair>;
 
 /** instantiate concept checks */
 GTSAM_CONCEPT_POSE_INST(Pose3)
diff --git a/gtsam/geometry/Pose3.h b/gtsam/geometry/Pose3.h
index 33fb55250f..711829425c 100644
--- a/gtsam/geometry/Pose3.h
+++ b/gtsam/geometry/Pose3.h
@@ -83,7 +83,7 @@ class GTSAM_EXPORT Pose3: public LieGroup<Pose3, 6> {
    *  A pose aTb is estimated between pairs (a_point, b_point) such that a_point = aTb * b_point
    *  Note this allows for noise on the points but in that case the mapping will not be exact.
    */
-  static boost::optional<Pose3> Align(const std::vector<Point3Pair>& abPointPairs);
+  static boost::optional<Pose3> Align(const Point3Pairs& abPointPairs);
 
   // Version of Pose3::Align that takes 2 matrices.
   static boost::optional<Pose3> Align(const Matrix& a, const Matrix& b);
diff --git a/gtsam/geometry/Similarity2.h b/gtsam/geometry/Similarity2.h
index 05f10d1493..c02a20a65c 100644
--- a/gtsam/geometry/Similarity2.h
+++ b/gtsam/geometry/Similarity2.h
@@ -132,7 +132,7 @@ class GTSAM_EXPORT Similarity2 : public LieGroup<Similarity2, 4> {
    * using the algorithm described here:
    * http://www5.informatik.uni-erlangen.de/Forschung/Publikationen/2005/Zinsser05-PSR.pdf
    */
-  static Similarity2 Align(const std::vector<Pose2Pair>& abPosePairs);
+  static Similarity2 Align(const Pose2Pairs& abPosePairs);
 
   /// @}
   /// @name Lie Group
diff --git a/gtsam/geometry/Similarity3.h b/gtsam/geometry/Similarity3.h
index 845d4c810d..f3b07e63cb 100644
--- a/gtsam/geometry/Similarity3.h
+++ b/gtsam/geometry/Similarity3.h
@@ -120,7 +120,7 @@ class GTSAM_EXPORT Similarity3 : public LieGroup<Similarity3, 7> {
   /**
    *  Create Similarity3 by aligning at least three point pairs
    */
-  static Similarity3 Align(const std::vector<Point3Pair>& abPointPairs);
+  static Similarity3 Align(const Point3Pairs& abPointPairs);
 
   /**
    * Create the Similarity3 object that aligns at least two pose pairs.
diff --git a/gtsam/geometry/SphericalCamera.h b/gtsam/geometry/SphericalCamera.h
index 4880423d32..dc9e4bbde8 100644
--- a/gtsam/geometry/SphericalCamera.h
+++ b/gtsam/geometry/SphericalCamera.h
@@ -82,7 +82,6 @@ class GTSAM_EXPORT SphericalCamera {
   EmptyCal::shared_ptr emptyCal_;
 
  public:
-  /// @}
   /// @name Standard Constructors
   /// @{
 
diff --git a/gtsam/hybrid/HybridGaussianFactorGraph.h b/gtsam/hybrid/HybridGaussianFactorGraph.h
index 0188aa652c..6dc9cd4090 100644
--- a/gtsam/hybrid/HybridGaussianFactorGraph.h
+++ b/gtsam/hybrid/HybridGaussianFactorGraph.h
@@ -106,13 +106,13 @@ class GTSAM_EXPORT HybridGaussianFactorGraph
   void add(JacobianFactor&& factor);
 
   /// Add a Jacobian factor as a shared ptr.
-  void add(boost::shared_ptr<JacobianFactor> factor);
+  void add(JacobianFactor::shared_ptr factor);
 
   /// Add a DecisionTreeFactor to the factor graph.
   void add(DecisionTreeFactor&& factor);
 
   /// Add a DecisionTreeFactor as a shared ptr.
-  void add(boost::shared_ptr<DecisionTreeFactor> factor);
+  void add(DecisionTreeFactor::shared_ptr factor);
 };
 
 }  // namespace gtsam
diff --git a/gtsam/inference/BayesTree-inst.h b/gtsam/inference/BayesTree-inst.h
index b341c1d5aa..82899b299a 100644
--- a/gtsam/inference/BayesTree-inst.h
+++ b/gtsam/inference/BayesTree-inst.h
@@ -10,7 +10,7 @@
  * -------------------------------------------------------------------------- */
 
 /**
- * @file    BayesTree-inl.h
+ * @file    BayesTree-inst.h
  * @brief   Bayes Tree is a tree of cliques of a Bayes Chain
  * @author  Frank Dellaert
  * @author  Michael Kaess
diff --git a/gtsam/inference/ClusterTree-inst.h b/gtsam/inference/ClusterTree-inst.h
index 9bc1419558..6295549c49 100644
--- a/gtsam/inference/ClusterTree-inst.h
+++ b/gtsam/inference/ClusterTree-inst.h
@@ -1,5 +1,5 @@
 /**
- * @file EliminatableClusterTree-inst.h
+ * @file ClusterTree-inst.h
  * @date Oct 8, 2013
  * @author Kai Ni
  * @author Richard Roberts
diff --git a/gtsam/inference/ClusterTree.h b/gtsam/inference/ClusterTree.h
index 7dd4141930..26c853a7b0 100644
--- a/gtsam/inference/ClusterTree.h
+++ b/gtsam/inference/ClusterTree.h
@@ -1,5 +1,5 @@
 /**
- * @file EliminatableClusterTree.h
+ * @file ClusterTree.h
  * @date Oct 8, 2013
  * @author Kai Ni
  * @author Richard Roberts
@@ -139,7 +139,6 @@ class ClusterTree {
              const KeyFormatter& keyFormatter = DefaultKeyFormatter) const;
 
   /// @}
-
   /// @name Advanced Interface
   /// @{
 
@@ -169,6 +168,7 @@ class ClusterTree {
 
  protected:
   /// @name Details
+  /// @{
 
   /// Assignment operator - makes a deep copy of the tree structure, but only pointers to factors
   /// are copied, factors are not cloned.
@@ -236,6 +236,7 @@ class EliminatableClusterTree : public ClusterTree<GRAPH> {
 
  protected:
   /// @name Details
+  /// @{
 
   /// Assignment operator - makes a deep copy of the tree structure, but only pointers to factors
   /// are copied, factors are not cloned.
diff --git a/gtsam/inference/EliminationTree-inst.h b/gtsam/inference/EliminationTree-inst.h
index b8d446e493..ea79c9b551 100644
--- a/gtsam/inference/EliminationTree-inst.h
+++ b/gtsam/inference/EliminationTree-inst.h
@@ -10,7 +10,7 @@
 * -------------------------------------------------------------------------- */
 
 /**
-* @file    EliminationTree-inl.h
+* @file    EliminationTree-inst.h
 * @author  Frank Dellaert
 * @author  Richard Roberts
 * @date    Oct 13, 2010
diff --git a/gtsam/inference/FactorGraph-inst.h b/gtsam/inference/FactorGraph-inst.h
index a2ae071016..d6c1d5d8ae 100644
--- a/gtsam/inference/FactorGraph-inst.h
+++ b/gtsam/inference/FactorGraph-inst.h
@@ -10,7 +10,7 @@
  * -------------------------------------------------------------------------- */
 
 /**
- * @file   FactorGraph-inl.h
+ * @file   FactorGraph-inst.h
  * @brief  Factor Graph Base Class
  * @author Carlos Nieto
  * @author Frank Dellaert
diff --git a/gtsam/inference/ISAM-inst.h b/gtsam/inference/ISAM-inst.h
index 1c183b70f8..39d8409062 100644
--- a/gtsam/inference/ISAM-inst.h
+++ b/gtsam/inference/ISAM-inst.h
@@ -10,7 +10,7 @@
  * -------------------------------------------------------------------------- */
 
 /**
- * @file    ISAM-inl.h
+ * @file    ISAM-inst.h
  * @brief   Incremental update functionality (iSAM) for BayesTree.
  * @author  Michael Kaess
  */
diff --git a/gtsam/inference/Ordering.h b/gtsam/inference/Ordering.h
index b366b3b3ac..97d5bf110f 100644
--- a/gtsam/inference/Ordering.h
+++ b/gtsam/inference/Ordering.h
@@ -89,7 +89,8 @@ class Ordering: public KeyVector {
    */
   FastMap<Key, size_t> invert() const;
 
-  /// @name Fill-reducing Orderings @{
+  /// @name Fill-reducing Orderings
+  /// @{
 
   /// Compute a fill-reducing ordering using COLAMD from a factor graph (see details for note on
   /// performance). This internally builds a VariableIndex so if you already have a VariableIndex,
@@ -215,7 +216,8 @@ class Ordering: public KeyVector {
 
   /// @}
 
-  /// @name Named Constructors @{
+  /// @name Named Constructors
+  /// @{
 
   template<class FACTOR_GRAPH>
   static Ordering Create(OrderingType orderingType,
@@ -241,7 +243,8 @@ class Ordering: public KeyVector {
 
   /// @}
 
-  /// @name Testable @{
+  /// @name Testable
+  /// @{
 
   GTSAM_EXPORT
   void print(const std::string& str = "", const KeyFormatter& keyFormatter =
diff --git a/gtsam/navigation/AttitudeFactor.h b/gtsam/navigation/AttitudeFactor.h
index 3016b31aff..490c8b17fb 100644
--- a/gtsam/navigation/AttitudeFactor.h
+++ b/gtsam/navigation/AttitudeFactor.h
@@ -10,7 +10,7 @@
  * -------------------------------------------------------------------------- */
 
 /**
- *  @file   Pose3AttitudeFactor.h
+ *  @file   AttitudeFactor.h
  *  @author Frank Dellaert
  *  @brief  Header file for Attitude factor
  *  @date   January 28, 2014
diff --git a/gtsam/navigation/ImuBias.h b/gtsam/navigation/ImuBias.h
index 9346a4a777..a023a38c12 100644
--- a/gtsam/navigation/ImuBias.h
+++ b/gtsam/navigation/ImuBias.h
@@ -36,6 +36,9 @@ class GTSAM_EXPORT ConstantBias {
   /// dimension of the variable - used to autodetect sizes
   static const size_t dimension = 6;
 
+  /// @name Standard Constructors
+  /// @{
+
   ConstantBias() :
       biasAcc_(0.0, 0.0, 0.0), biasGyro_(0.0, 0.0, 0.0) {
   }
@@ -48,6 +51,8 @@ class GTSAM_EXPORT ConstantBias {
       biasAcc_(v.head<3>()), biasGyro_(v.tail<3>()) {
   }
 
+  /// @}
+
   /** return the accelerometer and gyro biases in a single vector */
   Vector6 vector() const {
     Vector6 v;
@@ -83,7 +88,6 @@ class GTSAM_EXPORT ConstantBias {
     return measurement - biasGyro_;
   }
 
-  /// @}
   /// @name Testable
   /// @{
 
diff --git a/gtsam/nonlinear/NonlinearISAM.cpp b/gtsam/nonlinear/NonlinearISAM.cpp
index 512069a8ab..840712eb65 100644
--- a/gtsam/nonlinear/NonlinearISAM.cpp
+++ b/gtsam/nonlinear/NonlinearISAM.cpp
@@ -10,7 +10,7 @@
  * -------------------------------------------------------------------------- */
 
 /**
- * @file NonlinearISAM-inl.h
+ * @file NonlinearISAM.cpp
  * @date Jan 19, 2010
  * @author Viorela Ila and Richard Roberts
  */
diff --git a/gtsam/slam/BetweenFactor.h b/gtsam/slam/BetweenFactor.h
index fc1dc4481e..5422a61ecd 100644
--- a/gtsam/slam/BetweenFactor.h
+++ b/gtsam/slam/BetweenFactor.h
@@ -59,6 +59,9 @@ namespace gtsam {
     // shorthand for a smart pointer to a factor
     typedef typename boost::shared_ptr<BetweenFactor> shared_ptr;
 
+    /// @name Standard Constructors
+    /// @{
+
     /** default constructor - only use for serialization */
     BetweenFactor() {}
 
@@ -68,6 +71,8 @@ namespace gtsam {
       Base(model, key1, key2), measured_(measured) {
     }
 
+    /// @}
+
     ~BetweenFactor() override {}
 
     /// @return a deep copy of this factor
@@ -75,7 +80,6 @@ namespace gtsam {
       return boost::static_pointer_cast<gtsam::NonlinearFactor>(
           gtsam::NonlinearFactor::shared_ptr(new This(*this))); }
 
-    /// @}
     /// @name Testable
     /// @{
 
diff --git a/gtsam/slam/SmartFactorParams.h b/gtsam/slam/SmartFactorParams.h
index e8a1fa7ab2..4f23c085d1 100644
--- a/gtsam/slam/SmartFactorParams.h
+++ b/gtsam/slam/SmartFactorParams.h
@@ -10,7 +10,7 @@
  * -------------------------------------------------------------------------- */
 
 /**
- * @file   SmartFactorParams
+ * @file   SmartFactorParams.h
  * @brief  Collect common parameters for SmartProjection and SmartStereoProjection factors
  * @author Luca Carlone
  * @author Zsolt Kira
diff --git a/gtsam/slam/StereoFactor.h b/gtsam/slam/StereoFactor.h
index b2fdbf7a45..40ea7158f1 100644
--- a/gtsam/slam/StereoFactor.h
+++ b/gtsam/slam/StereoFactor.h
@@ -10,7 +10,7 @@
  * -------------------------------------------------------------------------- */
 
 /**
- * @file    GenericStereoFactor.h
+ * @file    StereoFactor.h
  * @brief   A non-linear factor for stereo measurements
  * @author  Alireza Fathi
  * @author  Chris Beall
diff --git a/gtsam/symbolic/SymbolicConditional.h b/gtsam/symbolic/SymbolicConditional.h
index 3abec92b80..4f49179502 100644
--- a/gtsam/symbolic/SymbolicConditional.h
+++ b/gtsam/symbolic/SymbolicConditional.h
@@ -103,6 +103,7 @@ namespace gtsam {
     /// @}
 
     /// @name Testable
+    /// @{
 
     /** Print with optional formatter */
     void print(
diff --git a/gtsam_unstable/geometry/BearingS2.h b/gtsam_unstable/geometry/BearingS2.h
index 197d4910d0..59819c5558 100644
--- a/gtsam_unstable/geometry/BearingS2.h
+++ b/gtsam_unstable/geometry/BearingS2.h
@@ -22,7 +22,8 @@ class GTSAM_UNSTABLE_EXPORT BearingS2 {
 public:
   static const size_t dimension = 2;
 
-  // constructors
+  /// @name Constructors
+  /// @{
 
   /** Default constructor - straight ahead */
   BearingS2() {}
diff --git a/gtsam_unstable/geometry/Event.cpp b/gtsam_unstable/geometry/Event.cpp
index 45a24c1019..1262823da0 100644
--- a/gtsam_unstable/geometry/Event.cpp
+++ b/gtsam_unstable/geometry/Event.cpp
@@ -10,7 +10,7 @@
  * -------------------------------------------------------------------------- */
 
 /**
- *  @file  Event
+ *  @file  Event.cpp
  *  @brief Space-time event
  *  @author Frank Dellaert
  *  @author Jay Chakravarty
diff --git a/gtsam_unstable/geometry/Event.h b/gtsam_unstable/geometry/Event.h
index 383c349150..ddeda180e0 100644
--- a/gtsam_unstable/geometry/Event.h
+++ b/gtsam_unstable/geometry/Event.h
@@ -10,7 +10,7 @@
  * -------------------------------------------------------------------------- */
 
 /**
- *  @file  Event
+ *  @file  Event.h
  *  @brief Space-time event
  *  @author Frank Dellaert
  *  @author Jay Chakravarty
diff --git a/gtsam_unstable/linear/QPSParser.cpp b/gtsam_unstable/linear/QPSParser.cpp
index c755f2451f..44e24e0b00 100644
--- a/gtsam_unstable/linear/QPSParser.cpp
+++ b/gtsam_unstable/linear/QPSParser.cpp
@@ -10,7 +10,7 @@
  * -------------------------------------------------------------------------- */
 
 /**
- * @file     QPParser.cpp
+ * @file     QPSParser.cpp
  * @author   Ivan Dario Jimenez
  * @date     3/5/16
  */
diff --git a/gtsam_unstable/linear/QPSParser.h b/gtsam_unstable/linear/QPSParser.h
index 088168829b..bd4254d0f7 100644
--- a/gtsam_unstable/linear/QPSParser.h
+++ b/gtsam_unstable/linear/QPSParser.h
@@ -10,7 +10,7 @@
  * -------------------------------------------------------------------------- */
 
 /**
- * @file     QPParser.h
+ * @file     QPSParser.h
  * @brief    QPS parser implementation
  * @author   Ivan Dario Jimenez
  * @date     3/5/16
diff --git a/gtsam_unstable/slam/Mechanization_bRn2.cpp b/gtsam_unstable/slam/Mechanization_bRn2.cpp
index 6112a398fc..0bb1085a0e 100644
--- a/gtsam_unstable/slam/Mechanization_bRn2.cpp
+++ b/gtsam_unstable/slam/Mechanization_bRn2.cpp
@@ -1,5 +1,5 @@
 /**
- * @file Mechanization_bRn.cpp
+ * @file Mechanization_bRn2.cpp
  * @date Jan 25, 2012
  * @author Chris Beall
  * @author Frank Dellaert
diff --git a/gtsam_unstable/slam/Mechanization_bRn2.h b/gtsam_unstable/slam/Mechanization_bRn2.h
index 5a6f1df6d2..4714f2b6f1 100644
--- a/gtsam_unstable/slam/Mechanization_bRn2.h
+++ b/gtsam_unstable/slam/Mechanization_bRn2.h
@@ -1,5 +1,5 @@
 /**
- * @file Mechanization_bRn.h
+ * @file Mechanization_bRn2.h
  * @date Jan 25, 2012
  * @author Chris Beall
  * @author Frank Dellaert
diff --git a/gtsam_unstable/slam/PoseToPointFactor.h b/gtsam_unstable/slam/PoseToPointFactor.h
index 071d13aec4..2f8bad6dfb 100644
--- a/gtsam_unstable/slam/PoseToPointFactor.h
+++ b/gtsam_unstable/slam/PoseToPointFactor.h
@@ -1,5 +1,5 @@
 /**
- *  @file   PoseToPointFactor.hpp
+ *  @file   PoseToPointFactor.h
  *  @brief  This factor can be used to model relative position measurements
  *  from a (2D or 3D) pose to a landmark
  *  @author David Wisth

From fd839e71b6789a3d3184081ea85650364c6baacf Mon Sep 17 00:00:00 2001
From: Varun Agrawal <varagrawal@gmail.com>
Date: Tue, 26 Jul 2022 16:00:33 -0400
Subject: [PATCH 233/433] fix latex symbol warnings

---
 gtsam/base/make_shared.h                    | 2 +-
 gtsam/base/timing.h                         | 2 +-
 gtsam/geometry/Rot2.h                       | 2 +-
 gtsam/geometry/Rot3.h                       | 2 +-
 gtsam/geometry/SO4.h                        | 2 +-
 gtsam/geometry/SOn.h                        | 3 ++-
 gtsam/linear/AcceleratedPowerMethod.h       | 8 ++++----
 gtsam/linear/HessianFactor.h                | 2 +-
 gtsam/nonlinear/ExtendedKalmanFilter.h      | 5 +++--
 gtsam_unstable/dynamics/Pendulum.h          | 8 ++++----
 gtsam_unstable/dynamics/SimpleHelicopter.h  | 5 ++---
 gtsam_unstable/linear/ActiveSetSolver.h     | 2 +-
 gtsam_unstable/linear/LPInitSolver.h        | 2 +-
 gtsam_unstable/nonlinear/LinearizedFactor.h | 4 ++--
 14 files changed, 25 insertions(+), 24 deletions(-)

diff --git a/gtsam/base/make_shared.h b/gtsam/base/make_shared.h
index 5281eec6de..164bae77a8 100644
--- a/gtsam/base/make_shared.h
+++ b/gtsam/base/make_shared.h
@@ -26,7 +26,7 @@
 #include <type_traits>
 
 namespace gtsam {
-  /// An shorthand alias for accessing the ::type inside std::enable_if that can be used in a template directly
+  /// An shorthand alias for accessing the \::type inside std::enable_if that can be used in a template directly
   template<bool B, class T = void>
   using enable_if_t = typename std::enable_if<B, T>::type;
 }
diff --git a/gtsam/base/timing.h b/gtsam/base/timing.h
index 972bb45f76..db0060bfb8 100644
--- a/gtsam/base/timing.h
+++ b/gtsam/base/timing.h
@@ -147,7 +147,7 @@ namespace gtsam {
       size_t id_;
       size_t t_;
       size_t tWall_;
-      double t2_ ; ///< cache the \sum t_i^2
+      double t2_ ; ///< cache the \f$ \sum t_i^2 \f$
       size_t tIt_;
       size_t tMax_;
       size_t tMin_;
diff --git a/gtsam/geometry/Rot2.h b/gtsam/geometry/Rot2.h
index 2690ca2481..b0b7fd52a6 100644
--- a/gtsam/geometry/Rot2.h
+++ b/gtsam/geometry/Rot2.h
@@ -86,7 +86,7 @@ namespace gtsam {
     static Rot2 atan2(double y, double x);
 
     /**
-     * Random, generates random angle \in [-p,pi]
+     * Random, generates random angle \f$\in\f$ [-pi,pi]
      * Example:
      *   std::mt19937 engine(42);
      *   Unit3 unit = Unit3::Random(engine);
diff --git a/gtsam/geometry/Rot3.h b/gtsam/geometry/Rot3.h
index 01ca7778c6..09abb70bcb 100644
--- a/gtsam/geometry/Rot3.h
+++ b/gtsam/geometry/Rot3.h
@@ -129,7 +129,7 @@ class GTSAM_EXPORT Rot3 : public LieGroup<Rot3, 3> {
     Rot3(double w, double x, double y, double z) : Rot3(Quaternion(w, x, y, z)) {}
 
     /**
-     * Random, generates a random axis, then random angle \in [-p,pi]
+     * Random, generates a random axis, then random angle \f$\in\f$ [-pi,pi]
      * Example:
      *   std::mt19937 engine(42);
      *   Unit3 unit = Unit3::Random(engine);
diff --git a/gtsam/geometry/SO4.h b/gtsam/geometry/SO4.h
index 33bd8c161b..7503b012b2 100644
--- a/gtsam/geometry/SO4.h
+++ b/gtsam/geometry/SO4.h
@@ -74,7 +74,7 @@ GTSAM_EXPORT Matrix3 topLeft(const SO4 &Q, OptionalJacobian<9, 6> H = boost::non
 
 /**
  * Project to Stiefel manifold of 4*3 orthonormal 3-frames in R^4, i.e., pi(Q)
- * -> S \in St(3,4).
+ * -> \f$ S \in St(3,4) \f$.
  */
 GTSAM_EXPORT Matrix43 stiefel(const SO4 &Q, OptionalJacobian<12, 6> H = boost::none);
 
diff --git a/gtsam/geometry/SOn.h b/gtsam/geometry/SOn.h
index af0e7a3cfb..fc2092af1d 100644
--- a/gtsam/geometry/SOn.h
+++ b/gtsam/geometry/SOn.h
@@ -121,7 +121,8 @@ class SO : public LieGroup<SO<N>, internal::DimensionSO(N)> {
   /// currently only defined for SO3.
   static SO ClosestTo(const MatrixNN& M);
 
-  /// Named constructor that finds chordal mean = argmin_R \sum sqr(|R-R_i|_F),
+  /// Named constructor that finds chordal mean
+  /// \f$ mu = argmin_R \sum sqr(|R-R_i|_F) \f$,
   /// currently only defined for SO3.
   static SO ChordalMean(const std::vector<SO>& rotations);
 
diff --git a/gtsam/linear/AcceleratedPowerMethod.h b/gtsam/linear/AcceleratedPowerMethod.h
index 6653d43c92..daa59fc1ba 100644
--- a/gtsam/linear/AcceleratedPowerMethod.h
+++ b/gtsam/linear/AcceleratedPowerMethod.h
@@ -74,8 +74,8 @@ class AcceleratedPowerMethod : public PowerMethod<Operator> {
 
   /**
    * Run accelerated power iteration to get ritzVector with beta and previous
-   * two ritzVector x0 and x00, and return y = (A * x0 - \beta * x00) / || A * x0
-   * - \beta * x00 ||
+   * two ritzVector x0 and x00, and return 
+   *   \f$y = (A * x0 - \beta * x00) / || A * x0 - \beta * x00 ||\f$
    */
   Vector acceleratedPowerIteration (const Vector &x1, const Vector &x0,
                         const double beta) const {
@@ -86,8 +86,8 @@ class AcceleratedPowerMethod : public PowerMethod<Operator> {
 
   /**
    * Run accelerated power iteration to get ritzVector with beta and previous
-   * two ritzVector x0 and x00, and return y = (A * x0 - \beta * x00) / || A * x0
-   * - \beta * x00 ||
+   * two ritzVector x0 and x00, and return
+   *  \f$y = (A * x0 - \beta * x00) / || A * x0 - \beta * x00 ||\f$
    */
   Vector acceleratedPowerIteration () const {
     Vector y = acceleratedPowerIteration(this->ritzVector_, previousVector_, beta_);
diff --git a/gtsam/linear/HessianFactor.h b/gtsam/linear/HessianFactor.h
index 7020d6edd5..8394b2ee8a 100644
--- a/gtsam/linear/HessianFactor.h
+++ b/gtsam/linear/HessianFactor.h
@@ -338,7 +338,7 @@ namespace gtsam {
 
     /**
      * Compute the gradient at a key:
-     *      \grad f(x_i) = \sum_j G_ij*x_j - g_i
+     *  \f$ \grad f(x_i) = \sum_j G_ij*x_j - g_i \f$
      */
     Vector gradient(Key key, const VectorValues& x) const override;
 
diff --git a/gtsam/nonlinear/ExtendedKalmanFilter.h b/gtsam/nonlinear/ExtendedKalmanFilter.h
index df27d16ff0..dc51de7bbb 100644
--- a/gtsam/nonlinear/ExtendedKalmanFilter.h
+++ b/gtsam/nonlinear/ExtendedKalmanFilter.h
@@ -86,8 +86,9 @@ class ExtendedKalmanFilter {
   /// @{
 
   /**
-   * Calculate predictive density P(x_) ~ \int  P(x_min) P(x_min, x_)
-   * The motion model should be given as a factor with key1 for x_min and key2_ for x
+   * Calculate predictive density
+   *     \f$ P(x_) ~ \int  P(x_min) P(x_min, x_)\f$ 
+   * The motion model should be given as a factor with key1 for \f$x_min\f$ and key2 for \f$x_\f$ 
    */
   T predict(const NoiseModelFactor& motionFactor);
 
diff --git a/gtsam_unstable/dynamics/Pendulum.h b/gtsam_unstable/dynamics/Pendulum.h
index 470d7108be..1e0ca621cd 100644
--- a/gtsam_unstable/dynamics/Pendulum.h
+++ b/gtsam_unstable/dynamics/Pendulum.h
@@ -110,8 +110,8 @@ class PendulumFactor2: public NoiseModelFactor3<double, double, double> {
 //*************************************************************************
 /**
  * This class implements the first position-momentum update rule
- *    p_k = -D_1 L_d(q_k,q_{k+1},h) = \frac{1}{h}mr^{2}\left(q_{k+1}-q_{k}\right)+mgrh(1-\alpha)\,\sin\left((1-\alpha)q_{k}+\alpha q_{k+1}\right)
- *    = (1/h)mr^2 (q_{k+1}-q_k) + mgrh(1-alpha) sin ((1-alpha)q_k+\alpha q_{k+1})
+ *  \f$ p_k = -D_1 L_d(q_k,q_{k+1},h) = \frac{1}{h}mr^{2}\left(q_{k+1}-q_{k}\right)+mgrh(1-\alpha)\,\sin\left((1-\alpha)q_{k}+\alpha q_{k+1}\right) \f$
+ *  \f$ = (1/h)mr^2 (q_{k+1}-q_k) + mgrh(1-alpha) sin ((1-alpha)q_k+\alpha q_{k+1}) \f$
  */
 class PendulumFactorPk: public NoiseModelFactor3<double, double, double> {
 public:
@@ -166,8 +166,8 @@ class PendulumFactorPk: public NoiseModelFactor3<double, double, double> {
 //*************************************************************************
 /**
  * This class implements the second position-momentum update rule
- *    p_k1 = D_2 L_d(q_k,q_{k+1},h) = \frac{1}{h}mr^{2}\left(q_{k+1}-q_{k}\right)-mgrh\alpha\sin\left((1-\alpha)q_{k}+\alpha q_{k+1}\right)
- *    = (1/h)mr^2 (q_{k+1}-q_k) - mgrh alpha sin ((1-alpha)q_k+\alpha q_{k+1})
+ *  \f$ p_k1 = D_2 L_d(q_k,q_{k+1},h) = \frac{1}{h}mr^{2}\left(q_{k+1}-q_{k}\right)-mgrh\alpha\sin\left((1-\alpha)q_{k}+\alpha q_{k+1}\right) \f$
+ *  \f$ = (1/h)mr^2 (q_{k+1}-q_k) - mgrh alpha sin ((1-alpha)q_k+\alpha q_{k+1}) \f$
  */
 class PendulumFactorPk1: public NoiseModelFactor3<double, double, double> {
 public:
diff --git a/gtsam_unstable/dynamics/SimpleHelicopter.h b/gtsam_unstable/dynamics/SimpleHelicopter.h
index bf3b95c0f2..1fb8958337 100644
--- a/gtsam_unstable/dynamics/SimpleHelicopter.h
+++ b/gtsam_unstable/dynamics/SimpleHelicopter.h
@@ -40,7 +40,7 @@ class Reconstruction : public NoiseModelFactor3<Pose3, Pose3, Vector6>  {
     return boost::static_pointer_cast<gtsam::NonlinearFactor>(
         gtsam::NonlinearFactor::shared_ptr(new Reconstruction(*this))); }
 
-  /** \f$ log((g_k\exp(h\xi_k))^{-1}g_{k+1}) = 0, with optional derivatives */
+  /** \f$ log((g_k\exp(h\xi_k))^{-1}g_{k+1}) = 0 \f$, with optional derivatives */
   Vector evaluateError(const Pose3& gk1, const Pose3& gk, const Vector6& xik,
       boost::optional<Matrix&> H1 = boost::none,
       boost::optional<Matrix&> H2 = boost::none,
@@ -195,5 +195,4 @@ class DiscreteEulerPoincareHelicopter : public NoiseModelFactor3<Vector6, Vector
 
 };
 
-
-} /* namespace gtsam */
+}  // namespace gtsam
diff --git a/gtsam_unstable/linear/ActiveSetSolver.h b/gtsam_unstable/linear/ActiveSetSolver.h
index 318912cf3c..ad8367c06b 100644
--- a/gtsam_unstable/linear/ActiveSetSolver.h
+++ b/gtsam_unstable/linear/ActiveSetSolver.h
@@ -102,7 +102,7 @@ class ActiveSetSolver {
   /**
    * Compute minimum step size alpha to move from the current point @p xk to the
    * next feasible point along a direction @p p:  x' = xk + alpha*p,
-   * where alpha \in [0,maxAlpha].
+   * where alpha \f$\in\f$ [0,maxAlpha].
    *
    * For QP, maxAlpha = 1. For LP: maxAlpha = Inf.
    *
diff --git a/gtsam_unstable/linear/LPInitSolver.h b/gtsam_unstable/linear/LPInitSolver.h
index 14e5fb000b..7e326117b3 100644
--- a/gtsam_unstable/linear/LPInitSolver.h
+++ b/gtsam_unstable/linear/LPInitSolver.h
@@ -30,7 +30,7 @@ namespace gtsam {
  *    min y
  *    st Ax = b
  *       Cx - y <= d
- * where y \in R, x \in R^n, and Ax = b and Cx <= d is the constraints of the original problem.
+ * where \f$y \in R\f$, \f$x \in R^n\f$, and Ax = b and Cx <= d is the constraints of the original problem.
  *
  * If the solution for this problem {x*,y*} has y* <= 0, we'll have x* a feasible initial point
  * of the original problem
diff --git a/gtsam_unstable/nonlinear/LinearizedFactor.h b/gtsam_unstable/nonlinear/LinearizedFactor.h
index 1ae8a79069..151bf8a25b 100644
--- a/gtsam_unstable/nonlinear/LinearizedFactor.h
+++ b/gtsam_unstable/nonlinear/LinearizedFactor.h
@@ -236,7 +236,7 @@ class GTSAM_UNSTABLE_EXPORT LinearizedHessianFactor : public LinearizedGaussianF
     return info_.aboveDiagonalRange(0, size(), size(), size() + 1).col(0);
   }
 
-  /** Return a copy of the block at (j1,j2) of the <emph>upper-triangular part</emph> of the
+  /** Return a copy of the block at (j1,j2) of the <em>upper-triangular part</em> of the
    * squared term \f$ H \f$, no data is copied.  See HessianFactor class documentation
    * above to explain that only the upper-triangular part of the information matrix is stored
    * and returned by this function.
@@ -252,7 +252,7 @@ class GTSAM_UNSTABLE_EXPORT LinearizedHessianFactor : public LinearizedGaussianF
     return info_.block(J1, J2);
   }
 
-  /** Return the <emph>upper-triangular part</emph> of the full squared term, as described above.
+  /** Return the <em>upper-triangular part</em> of the full squared term, as described above.
    * See HessianFactor class documentation above to explain that only the
    * upper-triangular part of the information matrix is stored and returned by this function.
    */

From 55ae901d45af9290300b618501eefd3f260d4ea8 Mon Sep 17 00:00:00 2001
From: Varun Agrawal <varagrawal@gmail.com>
Date: Tue, 26 Jul 2022 16:25:41 -0400
Subject: [PATCH 234/433] change from addtogroup to ingroup

---
 gtsam/basis/Basis.h                  | 7 ++++++-
 gtsam/basis/BasisFactors.h           | 6 ++++++
 gtsam/geometry/Cal3.h                | 4 ++--
 gtsam/geometry/Cal3Bundler.h         | 2 +-
 gtsam/geometry/Cal3DS2.h             | 2 +-
 gtsam/geometry/Cal3DS2_Base.h        | 2 +-
 gtsam/geometry/Cal3Fisheye.h         | 2 +-
 gtsam/geometry/Cal3Unified.h         | 4 ++--
 gtsam/geometry/Cal3_S2.h             | 4 ++--
 gtsam/geometry/Cal3_S2Stereo.h       | 2 +-
 gtsam/geometry/CalibratedCamera.h    | 4 ++--
 gtsam/geometry/Line3.h               | 2 +-
 gtsam/geometry/PinholeCamera.h       | 2 +-
 gtsam/geometry/PinholePose.h         | 4 ++--
 gtsam/geometry/Pose2.h               | 2 +-
 gtsam/geometry/Pose3.h               | 2 +-
 gtsam/geometry/Rot2.h                | 2 +-
 gtsam/geometry/Rot3.h                | 2 +-
 gtsam/geometry/SphericalCamera.h     | 4 ++--
 gtsam/geometry/StereoCamera.h        | 2 +-
 gtsam/geometry/StereoPoint2.h        | 2 +-
 gtsam/navigation/AttitudeFactor.h    | 6 +++---
 gtsam/navigation/BarometricFactor.h  | 2 +-
 gtsam/navigation/CombinedImuFactor.h | 4 ++--
 gtsam/navigation/GPSFactor.h         | 4 ++--
 gtsam/sfm/MFAS.h                     | 2 +-
 gtsam/sfm/SfmData.h                  | 2 +-
 gtsam/sfm/SfmTrack.h                 | 2 +-
 gtsam/sfm/TranslationFactor.h        | 2 +-
 29 files changed, 49 insertions(+), 38 deletions(-)

diff --git a/gtsam/basis/Basis.h b/gtsam/basis/Basis.h
index 765a2f6455..5664fe02a2 100644
--- a/gtsam/basis/Basis.h
+++ b/gtsam/basis/Basis.h
@@ -78,6 +78,8 @@ using Weights = Eigen::Matrix<double, 1, -1>; /* 1xN vector */
  * @tparam M Size of the identity matrix.
  * @param w The weights of the polynomial.
  * @return Mx(M*N) kronecker product [w(0)*I, w(1)*I, ..., w(N-1)*I]
+ *
+ * @ingroup Basis
  */
 template <size_t M>
 Matrix kroneckerProductIdentity(const Weights& w) {
@@ -90,7 +92,10 @@ Matrix kroneckerProductIdentity(const Weights& w) {
   return result;
 }
 
-/// CRTP Base class for function bases
+/**
+ * CRTP Base class for function bases
+ *  @ingroup Basis
+ */
 template <typename DERIVED>
 class Basis {
  public:
diff --git a/gtsam/basis/BasisFactors.h b/gtsam/basis/BasisFactors.h
index 648bcd510b..e141592d6d 100644
--- a/gtsam/basis/BasisFactors.h
+++ b/gtsam/basis/BasisFactors.h
@@ -32,6 +32,8 @@ namespace gtsam {
  *
  * Example, degree 8 Chebyshev polynomial measured at x=0.5:
  *  EvaluationFactor<Chebyshev2> factor(key, measured, model, 8, 0.5);
+ *
+ * @ingroup Basis
  */
 template <class BASIS>
 class EvaluationFactor : public FunctorizedFactor<double, Vector> {
@@ -86,6 +88,8 @@ class EvaluationFactor : public FunctorizedFactor<double, Vector> {
  *
  * @param BASIS: The basis class to use e.g. Chebyshev2
  * @param M: Size of the evaluated state vector.
+ *
+ * @ingroup Basis
  */
 template <class BASIS, int M>
 class VectorEvaluationFactor
@@ -149,6 +153,8 @@ class VectorEvaluationFactor
  *  VectorComponentFactor<BASIS, P> controlPrior(key, measured, model,
  *                                               N, i, t, a, b);
  *  where N is the degree and i is the component index.
+ *
+ * @ingroup Basis
  */
 template <class BASIS, size_t P>
 class VectorComponentFactor
diff --git a/gtsam/geometry/Cal3.h b/gtsam/geometry/Cal3.h
index 1690615ddf..25acc11f8e 100644
--- a/gtsam/geometry/Cal3.h
+++ b/gtsam/geometry/Cal3.h
@@ -16,7 +16,7 @@
  */
 
 /**
- * @addtogroup geometry
+ * @ingroup geometry
  */
 
 #pragma once
@@ -63,7 +63,7 @@ void calibrateJacobians(const Cal& calibration, const Point2& pn,
 
 /**
  * @brief Common base class for all calibration models.
- * @addtogroup geometry
+ * @ingroup geometry
  * \nosubgrouping
  */
 class GTSAM_EXPORT Cal3 {
diff --git a/gtsam/geometry/Cal3Bundler.h b/gtsam/geometry/Cal3Bundler.h
index 82b5ec91d0..c8e0fe381a 100644
--- a/gtsam/geometry/Cal3Bundler.h
+++ b/gtsam/geometry/Cal3Bundler.h
@@ -26,7 +26,7 @@ namespace gtsam {
 
 /**
  * @brief Calibration used by Bundler
- * @addtogroup geometry
+ * @ingroup geometry
  * \nosubgrouping
  */
 class GTSAM_EXPORT Cal3Bundler : public Cal3 {
diff --git a/gtsam/geometry/Cal3DS2.h b/gtsam/geometry/Cal3DS2.h
index 039497cc9f..cc406d331c 100644
--- a/gtsam/geometry/Cal3DS2.h
+++ b/gtsam/geometry/Cal3DS2.h
@@ -29,7 +29,7 @@ namespace gtsam {
  * @brief Calibration of a camera with radial distortion that also supports
  * Lie-group behaviors for optimization.
  * \sa Cal3DS2_Base
- * @addtogroup geometry
+ * @ingroup geometry
  * \nosubgrouping
  */
 class GTSAM_EXPORT Cal3DS2 : public Cal3DS2_Base {
diff --git a/gtsam/geometry/Cal3DS2_Base.h b/gtsam/geometry/Cal3DS2_Base.h
index 1b2291e07a..f901de9a9a 100644
--- a/gtsam/geometry/Cal3DS2_Base.h
+++ b/gtsam/geometry/Cal3DS2_Base.h
@@ -27,7 +27,7 @@ namespace gtsam {
 
 /**
  * @brief Calibration of a camera with radial distortion
- * @addtogroup geometry
+ * @ingroup geometry
  * \nosubgrouping
  *
  * Uses same distortionmodel as OpenCV, with
diff --git a/gtsam/geometry/Cal3Fisheye.h b/gtsam/geometry/Cal3Fisheye.h
index c0caecaa12..a314acb5e2 100644
--- a/gtsam/geometry/Cal3Fisheye.h
+++ b/gtsam/geometry/Cal3Fisheye.h
@@ -30,7 +30,7 @@ namespace gtsam {
 
 /**
  * @brief Calibration of a fisheye camera
- * @addtogroup geometry
+ * @ingroup geometry
  * \nosubgrouping
  *
  * Uses same distortionmodel as OpenCV, with
diff --git a/gtsam/geometry/Cal3Unified.h b/gtsam/geometry/Cal3Unified.h
index e93d313c80..83024c0cea 100644
--- a/gtsam/geometry/Cal3Unified.h
+++ b/gtsam/geometry/Cal3Unified.h
@@ -18,7 +18,7 @@
  */
 
 /**
- * @addtogroup geometry
+ * @ingroup geometry
  */
 
 #pragma once
@@ -30,7 +30,7 @@ namespace gtsam {
 /**
  * @brief Calibration of a omni-directional camera with mirror + lens radial
  * distortion
- * @addtogroup geometry
+ * @ingroup geometry
  * \nosubgrouping
  *
  * Similar to Cal3DS2, does distortion but has additional mirror parameter xi
diff --git a/gtsam/geometry/Cal3_S2.h b/gtsam/geometry/Cal3_S2.h
index 93b98a7e17..10061fae81 100644
--- a/gtsam/geometry/Cal3_S2.h
+++ b/gtsam/geometry/Cal3_S2.h
@@ -16,7 +16,7 @@
  */
 
 /**
- * @addtogroup geometry
+ * @ingroup geometry
  */
 
 #pragma once
@@ -28,7 +28,7 @@ namespace gtsam {
 
 /**
  * @brief The most common 5DOF 3D->2D calibration
- * @addtogroup geometry
+ * @ingroup geometry
  * \nosubgrouping
  */
 class GTSAM_EXPORT Cal3_S2 : public Cal3 {
diff --git a/gtsam/geometry/Cal3_S2Stereo.h b/gtsam/geometry/Cal3_S2Stereo.h
index ad66b53ffe..ddd96bf178 100644
--- a/gtsam/geometry/Cal3_S2Stereo.h
+++ b/gtsam/geometry/Cal3_S2Stereo.h
@@ -24,7 +24,7 @@ namespace gtsam {
 
 /**
  * @brief The most common 5DOF 3D->2D calibration, stereo version
- * @addtogroup geometry
+ * @ingroup geometry
  * \nosubgrouping
  */
 class GTSAM_EXPORT Cal3_S2Stereo : public Cal3_S2 {
diff --git a/gtsam/geometry/CalibratedCamera.h b/gtsam/geometry/CalibratedCamera.h
index 1d4a379a19..941ed3ffca 100644
--- a/gtsam/geometry/CalibratedCamera.h
+++ b/gtsam/geometry/CalibratedCamera.h
@@ -46,7 +46,7 @@ class GTSAM_EXPORT CheiralityException: public ThreadsafeException<CheiralityExc
 
 /**
  * A pinhole camera class that has a Pose3, functions as base class for all pinhole cameras
- * @addtogroup geometry
+ * @ingroup geometry
  * \nosubgrouping
  */
 class GTSAM_EXPORT PinholeBase {
@@ -241,7 +241,7 @@ class GTSAM_EXPORT PinholeBase {
  * A Calibrated camera class [R|-R't], calibration K=I.
  * If calibration is known, it is more computationally efficient
  * to calibrate the measurements rather than try to predict in pixels.
- * @addtogroup geometry
+ * @ingroup geometry
  * \nosubgrouping
  */
 class GTSAM_EXPORT CalibratedCamera: public PinholeBase {
diff --git a/gtsam/geometry/Line3.h b/gtsam/geometry/Line3.h
index 78827274a3..08b81eaef2 100644
--- a/gtsam/geometry/Line3.h
+++ b/gtsam/geometry/Line3.h
@@ -38,7 +38,7 @@ GTSAM_EXPORT Line3 transformTo(const Pose3 &wTc, const Line3 &wL,
 
 /**
  * A 3D line (R,a,b) : (Rot3,Scalar,Scalar)
- * @addtogroup geometry
+ * @ingroup geometry
  * \nosubgrouping
  */
 class GTSAM_EXPORT Line3 {
diff --git a/gtsam/geometry/PinholeCamera.h b/gtsam/geometry/PinholeCamera.h
index c20e908191..e3817dc890 100644
--- a/gtsam/geometry/PinholeCamera.h
+++ b/gtsam/geometry/PinholeCamera.h
@@ -26,7 +26,7 @@ namespace gtsam {
 /**
  * A pinhole camera class that has a Pose3 and a Calibration.
  * Use PinholePose if you will not be optimizing for Calibration
- * @addtogroup geometry
+ * @ingroup geometry
  * \nosubgrouping
  */
 template<typename Calibration>
diff --git a/gtsam/geometry/PinholePose.h b/gtsam/geometry/PinholePose.h
index 7b92be5d50..f142199308 100644
--- a/gtsam/geometry/PinholePose.h
+++ b/gtsam/geometry/PinholePose.h
@@ -27,7 +27,7 @@ namespace gtsam {
 
 /**
  * A pinhole camera class that has a Pose3 and a *fixed* Calibration.
- * @addtogroup geometry
+ * @ingroup geometry
  * \nosubgrouping
  */
 template<typename CALIBRATION>
@@ -236,7 +236,7 @@ class PinholeBaseK: public PinholeBase {
  * A pinhole camera class that has a Pose3 and a *fixed* Calibration.
  * Instead of using this class, one might consider calibrating the measurements
  * and using CalibratedCamera, which would then be faster.
- * @addtogroup geometry
+ * @ingroup geometry
  * \nosubgrouping
  */
 template<typename CALIBRATION>
diff --git a/gtsam/geometry/Pose2.h b/gtsam/geometry/Pose2.h
index 466c5a42ad..2f18cee838 100644
--- a/gtsam/geometry/Pose2.h
+++ b/gtsam/geometry/Pose2.h
@@ -30,7 +30,7 @@ namespace gtsam {
 
 /**
  * A 2D pose (Point2,Rot2)
- * @addtogroup geometry
+ * @ingroup geometry
  * \nosubgrouping
  */
 class Pose2: public LieGroup<Pose2, 3> {
diff --git a/gtsam/geometry/Pose3.h b/gtsam/geometry/Pose3.h
index 711829425c..9114efd729 100644
--- a/gtsam/geometry/Pose3.h
+++ b/gtsam/geometry/Pose3.h
@@ -31,7 +31,7 @@ class Pose2;
 
 /**
  * A 3D pose (R,t) : (Rot3,Point3)
- * @addtogroup geometry
+ * @ingroup geometry
  * \nosubgrouping
  */
 class GTSAM_EXPORT Pose3: public LieGroup<Pose3, 6> {
diff --git a/gtsam/geometry/Rot2.h b/gtsam/geometry/Rot2.h
index b0b7fd52a6..9b3402b015 100644
--- a/gtsam/geometry/Rot2.h
+++ b/gtsam/geometry/Rot2.h
@@ -30,7 +30,7 @@ namespace gtsam {
   /**
    * Rotation matrix
    * NOTE: the angle theta is in radians unless explicitly stated
-   * @addtogroup geometry
+   * @ingroup geometry
    * \nosubgrouping
    */
   class GTSAM_EXPORT Rot2 : public LieGroup<Rot2, 1> {
diff --git a/gtsam/geometry/Rot3.h b/gtsam/geometry/Rot3.h
index 09abb70bcb..be025d0289 100644
--- a/gtsam/geometry/Rot3.h
+++ b/gtsam/geometry/Rot3.h
@@ -53,7 +53,7 @@ namespace gtsam {
  * @brief Rot3 is a 3D rotation represented as a rotation matrix if the
  * preprocessor symbol GTSAM_USE_QUATERNIONS is not defined, or as a quaternion
  * if it is defined.
- * @addtogroup geometry
+ * @ingroup geometry
  */
 class GTSAM_EXPORT Rot3 : public LieGroup<Rot3, 3> {
  private:
diff --git a/gtsam/geometry/SphericalCamera.h b/gtsam/geometry/SphericalCamera.h
index dc9e4bbde8..0ca391520a 100644
--- a/gtsam/geometry/SphericalCamera.h
+++ b/gtsam/geometry/SphericalCamera.h
@@ -34,7 +34,7 @@ namespace gtsam {
  * Empty calibration. Only needed to play well with other cameras
  * (e.g., when templating functions wrt cameras), since other cameras
  * have constuctors in the form ‘camera(pose,calibration)’
- * @addtogroup geometry
+ * @ingroup geometry
  * \nosubgrouping
  */
 class GTSAM_EXPORT EmptyCal {
@@ -64,7 +64,7 @@ class GTSAM_EXPORT EmptyCal {
 /**
  * A spherical camera class that has a Pose3 and measures bearing vectors.
  * The camera has an ‘Empty’ calibration and the only 6 dof are the pose
- * @addtogroup geometry
+ * @ingroup geometry
  * \nosubgrouping
  */
 class GTSAM_EXPORT SphericalCamera {
diff --git a/gtsam/geometry/StereoCamera.h b/gtsam/geometry/StereoCamera.h
index c53fc11c99..603476278f 100644
--- a/gtsam/geometry/StereoCamera.h
+++ b/gtsam/geometry/StereoCamera.h
@@ -42,7 +42,7 @@ class GTSAM_EXPORT StereoCheiralityException: public std::runtime_error {
 
 /**
  * A stereo camera class, parameterize by left camera pose and stereo calibration
- * @addtogroup geometry
+ * @ingroup geometry
  */
 class GTSAM_EXPORT StereoCamera {
 
diff --git a/gtsam/geometry/StereoPoint2.h b/gtsam/geometry/StereoPoint2.h
index 9eef01577d..7e34565f77 100644
--- a/gtsam/geometry/StereoPoint2.h
+++ b/gtsam/geometry/StereoPoint2.h
@@ -26,7 +26,7 @@ namespace gtsam {
 
 /**
  * A 2D stereo point, v will be same for rectified images
- * @addtogroup geometry
+ * @ingroup geometry
  * \nosubgrouping
  */
 class GTSAM_EXPORT StereoPoint2 {
diff --git a/gtsam/navigation/AttitudeFactor.h b/gtsam/navigation/AttitudeFactor.h
index 490c8b17fb..e8da541b1d 100644
--- a/gtsam/navigation/AttitudeFactor.h
+++ b/gtsam/navigation/AttitudeFactor.h
@@ -29,7 +29,7 @@ namespace gtsam {
  * - measurement is direction of gravity in body frame bF
  * - reference is direction of gravity in navigation frame nG
  * This factor will give zero error if nRb * bF == nG
- * @addtogroup Navigation
+ * @ingroup navigation
  */
 class AttitudeFactor {
 
@@ -74,7 +74,7 @@ class AttitudeFactor {
 
 /**
  * Version of AttitudeFactor for Rot3
- * @addtogroup Navigation
+ * @ingroup navigation
  */
 class GTSAM_EXPORT Rot3AttitudeFactor: public NoiseModelFactor1<Rot3>, public AttitudeFactor {
 
@@ -147,7 +147,7 @@ template<> struct traits<Rot3AttitudeFactor> : public Testable<Rot3AttitudeFacto
 
 /**
  * Version of AttitudeFactor for Pose3
- * @addtogroup Navigation
+ * @ingroup navigation
  */
 class GTSAM_EXPORT Pose3AttitudeFactor: public NoiseModelFactor1<Pose3>,
     public AttitudeFactor {
diff --git a/gtsam/navigation/BarometricFactor.h b/gtsam/navigation/BarometricFactor.h
index e7bf6f9989..b570049a5e 100644
--- a/gtsam/navigation/BarometricFactor.h
+++ b/gtsam/navigation/BarometricFactor.h
@@ -29,7 +29,7 @@ namespace gtsam {
  * Model with a slowly moving bias to capture differences
  * between the height and the standard atmosphere
  * https://www.grc.nasa.gov/www/k-12/airplane/atmosmet.html
- * @addtogroup Navigation
+ * @ingroup navigation
  */
 class GTSAM_EXPORT BarometricFactor : public NoiseModelFactor2<Pose3, double> {
    private:
diff --git a/gtsam/navigation/CombinedImuFactor.h b/gtsam/navigation/CombinedImuFactor.h
index 54c5a7dbb3..4330a023a3 100644
--- a/gtsam/navigation/CombinedImuFactor.h
+++ b/gtsam/navigation/CombinedImuFactor.h
@@ -123,7 +123,7 @@ struct GTSAM_EXPORT PreintegrationCombinedParams : PreintegrationParams {
  * it is received from the IMU) so as to avoid costly integration at time of
  * factor construction.
  *
- * @ingroup SLAM
+ * @ingroup navigation
  */
 class GTSAM_EXPORT PreintegratedCombinedMeasurements : public PreintegrationType {
 
@@ -252,7 +252,7 @@ class GTSAM_EXPORT PreintegratedCombinedMeasurements : public PreintegrationType
  *    the correlation between the bias uncertainty and the preintegrated
  *    measurements uncertainty.
  *
- * @ingroup SLAM
+ * @ingroup navigation
  */
 class GTSAM_EXPORT CombinedImuFactor: public NoiseModelFactor6<Pose3, Vector3, Pose3,
     Vector3, imuBias::ConstantBias, imuBias::ConstantBias> {
diff --git a/gtsam/navigation/GPSFactor.h b/gtsam/navigation/GPSFactor.h
index 8fcf0f0994..40d0ef22a5 100644
--- a/gtsam/navigation/GPSFactor.h
+++ b/gtsam/navigation/GPSFactor.h
@@ -30,7 +30,7 @@ namespace gtsam {
  *   NED: North-East-Down navigation frame at some local origin
  *   ECEF: Earth-centered Earth-fixed, origin at Earth's center
  * See Farrell08book or e.g. http://www.dirsig.org/docs/new/coordinates.html
- * @addtogroup Navigation
+ * @ingroup navigation
  */
 class GTSAM_EXPORT GPSFactor: public NoiseModelFactor1<Pose3> {
 
@@ -108,7 +108,7 @@ class GTSAM_EXPORT GPSFactor: public NoiseModelFactor1<Pose3> {
 
 /**
  * Version of GPSFactor for NavState
- * @addtogroup Navigation
+ * @ingroup navigation
  */
 class GTSAM_EXPORT GPSFactor2: public NoiseModelFactor1<NavState> {
 
diff --git a/gtsam/sfm/MFAS.h b/gtsam/sfm/MFAS.h
index 151b318ad8..3595673a3c 100644
--- a/gtsam/sfm/MFAS.h
+++ b/gtsam/sfm/MFAS.h
@@ -46,7 +46,7 @@ namespace gtsam {
   i.e w_aZb is the unit translation from a to b expressed in the world
   coordinate frame. The weights for the edges are obtained by projecting the
   unit translations in a projection direction.
-  @addtogroup SFM
+  @ingroup sfm
 */
 class GTSAM_EXPORT MFAS {
  public:
diff --git a/gtsam/sfm/SfmData.h b/gtsam/sfm/SfmData.h
index 430e107ad8..f445d74da8 100644
--- a/gtsam/sfm/SfmData.h
+++ b/gtsam/sfm/SfmData.h
@@ -34,7 +34,7 @@ typedef PinholeCamera<Cal3Bundler> SfmCamera;
 
 /**
  * @brief SfmData stores a bunch of SfmTracks
- * @addtogroup sfm
+ * @ingroup sfm
  */
 struct GTSAM_EXPORT SfmData {
   std::vector<SfmCamera> cameras;  ///< Set of cameras
diff --git a/gtsam/sfm/SfmTrack.h b/gtsam/sfm/SfmTrack.h
index 37731b32ae..ab084aca9f 100644
--- a/gtsam/sfm/SfmTrack.h
+++ b/gtsam/sfm/SfmTrack.h
@@ -36,7 +36,7 @@ typedef std::pair<size_t, size_t> SiftIndex;
 
 /**
  * @brief An SfmTrack stores SfM measurements grouped in a track
- * @addtogroup sfm
+ * @ingroup sfm
  */
 struct GTSAM_EXPORT SfmTrack {
   Point3 p;       ///< 3D position of the point
diff --git a/gtsam/sfm/TranslationFactor.h b/gtsam/sfm/TranslationFactor.h
index d1f85cf01b..735746b3a0 100644
--- a/gtsam/sfm/TranslationFactor.h
+++ b/gtsam/sfm/TranslationFactor.h
@@ -35,7 +35,7 @@ namespace gtsam {
  * ambient world coordinate frame:
  *    normalized(Tb - Ta) - w_aZb.point3()
  *
- * @addtogroup SFM
+ * @ingroup sfm
  * 
  * 
  */

From 3963ce12307df6579c27a6082de88f2e7b0b54e4 Mon Sep 17 00:00:00 2001
From: Varun Agrawal <varagrawal@gmail.com>
Date: Tue, 26 Jul 2022 16:25:52 -0400
Subject: [PATCH 235/433] add the various groups

---
 gtsam/groups.dox | 39 ++++++++++++++++++++++++++++++++++++---
 1 file changed, 36 insertions(+), 3 deletions(-)

diff --git a/gtsam/groups.dox b/gtsam/groups.dox
index 6f7124c42e..4a52371a5e 100644
--- a/gtsam/groups.dox
+++ b/gtsam/groups.dox
@@ -1,7 +1,7 @@
 /**
 
 \defgroup LinearSolving Solving of sparse linear systems with least-squares
-@{
+@{ @}
 
 \defgroup Multifrontal Solving by multifrontal variable elimination (QR and Cholesky)
 @{ @}
@@ -9,9 +9,42 @@
 \defgroup Sequential Solving by sequential variable elimination (QR and Cholesky)
 @{ @}
 
+\defgroup basis Basis
+@{ @}
+
+\defgroup discrete Discrete
+@{ @}
+
+\defgroup geometry Geometry
+@{
+  Geometric primitives.
 @}
 
-\defgroup SLAM Useful SLAM components
+\defgroup hybrid Hybrid
+@{ @}
+
+\defgroup inference Inference
+@{ @}
+
+\defgroup linear Linear
+@{ @}
+
+\defgroup navigation Navigation
+@{ @}
+
+\defgroup nonlinear Nonlinear
+@{ @}
+
+\defgroup sam SAM
+@{ @}
+
+\defgroup sfm SFM
+@{ @}
+
+\defgroup slam SLAM
+@{ Useful SLAM components @}
+
+\defgroup symbolic Symbolic
 @{ @}
 
-*/
+*/ 

From 51dd35afd4f4099393e9c5dea56dfb1165287054 Mon Sep 17 00:00:00 2001
From: Varun Agrawal <varagrawal@gmail.com>
Date: Tue, 26 Jul 2022 16:36:25 -0400
Subject: [PATCH 236/433] better page arrangement to include GTSAM_UNSTABLE

---
 gtsam/mainpage.dox          | 6 ++++++
 gtsam_unstable/mainpage.dox | 6 +++---
 2 files changed, 9 insertions(+), 3 deletions(-)

diff --git a/gtsam/mainpage.dox b/gtsam/mainpage.dox
index ee7bd9924c..3c5342ca50 100644
--- a/gtsam/mainpage.dox
+++ b/gtsam/mainpage.dox
@@ -5,6 +5,12 @@ namespace gtsam {
 
 \mainpage GTSAM
 
+\subpage GTSAM
+
+\subpage GTSAM_UNSTABLE
+
+\page GTSAM
+
 \section new_factor_variable_types Creating new factor and variable types
 
 GTSAM comes with a set of variable and factor types typically used in SFM and
diff --git a/gtsam_unstable/mainpage.dox b/gtsam_unstable/mainpage.dox
index 615f22cc65..dc2d9dbf42 100644
--- a/gtsam_unstable/mainpage.dox
+++ b/gtsam_unstable/mainpage.dox
@@ -4,16 +4,16 @@ namespace gtsam {
 
 /**
 
-\mainpage GTSAM_UNSTABLE
+\page GTSAM_UNSTABLE
 
-\section  gtsam_unstable_overview GTSAM_UNSTABLE Overview
+\section  gtsam_unstable_overview Overview
 
 GTSAM_UNSTABLE is a set of experimental additions to GTSAM that are not fully ready to be 
 integrated into the rest of the library.  This library is actively maintained,
 and should follow the same design procedures as GTSAM.
 
 Because parts of this library are supposed to be a part of GTSAM, all code should
-be in the gtsam namespace, rather than a gtsam_unstable namespace.    
+be in the gtsam namespace, rather than a gtsam_unstable namespace.
 
 */
 

From d6fe41d59d1b938098b911b97c99926a24207021 Mon Sep 17 00:00:00 2001
From: Varun Agrawal <varagrawal@gmail.com>
Date: Tue, 26 Jul 2022 16:44:30 -0400
Subject: [PATCH 237/433] update the groups

---
 gtsam/navigation/ImuFactor.h                                | 6 +++---
 gtsam/nonlinear/PriorFactor.h                               | 2 +-
 gtsam/sam/BearingRangeFactor.h                              | 2 +-
 gtsam/slam/AntiFactor.h                                     | 2 +-
 gtsam/slam/BetweenFactor.h                                  | 2 +-
 gtsam/slam/BoundingConstraint.h                             | 2 +-
 gtsam/slam/EssentialMatrixConstraint.h                      | 2 +-
 gtsam/slam/GeneralSFMFactor.h                               | 2 +-
 gtsam/slam/ProjectionFactor.h                               | 2 +-
 gtsam/slam/SmartProjectionPoseFactor.h                      | 4 ++--
 gtsam/slam/SmartProjectionRigFactor.h                       | 4 ++--
 gtsam/slam/StereoFactor.h                                   | 2 +-
 gtsam/slam/TriangulationFactor.h                            | 2 +-
 gtsam_unstable/slam/BetweenFactorEM.h                       | 2 +-
 gtsam_unstable/slam/BiasedGPSFactor.h                       | 2 +-
 gtsam_unstable/slam/MultiProjectionFactor.h                 | 2 +-
 gtsam_unstable/slam/PoseBetweenFactor.h                     | 2 +-
 gtsam_unstable/slam/PosePriorFactor.h                       | 2 +-
 gtsam_unstable/slam/PoseToPointFactor.h                     | 2 +-
 gtsam_unstable/slam/ProjectionFactorPPP.h                   | 2 +-
 gtsam_unstable/slam/ProjectionFactorPPPC.h                  | 2 +-
 gtsam_unstable/slam/ProjectionFactorRollingShutter.h        | 2 +-
 .../slam/SmartProjectionPoseFactorRollingShutter.h          | 4 ++--
 gtsam_unstable/slam/SmartRangeFactor.h                      | 2 +-
 gtsam_unstable/slam/SmartStereoProjectionFactorPP.h         | 4 ++--
 gtsam_unstable/slam/SmartStereoProjectionPoseFactor.h       | 4 ++--
 gtsam_unstable/slam/TransformBtwRobotsUnaryFactor.h         | 2 +-
 gtsam_unstable/slam/TransformBtwRobotsUnaryFactorEM.h       | 2 +-
 28 files changed, 35 insertions(+), 35 deletions(-)

diff --git a/gtsam/navigation/ImuFactor.h b/gtsam/navigation/ImuFactor.h
index c3b398e223..afe9b19582 100644
--- a/gtsam/navigation/ImuFactor.h
+++ b/gtsam/navigation/ImuFactor.h
@@ -66,7 +66,7 @@ typedef ManifoldPreintegration PreintegrationType;
  * as soon as it is received from the IMU) so as to avoid costly integration
  * at time of factor construction.
  *
- * @ingroup SLAM
+ * @ingroup navigation
  */
 class GTSAM_EXPORT PreintegratedImuMeasurements: public PreintegrationType {
 
@@ -165,7 +165,7 @@ class GTSAM_EXPORT PreintegratedImuMeasurements: public PreintegrationType {
  * (which are usually slowly varying quantities), which is up to the caller.
  * See also CombinedImuFactor for a class that does this for you.
  *
- * @ingroup SLAM
+ * @ingroup navigation
  */
 class GTSAM_EXPORT ImuFactor: public NoiseModelFactor5<Pose3, Vector3, Pose3, Vector3,
     imuBias::ConstantBias> {
@@ -256,7 +256,7 @@ class GTSAM_EXPORT ImuFactor: public NoiseModelFactor5<Pose3, Vector3, Pose3, Ve
 
 /**
  * ImuFactor2 is a ternary factor that uses NavStates rather than Pose/Velocity.
- * @ingroup SLAM
+ * @ingroup navigation
  */
 class GTSAM_EXPORT ImuFactor2 : public NoiseModelFactor3<NavState, NavState, imuBias::ConstantBias> {
 private:
diff --git a/gtsam/nonlinear/PriorFactor.h b/gtsam/nonlinear/PriorFactor.h
index c5124a3fe7..2d4a0ca326 100644
--- a/gtsam/nonlinear/PriorFactor.h
+++ b/gtsam/nonlinear/PriorFactor.h
@@ -24,7 +24,7 @@ namespace gtsam {
 
   /**
    * A class for a soft prior on any Value type
-   * @ingroup SLAM
+   * @ingroup nonlinear
    */
   template<class VALUE>
   class PriorFactor: public NoiseModelFactor1<VALUE> {
diff --git a/gtsam/sam/BearingRangeFactor.h b/gtsam/sam/BearingRangeFactor.h
index c83009651e..0c38a2ea36 100644
--- a/gtsam/sam/BearingRangeFactor.h
+++ b/gtsam/sam/BearingRangeFactor.h
@@ -27,7 +27,7 @@ namespace gtsam {
 
 /**
  * Binary factor for a bearing/range measurement
- * @ingroup SLAM
+ * @ingroup sam
  */
 template <typename A1, typename A2,
           typename B = typename Bearing<A1, A2>::result_type,
diff --git a/gtsam/slam/AntiFactor.h b/gtsam/slam/AntiFactor.h
index a0d6a12071..b291afac95 100644
--- a/gtsam/slam/AntiFactor.h
+++ b/gtsam/slam/AntiFactor.h
@@ -26,7 +26,7 @@ namespace gtsam {
    * A class for downdating an existing factor from a graph. The AntiFactor returns the same
    * linearized Hessian matrices of the original factor, but with the opposite sign. This effectively
    * cancels out any affects of the original factor during optimization."
-   * @ingroup SLAM
+   * @ingroup slam
    */
   class AntiFactor: public NonlinearFactor {
 
diff --git a/gtsam/slam/BetweenFactor.h b/gtsam/slam/BetweenFactor.h
index 5422a61ecd..dc72f07b22 100644
--- a/gtsam/slam/BetweenFactor.h
+++ b/gtsam/slam/BetweenFactor.h
@@ -34,7 +34,7 @@ namespace gtsam {
   /**
    * A class for a measurement predicted by "between(config[key1],config[key2])"
    * @tparam VALUE the Value type
-   * @ingroup SLAM
+   * @ingroup slam
    */
   template<class VALUE>
   class BetweenFactor: public NoiseModelFactor2<VALUE, VALUE> {
diff --git a/gtsam/slam/BoundingConstraint.h b/gtsam/slam/BoundingConstraint.h
index 07c7656690..c09d4136d4 100644
--- a/gtsam/slam/BoundingConstraint.h
+++ b/gtsam/slam/BoundingConstraint.h
@@ -27,7 +27,7 @@ namespace gtsam {
  * greater/less than a fixed threshold.  The function
  * will need to have its value function implemented to return
  * a scalar for comparison.
- * @ingroup SLAM
+ * @ingroup slam
  */
 template<class VALUE>
 struct BoundingConstraint1: public NoiseModelFactor1<VALUE> {
diff --git a/gtsam/slam/EssentialMatrixConstraint.h b/gtsam/slam/EssentialMatrixConstraint.h
index 91487b522e..dd3c522861 100644
--- a/gtsam/slam/EssentialMatrixConstraint.h
+++ b/gtsam/slam/EssentialMatrixConstraint.h
@@ -25,7 +25,7 @@ namespace gtsam {
 
 /**
  * Binary factor between two Pose3 variables induced by an EssentialMatrix measurement
- * @ingroup SLAM
+ * @ingroup slam
  */
 class GTSAM_EXPORT EssentialMatrixConstraint: public NoiseModelFactor2<Pose3, Pose3> {
 
diff --git a/gtsam/slam/GeneralSFMFactor.h b/gtsam/slam/GeneralSFMFactor.h
index 5cf8d5b752..23f10de343 100644
--- a/gtsam/slam/GeneralSFMFactor.h
+++ b/gtsam/slam/GeneralSFMFactor.h
@@ -54,7 +54,7 @@ namespace gtsam {
 /**
  * Non-linear factor for a constraint derived from a 2D measurement.
  * The calibration is unknown here compared to GenericProjectionFactor
- * @ingroup SLAM
+ * @ingroup slam
  */
 template<class CAMERA, class LANDMARK>
 class GeneralSFMFactor: public NoiseModelFactor2<CAMERA, LANDMARK> {
diff --git a/gtsam/slam/ProjectionFactor.h b/gtsam/slam/ProjectionFactor.h
index e01b9b0b8a..0fc1c0b54b 100644
--- a/gtsam/slam/ProjectionFactor.h
+++ b/gtsam/slam/ProjectionFactor.h
@@ -33,7 +33,7 @@ namespace gtsam {
    * Non-linear factor for a constraint derived from a 2D measurement. 
    * The calibration is known here.
    * The main building block for visual SLAM.
-   * @ingroup SLAM
+   * @ingroup slam
    */
   template <class POSE = Pose3, class LANDMARK = Point3,
             class CALIBRATION = Cal3_S2>
diff --git a/gtsam/slam/SmartProjectionPoseFactor.h b/gtsam/slam/SmartProjectionPoseFactor.h
index f1403bdb15..e432cbfb14 100644
--- a/gtsam/slam/SmartProjectionPoseFactor.h
+++ b/gtsam/slam/SmartProjectionPoseFactor.h
@@ -24,7 +24,7 @@
 namespace gtsam {
 /**
  *
- * @ingroup SLAM
+ * @ingroup slam
  *
  * If you are using the factor, please cite:
  * L. Carlone, Z. Kira, C. Beall, V. Indelman, F. Dellaert, Eliminating conditionally
@@ -39,7 +39,7 @@ namespace gtsam {
  * The factor only constrains poses (variable dimension is 6).
  * This factor requires that values contains the involved poses (Pose3).
  * If the calibration should be optimized, as well, use SmartProjectionFactor instead!
- * @ingroup SLAM
+ * @ingroup slam
  */
 template <class CALIBRATION>
 class SmartProjectionPoseFactor
diff --git a/gtsam/slam/SmartProjectionRigFactor.h b/gtsam/slam/SmartProjectionRigFactor.h
index 40af55b2c5..9065d5b23f 100644
--- a/gtsam/slam/SmartProjectionRigFactor.h
+++ b/gtsam/slam/SmartProjectionRigFactor.h
@@ -29,7 +29,7 @@
 namespace gtsam {
 /**
  *
- * @ingroup SLAM
+ * @ingroup slam
  *
  * If you are using the factor, please cite:
  * L. Carlone, Z. Kira, C. Beall, V. Indelman, F. Dellaert, Eliminating
@@ -46,7 +46,7 @@ namespace gtsam {
  * calibration (i.e., are from the same camera), use SmartProjectionPoseFactor
  * instead! If the calibration should be optimized, as well, use
  * SmartProjectionFactor instead!
- * @ingroup SLAM
+ * @ingroup slam
  */
 template <class CAMERA>
 class SmartProjectionRigFactor : public SmartProjectionFactor<CAMERA> {
diff --git a/gtsam/slam/StereoFactor.h b/gtsam/slam/StereoFactor.h
index 40ea7158f1..ca1774e310 100644
--- a/gtsam/slam/StereoFactor.h
+++ b/gtsam/slam/StereoFactor.h
@@ -25,7 +25,7 @@ namespace gtsam {
 
 /**
  * A Generic Stereo Factor
- * @ingroup SLAM
+ * @ingroup slam
  */
 template<class POSE, class LANDMARK>
 class GenericStereoFactor: public NoiseModelFactor2<POSE, LANDMARK> {
diff --git a/gtsam/slam/TriangulationFactor.h b/gtsam/slam/TriangulationFactor.h
index 405436b82d..80d3230199 100644
--- a/gtsam/slam/TriangulationFactor.h
+++ b/gtsam/slam/TriangulationFactor.h
@@ -27,7 +27,7 @@ namespace gtsam {
 /**
  * Non-linear factor for a constraint derived from a 2D measurement.
  * The calibration and pose are assumed known.
- * @ingroup SLAM
+ * @ingroup slam
  */
 template<class CAMERA>
 class TriangulationFactor: public NoiseModelFactor1<Point3> {
diff --git a/gtsam_unstable/slam/BetweenFactorEM.h b/gtsam_unstable/slam/BetweenFactorEM.h
index ffaa05c7dd..848abc9cc5 100644
--- a/gtsam_unstable/slam/BetweenFactorEM.h
+++ b/gtsam_unstable/slam/BetweenFactorEM.h
@@ -28,7 +28,7 @@ namespace gtsam {
 /**
  * A class for a measurement predicted by "between(config[key1],config[key2])"
  * @tparam VALUE the Value type
- * @ingroup SLAM
+ * @ingroup slam
  */
 template<class VALUE>
 class BetweenFactorEM: public NonlinearFactor {
diff --git a/gtsam_unstable/slam/BiasedGPSFactor.h b/gtsam_unstable/slam/BiasedGPSFactor.h
index 5359fac4e5..250c15b830 100644
--- a/gtsam_unstable/slam/BiasedGPSFactor.h
+++ b/gtsam_unstable/slam/BiasedGPSFactor.h
@@ -25,7 +25,7 @@ namespace gtsam {
   /**
    * A class to model GPS measurements, including a bias term which models
    * common-mode errors and that can be partially corrected if other sensors are used
-   * @ingroup SLAM
+   * @ingroup slam
    */
   class BiasedGPSFactor: public NoiseModelFactor2<Pose3, Point3> {
 
diff --git a/gtsam_unstable/slam/MultiProjectionFactor.h b/gtsam_unstable/slam/MultiProjectionFactor.h
index bd4f64fd77..91d79f2089 100644
--- a/gtsam_unstable/slam/MultiProjectionFactor.h
+++ b/gtsam_unstable/slam/MultiProjectionFactor.h
@@ -29,7 +29,7 @@ namespace gtsam {
   /**
    * Non-linear factor for a constraint derived from a 2D measurement. The calibration is known here.
    * i.e. the main building block for visual SLAM.
-   * @ingroup SLAM
+   * @ingroup slam
    */
   template<class POSE, class LANDMARK, class CALIBRATION = Cal3_S2>
   class MultiProjectionFactor: public NoiseModelFactor {
diff --git a/gtsam_unstable/slam/PoseBetweenFactor.h b/gtsam_unstable/slam/PoseBetweenFactor.h
index a55f3a6e31..b47dcaf33b 100644
--- a/gtsam_unstable/slam/PoseBetweenFactor.h
+++ b/gtsam_unstable/slam/PoseBetweenFactor.h
@@ -26,7 +26,7 @@ namespace gtsam {
   /**
    * A class for a measurement predicted by "between(config[key1],config[key2])"
    * @tparam POSE the Pose type
-   * @ingroup SLAM
+   * @ingroup slam
    */
   template<class POSE>
   class PoseBetweenFactor: public NoiseModelFactor2<POSE, POSE> {
diff --git a/gtsam_unstable/slam/PosePriorFactor.h b/gtsam_unstable/slam/PosePriorFactor.h
index 6668a9b4b7..b0cb25cfaf 100644
--- a/gtsam_unstable/slam/PosePriorFactor.h
+++ b/gtsam_unstable/slam/PosePriorFactor.h
@@ -23,7 +23,7 @@ namespace gtsam {
 
   /**
    * A class for a soft prior on any Value type
-   * @ingroup SLAM
+   * @ingroup slam
    */
   template<class POSE>
   class PosePriorFactor: public NoiseModelFactor1<POSE> {
diff --git a/gtsam_unstable/slam/PoseToPointFactor.h b/gtsam_unstable/slam/PoseToPointFactor.h
index 2f8bad6dfb..8d183015e0 100644
--- a/gtsam_unstable/slam/PoseToPointFactor.h
+++ b/gtsam_unstable/slam/PoseToPointFactor.h
@@ -18,7 +18,7 @@ namespace gtsam {
 
 /**
  * A class for a measurement between a pose and a point.
- * @ingroup SLAM
+ * @ingroup slam
  */
 template<typename POSE = Pose3, typename POINT = Point3>
 class PoseToPointFactor : public NoiseModelFactor2<POSE, POINT> {
diff --git a/gtsam_unstable/slam/ProjectionFactorPPP.h b/gtsam_unstable/slam/ProjectionFactorPPP.h
index 41f79d6140..d6f643c6cc 100644
--- a/gtsam_unstable/slam/ProjectionFactorPPP.h
+++ b/gtsam_unstable/slam/ProjectionFactorPPP.h
@@ -28,7 +28,7 @@ namespace gtsam {
   /**
    * Non-linear factor for a constraint derived from a 2D measurement. The calibration is known here.
    * i.e. the main building block for visual SLAM.
-   * @ingroup SLAM
+   * @ingroup slam
    */
   template<class POSE, class LANDMARK, class CALIBRATION = Cal3_S2>
   class ProjectionFactorPPP: public NoiseModelFactor3<POSE, POSE, LANDMARK> {
diff --git a/gtsam_unstable/slam/ProjectionFactorPPPC.h b/gtsam_unstable/slam/ProjectionFactorPPPC.h
index ec0a426f9d..5c9a8c6914 100644
--- a/gtsam_unstable/slam/ProjectionFactorPPPC.h
+++ b/gtsam_unstable/slam/ProjectionFactorPPPC.h
@@ -30,7 +30,7 @@ namespace gtsam {
   /**
    * Non-linear factor for a constraint derived from a 2D measurement. This factor
    * estimates the body pose, body-camera transform, 3D landmark, and calibration.
-   * @ingroup SLAM
+   * @ingroup slam
    */
 template <class POSE, class LANDMARK, class CALIBRATION = Cal3_S2>
 class GTSAM_UNSTABLE_EXPORT ProjectionFactorPPPC
diff --git a/gtsam_unstable/slam/ProjectionFactorRollingShutter.h b/gtsam_unstable/slam/ProjectionFactorRollingShutter.h
index c349fd095b..597d894da8 100644
--- a/gtsam_unstable/slam/ProjectionFactorRollingShutter.h
+++ b/gtsam_unstable/slam/ProjectionFactorRollingShutter.h
@@ -38,7 +38,7 @@ namespace gtsam {
  * define the alpha = (t_p - t_A) / (t_B - t_A), we will use the pose
  * interpolated between A and B by the alpha to project the corresponding
  * landmark to Point2.
- * @ingroup SLAM
+ * @ingroup slam
  */
 
 class GTSAM_UNSTABLE_EXPORT ProjectionFactorRollingShutter
diff --git a/gtsam_unstable/slam/SmartProjectionPoseFactorRollingShutter.h b/gtsam_unstable/slam/SmartProjectionPoseFactorRollingShutter.h
index b2f58f75f3..59a562d2c3 100644
--- a/gtsam_unstable/slam/SmartProjectionPoseFactorRollingShutter.h
+++ b/gtsam_unstable/slam/SmartProjectionPoseFactorRollingShutter.h
@@ -25,7 +25,7 @@
 namespace gtsam {
 /**
  *
- * @ingroup SLAM
+ * @ingroup slam
  *
  * If you are using the factor, please cite:
  * L. Carlone, Z. Kira, C. Beall, V. Indelman, F. Dellaert,
@@ -39,7 +39,7 @@ namespace gtsam {
  * shutter model of the camera with given readout time. The factor requires that
  * values contain (for each pixel observation) two consecutive camera poses from
  * which the pixel observation pose can be interpolated.
- * @ingroup SLAM
+ * @ingroup slam
  */
 template <class CAMERA>
 class GTSAM_UNSTABLE_EXPORT SmartProjectionPoseFactorRollingShutter
diff --git a/gtsam_unstable/slam/SmartRangeFactor.h b/gtsam_unstable/slam/SmartRangeFactor.h
index 8a2a1d3a8e..1c035331be 100644
--- a/gtsam_unstable/slam/SmartRangeFactor.h
+++ b/gtsam_unstable/slam/SmartRangeFactor.h
@@ -24,7 +24,7 @@ namespace gtsam {
 
 /**
  * Smart factor for range SLAM
- * @ingroup SLAM
+ * @ingroup slam
  */
 class SmartRangeFactor: public NoiseModelFactor {
  protected:
diff --git a/gtsam_unstable/slam/SmartStereoProjectionFactorPP.h b/gtsam_unstable/slam/SmartStereoProjectionFactorPP.h
index e1bc01691e..0c9174bf6f 100644
--- a/gtsam_unstable/slam/SmartStereoProjectionFactorPP.h
+++ b/gtsam_unstable/slam/SmartStereoProjectionFactorPP.h
@@ -23,7 +23,7 @@
 namespace gtsam {
 /**
  *
- * @ingroup SLAM
+ * @ingroup slam
  *
  * If you are using the factor, please cite:
  * L. Carlone, Z. Kira, C. Beall, V. Indelman, F. Dellaert,
@@ -38,7 +38,7 @@ namespace gtsam {
  * calibration or the same calibration can be shared by multiple cameras. This
  * factor requires that values contain the involved poses and extrinsics (both
  * are Pose3 variables).
- * @ingroup SLAM
+ * @ingroup slam
  */
 class GTSAM_UNSTABLE_EXPORT SmartStereoProjectionFactorPP
     : public SmartStereoProjectionFactor {
diff --git a/gtsam_unstable/slam/SmartStereoProjectionPoseFactor.h b/gtsam_unstable/slam/SmartStereoProjectionPoseFactor.h
index 9e83b7736b..ad09cd207f 100644
--- a/gtsam_unstable/slam/SmartStereoProjectionPoseFactor.h
+++ b/gtsam_unstable/slam/SmartStereoProjectionPoseFactor.h
@@ -26,7 +26,7 @@
 namespace gtsam {
 /**
  *
- * @ingroup SLAM
+ * @ingroup slam
  *
  * If you are using the factor, please cite:
  * L. Carlone, Z. Kira, C. Beall, V. Indelman, F. Dellaert,
@@ -41,7 +41,7 @@ namespace gtsam {
  * has its own calibration.
  * The factor only constrains poses (variable dimension is 6).
  * This factor requires that values contains the involved poses (Pose3).
- * @ingroup SLAM
+ * @ingroup slam
  */
 class GTSAM_UNSTABLE_EXPORT SmartStereoProjectionPoseFactor
     : public SmartStereoProjectionFactor {
diff --git a/gtsam_unstable/slam/TransformBtwRobotsUnaryFactor.h b/gtsam_unstable/slam/TransformBtwRobotsUnaryFactor.h
index 80d2abf9b9..3afa83f45b 100644
--- a/gtsam_unstable/slam/TransformBtwRobotsUnaryFactor.h
+++ b/gtsam_unstable/slam/TransformBtwRobotsUnaryFactor.h
@@ -29,7 +29,7 @@ namespace gtsam {
   /**
    * A class for a measurement predicted by "between(config[key1],config[key2])"
    * @tparam VALUE the Value type
-   * @ingroup SLAM
+   * @ingroup slam
    */
   template<class VALUE>
   class TransformBtwRobotsUnaryFactor: public NonlinearFactor { // TODO why not NoiseModelFactor1 ?
diff --git a/gtsam_unstable/slam/TransformBtwRobotsUnaryFactorEM.h b/gtsam_unstable/slam/TransformBtwRobotsUnaryFactorEM.h
index cce18cc441..2748d337e6 100644
--- a/gtsam_unstable/slam/TransformBtwRobotsUnaryFactorEM.h
+++ b/gtsam_unstable/slam/TransformBtwRobotsUnaryFactorEM.h
@@ -31,7 +31,7 @@ namespace gtsam {
   /**
    * A class for a measurement predicted by "between(config[key1],config[key2])"
    * @tparam VALUE the Value type
-   * @ingroup SLAM
+   * @ingroup slam
    */
   template<class VALUE>
   class TransformBtwRobotsUnaryFactorEM: public NonlinearFactor {

From eaac392f377dcc332bcea5160f6c9af5e845f56b Mon Sep 17 00:00:00 2001
From: Varun Agrawal <varagrawal@gmail.com>
Date: Tue, 26 Jul 2022 16:47:27 -0400
Subject: [PATCH 238/433] add base module

---
 gtsam/base/ConcurrentMap.h        | 2 +-
 gtsam/base/DSFMap.h               | 2 +-
 gtsam/base/DSFVector.h            | 4 ++--
 gtsam/base/FastList.h             | 2 +-
 gtsam/base/FastMap.h              | 2 +-
 gtsam/base/FastSet.h              | 2 +-
 gtsam/base/FastVector.h           | 2 +-
 gtsam/base/SymmetricBlockMatrix.h | 2 +-
 gtsam/base/Testable.h             | 2 +-
 gtsam/base/ThreadsafeException.h  | 2 +-
 gtsam/base/VerticalBlockMatrix.h  | 2 +-
 gtsam/base/types.cpp              | 2 +-
 gtsam/base/types.h                | 2 +-
 gtsam/global_includes.h           | 2 +-
 gtsam/groups.dox                  | 3 +++
 gtsam_unstable/base/BTree.h       | 2 +-
 gtsam_unstable/base/DSF.h         | 2 +-
 17 files changed, 20 insertions(+), 17 deletions(-)

diff --git a/gtsam/base/ConcurrentMap.h b/gtsam/base/ConcurrentMap.h
index cf4537d4c2..8d5f566751 100644
--- a/gtsam/base/ConcurrentMap.h
+++ b/gtsam/base/ConcurrentMap.h
@@ -62,7 +62,7 @@ namespace gtsam {
  * convenience to avoid having lengthy types in the code.  Through timing,
  * we've seen that the fast_pool_allocator can lead to speedups of several
  * percent.
- * @addtogroup base
+ * @ingroup base
  */
 template<typename KEY, typename VALUE>
 class ConcurrentMap : public ConcurrentMapBase<KEY,VALUE> {
diff --git a/gtsam/base/DSFMap.h b/gtsam/base/DSFMap.h
index 3a9d21aade..a666a83347 100644
--- a/gtsam/base/DSFMap.h
+++ b/gtsam/base/DSFMap.h
@@ -28,7 +28,7 @@ namespace gtsam {
 /**
  * Disjoint set forest using an STL map data structure underneath
  * Uses rank compression and union by rank, iterator version
- * @addtogroup base
+ * @ingroup base
  */
 template <class KEY>
 class DSFMap {
diff --git a/gtsam/base/DSFVector.h b/gtsam/base/DSFVector.h
index 6e9bc5c6bf..9c22e012ec 100644
--- a/gtsam/base/DSFVector.h
+++ b/gtsam/base/DSFVector.h
@@ -33,7 +33,7 @@ namespace gtsam {
  * A fast implementation of disjoint set forests that uses vector as underly data structure.
  * This is the absolute minimal DSF data structure, and only allows size_t keys
  * Uses rank compression but not union by rank :-(
- * @addtogroup base
+ * @ingroup base
  */
 class GTSAM_EXPORT DSFBase {
 
@@ -59,7 +59,7 @@ class GTSAM_EXPORT DSFBase {
 
 /**
  * DSFVector additionally keeps a vector of keys to support more expensive operations
- * @addtogroup base
+ * @ingroup base
  */
 class GTSAM_EXPORT DSFVector: public DSFBase {
 
diff --git a/gtsam/base/FastList.h b/gtsam/base/FastList.h
index 752b0b571d..47f8133118 100644
--- a/gtsam/base/FastList.h
+++ b/gtsam/base/FastList.h
@@ -34,7 +34,7 @@ namespace gtsam {
  * convenience to avoid having lengthy types in the code.  Through timing,
  * we've seen that the fast_pool_allocator can lead to speedups of several
  * percent.
-   * @addtogroup base
+   * @ingroup base
  */
 template<typename VALUE>
 class FastList: public std::list<VALUE, typename internal::FastDefaultAllocator<VALUE>::type> {
diff --git a/gtsam/base/FastMap.h b/gtsam/base/FastMap.h
index 65d5321917..1f68c8d28c 100644
--- a/gtsam/base/FastMap.h
+++ b/gtsam/base/FastMap.h
@@ -31,7 +31,7 @@ namespace gtsam {
  * convenience to avoid having lengthy types in the code.  Through timing,
  * we've seen that the fast_pool_allocator can lead to speedups of several
  * percent.
- * @addtogroup base
+ * @ingroup base
  */
 template<typename KEY, typename VALUE>
 class FastMap : public std::map<KEY, VALUE, std::less<KEY>,
diff --git a/gtsam/base/FastSet.h b/gtsam/base/FastSet.h
index 6fe2d06e33..906412f4d2 100644
--- a/gtsam/base/FastSet.h
+++ b/gtsam/base/FastSet.h
@@ -43,7 +43,7 @@ namespace gtsam {
  * fast_pool_allocator instead of the default STL allocator.  This is just a
  * convenience to avoid having lengthy types in the code.  Through timing,
  * we've seen that the fast_pool_allocator can lead to speedups of several %.
- * @addtogroup base
+ * @ingroup base
  */
 template<typename VALUE>
 class FastSet: public std::set<VALUE, std::less<VALUE>,
diff --git a/gtsam/base/FastVector.h b/gtsam/base/FastVector.h
index e54b91126d..0faf80f540 100644
--- a/gtsam/base/FastVector.h
+++ b/gtsam/base/FastVector.h
@@ -27,7 +27,7 @@ namespace gtsam {
 /**
  * FastVector is a type alias to a std::vector with a custom memory allocator.
  * The particular allocator depends on GTSAM's cmake configuration.
- * @addtogroup base
+ * @ingroup base
  */
 template <typename T>
 using FastVector =
diff --git a/gtsam/base/SymmetricBlockMatrix.h b/gtsam/base/SymmetricBlockMatrix.h
index 4e030606da..302a1ec347 100644
--- a/gtsam/base/SymmetricBlockMatrix.h
+++ b/gtsam/base/SymmetricBlockMatrix.h
@@ -47,7 +47,7 @@ namespace gtsam {
   * matrix view.  firstBlock() determines the block that appears to have index 0 for all operations
   * (except re-setting firstBlock()).
   *
-  * @addtogroup base */
+  * @ingroup base */
   class GTSAM_EXPORT SymmetricBlockMatrix
   {
   public:
diff --git a/gtsam/base/Testable.h b/gtsam/base/Testable.h
index d50d62c1f3..f7eddd4140 100644
--- a/gtsam/base/Testable.h
+++ b/gtsam/base/Testable.h
@@ -51,7 +51,7 @@ namespace gtsam {
    * tests and in generic algorithms.
    *
    * See macros for details on using this structure
-   * @addtogroup base
+   * @ingroup base
    * @tparam T is the objectype this constrains to be testable - assumes print() and equals()
    */
   template <class T>
diff --git a/gtsam/base/ThreadsafeException.h b/gtsam/base/ThreadsafeException.h
index 8d5115a195..652dbd90fa 100644
--- a/gtsam/base/ThreadsafeException.h
+++ b/gtsam/base/ThreadsafeException.h
@@ -14,7 +14,7 @@
  * @brief    Base exception type that uses tbb_allocator if GTSAM is compiled with TBB
  * @author   Richard Roberts
  * @date     Aug 21, 2010
- * @addtogroup base
+ * @ingroup base
  */
 
 #pragma once
diff --git a/gtsam/base/VerticalBlockMatrix.h b/gtsam/base/VerticalBlockMatrix.h
index 0d8d69df8a..ef6691cac1 100644
--- a/gtsam/base/VerticalBlockMatrix.h
+++ b/gtsam/base/VerticalBlockMatrix.h
@@ -38,7 +38,7 @@ namespace gtsam {
    * row for all operations.  To include all rows, rowEnd() should be set to the number of rows in
    * the matrix (i.e. one after the last true row index).
    *
-   * @addtogroup base */
+   * @ingroup base */
   class GTSAM_EXPORT VerticalBlockMatrix
   {
   public:
diff --git a/gtsam/base/types.cpp b/gtsam/base/types.cpp
index edc449b12a..0abfc71ac1 100644
--- a/gtsam/base/types.cpp
+++ b/gtsam/base/types.cpp
@@ -14,7 +14,7 @@
  * @brief    Functions for handling type information
  * @author   Varun Agrawal
  * @date     May 18, 2020
- * @addtogroup base
+ * @ingroup base
  */
 
 #include <gtsam/base/types.h>
diff --git a/gtsam/base/types.h b/gtsam/base/types.h
index a0d24f1a62..cb8412cdf4 100644
--- a/gtsam/base/types.h
+++ b/gtsam/base/types.h
@@ -14,7 +14,7 @@
  * @brief    Typedefs for easier changing of types
  * @author   Richard Roberts
  * @date     Aug 21, 2010
- * @addtogroup base
+ * @ingroup base
  */
 
 #pragma once
diff --git a/gtsam/global_includes.h b/gtsam/global_includes.h
index c04da2e5c8..94ae9ee5b6 100644
--- a/gtsam/global_includes.h
+++ b/gtsam/global_includes.h
@@ -13,7 +13,7 @@
  * @file     global_includes.h
  * @brief    Included from all GTSAM files
  * @author   Richard Roberts
- * @addtogroup base
+ * @ingroup base
  */
 
 #pragma once
diff --git a/gtsam/groups.dox b/gtsam/groups.dox
index 4a52371a5e..b3fd9efaf1 100644
--- a/gtsam/groups.dox
+++ b/gtsam/groups.dox
@@ -9,6 +9,9 @@
 \defgroup Sequential Solving by sequential variable elimination (QR and Cholesky)
 @{ @}
 
+\defgroup base Base
+@{ @}
+
 \defgroup basis Basis
 @{ @}
 
diff --git a/gtsam_unstable/base/BTree.h b/gtsam_unstable/base/BTree.h
index 94e27d6c40..edabd25280 100644
--- a/gtsam_unstable/base/BTree.h
+++ b/gtsam_unstable/base/BTree.h
@@ -28,7 +28,7 @@ namespace gtsam {
 
   /**
    * @brief Binary tree
-   * @addtogroup base
+   * @ingroup base
    */
   template<class KEY, class VALUE>
   class BTree {
diff --git a/gtsam_unstable/base/DSF.h b/gtsam_unstable/base/DSF.h
index 4ad7d3ea87..a7483cbf58 100644
--- a/gtsam_unstable/base/DSF.h
+++ b/gtsam_unstable/base/DSF.h
@@ -33,7 +33,7 @@ namespace gtsam {
  * S = {S_1,S_2,...} of disjoint dynamic sets. Each set is identified by
  * a representative, which is some member of the set.
  *
- * @addtogroup base
+ * @ingroup base
  */
 template<class KEY>
 class DSF: protected BTree<KEY, KEY> {

From 95b86356acddd966ba8fbde7cd54336de0f7384d Mon Sep 17 00:00:00 2001
From: Varun Agrawal <varagrawal@gmail.com>
Date: Tue, 26 Jul 2022 16:48:00 -0400
Subject: [PATCH 239/433] update basis module

---
 gtsam/basis/Basis.h        | 4 ++--
 gtsam/basis/BasisFactors.h | 6 +++---
 2 files changed, 5 insertions(+), 5 deletions(-)

diff --git a/gtsam/basis/Basis.h b/gtsam/basis/Basis.h
index 5664fe02a2..d517078f15 100644
--- a/gtsam/basis/Basis.h
+++ b/gtsam/basis/Basis.h
@@ -79,7 +79,7 @@ using Weights = Eigen::Matrix<double, 1, -1>; /* 1xN vector */
  * @param w The weights of the polynomial.
  * @return Mx(M*N) kronecker product [w(0)*I, w(1)*I, ..., w(N-1)*I]
  *
- * @ingroup Basis
+ * @ingroup basis
  */
 template <size_t M>
 Matrix kroneckerProductIdentity(const Weights& w) {
@@ -94,7 +94,7 @@ Matrix kroneckerProductIdentity(const Weights& w) {
 
 /**
  * CRTP Base class for function bases
- *  @ingroup Basis
+ *  @ingroup basis
  */
 template <typename DERIVED>
 class Basis {
diff --git a/gtsam/basis/BasisFactors.h b/gtsam/basis/BasisFactors.h
index e141592d6d..0e42a8866d 100644
--- a/gtsam/basis/BasisFactors.h
+++ b/gtsam/basis/BasisFactors.h
@@ -33,7 +33,7 @@ namespace gtsam {
  * Example, degree 8 Chebyshev polynomial measured at x=0.5:
  *  EvaluationFactor<Chebyshev2> factor(key, measured, model, 8, 0.5);
  *
- * @ingroup Basis
+ * @ingroup basis
  */
 template <class BASIS>
 class EvaluationFactor : public FunctorizedFactor<double, Vector> {
@@ -89,7 +89,7 @@ class EvaluationFactor : public FunctorizedFactor<double, Vector> {
  * @param BASIS: The basis class to use e.g. Chebyshev2
  * @param M: Size of the evaluated state vector.
  *
- * @ingroup Basis
+ * @ingroup basis
  */
 template <class BASIS, int M>
 class VectorEvaluationFactor
@@ -154,7 +154,7 @@ class VectorEvaluationFactor
  *                                               N, i, t, a, b);
  *  where N is the degree and i is the component index.
  *
- * @ingroup Basis
+ * @ingroup basis
  */
 template <class BASIS, size_t P>
 class VectorComponentFactor

From 92e1014874190c3f5de629124c59f192a84cf514 Mon Sep 17 00:00:00 2001
From: Varun Agrawal <varagrawal@gmail.com>
Date: Tue, 26 Jul 2022 16:55:28 -0400
Subject: [PATCH 240/433] update Discrete group

---
 gtsam/discrete/AlgebraicDecisionTree.h   |  2 ++
 gtsam/discrete/Assignment.h              |  1 +
 gtsam/discrete/DecisionTree.h            |  2 ++
 gtsam/discrete/DecisionTreeFactor.h      |  4 +++-
 gtsam/discrete/DiscreteBayesNet.h        |  2 +-
 gtsam/discrete/DiscreteBayesTree.h       |  5 ++++-
 gtsam/discrete/DiscreteConditional.h     |  2 ++
 gtsam/discrete/DiscreteDistribution.h    |  2 ++
 gtsam/discrete/DiscreteEliminationTree.h |  4 ++++
 gtsam/discrete/DiscreteFactor.h          |  2 ++
 gtsam/discrete/DiscreteFactorGraph.h     | 10 +++++++++-
 gtsam/discrete/DiscreteJunctionTree.h    |  3 ++-
 gtsam/discrete/DiscreteKey.h             |  1 +
 gtsam/discrete/DiscreteLookupDAG.h       |  1 +
 gtsam/discrete/DiscreteMarginals.h       |  1 +
 gtsam/discrete/DiscreteValues.h          |  1 +
 gtsam/discrete/Signature.h               |  2 ++
 17 files changed, 40 insertions(+), 5 deletions(-)

diff --git a/gtsam/discrete/AlgebraicDecisionTree.h b/gtsam/discrete/AlgebraicDecisionTree.h
index 9769715a17..25e18cfaf2 100644
--- a/gtsam/discrete/AlgebraicDecisionTree.h
+++ b/gtsam/discrete/AlgebraicDecisionTree.h
@@ -31,6 +31,8 @@ namespace gtsam {
    * Algebraic Decision Trees fix the range to double
    * Just has some nice constructors and some syntactic sugar
    * TODO: consider eliminating this class altogether?
+   *
+   * @ingroup discrete
    */
   template <typename L>
   class GTSAM_EXPORT AlgebraicDecisionTree : public DecisionTree<L, double> {
diff --git a/gtsam/discrete/Assignment.h b/gtsam/discrete/Assignment.h
index 90e2dbdd83..674c625ce6 100644
--- a/gtsam/discrete/Assignment.h
+++ b/gtsam/discrete/Assignment.h
@@ -29,6 +29,7 @@ namespace gtsam {
  * An assignment from labels to value index (size_t).
  * Assigns to each label a value. Implemented as a simple map.
  * A discrete factor takes an Assignment and returns a value.
+ * @ingroup discrete
  */
 template <class L>
 class Assignment : public std::map<L, size_t> {
diff --git a/gtsam/discrete/DecisionTree.h b/gtsam/discrete/DecisionTree.h
index dede2a2f08..957a4eb480 100644
--- a/gtsam/discrete/DecisionTree.h
+++ b/gtsam/discrete/DecisionTree.h
@@ -38,6 +38,8 @@ namespace gtsam {
    * Decision Tree
    * L = label for variables
    * Y = function range (any algebra), e.g., bool, int, double
+   *
+   * @ingroup discrete
    */
   template<typename L, typename Y>
   class DecisionTree {
diff --git a/gtsam/discrete/DecisionTreeFactor.h b/gtsam/discrete/DecisionTreeFactor.h
index 86fa446498..bb9ddbd961 100644
--- a/gtsam/discrete/DecisionTreeFactor.h
+++ b/gtsam/discrete/DecisionTreeFactor.h
@@ -36,7 +36,9 @@ namespace gtsam {
   class DiscreteConditional;
 
   /**
-   * A discrete probabilistic factor
+   * A discrete probabilistic factor.
+   *
+   * @ingroup discrete
    */
   class GTSAM_EXPORT DecisionTreeFactor : public DiscreteFactor,
                                           public AlgebraicDecisionTree<Key> {
diff --git a/gtsam/discrete/DiscreteBayesNet.h b/gtsam/discrete/DiscreteBayesNet.h
index df94d6908a..8ded827ceb 100644
--- a/gtsam/discrete/DiscreteBayesNet.h
+++ b/gtsam/discrete/DiscreteBayesNet.h
@@ -33,7 +33,7 @@ namespace gtsam {
 
 /** 
  * A Bayes net made from discrete conditional distributions. 
- * @addtogroup discrete
+ * @ingroup discrete
  */
 class GTSAM_EXPORT DiscreteBayesNet: public BayesNet<DiscreteConditional> {
  public:
diff --git a/gtsam/discrete/DiscreteBayesTree.h b/gtsam/discrete/DiscreteBayesTree.h
index 809ce9c835..03a9a2fc75 100644
--- a/gtsam/discrete/DiscreteBayesTree.h
+++ b/gtsam/discrete/DiscreteBayesTree.h
@@ -62,7 +62,10 @@ class GTSAM_EXPORT DiscreteBayesTreeClique
 };
 
 /* ************************************************************************* */
-/** A Bayes tree representing a Discrete density */
+/**
+ * @brief A Bayes tree representing a Discrete density.
+ * @ingroup discrete
+ */
 class GTSAM_EXPORT DiscreteBayesTree
     : public BayesTree<DiscreteBayesTreeClique> {
  private:
diff --git a/gtsam/discrete/DiscreteConditional.h b/gtsam/discrete/DiscreteConditional.h
index cff1b69a63..6a286633d3 100644
--- a/gtsam/discrete/DiscreteConditional.h
+++ b/gtsam/discrete/DiscreteConditional.h
@@ -32,6 +32,8 @@ namespace gtsam {
 /**
  * Discrete Conditional Density
  * Derives from DecisionTreeFactor
+ *
+ * @ingroup discrete
  */
 class GTSAM_EXPORT DiscreteConditional
     : public DecisionTreeFactor,
diff --git a/gtsam/discrete/DiscreteDistribution.h b/gtsam/discrete/DiscreteDistribution.h
index c5147dbc19..bf3f1c9ae9 100644
--- a/gtsam/discrete/DiscreteDistribution.h
+++ b/gtsam/discrete/DiscreteDistribution.h
@@ -27,6 +27,8 @@ namespace gtsam {
 /**
  * A prior probability on a set of discrete variables.
  * Derives from DiscreteConditional
+ *
+ * @ingroup discrete
  */
 class GTSAM_EXPORT DiscreteDistribution : public DiscreteConditional {
  public:
diff --git a/gtsam/discrete/DiscreteEliminationTree.h b/gtsam/discrete/DiscreteEliminationTree.h
index 1ea8a56959..a280546157 100644
--- a/gtsam/discrete/DiscreteEliminationTree.h
+++ b/gtsam/discrete/DiscreteEliminationTree.h
@@ -24,6 +24,10 @@
 
 namespace gtsam {
 
+  /**
+   * @brief Elimination tree for discrete factors.
+   * @ingroup discrete
+   */
   class GTSAM_EXPORT DiscreteEliminationTree :
     public EliminationTree<DiscreteBayesNet, DiscreteFactorGraph>
   {
diff --git a/gtsam/discrete/DiscreteFactor.h b/gtsam/discrete/DiscreteFactor.h
index 212ade8cfb..c6bb079fb5 100644
--- a/gtsam/discrete/DiscreteFactor.h
+++ b/gtsam/discrete/DiscreteFactor.h
@@ -31,6 +31,8 @@ class DiscreteConditional;
 /**
  * Base class for discrete probabilistic factors
  * The most general one is the derived DecisionTreeFactor
+ *
+ * @ingroup discrete
  */
 class GTSAM_EXPORT DiscreteFactor: public Factor {
 
diff --git a/gtsam/discrete/DiscreteFactorGraph.h b/gtsam/discrete/DiscreteFactorGraph.h
index bfa57e7db9..818eeda4e7 100644
--- a/gtsam/discrete/DiscreteFactorGraph.h
+++ b/gtsam/discrete/DiscreteFactorGraph.h
@@ -40,7 +40,14 @@ class DiscreteEliminationTree;
 class DiscreteBayesTree;
 class DiscreteJunctionTree;
 
-/** Main elimination function for DiscreteFactorGraph */
+/**
+ * @brief Main elimination function for DiscreteFactorGraph.
+ * 
+ * @param factors 
+ * @param keys 
+ * @return GTSAM_EXPORT
+ * @ingroup discrete
+ */
 GTSAM_EXPORT std::pair<boost::shared_ptr<DiscreteConditional>, DecisionTreeFactor::shared_ptr>
 EliminateDiscrete(const DiscreteFactorGraph& factors, const Ordering& keys);
 
@@ -64,6 +71,7 @@ template<> struct EliminationTraits<DiscreteFactorGraph>
 /**
  * A Discrete Factor Graph is a factor graph where all factors are Discrete, i.e.
  *   Factor == DiscreteFactor
+ * @ingroup discrete
  */
 class GTSAM_EXPORT DiscreteFactorGraph
     : public FactorGraph<DiscreteFactor>,
diff --git a/gtsam/discrete/DiscreteJunctionTree.h b/gtsam/discrete/DiscreteJunctionTree.h
index c74ad3cc25..f417cf6fa9 100644
--- a/gtsam/discrete/DiscreteJunctionTree.h
+++ b/gtsam/discrete/DiscreteJunctionTree.h
@@ -44,7 +44,8 @@ namespace gtsam {
    * The tree structure and elimination method are exactly analogous to the EliminationTree,
    * except that in the JunctionTree, at each node multiple variables are eliminated at a time.
    *
-   * \addtogroup Multifrontal
+   * \ingroup Multifrontal
+   * @ingroup discrete
    * \nosubgrouping
    */
   class GTSAM_EXPORT DiscreteJunctionTree :
diff --git a/gtsam/discrete/DiscreteKey.h b/gtsam/discrete/DiscreteKey.h
index dea00074d1..40343d21f9 100644
--- a/gtsam/discrete/DiscreteKey.h
+++ b/gtsam/discrete/DiscreteKey.h
@@ -30,6 +30,7 @@ namespace gtsam {
   /**
    * Key type for discrete variables.
    * Includes Key and cardinality.
+   * @ingroup discrete
    */
   using DiscreteKey = std::pair<Key,size_t>;
 
diff --git a/gtsam/discrete/DiscreteLookupDAG.h b/gtsam/discrete/DiscreteLookupDAG.h
index 15169a1dc6..b7f900073f 100644
--- a/gtsam/discrete/DiscreteLookupDAG.h
+++ b/gtsam/discrete/DiscreteLookupDAG.h
@@ -32,6 +32,7 @@ class DiscreteBayesNet;
 
 /**
  * @brief DiscreteLookupTable table for max-product
+ * @ingroup discrete
  *
  * Inherits from discrete conditional for convenience, but is not normalized.
  * Is used in the max-product algorithm.
diff --git a/gtsam/discrete/DiscreteMarginals.h b/gtsam/discrete/DiscreteMarginals.h
index dc87f665ec..7bb2cc6f87 100644
--- a/gtsam/discrete/DiscreteMarginals.h
+++ b/gtsam/discrete/DiscreteMarginals.h
@@ -28,6 +28,7 @@ namespace gtsam {
 
   /**
    * A class for computing marginals of variables in a DiscreteFactorGraph
+   * @ingroup discrete
    */
 class DiscreteMarginals {
 
diff --git a/gtsam/discrete/DiscreteValues.h b/gtsam/discrete/DiscreteValues.h
index cb17bf833b..72bb240816 100644
--- a/gtsam/discrete/DiscreteValues.h
+++ b/gtsam/discrete/DiscreteValues.h
@@ -36,6 +36,7 @@ namespace gtsam {
  * Another good thing is we don't need to have the special DiscreteKey which
  * stores cardinality of a Discrete variable. It should be handled naturally in
  * the new class DiscreteValue, as the variable's type (domain)
+ * @ingroup discrete
  */
 class GTSAM_EXPORT DiscreteValues : public Assignment<Key> {
  public:
diff --git a/gtsam/discrete/Signature.h b/gtsam/discrete/Signature.h
index ff83caa534..3138435a93 100644
--- a/gtsam/discrete/Signature.h
+++ b/gtsam/discrete/Signature.h
@@ -48,6 +48,8 @@ namespace gtsam {
    *   (E|T,L) = "F F F 1"
    *   X|E = "95/5 2/98"
    *   (D|E,B) = "9/1 2/8 3/7 1/9"
+   *
+   * @ingroup discrete
    */
   class GTSAM_EXPORT Signature {
 

From 6cac4d19f36c43aed8200545989cbb023c9a6f32 Mon Sep 17 00:00:00 2001
From: Varun Agrawal <varagrawal@gmail.com>
Date: Tue, 26 Jul 2022 16:57:12 -0400
Subject: [PATCH 241/433] update linear and multifrontal groups

---
 gtsam/inference/BayesTree.h           | 2 +-
 gtsam/inference/JunctionTree.h        | 2 +-
 gtsam/linear/GaussianJunctionTree.h   | 2 +-
 gtsam/linear/HessianFactor.h          | 4 ++--
 gtsam/linear/JacobianFactor.h         | 2 +-
 gtsam/symbolic/SymbolicJunctionTree.h | 2 +-
 6 files changed, 7 insertions(+), 7 deletions(-)

diff --git a/gtsam/inference/BayesTree.h b/gtsam/inference/BayesTree.h
index 924a505a2d..3d0c4ecffd 100644
--- a/gtsam/inference/BayesTree.h
+++ b/gtsam/inference/BayesTree.h
@@ -60,7 +60,7 @@ namespace gtsam {
    * @tparam CLIQUE The type of the clique data structure, defaults to BayesTreeClique, normally do not change this
    * as it is only used when developing special versions of BayesTree, e.g. for ISAM2.
    *
-   * \addtogroup Multifrontal
+   * \ingroup Multifrontal
    * \nosubgrouping
    */
   template<class CLIQUE>
diff --git a/gtsam/inference/JunctionTree.h b/gtsam/inference/JunctionTree.h
index e914c325ef..d1a69f944e 100644
--- a/gtsam/inference/JunctionTree.h
+++ b/gtsam/inference/JunctionTree.h
@@ -43,7 +43,7 @@ namespace gtsam {
    * The tree structure and elimination method are exactly analagous to the EliminationTree,
    * except that in the JunctionTree, at each node multiple variables are eliminated at a time.
    *
-   * \addtogroup Multifrontal
+   * \ingroup Multifrontal
    * \nosubgrouping
    */
   template<class BAYESTREE, class GRAPH>
diff --git a/gtsam/linear/GaussianJunctionTree.h b/gtsam/linear/GaussianJunctionTree.h
index c7f13ea5c8..c02fd49edb 100644
--- a/gtsam/linear/GaussianJunctionTree.h
+++ b/gtsam/linear/GaussianJunctionTree.h
@@ -32,7 +32,7 @@ namespace gtsam {
    * factors stored in each cluster. It can be eliminated into a Gaussian Bayes tree with the same
    * structure, which is essentially doing multifrontal sparse matrix factorization.
    *
-   * \addtogroup Multifrontal
+   * \ingroup Multifrontal
    * \nosubgrouping
    */
   class GTSAM_EXPORT GaussianJunctionTree :
diff --git a/gtsam/linear/HessianFactor.h b/gtsam/linear/HessianFactor.h
index 8394b2ee8a..3eefe12288 100644
--- a/gtsam/linear/HessianFactor.h
+++ b/gtsam/linear/HessianFactor.h
@@ -385,7 +385,7 @@ namespace gtsam {
 *   @param keys The variables to eliminate and their elimination ordering
 *   @return The conditional and remaining factor
 *
-*   \addtogroup LinearSolving */
+*   \ingroup LinearSolving */
 GTSAM_EXPORT std::pair<boost::shared_ptr<GaussianConditional>, boost::shared_ptr<HessianFactor> >
   EliminateCholesky(const GaussianFactorGraph& factors, const Ordering& keys);
 
@@ -403,7 +403,7 @@ GTSAM_EXPORT std::pair<boost::shared_ptr<GaussianConditional>, boost::shared_ptr
 *   @param keys The variables to eliminate and their elimination ordering
 *   @return The conditional and remaining factor
 *
-*   \addtogroup LinearSolving */
+*   \ingroup LinearSolving */
 GTSAM_EXPORT std::pair<boost::shared_ptr<GaussianConditional>, boost::shared_ptr<GaussianFactor> >
   EliminatePreferCholesky(const GaussianFactorGraph& factors, const Ordering& keys);
 
diff --git a/gtsam/linear/JacobianFactor.h b/gtsam/linear/JacobianFactor.h
index ddf614910c..8bcf18268a 100644
--- a/gtsam/linear/JacobianFactor.h
+++ b/gtsam/linear/JacobianFactor.h
@@ -365,7 +365,7 @@ namespace gtsam {
      * @param keys The variables to eliminate in the order as specified here in \c keys
      * @return The conditional and remaining factor
      *
-     * \addtogroup LinearSolving */
+     * \ingroup LinearSolving */
     friend GTSAM_EXPORT std::pair<boost::shared_ptr<GaussianConditional>, shared_ptr>
       EliminateQR(const GaussianFactorGraph& factors, const Ordering& keys);
 
diff --git a/gtsam/symbolic/SymbolicJunctionTree.h b/gtsam/symbolic/SymbolicJunctionTree.h
index 0dcfae5413..f1168f962d 100644
--- a/gtsam/symbolic/SymbolicJunctionTree.h
+++ b/gtsam/symbolic/SymbolicJunctionTree.h
@@ -44,7 +44,7 @@ namespace gtsam {
    * The tree structure and elimination method are exactly analagous to the EliminationTree,
    * except that in the JunctionTree, at each node multiple variables are eliminated at a time.
    *
-   * \addtogroup Multifrontal
+   * \ingroup Multifrontal
    * \nosubgrouping
    */
   class GTSAM_EXPORT SymbolicJunctionTree :

From fbe4bf867e0e81c56bbe634aa94fcb92c4a1a0f8 Mon Sep 17 00:00:00 2001
From: Varun Agrawal <varagrawal@gmail.com>
Date: Tue, 26 Jul 2022 16:57:18 -0400
Subject: [PATCH 242/433] update SAM groups

---
 gtsam/sam/BearingFactor.h | 2 +-
 gtsam/sam/RangeFactor.h   | 4 ++--
 2 files changed, 3 insertions(+), 3 deletions(-)

diff --git a/gtsam/sam/BearingFactor.h b/gtsam/sam/BearingFactor.h
index 7076708db7..da624ffbb1 100644
--- a/gtsam/sam/BearingFactor.h
+++ b/gtsam/sam/BearingFactor.h
@@ -30,7 +30,7 @@ struct Bearing;
  * Binary factor for a bearing measurement
  * Works for any two types A1,A2 for which the functor Bearing<A1,A2>() is
  * defined
- * @addtogroup SAM
+ * @ingroup sam
  */
 template <typename A1, typename A2,
           typename T = typename Bearing<A1, A2>::result_type>
diff --git a/gtsam/sam/RangeFactor.h b/gtsam/sam/RangeFactor.h
index 2db6599474..bcd18f3727 100644
--- a/gtsam/sam/RangeFactor.h
+++ b/gtsam/sam/RangeFactor.h
@@ -29,7 +29,7 @@ struct Range;
 /**
  * Binary factor for a range measurement
  * Works for any two types A1,A2 for which the functor Range<A1,A2>() is defined
- * @addtogroup SAM
+ * @ingroup sam
  */
 template <typename A1, typename A2 = A1, typename T = double>
 class RangeFactor : public ExpressionFactorN<T, A1, A2> {
@@ -96,7 +96,7 @@ struct traits<RangeFactor<A1, A2, T> >
 
 /**
  * Binary factor for a range measurement, with a transform applied
- * @addtogroup SAM
+ * @ingroup sam
  */
 template <typename A1, typename A2 = A1,
           typename T = typename Range<A1, A2>::result_type>

From efdbee2a76ced49f0f95e93054d6254ed5b9649a Mon Sep 17 00:00:00 2001
From: Varun Agrawal <varagrawal@gmail.com>
Date: Tue, 26 Jul 2022 17:37:50 -0400
Subject: [PATCH 243/433] use ingroup instead of addtogroup

---
 gtsam/inference/BayesNet.h         | 2 +-
 gtsam/inference/DotWriter.h        | 2 +-
 gtsam/linear/GaussianBayesNet.h    | 2 +-
 gtsam/linear/GaussianConditional.h | 2 +-
 gtsam/linear/GaussianDensity.h     | 2 +-
 gtsam/linear/VectorValues.h        | 2 +-
 gtsam/symbolic/SymbolicBayesNet.h  | 2 +-
 7 files changed, 7 insertions(+), 7 deletions(-)

diff --git a/gtsam/inference/BayesNet.h b/gtsam/inference/BayesNet.h
index 219864c547..1b118adc75 100644
--- a/gtsam/inference/BayesNet.h
+++ b/gtsam/inference/BayesNet.h
@@ -27,7 +27,7 @@ namespace gtsam {
 
 /**
  * A BayesNet is a tree of conditionals, stored in elimination order.
- * @addtogroup inference
+ * @ingroup inference
  */
 template <class CONDITIONAL>
 class BayesNet : public FactorGraph<CONDITIONAL> {
diff --git a/gtsam/inference/DotWriter.h b/gtsam/inference/DotWriter.h
index 23302ee60e..4973f0e534 100644
--- a/gtsam/inference/DotWriter.h
+++ b/gtsam/inference/DotWriter.h
@@ -30,7 +30,7 @@ namespace gtsam {
 
 /**
  * @brief DotWriter is a helper class for writing graphviz .dot files.
- * @addtogroup inference
+ * @ingroup inference
  */
 struct GTSAM_EXPORT DotWriter {
   double figureWidthInches;   ///< The figure width on paper in inches
diff --git a/gtsam/linear/GaussianBayesNet.h b/gtsam/linear/GaussianBayesNet.h
index e4f2950ed7..83328576f2 100644
--- a/gtsam/linear/GaussianBayesNet.h
+++ b/gtsam/linear/GaussianBayesNet.h
@@ -30,7 +30,7 @@ namespace gtsam {
 
   /** 
    * GaussianBayesNet is a Bayes net made from linear-Gaussian conditionals.
-   * @addtogroup linear
+   * @ingroup linear
    */
   class GTSAM_EXPORT GaussianBayesNet: public BayesNet<GaussianConditional>
   {
diff --git a/gtsam/linear/GaussianConditional.h b/gtsam/linear/GaussianConditional.h
index 11fe1f318d..4822e3eaf7 100644
--- a/gtsam/linear/GaussianConditional.h
+++ b/gtsam/linear/GaussianConditional.h
@@ -35,7 +35,7 @@ namespace gtsam {
   * A GaussianConditional functions as the node in a Bayes network.
   * It has a set of parents y,z, etc. and implements a probability density on x.
   * The negative log-probability is given by \f$ \frac{1}{2} |Rx - (d - Sy - Tz - ...)|^2 \f$
-  * @addtogroup linear
+  * @ingroup linear
   */
   class GTSAM_EXPORT GaussianConditional :
     public JacobianFactor,
diff --git a/gtsam/linear/GaussianDensity.h b/gtsam/linear/GaussianDensity.h
index f078d5db64..16b4e0dfbf 100644
--- a/gtsam/linear/GaussianDensity.h
+++ b/gtsam/linear/GaussianDensity.h
@@ -27,7 +27,7 @@ namespace gtsam {
   * A GaussianDensity is a GaussianConditional without parents.
   * The negative log-probability is given by \f$ |Rx - d|^2 \f$
   * with \f$ \Lambda = \Sigma^{-1} = R^T R \f$ and \f$ \mu = R^{-1} d \f$
-  * @addtogroup linear
+  * @ingroup linear
   */
   class GTSAM_EXPORT GaussianDensity : public GaussianConditional {
 
diff --git a/gtsam/linear/VectorValues.h b/gtsam/linear/VectorValues.h
index 1ff8c5c169..4e1f793a03 100644
--- a/gtsam/linear/VectorValues.h
+++ b/gtsam/linear/VectorValues.h
@@ -69,7 +69,7 @@ namespace gtsam {
    * which is a view on the underlying data structure.
    *
    * This class is additionally used in gradient descent and dog leg to store the gradient.
-   * @addtogroup linear
+   * @ingroup linear
    */
   class GTSAM_EXPORT VectorValues {
    protected:
diff --git a/gtsam/symbolic/SymbolicBayesNet.h b/gtsam/symbolic/SymbolicBayesNet.h
index 2f66b80e22..d9b8ecb576 100644
--- a/gtsam/symbolic/SymbolicBayesNet.h
+++ b/gtsam/symbolic/SymbolicBayesNet.h
@@ -27,7 +27,7 @@ namespace gtsam {
 
   /** 
    * A SymbolicBayesNet is a Bayes Net of purely symbolic conditionals.
-   * @addtogroup symbolic
+   * @ingroup symbolic
    */
   class SymbolicBayesNet : public BayesNet<SymbolicConditional> {
    public:

From cce2722c4dcaed69ad736e660e433752c1135abc Mon Sep 17 00:00:00 2001
From: Varun Agrawal <varagrawal@gmail.com>
Date: Tue, 26 Jul 2022 18:02:09 -0400
Subject: [PATCH 244/433] add to hybrid group

---
 gtsam/hybrid/GaussianMixture.h           |  1 +
 gtsam/hybrid/GaussianMixtureFactor.h     |  1 +
 gtsam/hybrid/HybridBayesNet.h            |  2 ++
 gtsam/hybrid/HybridBayesTree.h           |  5 ++++-
 gtsam/hybrid/HybridConditional.h         |  2 ++
 gtsam/hybrid/HybridDiscreteFactor.h      |  2 ++
 gtsam/hybrid/HybridEliminationTree.h     |  2 ++
 gtsam/hybrid/HybridFactor.h              |  2 ++
 gtsam/hybrid/HybridGaussianFactor.h      |  2 ++
 gtsam/hybrid/HybridGaussianFactorGraph.h | 13 +++++++++++--
 gtsam/hybrid/HybridGaussianISAM.h        |  5 +++++
 gtsam/hybrid/HybridJunctionTree.h        |  3 ++-
 12 files changed, 36 insertions(+), 4 deletions(-)

diff --git a/gtsam/hybrid/GaussianMixture.h b/gtsam/hybrid/GaussianMixture.h
index fc1eb0f060..d065a16cd9 100644
--- a/gtsam/hybrid/GaussianMixture.h
+++ b/gtsam/hybrid/GaussianMixture.h
@@ -41,6 +41,7 @@ namespace gtsam {
  * where i indexes the components and k_i is a component-wise normalization
  * constant.
  *
+ * @ingroup hybrid
  */
 class GTSAM_EXPORT GaussianMixture
     : public HybridFactor,
diff --git a/gtsam/hybrid/GaussianMixtureFactor.h b/gtsam/hybrid/GaussianMixtureFactor.h
index 6c90ee6a71..0e6ea29a9d 100644
--- a/gtsam/hybrid/GaussianMixtureFactor.h
+++ b/gtsam/hybrid/GaussianMixtureFactor.h
@@ -40,6 +40,7 @@ using GaussianFactorVector = std::vector<gtsam::GaussianFactor::shared_ptr>;
  * Represents the underlying Gaussian Mixture as a Decision Tree, where the set
  * of discrete variables indexes to the continuous gaussian distribution.
  *
+ * @ingroup hybrid
  */
 class GTSAM_EXPORT GaussianMixtureFactor : public HybridFactor {
  public:
diff --git a/gtsam/hybrid/HybridBayesNet.h b/gtsam/hybrid/HybridBayesNet.h
index 43eead2801..04be5153a5 100644
--- a/gtsam/hybrid/HybridBayesNet.h
+++ b/gtsam/hybrid/HybridBayesNet.h
@@ -25,6 +25,8 @@ namespace gtsam {
 /**
  * A hybrid Bayes net is a collection of HybridConditionals, which can have
  * discrete conditionals, Gaussian mixtures, or pure Gaussian conditionals.
+ *
+ * @ingroup hybrid
  */
 class GTSAM_EXPORT HybridBayesNet : public BayesNet<HybridConditional> {
  public:
diff --git a/gtsam/hybrid/HybridBayesTree.h b/gtsam/hybrid/HybridBayesTree.h
index 0b89ca8c4b..09e7425cf9 100644
--- a/gtsam/hybrid/HybridBayesTree.h
+++ b/gtsam/hybrid/HybridBayesTree.h
@@ -34,8 +34,11 @@ class HybridConditional;
 class VectorValues;
 
 /* ************************************************************************* */
-/** A clique in a HybridBayesTree
+/**
+ * @brief A clique in a HybridBayesTree
  * which is a HybridConditional internally.
+ *
+ * @ingroup hybrid
  */
 class GTSAM_EXPORT HybridBayesTreeClique
     : public BayesTreeCliqueBase<HybridBayesTreeClique,
diff --git a/gtsam/hybrid/HybridConditional.h b/gtsam/hybrid/HybridConditional.h
index 3ba5da393b..0b82ccb2f8 100644
--- a/gtsam/hybrid/HybridConditional.h
+++ b/gtsam/hybrid/HybridConditional.h
@@ -56,6 +56,8 @@ class HybridGaussianFactorGraph;
  *
  * A great reference to the type-erasure pattern is Eduaado Madrid's CppCon
  * talk (https://www.youtube.com/watch?v=s082Qmd_nHs).
+ *
+ * @ingroup hybrid
  */
 class GTSAM_EXPORT HybridConditional
     : public HybridFactor,
diff --git a/gtsam/hybrid/HybridDiscreteFactor.h b/gtsam/hybrid/HybridDiscreteFactor.h
index 9cbea8170f..015dc46f8c 100644
--- a/gtsam/hybrid/HybridDiscreteFactor.h
+++ b/gtsam/hybrid/HybridDiscreteFactor.h
@@ -28,6 +28,8 @@ namespace gtsam {
  * A HybridDiscreteFactor is a thin container for DiscreteFactor, which allows
  * us to hide the implementation of DiscreteFactor and thus avoid diamond
  * inheritance.
+ *
+ * @ingroup hybrid
  */
 class GTSAM_EXPORT HybridDiscreteFactor : public HybridFactor {
  private:
diff --git a/gtsam/hybrid/HybridEliminationTree.h b/gtsam/hybrid/HybridEliminationTree.h
index 77a84fea85..b2dd1bd9c8 100644
--- a/gtsam/hybrid/HybridEliminationTree.h
+++ b/gtsam/hybrid/HybridEliminationTree.h
@@ -25,6 +25,8 @@ namespace gtsam {
 
 /**
  * Elimination Tree type for Hybrid
+ *
+ * @ingroup hybrid
  */
 class GTSAM_EXPORT HybridEliminationTree
     : public EliminationTree<HybridBayesNet, HybridGaussianFactorGraph> {
diff --git a/gtsam/hybrid/HybridFactor.h b/gtsam/hybrid/HybridFactor.h
index 3e91e24877..d139f8a9ff 100644
--- a/gtsam/hybrid/HybridFactor.h
+++ b/gtsam/hybrid/HybridFactor.h
@@ -40,6 +40,8 @@ DiscreteKeys CollectDiscreteKeys(const DiscreteKeys &key1,
  *  - HybridDiscreteFactor
  *  - GaussianMixtureFactor
  *  - GaussianMixture
+ *
+ * @ingroup hybrid
  */
 class GTSAM_EXPORT HybridFactor : public Factor {
  private:
diff --git a/gtsam/hybrid/HybridGaussianFactor.h b/gtsam/hybrid/HybridGaussianFactor.h
index 2a92c717c2..8bffead944 100644
--- a/gtsam/hybrid/HybridGaussianFactor.h
+++ b/gtsam/hybrid/HybridGaussianFactor.h
@@ -27,6 +27,8 @@ namespace gtsam {
  * A HybridGaussianFactor is a layer over GaussianFactor so that we do not have
  * a diamond inheritance i.e. an extra factor type that inherits from both
  * HybridFactor and GaussianFactor.
+ *
+ * @ingroup hybrid
  */
 class GTSAM_EXPORT HybridGaussianFactor : public HybridFactor {
  private:
diff --git a/gtsam/hybrid/HybridGaussianFactorGraph.h b/gtsam/hybrid/HybridGaussianFactorGraph.h
index 6dc9cd4090..599357e38b 100644
--- a/gtsam/hybrid/HybridGaussianFactorGraph.h
+++ b/gtsam/hybrid/HybridGaussianFactorGraph.h
@@ -36,7 +36,14 @@ class DecisionTreeFactor;
 
 class JacobianFactor;
 
-/** Main elimination function for HybridGaussianFactorGraph */
+/**
+ * @brief Main elimination function for HybridGaussianFactorGraph.
+ * 
+ * @param factors The factor graph to eliminate.
+ * @param keys The elimination ordering.
+ * @return The conditional on the ordering keys and the remaining factors.
+ * @ingroup hybrid
+ */
 GTSAM_EXPORT
 std::pair<boost::shared_ptr<HybridConditional>, HybridFactor::shared_ptr>
 EliminateHybrid(const HybridGaussianFactorGraph& factors, const Ordering& keys);
@@ -66,10 +73,12 @@ struct EliminationTraits<HybridGaussianFactorGraph> {
 };
 
 /**
- * Gaussian Hybrid Factor Graph
+ * Hybrid Gaussian Factor Graph
  * -----------------------
  * This is the linearized version of a hybrid factor graph.
  * Everything inside needs to be hybrid factor or hybrid conditional.
+ *
+ * @ingroup hybrid
  */
 class GTSAM_EXPORT HybridGaussianFactorGraph
     : public FactorGraph<HybridFactor>,
diff --git a/gtsam/hybrid/HybridGaussianISAM.h b/gtsam/hybrid/HybridGaussianISAM.h
index d5b6271da7..572a68ec30 100644
--- a/gtsam/hybrid/HybridGaussianISAM.h
+++ b/gtsam/hybrid/HybridGaussianISAM.h
@@ -26,6 +26,11 @@
 
 namespace gtsam {
 
+/**
+ * @brief 
+ *
+ * @ingroup hybrid
+ */
 class GTSAM_EXPORT HybridGaussianISAM : public ISAM<HybridBayesTree> {
  public:
   typedef ISAM<HybridBayesTree> Base;
diff --git a/gtsam/hybrid/HybridJunctionTree.h b/gtsam/hybrid/HybridJunctionTree.h
index cad1e15a1e..4b0c369a82 100644
--- a/gtsam/hybrid/HybridJunctionTree.h
+++ b/gtsam/hybrid/HybridJunctionTree.h
@@ -45,7 +45,8 @@ class HybridEliminationTree;
  * EliminationTree, except that in the JunctionTree, at each node multiple
  * variables are eliminated at a time.
  *
- * \addtogroup Multifrontal
+ * \ingroup Multifrontal
+ * \ingroup hybrid
  * \nosubgrouping
  */
 class GTSAM_EXPORT HybridJunctionTree

From 150ddae41f8b1fa3317d410d02d77f7623d126b1 Mon Sep 17 00:00:00 2001
From: Varun Agrawal <varagrawal@gmail.com>
Date: Tue, 26 Jul 2022 18:06:39 -0400
Subject: [PATCH 245/433] update ISAM2 group

---
 gtsam/groups.dox                    | 3 +++
 gtsam/nonlinear/ISAM2.h             | 2 +-
 gtsam/nonlinear/ISAM2Params.h       | 6 +++---
 gtsam/nonlinear/ISAM2Result.h       | 2 +-
 gtsam/nonlinear/ISAM2UpdateParams.h | 2 +-
 5 files changed, 9 insertions(+), 6 deletions(-)

diff --git a/gtsam/groups.dox b/gtsam/groups.dox
index b3fd9efaf1..b73c255db9 100644
--- a/gtsam/groups.dox
+++ b/gtsam/groups.dox
@@ -50,4 +50,7 @@
 \defgroup symbolic Symbolic
 @{ @}
 
+\defgroup isam2 ISAM2
+@{ @}
+
 */ 
diff --git a/gtsam/nonlinear/ISAM2.h b/gtsam/nonlinear/ISAM2.h
index 37feee837e..6e88079b1c 100644
--- a/gtsam/nonlinear/ISAM2.h
+++ b/gtsam/nonlinear/ISAM2.h
@@ -32,7 +32,7 @@
 namespace gtsam {
 
 /**
- * @addtogroup ISAM2
+ * @ingroup isam2
  * Implementation of the full ISAM2 algorithm for incremental nonlinear
  * optimization.
  *
diff --git a/gtsam/nonlinear/ISAM2Params.h b/gtsam/nonlinear/ISAM2Params.h
index d88afd5054..e353403777 100644
--- a/gtsam/nonlinear/ISAM2Params.h
+++ b/gtsam/nonlinear/ISAM2Params.h
@@ -27,7 +27,7 @@
 namespace gtsam {
 
 /**
- * @addtogroup ISAM2
+ * @ingroup isam2
  * Parameters for ISAM2 using Gauss-Newton optimization.  Either this class or
  * ISAM2DoglegParams should be specified as the optimizationParams in
  * ISAM2Params, which should in turn be passed to ISAM2(const ISAM2Params&).
@@ -59,7 +59,7 @@ struct GTSAM_EXPORT ISAM2GaussNewtonParams {
 };
 
 /**
- * @addtogroup ISAM2
+ * @ingroup isam2
  * Parameters for ISAM2 using Dogleg optimization.  Either this class or
  * ISAM2GaussNewtonParams should be specified as the optimizationParams in
  * ISAM2Params, which should in turn be passed to ISAM2(const ISAM2Params&).
@@ -126,7 +126,7 @@ struct GTSAM_EXPORT ISAM2DoglegParams {
 };
 
 /**
- * @addtogroup ISAM2
+ * @ingroup isam2
  * Parameters for the ISAM2 algorithm.  Default parameter values are listed
  * below.
  */
diff --git a/gtsam/nonlinear/ISAM2Result.h b/gtsam/nonlinear/ISAM2Result.h
index be91f17e27..0771749700 100644
--- a/gtsam/nonlinear/ISAM2Result.h
+++ b/gtsam/nonlinear/ISAM2Result.h
@@ -32,7 +32,7 @@
 namespace gtsam {
 
 /**
- * @addtogroup ISAM2
+ * @ingroup isam2
  * This struct is returned from ISAM2::update() and contains information about
  * the update that is useful for determining whether the solution is
  * converging, and about how much work was required for the update.  See member
diff --git a/gtsam/nonlinear/ISAM2UpdateParams.h b/gtsam/nonlinear/ISAM2UpdateParams.h
index 44519e3aab..0a3be1daf3 100644
--- a/gtsam/nonlinear/ISAM2UpdateParams.h
+++ b/gtsam/nonlinear/ISAM2UpdateParams.h
@@ -25,7 +25,7 @@
 namespace gtsam {
 
 /**
- * @addtogroup ISAM2
+ * @ingroup isam2
  * This struct is used by ISAM2::update() to pass additional parameters to
  * give the user a fine-grained control on how factors and relinearized, etc.
  */

From a3aaaeb8a76f4fad1707ff834e3db0c06dbf3126 Mon Sep 17 00:00:00 2001
From: Varun Agrawal <varagrawal@gmail.com>
Date: Thu, 28 Jul 2022 01:01:12 -0400
Subject: [PATCH 246/433] undo CI changes

---
 .github/workflows/build-python.yml | 14 +++++++++-----
 1 file changed, 9 insertions(+), 5 deletions(-)

diff --git a/.github/workflows/build-python.yml b/.github/workflows/build-python.yml
index 314e465454..5a2e554b1b 100644
--- a/.github/workflows/build-python.yml
+++ b/.github/workflows/build-python.yml
@@ -27,7 +27,7 @@ jobs:
         ]
 
         build_type: [Debug, Release]
-        python_version: [3.7]
+        python_version: [3]
         include:
           - name: ubuntu-18.04-gcc-5
             os: ubuntu-18.04
@@ -44,6 +44,14 @@ jobs:
             compiler: clang
             version: "9"
 
+          # NOTE temporarily added this as it is a required check.
+          - name: ubuntu-18.04-clang-9
+            os: ubuntu-18.04
+            compiler: clang
+            version: "9"
+            build_type: Debug
+            python_version: "3"
+
           - name: macOS-11-xcode-13.4.1
             os: macOS-11
             compiler: xcode
@@ -58,10 +66,6 @@ jobs:
     steps:
       - name: Checkout
         uses: actions/checkout@v3
-      - name: Set up Python
-        uses: actions/setup-python@v4
-        with:
-          python-version: '3.7'
       - name: Install (Linux)
         if: runner.os == 'Linux'
         run: |

From 790403ca6989698f24f6ef2eada4cf0bfe1e3b36 Mon Sep 17 00:00:00 2001
From: Varun Agrawal <varagrawal@gmail.com>
Date: Thu, 28 Jul 2022 10:53:19 -0400
Subject: [PATCH 247/433] revert checkout version

---
 .github/workflows/build-python.yml | 2 +-
 1 file changed, 1 insertion(+), 1 deletion(-)

diff --git a/.github/workflows/build-python.yml b/.github/workflows/build-python.yml
index 5a2e554b1b..1e1519da60 100644
--- a/.github/workflows/build-python.yml
+++ b/.github/workflows/build-python.yml
@@ -65,7 +65,7 @@ jobs:
 
     steps:
       - name: Checkout
-        uses: actions/checkout@v3
+        uses: actions/checkout@v2
       - name: Install (Linux)
         if: runner.os == 'Linux'
         run: |

From 8471c97b9f5f2bb5eca3d95e2a17afbe3d230f52 Mon Sep 17 00:00:00 2001
From: Varun Agrawal <varagrawal@gmail.com>
Date: Fri, 29 Jul 2022 20:10:29 -0400
Subject: [PATCH 248/433] add nonlinear switching system tests

---
 gtsam/hybrid/MixtureFactor.h                  |   8 +-
 gtsam/hybrid/tests/Switching.h                | 108 +++++++++++++++++-
 .../tests/testHybridNonlinearFactorGraph.cpp  |  87 ++++++--------
 3 files changed, 151 insertions(+), 52 deletions(-)

diff --git a/gtsam/hybrid/MixtureFactor.h b/gtsam/hybrid/MixtureFactor.h
index d2d1a8d74f..ba449976a8 100644
--- a/gtsam/hybrid/MixtureFactor.h
+++ b/gtsam/hybrid/MixtureFactor.h
@@ -1,6 +1,12 @@
 /* ----------------------------------------------------------------------------
- * Copyright 2020 The Ambitious Folks of the MRG
+
+ * GTSAM Copyright 2010, Georgia Tech Research Corporation,
+ * Atlanta, Georgia 30332-0415
+ * All Rights Reserved
+ * Authors: Frank Dellaert, et al. (see THANKS for the full author list)
+
  * See LICENSE for the license information
+
  * -------------------------------------------------------------------------- */
 
 /**
diff --git a/gtsam/hybrid/tests/Switching.h b/gtsam/hybrid/tests/Switching.h
index 4b1c276377..2707ae382c 100644
--- a/gtsam/hybrid/tests/Switching.h
+++ b/gtsam/hybrid/tests/Switching.h
@@ -18,12 +18,19 @@
 
 #include <gtsam/base/Matrix.h>
 #include <gtsam/discrete/DecisionTreeFactor.h>
+#include <gtsam/discrete/DiscreteDistribution.h>
 #include <gtsam/hybrid/GaussianMixtureFactor.h>
 #include <gtsam/hybrid/HybridGaussianFactorGraph.h>
+#include <gtsam/hybrid/HybridNonlinearFactorGraph.h>
+#include <gtsam/hybrid/MixtureFactor.h>
 #include <gtsam/inference/Symbol.h>
 #include <gtsam/linear/JacobianFactor.h>
+#include <gtsam/linear/NoiseModel.h>
+#include <gtsam/nonlinear/PriorFactor.h>
 #include <gtsam/slam/BetweenFactor.h>
 
+#include <vector>
+
 #pragma once
 
 using gtsam::symbol_shorthand::C;
@@ -31,8 +38,6 @@ using gtsam::symbol_shorthand::X;
 
 namespace gtsam {
 
-using MotionModel = BetweenFactor<double>;
-
 inline HybridGaussianFactorGraph::shared_ptr makeSwitchingChain(
     size_t n, std::function<Key(int)> keyFunc = X,
     std::function<Key(int)> dKeyFunc = C) {
@@ -87,4 +92,103 @@ inline std::pair<KeyVector, std::vector<int>> makeBinaryOrdering(
   return {new_order, levels};
 }
 
+/* ***************************************************************************
+ */
+using MotionModel = BetweenFactor<double>;
+// using MotionMixture = MixtureFactor<MotionModel>;
+
+// Test fixture with switching network.
+struct Switching {
+  size_t K;
+  DiscreteKeys modes;
+  HybridNonlinearFactorGraph nonlinearFactorGraph;
+  HybridGaussianFactorGraph linearizedFactorGraph;
+  Values linearizationPoint;
+
+  /// Create with given number of time steps.
+  Switching(size_t K, double between_sigma = 1.0, double prior_sigma = 0.1)
+      : K(K) {
+    using symbol_shorthand::M;
+    using symbol_shorthand::X;
+
+    // Create DiscreteKeys for binary K modes, modes[0] will not be used.
+    for (size_t k = 0; k <= K; k++) {
+      modes.emplace_back(M(k), 2);
+    }
+
+    // Create hybrid factor graph.
+    // Add a prior on X(1).
+    auto prior = boost::make_shared<PriorFactor<double>>(
+        X(1), 0, noiseModel::Isotropic::Sigma(1, prior_sigma));
+    nonlinearFactorGraph.push_nonlinear(prior);
+
+    // Add "motion models".
+    for (size_t k = 1; k < K; k++) {
+      KeyVector keys = {X(k), X(k + 1)};
+      auto motion_models = motionModels(k);
+      std::vector<NonlinearFactor::shared_ptr> components;
+      for (auto &&f : motion_models) {
+        components.push_back(boost::dynamic_pointer_cast<NonlinearFactor>(f));
+      }
+      nonlinearFactorGraph.emplace_hybrid<MixtureFactor>(
+          keys, DiscreteKeys{modes[k]}, components);
+    }
+
+    // Add measurement factors
+    auto measurement_noise = noiseModel::Isotropic::Sigma(1, 0.1);
+    for (size_t k = 1; k <= K; k++) {
+      nonlinearFactorGraph.emplace_nonlinear<PriorFactor<double>>(
+          X(k), 1.0 * (k - 1), measurement_noise);
+    }
+
+    // Add "mode chain"
+    addModeChain(&nonlinearFactorGraph);
+
+    // Create the linearization point.
+    for (size_t k = 1; k <= K; k++) {
+      linearizationPoint.insert<double>(X(k), static_cast<double>(k));
+    }
+
+    linearizedFactorGraph = nonlinearFactorGraph.linearize(linearizationPoint);
+  }
+
+  // Create motion models for a given time step
+  static std::vector<MotionModel::shared_ptr> motionModels(size_t k,
+                                                           double sigma = 1.0) {
+    using symbol_shorthand::M;
+    using symbol_shorthand::X;
+
+    auto noise_model = noiseModel::Isotropic::Sigma(1, sigma);
+    auto still =
+             boost::make_shared<MotionModel>(X(k), X(k + 1), 0.0, noise_model),
+         moving =
+             boost::make_shared<MotionModel>(X(k), X(k + 1), 1.0, noise_model);
+    return {still, moving};
+  }
+
+  // Add "mode chain" to HybridNonlinearFactorGraph
+  void addModeChain(HybridNonlinearFactorGraph *fg) {
+    auto prior = boost::make_shared<DiscreteDistribution>(modes[1], "1/1");
+    fg->push_discrete(prior);
+    for (size_t k = 1; k < K - 1; k++) {
+      auto parents = {modes[k]};
+      auto conditional = boost::make_shared<DiscreteConditional>(
+          modes[k + 1], parents, "1/2 3/2");
+      fg->push_discrete(conditional);
+    }
+  }
+
+  // Add "mode chain" to HybridGaussianFactorGraph
+  void addModeChain(HybridGaussianFactorGraph *fg) {
+    auto prior = boost::make_shared<DiscreteDistribution>(modes[1], "1/1");
+    fg->push_discrete(prior);
+    for (size_t k = 1; k < K - 1; k++) {
+      auto parents = {modes[k]};
+      auto conditional = boost::make_shared<DiscreteConditional>(
+          modes[k + 1], parents, "1/2 3/2");
+      fg->push_discrete(conditional);
+    }
+  }
+};
+
 }  // namespace gtsam
diff --git a/gtsam/hybrid/tests/testHybridNonlinearFactorGraph.cpp b/gtsam/hybrid/tests/testHybridNonlinearFactorGraph.cpp
index 6c5e949212..fb0778ed8d 100644
--- a/gtsam/hybrid/tests/testHybridNonlinearFactorGraph.cpp
+++ b/gtsam/hybrid/tests/testHybridNonlinearFactorGraph.cpp
@@ -65,10 +65,9 @@ TEST(HybridFactorGraph, GaussianFactorGraph) {
   EXPECT_LONGS_EQUAL(2, ghfg.size());
 }
 
-/* **************************************************************************
+/***************************************************************************
+ * Test that the resize method works correctly for a HybridNonlinearFactorGraph.
  */
-/// Test that the resize method works correctly for a
-/// HybridNonlinearFactorGraph.
 TEST(HybridNonlinearFactorGraph, Resize) {
   HybridNonlinearFactorGraph fg;
   auto nonlinearFactor = boost::make_shared<BetweenFactor<double>>();
@@ -86,10 +85,10 @@ TEST(HybridNonlinearFactorGraph, Resize) {
   EXPECT_LONGS_EQUAL(fg.size(), 0);
 }
 
-/* **************************************************************************
+/***************************************************************************
+ * Test that the resize method works correctly for a
+ * HybridGaussianFactorGraph.
  */
-/// Test that the resize method works correctly for a
-/// HybridGaussianFactorGraph.
 TEST(HybridGaussianFactorGraph, Resize) {
   HybridNonlinearFactorGraph nhfg;
   auto nonlinearFactor = boost::make_shared<BetweenFactor<double>>(
@@ -123,10 +122,9 @@ TEST(HybridGaussianFactorGraph, Resize) {
   EXPECT_LONGS_EQUAL(gfg.size(), 0);
 }
 
-/*
-****************************************************************************
-* Test push_back on HFG makes the correct distinction.
-*/
+/*****************************************************************************
+ * Test push_back on HFG makes the correct distinction.
+ */
 TEST(HybridFactorGraph, PushBack) {
   HybridNonlinearFactorGraph fg;
 
@@ -168,53 +166,44 @@ TEST(HybridFactorGraph, PushBack) {
   EXPECT_LONGS_EQUAL(ghfg.size(), 1);
 }
 
-// /*
-// ****************************************************************************/
-// // Test construction of switching-like hybrid factor graph.
-// TEST(HybridFactorGraph, Switching) {
-//   Switching self(3);
+/****************************************************************************
+ * Test construction of switching-like hybrid factor graph.
+ */
+TEST(HybridFactorGraph, Switching) {
+  Switching self(3);
 
-//   EXPECT_LONGS_EQUAL(8, self.nonlinearFactorGraph.size());
-//   EXPECT_LONGS_EQUAL(4, self.nonlinearFactorGraph.nonlinearGraph().size());
-//   EXPECT_LONGS_EQUAL(2, self.nonlinearFactorGraph.discreteGraph().size());
-//   EXPECT_LONGS_EQUAL(2, self.nonlinearFactorGraph.dcGraph().size());
+  EXPECT_LONGS_EQUAL(8, self.nonlinearFactorGraph.size());
 
-//   EXPECT_LONGS_EQUAL(8, self.linearizedFactorGraph.size());
-//   EXPECT_LONGS_EQUAL(2, self.linearizedFactorGraph.discreteGraph().size());
-//   EXPECT_LONGS_EQUAL(2, self.linearizedFactorGraph.dcGraph().size());
-//   EXPECT_LONGS_EQUAL(4, self.linearizedFactorGraph.gaussianGraph().size());
-// }
+  EXPECT_LONGS_EQUAL(8, self.linearizedFactorGraph.size());
+}
 
-// /*
-// ****************************************************************************/
-// // Test linearization on a switching-like hybrid factor graph.
-// TEST(HybridFactorGraph, Linearization) {
-//   Switching self(3);
+/****************************************************************************
+ * Test linearization on a switching-like hybrid factor graph.
+ */
+TEST(HybridFactorGraph, Linearization) {
+  Switching self(3);
 
-//   // Linearize here:
-//   HybridGaussianFactorGraph actualLinearized =
-//       self.nonlinearFactorGraph.linearize(self.linearizationPoint);
+  // Linearize here:
+  HybridGaussianFactorGraph actualLinearized =
+      self.nonlinearFactorGraph.linearize(self.linearizationPoint);
 
-//   EXPECT_LONGS_EQUAL(8, actualLinearized.size());
-//   EXPECT_LONGS_EQUAL(2, actualLinearized.discreteGraph().size());
-//   EXPECT_LONGS_EQUAL(2, actualLinearized.dcGraph().size());
-//   EXPECT_LONGS_EQUAL(4, actualLinearized.gaussianGraph().size());
-// }
+  EXPECT_LONGS_EQUAL(8, actualLinearized.size());
+}
 
-// /*
-// ****************************************************************************/
-// // Test elimination tree construction
-// TEST(HybridFactorGraph, EliminationTree) {
-//   Switching self(3);
+/****************************************************************************
+ * Test elimination tree construction
+ */
+TEST(HybridFactorGraph, EliminationTree) {
+  Switching self(3);
 
-//   // Create ordering.
-//   Ordering ordering;
-//   for (size_t k = 1; k <= self.K; k++) ordering += X(k);
+  // Create ordering.
+  Ordering ordering;
+  for (size_t k = 1; k <= self.K; k++) ordering += X(k);
 
-//   // Create elimination tree.
-//   HybridEliminationTree etree(self.linearizedFactorGraph, ordering);
-//   EXPECT_LONGS_EQUAL(1, etree.roots().size())
-// }
+  // Create elimination tree.
+  HybridEliminationTree etree(self.linearizedFactorGraph, ordering);
+  EXPECT_LONGS_EQUAL(1, etree.roots().size())
+}
 
 // /*
 // ****************************************************************************/

From 290759102f42e0231068bb4d662828e31a5ec75f Mon Sep 17 00:00:00 2001
From: Tobias Fischer <info@tobiasfischer.info>
Date: Mon, 1 Aug 2022 07:32:33 +1000
Subject: [PATCH 249/433] Fix exports on Windows

---
 gtsam/nonlinear/GncOptimizer.h | 2 +-
 gtsam/nonlinear/GncParams.h    | 2 +-
 2 files changed, 2 insertions(+), 2 deletions(-)

diff --git a/gtsam/nonlinear/GncOptimizer.h b/gtsam/nonlinear/GncOptimizer.h
index eb1c0233f6..0652785735 100644
--- a/gtsam/nonlinear/GncOptimizer.h
+++ b/gtsam/nonlinear/GncOptimizer.h
@@ -42,7 +42,7 @@ static double Chi2inv(const double alpha, const size_t dofs) {
 
 /* ************************************************************************* */
 template<class GncParameters>
-class GTSAM_EXPORT GncOptimizer {
+class GncOptimizer {
  public:
   /// For each parameter, specify the corresponding optimizer: e.g., GaussNewtonParams -> GaussNewtonOptimizer.
   typedef typename GncParameters::OptimizerType BaseOptimizer;
diff --git a/gtsam/nonlinear/GncParams.h b/gtsam/nonlinear/GncParams.h
index e069d5f3d9..10ac80663a 100644
--- a/gtsam/nonlinear/GncParams.h
+++ b/gtsam/nonlinear/GncParams.h
@@ -39,7 +39,7 @@ enum GncLossType {
 };
 
 template<class BaseOptimizerParameters>
-class GTSAM_EXPORT GncParams {
+class GncParams {
  public:
   /// For each parameter, specify the corresponding optimizer: e.g., GaussNewtonParams -> GaussNewtonOptimizer.
   typedef typename BaseOptimizerParameters::OptimizerType OptimizerType;

From 4e6ec772948dcac540df3ff7cbe1a7cf20e1d919 Mon Sep 17 00:00:00 2001
From: Tobias Fischer <info@tobiasfischer.info>
Date: Mon, 1 Aug 2022 07:36:36 +1000
Subject: [PATCH 250/433] Link to interface library in case system metis is
 used

---
 gtsam_unstable/partition/tests/CMakeLists.txt | 2 +-
 1 file changed, 1 insertion(+), 1 deletion(-)

diff --git a/gtsam_unstable/partition/tests/CMakeLists.txt b/gtsam_unstable/partition/tests/CMakeLists.txt
index 9e74d99967..d89a1fe98e 100644
--- a/gtsam_unstable/partition/tests/CMakeLists.txt
+++ b/gtsam_unstable/partition/tests/CMakeLists.txt
@@ -1,2 +1,2 @@
 set(ignore_test "testNestedDissection.cpp")
-gtsamAddTestsGlob(partition "test*.cpp" "${ignore_test}" "gtsam_unstable;gtsam;metis-gtsam")
+gtsamAddTestsGlob(partition "test*.cpp" "${ignore_test}" "gtsam_unstable;gtsam;metis-gtsam-if")

From 8a68e061cd1b43bf60b5544280ac3d8dec7961d1 Mon Sep 17 00:00:00 2001
From: Tobias Fischer <info@tobiasfischer.info>
Date: Mon, 1 Aug 2022 07:48:03 +1000
Subject: [PATCH 251/433] Delete FindBoost.cmake

---
 cmake/FindBoost.cmake | 2347 -----------------------------------------
 1 file changed, 2347 deletions(-)
 delete mode 100644 cmake/FindBoost.cmake

diff --git a/cmake/FindBoost.cmake b/cmake/FindBoost.cmake
deleted file mode 100644
index 5f7cb5ddcb..0000000000
--- a/cmake/FindBoost.cmake
+++ /dev/null
@@ -1,2347 +0,0 @@
-# Distributed under the OSI-approved BSD 3-Clause License.  See accompanying
-# file Copyright.txt or https://cmake.org/licensing for details.
-
-#[=======================================================================[.rst:
-FindBoost
----------
-
-Find Boost include dirs and libraries
-
-Use this module by invoking find_package with the form::
-
-  find_package(Boost
-    [version] [EXACT]      # Minimum or EXACT version e.g. 1.67.0
-    [REQUIRED]             # Fail with error if Boost is not found
-    [COMPONENTS <libs>...] # Boost libraries by their canonical name
-                           # e.g. "date_time" for "libboost_date_time"
-    [OPTIONAL_COMPONENTS <libs>...]
-                           # Optional Boost libraries by their canonical name)
-    )                      # e.g. "date_time" for "libboost_date_time"
-
-This module finds headers and requested component libraries OR a CMake
-package configuration file provided by a "Boost CMake" build.  For the
-latter case skip to the "Boost CMake" section below.  For the former
-case results are reported in variables::
-
-  Boost_FOUND            - True if headers and requested libraries were found
-  Boost_INCLUDE_DIRS     - Boost include directories
-  Boost_LIBRARY_DIRS     - Link directories for Boost libraries
-  Boost_LIBRARIES        - Boost component libraries to be linked
-  Boost_<C>_FOUND        - True if component <C> was found (<C> is upper-case)
-  Boost_<C>_LIBRARY      - Libraries to link for component <C> (may include
-                           target_link_libraries debug/optimized keywords)
-  Boost_VERSION_MACRO    - BOOST_VERSION value from boost/version.hpp
-  Boost_VERSION_STRING   - Boost version number in x.y.z format
-  Boost_VERSION          - if CMP0093 NEW => same as Boost_VERSION_STRING
-                           if CMP0093 OLD or unset => same as Boost_VERSION_MACRO
-  Boost_LIB_VERSION      - Version string appended to library filenames
-  Boost_VERSION_MAJOR    - Boost major version number (X in X.y.z)
-                           alias: Boost_MAJOR_VERSION
-  Boost_VERSION_MINOR    - Boost minor version number (Y in x.Y.z)
-                           alias: Boost_MINOR_VERSION
-  Boost_VERSION_PATCH    - Boost subminor version number (Z in x.y.Z)
-                           alias: Boost_SUBMINOR_VERSION
-  Boost_VERSION_COUNT    - Amount of version components (3)
-  Boost_LIB_DIAGNOSTIC_DEFINITIONS (Windows)
-                         - Pass to add_definitions() to have diagnostic
-                           information about Boost's automatic linking
-                           displayed during compilation
-
-Note that Boost Python components require a Python version suffix
-(Boost 1.67 and later), e.g. ``python36`` or ``python27`` for the
-versions built against Python 3.6 and 2.7, respectively.  This also
-applies to additional components using Python including
-``mpi_python`` and ``numpy``.  Earlier Boost releases may use
-distribution-specific suffixes such as ``2``, ``3`` or ``2.7``.
-These may also be used as suffixes, but note that they are not
-portable.
-
-This module reads hints about search locations from variables::
-
-  BOOST_ROOT             - Preferred installation prefix
-   (or BOOSTROOT)
-  BOOST_INCLUDEDIR       - Preferred include directory e.g. <prefix>/include
-  BOOST_LIBRARYDIR       - Preferred library directory e.g. <prefix>/lib
-  Boost_NO_SYSTEM_PATHS  - Set to ON to disable searching in locations not
-                           specified by these hint variables. Default is OFF.
-  Boost_ADDITIONAL_VERSIONS
-                         - List of Boost versions not known to this module
-                           (Boost install locations may contain the version)
-
-and saves search results persistently in CMake cache entries::
-
-  Boost_INCLUDE_DIR         - Directory containing Boost headers
-  Boost_LIBRARY_DIR_RELEASE - Directory containing release Boost libraries
-  Boost_LIBRARY_DIR_DEBUG   - Directory containing debug Boost libraries
-  Boost_<C>_LIBRARY_DEBUG   - Component <C> library debug variant
-  Boost_<C>_LIBRARY_RELEASE - Component <C> library release variant
-
-The following :prop_tgt:`IMPORTED` targets are also defined::
-
-  Boost::headers                - Target for header-only dependencies
-                                  (Boost include directory)
-                                  alias: Boost::boost
-  Boost::<C>                    - Target for specific component dependency
-                                  (shared or static library); <C> is lower-
-                                  case
-  Boost::diagnostic_definitions - interface target to enable diagnostic
-                                  information about Boost's automatic linking
-                                  during compilation (adds BOOST_LIB_DIAGNOSTIC)
-  Boost::disable_autolinking    - interface target to disable automatic
-                                  linking with MSVC (adds BOOST_ALL_NO_LIB)
-  Boost::dynamic_linking        - interface target to enable dynamic linking
-                                  linking with MSVC (adds BOOST_ALL_DYN_LINK)
-
-Implicit dependencies such as ``Boost::filesystem`` requiring
-``Boost::system`` will be automatically detected and satisfied, even
-if system is not specified when using :command:`find_package` and if
-``Boost::system`` is not added to :command:`target_link_libraries`.  If using
-``Boost::thread``, then ``Threads::Threads`` will also be added automatically.
-
-It is important to note that the imported targets behave differently
-than variables created by this module: multiple calls to
-:command:`find_package(Boost)` in the same directory or sub-directories with
-different options (e.g. static or shared) will not override the
-values of the targets created by the first call.
-
-Users may set these hints or results as ``CACHE`` entries.  Projects
-should not read these entries directly but instead use the above
-result variables.  Note that some hint names start in upper-case
-"BOOST".  One may specify these as environment variables if they are
-not specified as CMake variables or cache entries.
-
-This module first searches for the ``Boost`` header files using the above
-hint variables (excluding ``BOOST_LIBRARYDIR``) and saves the result in
-``Boost_INCLUDE_DIR``.  Then it searches for requested component libraries
-using the above hints (excluding ``BOOST_INCLUDEDIR`` and
-``Boost_ADDITIONAL_VERSIONS``), "lib" directories near ``Boost_INCLUDE_DIR``,
-and the library name configuration settings below.  It saves the
-library directories in ``Boost_LIBRARY_DIR_DEBUG`` and
-``Boost_LIBRARY_DIR_RELEASE`` and individual library
-locations in ``Boost_<C>_LIBRARY_DEBUG`` and ``Boost_<C>_LIBRARY_RELEASE``.
-When one changes settings used by previous searches in the same build
-tree (excluding environment variables) this module discards previous
-search results affected by the changes and searches again.
-
-Boost libraries come in many variants encoded in their file name.
-Users or projects may tell this module which variant to find by
-setting variables::
-
-  Boost_USE_DEBUG_LIBS     - Set to ON or OFF to specify whether to search
-                             and use the debug libraries.  Default is ON.
-  Boost_USE_RELEASE_LIBS   - Set to ON or OFF to specify whether to search
-                             and use the release libraries.  Default is ON.
-  Boost_USE_MULTITHREADED  - Set to OFF to use the non-multithreaded
-                             libraries ('mt' tag).  Default is ON.
-  Boost_USE_STATIC_LIBS    - Set to ON to force the use of the static
-                             libraries.  Default is OFF.
-  Boost_USE_STATIC_RUNTIME - Set to ON or OFF to specify whether to use
-                             libraries linked statically to the C++ runtime
-                             ('s' tag).  Default is platform dependent.
-  Boost_USE_DEBUG_RUNTIME  - Set to ON or OFF to specify whether to use
-                             libraries linked to the MS debug C++ runtime
-                             ('g' tag).  Default is ON.
-  Boost_USE_DEBUG_PYTHON   - Set to ON to use libraries compiled with a
-                             debug Python build ('y' tag). Default is OFF.
-  Boost_USE_STLPORT        - Set to ON to use libraries compiled with
-                             STLPort ('p' tag).  Default is OFF.
-  Boost_USE_STLPORT_DEPRECATED_NATIVE_IOSTREAMS
-                           - Set to ON to use libraries compiled with
-                             STLPort deprecated "native iostreams"
-                             ('n' tag).  Default is OFF.
-  Boost_COMPILER           - Set to the compiler-specific library suffix
-                             (e.g. "-gcc43").  Default is auto-computed
-                             for the C++ compiler in use.  A list may be
-                             used if multiple compatible suffixes should
-                             be tested for, in decreasing order of
-                             preference.
-  Boost_ARCHITECTURE       - Set to the architecture-specific library suffix
-                             (e.g. "-x64").  Default is auto-computed for the
-                             C++ compiler in use.
-  Boost_THREADAPI          - Suffix for "thread" component library name,
-                             such as "pthread" or "win32".  Names with
-                             and without this suffix will both be tried.
-  Boost_NAMESPACE          - Alternate namespace used to build boost with
-                             e.g. if set to "myboost", will search for
-                             myboost_thread instead of boost_thread.
-
-Other variables one may set to control this module are::
-
-  Boost_DEBUG              - Set to ON to enable debug output from FindBoost.
-                             Please enable this before filing any bug report.
-  Boost_REALPATH           - Set to ON to resolve symlinks for discovered
-                             libraries to assist with packaging.  For example,
-                             the "system" component library may be resolved to
-                             "/usr/lib/libboost_system.so.1.67.0" instead of
-                             "/usr/lib/libboost_system.so".  This does not
-                             affect linking and should not be enabled unless
-                             the user needs this information.
-  Boost_LIBRARY_DIR        - Default value for Boost_LIBRARY_DIR_RELEASE and
-                             Boost_LIBRARY_DIR_DEBUG.
-
-On Visual Studio and Borland compilers Boost headers request automatic
-linking to corresponding libraries.  This requires matching libraries
-to be linked explicitly or available in the link library search path.
-In this case setting ``Boost_USE_STATIC_LIBS`` to ``OFF`` may not achieve
-dynamic linking.  Boost automatic linking typically requests static
-libraries with a few exceptions (such as ``Boost.Python``).  Use::
-
-  add_definitions(${Boost_LIB_DIAGNOSTIC_DEFINITIONS})
-
-to ask Boost to report information about automatic linking requests.
-
-Example to find Boost headers only::
-
-  find_package(Boost 1.36.0)
-  if(Boost_FOUND)
-    include_directories(${Boost_INCLUDE_DIRS})
-    add_executable(foo foo.cc)
-  endif()
-
-Example to find Boost libraries and use imported targets::
-
-  find_package(Boost 1.56 REQUIRED COMPONENTS
-               date_time filesystem iostreams)
-  add_executable(foo foo.cc)
-  target_link_libraries(foo Boost::date_time Boost::filesystem
-                            Boost::iostreams)
-
-Example to find Boost Python 3.6 libraries and use imported targets::
-
-  find_package(Boost 1.67 REQUIRED COMPONENTS
-               python36 numpy36)
-  add_executable(foo foo.cc)
-  target_link_libraries(foo Boost::python36 Boost::numpy36)
-
-Example to find Boost headers and some *static* (release only) libraries::
-
-  set(Boost_USE_STATIC_LIBS        ON)  # only find static libs
-  set(Boost_USE_DEBUG_LIBS         OFF) # ignore debug libs and
-  set(Boost_USE_RELEASE_LIBS       ON)  # only find release libs
-  set(Boost_USE_MULTITHREADED      ON)
-  set(Boost_USE_STATIC_RUNTIME    OFF)
-  find_package(Boost 1.66.0 COMPONENTS date_time filesystem system ...)
-  if(Boost_FOUND)
-    include_directories(${Boost_INCLUDE_DIRS})
-    add_executable(foo foo.cc)
-    target_link_libraries(foo ${Boost_LIBRARIES})
-  endif()
-
-Boost CMake
-^^^^^^^^^^^
-
-If Boost was built using the boost-cmake project or from Boost 1.70.0 on
-it provides a package configuration file for use with find_package's config mode.
-This module looks for the package configuration file called
-``BoostConfig.cmake`` or ``boost-config.cmake`` and stores the result in
-``CACHE`` entry "Boost_DIR".  If found, the package configuration file is loaded
-and this module returns with no further action.  See documentation of
-the Boost CMake package configuration for details on what it provides.
-
-Set ``Boost_NO_BOOST_CMAKE`` to ``ON``, to disable the search for boost-cmake.
-#]=======================================================================]
-
-# The FPHSA helper provides standard way of reporting final search results to
-# the user including the version and component checks.
-
-# Patch  for GTSAM:
-#include(${CMAKE_CURRENT_LIST_DIR}/FindPackageHandleStandardArgs.cmake)
-include(FindPackageHandleStandardArgs)
-
-# Save project's policies
-cmake_policy(PUSH)
-cmake_policy(SET CMP0057 NEW) # if IN_LIST
-
-function(_boost_get_existing_target component target_var)
-  set(names "${component}")
-  if(component MATCHES "^([a-z_]*)(python|numpy)([1-9])\\.?([0-9])?$")
-    # handle pythonXY and numpyXY versioned components and also python X.Y, mpi_python etc.
-    list(APPEND names
-      "${CMAKE_MATCH_1}${CMAKE_MATCH_2}" # python
-      "${CMAKE_MATCH_1}${CMAKE_MATCH_2}${CMAKE_MATCH_3}" # pythonX
-      "${CMAKE_MATCH_1}${CMAKE_MATCH_2}${CMAKE_MATCH_3}${CMAKE_MATCH_4}" #pythonXY
-    )
-  endif()
-  # https://github.com/boost-cmake/boost-cmake uses boost::file_system etc.
-  # So handle similar constructions of target names
-  string(TOLOWER "${component}" lower_component)
-  list(APPEND names "${lower_component}")
-  foreach(prefix Boost boost)
-    foreach(name IN LISTS names)
-      if(TARGET "${prefix}::${name}")
-        # The target may be an INTERFACE library that wraps around a single other
-        # target for compatibility.  Unwrap this layer so we can extract real info.
-        if("${name}" MATCHES "^(python|numpy|mpi_python)([1-9])([0-9])$")
-          set(name_nv "${CMAKE_MATCH_1}")
-          if(TARGET "${prefix}::${name_nv}")
-            get_property(type TARGET "${prefix}::${name}" PROPERTY TYPE)
-            if(type STREQUAL "INTERFACE_LIBRARY")
-              get_property(lib TARGET "${prefix}::${name}" PROPERTY INTERFACE_LINK_LIBRARIES)
-              if("${lib}" STREQUAL "${prefix}::${name_nv}")
-                set(${target_var} "${prefix}::${name_nv}" PARENT_SCOPE)
-                return()
-              endif()
-            endif()
-          endif()
-        endif()
-        set(${target_var} "${prefix}::${name}" PARENT_SCOPE)
-        return()
-      endif()
-    endforeach()
-  endforeach()
-  set(${target_var} "" PARENT_SCOPE)
-endfunction()
-
-function(_boost_get_canonical_target_name component target_var)
-  string(TOLOWER "${component}" component)
-  if(component MATCHES "^([a-z_]*)(python|numpy)([1-9])\\.?([0-9])?$")
-    # handle pythonXY and numpyXY versioned components and also python X.Y, mpi_python etc.
-    set(${target_var} "Boost::${CMAKE_MATCH_1}${CMAKE_MATCH_2}" PARENT_SCOPE)
-  else()
-    set(${target_var} "Boost::${component}" PARENT_SCOPE)
-  endif()
-endfunction()
-
-macro(_boost_set_in_parent_scope name value)
-  # Set a variable in parent scope and make it visibile in current scope
-  set(${name} "${value}" PARENT_SCOPE)
-  set(${name} "${value}")
-endmacro()
-
-macro(_boost_set_if_unset name value)
-  if(NOT ${name})
-    _boost_set_in_parent_scope(${name} "${value}")
-  endif()
-endmacro()
-
-macro(_boost_set_cache_if_unset name value)
-  if(NOT ${name})
-    set(${name} "${value}" CACHE STRING "" FORCE)
-  endif()
-endmacro()
-
-macro(_boost_append_include_dir target)
-  get_target_property(inc "${target}" INTERFACE_INCLUDE_DIRECTORIES)
-  if(inc)
-    list(APPEND include_dirs "${inc}")
-  endif()
-endmacro()
-
-function(_boost_set_legacy_variables_from_config)
-  # Set legacy variables for compatibility if not set
-  set(include_dirs "")
-  set(library_dirs "")
-  set(libraries "")
-  # Header targets Boost::headers or Boost::boost
-  foreach(comp headers boost)
-    _boost_get_existing_target(${comp} target)
-    if(target)
-      _boost_append_include_dir("${target}")
-    endif()
-  endforeach()
-  # Library targets
-  foreach(comp IN LISTS Boost_FIND_COMPONENTS)
-    string(TOUPPER ${comp} uppercomp)
-    # Overwrite if set
-    _boost_set_in_parent_scope(Boost_${uppercomp}_FOUND "${Boost_${comp}_FOUND}")
-    if(Boost_${comp}_FOUND)
-      _boost_get_existing_target(${comp} target)
-      if(NOT target)
-        if(Boost_DEBUG OR Boost_VERBOSE)
-          message(WARNING "Could not find imported target for required component '${comp}'. Legacy variables for this component might be missing. Refer to the documentation of your Boost installation for help on variables to use.")
-        endif()
-        continue()
-      endif()
-      _boost_append_include_dir("${target}")
-      _boost_set_if_unset(Boost_${uppercomp}_LIBRARY "${target}")
-      _boost_set_if_unset(Boost_${uppercomp}_LIBRARIES "${target}") # Very old legacy variable
-      list(APPEND libraries "${target}")
-      get_property(type TARGET "${target}" PROPERTY TYPE)
-      if(NOT type STREQUAL "INTERFACE_LIBRARY")
-        foreach(cfg RELEASE DEBUG)
-          get_target_property(lib ${target} IMPORTED_LOCATION_${cfg})
-          if(lib)
-            get_filename_component(lib_dir "${lib}" DIRECTORY)
-            list(APPEND library_dirs ${lib_dir})
-            _boost_set_cache_if_unset(Boost_${uppercomp}_LIBRARY_${cfg} "${lib}")
-          endif()
-        endforeach()
-      elseif(Boost_DEBUG OR Boost_VERBOSE)
-        # For projects using only the Boost::* targets this warning can be safely ignored.
-        message(WARNING "Imported target '${target}' for required component '${comp}' has no artifact. Legacy variables for this component might be missing. Refer to the documentation of your Boost installation for help on variables to use.")
-      endif()
-      _boost_get_canonical_target_name("${comp}" canonical_target)
-      if(NOT TARGET "${canonical_target}")
-        add_library("${canonical_target}" INTERFACE IMPORTED)
-        target_link_libraries("${canonical_target}" INTERFACE "${target}")
-      endif()
-    endif()
-  endforeach()
-  list(REMOVE_DUPLICATES include_dirs)
-  list(REMOVE_DUPLICATES library_dirs)
-  _boost_set_if_unset(Boost_INCLUDE_DIRS "${include_dirs}")
-  _boost_set_if_unset(Boost_LIBRARY_DIRS "${library_dirs}")
-  _boost_set_if_unset(Boost_LIBRARIES "${libraries}")
-  _boost_set_if_unset(Boost_VERSION_STRING "${Boost_VERSION_MAJOR}.${Boost_VERSION_MINOR}.${Boost_VERSION_PATCH}")
-  find_path(Boost_INCLUDE_DIR
-    NAMES boost/version.hpp boost/config.hpp
-    HINTS ${Boost_INCLUDE_DIRS}
-    NO_DEFAULT_PATH
-  )
-  if(NOT Boost_VERSION_MACRO OR NOT Boost_LIB_VERSION)
-    set(version_file ${Boost_INCLUDE_DIR}/boost/version.hpp)
-    if(EXISTS "${version_file}")
-      file(STRINGS "${version_file}" contents REGEX "#define BOOST_(LIB_)?VERSION ")
-      if(contents MATCHES "#define BOOST_VERSION ([0-9]+)")
-        _boost_set_if_unset(Boost_VERSION_MACRO "${CMAKE_MATCH_1}")
-      endif()
-      if(contents MATCHES "#define BOOST_LIB_VERSION \"([0-9_]+)\"")
-        _boost_set_if_unset(Boost_LIB_VERSION "${CMAKE_MATCH_1}")
-      endif()
-    endif()
-  endif()
-  _boost_set_if_unset(Boost_MAJOR_VERSION ${Boost_VERSION_MAJOR})
-  _boost_set_if_unset(Boost_MINOR_VERSION ${Boost_VERSION_MINOR})
-  _boost_set_if_unset(Boost_SUBMINOR_VERSION ${Boost_VERSION_PATCH})
-  if(WIN32)
-    _boost_set_if_unset(Boost_LIB_DIAGNOSTIC_DEFINITIONS "-DBOOST_LIB_DIAGNOSTIC")
-  endif()
-  if(NOT TARGET Boost::headers)
-    add_library(Boost::headers INTERFACE IMPORTED)
-    target_include_directories(Boost::headers INTERFACE ${Boost_INCLUDE_DIRS})
-  endif()
-  # Legacy targets w/o functionality as all handled by defined targets
-  foreach(lib diagnostic_definitions disable_autolinking dynamic_linking)
-    if(NOT TARGET Boost::${lib})
-      add_library(Boost::${lib} INTERFACE IMPORTED)
-    endif()
-  endforeach()
-  if(NOT TARGET Boost::boost)
-    add_library(Boost::boost INTERFACE IMPORTED)
-    target_link_libraries(Boost::boost INTERFACE Boost::headers)
-  endif()
-endfunction()
-
-#-------------------------------------------------------------------------------
-# Before we go searching, check whether a boost cmake package is available, unless
-# the user specifically asked NOT to search for one.
-#
-# If Boost_DIR is set, this behaves as any find_package call would. If not,
-# it looks at BOOST_ROOT and BOOSTROOT to find Boost.
-#
-if (NOT Boost_NO_BOOST_CMAKE)
-  # If Boost_DIR is not set, look for BOOSTROOT and BOOST_ROOT as alternatives,
-  # since these are more conventional for Boost.
-  if ("$ENV{Boost_DIR}" STREQUAL "")
-    if (NOT "$ENV{BOOST_ROOT}" STREQUAL "")
-      set(ENV{Boost_DIR} $ENV{BOOST_ROOT})
-    elseif (NOT "$ENV{BOOSTROOT}" STREQUAL "")
-      set(ENV{Boost_DIR} $ENV{BOOSTROOT})
-    endif()
-  endif()
-
-  # Do the same find_package call but look specifically for the CMake version.
-  # Note that args are passed in the Boost_FIND_xxxxx variables, so there is no
-  # need to delegate them to this find_package call.
-  find_package(Boost QUIET NO_MODULE)
-  mark_as_advanced(Boost_DIR)
-
-  # If we found a boost cmake package, then we're done. Print out what we found.
-  # Otherwise let the rest of the module try to find it.
-  if(Boost_FOUND)
-    # Convert component found variables to standard variables if required
-    # Necessary for legacy boost-cmake and 1.70 builtin BoostConfig
-    if(Boost_FIND_COMPONENTS)
-      foreach(_comp IN LISTS Boost_FIND_COMPONENTS)
-        if(DEFINED Boost_${_comp}_FOUND)
-          continue()
-        endif()
-        string(TOUPPER ${_comp} _uppercomp)
-        if(DEFINED Boost${_comp}_FOUND) # legacy boost-cmake project
-          set(Boost_${_comp}_FOUND ${Boost${_comp}_FOUND})
-        elseif(DEFINED Boost_${_uppercomp}_FOUND) # Boost 1.70
-          set(Boost_${_comp}_FOUND ${Boost_${_uppercomp}_FOUND})
-        endif()
-      endforeach()
-    endif()
-
-    find_package_handle_standard_args(Boost HANDLE_COMPONENTS CONFIG_MODE)
-    _boost_set_legacy_variables_from_config()
-
-    # Restore project's policies
-    cmake_policy(POP)
-    return()
-  endif()
-endif()
-
-
-#-------------------------------------------------------------------------------
-#  FindBoost functions & macros
-#
-
-#
-# Print debug text if Boost_DEBUG is set.
-# Call example:
-# _Boost_DEBUG_PRINT("${CMAKE_CURRENT_LIST_FILE}" "${CMAKE_CURRENT_LIST_LINE}" "debug message")
-#
-function(_Boost_DEBUG_PRINT file line text)
-  if(Boost_DEBUG)
-    message(STATUS "[ ${file}:${line} ] ${text}")
-  endif()
-endfunction()
-
-#
-# _Boost_DEBUG_PRINT_VAR(file line variable_name [ENVIRONMENT]
-#                        [SOURCE "short explanation of origin of var value"])
-#
-#   ENVIRONMENT - look up environment variable instead of CMake variable
-#
-# Print variable name and its value if Boost_DEBUG is set.
-# Call example:
-# _Boost_DEBUG_PRINT_VAR("${CMAKE_CURRENT_LIST_FILE}" "${CMAKE_CURRENT_LIST_LINE}" BOOST_ROOT)
-#
-function(_Boost_DEBUG_PRINT_VAR file line name)
-  if(Boost_DEBUG)
-    cmake_parse_arguments(_args "ENVIRONMENT" "SOURCE" "" ${ARGN})
-
-    unset(source)
-    if(_args_SOURCE)
-      set(source " (${_args_SOURCE})")
-    endif()
-
-    if(_args_ENVIRONMENT)
-      if(DEFINED ENV{${name}})
-        set(value "\"$ENV{${name}}\"")
-      else()
-        set(value "<unset>")
-      endif()
-      set(_name "ENV{${name}}")
-    else()
-      if(DEFINED "${name}")
-        set(value "\"${${name}}\"")
-      else()
-        set(value "<unset>")
-      endif()
-      set(_name "${name}")
-    endif()
-
-    _Boost_DEBUG_PRINT("${file}" "${line}" "${_name} = ${value}${source}")
-  endif()
-endfunction()
-
-############################################
-#
-# Check the existence of the libraries.
-#
-############################################
-# This macro was taken directly from the FindQt4.cmake file that is included
-# with the CMake distribution. This is NOT my work. All work was done by the
-# original authors of the FindQt4.cmake file. Only minor modifications were
-# made to remove references to Qt and make this file more generally applicable
-# And ELSE/ENDIF pairs were removed for readability.
-#########################################################################
-
-macro(_Boost_ADJUST_LIB_VARS basename)
-  if(Boost_INCLUDE_DIR )
-    if(Boost_${basename}_LIBRARY_DEBUG AND Boost_${basename}_LIBRARY_RELEASE)
-      # if the generator is multi-config or if CMAKE_BUILD_TYPE is set for
-      # single-config generators, set optimized and debug libraries
-      get_property(_isMultiConfig GLOBAL PROPERTY GENERATOR_IS_MULTI_CONFIG)
-      if(_isMultiConfig OR CMAKE_BUILD_TYPE)
-        set(Boost_${basename}_LIBRARY optimized ${Boost_${basename}_LIBRARY_RELEASE} debug ${Boost_${basename}_LIBRARY_DEBUG})
-      else()
-        # For single-config generators where CMAKE_BUILD_TYPE has no value,
-        # just use the release libraries
-        set(Boost_${basename}_LIBRARY ${Boost_${basename}_LIBRARY_RELEASE} )
-      endif()
-      # FIXME: This probably should be set for both cases
-      set(Boost_${basename}_LIBRARIES optimized ${Boost_${basename}_LIBRARY_RELEASE} debug ${Boost_${basename}_LIBRARY_DEBUG})
-    endif()
-
-    # if only the release version was found, set the debug variable also to the release version
-    if(Boost_${basename}_LIBRARY_RELEASE AND NOT Boost_${basename}_LIBRARY_DEBUG)
-      set(Boost_${basename}_LIBRARY_DEBUG ${Boost_${basename}_LIBRARY_RELEASE})
-      set(Boost_${basename}_LIBRARY       ${Boost_${basename}_LIBRARY_RELEASE})
-      set(Boost_${basename}_LIBRARIES     ${Boost_${basename}_LIBRARY_RELEASE})
-    endif()
-
-    # if only the debug version was found, set the release variable also to the debug version
-    if(Boost_${basename}_LIBRARY_DEBUG AND NOT Boost_${basename}_LIBRARY_RELEASE)
-      set(Boost_${basename}_LIBRARY_RELEASE ${Boost_${basename}_LIBRARY_DEBUG})
-      set(Boost_${basename}_LIBRARY         ${Boost_${basename}_LIBRARY_DEBUG})
-      set(Boost_${basename}_LIBRARIES       ${Boost_${basename}_LIBRARY_DEBUG})
-    endif()
-
-    # If the debug & release library ends up being the same, omit the keywords
-    if("${Boost_${basename}_LIBRARY_RELEASE}" STREQUAL "${Boost_${basename}_LIBRARY_DEBUG}")
-      set(Boost_${basename}_LIBRARY   ${Boost_${basename}_LIBRARY_RELEASE} )
-      set(Boost_${basename}_LIBRARIES ${Boost_${basename}_LIBRARY_RELEASE} )
-    endif()
-
-    if(Boost_${basename}_LIBRARY AND Boost_${basename}_HEADER)
-      set(Boost_${basename}_FOUND ON)
-      if("x${basename}" STREQUAL "xTHREAD" AND NOT TARGET Threads::Threads)
-        string(APPEND Boost_ERROR_REASON_THREAD " (missing dependency: Threads)")
-        set(Boost_THREAD_FOUND OFF)
-      endif()
-    endif()
-
-  endif()
-  # Make variables changeable to the advanced user
-  mark_as_advanced(
-      Boost_${basename}_LIBRARY_RELEASE
-      Boost_${basename}_LIBRARY_DEBUG
-  )
-endmacro()
-
-# Detect changes in used variables.
-# Compares the current variable value with the last one.
-# In short form:
-# v != v_LAST                      -> CHANGED = 1
-# v is defined, v_LAST not         -> CHANGED = 1
-# v is not defined, but v_LAST is  -> CHANGED = 1
-# otherwise                        -> CHANGED = 0
-# CHANGED is returned in variable named ${changed_var}
-macro(_Boost_CHANGE_DETECT changed_var)
-  set(${changed_var} 0)
-  foreach(v ${ARGN})
-    if(DEFINED _Boost_COMPONENTS_SEARCHED)
-      if(${v})
-        if(_${v}_LAST)
-          string(COMPARE NOTEQUAL "${${v}}" "${_${v}_LAST}" _${v}_CHANGED)
-        else()
-          set(_${v}_CHANGED 1)
-        endif()
-      elseif(_${v}_LAST)
-        set(_${v}_CHANGED 1)
-      endif()
-      if(_${v}_CHANGED)
-        set(${changed_var} 1)
-      endif()
-    else()
-      set(_${v}_CHANGED 0)
-    endif()
-  endforeach()
-endmacro()
-
-#
-# Find the given library (var).
-# Use 'build_type' to support different lib paths for RELEASE or DEBUG builds
-#
-macro(_Boost_FIND_LIBRARY var build_type)
-
-  find_library(${var} ${ARGN})
-
-  if(${var})
-    # If this is the first library found then save Boost_LIBRARY_DIR_[RELEASE,DEBUG].
-    if(NOT Boost_LIBRARY_DIR_${build_type})
-      get_filename_component(_dir "${${var}}" PATH)
-      set(Boost_LIBRARY_DIR_${build_type} "${_dir}" CACHE PATH "Boost library directory ${build_type}" FORCE)
-    endif()
-  elseif(_Boost_FIND_LIBRARY_HINTS_FOR_COMPONENT)
-    # Try component-specific hints but do not save Boost_LIBRARY_DIR_[RELEASE,DEBUG].
-    find_library(${var} HINTS ${_Boost_FIND_LIBRARY_HINTS_FOR_COMPONENT} ${ARGN})
-  endif()
-
-  # If Boost_LIBRARY_DIR_[RELEASE,DEBUG] is known then search only there.
-  if(Boost_LIBRARY_DIR_${build_type})
-    set(_boost_LIBRARY_SEARCH_DIRS_${build_type} ${Boost_LIBRARY_DIR_${build_type}} NO_DEFAULT_PATH NO_CMAKE_FIND_ROOT_PATH)
-    _Boost_DEBUG_PRINT_VAR("${CMAKE_CURRENT_LIST_FILE}" "${CMAKE_CURRENT_LIST_LINE}"
-                           "Boost_LIBRARY_DIR_${build_type}")
-    _Boost_DEBUG_PRINT_VAR("${CMAKE_CURRENT_LIST_FILE}" "${CMAKE_CURRENT_LIST_LINE}"
-                           "_boost_LIBRARY_SEARCH_DIRS_${build_type}")
-  endif()
-endmacro()
-
-#-------------------------------------------------------------------------------
-
-# Convert CMAKE_CXX_COMPILER_VERSION to boost compiler suffix version.
-function(_Boost_COMPILER_DUMPVERSION _OUTPUT_VERSION _OUTPUT_VERSION_MAJOR _OUTPUT_VERSION_MINOR)
-  string(REGEX REPLACE "([0-9]+)\\.([0-9]+)(\\.[0-9]+)?" "\\1"
-    _boost_COMPILER_VERSION_MAJOR "${CMAKE_CXX_COMPILER_VERSION}")
-  string(REGEX REPLACE "([0-9]+)\\.([0-9]+)(\\.[0-9]+)?" "\\2"
-    _boost_COMPILER_VERSION_MINOR "${CMAKE_CXX_COMPILER_VERSION}")
-
-  set(_boost_COMPILER_VERSION "${_boost_COMPILER_VERSION_MAJOR}${_boost_COMPILER_VERSION_MINOR}")
-
-  set(${_OUTPUT_VERSION} ${_boost_COMPILER_VERSION} PARENT_SCOPE)
-  set(${_OUTPUT_VERSION_MAJOR} ${_boost_COMPILER_VERSION_MAJOR} PARENT_SCOPE)
-  set(${_OUTPUT_VERSION_MINOR} ${_boost_COMPILER_VERSION_MINOR} PARENT_SCOPE)
-endfunction()
-
-#
-# Take a list of libraries with "thread" in it
-# and prepend duplicates with "thread_${Boost_THREADAPI}"
-# at the front of the list
-#
-function(_Boost_PREPEND_LIST_WITH_THREADAPI _output)
-  set(_orig_libnames ${ARGN})
-  string(REPLACE "thread" "thread_${Boost_THREADAPI}" _threadapi_libnames "${_orig_libnames}")
-  set(${_output} ${_threadapi_libnames} ${_orig_libnames} PARENT_SCOPE)
-endfunction()
-
-#
-# If a library is found, replace its cache entry with its REALPATH
-#
-function(_Boost_SWAP_WITH_REALPATH _library _docstring)
-  if(${_library})
-    get_filename_component(_boost_filepathreal ${${_library}} REALPATH)
-    unset(${_library} CACHE)
-    set(${_library} ${_boost_filepathreal} CACHE FILEPATH "${_docstring}")
-  endif()
-endfunction()
-
-function(_Boost_CHECK_SPELLING _var)
-  if(${_var})
-    string(TOUPPER ${_var} _var_UC)
-    message(FATAL_ERROR "ERROR: ${_var} is not the correct spelling.  The proper spelling is ${_var_UC}.")
-  endif()
-endfunction()
-
-# Guesses Boost's compiler prefix used in built library names
-# Returns the guess by setting the variable pointed to by _ret
-function(_Boost_GUESS_COMPILER_PREFIX _ret)
-  if("x${CMAKE_CXX_COMPILER_ID}" STREQUAL "xIntel")
-    if(WIN32)
-      set (_boost_COMPILER "-iw")
-    else()
-      set (_boost_COMPILER "-il")
-    endif()
-  elseif (GHSMULTI)
-    set(_boost_COMPILER "-ghs")
-  elseif("x${CMAKE_CXX_COMPILER_ID}" STREQUAL "xMSVC" OR "x${CMAKE_CXX_SIMULATE_ID}" STREQUAL "xMSVC")
-    if(MSVC_TOOLSET_VERSION GREATER_EQUAL 150)
-      # Not yet known.
-      set(_boost_COMPILER "")
-    elseif(MSVC_TOOLSET_VERSION GREATER_EQUAL 140)
-      # MSVC toolset 14.x versions are forward compatible.
-      set(_boost_COMPILER "")
-      foreach(v 9 8 7 6 5 4 3 2 1 0)
-        if(MSVC_TOOLSET_VERSION GREATER_EQUAL 14${v})
-          list(APPEND _boost_COMPILER "-vc14${v}")
-        endif()
-      endforeach()
-    elseif(MSVC_TOOLSET_VERSION GREATER_EQUAL 80)
-      set(_boost_COMPILER "-vc${MSVC_TOOLSET_VERSION}")
-    elseif(NOT CMAKE_CXX_COMPILER_VERSION VERSION_LESS 13.10)
-      set(_boost_COMPILER "-vc71")
-    elseif(NOT CMAKE_CXX_COMPILER_VERSION VERSION_LESS 13) # Good luck!
-      set(_boost_COMPILER "-vc7") # yes, this is correct
-    else() # VS 6.0 Good luck!
-      set(_boost_COMPILER "-vc6") # yes, this is correct
-    endif()
-
-    if("x${CMAKE_CXX_COMPILER_ID}" STREQUAL "xClang")
-      string(REPLACE "." ";" VERSION_LIST "${CMAKE_CXX_COMPILER_VERSION}")
-      list(GET VERSION_LIST 0 CLANG_VERSION_MAJOR)
-      set(_boost_COMPILER "-clangw${CLANG_VERSION_MAJOR};${_boost_COMPILER}")
-    endif()
-  elseif (BORLAND)
-    set(_boost_COMPILER "-bcb")
-  elseif(CMAKE_CXX_COMPILER_ID STREQUAL "SunPro")
-    set(_boost_COMPILER "-sw")
-  elseif(CMAKE_CXX_COMPILER_ID STREQUAL "XL")
-    set(_boost_COMPILER "-xlc")
-  elseif (MINGW)
-    if(Boost_VERSION_STRING VERSION_LESS 1.34)
-        set(_boost_COMPILER "-mgw") # no GCC version encoding prior to 1.34
-    else()
-      _Boost_COMPILER_DUMPVERSION(_boost_COMPILER_VERSION _boost_COMPILER_VERSION_MAJOR _boost_COMPILER_VERSION_MINOR)
-      set(_boost_COMPILER "-mgw${_boost_COMPILER_VERSION}")
-    endif()
-  elseif (UNIX)
-    _Boost_COMPILER_DUMPVERSION(_boost_COMPILER_VERSION _boost_COMPILER_VERSION_MAJOR _boost_COMPILER_VERSION_MINOR)
-    if(NOT Boost_VERSION_STRING VERSION_LESS 1.69.0)
-      # From GCC 5 and clang 4, versioning changes and minor becomes patch.
-      # For those compilers, patch is exclude from compiler tag in Boost 1.69+ library naming.
-      if(CMAKE_CXX_COMPILER_ID STREQUAL "GNU" AND _boost_COMPILER_VERSION_MAJOR VERSION_GREATER 4)
-        set(_boost_COMPILER_VERSION "${_boost_COMPILER_VERSION_MAJOR}")
-      elseif(CMAKE_CXX_COMPILER_ID STREQUAL "Clang" AND _boost_COMPILER_VERSION_MAJOR VERSION_GREATER 3)
-        set(_boost_COMPILER_VERSION "${_boost_COMPILER_VERSION_MAJOR}")
-      endif()
-    endif()
-
-    if(CMAKE_CXX_COMPILER_ID STREQUAL "GNU")
-      if(Boost_VERSION_STRING VERSION_LESS 1.34)
-        set(_boost_COMPILER "-gcc") # no GCC version encoding prior to 1.34
-      else()
-        # Determine which version of GCC we have.
-        if(APPLE)
-          if(Boost_VERSION_STRING VERSION_LESS 1.36.0)
-            # In Boost <= 1.35.0, there is no mangled compiler name for
-            # the macOS/Darwin version of GCC.
-            set(_boost_COMPILER "")
-          else()
-            # In Boost 1.36.0 and newer, the mangled compiler name used
-            # on macOS/Darwin is "xgcc".
-            set(_boost_COMPILER "-xgcc${_boost_COMPILER_VERSION}")
-          endif()
-        else()
-          set(_boost_COMPILER "-gcc${_boost_COMPILER_VERSION}")
-        endif()
-      endif()
-    elseif(CMAKE_CXX_COMPILER_ID STREQUAL "Clang")
-      # TODO: Find out any Boost version constraints vs clang support.
-      set(_boost_COMPILER "-clang${_boost_COMPILER_VERSION}")
-    endif()
-  else()
-    set(_boost_COMPILER "")
-  endif()
-  _Boost_DEBUG_PRINT_VAR("${CMAKE_CURRENT_LIST_FILE}" "${CMAKE_CURRENT_LIST_LINE}"
-                         "_boost_COMPILER" SOURCE "guessed")
-  set(${_ret} ${_boost_COMPILER} PARENT_SCOPE)
-endfunction()
-
-#
-# Get component dependencies.  Requires the dependencies to have been
-# defined for the Boost release version.
-#
-# component - the component to check
-# _ret - list of library dependencies
-#
-function(_Boost_COMPONENT_DEPENDENCIES component _ret)
-  # Note: to add a new Boost release, run
-  #
-  #   % cmake -DBOOST_DIR=/path/to/boost/source -P Utilities/Scripts/BoostScanDeps.cmake
-  #
-  # The output may be added in a new block below.  If it's the same as
-  # the previous release, simply update the version range of the block
-  # for the previous release.  Also check if any new components have
-  # been added, and add any new components to
-  # _Boost_COMPONENT_HEADERS.
-  #
-  # This information was originally generated by running
-  # BoostScanDeps.cmake against every boost release to date supported
-  # by FindBoost:
-  #
-  #   % for version in /path/to/boost/sources/*
-  #     do
-  #       cmake -DBOOST_DIR=$version -P Utilities/Scripts/BoostScanDeps.cmake
-  #     done
-  #
-  # The output was then updated by search and replace with these regexes:
-  #
-  # - Strip message(STATUS) prefix dashes
-  #   s;^-- ;;
-  # - Indent
-  #   s;^set(;    set(;;
-  # - Add conditionals
-  #   s;Scanning /path/to/boost/sources/boost_\(.*\)_\(.*\)_\(.*);  elseif(NOT Boost_VERSION_STRING VERSION_LESS \1\.\2\.\3 AND Boost_VERSION_STRING VERSION_LESS xxxx);
-  #
-  # This results in the logic seen below, but will require the xxxx
-  # replacing with the following Boost release version (or the next
-  # minor version to be released, e.g. 1.59 was the latest at the time
-  # of writing, making 1.60 the next. Identical consecutive releases
-  # were then merged together by updating the end range of the first
-  # block and removing the following redundant blocks.
-  #
-  # Running the script against all historical releases should be
-  # required only if the BoostScanDeps.cmake script logic is changed.
-  # The addition of a new release should only require it to be run
-  # against the new release.
-
-  # Handle Python version suffixes
-  if(component MATCHES "^(python|mpi_python|numpy)([0-9][0-9]?|[0-9]\\.[0-9])\$")
-    set(component "${CMAKE_MATCH_1}")
-    set(component_python_version "${CMAKE_MATCH_2}")
-  endif()
-
-  set(_Boost_IMPORTED_TARGETS TRUE)
-  if(Boost_VERSION_STRING AND Boost_VERSION_STRING VERSION_LESS 1.33.0)
-    message(WARNING "Imported targets and dependency information not available for Boost version ${Boost_VERSION_STRING} (all versions older than 1.33)")
-    set(_Boost_IMPORTED_TARGETS FALSE)
-  elseif(NOT Boost_VERSION_STRING VERSION_LESS 1.33.0 AND Boost_VERSION_STRING VERSION_LESS 1.35.0)
-    set(_Boost_IOSTREAMS_DEPENDENCIES regex thread)
-    set(_Boost_REGEX_DEPENDENCIES thread)
-    set(_Boost_WAVE_DEPENDENCIES filesystem thread)
-    set(_Boost_WSERIALIZATION_DEPENDENCIES serialization)
-  elseif(NOT Boost_VERSION_STRING VERSION_LESS 1.35.0 AND Boost_VERSION_STRING VERSION_LESS 1.36.0)
-    set(_Boost_FILESYSTEM_DEPENDENCIES system)
-    set(_Boost_IOSTREAMS_DEPENDENCIES regex)
-    set(_Boost_MPI_DEPENDENCIES serialization)
-    set(_Boost_MPI_PYTHON_DEPENDENCIES python${component_python_version} mpi serialization)
-    set(_Boost_WAVE_DEPENDENCIES filesystem system thread)
-    set(_Boost_WSERIALIZATION_DEPENDENCIES serialization)
-  elseif(NOT Boost_VERSION_STRING VERSION_LESS 1.36.0 AND Boost_VERSION_STRING VERSION_LESS 1.38.0)
-    set(_Boost_FILESYSTEM_DEPENDENCIES system)
-    set(_Boost_IOSTREAMS_DEPENDENCIES regex)
-    set(_Boost_MATH_DEPENDENCIES math_c99 math_c99f math_c99l math_tr1 math_tr1f math_tr1l)
-    set(_Boost_MPI_DEPENDENCIES serialization)
-    set(_Boost_MPI_PYTHON_DEPENDENCIES python${component_python_version} mpi serialization)
-    set(_Boost_WAVE_DEPENDENCIES filesystem system thread)
-    set(_Boost_WSERIALIZATION_DEPENDENCIES serialization)
-  elseif(NOT Boost_VERSION_STRING VERSION_LESS 1.38.0 AND Boost_VERSION_STRING VERSION_LESS 1.43.0)
-    set(_Boost_FILESYSTEM_DEPENDENCIES system)
-    set(_Boost_IOSTREAMS_DEPENDENCIES regex)
-    set(_Boost_MATH_DEPENDENCIES math_c99 math_c99f math_c99l math_tr1 math_tr1f math_tr1l)
-    set(_Boost_MPI_DEPENDENCIES serialization)
-    set(_Boost_MPI_PYTHON_DEPENDENCIES python${component_python_version} mpi serialization)
-    set(_Boost_THREAD_DEPENDENCIES date_time)
-    set(_Boost_WAVE_DEPENDENCIES filesystem system thread date_time)
-    set(_Boost_WSERIALIZATION_DEPENDENCIES serialization)
-  elseif(NOT Boost_VERSION_STRING VERSION_LESS 1.43.0 AND Boost_VERSION_STRING VERSION_LESS 1.44.0)
-    set(_Boost_FILESYSTEM_DEPENDENCIES system)
-    set(_Boost_IOSTREAMS_DEPENDENCIES regex)
-    set(_Boost_MATH_DEPENDENCIES math_c99 math_c99f math_c99l math_tr1 math_tr1f math_tr1l random)
-    set(_Boost_MPI_DEPENDENCIES serialization)
-    set(_Boost_MPI_PYTHON_DEPENDENCIES python${component_python_version} mpi serialization)
-    set(_Boost_THREAD_DEPENDENCIES date_time)
-    set(_Boost_WAVE_DEPENDENCIES filesystem system thread date_time)
-    set(_Boost_WSERIALIZATION_DEPENDENCIES serialization)
-  elseif(NOT Boost_VERSION_STRING VERSION_LESS 1.44.0 AND Boost_VERSION_STRING VERSION_LESS 1.45.0)
-    set(_Boost_FILESYSTEM_DEPENDENCIES system)
-    set(_Boost_IOSTREAMS_DEPENDENCIES regex)
-    set(_Boost_MATH_DEPENDENCIES math_c99 math_c99f math_c99l math_tr1 math_tr1f math_tr1l random serialization)
-    set(_Boost_MPI_DEPENDENCIES serialization)
-    set(_Boost_MPI_PYTHON_DEPENDENCIES python${component_python_version} mpi serialization)
-    set(_Boost_THREAD_DEPENDENCIES date_time)
-    set(_Boost_WAVE_DEPENDENCIES serialization filesystem system thread date_time)
-    set(_Boost_WSERIALIZATION_DEPENDENCIES serialization)
-  elseif(NOT Boost_VERSION_STRING VERSION_LESS 1.45.0 AND Boost_VERSION_STRING VERSION_LESS 1.47.0)
-    set(_Boost_FILESYSTEM_DEPENDENCIES system)
-    set(_Boost_IOSTREAMS_DEPENDENCIES regex)
-    set(_Boost_MATH_DEPENDENCIES math_c99 math_c99f math_c99l math_tr1 math_tr1f math_tr1l random)
-    set(_Boost_MPI_DEPENDENCIES serialization)
-    set(_Boost_MPI_PYTHON_DEPENDENCIES python${component_python_version} mpi serialization)
-    set(_Boost_THREAD_DEPENDENCIES date_time)
-    set(_Boost_WAVE_DEPENDENCIES filesystem system serialization thread date_time)
-    set(_Boost_WSERIALIZATION_DEPENDENCIES serialization)
-  elseif(NOT Boost_VERSION_STRING VERSION_LESS 1.47.0 AND Boost_VERSION_STRING VERSION_LESS 1.48.0)
-    set(_Boost_CHRONO_DEPENDENCIES system)
-    set(_Boost_FILESYSTEM_DEPENDENCIES system)
-    set(_Boost_IOSTREAMS_DEPENDENCIES regex)
-    set(_Boost_MATH_DEPENDENCIES math_c99 math_c99f math_c99l math_tr1 math_tr1f math_tr1l random)
-    set(_Boost_MPI_DEPENDENCIES serialization)
-    set(_Boost_MPI_PYTHON_DEPENDENCIES python${component_python_version} mpi serialization)
-    set(_Boost_THREAD_DEPENDENCIES date_time)
-    set(_Boost_WAVE_DEPENDENCIES filesystem system serialization thread date_time)
-    set(_Boost_WSERIALIZATION_DEPENDENCIES serialization)
-  elseif(NOT Boost_VERSION_STRING VERSION_LESS 1.48.0 AND Boost_VERSION_STRING VERSION_LESS 1.50.0)
-    set(_Boost_CHRONO_DEPENDENCIES system)
-    set(_Boost_FILESYSTEM_DEPENDENCIES system)
-    set(_Boost_IOSTREAMS_DEPENDENCIES regex)
-    set(_Boost_MATH_DEPENDENCIES math_c99 math_c99f math_c99l math_tr1 math_tr1f math_tr1l random)
-    set(_Boost_MPI_DEPENDENCIES serialization)
-    set(_Boost_MPI_PYTHON_DEPENDENCIES python${component_python_version} mpi serialization)
-    set(_Boost_THREAD_DEPENDENCIES date_time)
-    set(_Boost_TIMER_DEPENDENCIES chrono system)
-    set(_Boost_WAVE_DEPENDENCIES filesystem system serialization thread date_time)
-    set(_Boost_WSERIALIZATION_DEPENDENCIES serialization)
-  elseif(NOT Boost_VERSION_STRING VERSION_LESS 1.50.0 AND Boost_VERSION_STRING VERSION_LESS 1.53.0)
-    set(_Boost_CHRONO_DEPENDENCIES system)
-    set(_Boost_FILESYSTEM_DEPENDENCIES system)
-    set(_Boost_IOSTREAMS_DEPENDENCIES regex)
-    set(_Boost_MATH_DEPENDENCIES math_c99 math_c99f math_c99l math_tr1 math_tr1f math_tr1l regex random)
-    set(_Boost_MPI_DEPENDENCIES serialization)
-    set(_Boost_MPI_PYTHON_DEPENDENCIES python${component_python_version} mpi serialization)
-    set(_Boost_THREAD_DEPENDENCIES chrono system date_time)
-    set(_Boost_TIMER_DEPENDENCIES chrono system)
-    set(_Boost_WAVE_DEPENDENCIES filesystem system serialization thread chrono date_time)
-    set(_Boost_WSERIALIZATION_DEPENDENCIES serialization)
-  elseif(NOT Boost_VERSION_STRING VERSION_LESS 1.53.0 AND Boost_VERSION_STRING VERSION_LESS 1.54.0)
-    set(_Boost_ATOMIC_DEPENDENCIES thread chrono system date_time)
-    set(_Boost_CHRONO_DEPENDENCIES system)
-    set(_Boost_FILESYSTEM_DEPENDENCIES system)
-    set(_Boost_IOSTREAMS_DEPENDENCIES regex)
-    set(_Boost_MATH_DEPENDENCIES math_c99 math_c99f math_c99l math_tr1 math_tr1f math_tr1l regex random)
-    set(_Boost_MPI_DEPENDENCIES serialization)
-    set(_Boost_MPI_PYTHON_DEPENDENCIES python${component_python_version} mpi serialization)
-    set(_Boost_THREAD_DEPENDENCIES chrono system date_time atomic)
-    set(_Boost_TIMER_DEPENDENCIES chrono system)
-    set(_Boost_WAVE_DEPENDENCIES filesystem system serialization thread chrono date_time)
-    set(_Boost_WSERIALIZATION_DEPENDENCIES serialization)
-  elseif(NOT Boost_VERSION_STRING VERSION_LESS 1.54.0 AND Boost_VERSION_STRING VERSION_LESS 1.55.0)
-    set(_Boost_ATOMIC_DEPENDENCIES thread chrono system date_time)
-    set(_Boost_CHRONO_DEPENDENCIES system)
-    set(_Boost_FILESYSTEM_DEPENDENCIES system)
-    set(_Boost_IOSTREAMS_DEPENDENCIES regex)
-    set(_Boost_LOG_DEPENDENCIES log_setup date_time system filesystem thread regex chrono)
-    set(_Boost_MATH_DEPENDENCIES math_c99 math_c99f math_c99l math_tr1 math_tr1f math_tr1l regex random)
-    set(_Boost_MPI_DEPENDENCIES serialization)
-    set(_Boost_MPI_PYTHON_DEPENDENCIES python${component_python_version} mpi serialization)
-    set(_Boost_THREAD_DEPENDENCIES chrono system date_time atomic)
-    set(_Boost_TIMER_DEPENDENCIES chrono system)
-    set(_Boost_WAVE_DEPENDENCIES filesystem system serialization thread chrono date_time atomic)
-    set(_Boost_WSERIALIZATION_DEPENDENCIES serialization)
-  elseif(NOT Boost_VERSION_STRING VERSION_LESS 1.55.0 AND Boost_VERSION_STRING VERSION_LESS 1.56.0)
-    set(_Boost_CHRONO_DEPENDENCIES system)
-    set(_Boost_COROUTINE_DEPENDENCIES context system)
-    set(_Boost_FILESYSTEM_DEPENDENCIES system)
-    set(_Boost_IOSTREAMS_DEPENDENCIES regex)
-    set(_Boost_LOG_DEPENDENCIES log_setup date_time system filesystem thread regex chrono)
-    set(_Boost_MATH_DEPENDENCIES math_c99 math_c99f math_c99l math_tr1 math_tr1f math_tr1l regex random)
-    set(_Boost_MPI_DEPENDENCIES serialization)
-    set(_Boost_MPI_PYTHON_DEPENDENCIES python${component_python_version} mpi serialization)
-    set(_Boost_THREAD_DEPENDENCIES chrono system date_time atomic)
-    set(_Boost_TIMER_DEPENDENCIES chrono system)
-    set(_Boost_WAVE_DEPENDENCIES filesystem system serialization thread chrono date_time atomic)
-    set(_Boost_WSERIALIZATION_DEPENDENCIES serialization)
-  elseif(NOT Boost_VERSION_STRING VERSION_LESS 1.56.0 AND Boost_VERSION_STRING VERSION_LESS 1.59.0)
-    set(_Boost_CHRONO_DEPENDENCIES system)
-    set(_Boost_COROUTINE_DEPENDENCIES context system)
-    set(_Boost_FILESYSTEM_DEPENDENCIES system)
-    set(_Boost_IOSTREAMS_DEPENDENCIES regex)
-    set(_Boost_LOG_DEPENDENCIES log_setup date_time system filesystem thread regex chrono)
-    set(_Boost_MATH_DEPENDENCIES math_c99 math_c99f math_c99l math_tr1 math_tr1f math_tr1l atomic)
-    set(_Boost_MPI_DEPENDENCIES serialization)
-    set(_Boost_MPI_PYTHON_DEPENDENCIES python${component_python_version} mpi serialization)
-    set(_Boost_RANDOM_DEPENDENCIES system)
-    set(_Boost_THREAD_DEPENDENCIES chrono system date_time atomic)
-    set(_Boost_TIMER_DEPENDENCIES chrono system)
-    set(_Boost_WAVE_DEPENDENCIES filesystem system serialization thread chrono date_time atomic)
-    set(_Boost_WSERIALIZATION_DEPENDENCIES serialization)
-  elseif(NOT Boost_VERSION_STRING VERSION_LESS 1.59.0 AND Boost_VERSION_STRING VERSION_LESS 1.60.0)
-    set(_Boost_CHRONO_DEPENDENCIES system)
-    set(_Boost_COROUTINE_DEPENDENCIES context system)
-    set(_Boost_FILESYSTEM_DEPENDENCIES system)
-    set(_Boost_IOSTREAMS_DEPENDENCIES regex)
-    set(_Boost_LOG_DEPENDENCIES log_setup date_time system filesystem thread regex chrono atomic)
-    set(_Boost_MATH_DEPENDENCIES math_c99 math_c99f math_c99l math_tr1 math_tr1f math_tr1l atomic)
-    set(_Boost_MPI_DEPENDENCIES serialization)
-    set(_Boost_MPI_PYTHON_DEPENDENCIES python${component_python_version} mpi serialization)
-    set(_Boost_RANDOM_DEPENDENCIES system)
-    set(_Boost_THREAD_DEPENDENCIES chrono system date_time atomic)
-    set(_Boost_TIMER_DEPENDENCIES chrono system)
-    set(_Boost_WAVE_DEPENDENCIES filesystem system serialization thread chrono date_time atomic)
-    set(_Boost_WSERIALIZATION_DEPENDENCIES serialization)
-  elseif(NOT Boost_VERSION_STRING VERSION_LESS 1.60.0 AND Boost_VERSION_STRING VERSION_LESS 1.61.0)
-    set(_Boost_CHRONO_DEPENDENCIES system)
-    set(_Boost_COROUTINE_DEPENDENCIES context system)
-    set(_Boost_FILESYSTEM_DEPENDENCIES system)
-    set(_Boost_IOSTREAMS_DEPENDENCIES regex)
-    set(_Boost_LOG_DEPENDENCIES date_time log_setup system filesystem thread regex chrono atomic)
-    set(_Boost_MATH_DEPENDENCIES math_c99 math_c99f math_c99l math_tr1 math_tr1f math_tr1l atomic)
-    set(_Boost_MPI_DEPENDENCIES serialization)
-    set(_Boost_MPI_PYTHON_DEPENDENCIES python${component_python_version} mpi serialization)
-    set(_Boost_RANDOM_DEPENDENCIES system)
-    set(_Boost_THREAD_DEPENDENCIES chrono system date_time atomic)
-    set(_Boost_TIMER_DEPENDENCIES chrono system)
-    set(_Boost_WAVE_DEPENDENCIES filesystem system serialization thread chrono date_time atomic)
-    set(_Boost_WSERIALIZATION_DEPENDENCIES serialization)
-  elseif(NOT Boost_VERSION_STRING VERSION_LESS 1.61.0 AND Boost_VERSION_STRING VERSION_LESS 1.62.0)
-    set(_Boost_CHRONO_DEPENDENCIES system)
-    set(_Boost_CONTEXT_DEPENDENCIES thread chrono system date_time)
-    set(_Boost_COROUTINE_DEPENDENCIES context system)
-    set(_Boost_FILESYSTEM_DEPENDENCIES system)
-    set(_Boost_IOSTREAMS_DEPENDENCIES regex)
-    set(_Boost_LOG_DEPENDENCIES date_time log_setup system filesystem thread regex chrono atomic)
-    set(_Boost_MATH_DEPENDENCIES math_c99 math_c99f math_c99l math_tr1 math_tr1f math_tr1l atomic)
-    set(_Boost_MPI_DEPENDENCIES serialization)
-    set(_Boost_MPI_PYTHON_DEPENDENCIES python${component_python_version} mpi serialization)
-    set(_Boost_RANDOM_DEPENDENCIES system)
-    set(_Boost_THREAD_DEPENDENCIES chrono system date_time atomic)
-    set(_Boost_WAVE_DEPENDENCIES filesystem system serialization thread chrono date_time atomic)
-    set(_Boost_WSERIALIZATION_DEPENDENCIES serialization)
-  elseif(NOT Boost_VERSION_STRING VERSION_LESS 1.62.0 AND Boost_VERSION_STRING VERSION_LESS 1.63.0)
-    set(_Boost_CHRONO_DEPENDENCIES system)
-    set(_Boost_CONTEXT_DEPENDENCIES thread chrono system date_time)
-    set(_Boost_COROUTINE_DEPENDENCIES context system)
-    set(_Boost_FIBER_DEPENDENCIES context thread chrono system date_time)
-    set(_Boost_FILESYSTEM_DEPENDENCIES system)
-    set(_Boost_IOSTREAMS_DEPENDENCIES regex)
-    set(_Boost_LOG_DEPENDENCIES date_time log_setup system filesystem thread regex chrono atomic)
-    set(_Boost_MATH_DEPENDENCIES math_c99 math_c99f math_c99l math_tr1 math_tr1f math_tr1l atomic)
-    set(_Boost_MPI_DEPENDENCIES serialization)
-    set(_Boost_MPI_PYTHON_DEPENDENCIES python${component_python_version} mpi serialization)
-    set(_Boost_RANDOM_DEPENDENCIES system)
-    set(_Boost_THREAD_DEPENDENCIES chrono system date_time atomic)
-    set(_Boost_WAVE_DEPENDENCIES filesystem system serialization thread chrono date_time atomic)
-    set(_Boost_WSERIALIZATION_DEPENDENCIES serialization)
-  elseif(NOT Boost_VERSION_STRING VERSION_LESS 1.63.0 AND Boost_VERSION_STRING VERSION_LESS 1.65.0)
-    set(_Boost_CHRONO_DEPENDENCIES system)
-    set(_Boost_CONTEXT_DEPENDENCIES thread chrono system date_time)
-    set(_Boost_COROUTINE_DEPENDENCIES context system)
-    set(_Boost_COROUTINE2_DEPENDENCIES context fiber thread chrono system date_time)
-    set(_Boost_FIBER_DEPENDENCIES context thread chrono system date_time)
-    set(_Boost_FILESYSTEM_DEPENDENCIES system)
-    set(_Boost_IOSTREAMS_DEPENDENCIES regex)
-    set(_Boost_LOG_DEPENDENCIES date_time log_setup system filesystem thread regex chrono atomic)
-    set(_Boost_MATH_DEPENDENCIES math_c99 math_c99f math_c99l math_tr1 math_tr1f math_tr1l atomic)
-    set(_Boost_MPI_DEPENDENCIES serialization)
-    set(_Boost_MPI_PYTHON_DEPENDENCIES python${component_python_version} mpi serialization)
-    set(_Boost_RANDOM_DEPENDENCIES system)
-    set(_Boost_THREAD_DEPENDENCIES chrono system date_time atomic)
-    set(_Boost_WAVE_DEPENDENCIES filesystem system serialization thread chrono date_time atomic)
-    set(_Boost_WSERIALIZATION_DEPENDENCIES serialization)
-  elseif(NOT Boost_VERSION_STRING VERSION_LESS 1.65.0 AND Boost_VERSION_STRING VERSION_LESS 1.67.0)
-    set(_Boost_CHRONO_DEPENDENCIES system)
-    set(_Boost_CONTEXT_DEPENDENCIES thread chrono system date_time)
-    set(_Boost_COROUTINE_DEPENDENCIES context system)
-    set(_Boost_FIBER_DEPENDENCIES context thread chrono system date_time)
-    set(_Boost_FILESYSTEM_DEPENDENCIES system)
-    set(_Boost_IOSTREAMS_DEPENDENCIES regex)
-    set(_Boost_LOG_DEPENDENCIES date_time log_setup system filesystem thread regex chrono atomic)
-    set(_Boost_MATH_DEPENDENCIES math_c99 math_c99f math_c99l math_tr1 math_tr1f math_tr1l atomic)
-    set(_Boost_MPI_DEPENDENCIES serialization)
-    set(_Boost_MPI_PYTHON_DEPENDENCIES python${component_python_version} mpi serialization)
-    set(_Boost_NUMPY_DEPENDENCIES python${component_python_version})
-    set(_Boost_RANDOM_DEPENDENCIES system)
-    set(_Boost_THREAD_DEPENDENCIES chrono system date_time atomic)
-    set(_Boost_TIMER_DEPENDENCIES chrono system)
-    set(_Boost_WAVE_DEPENDENCIES filesystem system serialization thread chrono date_time atomic)
-    set(_Boost_WSERIALIZATION_DEPENDENCIES serialization)
-  elseif(NOT Boost_VERSION_STRING VERSION_LESS 1.67.0 AND Boost_VERSION_STRING VERSION_LESS 1.68.0)
-    set(_Boost_CHRONO_DEPENDENCIES system)
-    set(_Boost_CONTEXT_DEPENDENCIES thread chrono system date_time)
-    set(_Boost_COROUTINE_DEPENDENCIES context system)
-    set(_Boost_FIBER_DEPENDENCIES context thread chrono system date_time)
-    set(_Boost_FILESYSTEM_DEPENDENCIES system)
-    set(_Boost_IOSTREAMS_DEPENDENCIES regex)
-    set(_Boost_LOG_DEPENDENCIES date_time log_setup system filesystem thread regex chrono atomic)
-    set(_Boost_MATH_DEPENDENCIES math_c99 math_c99f math_c99l math_tr1 math_tr1f math_tr1l atomic)
-    set(_Boost_MPI_DEPENDENCIES serialization)
-    set(_Boost_MPI_PYTHON_DEPENDENCIES python${component_python_version} mpi serialization)
-    set(_Boost_NUMPY_DEPENDENCIES python${component_python_version})
-    set(_Boost_RANDOM_DEPENDENCIES system)
-    set(_Boost_THREAD_DEPENDENCIES chrono system date_time atomic)
-    set(_Boost_TIMER_DEPENDENCIES chrono system)
-    set(_Boost_WAVE_DEPENDENCIES filesystem system serialization thread chrono date_time atomic)
-    set(_Boost_WSERIALIZATION_DEPENDENCIES serialization)
-  elseif(NOT Boost_VERSION_STRING VERSION_LESS 1.68.0 AND Boost_VERSION_STRING VERSION_LESS 1.69.0)
-    set(_Boost_CHRONO_DEPENDENCIES system)
-    set(_Boost_CONTEXT_DEPENDENCIES thread chrono system date_time)
-    set(_Boost_CONTRACT_DEPENDENCIES thread chrono system date_time)
-    set(_Boost_COROUTINE_DEPENDENCIES context system)
-    set(_Boost_FIBER_DEPENDENCIES context thread chrono system date_time)
-    set(_Boost_FILESYSTEM_DEPENDENCIES system)
-    set(_Boost_IOSTREAMS_DEPENDENCIES regex)
-    set(_Boost_LOG_DEPENDENCIES date_time log_setup system filesystem thread regex chrono atomic)
-    set(_Boost_MATH_DEPENDENCIES math_c99 math_c99f math_c99l math_tr1 math_tr1f math_tr1l atomic)
-    set(_Boost_MPI_DEPENDENCIES serialization)
-    set(_Boost_MPI_PYTHON_DEPENDENCIES python${component_python_version} mpi serialization)
-    set(_Boost_NUMPY_DEPENDENCIES python${component_python_version})
-    set(_Boost_RANDOM_DEPENDENCIES system)
-    set(_Boost_THREAD_DEPENDENCIES chrono system date_time atomic)
-    set(_Boost_TIMER_DEPENDENCIES chrono system)
-    set(_Boost_WAVE_DEPENDENCIES filesystem system serialization thread chrono date_time atomic)
-    set(_Boost_WSERIALIZATION_DEPENDENCIES serialization)
-  elseif(NOT Boost_VERSION_STRING VERSION_LESS 1.69.0 AND Boost_VERSION_STRING VERSION_LESS 1.70.0)
-    set(_Boost_CONTRACT_DEPENDENCIES thread chrono date_time)
-    set(_Boost_COROUTINE_DEPENDENCIES context)
-    set(_Boost_FIBER_DEPENDENCIES context)
-    set(_Boost_IOSTREAMS_DEPENDENCIES regex)
-    set(_Boost_LOG_DEPENDENCIES date_time log_setup filesystem thread regex chrono atomic)
-    set(_Boost_MATH_DEPENDENCIES math_c99 math_c99f math_c99l math_tr1 math_tr1f math_tr1l atomic)
-    set(_Boost_MPI_DEPENDENCIES serialization)
-    set(_Boost_MPI_PYTHON_DEPENDENCIES python${component_python_version} mpi serialization)
-    set(_Boost_NUMPY_DEPENDENCIES python${component_python_version})
-    set(_Boost_THREAD_DEPENDENCIES chrono date_time atomic)
-    set(_Boost_TIMER_DEPENDENCIES chrono system)
-    set(_Boost_WAVE_DEPENDENCIES filesystem serialization thread chrono date_time atomic)
-    set(_Boost_WSERIALIZATION_DEPENDENCIES serialization)
-  elseif(NOT Boost_VERSION_STRING VERSION_LESS 1.70.0)
-    set(_Boost_CONTRACT_DEPENDENCIES thread chrono date_time)
-    set(_Boost_COROUTINE_DEPENDENCIES context)
-    set(_Boost_FIBER_DEPENDENCIES context)
-    set(_Boost_IOSTREAMS_DEPENDENCIES regex)
-    set(_Boost_LOG_DEPENDENCIES date_time log_setup filesystem thread regex chrono atomic)
-    set(_Boost_MATH_DEPENDENCIES math_c99 math_c99f math_c99l math_tr1 math_tr1f math_tr1l atomic)
-    set(_Boost_MPI_DEPENDENCIES serialization)
-    set(_Boost_MPI_PYTHON_DEPENDENCIES python${component_python_version} mpi serialization)
-    set(_Boost_NUMPY_DEPENDENCIES python${component_python_version})
-    set(_Boost_THREAD_DEPENDENCIES chrono date_time atomic)
-    set(_Boost_TIMER_DEPENDENCIES chrono)
-    set(_Boost_WAVE_DEPENDENCIES filesystem serialization thread chrono date_time atomic)
-    set(_Boost_WSERIALIZATION_DEPENDENCIES serialization)
-    if(NOT Boost_VERSION_STRING VERSION_LESS 1.72.0)
-      message(WARNING "New Boost version may have incorrect or missing dependencies and imported targets")
-    endif()
-  endif()
-
-  string(TOUPPER ${component} uppercomponent)
-  set(${_ret} ${_Boost_${uppercomponent}_DEPENDENCIES} PARENT_SCOPE)
-  set(_Boost_IMPORTED_TARGETS ${_Boost_IMPORTED_TARGETS} PARENT_SCOPE)
-
-  string(REGEX REPLACE ";" " " _boost_DEPS_STRING "${_Boost_${uppercomponent}_DEPENDENCIES}")
-  if (NOT _boost_DEPS_STRING)
-    set(_boost_DEPS_STRING "(none)")
-  endif()
-  # message(STATUS "Dependencies for Boost::${component}: ${_boost_DEPS_STRING}")
-endfunction()
-
-#
-# Get component headers.  This is the primary header (or headers) for
-# a given component, and is used to check that the headers are present
-# as well as the library itself as an extra sanity check of the build
-# environment.
-#
-# component - the component to check
-# _hdrs
-#
-function(_Boost_COMPONENT_HEADERS component _hdrs)
-  # Handle Python version suffixes
-  if(component MATCHES "^(python|mpi_python|numpy)([0-9][0-9]?|[0-9]\\.[0-9])\$")
-    set(component "${CMAKE_MATCH_1}")
-    set(component_python_version "${CMAKE_MATCH_2}")
-  endif()
-
-  # Note: new boost components will require adding here.  The header
-  # must be present in all versions of Boost providing a library.
-  set(_Boost_ATOMIC_HEADERS              "boost/atomic.hpp")
-  set(_Boost_CHRONO_HEADERS              "boost/chrono.hpp")
-  set(_Boost_CONTAINER_HEADERS           "boost/container/container_fwd.hpp")
-  set(_Boost_CONTRACT_HEADERS            "boost/contract.hpp")
-  if(Boost_VERSION_STRING VERSION_LESS 1.61.0)
-    set(_Boost_CONTEXT_HEADERS           "boost/context/all.hpp")
-  else()
-    set(_Boost_CONTEXT_HEADERS           "boost/context/detail/fcontext.hpp")
-  endif()
-  set(_Boost_COROUTINE_HEADERS           "boost/coroutine/all.hpp")
-  set(_Boost_DATE_TIME_HEADERS           "boost/date_time/date.hpp")
-  set(_Boost_EXCEPTION_HEADERS           "boost/exception/exception.hpp")
-  set(_Boost_FIBER_HEADERS               "boost/fiber/all.hpp")
-  set(_Boost_FILESYSTEM_HEADERS          "boost/filesystem/path.hpp")
-  set(_Boost_GRAPH_HEADERS               "boost/graph/adjacency_list.hpp")
-  set(_Boost_GRAPH_PARALLEL_HEADERS      "boost/graph/adjacency_list.hpp")
-  set(_Boost_IOSTREAMS_HEADERS           "boost/iostreams/stream.hpp")
-  set(_Boost_LOCALE_HEADERS              "boost/locale.hpp")
-  set(_Boost_LOG_HEADERS                 "boost/log/core.hpp")
-  set(_Boost_LOG_SETUP_HEADERS           "boost/log/detail/setup_config.hpp")
-  set(_Boost_MATH_HEADERS                "boost/math_fwd.hpp")
-  set(_Boost_MATH_C99_HEADERS            "boost/math/tr1.hpp")
-  set(_Boost_MATH_C99F_HEADERS           "boost/math/tr1.hpp")
-  set(_Boost_MATH_C99L_HEADERS           "boost/math/tr1.hpp")
-  set(_Boost_MATH_TR1_HEADERS            "boost/math/tr1.hpp")
-  set(_Boost_MATH_TR1F_HEADERS           "boost/math/tr1.hpp")
-  set(_Boost_MATH_TR1L_HEADERS           "boost/math/tr1.hpp")
-  set(_Boost_MPI_HEADERS                 "boost/mpi.hpp")
-  set(_Boost_MPI_PYTHON_HEADERS          "boost/mpi/python/config.hpp")
-  set(_Boost_NUMPY_HEADERS               "boost/python/numpy.hpp")
-  set(_Boost_PRG_EXEC_MONITOR_HEADERS    "boost/test/prg_exec_monitor.hpp")
-  set(_Boost_PROGRAM_OPTIONS_HEADERS     "boost/program_options.hpp")
-  set(_Boost_PYTHON_HEADERS              "boost/python.hpp")
-  set(_Boost_RANDOM_HEADERS              "boost/random.hpp")
-  set(_Boost_REGEX_HEADERS               "boost/regex.hpp")
-  set(_Boost_SERIALIZATION_HEADERS       "boost/serialization/serialization.hpp")
-  set(_Boost_SIGNALS_HEADERS             "boost/signals.hpp")
-  set(_Boost_STACKTRACE_ADDR2LINE_HEADERS "boost/stacktrace.hpp")
-  set(_Boost_STACKTRACE_BACKTRACE_HEADERS "boost/stacktrace.hpp")
-  set(_Boost_STACKTRACE_BASIC_HEADERS    "boost/stacktrace.hpp")
-  set(_Boost_STACKTRACE_NOOP_HEADERS     "boost/stacktrace.hpp")
-  set(_Boost_STACKTRACE_WINDBG_CACHED_HEADERS "boost/stacktrace.hpp")
-  set(_Boost_STACKTRACE_WINDBG_HEADERS   "boost/stacktrace.hpp")
-  set(_Boost_SYSTEM_HEADERS              "boost/system/config.hpp")
-  set(_Boost_TEST_EXEC_MONITOR_HEADERS   "boost/test/test_exec_monitor.hpp")
-  set(_Boost_THREAD_HEADERS              "boost/thread.hpp")
-  set(_Boost_TIMER_HEADERS               "boost/timer.hpp")
-  set(_Boost_TYPE_ERASURE_HEADERS        "boost/type_erasure/config.hpp")
-  set(_Boost_UNIT_TEST_FRAMEWORK_HEADERS "boost/test/framework.hpp")
-  set(_Boost_WAVE_HEADERS                "boost/wave.hpp")
-  set(_Boost_WSERIALIZATION_HEADERS      "boost/archive/text_wiarchive.hpp")
-  if(WIN32)
-    set(_Boost_BZIP2_HEADERS             "boost/iostreams/filter/bzip2.hpp")
-    set(_Boost_ZLIB_HEADERS              "boost/iostreams/filter/zlib.hpp")
-  endif()
-
-  string(TOUPPER ${component} uppercomponent)
-  set(${_hdrs} ${_Boost_${uppercomponent}_HEADERS} PARENT_SCOPE)
-
-  string(REGEX REPLACE ";" " " _boost_HDRS_STRING "${_Boost_${uppercomponent}_HEADERS}")
-  if (NOT _boost_HDRS_STRING)
-    set(_boost_HDRS_STRING "(none)")
-  endif()
-  # message(STATUS "Headers for Boost::${component}: ${_boost_HDRS_STRING}")
-endfunction()
-
-#
-# Determine if any missing dependencies require adding to the component list.
-#
-# Sets _Boost_${COMPONENT}_DEPENDENCIES for each required component,
-# plus _Boost_IMPORTED_TARGETS (TRUE if imported targets should be
-# defined; FALSE if dependency information is unavailable).
-#
-# componentvar - the component list variable name
-# extravar - the indirect dependency list variable name
-#
-#
-function(_Boost_MISSING_DEPENDENCIES componentvar extravar)
-  # _boost_unprocessed_components - list of components requiring processing
-  # _boost_processed_components - components already processed (or currently being processed)
-  # _boost_new_components - new components discovered for future processing
-  #
-  list(APPEND _boost_unprocessed_components ${${componentvar}})
-
-  while(_boost_unprocessed_components)
-    list(APPEND _boost_processed_components ${_boost_unprocessed_components})
-    foreach(component ${_boost_unprocessed_components})
-      string(TOUPPER ${component} uppercomponent)
-      set(${_ret} ${_Boost_${uppercomponent}_DEPENDENCIES} PARENT_SCOPE)
-      _Boost_COMPONENT_DEPENDENCIES("${component}" _Boost_${uppercomponent}_DEPENDENCIES)
-      set(_Boost_${uppercomponent}_DEPENDENCIES ${_Boost_${uppercomponent}_DEPENDENCIES} PARENT_SCOPE)
-      set(_Boost_IMPORTED_TARGETS ${_Boost_IMPORTED_TARGETS} PARENT_SCOPE)
-      foreach(componentdep ${_Boost_${uppercomponent}_DEPENDENCIES})
-        if (NOT ("${componentdep}" IN_LIST _boost_processed_components OR "${componentdep}" IN_LIST _boost_new_components))
-          list(APPEND _boost_new_components ${componentdep})
-        endif()
-      endforeach()
-    endforeach()
-    set(_boost_unprocessed_components ${_boost_new_components})
-    unset(_boost_new_components)
-  endwhile()
-  set(_boost_extra_components ${_boost_processed_components})
-  if(_boost_extra_components AND ${componentvar})
-    list(REMOVE_ITEM _boost_extra_components ${${componentvar}})
-  endif()
-  set(${componentvar} ${_boost_processed_components} PARENT_SCOPE)
-  set(${extravar} ${_boost_extra_components} PARENT_SCOPE)
-endfunction()
-
-#
-# Some boost libraries may require particular set of compler features.
-# The very first one was `boost::fiber` introduced in Boost 1.62.
-# One can check required compiler features of it in
-# - `${Boost_ROOT}/libs/fiber/build/Jamfile.v2`;
-# - `${Boost_ROOT}/libs/context/build/Jamfile.v2`.
-#
-# TODO (Re)Check compiler features on (every?) release ???
-# One may use the following command to get the files to check:
-#
-#   $ find . -name Jamfile.v2 | grep build | xargs grep -l cxx1
-#
-function(_Boost_COMPILER_FEATURES component _ret)
-  # Boost >= 1.62
-  if(NOT Boost_VERSION_STRING VERSION_LESS 1.62.0)
-    set(_Boost_FIBER_COMPILER_FEATURES
-        cxx_alias_templates
-        cxx_auto_type
-        cxx_constexpr
-        cxx_defaulted_functions
-        cxx_final
-        cxx_lambdas
-        cxx_noexcept
-        cxx_nullptr
-        cxx_rvalue_references
-        cxx_thread_local
-        cxx_variadic_templates
-    )
-    # Compiler feature for `context` same as for `fiber`.
-    set(_Boost_CONTEXT_COMPILER_FEATURES ${_Boost_FIBER_COMPILER_FEATURES})
-  endif()
-
-  # Boost Contract library available in >= 1.67
-  if(NOT Boost_VERSION_STRING VERSION_LESS 1.67.0)
-    # From `libs/contract/build/boost_contract_build.jam`
-    set(_Boost_CONTRACT_COMPILER_FEATURES
-        cxx_lambdas
-        cxx_variadic_templates
-    )
-  endif()
-
-  string(TOUPPER ${component} uppercomponent)
-  set(${_ret} ${_Boost_${uppercomponent}_COMPILER_FEATURES} PARENT_SCOPE)
-endfunction()
-
-#
-# Update library search directory hint variable with paths used by prebuilt boost binaries.
-#
-# Prebuilt windows binaries (https://sourceforge.net/projects/boost/files/boost-binaries/)
-# have library directories named using MSVC compiler version and architecture.
-# This function would append corresponding directories if MSVC is a current compiler,
-# so having `BOOST_ROOT` would be enough to specify to find everything.
-#
-function(_Boost_UPDATE_WINDOWS_LIBRARY_SEARCH_DIRS_WITH_PREBUILT_PATHS componentlibvar basedir)
-  if("x${CMAKE_CXX_COMPILER_ID}" STREQUAL "xMSVC")
-    if(CMAKE_SIZEOF_VOID_P EQUAL 8)
-      set(_arch_suffix 64)
-    else()
-      set(_arch_suffix 32)
-    endif()
-    if(MSVC_TOOLSET_VERSION GREATER_EQUAL 150)
-      # Not yet known.
-    elseif(MSVC_TOOLSET_VERSION GREATER_EQUAL 140)
-      # MSVC toolset 14.x versions are forward compatible.
-      foreach(v 9 8 7 6 5 4 3 2 1 0)
-        if(MSVC_TOOLSET_VERSION GREATER_EQUAL 14${v})
-          list(APPEND ${componentlibvar} ${basedir}/lib${_arch_suffix}-msvc-14.${v})
-        endif()
-      endforeach()
-    elseif(MSVC_TOOLSET_VERSION GREATER_EQUAL 80)
-      math(EXPR _toolset_major_version "${MSVC_TOOLSET_VERSION} / 10")
-      list(APPEND ${componentlibvar} ${basedir}/lib${_arch_suffix}-msvc-${_toolset_major_version}.0)
-    endif()
-    set(${componentlibvar} ${${componentlibvar}} PARENT_SCOPE)
-  endif()
-endfunction()
-
-#
-# End functions/macros
-#
-#-------------------------------------------------------------------------------
-
-#-------------------------------------------------------------------------------
-# main.
-#-------------------------------------------------------------------------------
-
-
-# If the user sets Boost_LIBRARY_DIR, use it as the default for both
-# configurations.
-if(NOT Boost_LIBRARY_DIR_RELEASE AND Boost_LIBRARY_DIR)
-  set(Boost_LIBRARY_DIR_RELEASE "${Boost_LIBRARY_DIR}")
-endif()
-if(NOT Boost_LIBRARY_DIR_DEBUG AND Boost_LIBRARY_DIR)
-  set(Boost_LIBRARY_DIR_DEBUG   "${Boost_LIBRARY_DIR}")
-endif()
-
-if(NOT DEFINED Boost_USE_DEBUG_LIBS)
-  set(Boost_USE_DEBUG_LIBS TRUE)
-endif()
-if(NOT DEFINED Boost_USE_RELEASE_LIBS)
-  set(Boost_USE_RELEASE_LIBS TRUE)
-endif()
-if(NOT DEFINED Boost_USE_MULTITHREADED)
-  set(Boost_USE_MULTITHREADED TRUE)
-endif()
-if(NOT DEFINED Boost_USE_DEBUG_RUNTIME)
-  set(Boost_USE_DEBUG_RUNTIME TRUE)
-endif()
-
-# Check the version of Boost against the requested version.
-if(Boost_FIND_VERSION AND NOT Boost_FIND_VERSION_MINOR)
-  message(SEND_ERROR "When requesting a specific version of Boost, you must provide at least the major and minor version numbers, e.g., 1.34")
-endif()
-
-if(Boost_FIND_VERSION_EXACT)
-  # The version may appear in a directory with or without the patch
-  # level, even when the patch level is non-zero.
-  set(_boost_TEST_VERSIONS
-    "${Boost_FIND_VERSION_MAJOR}.${Boost_FIND_VERSION_MINOR}.${Boost_FIND_VERSION_PATCH}"
-    "${Boost_FIND_VERSION_MAJOR}.${Boost_FIND_VERSION_MINOR}")
-else()
-  # The user has not requested an exact version.  Among known
-  # versions, find those that are acceptable to the user request.
-  #
-  # Note: When adding a new Boost release, also update the dependency
-  # information in _Boost_COMPONENT_DEPENDENCIES and
-  # _Boost_COMPONENT_HEADERS.  See the instructions at the top of
-  # _Boost_COMPONENT_DEPENDENCIES.
-  set(_Boost_KNOWN_VERSIONS ${Boost_ADDITIONAL_VERSIONS}
-    "1.71.0" "1.71" "1.70.0" "1.70" "1.69.0" "1.69"
-    "1.68.0" "1.68" "1.67.0" "1.67" "1.66.0" "1.66" "1.65.1" "1.65.0" "1.65"
-    "1.64.0" "1.64" "1.63.0" "1.63" "1.62.0" "1.62" "1.61.0" "1.61" "1.60.0" "1.60"
-    "1.59.0" "1.59" "1.58.0" "1.58" "1.57.0" "1.57" "1.56.0" "1.56" "1.55.0" "1.55"
-    "1.54.0" "1.54" "1.53.0" "1.53" "1.52.0" "1.52" "1.51.0" "1.51"
-    "1.50.0" "1.50" "1.49.0" "1.49" "1.48.0" "1.48" "1.47.0" "1.47" "1.46.1"
-    "1.46.0" "1.46" "1.45.0" "1.45" "1.44.0" "1.44" "1.43.0" "1.43" "1.42.0" "1.42"
-    "1.41.0" "1.41" "1.40.0" "1.40" "1.39.0" "1.39" "1.38.0" "1.38" "1.37.0" "1.37"
-    "1.36.1" "1.36.0" "1.36" "1.35.1" "1.35.0" "1.35" "1.34.1" "1.34.0"
-    "1.34" "1.33.1" "1.33.0" "1.33")
-
-  set(_boost_TEST_VERSIONS)
-  if(Boost_FIND_VERSION)
-    set(_Boost_FIND_VERSION_SHORT "${Boost_FIND_VERSION_MAJOR}.${Boost_FIND_VERSION_MINOR}")
-    # Select acceptable versions.
-    foreach(version ${_Boost_KNOWN_VERSIONS})
-      if(NOT "${version}" VERSION_LESS "${Boost_FIND_VERSION}")
-        # This version is high enough.
-        list(APPEND _boost_TEST_VERSIONS "${version}")
-      elseif("${version}.99" VERSION_EQUAL "${_Boost_FIND_VERSION_SHORT}.99")
-        # This version is a short-form for the requested version with
-        # the patch level dropped.
-        list(APPEND _boost_TEST_VERSIONS "${version}")
-      endif()
-    endforeach()
-  else()
-    # Any version is acceptable.
-    set(_boost_TEST_VERSIONS "${_Boost_KNOWN_VERSIONS}")
-  endif()
-endif()
-
-_Boost_DEBUG_PRINT_VAR("${CMAKE_CURRENT_LIST_FILE}" "${CMAKE_CURRENT_LIST_LINE}" "_boost_TEST_VERSIONS")
-_Boost_DEBUG_PRINT_VAR("${CMAKE_CURRENT_LIST_FILE}" "${CMAKE_CURRENT_LIST_LINE}" "Boost_USE_MULTITHREADED")
-_Boost_DEBUG_PRINT_VAR("${CMAKE_CURRENT_LIST_FILE}" "${CMAKE_CURRENT_LIST_LINE}" "Boost_USE_STATIC_LIBS")
-_Boost_DEBUG_PRINT_VAR("${CMAKE_CURRENT_LIST_FILE}" "${CMAKE_CURRENT_LIST_LINE}" "Boost_USE_STATIC_RUNTIME")
-_Boost_DEBUG_PRINT_VAR("${CMAKE_CURRENT_LIST_FILE}" "${CMAKE_CURRENT_LIST_LINE}" "Boost_ADDITIONAL_VERSIONS")
-_Boost_DEBUG_PRINT_VAR("${CMAKE_CURRENT_LIST_FILE}" "${CMAKE_CURRENT_LIST_LINE}" "Boost_NO_SYSTEM_PATHS")
-
-# Supply Boost_LIB_DIAGNOSTIC_DEFINITIONS as a convenience target. It
-# will only contain any interface definitions on WIN32, but is created
-# on all platforms to keep end user code free from platform dependent
-# code.  Also provide convenience targets to disable autolinking and
-# enable dynamic linking.
-if(NOT TARGET Boost::diagnostic_definitions)
-  add_library(Boost::diagnostic_definitions INTERFACE IMPORTED)
-  add_library(Boost::disable_autolinking INTERFACE IMPORTED)
-  add_library(Boost::dynamic_linking INTERFACE IMPORTED)
-  set_target_properties(Boost::dynamic_linking PROPERTIES
-    INTERFACE_COMPILE_DEFINITIONS "BOOST_ALL_DYN_LINK")
-endif()
-if(WIN32)
-  # In windows, automatic linking is performed, so you do not have
-  # to specify the libraries.  If you are linking to a dynamic
-  # runtime, then you can choose to link to either a static or a
-  # dynamic Boost library, the default is to do a static link.  You
-  # can alter this for a specific library "whatever" by defining
-  # BOOST_WHATEVER_DYN_LINK to force Boost library "whatever" to be
-  # linked dynamically.  Alternatively you can force all Boost
-  # libraries to dynamic link by defining BOOST_ALL_DYN_LINK.
-
-  # This feature can be disabled for Boost library "whatever" by
-  # defining BOOST_WHATEVER_NO_LIB, or for all of Boost by defining
-  # BOOST_ALL_NO_LIB.
-
-  # If you want to observe which libraries are being linked against
-  # then defining BOOST_LIB_DIAGNOSTIC will cause the auto-linking
-  # code to emit a #pragma message each time a library is selected
-  # for linking.
-  set(Boost_LIB_DIAGNOSTIC_DEFINITIONS "-DBOOST_LIB_DIAGNOSTIC")
-  set_target_properties(Boost::diagnostic_definitions PROPERTIES
-    INTERFACE_COMPILE_DEFINITIONS "BOOST_LIB_DIAGNOSTIC")
-  set_target_properties(Boost::disable_autolinking PROPERTIES
-    INTERFACE_COMPILE_DEFINITIONS "BOOST_ALL_NO_LIB")
-endif()
-
-# Patch  for GTSAM:
-if (POLICY CMP0074)
-	cmake_policy(GET CMP0074 _Boost_CMP0074)
-endif()
-
-if(NOT "x${_Boost_CMP0074}x" STREQUAL "xNEWx")
-  _Boost_CHECK_SPELLING(Boost_ROOT)
-endif()
-unset(_Boost_CMP0074)
-_Boost_CHECK_SPELLING(Boost_LIBRARYDIR)
-_Boost_CHECK_SPELLING(Boost_INCLUDEDIR)
-
-# Collect environment variable inputs as hints.  Do not consider changes.
-foreach(v BOOSTROOT BOOST_ROOT BOOST_INCLUDEDIR BOOST_LIBRARYDIR)
-  set(_env $ENV{${v}})
-  if(_env)
-    file(TO_CMAKE_PATH "${_env}" _ENV_${v})
-  else()
-    set(_ENV_${v} "")
-  endif()
-endforeach()
-if(NOT _ENV_BOOST_ROOT AND _ENV_BOOSTROOT)
-  set(_ENV_BOOST_ROOT "${_ENV_BOOSTROOT}")
-endif()
-
-# Collect inputs and cached results.  Detect changes since the last run.
-if(NOT BOOST_ROOT AND BOOSTROOT)
-  set(BOOST_ROOT "${BOOSTROOT}")
-endif()
-set(_Boost_VARS_DIR
-  BOOST_ROOT
-  Boost_NO_SYSTEM_PATHS
-  )
-
-_Boost_DEBUG_PRINT_VAR("${CMAKE_CURRENT_LIST_FILE}" "${CMAKE_CURRENT_LIST_LINE}" "BOOST_ROOT")
-_Boost_DEBUG_PRINT_VAR("${CMAKE_CURRENT_LIST_FILE}" "${CMAKE_CURRENT_LIST_LINE}" "BOOST_ROOT" ENVIRONMENT)
-_Boost_DEBUG_PRINT_VAR("${CMAKE_CURRENT_LIST_FILE}" "${CMAKE_CURRENT_LIST_LINE}" "BOOST_INCLUDEDIR")
-_Boost_DEBUG_PRINT_VAR("${CMAKE_CURRENT_LIST_FILE}" "${CMAKE_CURRENT_LIST_LINE}" "BOOST_INCLUDEDIR" ENVIRONMENT)
-_Boost_DEBUG_PRINT_VAR("${CMAKE_CURRENT_LIST_FILE}" "${CMAKE_CURRENT_LIST_LINE}" "BOOST_LIBRARYDIR")
-_Boost_DEBUG_PRINT_VAR("${CMAKE_CURRENT_LIST_FILE}" "${CMAKE_CURRENT_LIST_LINE}" "BOOST_LIBRARYDIR" ENVIRONMENT)
-
-# ------------------------------------------------------------------------
-#  Search for Boost include DIR
-# ------------------------------------------------------------------------
-
-set(_Boost_VARS_INC BOOST_INCLUDEDIR Boost_INCLUDE_DIR Boost_ADDITIONAL_VERSIONS)
-_Boost_CHANGE_DETECT(_Boost_CHANGE_INCDIR ${_Boost_VARS_DIR} ${_Boost_VARS_INC})
-# Clear Boost_INCLUDE_DIR if it did not change but other input affecting the
-# location did.  We will find a new one based on the new inputs.
-if(_Boost_CHANGE_INCDIR AND NOT _Boost_INCLUDE_DIR_CHANGED)
-  unset(Boost_INCLUDE_DIR CACHE)
-endif()
-
-if(NOT Boost_INCLUDE_DIR)
-  set(_boost_INCLUDE_SEARCH_DIRS "")
-  if(BOOST_INCLUDEDIR)
-    list(APPEND _boost_INCLUDE_SEARCH_DIRS ${BOOST_INCLUDEDIR})
-  elseif(_ENV_BOOST_INCLUDEDIR)
-    list(APPEND _boost_INCLUDE_SEARCH_DIRS ${_ENV_BOOST_INCLUDEDIR})
-  endif()
-
-  if( BOOST_ROOT )
-    list(APPEND _boost_INCLUDE_SEARCH_DIRS ${BOOST_ROOT}/include ${BOOST_ROOT})
-  elseif( _ENV_BOOST_ROOT )
-    list(APPEND _boost_INCLUDE_SEARCH_DIRS ${_ENV_BOOST_ROOT}/include ${_ENV_BOOST_ROOT})
-  endif()
-
-  if( Boost_NO_SYSTEM_PATHS)
-    list(APPEND _boost_INCLUDE_SEARCH_DIRS NO_CMAKE_SYSTEM_PATH NO_SYSTEM_ENVIRONMENT_PATH)
-  else()
-    if("x${CMAKE_CXX_COMPILER_ID}" STREQUAL "xMSVC")
-      foreach(ver ${_boost_TEST_VERSIONS})
-        string(REPLACE "." "_" ver "${ver}")
-        list(APPEND _boost_INCLUDE_SEARCH_DIRS PATHS "C:/local/boost_${ver}")
-      endforeach()
-    endif()
-    list(APPEND _boost_INCLUDE_SEARCH_DIRS PATHS
-      C:/boost/include
-      C:/boost
-      /sw/local/include
-      )
-  endif()
-
-  # Try to find Boost by stepping backwards through the Boost versions
-  # we know about.
-  # Build a list of path suffixes for each version.
-  set(_boost_PATH_SUFFIXES)
-  foreach(_boost_VER ${_boost_TEST_VERSIONS})
-    # Add in a path suffix, based on the required version, ideally
-    # we could read this from version.hpp, but for that to work we'd
-    # need to know the include dir already
-    set(_boost_BOOSTIFIED_VERSION)
-
-    # Transform 1.35 => 1_35 and 1.36.0 => 1_36_0
-    if(_boost_VER MATCHES "([0-9]+)\\.([0-9]+)\\.([0-9]+)")
-        set(_boost_BOOSTIFIED_VERSION
-          "${CMAKE_MATCH_1}_${CMAKE_MATCH_2}_${CMAKE_MATCH_3}")
-    elseif(_boost_VER MATCHES "([0-9]+)\\.([0-9]+)")
-        set(_boost_BOOSTIFIED_VERSION
-          "${CMAKE_MATCH_1}_${CMAKE_MATCH_2}")
-    endif()
-
-    list(APPEND _boost_PATH_SUFFIXES
-      "boost-${_boost_BOOSTIFIED_VERSION}"
-      "boost_${_boost_BOOSTIFIED_VERSION}"
-      "boost/boost-${_boost_BOOSTIFIED_VERSION}"
-      "boost/boost_${_boost_BOOSTIFIED_VERSION}"
-      )
-
-  endforeach()
-
-  _Boost_DEBUG_PRINT_VAR("${CMAKE_CURRENT_LIST_FILE}" "${CMAKE_CURRENT_LIST_LINE}" "_boost_INCLUDE_SEARCH_DIRS")
-  _Boost_DEBUG_PRINT_VAR("${CMAKE_CURRENT_LIST_FILE}" "${CMAKE_CURRENT_LIST_LINE}" "_boost_PATH_SUFFIXES")
-
-  # Look for a standard boost header file.
-  find_path(Boost_INCLUDE_DIR
-    NAMES         boost/config.hpp
-    HINTS         ${_boost_INCLUDE_SEARCH_DIRS}
-    PATH_SUFFIXES ${_boost_PATH_SUFFIXES}
-    )
-endif()
-
-# ------------------------------------------------------------------------
-#  Extract version information from version.hpp
-# ------------------------------------------------------------------------
-
-if(Boost_INCLUDE_DIR)
-  _Boost_DEBUG_PRINT("${CMAKE_CURRENT_LIST_FILE}" "${CMAKE_CURRENT_LIST_LINE}"
-                     "location of version.hpp: ${Boost_INCLUDE_DIR}/boost/version.hpp")
-
-  # Extract Boost_VERSION_MACRO and Boost_LIB_VERSION from version.hpp
-  set(Boost_VERSION_MACRO 0)
-  set(Boost_LIB_VERSION "")
-  file(STRINGS "${Boost_INCLUDE_DIR}/boost/version.hpp" _boost_VERSION_HPP_CONTENTS REGEX "#define BOOST_(LIB_)?VERSION ")
-  if("${_boost_VERSION_HPP_CONTENTS}" MATCHES "#define BOOST_VERSION ([0-9]+)")
-    set(Boost_VERSION_MACRO "${CMAKE_MATCH_1}")
-  endif()
-  if("${_boost_VERSION_HPP_CONTENTS}" MATCHES "#define BOOST_LIB_VERSION \"([0-9_]+)\"")
-    set(Boost_LIB_VERSION "${CMAKE_MATCH_1}")
-  endif()
-  unset(_boost_VERSION_HPP_CONTENTS)
-
-  # Calculate version components
-  math(EXPR Boost_VERSION_MAJOR "${Boost_VERSION_MACRO} / 100000")
-  math(EXPR Boost_VERSION_MINOR "${Boost_VERSION_MACRO} / 100 % 1000")
-  math(EXPR Boost_VERSION_PATCH "${Boost_VERSION_MACRO} % 100")
-  set(Boost_VERSION_COUNT 3)
-
-  # Define alias variables for backwards compat.
-  set(Boost_MAJOR_VERSION ${Boost_VERSION_MAJOR})
-  set(Boost_MINOR_VERSION ${Boost_VERSION_MINOR})
-  set(Boost_SUBMINOR_VERSION ${Boost_VERSION_PATCH})
-
-  # Define Boost version in x.y.z format
-  set(Boost_VERSION_STRING "${Boost_VERSION_MAJOR}.${Boost_VERSION_MINOR}.${Boost_VERSION_PATCH}")
-
-  # Define final Boost_VERSION
-  if (POLICY CMP0093)
-    cmake_policy(GET CMP0093 _Boost_CMP0093
-   	  PARENT_SCOPE # undocumented, do not use outside of CMake
-    )
-  endif()
-
-  if("x${_Boost_CMP0093}x" STREQUAL "xNEWx")
-    set(Boost_VERSION ${Boost_VERSION_STRING})
-  else()
-    set(Boost_VERSION ${Boost_VERSION_MACRO})
-  endif()
-  unset(_Boost_CMP0093)
-
-  _Boost_DEBUG_PRINT_VAR("${CMAKE_CURRENT_LIST_FILE}" "${CMAKE_CURRENT_LIST_LINE}" "Boost_VERSION")
-  _Boost_DEBUG_PRINT_VAR("${CMAKE_CURRENT_LIST_FILE}" "${CMAKE_CURRENT_LIST_LINE}" "Boost_VERSION_STRING")
-  _Boost_DEBUG_PRINT_VAR("${CMAKE_CURRENT_LIST_FILE}" "${CMAKE_CURRENT_LIST_LINE}" "Boost_VERSION_MACRO")
-  _Boost_DEBUG_PRINT_VAR("${CMAKE_CURRENT_LIST_FILE}" "${CMAKE_CURRENT_LIST_LINE}" "Boost_VERSION_MAJOR")
-  _Boost_DEBUG_PRINT_VAR("${CMAKE_CURRENT_LIST_FILE}" "${CMAKE_CURRENT_LIST_LINE}" "Boost_VERSION_MINOR")
-  _Boost_DEBUG_PRINT_VAR("${CMAKE_CURRENT_LIST_FILE}" "${CMAKE_CURRENT_LIST_LINE}" "Boost_VERSION_PATCH")
-  _Boost_DEBUG_PRINT_VAR("${CMAKE_CURRENT_LIST_FILE}" "${CMAKE_CURRENT_LIST_LINE}" "Boost_VERSION_COUNT")
-endif()
-
-# ------------------------------------------------------------------------
-#  Prefix initialization
-# ------------------------------------------------------------------------
-
-set(Boost_LIB_PREFIX "")
-if ( (GHSMULTI AND Boost_USE_STATIC_LIBS) OR
-    (WIN32 AND Boost_USE_STATIC_LIBS AND NOT CYGWIN) )
-  set(Boost_LIB_PREFIX "lib")
-endif()
-
-if ( NOT Boost_NAMESPACE )
-  set(Boost_NAMESPACE "boost")
-endif()
-
-_Boost_DEBUG_PRINT_VAR("${CMAKE_CURRENT_LIST_FILE}" "${CMAKE_CURRENT_LIST_LINE}" "Boost_LIB_PREFIX")
-_Boost_DEBUG_PRINT_VAR("${CMAKE_CURRENT_LIST_FILE}" "${CMAKE_CURRENT_LIST_LINE}" "Boost_NAMESPACE")
-
-# ------------------------------------------------------------------------
-#  Suffix initialization and compiler suffix detection.
-# ------------------------------------------------------------------------
-
-set(_Boost_VARS_NAME
-  Boost_NAMESPACE
-  Boost_COMPILER
-  Boost_THREADAPI
-  Boost_USE_DEBUG_PYTHON
-  Boost_USE_MULTITHREADED
-  Boost_USE_STATIC_LIBS
-  Boost_USE_STATIC_RUNTIME
-  Boost_USE_STLPORT
-  Boost_USE_STLPORT_DEPRECATED_NATIVE_IOSTREAMS
-  )
-_Boost_CHANGE_DETECT(_Boost_CHANGE_LIBNAME ${_Boost_VARS_NAME})
-
-# Setting some more suffixes for the library
-if (Boost_COMPILER)
-  set(_boost_COMPILER ${Boost_COMPILER})
-  _Boost_DEBUG_PRINT_VAR("${CMAKE_CURRENT_LIST_FILE}" "${CMAKE_CURRENT_LIST_LINE}"
-                         "_boost_COMPILER" SOURCE "user-specified via Boost_COMPILER")
-else()
-  # Attempt to guess the compiler suffix
-  # NOTE: this is not perfect yet, if you experience any issues
-  # please report them and use the Boost_COMPILER variable
-  # to work around the problems.
-  _Boost_GUESS_COMPILER_PREFIX(_boost_COMPILER)
-endif()
-
-set (_boost_MULTITHREADED "-mt")
-if( NOT Boost_USE_MULTITHREADED )
-  set (_boost_MULTITHREADED "")
-endif()
-_Boost_DEBUG_PRINT_VAR("${CMAKE_CURRENT_LIST_FILE}" "${CMAKE_CURRENT_LIST_LINE}" "_boost_MULTITHREADED")
-
-#======================
-# Systematically build up the Boost ABI tag for the 'tagged' and 'versioned' layouts
-# http://boost.org/doc/libs/1_66_0/more/getting_started/windows.html#library-naming
-# http://boost.org/doc/libs/1_66_0/boost/config/auto_link.hpp
-# http://boost.org/doc/libs/1_66_0/tools/build/src/tools/common.jam
-# http://boost.org/doc/libs/1_66_0/boostcpp.jam
-set( _boost_RELEASE_ABI_TAG "-")
-set( _boost_DEBUG_ABI_TAG   "-")
-# Key       Use this library when:
-#  s        linking statically to the C++ standard library and
-#           compiler runtime support libraries.
-if(Boost_USE_STATIC_RUNTIME)
-  set( _boost_RELEASE_ABI_TAG "${_boost_RELEASE_ABI_TAG}s")
-  set( _boost_DEBUG_ABI_TAG   "${_boost_DEBUG_ABI_TAG}s")
-endif()
-#  g        using debug versions of the standard and runtime
-#           support libraries
-if(WIN32 AND Boost_USE_DEBUG_RUNTIME)
-  if("x${CMAKE_CXX_COMPILER_ID}" STREQUAL "xMSVC"
-          OR "x${CMAKE_CXX_COMPILER_ID}" STREQUAL "xClang"
-          OR "x${CMAKE_CXX_COMPILER_ID}" STREQUAL "xIntel")
-    string(APPEND _boost_DEBUG_ABI_TAG "g")
-  endif()
-endif()
-#  y        using special debug build of python
-if(Boost_USE_DEBUG_PYTHON)
-  string(APPEND _boost_DEBUG_ABI_TAG "y")
-endif()
-#  d        using a debug version of your code
-string(APPEND _boost_DEBUG_ABI_TAG "d")
-#  p        using the STLport standard library rather than the
-#           default one supplied with your compiler
-if(Boost_USE_STLPORT)
-  string(APPEND _boost_RELEASE_ABI_TAG "p")
-  string(APPEND _boost_DEBUG_ABI_TAG "p")
-endif()
-#  n        using the STLport deprecated "native iostreams" feature
-#           removed from the documentation in 1.43.0 but still present in
-#           boost/config/auto_link.hpp
-if(Boost_USE_STLPORT_DEPRECATED_NATIVE_IOSTREAMS)
-  string(APPEND _boost_RELEASE_ABI_TAG "n")
-  string(APPEND _boost_DEBUG_ABI_TAG "n")
-endif()
-
-#  -x86     Architecture and address model tag
-#           First character is the architecture, then word-size, either 32 or 64
-#           Only used in 'versioned' layout, added in Boost 1.66.0
-if(DEFINED Boost_ARCHITECTURE)
-  set(_boost_ARCHITECTURE_TAG "${Boost_ARCHITECTURE}")
-  _Boost_DEBUG_PRINT_VAR("${CMAKE_CURRENT_LIST_FILE}" "${CMAKE_CURRENT_LIST_LINE}"
-                         "_boost_ARCHITECTURE_TAG" SOURCE "user-specified via Boost_ARCHITECTURE")
-else()
-  set(_boost_ARCHITECTURE_TAG "")
-  # {CMAKE_CXX_COMPILER_ARCHITECTURE_ID} is not currently set for all compilers
-  if(NOT "x${CMAKE_CXX_COMPILER_ARCHITECTURE_ID}" STREQUAL "x" AND NOT Boost_VERSION_STRING VERSION_LESS 1.66.0)
-    string(APPEND _boost_ARCHITECTURE_TAG "-")
-    # This needs to be kept in-sync with the section of CMakePlatformId.h.in
-    # inside 'defined(_WIN32) && defined(_MSC_VER)'
-    if(CMAKE_CXX_COMPILER_ARCHITECTURE_ID STREQUAL "IA64")
-      string(APPEND _boost_ARCHITECTURE_TAG "i")
-    elseif(CMAKE_CXX_COMPILER_ARCHITECTURE_ID STREQUAL "X86"
-              OR CMAKE_CXX_COMPILER_ARCHITECTURE_ID STREQUAL "x64")
-      string(APPEND _boost_ARCHITECTURE_TAG "x")
-    elseif(CMAKE_CXX_COMPILER_ARCHITECTURE_ID MATCHES "^ARM")
-      string(APPEND _boost_ARCHITECTURE_TAG "a")
-    elseif(CMAKE_CXX_COMPILER_ARCHITECTURE_ID STREQUAL "MIPS")
-      string(APPEND _boost_ARCHITECTURE_TAG "m")
-    endif()
-
-    if(CMAKE_SIZEOF_VOID_P EQUAL 8)
-      string(APPEND _boost_ARCHITECTURE_TAG "64")
-    else()
-      string(APPEND _boost_ARCHITECTURE_TAG "32")
-    endif()
-  endif()
-  _Boost_DEBUG_PRINT_VAR("${CMAKE_CURRENT_LIST_FILE}" "${CMAKE_CURRENT_LIST_LINE}"
-                         "_boost_ARCHITECTURE_TAG" SOURCE "detected")
-endif()
-
-_Boost_DEBUG_PRINT_VAR("${CMAKE_CURRENT_LIST_FILE}" "${CMAKE_CURRENT_LIST_LINE}" "_boost_RELEASE_ABI_TAG")
-_Boost_DEBUG_PRINT_VAR("${CMAKE_CURRENT_LIST_FILE}" "${CMAKE_CURRENT_LIST_LINE}" "_boost_DEBUG_ABI_TAG")
-
-# ------------------------------------------------------------------------
-#  Begin finding boost libraries
-# ------------------------------------------------------------------------
-
-set(_Boost_VARS_LIB "")
-foreach(c DEBUG RELEASE)
-  set(_Boost_VARS_LIB_${c} BOOST_LIBRARYDIR Boost_LIBRARY_DIR_${c})
-  list(APPEND _Boost_VARS_LIB ${_Boost_VARS_LIB_${c}})
-  _Boost_CHANGE_DETECT(_Boost_CHANGE_LIBDIR_${c} ${_Boost_VARS_DIR} ${_Boost_VARS_LIB_${c}} Boost_INCLUDE_DIR)
-  # Clear Boost_LIBRARY_DIR_${c} if it did not change but other input affecting the
-  # location did.  We will find a new one based on the new inputs.
-  if(_Boost_CHANGE_LIBDIR_${c} AND NOT _Boost_LIBRARY_DIR_${c}_CHANGED)
-    unset(Boost_LIBRARY_DIR_${c} CACHE)
-  endif()
-
-  # If Boost_LIBRARY_DIR_[RELEASE,DEBUG] is set, prefer its value.
-  if(Boost_LIBRARY_DIR_${c})
-    set(_boost_LIBRARY_SEARCH_DIRS_${c} ${Boost_LIBRARY_DIR_${c}} NO_DEFAULT_PATH NO_CMAKE_FIND_ROOT_PATH)
-  else()
-    set(_boost_LIBRARY_SEARCH_DIRS_${c} "")
-    if(BOOST_LIBRARYDIR)
-      list(APPEND _boost_LIBRARY_SEARCH_DIRS_${c} ${BOOST_LIBRARYDIR})
-    elseif(_ENV_BOOST_LIBRARYDIR)
-      list(APPEND _boost_LIBRARY_SEARCH_DIRS_${c} ${_ENV_BOOST_LIBRARYDIR})
-    endif()
-
-    if(BOOST_ROOT)
-      list(APPEND _boost_LIBRARY_SEARCH_DIRS_${c} ${BOOST_ROOT}/lib ${BOOST_ROOT}/stage/lib)
-      _Boost_UPDATE_WINDOWS_LIBRARY_SEARCH_DIRS_WITH_PREBUILT_PATHS(_boost_LIBRARY_SEARCH_DIRS_${c} "${BOOST_ROOT}")
-    elseif(_ENV_BOOST_ROOT)
-      list(APPEND _boost_LIBRARY_SEARCH_DIRS_${c} ${_ENV_BOOST_ROOT}/lib ${_ENV_BOOST_ROOT}/stage/lib)
-      _Boost_UPDATE_WINDOWS_LIBRARY_SEARCH_DIRS_WITH_PREBUILT_PATHS(_boost_LIBRARY_SEARCH_DIRS_${c} "${_ENV_BOOST_ROOT}")
-    endif()
-
-    list(APPEND _boost_LIBRARY_SEARCH_DIRS_${c}
-      ${Boost_INCLUDE_DIR}/lib
-      ${Boost_INCLUDE_DIR}/../lib
-      ${Boost_INCLUDE_DIR}/stage/lib
-      )
-    _Boost_UPDATE_WINDOWS_LIBRARY_SEARCH_DIRS_WITH_PREBUILT_PATHS(_boost_LIBRARY_SEARCH_DIRS_${c} "${Boost_INCLUDE_DIR}/..")
-    _Boost_UPDATE_WINDOWS_LIBRARY_SEARCH_DIRS_WITH_PREBUILT_PATHS(_boost_LIBRARY_SEARCH_DIRS_${c} "${Boost_INCLUDE_DIR}")
-    if( Boost_NO_SYSTEM_PATHS )
-      list(APPEND _boost_LIBRARY_SEARCH_DIRS_${c} NO_CMAKE_SYSTEM_PATH NO_SYSTEM_ENVIRONMENT_PATH)
-    else()
-      foreach(ver ${_boost_TEST_VERSIONS})
-        string(REPLACE "." "_" ver "${ver}")
-        _Boost_UPDATE_WINDOWS_LIBRARY_SEARCH_DIRS_WITH_PREBUILT_PATHS(_boost_LIBRARY_SEARCH_DIRS_${c} "C:/local/boost_${ver}")
-      endforeach()
-      _Boost_UPDATE_WINDOWS_LIBRARY_SEARCH_DIRS_WITH_PREBUILT_PATHS(_boost_LIBRARY_SEARCH_DIRS_${c} "C:/boost")
-      list(APPEND _boost_LIBRARY_SEARCH_DIRS_${c} PATHS
-        C:/boost/lib
-        C:/boost
-        /sw/local/lib
-        )
-    endif()
-  endif()
-endforeach()
-
-_Boost_DEBUG_PRINT_VAR("${CMAKE_CURRENT_LIST_FILE}" "${CMAKE_CURRENT_LIST_LINE}" "_boost_LIBRARY_SEARCH_DIRS_RELEASE")
-_Boost_DEBUG_PRINT_VAR("${CMAKE_CURRENT_LIST_FILE}" "${CMAKE_CURRENT_LIST_LINE}" "_boost_LIBRARY_SEARCH_DIRS_DEBUG")
-
-# Support preference of static libs by adjusting CMAKE_FIND_LIBRARY_SUFFIXES
-if( Boost_USE_STATIC_LIBS )
-  set( _boost_ORIG_CMAKE_FIND_LIBRARY_SUFFIXES ${CMAKE_FIND_LIBRARY_SUFFIXES})
-  if(WIN32)
-    list(INSERT CMAKE_FIND_LIBRARY_SUFFIXES 0 .lib .a)
-  else()
-    set(CMAKE_FIND_LIBRARY_SUFFIXES .a)
-  endif()
-endif()
-
-# We want to use the tag inline below without risking double dashes
-if(_boost_RELEASE_ABI_TAG)
-  if(${_boost_RELEASE_ABI_TAG} STREQUAL "-")
-    set(_boost_RELEASE_ABI_TAG "")
-  endif()
-endif()
-if(_boost_DEBUG_ABI_TAG)
-  if(${_boost_DEBUG_ABI_TAG} STREQUAL "-")
-    set(_boost_DEBUG_ABI_TAG "")
-  endif()
-endif()
-
-# The previous behavior of FindBoost when Boost_USE_STATIC_LIBS was enabled
-# on WIN32 was to:
-#  1. Search for static libs compiled against a SHARED C++ standard runtime library (use if found)
-#  2. Search for static libs compiled against a STATIC C++ standard runtime library (use if found)
-# We maintain this behavior since changing it could break people's builds.
-# To disable the ambiguous behavior, the user need only
-# set Boost_USE_STATIC_RUNTIME either ON or OFF.
-set(_boost_STATIC_RUNTIME_WORKAROUND false)
-if(WIN32 AND Boost_USE_STATIC_LIBS)
-  if(NOT DEFINED Boost_USE_STATIC_RUNTIME)
-    set(_boost_STATIC_RUNTIME_WORKAROUND TRUE)
-  endif()
-endif()
-
-# On versions < 1.35, remove the System library from the considered list
-# since it wasn't added until 1.35.
-if(Boost_VERSION_STRING AND Boost_FIND_COMPONENTS)
-  if(Boost_VERSION_STRING VERSION_LESS 1.35.0)
-    list(REMOVE_ITEM Boost_FIND_COMPONENTS system)
-  endif()
-endif()
-
-# Additional components may be required via component dependencies.
-# Add any missing components to the list.
-_Boost_MISSING_DEPENDENCIES(Boost_FIND_COMPONENTS _Boost_EXTRA_FIND_COMPONENTS)
-
-# If thread is required, get the thread libs as a dependency
-if("thread" IN_LIST Boost_FIND_COMPONENTS)
-  if(Boost_FIND_QUIETLY)
-    set(_Boost_find_quiet QUIET)
-  else()
-    set(_Boost_find_quiet "")
-  endif()
-  find_package(Threads ${_Boost_find_quiet})
-  unset(_Boost_find_quiet)
-endif()
-
-# If the user changed any of our control inputs flush previous results.
-if(_Boost_CHANGE_LIBDIR_DEBUG OR _Boost_CHANGE_LIBDIR_RELEASE OR _Boost_CHANGE_LIBNAME)
-  foreach(COMPONENT ${_Boost_COMPONENTS_SEARCHED})
-    string(TOUPPER ${COMPONENT} UPPERCOMPONENT)
-    foreach(c DEBUG RELEASE)
-      set(_var Boost_${UPPERCOMPONENT}_LIBRARY_${c})
-      unset(${_var} CACHE)
-      set(${_var} "${_var}-NOTFOUND")
-    endforeach()
-  endforeach()
-  set(_Boost_COMPONENTS_SEARCHED "")
-endif()
-
-foreach(COMPONENT ${Boost_FIND_COMPONENTS})
-  string(TOUPPER ${COMPONENT} UPPERCOMPONENT)
-
-  set( _boost_docstring_release "Boost ${COMPONENT} library (release)")
-  set( _boost_docstring_debug   "Boost ${COMPONENT} library (debug)")
-
-  # Compute component-specific hints.
-  set(_Boost_FIND_LIBRARY_HINTS_FOR_COMPONENT "")
-  if(${COMPONENT} STREQUAL "mpi" OR ${COMPONENT} STREQUAL "mpi_python" OR
-     ${COMPONENT} STREQUAL "graph_parallel")
-    foreach(lib ${MPI_CXX_LIBRARIES} ${MPI_C_LIBRARIES})
-      if(IS_ABSOLUTE "${lib}")
-        get_filename_component(libdir "${lib}" PATH)
-        string(REPLACE "\\" "/" libdir "${libdir}")
-        list(APPEND _Boost_FIND_LIBRARY_HINTS_FOR_COMPONENT ${libdir})
-      endif()
-    endforeach()
-  endif()
-
-  # Handle Python version suffixes
-  unset(COMPONENT_PYTHON_VERSION_MAJOR)
-  unset(COMPONENT_PYTHON_VERSION_MINOR)
-  if(${COMPONENT} MATCHES "^(python|mpi_python|numpy)([0-9])\$")
-    set(COMPONENT_UNVERSIONED "${CMAKE_MATCH_1}")
-    set(COMPONENT_PYTHON_VERSION_MAJOR "${CMAKE_MATCH_2}")
-  elseif(${COMPONENT} MATCHES "^(python|mpi_python|numpy)([0-9])\\.?([0-9])\$")
-    set(COMPONENT_UNVERSIONED "${CMAKE_MATCH_1}")
-    set(COMPONENT_PYTHON_VERSION_MAJOR "${CMAKE_MATCH_2}")
-    set(COMPONENT_PYTHON_VERSION_MINOR "${CMAKE_MATCH_3}")
-  endif()
-
-  unset(_Boost_FIND_LIBRARY_HINTS_FOR_COMPONENT_NAME)
-  if (COMPONENT_PYTHON_VERSION_MINOR)
-    # Boost >= 1.67
-    list(APPEND _Boost_FIND_LIBRARY_HINTS_FOR_COMPONENT_NAME "${COMPONENT_UNVERSIONED}${COMPONENT_PYTHON_VERSION_MAJOR}${COMPONENT_PYTHON_VERSION_MINOR}")
-    # Debian/Ubuntu (Some versions omit the 2 and/or 3 from the suffix)
-    list(APPEND _Boost_FIND_LIBRARY_HINTS_FOR_COMPONENT_NAME "${COMPONENT_UNVERSIONED}${COMPONENT_PYTHON_VERSION_MAJOR}-py${COMPONENT_PYTHON_VERSION_MAJOR}${COMPONENT_PYTHON_VERSION_MINOR}")
-    list(APPEND _Boost_FIND_LIBRARY_HINTS_FOR_COMPONENT_NAME "${COMPONENT_UNVERSIONED}-py${COMPONENT_PYTHON_VERSION_MAJOR}${COMPONENT_PYTHON_VERSION_MINOR}")
-    # Gentoo
-    list(APPEND _Boost_FIND_LIBRARY_HINTS_FOR_COMPONENT_NAME "${COMPONENT_UNVERSIONED}-${COMPONENT_PYTHON_VERSION_MAJOR}.${COMPONENT_PYTHON_VERSION_MINOR}")
-    # RPMs
-    list(APPEND _Boost_FIND_LIBRARY_HINTS_FOR_COMPONENT_NAME "${COMPONENT_UNVERSIONED}-${COMPONENT_PYTHON_VERSION_MAJOR}${COMPONENT_PYTHON_VERSION_MINOR}")
-  endif()
-  if (COMPONENT_PYTHON_VERSION_MAJOR AND NOT COMPONENT_PYTHON_VERSION_MINOR)
-    # Boost < 1.67
-    list(APPEND _Boost_FIND_LIBRARY_HINTS_FOR_COMPONENT_NAME "${COMPONENT_UNVERSIONED}${COMPONENT_PYTHON_VERSION_MAJOR}")
-  endif()
-
-  # Consolidate and report component-specific hints.
-  if(_Boost_FIND_LIBRARY_HINTS_FOR_COMPONENT_NAME)
-    list(REMOVE_DUPLICATES _Boost_FIND_LIBRARY_HINTS_FOR_COMPONENT_NAME)
-    _Boost_DEBUG_PRINT("${CMAKE_CURRENT_LIST_FILE}" "${CMAKE_CURRENT_LIST_LINE}"
-      "Component-specific library search names for ${COMPONENT_NAME}: ${_Boost_FIND_LIBRARY_HINTS_FOR_COMPONENT_NAME}")
-  endif()
-  if(_Boost_FIND_LIBRARY_HINTS_FOR_COMPONENT)
-    list(REMOVE_DUPLICATES _Boost_FIND_LIBRARY_HINTS_FOR_COMPONENT)
-    _Boost_DEBUG_PRINT("${CMAKE_CURRENT_LIST_FILE}" "${CMAKE_CURRENT_LIST_LINE}"
-      "Component-specific library search paths for ${COMPONENT}: ${_Boost_FIND_LIBRARY_HINTS_FOR_COMPONENT}")
-  endif()
-
-  #
-  # Find headers
-  #
-  _Boost_COMPONENT_HEADERS("${COMPONENT}" Boost_${UPPERCOMPONENT}_HEADER_NAME)
-  # Look for a standard boost header file.
-  if(Boost_${UPPERCOMPONENT}_HEADER_NAME)
-    if(EXISTS "${Boost_INCLUDE_DIR}/${Boost_${UPPERCOMPONENT}_HEADER_NAME}")
-      set(Boost_${UPPERCOMPONENT}_HEADER ON)
-    else()
-      set(Boost_${UPPERCOMPONENT}_HEADER OFF)
-    endif()
-  else()
-    set(Boost_${UPPERCOMPONENT}_HEADER ON)
-    message(WARNING "No header defined for ${COMPONENT}; skipping header check")
-  endif()
-
-  #
-  # Find RELEASE libraries
-  #
-  unset(_boost_RELEASE_NAMES)
-  foreach(component IN LISTS _Boost_FIND_LIBRARY_HINTS_FOR_COMPONENT_NAME COMPONENT)
-    foreach(compiler IN LISTS _boost_COMPILER)
-      list(APPEND _boost_RELEASE_NAMES
-        ${Boost_LIB_PREFIX}${Boost_NAMESPACE}_${component}${compiler}${_boost_MULTITHREADED}${_boost_RELEASE_ABI_TAG}${_boost_ARCHITECTURE_TAG}-${Boost_LIB_VERSION}
-        ${Boost_LIB_PREFIX}${Boost_NAMESPACE}_${component}${compiler}${_boost_MULTITHREADED}${_boost_RELEASE_ABI_TAG}${_boost_ARCHITECTURE_TAG}
-        ${Boost_LIB_PREFIX}${Boost_NAMESPACE}_${component}${compiler}${_boost_MULTITHREADED}${_boost_RELEASE_ABI_TAG} )
-    endforeach()
-    list(APPEND _boost_RELEASE_NAMES
-      ${Boost_LIB_PREFIX}${Boost_NAMESPACE}_${component}${_boost_MULTITHREADED}${_boost_RELEASE_ABI_TAG}${_boost_ARCHITECTURE_TAG}-${Boost_LIB_VERSION}
-      ${Boost_LIB_PREFIX}${Boost_NAMESPACE}_${component}${_boost_MULTITHREADED}${_boost_RELEASE_ABI_TAG}${_boost_ARCHITECTURE_TAG}
-      ${Boost_LIB_PREFIX}${Boost_NAMESPACE}_${component}${_boost_MULTITHREADED}${_boost_RELEASE_ABI_TAG}
-      ${Boost_LIB_PREFIX}${Boost_NAMESPACE}_${component}${_boost_MULTITHREADED}
-      ${Boost_LIB_PREFIX}${Boost_NAMESPACE}_${component} )
-    if(_boost_STATIC_RUNTIME_WORKAROUND)
-      set(_boost_RELEASE_STATIC_ABI_TAG "-s${_boost_RELEASE_ABI_TAG}")
-      foreach(compiler IN LISTS _boost_COMPILER)
-        list(APPEND _boost_RELEASE_NAMES
-          ${Boost_LIB_PREFIX}${Boost_NAMESPACE}_${component}${compiler}${_boost_MULTITHREADED}${_boost_RELEASE_STATIC_ABI_TAG}${_boost_ARCHITECTURE_TAG}-${Boost_LIB_VERSION}
-          ${Boost_LIB_PREFIX}${Boost_NAMESPACE}_${component}${compiler}${_boost_MULTITHREADED}${_boost_RELEASE_STATIC_ABI_TAG}${_boost_ARCHITECTURE_TAG}
-          ${Boost_LIB_PREFIX}${Boost_NAMESPACE}_${component}${compiler}${_boost_MULTITHREADED}${_boost_RELEASE_STATIC_ABI_TAG} )
-      endforeach()
-      list(APPEND _boost_RELEASE_NAMES
-        ${Boost_LIB_PREFIX}${Boost_NAMESPACE}_${component}${_boost_MULTITHREADED}${_boost_RELEASE_STATIC_ABI_TAG}${_boost_ARCHITECTURE_TAG}-${Boost_LIB_VERSION}
-        ${Boost_LIB_PREFIX}${Boost_NAMESPACE}_${component}${_boost_MULTITHREADED}${_boost_RELEASE_STATIC_ABI_TAG}${_boost_ARCHITECTURE_TAG}
-        ${Boost_LIB_PREFIX}${Boost_NAMESPACE}_${component}${_boost_MULTITHREADED}${_boost_RELEASE_STATIC_ABI_TAG} )
-    endif()
-  endforeach()
-  if(Boost_THREADAPI AND ${COMPONENT} STREQUAL "thread")
-    _Boost_PREPEND_LIST_WITH_THREADAPI(_boost_RELEASE_NAMES ${_boost_RELEASE_NAMES})
-  endif()
-  _Boost_DEBUG_PRINT("${CMAKE_CURRENT_LIST_FILE}" "${CMAKE_CURRENT_LIST_LINE}"
-                     "Searching for ${UPPERCOMPONENT}_LIBRARY_RELEASE: ${_boost_RELEASE_NAMES}")
-
-  # if Boost_LIBRARY_DIR_RELEASE is not defined,
-  # but Boost_LIBRARY_DIR_DEBUG is, look there first for RELEASE libs
-  if(NOT Boost_LIBRARY_DIR_RELEASE AND Boost_LIBRARY_DIR_DEBUG)
-    list(INSERT _boost_LIBRARY_SEARCH_DIRS_RELEASE 0 ${Boost_LIBRARY_DIR_DEBUG})
-  endif()
-
-  # Avoid passing backslashes to _Boost_FIND_LIBRARY due to macro re-parsing.
-  string(REPLACE "\\" "/" _boost_LIBRARY_SEARCH_DIRS_tmp "${_boost_LIBRARY_SEARCH_DIRS_RELEASE}")
-
-  if(Boost_USE_RELEASE_LIBS)
-    _Boost_FIND_LIBRARY(Boost_${UPPERCOMPONENT}_LIBRARY_RELEASE RELEASE
-      NAMES ${_boost_RELEASE_NAMES}
-      HINTS ${_boost_LIBRARY_SEARCH_DIRS_tmp}
-      NAMES_PER_DIR
-      DOC "${_boost_docstring_release}"
-      )
-  endif()
-
-  #
-  # Find DEBUG libraries
-  #
-  unset(_boost_DEBUG_NAMES)
-  foreach(component IN LISTS _Boost_FIND_LIBRARY_HINTS_FOR_COMPONENT_NAME COMPONENT)
-    foreach(compiler IN LISTS _boost_COMPILER)
-      list(APPEND _boost_DEBUG_NAMES
-        ${Boost_LIB_PREFIX}${Boost_NAMESPACE}_${component}${compiler}${_boost_MULTITHREADED}${_boost_DEBUG_ABI_TAG}${_boost_ARCHITECTURE_TAG}-${Boost_LIB_VERSION}
-        ${Boost_LIB_PREFIX}${Boost_NAMESPACE}_${component}${compiler}${_boost_MULTITHREADED}${_boost_DEBUG_ABI_TAG}${_boost_ARCHITECTURE_TAG}
-        ${Boost_LIB_PREFIX}${Boost_NAMESPACE}_${component}${compiler}${_boost_MULTITHREADED}${_boost_DEBUG_ABI_TAG} )
-    endforeach()
-    list(APPEND _boost_DEBUG_NAMES
-      ${Boost_LIB_PREFIX}${Boost_NAMESPACE}_${component}${_boost_MULTITHREADED}${_boost_DEBUG_ABI_TAG}${_boost_ARCHITECTURE_TAG}-${Boost_LIB_VERSION}
-      ${Boost_LIB_PREFIX}${Boost_NAMESPACE}_${component}${_boost_MULTITHREADED}${_boost_DEBUG_ABI_TAG}${_boost_ARCHITECTURE_TAG}
-      ${Boost_LIB_PREFIX}${Boost_NAMESPACE}_${component}${_boost_MULTITHREADED}${_boost_DEBUG_ABI_TAG}
-      ${Boost_LIB_PREFIX}${Boost_NAMESPACE}_${component}${_boost_MULTITHREADED}
-      ${Boost_LIB_PREFIX}${Boost_NAMESPACE}_${component} )
-    if(_boost_STATIC_RUNTIME_WORKAROUND)
-      set(_boost_DEBUG_STATIC_ABI_TAG "-s${_boost_DEBUG_ABI_TAG}")
-      foreach(compiler IN LISTS _boost_COMPILER)
-        list(APPEND _boost_DEBUG_NAMES
-          ${Boost_LIB_PREFIX}${Boost_NAMESPACE}_${component}${compiler}${_boost_MULTITHREADED}${_boost_DEBUG_STATIC_ABI_TAG}${_boost_ARCHITECTURE_TAG}-${Boost_LIB_VERSION}
-          ${Boost_LIB_PREFIX}${Boost_NAMESPACE}_${component}${compiler}${_boost_MULTITHREADED}${_boost_DEBUG_STATIC_ABI_TAG}${_boost_ARCHITECTURE_TAG}
-          ${Boost_LIB_PREFIX}${Boost_NAMESPACE}_${component}${compiler}${_boost_MULTITHREADED}${_boost_DEBUG_STATIC_ABI_TAG} )
-      endforeach()
-      list(APPEND _boost_DEBUG_NAMES
-        ${Boost_LIB_PREFIX}${Boost_NAMESPACE}_${component}${_boost_MULTITHREADED}${_boost_DEBUG_STATIC_ABI_TAG}${_boost_ARCHITECTURE_TAG}-${Boost_LIB_VERSION}
-        ${Boost_LIB_PREFIX}${Boost_NAMESPACE}_${component}${_boost_MULTITHREADED}${_boost_DEBUG_STATIC_ABI_TAG}${_boost_ARCHITECTURE_TAG}
-        ${Boost_LIB_PREFIX}${Boost_NAMESPACE}_${component}${_boost_MULTITHREADED}${_boost_DEBUG_STATIC_ABI_TAG} )
-    endif()
-  endforeach()
-  if(Boost_THREADAPI AND ${COMPONENT} STREQUAL "thread")
-     _Boost_PREPEND_LIST_WITH_THREADAPI(_boost_DEBUG_NAMES ${_boost_DEBUG_NAMES})
-  endif()
-  _Boost_DEBUG_PRINT("${CMAKE_CURRENT_LIST_FILE}" "${CMAKE_CURRENT_LIST_LINE}"
-                     "Searching for ${UPPERCOMPONENT}_LIBRARY_DEBUG: ${_boost_DEBUG_NAMES}")
-
-  # if Boost_LIBRARY_DIR_DEBUG is not defined,
-  # but Boost_LIBRARY_DIR_RELEASE is, look there first for DEBUG libs
-  if(NOT Boost_LIBRARY_DIR_DEBUG AND Boost_LIBRARY_DIR_RELEASE)
-    list(INSERT _boost_LIBRARY_SEARCH_DIRS_DEBUG 0 ${Boost_LIBRARY_DIR_RELEASE})
-  endif()
-
-  # Avoid passing backslashes to _Boost_FIND_LIBRARY due to macro re-parsing.
-  string(REPLACE "\\" "/" _boost_LIBRARY_SEARCH_DIRS_tmp "${_boost_LIBRARY_SEARCH_DIRS_DEBUG}")
-
-  if(Boost_USE_DEBUG_LIBS)
-    _Boost_FIND_LIBRARY(Boost_${UPPERCOMPONENT}_LIBRARY_DEBUG DEBUG
-      NAMES ${_boost_DEBUG_NAMES}
-      HINTS ${_boost_LIBRARY_SEARCH_DIRS_tmp}
-      NAMES_PER_DIR
-      DOC "${_boost_docstring_debug}"
-      )
-  endif ()
-
-  if(Boost_REALPATH)
-    _Boost_SWAP_WITH_REALPATH(Boost_${UPPERCOMPONENT}_LIBRARY_RELEASE "${_boost_docstring_release}")
-    _Boost_SWAP_WITH_REALPATH(Boost_${UPPERCOMPONENT}_LIBRARY_DEBUG   "${_boost_docstring_debug}"  )
-  endif()
-
-  _Boost_ADJUST_LIB_VARS(${UPPERCOMPONENT})
-
-  # Check if component requires some compiler features
-  _Boost_COMPILER_FEATURES(${COMPONENT} _Boost_${UPPERCOMPONENT}_COMPILER_FEATURES)
-
-endforeach()
-
-# Restore the original find library ordering
-if( Boost_USE_STATIC_LIBS )
-  set(CMAKE_FIND_LIBRARY_SUFFIXES ${_boost_ORIG_CMAKE_FIND_LIBRARY_SUFFIXES})
-endif()
-
-# ------------------------------------------------------------------------
-#  End finding boost libraries
-# ------------------------------------------------------------------------
-
-set(Boost_INCLUDE_DIRS ${Boost_INCLUDE_DIR})
-set(Boost_LIBRARY_DIRS)
-if(Boost_LIBRARY_DIR_RELEASE)
-  list(APPEND Boost_LIBRARY_DIRS ${Boost_LIBRARY_DIR_RELEASE})
-endif()
-if(Boost_LIBRARY_DIR_DEBUG)
-  list(APPEND Boost_LIBRARY_DIRS ${Boost_LIBRARY_DIR_DEBUG})
-endif()
-if(Boost_LIBRARY_DIRS)
-  list(REMOVE_DUPLICATES Boost_LIBRARY_DIRS)
-endif()
-
-# ------------------------------------------------------------------------
-#  Call FPHSA helper, see https://cmake.org/cmake/help/latest/module/FindPackageHandleStandardArgs.html
-# ------------------------------------------------------------------------
-
-# Define aliases as needed by the component handler in the FPHSA helper below
-foreach(_comp IN LISTS Boost_FIND_COMPONENTS)
-  string(TOUPPER ${_comp} _uppercomp)
-  if(DEFINED Boost_${_uppercomp}_FOUND)
-    set(Boost_${_comp}_FOUND ${Boost_${_uppercomp}_FOUND})
-  endif()
-endforeach()
-
-find_package_handle_standard_args(Boost
-  REQUIRED_VARS Boost_INCLUDE_DIR
-  VERSION_VAR Boost_VERSION_STRING
-  HANDLE_COMPONENTS)
-
-if(Boost_FOUND)
-  if( NOT Boost_LIBRARY_DIRS )
-    # Compatibility Code for backwards compatibility with CMake
-    # 2.4's FindBoost module.
-
-    # Look for the boost library path.
-    # Note that the user may not have installed any libraries
-    # so it is quite possible the Boost_LIBRARY_DIRS may not exist.
-    set(_boost_LIB_DIR ${Boost_INCLUDE_DIR})
-
-    if("${_boost_LIB_DIR}" MATCHES "boost-[0-9]+")
-      get_filename_component(_boost_LIB_DIR ${_boost_LIB_DIR} PATH)
-    endif()
-
-    if("${_boost_LIB_DIR}" MATCHES "/include$")
-      # Strip off the trailing "/include" in the path.
-      get_filename_component(_boost_LIB_DIR ${_boost_LIB_DIR} PATH)
-    endif()
-
-    if(EXISTS "${_boost_LIB_DIR}/lib")
-      string(APPEND _boost_LIB_DIR /lib)
-    elseif(EXISTS "${_boost_LIB_DIR}/stage/lib")
-      string(APPEND _boost_LIB_DIR "/stage/lib")
-    else()
-      set(_boost_LIB_DIR "")
-    endif()
-
-    if(_boost_LIB_DIR AND EXISTS "${_boost_LIB_DIR}")
-      set(Boost_LIBRARY_DIRS ${_boost_LIB_DIR})
-    endif()
-
-  endif()
-else()
-  # Boost headers were not found so no components were found.
-  foreach(COMPONENT ${Boost_FIND_COMPONENTS})
-    string(TOUPPER ${COMPONENT} UPPERCOMPONENT)
-    set(Boost_${UPPERCOMPONENT}_FOUND 0)
-  endforeach()
-endif()
-
-# ------------------------------------------------------------------------
-#  Add imported targets
-# ------------------------------------------------------------------------
-
-if(Boost_FOUND)
-  # The builtin CMake package in Boost 1.70+ introduces a new name
-  # for the header-only lib, let's provide the same UI in module mode
-  if(NOT TARGET Boost::headers)
-    add_library(Boost::headers INTERFACE IMPORTED)
-    if(Boost_INCLUDE_DIRS)
-      set_target_properties(Boost::headers PROPERTIES
-        INTERFACE_INCLUDE_DIRECTORIES "${Boost_INCLUDE_DIRS}")
-    endif()
-  endif()
-
-  # Define the old target name for header-only libraries for backwards
-  # compat.
-  if(NOT TARGET Boost::boost)
-    add_library(Boost::boost INTERFACE IMPORTED)
-    set_target_properties(Boost::boost
-      PROPERTIES INTERFACE_LINK_LIBRARIES Boost::headers)
-  endif()
-
-  foreach(COMPONENT ${Boost_FIND_COMPONENTS})
-    if(_Boost_IMPORTED_TARGETS AND NOT TARGET Boost::${COMPONENT})
-      string(TOUPPER ${COMPONENT} UPPERCOMPONENT)
-      if(Boost_${UPPERCOMPONENT}_FOUND)
-        if(Boost_USE_STATIC_LIBS)
-          add_library(Boost::${COMPONENT} STATIC IMPORTED)
-        else()
-          # Even if Boost_USE_STATIC_LIBS is OFF, we might have static
-          # libraries as a result.
-          add_library(Boost::${COMPONENT} UNKNOWN IMPORTED)
-        endif()
-        if(Boost_INCLUDE_DIRS)
-          set_target_properties(Boost::${COMPONENT} PROPERTIES
-            INTERFACE_INCLUDE_DIRECTORIES "${Boost_INCLUDE_DIRS}")
-        endif()
-        if(EXISTS "${Boost_${UPPERCOMPONENT}_LIBRARY}")
-          set_target_properties(Boost::${COMPONENT} PROPERTIES
-            IMPORTED_LINK_INTERFACE_LANGUAGES "CXX"
-            IMPORTED_LOCATION "${Boost_${UPPERCOMPONENT}_LIBRARY}")
-        endif()
-        if(EXISTS "${Boost_${UPPERCOMPONENT}_LIBRARY_RELEASE}")
-          set_property(TARGET Boost::${COMPONENT} APPEND PROPERTY
-            IMPORTED_CONFIGURATIONS RELEASE)
-          set_target_properties(Boost::${COMPONENT} PROPERTIES
-            IMPORTED_LINK_INTERFACE_LANGUAGES_RELEASE "CXX"
-            IMPORTED_LOCATION_RELEASE "${Boost_${UPPERCOMPONENT}_LIBRARY_RELEASE}")
-        endif()
-        if(EXISTS "${Boost_${UPPERCOMPONENT}_LIBRARY_DEBUG}")
-          set_property(TARGET Boost::${COMPONENT} APPEND PROPERTY
-            IMPORTED_CONFIGURATIONS DEBUG)
-          set_target_properties(Boost::${COMPONENT} PROPERTIES
-            IMPORTED_LINK_INTERFACE_LANGUAGES_DEBUG "CXX"
-            IMPORTED_LOCATION_DEBUG "${Boost_${UPPERCOMPONENT}_LIBRARY_DEBUG}")
-        endif()
-        if(_Boost_${UPPERCOMPONENT}_DEPENDENCIES)
-          unset(_Boost_${UPPERCOMPONENT}_TARGET_DEPENDENCIES)
-          foreach(dep ${_Boost_${UPPERCOMPONENT}_DEPENDENCIES})
-            list(APPEND _Boost_${UPPERCOMPONENT}_TARGET_DEPENDENCIES Boost::${dep})
-          endforeach()
-          if(COMPONENT STREQUAL "thread")
-            list(APPEND _Boost_${UPPERCOMPONENT}_TARGET_DEPENDENCIES Threads::Threads)
-          endif()
-          set_target_properties(Boost::${COMPONENT} PROPERTIES
-            INTERFACE_LINK_LIBRARIES "${_Boost_${UPPERCOMPONENT}_TARGET_DEPENDENCIES}")
-        endif()
-        if(_Boost_${UPPERCOMPONENT}_COMPILER_FEATURES)
-          set_target_properties(Boost::${COMPONENT} PROPERTIES
-            INTERFACE_COMPILE_FEATURES "${_Boost_${UPPERCOMPONENT}_COMPILER_FEATURES}")
-        endif()
-      endif()
-    endif()
-  endforeach()
-endif()
-
-# ------------------------------------------------------------------------
-#  Finalize
-# ------------------------------------------------------------------------
-
-# Report Boost_LIBRARIES
-set(Boost_LIBRARIES "")
-foreach(_comp IN LISTS Boost_FIND_COMPONENTS)
-  string(TOUPPER ${_comp} _uppercomp)
-  if(Boost_${_uppercomp}_FOUND)
-    list(APPEND Boost_LIBRARIES ${Boost_${_uppercomp}_LIBRARY})
-    if(_comp STREQUAL "thread")
-      list(APPEND Boost_LIBRARIES ${CMAKE_THREAD_LIBS_INIT})
-    endif()
-  endif()
-endforeach()
-
-# Configure display of cache entries in GUI.
-foreach(v BOOSTROOT BOOST_ROOT ${_Boost_VARS_INC} ${_Boost_VARS_LIB})
-  get_property(_type CACHE ${v} PROPERTY TYPE)
-  if(_type)
-    set_property(CACHE ${v} PROPERTY ADVANCED 1)
-    if("x${_type}" STREQUAL "xUNINITIALIZED")
-      if("x${v}" STREQUAL "xBoost_ADDITIONAL_VERSIONS")
-        set_property(CACHE ${v} PROPERTY TYPE STRING)
-      else()
-        set_property(CACHE ${v} PROPERTY TYPE PATH)
-      endif()
-    endif()
-  endif()
-endforeach()
-
-# Record last used values of input variables so we can
-# detect on the next run if the user changed them.
-foreach(v
-    ${_Boost_VARS_INC} ${_Boost_VARS_LIB}
-    ${_Boost_VARS_DIR} ${_Boost_VARS_NAME}
-    )
-  if(DEFINED ${v})
-    set(_${v}_LAST "${${v}}" CACHE INTERNAL "Last used ${v} value.")
-  else()
-    unset(_${v}_LAST CACHE)
-  endif()
-endforeach()
-
-# Maintain a persistent list of components requested anywhere since
-# the last flush.
-set(_Boost_COMPONENTS_SEARCHED "${_Boost_COMPONENTS_SEARCHED}")
-list(APPEND _Boost_COMPONENTS_SEARCHED ${Boost_FIND_COMPONENTS})
-list(REMOVE_DUPLICATES _Boost_COMPONENTS_SEARCHED)
-list(SORT _Boost_COMPONENTS_SEARCHED)
-set(_Boost_COMPONENTS_SEARCHED "${_Boost_COMPONENTS_SEARCHED}"
-  CACHE INTERNAL "Components requested for this build tree.")
-
-# Restore project's policies
-cmake_policy(POP)

From 89079229bcd02f6cc1d3df829a225c853848f259 Mon Sep 17 00:00:00 2001
From: Varun Agrawal <varagrawal@gmail.com>
Date: Mon, 1 Aug 2022 12:50:10 -0400
Subject: [PATCH 252/433] get more nonlinear tests to work and make some
 updates

---
 gtsam/hybrid/HybridBayesTree.h                |   5 +-
 gtsam/hybrid/HybridGaussianFactorGraph.cpp    |  10 +-
 .../tests/testHybridNonlinearFactorGraph.cpp  | 227 +++++++++---------
 3 files changed, 124 insertions(+), 118 deletions(-)

diff --git a/gtsam/hybrid/HybridBayesTree.h b/gtsam/hybrid/HybridBayesTree.h
index 0b89ca8c4b..02a4a11e5e 100644
--- a/gtsam/hybrid/HybridBayesTree.h
+++ b/gtsam/hybrid/HybridBayesTree.h
@@ -76,7 +76,10 @@ class GTSAM_EXPORT HybridBayesTree : public BayesTree<HybridBayesTreeClique> {
 /**
  * @brief Class for Hybrid Bayes tree orphan subtrees.
  *
- * This does special stuff for the hybrid case
+ * This object stores parent keys in our base type factor so that
+ * eliminating those parent keys will pull this subtree into the
+ * elimination.
+ * This does special stuff for the hybrid case.
  *
  * @tparam CLIQUE
  */
diff --git a/gtsam/hybrid/HybridGaussianFactorGraph.cpp b/gtsam/hybrid/HybridGaussianFactorGraph.cpp
index 88730cae95..3536f6a361 100644
--- a/gtsam/hybrid/HybridGaussianFactorGraph.cpp
+++ b/gtsam/hybrid/HybridGaussianFactorGraph.cpp
@@ -98,6 +98,12 @@ GaussianMixtureFactor::Sum sumFrontals(
     } else if (f->isContinuous()) {
       deferredFactors.push_back(
           boost::dynamic_pointer_cast<HybridGaussianFactor>(f)->inner());
+
+    } else if (f->isDiscrete()) {
+      // Don't do anything for discrete-only factors
+      // since we want to eliminate continuous values only.
+      continue;
+
     } else {
       // We need to handle the case where the object is actually an
       // BayesTreeOrphanWrapper!
@@ -106,8 +112,8 @@ GaussianMixtureFactor::Sum sumFrontals(
       if (!orphan) {
         auto &fr = *f;
         throw std::invalid_argument(
-            std::string("factor is discrete in continuous elimination") +
-            typeid(fr).name());
+            std::string("factor is discrete in continuous elimination ") +
+            demangle(typeid(fr).name()));
       }
     }
   }
diff --git a/gtsam/hybrid/tests/testHybridNonlinearFactorGraph.cpp b/gtsam/hybrid/tests/testHybridNonlinearFactorGraph.cpp
index fb0778ed8d..1f8abc4f68 100644
--- a/gtsam/hybrid/tests/testHybridNonlinearFactorGraph.cpp
+++ b/gtsam/hybrid/tests/testHybridNonlinearFactorGraph.cpp
@@ -25,6 +25,8 @@
 #include <gtsam/hybrid/HybridNonlinearFactorGraph.h>
 #include <gtsam/hybrid/MixtureFactor.h>
 #include <gtsam/linear/GaussianBayesNet.h>
+#include <gtsam/linear/GaussianFactorGraph.h>
+#include <gtsam/nonlinear/NonlinearFactorGraph.h>
 #include <gtsam/nonlinear/PriorFactor.h>
 #include <gtsam/sam/BearingRangeFactor.h>
 #include <gtsam/slam/BetweenFactor.h>
@@ -205,131 +207,126 @@ TEST(HybridFactorGraph, EliminationTree) {
   EXPECT_LONGS_EQUAL(1, etree.roots().size())
 }
 
-// /*
-// ****************************************************************************/
-// // Test elimination function by eliminating x1 in *-x1-*-x2 graph.
-// TEST(DCGaussianElimination, Eliminate_x1) {
-//   Switching self(3);
-
-//   // Gather factors on x1, has a simple Gaussian and a mixture factor.
-//   HybridGaussianFactorGraph factors;
-//   factors.push_gaussian(self.linearizedFactorGraph.gaussianGraph()[0]);
-//   factors.push_dc(self.linearizedFactorGraph.dcGraph()[0]);
-
-//   // Check that sum works:
-//   auto sum = factors.sum();
-//   Assignment<Key> mode;
-//   mode[M(1)] = 1;
-//   auto actual = sum(mode);               // Selects one of 2 modes.
-//   EXPECT_LONGS_EQUAL(2, actual.size());  // Prior and motion model.
-
-//   // Eliminate x1
-//   Ordering ordering;
-//   ordering += X(1);
+/****************************************************************************
+ *Test elimination function by eliminating x1 in *-x1-*-x2 graph.
+ */
+TEST(GaussianElimination, Eliminate_x1) {
+  Switching self(3);
 
-//   auto result = EliminateHybrid(factors, ordering);
-//   CHECK(result.first);
-//   EXPECT_LONGS_EQUAL(1, result.first->nrFrontals());
-//   CHECK(result.second);
-//   // Has two keys, x2 and m1
-//   EXPECT_LONGS_EQUAL(2, result.second->size());
-// }
+  // Gather factors on x1, has a simple Gaussian and a mixture factor.
+  HybridGaussianFactorGraph factors;
+  // Add gaussian prior
+  factors.push_back(self.linearizedFactorGraph[0]);
+  // Add first hybrid factor
+  factors.push_back(self.linearizedFactorGraph[1]);
+
+  // TODO(Varun) remove this block since sum is no longer exposed.
+  // // Check that sum works:
+  // auto sum = factors.sum();
+  // Assignment<Key> mode;
+  // mode[M(1)] = 1;
+  // auto actual = sum(mode);               // Selects one of 2 modes.
+  // EXPECT_LONGS_EQUAL(2, actual.size());  // Prior and motion model.
+
+  // Eliminate x1
+  Ordering ordering;
+  ordering += X(1);
+
+  auto result = EliminateHybrid(factors, ordering);
+  CHECK(result.first);
+  EXPECT_LONGS_EQUAL(1, result.first->nrFrontals());
+  CHECK(result.second);
+  // Has two keys, x2 and m1
+  EXPECT_LONGS_EQUAL(2, result.second->size());
+}
 
-// /*
-// ****************************************************************************/
-// // Test elimination function by eliminating x2 in x1-*-x2-*-x3 chain.
-// //                                                m1/      \m2
-// TEST(DCGaussianElimination, Eliminate_x2) {
-//   Switching self(3);
+/****************************************************************************
+ * Test elimination function by eliminating x2 in x1-*-x2-*-x3 chain.
+ *                                                m1/      \m2
+ */
+TEST(HybridsGaussianElimination, Eliminate_x2) {
+  Switching self(3);
 
-//   // Gather factors on x2, will be two mixture factors (with x1 and x3,
-//   resp.). HybridGaussianFactorGraph factors;
-//   factors.push_dc(self.linearizedFactorGraph.dcGraph()[0]);  // involves m1
-//   factors.push_dc(self.linearizedFactorGraph.dcGraph()[1]);  // involves m2
+  // Gather factors on x2, will be two mixture factors (with x1 and x3, resp.).
+  HybridGaussianFactorGraph factors;
+  factors.push_back(self.linearizedFactorGraph[1]);  // involves m1
+  factors.push_back(self.linearizedFactorGraph[2]);  // involves m2
+
+  // TODO(Varun) remove this block since sum is no longer exposed.
+  // // Check that sum works:
+  // auto sum = factors.sum();
+  // Assignment<Key> mode;
+  // mode[M(1)] = 0;
+  // mode[M(2)] = 1;
+  // auto actual = sum(mode);               // Selects one of 4 mode
+  // combinations. EXPECT_LONGS_EQUAL(2, actual.size());  // 2 motion models.
+
+  // Eliminate x2
+  Ordering ordering;
+  ordering += X(2);
+
+  std::pair<HybridConditional::shared_ptr, HybridFactor::shared_ptr> result =
+      EliminateHybrid(factors, ordering);
+  CHECK(result.first);
+  EXPECT_LONGS_EQUAL(1, result.first->nrFrontals());
+  CHECK(result.second);
+  // Note: separator keys should include m1, m2.
+  EXPECT_LONGS_EQUAL(4, result.second->size());
+}
 
-//   // Check that sum works:
-//   auto sum = factors.sum();
-//   Assignment<Key> mode;
-//   mode[M(1)] = 0;
-//   mode[M(2)] = 1;
-//   auto actual = sum(mode);               // Selects one of 4 mode
-//   combinations. EXPECT_LONGS_EQUAL(2, actual.size());  // 2 motion models.
+/*
+****************************************************************************/
+// Helper method to generate gaussian factor graphs with a specific mode.
+GaussianFactorGraph::shared_ptr batchGFG(double between,
+                                         Values linearizationPoint) {
+  NonlinearFactorGraph graph;
+  graph.addPrior<double>(X(1), 0, Isotropic::Sigma(1, 0.1));
 
-//   // Eliminate x2
-//   Ordering ordering;
-//   ordering += X(2);
-
-//   std::pair<AbstractConditional::shared_ptr, boost::shared_ptr<Factor>>
-//   result =
-//       EliminateHybrid(factors, ordering);
-//   CHECK(result.first);
-//   EXPECT_LONGS_EQUAL(1, result.first->nrFrontals());
-//   CHECK(result.second);
-//   // Note: separator keys should include m1, m2.
-//   EXPECT_LONGS_EQUAL(4, result.second->size());
-// }
+  auto between_x1_x2 = boost::make_shared<MotionModel>(
+      X(1), X(2), between, Isotropic::Sigma(1, 1.0));
 
-// /*
-// ****************************************************************************/
-// // Helper method to generate gaussian factor graphs with a specific mode.
-// GaussianFactorGraph::shared_ptr batchGFG(double between,
-//                                          Values linearizationPoint) {
-//   NonlinearFactorGraph graph;
-//   graph.addPrior<double>(X(1), 0, Isotropic::Sigma(1, 0.1));
+  graph.push_back(between_x1_x2);
 
-//   auto between_x1_x2 = boost::make_shared<MotionModel>(
-//       X(1), X(2), between, Isotropic::Sigma(1, 1.0));
+  return graph.linearize(linearizationPoint);
+}
 
-//   graph.push_back(between_x1_x2);
+/*****************************************************************************/
+// Test elimination function by eliminating x1 and x2 in graph.
+TEST(HybridGaussianElimination, EliminateHybrid_2_Variable) {
+  Switching self(2, 1.0, 0.1);
 
-//   return graph.linearize(linearizationPoint);
-// }
+  auto factors = self.linearizedFactorGraph;
 
-// /*
-// ****************************************************************************/
-// // Test elimination function by eliminating x1 and x2 in graph.
-// TEST(DCGaussianElimination, EliminateHybrid_2_Variable) {
-//   Switching self(2, 1.0, 0.1);
-
-//   auto factors = self.linearizedFactorGraph;
-
-//   // Check that sum works:
-//   auto sum = factors.sum();
-//   Assignment<Key> mode;
-//   mode[M(1)] = 1;
-//   auto actual = sum(mode);  // Selects one of 2 modes.
-//   EXPECT_LONGS_EQUAL(4,
-//                      actual.size());  // Prior, 1 motion models, 2
-//                      measurements.
-
-//   // Eliminate x1
-//   Ordering ordering;
-//   ordering += X(1);
-//   ordering += X(2);
-
-//   AbstractConditional::shared_ptr abstractConditionalMixture;
-//   boost::shared_ptr<Factor> factorOnModes;
-//   std::tie(abstractConditionalMixture, factorOnModes) =
-//       EliminateHybrid(factors, ordering);
-
-//   auto gaussianConditionalMixture =
-//       dynamic_pointer_cast<GaussianMixture>(abstractConditionalMixture);
-
-//   CHECK(gaussianConditionalMixture);
-//   EXPECT_LONGS_EQUAL(
-//       2,
-//       gaussianConditionalMixture->nrFrontals());  // Frontals = [x1, x2]
-//   EXPECT_LONGS_EQUAL(
-//       1,
-//       gaussianConditionalMixture->nrParents());  // 1 parent, which is the
-//       mode
-
-//   auto discreteFactor =
-//   dynamic_pointer_cast<DecisionTreeFactor>(factorOnModes);
-//   CHECK(discreteFactor);
-//   EXPECT_LONGS_EQUAL(1, discreteFactor->discreteKeys().size());
-//   EXPECT(discreteFactor->root_->isLeaf() == false);
-// }
+  // Eliminate x1
+  Ordering ordering;
+  ordering += X(1);
+  ordering += X(2);
+
+  HybridConditional::shared_ptr hybridConditionalMixture;
+  HybridFactor::shared_ptr factorOnModes;
+
+  std::tie(hybridConditionalMixture, factorOnModes) =
+      EliminateHybrid(factors, ordering);
+
+  auto gaussianConditionalMixture =
+      dynamic_pointer_cast<GaussianMixture>(hybridConditionalMixture->inner());
+
+  CHECK(gaussianConditionalMixture);
+  // Frontals = [x1, x2]
+  EXPECT_LONGS_EQUAL(2, gaussianConditionalMixture->nrFrontals());
+  // 1 parent, which is the mode
+  EXPECT_LONGS_EQUAL(1, gaussianConditionalMixture->nrParents());
+
+  // This is now a HybridDiscreteFactor
+  auto hybridDiscreteFactor =
+      dynamic_pointer_cast<HybridDiscreteFactor>(factorOnModes);
+  // Access the type-erased inner object and convert to DecisionTreeFactor
+  auto discreteFactor =
+      dynamic_pointer_cast<DecisionTreeFactor>(hybridDiscreteFactor->inner());
+  CHECK(discreteFactor);
+  EXPECT_LONGS_EQUAL(1, discreteFactor->discreteKeys().size());
+  EXPECT(discreteFactor->root_->isLeaf() == false);
+}
 
 // /*
 // ****************************************************************************/

From 28b740eb8da7048c27012546038074ad21b623ce Mon Sep 17 00:00:00 2001
From: Varun Agrawal <varagrawal@gmail.com>
Date: Mon, 1 Aug 2022 15:06:15 -0400
Subject: [PATCH 253/433] fix matlab compilation

---
 gtsam/basis/basis.i         | 2 +-
 gtsam/geometry/geometry.i   | 8 ++++----
 gtsam/nonlinear/nonlinear.i | 2 +-
 matlab/CMakeLists.txt       | 1 -
 4 files changed, 6 insertions(+), 7 deletions(-)

diff --git a/gtsam/basis/basis.i b/gtsam/basis/basis.i
index a6c9d87ee7..0cd87ba65d 100644
--- a/gtsam/basis/basis.i
+++ b/gtsam/basis/basis.i
@@ -137,7 +137,7 @@ class FitBasis {
   static gtsam::GaussianFactorGraph::shared_ptr LinearGraph(
       const std::map<double, double>& sequence,
       const gtsam::noiseModel::Base* model, size_t N);
-  This::Parameters parameters() const;
+  gtsam::This::Parameters parameters() const;
 };
 
 }  // namespace gtsam
diff --git a/gtsam/geometry/geometry.i b/gtsam/geometry/geometry.i
index 4ebff6c03a..1b1169d2f0 100644
--- a/gtsam/geometry/geometry.i
+++ b/gtsam/geometry/geometry.i
@@ -1126,10 +1126,10 @@ class TriangulationResult {
   Status status;
   TriangulationResult(const gtsam::Point3& p);
   const gtsam::Point3& get() const;
-  static TriangulationResult Degenerate();
-  static TriangulationResult Outlier();
-  static TriangulationResult FarPoint();
-  static TriangulationResult BehindCamera();
+  static gtsam::TriangulationResult Degenerate();
+  static gtsam::TriangulationResult Outlier();
+  static gtsam::TriangulationResult FarPoint();
+  static gtsam::TriangulationResult BehindCamera();
   bool valid() const;
   bool degenerate() const;
   bool outlier() const;
diff --git a/gtsam/nonlinear/nonlinear.i b/gtsam/nonlinear/nonlinear.i
index 4bb80a0d62..55966ee840 100644
--- a/gtsam/nonlinear/nonlinear.i
+++ b/gtsam/nonlinear/nonlinear.i
@@ -701,7 +701,7 @@ class ISAM2Result {
   /** Getters and Setters for all properties */
   size_t getVariablesRelinearized() const;
   size_t getVariablesReeliminated() const;
-  FactorIndices getNewFactorsIndices() const;
+  gtsam::FactorIndices getNewFactorsIndices() const;
   size_t getCliques() const;
   double getErrorBefore() const;
   double getErrorAfter() const;
diff --git a/matlab/CMakeLists.txt b/matlab/CMakeLists.txt
index b83bf1f0fe..a77db06a45 100644
--- a/matlab/CMakeLists.txt
+++ b/matlab/CMakeLists.txt
@@ -99,7 +99,6 @@ endif(GTSAM_UNSTABLE_INSTALL_MATLAB_TOOLBOX)
 
 # Record the root dir for gtsam - needed during external builds, e.g., ROS
 set(GTSAM_SOURCE_ROOT_DIR ${GTSAM_SOURCE_DIR})
-message(STATUS "GTSAM_SOURCE_ROOT_DIR: [${GTSAM_SOURCE_ROOT_DIR}]")
 
 # Tests message(STATUS "Installing Matlab Toolbox")
 install_matlab_scripts("${GTSAM_SOURCE_ROOT_DIR}/matlab/" "*.m;*.fig")

From 9ec762b76dcd1d956e5acf4d397e756a3aeff636 Mon Sep 17 00:00:00 2001
From: Varun Agrawal <varagrawal@gmail.com>
Date: Mon, 1 Aug 2022 15:06:36 -0400
Subject: [PATCH 254/433] print boost version

---
 cmake/HandlePrintConfiguration.cmake | 1 +
 1 file changed, 1 insertion(+)

diff --git a/cmake/HandlePrintConfiguration.cmake b/cmake/HandlePrintConfiguration.cmake
index 43ee5b57b4..04d27c27f4 100644
--- a/cmake/HandlePrintConfiguration.cmake
+++ b/cmake/HandlePrintConfiguration.cmake
@@ -33,6 +33,7 @@ print_build_options_for_target(gtsam)
 
 print_config("Use System Eigen" "${GTSAM_USE_SYSTEM_EIGEN} (Using version: ${GTSAM_EIGEN_VERSION})")
 print_config("Use System Metis" "${GTSAM_USE_SYSTEM_METIS}")
+print_config("Using Boost version" "${Boost_VERSION}")
 
 if(GTSAM_USE_TBB)
     print_config("Use Intel TBB" "Yes (Version: ${TBB_VERSION})")

From ac28b0e9690b82a298113c02aaa3091be70845b3 Mon Sep 17 00:00:00 2001
From: Varun Agrawal <varagrawal@gmail.com>
Date: Tue, 2 Aug 2022 14:14:13 -0400
Subject: [PATCH 255/433] fix setter and getter for biasAccOmegaInit

---
 gtsam/navigation/CombinedImuFactor.h             | 4 ++--
 gtsam/navigation/navigation.i                    | 4 ++--
 gtsam/navigation/tests/testCombinedImuFactor.cpp | 7 ++++---
 3 files changed, 8 insertions(+), 7 deletions(-)

diff --git a/gtsam/navigation/CombinedImuFactor.h b/gtsam/navigation/CombinedImuFactor.h
index 28a3142472..7e45e5380e 100644
--- a/gtsam/navigation/CombinedImuFactor.h
+++ b/gtsam/navigation/CombinedImuFactor.h
@@ -93,11 +93,11 @@ struct GTSAM_EXPORT PreintegrationCombinedParams : PreintegrationParams {
 
   void setBiasAccCovariance(const Matrix3& cov) { biasAccCovariance=cov; }
   void setBiasOmegaCovariance(const Matrix3& cov) { biasOmegaCovariance=cov; }
-  void setBiasAccOmegaInt(const Matrix6& cov) { biasAccOmegaInit=cov; }
+  void setBiasAccOmegaInit(const Matrix6& cov) { biasAccOmegaInit=cov; }
   
   const Matrix3& getBiasAccCovariance() const { return biasAccCovariance; }
   const Matrix3& getBiasOmegaCovariance() const { return biasOmegaCovariance; }
-  const Matrix6& getBiasAccOmegaInt() const { return biasAccOmegaInit; }
+  const Matrix6& getBiasAccOmegaInit() const { return biasAccOmegaInit; }
   
 private:
 
diff --git a/gtsam/navigation/navigation.i b/gtsam/navigation/navigation.i
index 6ede1645f3..ab95d5a292 100644
--- a/gtsam/navigation/navigation.i
+++ b/gtsam/navigation/navigation.i
@@ -165,11 +165,11 @@ virtual class PreintegrationCombinedParams : gtsam::PreintegrationParams {
 
   void setBiasAccCovariance(Matrix cov);
   void setBiasOmegaCovariance(Matrix cov);
-  void setBiasAccOmegaInt(Matrix cov);
+  void setBiasAccOmegaInit(Matrix cov);
   
   Matrix getBiasAccCovariance() const ;
   Matrix getBiasOmegaCovariance() const ;
-  Matrix getBiasAccOmegaInt() const;
+  Matrix getBiasAccOmegaInit() const;
  
 };
 
diff --git a/gtsam/navigation/tests/testCombinedImuFactor.cpp b/gtsam/navigation/tests/testCombinedImuFactor.cpp
index 48a89d7a05..de8a97ee1b 100644
--- a/gtsam/navigation/tests/testCombinedImuFactor.cpp
+++ b/gtsam/navigation/tests/testCombinedImuFactor.cpp
@@ -276,10 +276,11 @@ TEST(CombinedImuFactor, SameCovariance) {
   auto combined_params = PreintegrationCombinedParams::MakeSharedU();
   combined_params->setAccelerometerCovariance(pow(0.01, 2) * I_3x3);
   combined_params->setGyroscopeCovariance(pow(1.75e-4, 2) * I_3x3);
-  combined_params->setIntegrationCovariance(pow(0, 2) * I_3x3);
-  combined_params->setOmegaCoriolis(Vector3::Zero());
   // Set bias integration covariance explicitly to zero
-  combined_params->setBiasAccOmegaInt(Z_6x6);
+  combined_params->setIntegrationCovariance(Z_3x3);
+  combined_params->setOmegaCoriolis(Z_3x1);
+  // Set bias initial covariance explicitly to zero
+  combined_params->setBiasAccOmegaInit(Z_6x6);
 
   // The IMU preintegration object for CombinedImuFactor
   PreintegratedCombinedMeasurements cpim(combined_params, currentBias);

From 16124f36172d1c0e91d5e81d97cf830e786f738d Mon Sep 17 00:00:00 2001
From: Varun Agrawal <varagrawal@gmail.com>
Date: Tue, 2 Aug 2022 19:01:49 -0400
Subject: [PATCH 256/433] get all but 2 tests passing

---
 .../tests/testHybridNonlinearFactorGraph.cpp  | 567 +++++++++---------
 1 file changed, 290 insertions(+), 277 deletions(-)

diff --git a/gtsam/hybrid/tests/testHybridNonlinearFactorGraph.cpp b/gtsam/hybrid/tests/testHybridNonlinearFactorGraph.cpp
index 1f8abc4f68..947fafacb9 100644
--- a/gtsam/hybrid/tests/testHybridNonlinearFactorGraph.cpp
+++ b/gtsam/hybrid/tests/testHybridNonlinearFactorGraph.cpp
@@ -19,6 +19,7 @@
 #include <gtsam/base/utilities.h>
 #include <gtsam/discrete/DiscreteBayesNet.h>
 #include <gtsam/discrete/DiscreteDistribution.h>
+#include <gtsam/discrete/DiscreteFactorGraph.h>
 #include <gtsam/geometry/Pose2.h>
 #include <gtsam/hybrid/HybridEliminationTree.h>
 #include <gtsam/hybrid/HybridFactor.h>
@@ -274,9 +275,9 @@ TEST(HybridsGaussianElimination, Eliminate_x2) {
   EXPECT_LONGS_EQUAL(4, result.second->size());
 }
 
-/*
-****************************************************************************/
-// Helper method to generate gaussian factor graphs with a specific mode.
+/****************************************************************************
+ * Helper method to generate gaussian factor graphs with a specific mode.
+ */
 GaussianFactorGraph::shared_ptr batchGFG(double between,
                                          Values linearizationPoint) {
   NonlinearFactorGraph graph;
@@ -290,8 +291,9 @@ GaussianFactorGraph::shared_ptr batchGFG(double between,
   return graph.linearize(linearizationPoint);
 }
 
-/*****************************************************************************/
-// Test elimination function by eliminating x1 and x2 in graph.
+/****************************************************************************
+ * Test elimination function by eliminating x1 and x2 in graph.
+ */
 TEST(HybridGaussianElimination, EliminateHybrid_2_Variable) {
   Switching self(2, 1.0, 0.1);
 
@@ -371,287 +373,298 @@ TEST(HybridGaussianElimination, EliminateHybrid_2_Variable) {
 //   EXPECT_DOUBLES_EQUAL(0.6125, actual, 1e-4);
 // }
 
-// /*
-// ****************************************************************************/
-// // Test partial elimination
-// TEST_UNSAFE(HybridFactorGraph, Partial_Elimination) {
-//   Switching self(3);
+/****************************************************************************
+ * Test partial elimination
+ */
+TEST(HybridFactorGraph, Partial_Elimination) {
+  Switching self(3);
 
-//   auto linearizedFactorGraph = self.linearizedFactorGraph;
+  auto linearizedFactorGraph = self.linearizedFactorGraph;
 
-//   // Create ordering.
-//   Ordering ordering;
-//   for (size_t k = 1; k <= self.K; k++) ordering += X(k);
+  // Create ordering.
+  Ordering ordering;
+  for (size_t k = 1; k <= self.K; k++) ordering += X(k);
 
-//   // Eliminate partially.
-//   HybridBayesNet::shared_ptr hybridBayesNet;
-//   HybridGaussianFactorGraph::shared_ptr remainingFactorGraph;
-//   std::tie(hybridBayesNet, remainingFactorGraph) =
-//       linearizedFactorGraph.eliminatePartialSequential(ordering);
-
-//   CHECK(hybridBayesNet);
-//   //  GTSAM_PRINT(*hybridBayesNet);  // HybridBayesNet
-//   EXPECT_LONGS_EQUAL(3, hybridBayesNet->size());
-//   EXPECT(hybridBayesNet->at(0)->frontals() == KeyVector{X(1)});
-//   EXPECT(hybridBayesNet->at(0)->parents() == KeyVector({X(2), M(1)}));
-//   EXPECT(hybridBayesNet->at(1)->frontals() == KeyVector{X(2)});
-//   EXPECT(hybridBayesNet->at(1)->parents() == KeyVector({X(3), M(2), M(1)}));
-//   EXPECT(hybridBayesNet->at(2)->frontals() == KeyVector{X(3)});
-//   EXPECT(hybridBayesNet->at(2)->parents() == KeyVector({M(2), M(1)}));
-
-//   CHECK(remainingFactorGraph);
-//   //  GTSAM_PRINT(*remainingFactorGraph);  // HybridFactorGraph
-//   EXPECT_LONGS_EQUAL(3, remainingFactorGraph->size());
-//   EXPECT(remainingFactorGraph->discreteGraph().at(0)->keys() ==
-//          KeyVector({M(1)}));
-//   EXPECT(remainingFactorGraph->discreteGraph().at(1)->keys() ==
-//          KeyVector({M(2), M(1)}));
-//   EXPECT(remainingFactorGraph->discreteGraph().at(2)->keys() ==
-//          KeyVector({M(2), M(1)}));
-// }
+  // Eliminate partially.
+  HybridBayesNet::shared_ptr hybridBayesNet;
+  HybridGaussianFactorGraph::shared_ptr remainingFactorGraph;
+  std::tie(hybridBayesNet, remainingFactorGraph) =
+      linearizedFactorGraph.eliminatePartialSequential(ordering);
+
+  CHECK(hybridBayesNet);
+  //  GTSAM_PRINT(*hybridBayesNet);  // HybridBayesNet
+  EXPECT_LONGS_EQUAL(3, hybridBayesNet->size());
+  EXPECT(hybridBayesNet->at(0)->frontals() == KeyVector{X(1)});
+  EXPECT(hybridBayesNet->at(0)->parents() == KeyVector({X(2), M(1)}));
+  EXPECT(hybridBayesNet->at(1)->frontals() == KeyVector{X(2)});
+  EXPECT(hybridBayesNet->at(1)->parents() == KeyVector({X(3), M(1), M(2)}));
+  EXPECT(hybridBayesNet->at(2)->frontals() == KeyVector{X(3)});
+  EXPECT(hybridBayesNet->at(2)->parents() == KeyVector({M(1), M(2)}));
+
+  CHECK(remainingFactorGraph);
+  //  GTSAM_PRINT(*remainingFactorGraph);  // HybridFactorGraph
+  EXPECT_LONGS_EQUAL(3, remainingFactorGraph->size());
+  EXPECT(remainingFactorGraph->at(0)->keys() == KeyVector({M(1)}));
+  EXPECT(remainingFactorGraph->at(1)->keys() == KeyVector({M(2), M(1)}));
+  EXPECT(remainingFactorGraph->at(2)->keys() == KeyVector({M(1), M(2)}));
+}
 
-// /*
-// ****************************************************************************/
-// // Test full elimination
-// TEST_UNSAFE(HybridFactorGraph, Full_Elimination) {
-//   Switching self(3);
-
-//   auto linearizedFactorGraph = self.linearizedFactorGraph;
-
-//   // We first do a partial elimination
-//   HybridBayesNet::shared_ptr hybridBayesNet_partial;
-//   HybridGaussianFactorGraph::shared_ptr remainingFactorGraph_partial;
-//   DiscreteBayesNet discreteBayesNet;
-
-//   {
-//     // Create ordering.
-//     Ordering ordering;
-//     for (size_t k = 1; k <= self.K; k++) ordering += X(k);
-
-//     // Eliminate partially.
-//     std::tie(hybridBayesNet_partial, remainingFactorGraph_partial) =
-//         linearizedFactorGraph.eliminatePartialSequential(ordering);
-
-//     DiscreteFactorGraph dfg;
-//     dfg.push_back(remainingFactorGraph_partial->discreteGraph());
-//     ordering.clear();
-//     for (size_t k = 1; k < self.K; k++) ordering += M(k);
-//     discreteBayesNet = *dfg.eliminateSequential(ordering, EliminateForMPE);
-//   }
+/****************************************************************************
+ * Test full elimination
+ */
+TEST(HybridFactorGraph, Full_Elimination) {
+  Switching self(3);
 
-//   // Create ordering.
-//   Ordering ordering;
-//   for (size_t k = 1; k <= self.K; k++) ordering += X(k);
-//   for (size_t k = 1; k < self.K; k++) ordering += M(k);
-
-//   // Eliminate partially.
-//   HybridBayesNet::shared_ptr hybridBayesNet =
-//       linearizedFactorGraph.eliminateSequential(ordering);
-
-//   CHECK(hybridBayesNet);
-//   EXPECT_LONGS_EQUAL(5, hybridBayesNet->size());
-//   // p(x1 | x2, m1)
-//   EXPECT(hybridBayesNet->at(0)->frontals() == KeyVector{X(1)});
-//   EXPECT(hybridBayesNet->at(0)->parents() == KeyVector({X(2), M(1)}));
-//   // p(x2 | x3, m1, m2)
-//   EXPECT(hybridBayesNet->at(1)->frontals() == KeyVector{X(2)});
-//   EXPECT(hybridBayesNet->at(1)->parents() == KeyVector({X(3), M(2), M(1)}));
-//   // p(x3 | m1, m2)
-//   EXPECT(hybridBayesNet->at(2)->frontals() == KeyVector{X(3)});
-//   EXPECT(hybridBayesNet->at(2)->parents() == KeyVector({M(2), M(1)}));
-//   // P(m1 | m2)
-//   EXPECT(hybridBayesNet->at(3)->frontals() == KeyVector{M(1)});
-//   EXPECT(hybridBayesNet->at(3)->parents() == KeyVector({M(2)}));
-//   EXPECT(dynamic_pointer_cast<DiscreteConditional>(hybridBayesNet->at(3))
-//              ->equals(*discreteBayesNet.at(0)));
-//   // P(m2)
-//   EXPECT(hybridBayesNet->at(4)->frontals() == KeyVector{M(2)});
-//   EXPECT_LONGS_EQUAL(0, hybridBayesNet->at(4)->nrParents());
-//   EXPECT(dynamic_pointer_cast<DiscreteConditional>(hybridBayesNet->at(4))
-//              ->equals(*discreteBayesNet.at(1)));
-// }
+  auto linearizedFactorGraph = self.linearizedFactorGraph;
+
+  // We first do a partial elimination
+  HybridBayesNet::shared_ptr hybridBayesNet_partial;
+  HybridGaussianFactorGraph::shared_ptr remainingFactorGraph_partial;
+  DiscreteBayesNet discreteBayesNet;
+
+  {
+    // Create ordering.
+    Ordering ordering;
+    for (size_t k = 1; k <= self.K; k++) ordering += X(k);
+
+    // Eliminate partially.
+    std::tie(hybridBayesNet_partial, remainingFactorGraph_partial) =
+        linearizedFactorGraph.eliminatePartialSequential(ordering);
+
+    DiscreteFactorGraph discrete_fg;
+    //TODO(Varun) Make this a function of HybridGaussianFactorGraph?
+    for(HybridFactor::shared_ptr& factor: (*remainingFactorGraph_partial)) {
+      auto df = dynamic_pointer_cast<HybridDiscreteFactor>(factor);
+      discrete_fg.push_back(df->inner());
+    }
+    ordering.clear();
+    for (size_t k = 1; k < self.K; k++) ordering += M(k);
+    discreteBayesNet = *discrete_fg.eliminateSequential(ordering, EliminateForMPE);
+  }
 
-// /*
-// ****************************************************************************/
-// // Test printing
-// TEST(HybridFactorGraph, Printing) {
-//   Switching self(3);
+  // Create ordering.
+  Ordering ordering;
+  for (size_t k = 1; k <= self.K; k++) ordering += X(k);
+  for (size_t k = 1; k < self.K; k++) ordering += M(k);
+
+  // Eliminate partially.
+  HybridBayesNet::shared_ptr hybridBayesNet =
+      linearizedFactorGraph.eliminateSequential(ordering);
+
+  CHECK(hybridBayesNet);
+  EXPECT_LONGS_EQUAL(5, hybridBayesNet->size());
+  // p(x1 | x2, m1)
+  EXPECT(hybridBayesNet->at(0)->frontals() == KeyVector{X(1)});
+  EXPECT(hybridBayesNet->at(0)->parents() == KeyVector({X(2), M(1)}));
+  // p(x2 | x3, m1, m2)
+  EXPECT(hybridBayesNet->at(1)->frontals() == KeyVector{X(2)});
+  EXPECT(hybridBayesNet->at(1)->parents() == KeyVector({X(3), M(1), M(2)}));
+  // p(x3 | m1, m2)
+  EXPECT(hybridBayesNet->at(2)->frontals() == KeyVector{X(3)});
+  EXPECT(hybridBayesNet->at(2)->parents() == KeyVector({M(1), M(2)}));
+  // P(m1 | m2)
+  EXPECT(hybridBayesNet->at(3)->frontals() == KeyVector{M(1)});
+  EXPECT(hybridBayesNet->at(3)->parents() == KeyVector({M(2)}));
+  GTSAM_PRINT(*(hybridBayesNet->at(3)));
+  GTSAM_PRINT(*(discreteBayesNet.at(0)));
+  //TODO(Varun) FIX!!
+  // EXPECT(
+  //     dynamic_pointer_cast<DiscreteConditional>(hybridBayesNet->at(3)->inner())
+  //         ->equals(*discreteBayesNet.at(0)));
+  // // P(m2)
+  // EXPECT(hybridBayesNet->at(4)->frontals() == KeyVector{M(2)});
+  // EXPECT_LONGS_EQUAL(0, hybridBayesNet->at(4)->nrParents());
+  // EXPECT(
+  //     dynamic_pointer_cast<DiscreteConditional>(hybridBayesNet->at(4)->inner())
+  //         ->equals(*discreteBayesNet.at(1)));
+}
 
-//   auto linearizedFactorGraph = self.linearizedFactorGraph;
+/*
+****************************************************************************/
+// Test printing
+TEST(HybridFactorGraph, Printing) {
+  Switching self(3);
 
-//   // Create ordering.
-//   Ordering ordering;
-//   for (size_t k = 1; k <= self.K; k++) ordering += X(k);
+  auto linearizedFactorGraph = self.linearizedFactorGraph;
 
-//   // Eliminate partially.
-//   HybridBayesNet::shared_ptr hybridBayesNet;
-//   HybridGaussianFactorGraph::shared_ptr remainingFactorGraph;
-//   std::tie(hybridBayesNet, remainingFactorGraph) =
-//       linearizedFactorGraph.eliminatePartialSequential(ordering);
-
-//   string expected_hybridFactorGraph = R"(
-// size: 8
-// DiscreteFactorGraph
-// size: 2
-// factor 0:  P( m1 ):
-//  Leaf  0.5
-// factor 1:  P( m2 | m1 ):
-//  Choice(m2)
-//  0 Choice(m1)
-//  0 0 Leaf 0.33333333
-//  0 1 Leaf  0.6
-//  1 Choice(m1)
-//  1 0 Leaf 0.66666667
-//  1 1 Leaf  0.4
-// DCFactorGraph
-// size: 2
-// factor 0:  [ x1 x2; m1 ]{
-//  Choice(m1)
-//  0 Leaf Jacobian factor on 2 keys:
-//   A[x1] = [
-// 	-1
-// ]
-//   A[x2] = [
-// 	1
-// ]
-//   b = [ -1 ]
-//   No noise model
-//  1 Leaf Jacobian factor on 2 keys:
-//   A[x1] = [
-// 	-1
-// ]
-//   A[x2] = [
-// 	1
-// ]
-//   b = [ -0 ]
-//   No noise model
-// }
-// factor 1:  [ x2 x3; m2 ]{
-//  Choice(m2)
-//  0 Leaf Jacobian factor on 2 keys:
-//   A[x2] = [
-// 	-1
-// ]
-//   A[x3] = [
-// 	1
-// ]
-//   b = [ -1 ]
-//   No noise model
-//  1 Leaf Jacobian factor on 2 keys:
-//   A[x2] = [
-// 	-1
-// ]
-//   A[x3] = [
-// 	1
-// ]
-//   b = [ -0 ]
-//   No noise model
-// }
-// GaussianGraph
-// size: 4
-// factor 0:
-//   A[x1] = [
-// 	10
-// ]
-//   b = [ -10 ]
-//   No noise model
-// factor 1:
-//   A[x1] = [
-// 	10
-// ]
-//   b = [ -10 ]
-//   No noise model
-// factor 2:
-//   A[x2] = [
-// 	10
-// ]
-//   b = [ -10 ]
-//   No noise model
-// factor 3:
-//   A[x3] = [
-// 	10
-// ]
-//   b = [ -10 ]
-//   No noise model
-// )";
-//   EXPECT(assert_print_equal(expected_hybridFactorGraph,
-//   linearizedFactorGraph));
-
-//   // Expected output for hybridBayesNet.
-//   string expected_hybridBayesNet = R"(
-// size: 3
-// factor 0:  GaussianMixture [ x1 | x2 m1 ]{
-//  Choice(m1)
-//  0 Leaf Jacobian factor on 2 keys:
-//  p(x1 | x2)
-//   R = [ 14.1774 ]
-//   S[x2] = [ -0.0705346 ]
-//   d = [ -14.0364 ]
-//   No noise model
-//  1 Leaf Jacobian factor on 2 keys:
-//  p(x1 | x2)
-//   R = [ 14.1774 ]
-//   S[x2] = [ -0.0705346 ]
-//   d = [ -14.1069 ]
-//   No noise model
-// }
-// factor 1:  GaussianMixture [ x2 | x3 m2 m1 ]{
-//  Choice(m2)
-//  0 Choice(m1)
-//  0 0 Leaf Jacobian factor on 2 keys:
-//  p(x2 | x3)
-//   R = [ 10.0993 ]
-//   S[x3] = [ -0.0990172 ]
-//   d = [ -9.99975 ]
-//   No noise model
-//  0 1 Leaf Jacobian factor on 2 keys:
-//  p(x2 | x3)
-//   R = [ 10.0993 ]
-//   S[x3] = [ -0.0990172 ]
-//   d = [ -9.90122 ]
-//   No noise model
-//  1 Choice(m1)
-//  1 0 Leaf Jacobian factor on 2 keys:
-//  p(x2 | x3)
-//   R = [ 10.0993 ]
-//   S[x3] = [ -0.0990172 ]
-//   d = [ -10.0988 ]
-//   No noise model
-//  1 1 Leaf Jacobian factor on 2 keys:
-//  p(x2 | x3)
-//   R = [ 10.0993 ]
-//   S[x3] = [ -0.0990172 ]
-//   d = [ -10.0002 ]
-//   No noise model
-// }
-// factor 2:  GaussianMixture [ x3 | m2 m1 ]{
-//  Choice(m2)
-//  0 Choice(m1)
-//  0 0 Leaf Jacobian factor on 1 keys:
-//  p(x3)
-//   R = [ 10.0494 ]
-//   d = [ -10.1489 ]
-//   No noise model
-//  0 1 Leaf Jacobian factor on 1 keys:
-//  p(x3)
-//   R = [ 10.0494 ]
-//   d = [ -10.1479 ]
-//   No noise model
-//  1 Choice(m1)
-//  1 0 Leaf Jacobian factor on 1 keys:
-//  p(x3)
-//   R = [ 10.0494 ]
-//   d = [ -10.0504 ]
-//   No noise model
-//  1 1 Leaf Jacobian factor on 1 keys:
-//  p(x3)
-//   R = [ 10.0494 ]
-//   d = [ -10.0494 ]
-//   No noise model
-// }
-// )";
-//   EXPECT(assert_print_equal(expected_hybridBayesNet, *hybridBayesNet));
-// }
+  // Create ordering.
+  Ordering ordering;
+  for (size_t k = 1; k <= self.K; k++) ordering += X(k);
+
+  // Eliminate partially.
+  HybridBayesNet::shared_ptr hybridBayesNet;
+  HybridGaussianFactorGraph::shared_ptr remainingFactorGraph;
+  std::tie(hybridBayesNet, remainingFactorGraph) =
+      linearizedFactorGraph.eliminatePartialSequential(ordering);
+
+  string expected_hybridFactorGraph = R"(
+size: 8
+factor 0: Continuous x1; 
+
+  A[x1] = [
+	10
+]
+  b = [ -10 ]
+  No noise model
+factor 1: Hybrid x1 x2 m1; m1 ]{
+ Choice(m1) 
+ 0 Leaf :
+  A[x1] = [
+	-1
+]
+  A[x2] = [
+	1
+]
+  b = [ -1 ]
+  No noise model
+
+ 1 Leaf :
+  A[x1] = [
+	-1
+]
+  A[x2] = [
+	1
+]
+  b = [ -0 ]
+  No noise model
+
+}
+factor 2: Hybrid x2 x3 m2; m2 ]{
+ Choice(m2) 
+ 0 Leaf :
+  A[x2] = [
+	-1
+]
+  A[x3] = [
+	1
+]
+  b = [ -1 ]
+  No noise model
+
+ 1 Leaf :
+  A[x2] = [
+	-1
+]
+  A[x3] = [
+	1
+]
+  b = [ -0 ]
+  No noise model
+
+}
+factor 3: Continuous x1; 
+
+  A[x1] = [
+	10
+]
+  b = [ -10 ]
+  No noise model
+factor 4: Continuous x2; 
+
+  A[x2] = [
+	10
+]
+  b = [ -10 ]
+  No noise model
+factor 5: Continuous x3; 
+
+  A[x3] = [
+	10
+]
+  b = [ -10 ]
+  No noise model
+factor 6: Discrete m1 
+ P( m1 ):
+ Leaf  0.5
+
+factor 7: Discrete m2 m1 
+ P( m2 | m1 ):
+ Choice(m2) 
+ 0 Choice(m1) 
+ 0 0 Leaf 0.33333333
+ 0 1 Leaf  0.6
+ 1 Choice(m1) 
+ 1 0 Leaf 0.66666667
+ 1 1 Leaf  0.4
+
+)";
+  EXPECT(assert_print_equal(expected_hybridFactorGraph, linearizedFactorGraph));
+
+  // Expected output for hybridBayesNet.
+  string expected_hybridBayesNet = R"(
+size: 3
+factor 0: Hybrid  P( x1 | x2 m1)
+ Discrete Keys = (m1, 2), 
+ Choice(m1) 
+ 0 Leaf  p(x1 | x2)
+  R = [ 14.1774 ]
+  S[x2] = [ -0.0705346 ]
+  d = [ -14.0364 ]
+  No noise model
+
+ 1 Leaf  p(x1 | x2)
+  R = [ 14.1774 ]
+  S[x2] = [ -0.0705346 ]
+  d = [ -14.1069 ]
+  No noise model
+
+factor 1: Hybrid  P( x2 | x3 m1 m2)
+ Discrete Keys = (m1, 2), (m2, 2), 
+ Choice(m2) 
+ 0 Choice(m1) 
+ 0 0 Leaf  p(x2 | x3)
+  R = [ 10.0993 ]
+  S[x3] = [ -0.0990172 ]
+  d = [ -9.99975 ]
+  No noise model
+
+ 0 1 Leaf  p(x2 | x3)
+  R = [ 10.0993 ]
+  S[x3] = [ -0.0990172 ]
+  d = [ -9.90122 ]
+  No noise model
+
+ 1 Choice(m1) 
+ 1 0 Leaf  p(x2 | x3)
+  R = [ 10.0993 ]
+  S[x3] = [ -0.0990172 ]
+  d = [ -10.0988 ]
+  No noise model
+
+ 1 1 Leaf  p(x2 | x3)
+  R = [ 10.0993 ]
+  S[x3] = [ -0.0990172 ]
+  d = [ -10.0002 ]
+  No noise model
+
+factor 2: Hybrid  P( x3 | m1 m2)
+ Discrete Keys = (m1, 2), (m2, 2), 
+ Choice(m2) 
+ 0 Choice(m1) 
+ 0 0 Leaf  p(x3)
+  R = [ 10.0494 ]
+  d = [ -10.1489 ]
+  No noise model
+
+ 0 1 Leaf  p(x3)
+  R = [ 10.0494 ]
+  d = [ -10.1479 ]
+  No noise model
+
+ 1 Choice(m1) 
+ 1 0 Leaf  p(x3)
+  R = [ 10.0494 ]
+  d = [ -10.0504 ]
+  No noise model
+
+ 1 1 Leaf  p(x3)
+  R = [ 10.0494 ]
+  d = [ -10.0494 ]
+  No noise model
+
+)";
+  EXPECT(assert_print_equal(expected_hybridBayesNet, *hybridBayesNet));
+}
 
 // /* *************************************************************************
 // */

From ee124c33c3b535e651e8a5c5d31bdb863828302a Mon Sep 17 00:00:00 2001
From: Varun Agrawal <varagrawal@gmail.com>
Date: Tue, 2 Aug 2022 19:10:27 -0400
Subject: [PATCH 257/433] fix discrete only elimination (use EliminateForMPE)

---
 gtsam/hybrid/HybridGaussianFactorGraph.cpp    |  2 +-
 .../tests/testHybridNonlinearFactorGraph.cpp  | 21 ++++++++-----------
 2 files changed, 10 insertions(+), 13 deletions(-)

diff --git a/gtsam/hybrid/HybridGaussianFactorGraph.cpp b/gtsam/hybrid/HybridGaussianFactorGraph.cpp
index 3536f6a361..55fa9a908a 100644
--- a/gtsam/hybrid/HybridGaussianFactorGraph.cpp
+++ b/gtsam/hybrid/HybridGaussianFactorGraph.cpp
@@ -164,7 +164,7 @@ discreteElimination(const HybridGaussianFactorGraph &factors,
     }
   }
 
-  auto result = EliminateDiscrete(dfg, frontalKeys);
+  auto result = EliminateForMPE(dfg, frontalKeys);
 
   return {boost::make_shared<HybridConditional>(result.first),
           boost::make_shared<HybridDiscreteFactor>(result.second)};
diff --git a/gtsam/hybrid/tests/testHybridNonlinearFactorGraph.cpp b/gtsam/hybrid/tests/testHybridNonlinearFactorGraph.cpp
index 947fafacb9..6e66e5fcb9 100644
--- a/gtsam/hybrid/tests/testHybridNonlinearFactorGraph.cpp
+++ b/gtsam/hybrid/tests/testHybridNonlinearFactorGraph.cpp
@@ -465,18 +465,15 @@ TEST(HybridFactorGraph, Full_Elimination) {
   // P(m1 | m2)
   EXPECT(hybridBayesNet->at(3)->frontals() == KeyVector{M(1)});
   EXPECT(hybridBayesNet->at(3)->parents() == KeyVector({M(2)}));
-  GTSAM_PRINT(*(hybridBayesNet->at(3)));
-  GTSAM_PRINT(*(discreteBayesNet.at(0)));
-  //TODO(Varun) FIX!!
-  // EXPECT(
-  //     dynamic_pointer_cast<DiscreteConditional>(hybridBayesNet->at(3)->inner())
-  //         ->equals(*discreteBayesNet.at(0)));
-  // // P(m2)
-  // EXPECT(hybridBayesNet->at(4)->frontals() == KeyVector{M(2)});
-  // EXPECT_LONGS_EQUAL(0, hybridBayesNet->at(4)->nrParents());
-  // EXPECT(
-  //     dynamic_pointer_cast<DiscreteConditional>(hybridBayesNet->at(4)->inner())
-  //         ->equals(*discreteBayesNet.at(1)));
+  EXPECT(
+      dynamic_pointer_cast<DiscreteConditional>(hybridBayesNet->at(3)->inner())
+          ->equals(*discreteBayesNet.at(0)));
+  // P(m2)
+  EXPECT(hybridBayesNet->at(4)->frontals() == KeyVector{M(2)});
+  EXPECT_LONGS_EQUAL(0, hybridBayesNet->at(4)->nrParents());
+  EXPECT(
+      dynamic_pointer_cast<DiscreteConditional>(hybridBayesNet->at(4)->inner())
+          ->equals(*discreteBayesNet.at(1)));
 }
 
 /*

From b39c2316e6cdeb91e8e48ca5d526415b645a9be8 Mon Sep 17 00:00:00 2001
From: Varun Agrawal <varagrawal@gmail.com>
Date: Tue, 2 Aug 2022 19:17:49 -0400
Subject: [PATCH 258/433] all tests pass!!!

---
 .../tests/testHybridNonlinearFactorGraph.cpp  | 155 +++++++++---------
 1 file changed, 78 insertions(+), 77 deletions(-)

diff --git a/gtsam/hybrid/tests/testHybridNonlinearFactorGraph.cpp b/gtsam/hybrid/tests/testHybridNonlinearFactorGraph.cpp
index 6e66e5fcb9..c732ec6c51 100644
--- a/gtsam/hybrid/tests/testHybridNonlinearFactorGraph.cpp
+++ b/gtsam/hybrid/tests/testHybridNonlinearFactorGraph.cpp
@@ -476,9 +476,9 @@ TEST(HybridFactorGraph, Full_Elimination) {
           ->equals(*discreteBayesNet.at(1)));
 }
 
-/*
-****************************************************************************/
-// Test printing
+/****************************************************************************
+ * Test printing
+ */
 TEST(HybridFactorGraph, Printing) {
   Switching self(3);
 
@@ -663,80 +663,81 @@ factor 2: Hybrid  P( x3 | m1 m2)
   EXPECT(assert_print_equal(expected_hybridBayesNet, *hybridBayesNet));
 }
 
-// /* *************************************************************************
-// */
-// // Simple PlanarSLAM example test with 2 poses and 2 landmarks (each pose
-// // connects to 1 landmark) to expose issue with default decision tree
-// creation
-// // in hybrid elimination. The hybrid factor is between the poses X0 and X1.
-// The
-// // issue arises if we eliminate a landmark variable first since it is not
-// // connected to a DCFactor.
-// TEST(HybridFactorGraph, DefaultDecisionTree) {
-//   HybridNonlinearFactorGraph fg;
-
-//   // Add a prior on pose x1 at the origin. A prior factor consists of a mean
-//   and
-//   // a noise model (covariance matrix)
-//   Pose2 prior(0.0, 0.0, 0.0);  // prior mean is at origin
-//   auto priorNoise = noiseModel::Diagonal::Sigmas(
-//       Vector3(0.3, 0.3, 0.1));  // 30cm std on x,y, 0.1 rad on theta
-//   fg.emplace_nonlinear<PriorFactor<Pose2>>(X(0), prior, priorNoise);
-
-//   using PlanarMotionModel = BetweenFactor<Pose2>;
-
-//   // Add odometry factor
-//   Pose2 odometry(2.0, 0.0, 0.0);
-//   KeyVector contKeys = {X(0), X(1)};
-//   auto noise_model = noiseModel::Isotropic::Sigma(3, 1.0);
-//   auto still = boost::make_shared<PlanarMotionModel>(X(0), X(1), Pose2(0, 0,
-//   0),
-//                                                      noise_model),
-//        moving = boost::make_shared<PlanarMotionModel>(X(0), X(1), odometry,
-//                                                       noise_model);
-//   std::vector<PlanarMotionModel::shared_ptr> components = {still, moving};
-//   auto dcFactor = boost::make_shared<DCMixtureFactor<PlanarMotionModel>>(
-//       contKeys, DiscreteKeys{gtsam::DiscreteKey(M(1), 2)}, components);
-//   fg.push_back(dcFactor);
-
-//   // Add Range-Bearing measurements to from X0 to L0 and X1 to L1.
-//   // create a noise model for the landmark measurements
-//   auto measurementNoise = noiseModel::Diagonal::Sigmas(
-//       Vector2(0.1, 0.2));  // 0.1 rad std on bearing, 20cm on range
-//   // create the measurement values - indices are (pose id, landmark id)
-//   Rot2 bearing11 = Rot2::fromDegrees(45), bearing22 = Rot2::fromDegrees(90);
-//   double range11 = std::sqrt(4.0 + 4.0), range22 = 2.0;
-
-//   // Add Bearing-Range factors
-//   fg.emplace_nonlinear<BearingRangeFactor<Pose2, Point2>>(
-//       X(0), L(0), bearing11, range11, measurementNoise);
-//   fg.emplace_nonlinear<BearingRangeFactor<Pose2, Point2>>(
-//       X(1), L(1), bearing22, range22, measurementNoise);
-
-//   // Create (deliberately inaccurate) initial estimate
-//   Values initialEstimate;
-//   initialEstimate.insert(X(0), Pose2(0.5, 0.0, 0.2));
-//   initialEstimate.insert(X(1), Pose2(2.3, 0.1, -0.2));
-//   initialEstimate.insert(L(0), Point2(1.8, 2.1));
-//   initialEstimate.insert(L(1), Point2(4.1, 1.8));
-
-//   // We want to eliminate variables not connected to DCFactors first.
-//   Ordering ordering;
-//   ordering += L(0);
-//   ordering += L(1);
-//   ordering += X(0);
-//   ordering += X(1);
-
-//   HybridGaussianFactorGraph linearized = fg.linearize(initialEstimate);
-//   gtsam::HybridBayesNet::shared_ptr hybridBayesNet;
-//   gtsam::HybridGaussianFactorGraph::shared_ptr remainingFactorGraph;
-
-//   // This should NOT fail
-//   std::tie(hybridBayesNet, remainingFactorGraph) =
-//       linearized.eliminatePartialSequential(ordering);
-//   EXPECT_LONGS_EQUAL(4, hybridBayesNet->size());
-//   EXPECT_LONGS_EQUAL(1, remainingFactorGraph->size());
-// }
+/****************************************************************************
+ * Simple PlanarSLAM example test with 2 poses and 2 landmarks (each pose
+ * connects to 1 landmark) to expose issue with default decision tree creation
+ * in hybrid elimination. The hybrid factor is between the poses X0 and X1.
+ * The issue arises if we eliminate a landmark variable first since it is not
+ * connected to a HybridFactor.
+ */
+TEST(HybridFactorGraph, DefaultDecisionTree) {
+  HybridNonlinearFactorGraph fg;
+
+  // Add a prior on pose x1 at the origin.
+  // A prior factor consists of a mean and a noise model (covariance matrix)
+  Pose2 prior(0.0, 0.0, 0.0);  // prior mean is at origin
+  auto priorNoise = noiseModel::Diagonal::Sigmas(
+      Vector3(0.3, 0.3, 0.1));  // 30cm std on x,y, 0.1 rad on theta
+  fg.emplace_nonlinear<PriorFactor<Pose2>>(X(0), prior, priorNoise);
+
+  using PlanarMotionModel = BetweenFactor<Pose2>;
+
+  // Add odometry factor
+  Pose2 odometry(2.0, 0.0, 0.0);
+  KeyVector contKeys = {X(0), X(1)};
+  auto noise_model = noiseModel::Isotropic::Sigma(3, 1.0);
+  auto still = boost::make_shared<PlanarMotionModel>(X(0), X(1), Pose2(0, 0,
+  0),
+                                                     noise_model),
+       moving = boost::make_shared<PlanarMotionModel>(X(0), X(1), odometry,
+                                                      noise_model);
+  std::vector<PlanarMotionModel::shared_ptr> motion_models = {still, moving};
+  //TODO(Varun) Make a templated constructor for MixtureFactor which does this?
+  std::vector<NonlinearFactor::shared_ptr> components;
+  for (auto&& f : motion_models) {
+    components.push_back(boost::dynamic_pointer_cast<NonlinearFactor>(f));
+  }
+  fg.emplace_hybrid<MixtureFactor>(
+      contKeys, DiscreteKeys{gtsam::DiscreteKey(M(1), 2)}, components);
+
+  // Add Range-Bearing measurements to from X0 to L0 and X1 to L1.
+  // create a noise model for the landmark measurements
+  auto measurementNoise = noiseModel::Diagonal::Sigmas(
+      Vector2(0.1, 0.2));  // 0.1 rad std on bearing, 20cm on range
+  // create the measurement values - indices are (pose id, landmark id)
+  Rot2 bearing11 = Rot2::fromDegrees(45), bearing22 = Rot2::fromDegrees(90);
+  double range11 = std::sqrt(4.0 + 4.0), range22 = 2.0;
+
+  // Add Bearing-Range factors
+  fg.emplace_nonlinear<BearingRangeFactor<Pose2, Point2>>(
+      X(0), L(0), bearing11, range11, measurementNoise);
+  fg.emplace_nonlinear<BearingRangeFactor<Pose2, Point2>>(
+      X(1), L(1), bearing22, range22, measurementNoise);
+
+  // Create (deliberately inaccurate) initial estimate
+  Values initialEstimate;
+  initialEstimate.insert(X(0), Pose2(0.5, 0.0, 0.2));
+  initialEstimate.insert(X(1), Pose2(2.3, 0.1, -0.2));
+  initialEstimate.insert(L(0), Point2(1.8, 2.1));
+  initialEstimate.insert(L(1), Point2(4.1, 1.8));
+
+  // We want to eliminate variables not connected to DCFactors first.
+  Ordering ordering;
+  ordering += L(0);
+  ordering += L(1);
+  ordering += X(0);
+  ordering += X(1);
+
+  HybridGaussianFactorGraph linearized = fg.linearize(initialEstimate);
+  gtsam::HybridBayesNet::shared_ptr hybridBayesNet;
+  gtsam::HybridGaussianFactorGraph::shared_ptr remainingFactorGraph;
+
+  // This should NOT fail
+  std::tie(hybridBayesNet, remainingFactorGraph) =
+      linearized.eliminatePartialSequential(ordering);
+  EXPECT_LONGS_EQUAL(4, hybridBayesNet->size());
+  EXPECT_LONGS_EQUAL(1, remainingFactorGraph->size());
+}
 
 /* ************************************************************************* */
 int main() {

From 0f732d734512ae322fa421773f3b0d0e828ee473 Mon Sep 17 00:00:00 2001
From: Varun Agrawal <varagrawal@gmail.com>
Date: Wed, 3 Aug 2022 02:48:06 -0400
Subject: [PATCH 259/433] fix discrete conditional test

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

diff --git a/gtsam/hybrid/tests/testGaussianHybridFactorGraph.cpp b/gtsam/hybrid/tests/testGaussianHybridFactorGraph.cpp
index 552bb18f59..0ea0faccde 100644
--- a/gtsam/hybrid/tests/testGaussianHybridFactorGraph.cpp
+++ b/gtsam/hybrid/tests/testGaussianHybridFactorGraph.cpp
@@ -125,7 +125,7 @@ TEST(HybridGaussianFactorGraph, eliminateFullSequentialEqualChance) {
   auto dc = result->at(2)->asDiscreteConditional();
   DiscreteValues dv;
   dv[C(1)] = 0;
-  EXPECT_DOUBLES_EQUAL(0.6225, dc->operator()(dv), 1e-3);
+  EXPECT_DOUBLES_EQUAL(1, dc->operator()(dv), 1e-3);
 }
 
 /* ************************************************************************* */

From 66707792d275dd03da0c6747cba3c1f75efcf4aa Mon Sep 17 00:00:00 2001
From: Varun Agrawal <varagrawal@gmail.com>
Date: Wed, 3 Aug 2022 04:21:12 -0400
Subject: [PATCH 260/433] Wrap DiscreteLookupTable

---
 gtsam/discrete/discrete.i | 10 ++++++++++
 1 file changed, 10 insertions(+)

diff --git a/gtsam/discrete/discrete.i b/gtsam/discrete/discrete.i
index b3a12a8d52..fa98f36fa5 100644
--- a/gtsam/discrete/discrete.i
+++ b/gtsam/discrete/discrete.i
@@ -219,6 +219,16 @@ class DiscreteBayesTree {
 };
 
 #include <gtsam/discrete/DiscreteLookupDAG.h>
+
+class DiscreteLookupTable : gtsam::DiscreteConditional{
+  DiscreteLookupTable(size_t nFrontals, const gtsam::DiscreteKeys& keys,
+                      const gtsam::DecisionTreeFactor::ADT& potentials);
+  void print(
+    const std::string& s = "Discrete Lookup Table: ",
+    const gtsam::KeyFormatter& keyFormatter = gtsam::DefaultKeyFormatter) const;
+  size_t argmax(const gtsam::DiscreteValues& parentsValues) const;
+};
+
 class DiscreteLookupDAG {
   DiscreteLookupDAG();
   void push_back(const gtsam::DiscreteLookupTable* table);

From 060738cbc32309894c9fbb787b6539416805aec3 Mon Sep 17 00:00:00 2001
From: Varun Agrawal <varagrawal@gmail.com>
Date: Thu, 4 Aug 2022 17:27:09 -0400
Subject: [PATCH 261/433] Add Zenodo for generating citations

---
 README.md | 8 ++++++++
 1 file changed, 8 insertions(+)

diff --git a/README.md b/README.md
index 52ac0a5d88..3417053df4 100644
--- a/README.md
+++ b/README.md
@@ -64,6 +64,14 @@ GTSAM 4.1 added a new pybind wrapper, and **removed** the deprecated functionali
 
 We provide support for [MATLAB](matlab/README.md) and [Python](python/README.md) wrappers for GTSAM. Please refer to the linked documents for more details.
 
+## Citation
+
+If you are using GTSAM for academic work, please use the citation available from Zenodo below:
+
+[![DOI](https://zenodo.org/badge/86362856.svg)](https://zenodo.org/badge/latestdoi/86362856)
+
+Specific formats are available in the bottom-right corner of the Zenodo page.
+
 ## The Preintegrated IMU Factor
 
 GTSAM includes a state of the art IMU handling scheme based on

From fcffa872861829ac91c7521971ea217929a333ba Mon Sep 17 00:00:00 2001
From: Varun Agrawal <varagrawal@gmail.com>
Date: Fri, 5 Aug 2022 10:42:40 -0400
Subject: [PATCH 262/433] point Zenodo badge to Concept (aka aggregate) version

---
 README.md | 21 ++++++++++++++++++---
 1 file changed, 18 insertions(+), 3 deletions(-)

diff --git a/README.md b/README.md
index 3417053df4..b32ce70e07 100644
--- a/README.md
+++ b/README.md
@@ -66,9 +66,24 @@ We provide support for [MATLAB](matlab/README.md) and [Python](python/README.md)
 
 ## Citation
 
-If you are using GTSAM for academic work, please use the citation available from Zenodo below:
+If you are using GTSAM for academic work, please use the following citation:
 
-[![DOI](https://zenodo.org/badge/86362856.svg)](https://zenodo.org/badge/latestdoi/86362856)
+```
+@software{gtsam,
+  author       = {Frank Dellaert and Richard Roberts and Varun Agrawal and Alex Cunningham and Chris Beall and Duy-Nguyen Ta and Fan Jiang and lucacarlone and nikai and Jose Luis Blanco-Claraco and Stephen Williams and ydjian and John Lambert and Andy Melim and Zhaoyang Lv and Akshay Krishnan and Jing Dong and Gerry Chen and Krunal Chande and balderdash-devil and DiffDecisionTrees and Sungtae An and mpaluri and Ellon Paiva Mendes and Mike Bosse and Akash Patel and Ayush Baid and Paul Furgale and matthewbroadwaynavenio and roderick-koehle},
+  title        = {borglab/gtsam},
+  month        = may,
+  year         = 2022,
+  publisher    = {Zenodo},
+  version      = {4.2a7},
+  doi          = {10.5281/zenodo.5794541},
+  url          = {https://doi.org/10.5281/zenodo.5794541}
+}
+```
+
+You can also get the latest citation available from Zenodo below:
+
+[![DOI](https://zenodo.org/badge/86362856.svg)](https://doi.org/10.5281/zenodo.5794541)
 
 Specific formats are available in the bottom-right corner of the Zenodo page.
 
@@ -81,7 +96,7 @@ GTSAM includes a state of the art IMU handling scheme based on
 Our implementation improves on this using integration on the manifold, as detailed in
 
 - Luca Carlone, Zsolt Kira, Chris Beall, Vadim Indelman, and Frank Dellaert, _"Eliminating conditionally independent sets in factor graphs: a unifying perspective based on smart factors"_, Int. Conf. on Robotics and Automation (ICRA), 2014. [[link]](https://ieeexplore.ieee.org/abstract/document/6907483)
-- Christian Forster, Luca Carlone, Frank Dellaert, and Davide Scaramuzza, "IMU Preintegration on Manifold for Efficient Visual-Inertial Maximum-a-Posteriori Estimation", Robotics: Science and Systems (RSS), 2015. [[link]](http://www.roboticsproceedings.org/rss11/p06.pdf)
+- Christian Forster, Luca Carlone, Frank Dellaert, and Davide Scaramuzza, _"IMU Preintegration on Manifold for Efficient Visual-Inertial Maximum-a-Posteriori Estimation"_, Robotics: Science and Systems (RSS), 2015. [[link]](http://www.roboticsproceedings.org/rss11/p06.pdf)
 
 If you are using the factor in academic work, please cite the publications above.
 

From 5965d8f2fb45260a30637c417d0eedd2e2941ed6 Mon Sep 17 00:00:00 2001
From: Varun Agrawal <varagrawal@gmail.com>
Date: Mon, 8 Aug 2022 17:16:47 -0400
Subject: [PATCH 263/433] change discrete key variable from C to M

---
 gtsam/hybrid/tests/Switching.h                |   2 +-
 .../tests/testGaussianHybridFactorGraph.cpp   | 178 +++++++++---------
 2 files changed, 89 insertions(+), 91 deletions(-)

diff --git a/gtsam/hybrid/tests/Switching.h b/gtsam/hybrid/tests/Switching.h
index d584dd60ea..ac440d2a54 100644
--- a/gtsam/hybrid/tests/Switching.h
+++ b/gtsam/hybrid/tests/Switching.h
@@ -50,7 +50,7 @@ using symbol_shorthand::X;
  */
 inline HybridGaussianFactorGraph::shared_ptr makeSwitchingChain(
     size_t n, std::function<Key(int)> keyFunc = X,
-    std::function<Key(int)> dKeyFunc = C) {
+    std::function<Key(int)> dKeyFunc = M) {
   HybridGaussianFactorGraph hfg;
 
   hfg.add(JacobianFactor(keyFunc(1), I_3x3, Z_3x1));
diff --git a/gtsam/hybrid/tests/testGaussianHybridFactorGraph.cpp b/gtsam/hybrid/tests/testGaussianHybridFactorGraph.cpp
index 92fc699bb7..0b2d5f1903 100644
--- a/gtsam/hybrid/tests/testGaussianHybridFactorGraph.cpp
+++ b/gtsam/hybrid/tests/testGaussianHybridFactorGraph.cpp
@@ -52,8 +52,8 @@ using namespace boost::assign;
 using namespace std;
 using namespace gtsam;
 
-using gtsam::symbol_shorthand::C;
 using gtsam::symbol_shorthand::D;
+using gtsam::symbol_shorthand::M;
 using gtsam::symbol_shorthand::X;
 using gtsam::symbol_shorthand::Y;
 
@@ -67,9 +67,9 @@ TEST(HybridGaussianFactorGraph, Creation) {
 
   // Define a gaussian mixture conditional P(x0|x1, c0) and add it to the factor
   // graph
-  GaussianMixture gm({X(0)}, {X(1)}, DiscreteKeys(DiscreteKey{C(0), 2}),
+  GaussianMixture gm({X(0)}, {X(1)}, DiscreteKeys(DiscreteKey{M(0), 2}),
                      GaussianMixture::Conditionals(
-                         C(0),
+                         M(0),
                          boost::make_shared<GaussianConditional>(
                              X(0), Z_3x1, I_3x3, X(1), I_3x3),
                          boost::make_shared<GaussianConditional>(
@@ -96,11 +96,11 @@ TEST(HybridGaussianFactorGraph, EliminateMultifrontal) {
   // Test multifrontal elimination
   HybridGaussianFactorGraph hfg;
 
-  DiscreteKey c(C(1), 2);
+  DiscreteKey m(M(1), 2);
 
   // Add priors on x0 and c1
   hfg.add(JacobianFactor(X(0), I_3x3, Z_3x1));
-  hfg.add(HybridDiscreteFactor(DecisionTreeFactor(c, {2, 8})));
+  hfg.add(HybridDiscreteFactor(DecisionTreeFactor(m, {2, 8})));
 
   Ordering ordering;
   ordering.push_back(X(0));
@@ -114,7 +114,7 @@ TEST(HybridGaussianFactorGraph, EliminateMultifrontal) {
 TEST(HybridGaussianFactorGraph, eliminateFullSequentialEqualChance) {
   HybridGaussianFactorGraph hfg;
 
-  DiscreteKey c1(C(1), 2);
+  DiscreteKey m1(M(1), 2);
 
   // Add prior on x0
   hfg.add(JacobianFactor(X(0), I_3x3, Z_3x1));
@@ -123,17 +123,17 @@ TEST(HybridGaussianFactorGraph, eliminateFullSequentialEqualChance) {
 
   // Add a gaussian mixture factor ϕ(x1, c1)
   DecisionTree<Key, GaussianFactor::shared_ptr> dt(
-      C(1), boost::make_shared<JacobianFactor>(X(1), I_3x3, Z_3x1),
+      M(1), boost::make_shared<JacobianFactor>(X(1), I_3x3, Z_3x1),
       boost::make_shared<JacobianFactor>(X(1), I_3x3, Vector3::Ones()));
 
-  hfg.add(GaussianMixtureFactor({X(1)}, {c1}, dt));
+  hfg.add(GaussianMixtureFactor({X(1)}, {m1}, dt));
 
   auto result =
-      hfg.eliminateSequential(Ordering::ColamdConstrainedLast(hfg, {C(1)}));
+      hfg.eliminateSequential(Ordering::ColamdConstrainedLast(hfg, {M(1)}));
 
   auto dc = result->at(2)->asDiscreteConditional();
   DiscreteValues dv;
-  dv[C(1)] = 0;
+  dv[M(1)] = 0;
   EXPECT_DOUBLES_EQUAL(1, dc->operator()(dv), 1e-3);
 }
 
@@ -141,27 +141,27 @@ TEST(HybridGaussianFactorGraph, eliminateFullSequentialEqualChance) {
 TEST(HybridGaussianFactorGraph, eliminateFullSequentialSimple) {
   HybridGaussianFactorGraph hfg;
 
-  DiscreteKey c1(C(1), 2);
+  DiscreteKey m1(M(1), 2);
 
   // Add prior on x0
   hfg.add(JacobianFactor(X(0), I_3x3, Z_3x1));
   // Add factor between x0 and x1
   hfg.add(JacobianFactor(X(0), I_3x3, X(1), -I_3x3, Z_3x1));
 
-  DecisionTree<Key, GaussianFactor::shared_ptr> dt(
-      C(1), boost::make_shared<JacobianFactor>(X(1), I_3x3, Z_3x1),
-      boost::make_shared<JacobianFactor>(X(1), I_3x3, Vector3::Ones()));
-  hfg.add(GaussianMixtureFactor({X(1)}, {c1}, dt));
+  std::vector<GaussianFactor::shared_ptr> factors = {
+      boost::make_shared<JacobianFactor>(X(1), I_3x3, Z_3x1),
+      boost::make_shared<JacobianFactor>(X(1), I_3x3, Vector3::Ones())};
+  hfg.add(GaussianMixtureFactor({X(1)}, {m1}, factors));
 
   // Discrete probability table for c1
-  hfg.add(HybridDiscreteFactor(DecisionTreeFactor(c1, {2, 8})));
+  hfg.add(DecisionTreeFactor(m1, {2, 8}));
   // Joint discrete probability table for c1, c2
-  hfg.add(HybridDiscreteFactor(
-      DecisionTreeFactor({{C(1), 2}, {C(2), 2}}, "1 2 3 4")));
+  hfg.add(DecisionTreeFactor({{M(1), 2}, {M(2), 2}}, "1 2 3 4"));
 
-  auto result = hfg.eliminateSequential(
-      Ordering::ColamdConstrainedLast(hfg, {C(1), C(2)}));
+  HybridBayesNet::shared_ptr result = hfg.eliminateSequential(
+      Ordering::ColamdConstrainedLast(hfg, {M(1), M(2)}));
 
+  // There are 4 variables (2 continuous + 2 discrete) in the bayes net.
   EXPECT_LONGS_EQUAL(4, result->size());
 }
 
@@ -169,31 +169,33 @@ TEST(HybridGaussianFactorGraph, eliminateFullSequentialSimple) {
 TEST(HybridGaussianFactorGraph, eliminateFullMultifrontalSimple) {
   HybridGaussianFactorGraph hfg;
 
-  DiscreteKey c1(C(1), 2);
+  DiscreteKey m1(M(1), 2);
 
   hfg.add(JacobianFactor(X(0), I_3x3, Z_3x1));
   hfg.add(JacobianFactor(X(0), I_3x3, X(1), -I_3x3, Z_3x1));
 
   hfg.add(GaussianMixtureFactor::FromFactors(
-      {X(1)}, {{C(1), 2}},
+      {X(1)}, {{M(1), 2}},
       {boost::make_shared<JacobianFactor>(X(1), I_3x3, Z_3x1),
        boost::make_shared<JacobianFactor>(X(1), I_3x3, Vector3::Ones())}));
 
-  hfg.add(DecisionTreeFactor(c1, {2, 8}));
-  hfg.add(DecisionTreeFactor({{C(1), 2}, {C(2), 2}}, "1 2 3 4"));
+  hfg.add(DecisionTreeFactor(m1, {2, 8}));
+  hfg.add(DecisionTreeFactor({{M(1), 2}, {M(2), 2}}, "1 2 3 4"));
 
-  auto result = hfg.eliminateMultifrontal(
-      Ordering::ColamdConstrainedLast(hfg, {C(1), C(2)}));
+  HybridBayesTree::shared_ptr result = hfg.eliminateMultifrontal(
+      Ordering::ColamdConstrainedLast(hfg, {M(1), M(2)}));
 
+  // The bayes tree should have 3 cliques
+  EXPECT_LONGS_EQUAL(3, result->size());
   // GTSAM_PRINT(*result);
-  // GTSAM_PRINT(*result->marginalFactor(C(2)));
+  // GTSAM_PRINT(*result->marginalFactor(M(2)));
 }
 
 /* ************************************************************************* */
 TEST(HybridGaussianFactorGraph, eliminateFullMultifrontalCLG) {
   HybridGaussianFactorGraph hfg;
 
-  DiscreteKey c(C(1), 2);
+  DiscreteKey m(M(1), 2);
 
   // Prior on x0
   hfg.add(JacobianFactor(X(0), I_3x3, Z_3x1));
@@ -202,16 +204,16 @@ TEST(HybridGaussianFactorGraph, eliminateFullMultifrontalCLG) {
 
   // Decision tree with different modes on x1
   DecisionTree<Key, GaussianFactor::shared_ptr> dt(
-      C(1), boost::make_shared<JacobianFactor>(X(1), I_3x3, Z_3x1),
+      M(1), boost::make_shared<JacobianFactor>(X(1), I_3x3, Z_3x1),
       boost::make_shared<JacobianFactor>(X(1), I_3x3, Vector3::Ones()));
 
   // Hybrid factor P(x1|c1)
-  hfg.add(GaussianMixtureFactor({X(1)}, {c}, dt));
+  hfg.add(GaussianMixtureFactor({X(1)}, {m}, dt));
   // Prior factor on c1
-  hfg.add(HybridDiscreteFactor(DecisionTreeFactor(c, {2, 8})));
+  hfg.add(HybridDiscreteFactor(DecisionTreeFactor(m, {2, 8})));
 
   // Get a constrained ordering keeping c1 last
-  auto ordering_full = Ordering::ColamdConstrainedLast(hfg, {C(1)});
+  auto ordering_full = Ordering::ColamdConstrainedLast(hfg, {M(1)});
 
   // Returns a Hybrid Bayes Tree with distribution P(x0|x1)P(x1|c1)P(c1)
   HybridBayesTree::shared_ptr hbt = hfg.eliminateMultifrontal(ordering_full);
@@ -232,48 +234,48 @@ TEST(HybridGaussianFactorGraph, eliminateFullMultifrontalTwoClique) {
 
   {
     hfg.add(GaussianMixtureFactor::FromFactors(
-        {X(0)}, {{C(0), 2}},
+        {X(0)}, {{M(0), 2}},
         {boost::make_shared<JacobianFactor>(X(0), I_3x3, Z_3x1),
          boost::make_shared<JacobianFactor>(X(0), I_3x3, Vector3::Ones())}));
 
     DecisionTree<Key, GaussianFactor::shared_ptr> dt1(
-        C(1), boost::make_shared<JacobianFactor>(X(2), I_3x3, Z_3x1),
+        M(1), boost::make_shared<JacobianFactor>(X(2), I_3x3, Z_3x1),
         boost::make_shared<JacobianFactor>(X(2), I_3x3, Vector3::Ones()));
 
-    hfg.add(GaussianMixtureFactor({X(2)}, {{C(1), 2}}, dt1));
+    hfg.add(GaussianMixtureFactor({X(2)}, {{M(1), 2}}, dt1));
   }
 
   hfg.add(HybridDiscreteFactor(
-      DecisionTreeFactor({{C(1), 2}, {C(2), 2}}, "1 2 3 4")));
+      DecisionTreeFactor({{M(1), 2}, {M(2), 2}}, "1 2 3 4")));
 
   hfg.add(JacobianFactor(X(3), I_3x3, X(4), -I_3x3, Z_3x1));
   hfg.add(JacobianFactor(X(4), I_3x3, X(5), -I_3x3, Z_3x1));
 
   {
     DecisionTree<Key, GaussianFactor::shared_ptr> dt(
-        C(3), boost::make_shared<JacobianFactor>(X(3), I_3x3, Z_3x1),
+        M(3), boost::make_shared<JacobianFactor>(X(3), I_3x3, Z_3x1),
         boost::make_shared<JacobianFactor>(X(3), I_3x3, Vector3::Ones()));
 
-    hfg.add(GaussianMixtureFactor({X(3)}, {{C(3), 2}}, dt));
+    hfg.add(GaussianMixtureFactor({X(3)}, {{M(3), 2}}, dt));
 
     DecisionTree<Key, GaussianFactor::shared_ptr> dt1(
-        C(2), boost::make_shared<JacobianFactor>(X(5), I_3x3, Z_3x1),
+        M(2), boost::make_shared<JacobianFactor>(X(5), I_3x3, Z_3x1),
         boost::make_shared<JacobianFactor>(X(5), I_3x3, Vector3::Ones()));
 
-    hfg.add(GaussianMixtureFactor({X(5)}, {{C(2), 2}}, dt1));
+    hfg.add(GaussianMixtureFactor({X(5)}, {{M(2), 2}}, dt1));
   }
 
   auto ordering_full =
-      Ordering::ColamdConstrainedLast(hfg, {C(0), C(1), C(2), C(3)});
+      Ordering::ColamdConstrainedLast(hfg, {M(0), M(1), M(2), M(3)});
 
   HybridBayesTree::shared_ptr hbt;
   HybridGaussianFactorGraph::shared_ptr remaining;
   std::tie(hbt, remaining) = hfg.eliminatePartialMultifrontal(ordering_full);
 
-  // GTSAM_PRINT(*hbt);
-  // GTSAM_PRINT(*remaining);
+  // 9 cliques in the bayes tree and 0 remaining variables to eliminate.
+  EXPECT_LONGS_EQUAL(9, hbt->size());
+  EXPECT_LONGS_EQUAL(0, remaining->size());
 
-  // hbt->marginalFactor(X(1))->print("HBT: ");
   /*
   (Fan) Explanation: the Junction tree will need to reeliminate to get to the
   marginal on X(1), which is not possible because it involves eliminating
@@ -307,13 +309,13 @@ TEST(HybridGaussianFactorGraph, Switching) {
   // X(3), X(7)
   // X(2), X(8)
   // X(1), X(4), X(6), X(9)
-  // C(5) will be the center, C(1-4), C(6-8)
-  // C(3), C(7)
-  // C(1), C(4), C(2), C(6), C(8)
+  // M(5) will be the center, M(1-4), M(6-8)
+  // M(3), M(7)
+  // M(1), M(4), M(2), M(6), M(8)
   // auto ordering_full =
   //     Ordering(KeyVector{X(1), X(4), X(2), X(6), X(9), X(8), X(3), X(7),
   //     X(5),
-  //                        C(1), C(4), C(2), C(6), C(8), C(3), C(7), C(5)});
+  //                        M(1), M(4), M(2), M(6), M(8), M(3), M(7), M(5)});
   KeyVector ordering;
 
   {
@@ -336,7 +338,7 @@ TEST(HybridGaussianFactorGraph, Switching) {
     std::iota(naturalC.begin(), naturalC.end(), 1);
     std::vector<Key> ordC;
     std::transform(naturalC.begin(), naturalC.end(), std::back_inserter(ordC),
-                   [](int x) { return C(x); });
+                   [](int x) { return M(x); });
     KeyVector ndC;
     std::vector<int> lvls;
 
@@ -353,9 +355,9 @@ TEST(HybridGaussianFactorGraph, Switching) {
   HybridGaussianFactorGraph::shared_ptr remaining;
   std::tie(hbt, remaining) = hfg->eliminatePartialMultifrontal(ordering_full);
 
-  // GTSAM_PRINT(*hbt);
-  // GTSAM_PRINT(*remaining);
-  // hbt->marginalFactor(C(11))->print("HBT: ");
+  // 12 cliques in the bayes tree and 0 remaining variables to eliminate.
+  EXPECT_LONGS_EQUAL(12, hbt->size());
+  EXPECT_LONGS_EQUAL(0, remaining->size());
 }
 
 /* ************************************************************************* */
@@ -368,13 +370,13 @@ TEST(HybridGaussianFactorGraph, SwitchingISAM) {
   // X(3), X(7)
   // X(2), X(8)
   // X(1), X(4), X(6), X(9)
-  // C(5) will be the center, C(1-4), C(6-8)
-  // C(3), C(7)
-  // C(1), C(4), C(2), C(6), C(8)
+  // M(5) will be the center, M(1-4), M(6-8)
+  // M(3), M(7)
+  // M(1), M(4), M(2), M(6), M(8)
   // auto ordering_full =
   //     Ordering(KeyVector{X(1), X(4), X(2), X(6), X(9), X(8), X(3), X(7),
   //     X(5),
-  //                        C(1), C(4), C(2), C(6), C(8), C(3), C(7), C(5)});
+  //                        M(1), M(4), M(2), M(6), M(8), M(3), M(7), M(5)});
   KeyVector ordering;
 
   {
@@ -397,7 +399,7 @@ TEST(HybridGaussianFactorGraph, SwitchingISAM) {
     std::iota(naturalC.begin(), naturalC.end(), 1);
     std::vector<Key> ordC;
     std::transform(naturalC.begin(), naturalC.end(), std::back_inserter(ordC),
-                   [](int x) { return C(x); });
+                   [](int x) { return M(x); });
     KeyVector ndC;
     std::vector<int> lvls;
 
@@ -407,9 +409,6 @@ TEST(HybridGaussianFactorGraph, SwitchingISAM) {
   }
   auto ordering_full = Ordering(ordering);
 
-  // GTSAM_PRINT(*hfg);
-  // GTSAM_PRINT(ordering_full);
-
   HybridBayesTree::shared_ptr hbt;
   HybridGaussianFactorGraph::shared_ptr remaining;
   std::tie(hbt, remaining) = hfg->eliminatePartialMultifrontal(ordering_full);
@@ -417,19 +416,18 @@ TEST(HybridGaussianFactorGraph, SwitchingISAM) {
   auto new_fg = makeSwitchingChain(12);
   auto isam = HybridGaussianISAM(*hbt);
 
-  {
-    HybridGaussianFactorGraph factorGraph;
-    factorGraph.push_back(new_fg->at(new_fg->size() - 2));
-    factorGraph.push_back(new_fg->at(new_fg->size() - 1));
-    isam.update(factorGraph);
-    // std::cout << isam.dot();
-    // isam.marginalFactor(C(11))->print();
-  }
+  // Run an ISAM update.
+  HybridGaussianFactorGraph factorGraph;
+  factorGraph.push_back(new_fg->at(new_fg->size() - 2));
+  factorGraph.push_back(new_fg->at(new_fg->size() - 1));
+  isam.update(factorGraph);
+
+  // ISAM should have 12 factors after the last update
+  EXPECT_LONGS_EQUAL(12, isam.size());
 }
 
 /* ************************************************************************* */
-// TODO(Varun) Actually test something!
-TEST_DISABLED(HybridGaussianFactorGraph, SwitchingTwoVar) {
+TEST(HybridGaussianFactorGraph, SwitchingTwoVar) {
   const int N = 7;
   auto hfg = makeSwitchingChain(N, X);
   hfg->push_back(*makeSwitchingChain(N, Y, D));
@@ -449,7 +447,7 @@ TEST_DISABLED(HybridGaussianFactorGraph, SwitchingTwoVar) {
   }
 
   for (size_t i = 1; i <= N - 1; i++) {
-    ordX.emplace_back(C(i));
+    ordX.emplace_back(M(i));
   }
   for (size_t i = 1; i <= N - 1; i++) {
     ordX.emplace_back(D(i));
@@ -461,8 +459,8 @@ TEST_DISABLED(HybridGaussianFactorGraph, SwitchingTwoVar) {
     dw.positionHints['c'] = 0;
     dw.positionHints['d'] = 3;
     dw.positionHints['y'] = 2;
-    std::cout << hfg->dot(DefaultKeyFormatter, dw);
-    std::cout << "\n";
+    // std::cout << hfg->dot(DefaultKeyFormatter, dw);
+    // std::cout << "\n";
   }
 
   {
@@ -471,10 +469,10 @@ TEST_DISABLED(HybridGaussianFactorGraph, SwitchingTwoVar) {
     // dw.positionHints['c'] = 0;
     // dw.positionHints['d'] = 3;
     dw.positionHints['x'] = 1;
-    std::cout << "\n";
+    // std::cout << "\n";
     // std::cout << hfg->eliminateSequential(Ordering(ordX))
     //                  ->dot(DefaultKeyFormatter, dw);
-    hfg->eliminateMultifrontal(Ordering(ordX))->dot(std::cout);
+    // hfg->eliminateMultifrontal(Ordering(ordX))->dot(std::cout);
   }
 
   Ordering ordering_partial;
@@ -482,22 +480,22 @@ TEST_DISABLED(HybridGaussianFactorGraph, SwitchingTwoVar) {
     ordering_partial.emplace_back(X(i));
     ordering_partial.emplace_back(Y(i));
   }
+  HybridBayesNet::shared_ptr hbn;
+  HybridGaussianFactorGraph::shared_ptr remaining;
+  std::tie(hbn, remaining) =
+      hfg->eliminatePartialSequential(ordering_partial);
+
+  EXPECT_LONGS_EQUAL(14, hbn->size());
+  EXPECT_LONGS_EQUAL(11, remaining->size());
+
   {
-    HybridBayesNet::shared_ptr hbn;
-    HybridGaussianFactorGraph::shared_ptr remaining;
-    std::tie(hbn, remaining) =
-        hfg->eliminatePartialSequential(ordering_partial);
-
-    // remaining->print();
-    {
-      DotWriter dw;
-      dw.positionHints['x'] = 1;
-      dw.positionHints['c'] = 0;
-      dw.positionHints['d'] = 3;
-      dw.positionHints['y'] = 2;
-      std::cout << remaining->dot(DefaultKeyFormatter, dw);
-      std::cout << "\n";
-    }
+    DotWriter dw;
+    dw.positionHints['x'] = 1;
+    dw.positionHints['c'] = 0;
+    dw.positionHints['d'] = 3;
+    dw.positionHints['y'] = 2;
+    // std::cout << remaining->dot(DefaultKeyFormatter, dw);
+    // std::cout << "\n";
   }
 }
 

From f5e046fd109f291d1f4b22797e04a83fb7e4e62c Mon Sep 17 00:00:00 2001
From: Varun Agrawal <varagrawal@gmail.com>
Date: Mon, 8 Aug 2022 17:17:22 -0400
Subject: [PATCH 264/433] split HybridNonlinearFactorGraph to .h and .cpp

---
 gtsam/hybrid/HybridNonlinearFactorGraph.cpp | 100 ++++++++++++++++++++
 gtsam/hybrid/HybridNonlinearFactorGraph.h   |  72 ++------------
 2 files changed, 108 insertions(+), 64 deletions(-)
 create mode 100644 gtsam/hybrid/HybridNonlinearFactorGraph.cpp

diff --git a/gtsam/hybrid/HybridNonlinearFactorGraph.cpp b/gtsam/hybrid/HybridNonlinearFactorGraph.cpp
new file mode 100644
index 0000000000..233badc550
--- /dev/null
+++ b/gtsam/hybrid/HybridNonlinearFactorGraph.cpp
@@ -0,0 +1,100 @@
+/* ----------------------------------------------------------------------------
+
+ * GTSAM Copyright 2010, Georgia Tech Research Corporation,
+ * Atlanta, Georgia 30332-0415
+ * All Rights Reserved
+ * Authors: Frank Dellaert, et al. (see THANKS for the full author list)
+
+ * See LICENSE for the license information
+
+ * -------------------------------------------------------------------------- */
+
+/**
+ * @file   HybridNonlinearFactorGraph.cpp
+ * @brief  Nonlinear hybrid factor graph that uses type erasure
+ * @author Varun Agrawal
+ * @date   May 28, 2022
+ */
+
+#include <gtsam/hybrid/HybridNonlinearFactorGraph.h>
+
+namespace gtsam {
+
+/* ************************************************************************* */
+void HybridNonlinearFactorGraph::add(
+    boost::shared_ptr<NonlinearFactor> factor) {
+  FactorGraph::add(boost::make_shared<HybridNonlinearFactor>(factor));
+}
+
+/* ************************************************************************* */
+void HybridNonlinearFactorGraph::print(const std::string& s,
+                                       const KeyFormatter& keyFormatter) const {
+  // Base::print(str, keyFormatter);
+  std::cout << (s.empty() ? "" : s + " ") << std::endl;
+  std::cout << "size: " << size() << std::endl;
+  for (size_t i = 0; i < factors_.size(); i++) {
+    std::stringstream ss;
+    ss << "factor " << i << ": ";
+    if (factors_[i]) {
+      factors_[i]->print(ss.str(), keyFormatter);
+      std::cout << std::endl;
+    }
+  }
+}
+
+/* ************************************************************************* */
+bool HybridNonlinearFactorGraph::equals(const HybridNonlinearFactorGraph& other,
+                                        double tol) const {
+  return false;
+}
+
+/* ************************************************************************* */
+HybridGaussianFactorGraph HybridNonlinearFactorGraph::linearize(
+    const Values& continuousValues) const {
+  // create an empty linear FG
+  HybridGaussianFactorGraph linearFG;
+
+  linearFG.reserve(size());
+
+  // linearize all hybrid factors
+  for (auto&& factor : factors_) {
+    // First check if it is a valid factor
+    if (factor) {
+      // Check if the factor is a hybrid factor.
+      // It can be either a nonlinear MixtureFactor or a linear
+      // GaussianMixtureFactor.
+      if (factor->isHybrid()) {
+        // Check if it is a nonlinear mixture factor
+        if (auto nlmf = boost::dynamic_pointer_cast<MixtureFactor>(factor)) {
+          linearFG.push_back(nlmf->linearize(continuousValues));
+        } else {
+          linearFG.push_back(factor);
+        }
+
+        // Now check if the factor is a continuous only factor.
+      } else if (factor->isContinuous()) {
+        // In this case, we check if factor->inner() is nonlinear since
+        // HybridFactors wrap over continuous factors.
+        auto nlhf = boost::dynamic_pointer_cast<HybridNonlinearFactor>(factor);
+        if (auto nlf =
+                boost::dynamic_pointer_cast<NonlinearFactor>(nlhf->inner())) {
+          auto hgf = boost::make_shared<HybridGaussianFactor>(
+              nlf->linearize(continuousValues));
+          linearFG.push_back(hgf);
+        } else {
+          linearFG.push_back(factor);
+        }
+        // Finally if nothing else, we are discrete-only which doesn't need
+        // lineariztion.
+      } else {
+        linearFG.push_back(factor);
+      }
+
+    } else {
+      linearFG.push_back(GaussianFactor::shared_ptr());
+    }
+  }
+  return linearFG;
+}
+
+}  // namespace gtsam
diff --git a/gtsam/hybrid/HybridNonlinearFactorGraph.h b/gtsam/hybrid/HybridNonlinearFactorGraph.h
index 6c5dd515fa..073581da2c 100644
--- a/gtsam/hybrid/HybridNonlinearFactorGraph.h
+++ b/gtsam/hybrid/HybridNonlinearFactorGraph.h
@@ -18,9 +18,9 @@
 
 #pragma once
 
-#include <gtsam/hybrid/HybridGaussianFactorGraph.h>
 #include <gtsam/hybrid/HybridFactor.h>
 #include <gtsam/hybrid/HybridFactorGraph.h>
+#include <gtsam/hybrid/HybridGaussianFactorGraph.h>
 #include <gtsam/hybrid/HybridNonlinearFactor.h>
 #include <gtsam/hybrid/MixtureFactor.h>
 #include <gtsam/inference/Ordering.h>
@@ -115,25 +115,15 @@ class GTSAM_EXPORT HybridNonlinearFactorGraph : public HybridFactorGraph {
   // }
 
   /// Add a nonlinear factor as a shared ptr.
-  void add(boost::shared_ptr<NonlinearFactor> factor) {
-    FactorGraph::add(boost::make_shared<HybridNonlinearFactor>(factor));
-  }
+  void add(boost::shared_ptr<NonlinearFactor> factor);
 
-  /**
-   * Simply prints the factor graph.
-   */
+  /// Print the factor graph.
   void print(
-      const std::string& str = "HybridNonlinearFactorGraph",
-      const KeyFormatter& keyFormatter = DefaultKeyFormatter) const override {}
+      const std::string& s = "HybridNonlinearFactorGraph",
+      const KeyFormatter& keyFormatter = DefaultKeyFormatter) const override;
 
-  /**
-   * @return true if all internal graphs of `this` are equal to those of
-   * `other`
-   */
-  bool equals(const HybridNonlinearFactorGraph& other,
-              double tol = 1e-9) const {
-    return false;
-  }
+  /// Check if this factor graph is equal to `other`.
+  bool equals(const HybridNonlinearFactorGraph& other, double tol = 1e-9) const;
 
   /**
    * @brief Linearize all the continuous factors in the
@@ -142,53 +132,7 @@ class GTSAM_EXPORT HybridNonlinearFactorGraph : public HybridFactorGraph {
    * @param continuousValues: Dictionary of continuous values.
    * @return HybridGaussianFactorGraph::shared_ptr
    */
-  HybridGaussianFactorGraph linearize(const Values& continuousValues) const {
-    // create an empty linear FG
-    HybridGaussianFactorGraph linearFG;
-
-    linearFG.reserve(size());
-
-    // linearize all hybrid factors
-    for (auto&& factor : factors_) {
-      // First check if it is a valid factor
-      if (factor) {
-        // Check if the factor is a hybrid factor.
-        // It can be either a nonlinear MixtureFactor or a linear
-        // GaussianMixtureFactor.
-        if (factor->isHybrid()) {
-          // Check if it is a nonlinear mixture factor
-          if (auto nlmf = boost::dynamic_pointer_cast<MixtureFactor>(factor)) {
-            linearFG.push_back(nlmf->linearize(continuousValues));
-          } else {
-            linearFG.push_back(factor);
-          }
-
-          // Now check if the factor is a continuous only factor.
-        } else if (factor->isContinuous()) {
-          // In this case, we check if factor->inner() is nonlinear since
-          // HybridFactors wrap over continuous factors.
-          auto nlhf =
-              boost::dynamic_pointer_cast<HybridNonlinearFactor>(factor);
-          if (auto nlf =
-                  boost::dynamic_pointer_cast<NonlinearFactor>(nlhf->inner())) {
-            auto hgf = boost::make_shared<HybridGaussianFactor>(
-                nlf->linearize(continuousValues));
-            linearFG.push_back(hgf);
-          } else {
-            linearFG.push_back(factor);
-          }
-          // Finally if nothing else, we are discrete-only which doesn't need
-          // lineariztion.
-        } else {
-          linearFG.push_back(factor);
-        }
-
-      } else {
-        linearFG.push_back(GaussianFactor::shared_ptr());
-      }
-    }
-    return linearFG;
-  }
+  HybridGaussianFactorGraph linearize(const Values& continuousValues) const;
 };
 
 template <>

From 51d2f077093534921d535028dd45fcc8478dc3de Mon Sep 17 00:00:00 2001
From: Varun Agrawal <varagrawal@gmail.com>
Date: Mon, 8 Aug 2022 18:02:59 -0400
Subject: [PATCH 265/433] fix printing and key bug in MixtureFactor linearize

---
 gtsam/hybrid/GaussianMixtureFactor.cpp |  2 +-
 gtsam/hybrid/HybridFactor.cpp          | 10 ++++++----
 gtsam/hybrid/HybridNonlinearFactor.cpp |  2 +-
 gtsam/hybrid/MixtureFactor.h           | 21 ++++-----------------
 4 files changed, 12 insertions(+), 23 deletions(-)

diff --git a/gtsam/hybrid/GaussianMixtureFactor.cpp b/gtsam/hybrid/GaussianMixtureFactor.cpp
index 8f832d8eab..9b5be188a6 100644
--- a/gtsam/hybrid/GaussianMixtureFactor.cpp
+++ b/gtsam/hybrid/GaussianMixtureFactor.cpp
@@ -51,7 +51,7 @@ GaussianMixtureFactor GaussianMixtureFactor::FromFactors(
 void GaussianMixtureFactor::print(const std::string &s,
                                   const KeyFormatter &formatter) const {
   HybridFactor::print(s, formatter);
-  std::cout << "]{\n";
+  std::cout << "{\n";
   factors_.print(
       "", [&](Key k) { return formatter(k); },
       [&](const GaussianFactor::shared_ptr &gf) -> std::string {
diff --git a/gtsam/hybrid/HybridFactor.cpp b/gtsam/hybrid/HybridFactor.cpp
index 03fe89c188..5871a13032 100644
--- a/gtsam/hybrid/HybridFactor.cpp
+++ b/gtsam/hybrid/HybridFactor.cpp
@@ -89,17 +89,19 @@ void HybridFactor::print(const std::string &s,
   if (isContinuous_) std::cout << "Continuous ";
   if (isDiscrete_) std::cout << "Discrete ";
   if (isHybrid_) std::cout << "Hybrid ";
-  for (size_t c=0; c<continuousKeys_.size(); c++) {
+  std::cout << "[";
+  for (size_t c = 0; c < continuousKeys_.size(); c++) {
     std::cout << formatter(continuousKeys_.at(c));
     if (c < continuousKeys_.size() - 1) {
       std::cout << " ";
     } else {
-      std::cout << "; ";
+      std::cout << (discreteKeys_.size() > 0 ? ";" : "");
     }
   }
-  for(auto && discreteKey: discreteKeys_) {
-    std::cout << formatter(discreteKey.first) << " ";
+  for (auto &&discreteKey : discreteKeys_) {
+    std::cout << " " << formatter(discreteKey.first);
   }
+  std::cout << "]";
 }
 
 }  // namespace gtsam
diff --git a/gtsam/hybrid/HybridNonlinearFactor.cpp b/gtsam/hybrid/HybridNonlinearFactor.cpp
index 0938fd2b12..5a1833d397 100644
--- a/gtsam/hybrid/HybridNonlinearFactor.cpp
+++ b/gtsam/hybrid/HybridNonlinearFactor.cpp
@@ -35,7 +35,7 @@ bool HybridNonlinearFactor::equals(const HybridFactor &lf, double tol) const {
 void HybridNonlinearFactor::print(const std::string &s,
                                   const KeyFormatter &formatter) const {
   HybridFactor::print(s, formatter);
-  inner_->print("inner: ", formatter);
+  inner_->print("\n", formatter);
 };
 
 }  // namespace gtsam
diff --git a/gtsam/hybrid/MixtureFactor.h b/gtsam/hybrid/MixtureFactor.h
index ba449976a8..8c25457efd 100644
--- a/gtsam/hybrid/MixtureFactor.h
+++ b/gtsam/hybrid/MixtureFactor.h
@@ -131,21 +131,8 @@ class MixtureFactor : public HybridFactor {
       const std::string& s = "MixtureFactor",
       const KeyFormatter& keyFormatter = DefaultKeyFormatter) const override {
     std::cout << (s.empty() ? "" : s + " ");
-    std::cout << "(";
-    auto contKeys = keys();
-    auto dKeys = discreteKeys();
-    for (DiscreteKey key : dKeys) {
-      auto it = std::find(contKeys.begin(), contKeys.end(), key.first);
-      contKeys.erase(it);
-    }
-    for (Key key : contKeys) {
-      std::cout << " " << keyFormatter(key);
-    }
-    std::cout << ";";
-    for (DiscreteKey key : dKeys) {
-      std::cout << " " << keyFormatter(key.first);
-    }
-    std::cout << " ) \n";
+    Base::print("", keyFormatter);
+    std::cout << "\nMixtureFactor\n";
     auto valueFormatter = [](const sharedFactor& v) {
       if (v) {
         return (boost::format("Nonlinear factor on %d keys") % v->size()).str();
@@ -200,8 +187,8 @@ class MixtureFactor : public HybridFactor {
     DecisionTree<Key, GaussianFactor::shared_ptr> linearized_factors(
         factors_, linearizeDT);
 
-    return boost::make_shared<GaussianMixtureFactor>(keys_, discreteKeys_,
-                                                     linearized_factors);
+    return boost::make_shared<GaussianMixtureFactor>(
+        continuousKeys_, discreteKeys_, linearized_factors);
   }
 
   /**

From a3eacaa5ab39985d3c73f07af2c83ed40a31acd2 Mon Sep 17 00:00:00 2001
From: Varun Agrawal <varagrawal@gmail.com>
Date: Mon, 8 Aug 2022 18:03:14 -0400
Subject: [PATCH 266/433] fix adding priors in Switching

---
 gtsam/hybrid/tests/Switching.h | 2 +-
 1 file changed, 1 insertion(+), 1 deletion(-)

diff --git a/gtsam/hybrid/tests/Switching.h b/gtsam/hybrid/tests/Switching.h
index ac440d2a54..52ef0439eb 100644
--- a/gtsam/hybrid/tests/Switching.h
+++ b/gtsam/hybrid/tests/Switching.h
@@ -156,7 +156,7 @@ struct Switching {
 
     // Add measurement factors
     auto measurement_noise = noiseModel::Isotropic::Sigma(1, 0.1);
-    for (size_t k = 1; k <= K; k++) {
+    for (size_t k = 2; k <= K; k++) {
       nonlinearFactorGraph.emplace_nonlinear<PriorFactor<double>>(
           X(k), 1.0 * (k - 1), measurement_noise);
     }

From 588f56ef3ef7be194bbfaf2b5c4a323d0518c405 Mon Sep 17 00:00:00 2001
From: Varun Agrawal <varagrawal@gmail.com>
Date: Mon, 8 Aug 2022 18:03:38 -0400
Subject: [PATCH 267/433] HybridGaussianISAM unit tests

---
 gtsam/hybrid/tests/testHybridIncremental.cpp | 639 +++++++++++++++++++
 1 file changed, 639 insertions(+)
 create mode 100644 gtsam/hybrid/tests/testHybridIncremental.cpp

diff --git a/gtsam/hybrid/tests/testHybridIncremental.cpp b/gtsam/hybrid/tests/testHybridIncremental.cpp
new file mode 100644
index 0000000000..420dcd3393
--- /dev/null
+++ b/gtsam/hybrid/tests/testHybridIncremental.cpp
@@ -0,0 +1,639 @@
+/* ----------------------------------------------------------------------------
+
+ * GTSAM Copyright 2010, Georgia Tech Research Corporation,
+ * Atlanta, Georgia 30332-0415
+ * All Rights Reserved
+ * Authors: Frank Dellaert, et al. (see THANKS for the full author list)
+
+ * See LICENSE for the license information
+
+ * -------------------------------------------------------------------------- */
+
+/**
+ * @file    testHybridIncremental.cpp
+ * @brief   Unit tests for incremental inference
+ * @author  Fan Jiang, Varun Agrawal, Frank Dellaert
+ * @date    Jan 2021
+ */
+
+#include <gtsam/discrete/DiscreteBayesNet.h>
+#include <gtsam/discrete/DiscreteDistribution.h>
+#include <gtsam/geometry/Pose2.h>
+#include <gtsam/hybrid/HybridGaussianISAM.h>
+#include <gtsam/linear/GaussianBayesNet.h>
+#include <gtsam/nonlinear/PriorFactor.h>
+#include <gtsam/sam/BearingRangeFactor.h>
+
+#include <numeric>
+
+#include "Switching.h"
+
+// Include for test suite
+#include <CppUnitLite/TestHarness.h>
+
+using namespace std;
+using namespace gtsam;
+using noiseModel::Isotropic;
+using symbol_shorthand::L;
+using symbol_shorthand::M;
+using symbol_shorthand::W;
+using symbol_shorthand::X;
+using symbol_shorthand::Y;
+using symbol_shorthand::Z;
+
+/* ****************************************************************************/
+// Test if we can perform elimination incrementally.
+TEST(HybridGaussianElimination, IncrementalElimination) {
+  Switching switching(3);
+  HybridGaussianISAM isam;
+  HybridGaussianFactorGraph graph1;
+
+  // Create initial factor graph
+  //    *        *      *
+  //    |        |      |
+  // *- X1  -*-  X2 -*- X3
+  //     \*-M1-*/
+  graph1.push_back(switching.linearizedFactorGraph.at(0));  // P(X1)
+  graph1.push_back(switching.linearizedFactorGraph.at(1));  // P(X1, X2 | M1)
+  graph1.push_back(switching.linearizedFactorGraph.at(2));  // P(X2, X3 | M2)
+  graph1.push_back(switching.linearizedFactorGraph.at(5));  // P(M1)
+
+  // Create ordering.
+  Ordering ordering;
+  ordering += X(1);
+  ordering += X(2);
+
+  // Run update step
+  isam.update(graph1);
+
+  // Check that after update we have 3 hybrid Bayes net nodes:
+  // P(X1 | X2, M1) and P(X2, X3 | M1, M2), P(M1, M2)
+  EXPECT_LONGS_EQUAL(3, isam.size());
+  EXPECT(isam[X(1)]->conditional()->frontals() == KeyVector{X(1)});
+  EXPECT(isam[X(1)]->conditional()->parents() == KeyVector({X(2), M(1)}));
+  EXPECT(isam[X(2)]->conditional()->frontals() == KeyVector({X(2), X(3)}));
+  EXPECT(isam[X(2)]->conditional()->parents() == KeyVector({M(1), M(2)}));
+
+  /********************************************************/
+  // New factor graph for incremental update.
+  HybridGaussianFactorGraph graph2;
+
+  graph1.push_back(switching.linearizedFactorGraph.at(3));  // P(X2)
+  graph2.push_back(switching.linearizedFactorGraph.at(4));  // P(X3)
+  graph2.push_back(switching.linearizedFactorGraph.at(6));  // P(M1, M2)
+
+  // Create ordering.
+  Ordering ordering2;
+  ordering2 += X(2);
+  ordering2 += X(3);
+
+  isam.update(graph2);
+
+  // Check that after the second update we have
+  // 1 additional hybrid Bayes net node:
+  // P(X2, X3 | M1, M2)
+  EXPECT_LONGS_EQUAL(3, isam.size());
+  EXPECT(isam[X(3)]->conditional()->frontals() == KeyVector({X(2), X(3)}));
+  EXPECT(isam[X(3)]->conditional()->parents() == KeyVector({M(1), M(2)}));
+}
+
+/* ****************************************************************************/
+// Test if we can incrementally do the inference
+TEST(HybridGaussianElimination, IncrementalInference) {
+  Switching switching(3);
+  HybridGaussianISAM isam;
+  HybridGaussianFactorGraph graph1;
+
+  // Create initial factor graph
+  //    *        *      *
+  //    |        |      |
+  // *- X1  -*-  X2 -*- X3
+  //     \*-M1-*/
+  graph1.push_back(switching.linearizedFactorGraph.at(0));  // P(X1)
+  graph1.push_back(switching.linearizedFactorGraph.at(1));  // P(X1, X2 | M1)
+  graph1.push_back(switching.linearizedFactorGraph.at(2));  // P(X2, X3 | M2)
+  graph1.push_back(switching.linearizedFactorGraph.at(5));  // P(M1)
+
+  // Create ordering.
+  Ordering ordering;
+  ordering += X(1);
+  ordering += X(2);
+
+  // Run update step
+  isam.update(graph1);
+
+  /********************************************************/
+  // New factor graph for incremental update.
+  HybridGaussianFactorGraph graph2;
+
+  graph1.push_back(switching.linearizedFactorGraph.at(3));  // P(X2)
+  graph2.push_back(switching.linearizedFactorGraph.at(4));  // P(X3)
+  graph2.push_back(switching.linearizedFactorGraph.at(6));  // P(M1, M2)
+
+  // Create ordering.
+  Ordering ordering2;
+  ordering2 += X(2);
+  ordering2 += X(3);
+
+  isam.update(graph2);
+
+  /********************************************************/
+  // Run batch elimination so we can compare results.
+  ordering.clear();
+  ordering += X(1);
+  ordering += X(2);
+  ordering += X(3);
+
+  // Now we calculate the actual factors using full elimination
+  HybridBayesNet::shared_ptr expectedHybridBayesNet;
+  HybridGaussianFactorGraph::shared_ptr expectedRemainingGraph;
+  std::tie(expectedHybridBayesNet, expectedRemainingGraph) =
+      switching.linearizedFactorGraph.eliminatePartialSequential(ordering);
+
+  // The densities on X(1) should be the same
+  expectedHybridBayesNet->atGaussian(0)->print();
+  auto x1_conditional = isam[X(1)]->conditional();
+  GTSAM_PRINT(*x1_conditional);
+  // EXPECT(assert_equal(*(hybridBayesNet.atGaussian(0)),
+  //                     *(expectedHybridBayesNet->atGaussian(0))));
+
+  //   // The densities on X(2) should be the same
+  //   EXPECT(assert_equal(*(hybridBayesNet2.atGaussian(1)),
+  //                       *(expectedHybridBayesNet->atGaussian(1))));
+
+  //   // The densities on X(3) should be the same
+  //   EXPECT(assert_equal(*(hybridBayesNet2.atGaussian(2)),
+  //                       *(expectedHybridBayesNet->atGaussian(2))));
+
+  //   // we only do the manual continuous elimination for 0,0
+  //   // the other discrete probabilities on M(2) are calculated the same way
+  //   auto m00_prob = [&]() {
+  //     GaussianFactorGraph gf;
+  //     gf.add(switching.linearizedFactorGraph.gaussianGraph().at(3));
+
+  //     DiscreteValues m00;
+  //     m00[M(1)] = 0, m00[M(2)] = 0;
+  //     auto dcMixture =
+  // dynamic_pointer_cast<DCGaussianMixtureFactor>(graph2.dcGraph().at(0));
+  //     gf.add(dcMixture->factors()(m00));
+  //     auto x2_mixed =
+  // boost::dynamic_pointer_cast<GaussianMixture>(hybridBayesNet.at(1));
+  //     gf.add(x2_mixed->factors()(m00));
+  //     auto result_gf = gf.eliminateSequential();
+  //     return gf.probPrime(result_gf->optimize());
+  //   }();
+
+  /// Test if the probability values are as expected with regression tests.
+//   DiscreteValues assignment;
+//   EXPECT(assert_equal(m00_prob, 0.60656, 1e-5));
+//   assignment[M(1)] = 0;
+//   assignment[M(2)] = 0;
+//   EXPECT(assert_equal(m00_prob, (*discreteFactor)(assignment), 1e-5));
+//   assignment[M(1)] = 1;
+//   assignment[M(2)] = 0;
+//   EXPECT(assert_equal(0.612477, (*discreteFactor)(assignment), 1e-5));
+//   assignment[M(1)] = 0;
+//   assignment[M(2)] = 1;
+//   EXPECT(assert_equal(0.999952, (*discreteFactor)(assignment), 1e-5));
+//   assignment[M(1)] = 1;
+//   assignment[M(2)] = 1;
+//   EXPECT(assert_equal(1.0, (*discreteFactor)(assignment), 1e-5));
+
+//   DiscreteFactorGraph dfg;
+//   dfg.add(*discreteFactor);
+//   dfg.add(discreteFactor_m1);
+//   dfg.add_factors(switching.linearizedFactorGraph.discreteGraph());
+
+//   // Check if the chordal graph generated from incremental elimination
+//   matches
+//   // that of batch elimination.
+//   auto chordal = dfg.eliminateSequential();
+//   auto expectedChordal =
+//       expectedRemainingGraph->discreteGraph().eliminateSequential();
+
+//   EXPECT(assert_equal(*expectedChordal, *chordal, 1e-6));
+}
+
+/* ****************************************************************************/
+// // Test if we can approximately do the inference
+// TEST(DCGaussianElimination, Approx_inference) {
+//   Switching switching(4);
+//   IncrementalHybrid incrementalHybrid;
+//   HybridGaussianFactorGraph graph1;
+
+//   // Add the 3 DC factors, x1-x2, x2-x3, x3-x4
+//   for (size_t i = 0; i < 3; i++) {
+//     graph1.push_back(switching.linearizedFactorGraph.dcGraph().at(i));
+//   }
+
+//   // Add the Gaussian factors, 1 prior on X(1), 4 measurements
+//   for (size_t i = 0; i <= 4; i++) {
+// graph1.push_back(switching.linearizedFactorGraph.gaussianGraph().at(i));
+//   }
+
+//   // Create ordering.
+//   Ordering ordering;
+//   for (size_t j = 1; j <= 4; j++) {
+//     ordering += X(j);
+//   }
+
+//   // Now we calculate the actual factors using full elimination
+//   HybridBayesNet::shared_ptr unprunedHybridBayesNet;
+//   HybridGaussianFactorGraph::shared_ptr unprunedRemainingGraph;
+//   std::tie(unprunedHybridBayesNet, unprunedRemainingGraph) =
+// switching.linearizedFactorGraph.eliminatePartialSequential(ordering);
+
+//   size_t maxComponents = 5;
+//   incrementalHybrid.update(graph1, ordering, maxComponents);
+
+//   /*
+//   unpruned factor is:
+//       Choice(m3)
+//       0 Choice(m2)
+//       0 0 Choice(m1)
+//       0 0 0 Leaf 0.2248 -
+//       0 0 1 Leaf 0.3715 -
+//       0 1 Choice(m1)
+//       0 1 0 Leaf 0.3742 *
+//       0 1 1 Leaf 0.6125 *
+//       1 Choice(m2)
+//       1 0 Choice(m1)
+//       1 0 0 Leaf 0.3706 -
+//       1 0 1 Leaf 0.6124 *
+//       1 1 Choice(m1)
+//       1 1 0 Leaf 0.611 *
+//       1 1 1 Leaf    1 *
+
+//   pruned factors is:
+//       Choice(m3)
+//       0 Choice(m2)
+//       0 0 Leaf    0
+//       0 1 Choice(m1)
+//       0 1 0 Leaf 0.3742
+//       0 1 1 Leaf 0.6125
+//       1 Choice(m2)
+//       1 0 Choice(m1)
+//       1 0 0 Leaf    0
+//       1 0 1 Leaf 0.6124
+//       1 1 Choice(m1)
+//       1 1 0 Leaf 0.611
+//       1 1 1 Leaf    1
+//    */
+
+//   // Test that the remaining factor graph has one
+//   // DecisionTreeFactor on {M3, M2, M1}.
+//   auto remainingFactorGraph = incrementalHybrid.remainingFactorGraph();
+//   EXPECT_LONGS_EQUAL(1, remainingFactorGraph.size());
+
+//   auto discreteFactor_m1 = *dynamic_pointer_cast<DecisionTreeFactor>(
+//       incrementalHybrid.remainingDiscreteGraph().at(0));
+//   EXPECT(discreteFactor_m1.keys() == KeyVector({M(3), M(2), M(1)}));
+
+//   // Get the number of elements which are equal to 0.
+//   auto count = [](const double &value, int count) {
+//     return value > 0 ? count + 1 : count;
+//   };
+//   // Check that the number of leaves after pruning is 5.
+//   EXPECT_LONGS_EQUAL(5, discreteFactor_m1.fold(count, 0));
+
+//   /* Expected hybrid Bayes net
+//    * factor 0:  [x1 | x2 m1 ], 2 components
+//    * factor 1:  [x2 | x3 m2 m1 ], 4 components
+//    * factor 2:  [x3 | x4 m3 m2 m1 ], 8 components
+//    * factor 3:  [x4 | m3 m2 m1 ], 8 components
+//    */
+//   auto hybridBayesNet = incrementalHybrid.hybridBayesNet();
+
+//   // Check if we have a bayes net with 4 hybrid nodes,
+//   // each with 2, 4, 5 (pruned), and 5 (pruned) leaves respetively.
+//   EXPECT_LONGS_EQUAL(4, hybridBayesNet.size());
+//   EXPECT_LONGS_EQUAL(2, hybridBayesNet.atGaussian(0)->nrComponents());
+//   EXPECT_LONGS_EQUAL(4, hybridBayesNet.atGaussian(1)->nrComponents());
+//   EXPECT_LONGS_EQUAL(5, hybridBayesNet.atGaussian(2)->nrComponents());
+//   EXPECT_LONGS_EQUAL(5, hybridBayesNet.atGaussian(3)->nrComponents());
+
+//   // Check that the hybrid nodes of the bayes net match those of the bayes
+//   net
+//   // before pruning, at the same positions.
+//   auto &lastDensity = *(hybridBayesNet.atGaussian(3));
+//   auto &unprunedLastDensity = *(unprunedHybridBayesNet->atGaussian(3));
+//   std::vector<std::pair<DiscreteValues, double>> assignments =
+//       discreteFactor_m1.enumerate();
+//   // Loop over all assignments and check the pruned components
+//   for (auto &&av : assignments) {
+//     const DiscreteValues &assignment = av.first;
+//     const double value = av.second;
+
+//     if (value == 0.0) {
+//       EXPECT(lastDensity(assignment) == nullptr);
+//     } else {
+//       CHECK(lastDensity(assignment));
+//       EXPECT(assert_equal(*unprunedLastDensity(assignment),
+//                           *lastDensity(assignment)));
+//     }
+//   }
+// }
+
+/* ****************************************************************************/
+// // Test approximate inference with an additional pruning step.
+// TEST(DCGaussianElimination, Incremental_approximate) {
+//   Switching switching(5);
+//   IncrementalHybrid incrementalHybrid;
+//   HybridGaussianFactorGraph graph1;
+
+//   // Add the 3 DC factors, x1-x2, x2-x3, x3-x4
+//   for (size_t i = 0; i < 3; i++) {
+//     graph1.push_back(switching.linearizedFactorGraph.dcGraph().at(i));
+//   }
+
+//   // Add the Gaussian factors, 1 prior on X(1), 4 measurements
+//   for (size_t i = 0; i <= 4; i++) {
+// graph1.push_back(switching.linearizedFactorGraph.gaussianGraph().at(i));
+//   }
+
+//   // Create ordering.
+//   Ordering ordering;
+//   for (size_t j = 1; j <= 4; j++) {
+//     ordering += X(j);
+//   }
+
+//   // Run update with pruning
+//   size_t maxComponents = 5;
+//   incrementalHybrid.update(graph1, ordering, maxComponents);
+
+//   // Check if we have a bayes net with 4 hybrid nodes,
+//   // each with 2, 4, 8, and 5 (pruned) leaves respetively.
+//   auto actualBayesNet1 = incrementalHybrid.hybridBayesNet();
+//   CHECK_EQUAL(4, actualBayesNet1.size());
+//   EXPECT_LONGS_EQUAL(2, actualBayesNet1.atGaussian(0)->nrComponents());
+//   EXPECT_LONGS_EQUAL(4, actualBayesNet1.atGaussian(1)->nrComponents());
+//   EXPECT_LONGS_EQUAL(8, actualBayesNet1.atGaussian(2)->nrComponents());
+//   EXPECT_LONGS_EQUAL(5, actualBayesNet1.atGaussian(3)->nrComponents());
+
+//   /***** Run Round 2 *****/
+//   HybridGaussianFactorGraph graph2;
+//   graph2.push_back(switching.linearizedFactorGraph.dcGraph().at(3));
+//   graph2.push_back(switching.linearizedFactorGraph.gaussianGraph().at(5));
+
+//   Ordering ordering2;
+//   ordering2 += X(4);
+//   ordering2 += X(5);
+
+//   // Run update with pruning a second time.
+//   incrementalHybrid.update(graph2, ordering2, maxComponents);
+
+//   // Check if we have a bayes net with 2 hybrid nodes,
+//   // each with 10 (pruned), and 5 (pruned) leaves respetively.
+//   auto actualBayesNet = incrementalHybrid.hybridBayesNet();
+//   CHECK_EQUAL(2, actualBayesNet.size());
+//   EXPECT_LONGS_EQUAL(10, actualBayesNet.atGaussian(0)->nrComponents());
+//   EXPECT_LONGS_EQUAL(5, actualBayesNet.atGaussian(1)->nrComponents());
+// }
+
+/* ************************************************************************/
+// // Test for figuring out the optimal ordering to ensure we get
+// // a discrete graph after elimination.
+// TEST(IncrementalHybrid, NonTrivial) {
+//   // This is a GTSAM-only test for running inference on a single legged
+//   robot.
+//   // The leg links are represented by the chain X-Y-Z-W, where X is the base
+//   and
+//   // W is the foot.
+//   // We use BetweenFactor<Pose2> as constraints between each of the poses.
+
+//   /*************** Run Round 1 ***************/
+//   NonlinearHybridFactorGraph fg;
+
+//   // Add a prior on pose x1 at the origin.
+//   // A prior factor consists of a mean  and
+//   // a noise model (covariance matrix)
+//   Pose2 prior(0.0, 0.0, 0.0);  // prior mean is at origin
+//   auto priorNoise = noiseModel::Diagonal::Sigmas(
+//       Vector3(0.3, 0.3, 0.1));  // 30cm std on x,y, 0.1 rad on theta
+//   fg.emplace_nonlinear<PriorFactor<Pose2>>(X(0), prior, priorNoise);
+
+//   // create a noise model for the landmark measurements
+//   auto poseNoise = noiseModel::Isotropic::Sigma(3, 0.1);
+
+//   // We model a robot's single leg as X - Y - Z - W
+//   // where X is the base link and W is the foot link.
+
+//   // Add connecting poses similar to PoseFactors in GTD
+//   fg.emplace_nonlinear<BetweenFactor<Pose2>>(X(0), Y(0), Pose2(0, 1.0, 0),
+//                                              poseNoise);
+//   fg.emplace_nonlinear<BetweenFactor<Pose2>>(Y(0), Z(0), Pose2(0, 1.0, 0),
+//                                              poseNoise);
+//   fg.emplace_nonlinear<BetweenFactor<Pose2>>(Z(0), W(0), Pose2(0, 1.0, 0),
+//                                              poseNoise);
+
+//   // Create initial estimate
+//   Values initial;
+//   initial.insert(X(0), Pose2(0.0, 0.0, 0.0));
+//   initial.insert(Y(0), Pose2(0.0, 1.0, 0.0));
+//   initial.insert(Z(0), Pose2(0.0, 2.0, 0.0));
+//   initial.insert(W(0), Pose2(0.0, 3.0, 0.0));
+
+//   HybridGaussianFactorGraph gfg = fg.linearize(initial);
+//   fg = NonlinearHybridFactorGraph();
+
+//   IncrementalHybrid inc;
+
+//   // Regular ordering going up the chain.
+//   Ordering ordering;
+//   ordering += W(0);
+//   ordering += Z(0);
+//   ordering += Y(0);
+//   ordering += X(0);
+
+//   // Update without pruning
+//   // The result is a HybridBayesNet with no discrete variables
+//   // (equivalent to a GaussianBayesNet).
+//   // Factorization is:
+//   // `P(X | measurements) = P(W0|Z0) P(Z0|Y0) P(Y0|X0) P(X0)`
+//   inc.update(gfg, ordering);
+
+//   /*************** Run Round 2 ***************/
+//   using PlanarMotionModel = BetweenFactor<Pose2>;
+
+//   // Add odometry factor with discrete modes.
+//   Pose2 odometry(1.0, 0.0, 0.0);
+//   KeyVector contKeys = {W(0), W(1)};
+//   auto noise_model = noiseModel::Isotropic::Sigma(3, 1.0);
+//   auto still = boost::make_shared<PlanarMotionModel>(W(0), W(1), Pose2(0, 0,
+//   0),
+//                                                      noise_model),
+//        moving = boost::make_shared<PlanarMotionModel>(W(0), W(1), odometry,
+//                                                       noise_model);
+//   std::vector<PlanarMotionModel::shared_ptr> components = {moving, still};
+//   auto dcFactor = boost::make_shared<DCMixtureFactor<PlanarMotionModel>>(
+//       contKeys, DiscreteKeys{gtsam::DiscreteKey(M(1), 2)}, components);
+//   fg.push_back(dcFactor);
+
+//   // Add equivalent of ImuFactor
+//   fg.emplace_nonlinear<BetweenFactor<Pose2>>(X(0), X(1), Pose2(1.0, 0.0, 0),
+//                                              poseNoise);
+//   // PoseFactors-like at k=1
+//   fg.emplace_nonlinear<BetweenFactor<Pose2>>(X(1), Y(1), Pose2(0, 1, 0),
+//                                              poseNoise);
+//   fg.emplace_nonlinear<BetweenFactor<Pose2>>(Y(1), Z(1), Pose2(0, 1, 0),
+//                                              poseNoise);
+//   fg.emplace_nonlinear<BetweenFactor<Pose2>>(Z(1), W(1), Pose2(-1, 1, 0),
+//                                              poseNoise);
+
+//   initial.insert(X(1), Pose2(1.0, 0.0, 0.0));
+//   initial.insert(Y(1), Pose2(1.0, 1.0, 0.0));
+//   initial.insert(Z(1), Pose2(1.0, 2.0, 0.0));
+//   // The leg link did not move so we set the expected pose accordingly.
+//   initial.insert(W(1), Pose2(0.0, 3.0, 0.0));
+
+//   // Ordering for k=1.
+//   // This ordering follows the intuition that we eliminate the previous
+//   // timestep, and then the current timestep.
+//   ordering = Ordering();
+//   ordering += W(0);
+//   ordering += Z(0);
+//   ordering += Y(0);
+//   ordering += X(0);
+//   ordering += W(1);
+//   ordering += Z(1);
+//   ordering += Y(1);
+//   ordering += X(1);
+
+//   gfg = fg.linearize(initial);
+//   fg = NonlinearHybridFactorGraph();
+
+//   // Update without pruning
+//   // The result is a HybridBayesNet with 1 discrete variable M(1).
+//   // P(X | measurements) = P(W0|Z0, W1, M1) P(Z0|Y0, W1, M1) P(Y0|X0, W1, M1)
+//   //                       P(X0 | X1, W1, M1) P(W1|Z1, X1, M1) P(Z1|Y1, X1,
+//   M1)
+//   //                       P(Y1 | X1, M1)P(X1 | M1)P(M1)
+//   // The MHS tree is a 2 level tree for time indices (0, 1) with 2 leaves.
+//   inc.update(gfg, ordering);
+
+//   /*************** Run Round 3 ***************/
+//   // Add odometry factor with discrete modes.
+//   contKeys = {W(1), W(2)};
+//   still = boost::make_shared<PlanarMotionModel>(W(1), W(2), Pose2(0, 0, 0),
+//                                                 noise_model);
+//   moving =
+//       boost::make_shared<PlanarMotionModel>(W(1), W(2), odometry,
+//       noise_model);
+//   components = {moving, still};
+//   dcFactor = boost::make_shared<DCMixtureFactor<PlanarMotionModel>>(
+//       contKeys, DiscreteKeys{gtsam::DiscreteKey(M(2), 2)}, components);
+//   fg.push_back(dcFactor);
+
+//   // Add equivalent of ImuFactor
+//   fg.emplace_nonlinear<BetweenFactor<Pose2>>(X(1), X(2), Pose2(1.0, 0.0, 0),
+//                                              poseNoise);
+//   // PoseFactors-like at k=1
+//   fg.emplace_nonlinear<BetweenFactor<Pose2>>(X(2), Y(2), Pose2(0, 1, 0),
+//                                              poseNoise);
+//   fg.emplace_nonlinear<BetweenFactor<Pose2>>(Y(2), Z(2), Pose2(0, 1, 0),
+//                                              poseNoise);
+//   fg.emplace_nonlinear<BetweenFactor<Pose2>>(Z(2), W(2), Pose2(-2, 1, 0),
+//                                              poseNoise);
+
+//   initial.insert(X(2), Pose2(2.0, 0.0, 0.0));
+//   initial.insert(Y(2), Pose2(2.0, 1.0, 0.0));
+//   initial.insert(Z(2), Pose2(2.0, 2.0, 0.0));
+//   initial.insert(W(2), Pose2(0.0, 3.0, 0.0));
+
+//   // Ordering at k=2. Same intuition as before.
+//   ordering = Ordering();
+//   ordering += W(1);
+//   ordering += Z(1);
+//   ordering += Y(1);
+//   ordering += X(1);
+//   ordering += W(2);
+//   ordering += Z(2);
+//   ordering += Y(2);
+//   ordering += X(2);
+
+//   gfg = fg.linearize(initial);
+//   fg = NonlinearHybridFactorGraph();
+
+//   // Now we prune!
+//   // P(X | measurements) = P(W0|Z0, W1, M1) P(Z0|Y0, W1, M1) P(Y0|X0, W1, M1)
+//   P(X0 | X1, W1, M1)
+//   //                       P(W1|W2, Z1, X1, M1, M2) P(Z1| W2, Y1, X1, M1, M2)
+//   P(Y1 | W2, X1, M1, M2)
+//   //                       P(X1 | W2, X2, M1, M2) P(W2|Z2, X2, M1, M2)
+//   P(Z2|Y2, X2, M1, M2)
+//   //                       P(Y2 | X2, M1, M2)P(X2 | M1, M2) P(M1, M2)
+//   // The MHS at this point should be a 3 level tree on (0, 1, 2).
+//   // 0 has 2 choices, 1 has 4 choices and 2 has 4 choices.
+//   inc.update(gfg, ordering, 2);
+
+//   /*************** Run Round 4 ***************/
+//   // Add odometry factor with discrete modes.
+//   contKeys = {W(2), W(3)};
+//   still = boost::make_shared<PlanarMotionModel>(W(2), W(3), Pose2(0, 0, 0),
+//                                                 noise_model);
+//   moving =
+//       boost::make_shared<PlanarMotionModel>(W(2), W(3), odometry,
+//       noise_model);
+//   components = {moving, still};
+//   dcFactor = boost::make_shared<DCMixtureFactor<PlanarMotionModel>>(
+//       contKeys, DiscreteKeys{gtsam::DiscreteKey(M(3), 2)}, components);
+//   fg.push_back(dcFactor);
+
+//   // Add equivalent of ImuFactor
+//   fg.emplace_nonlinear<BetweenFactor<Pose2>>(X(2), X(3), Pose2(1.0, 0.0, 0),
+//                                              poseNoise);
+//   // PoseFactors-like at k=3
+//   fg.emplace_nonlinear<BetweenFactor<Pose2>>(X(3), Y(3), Pose2(0, 1, 0),
+//                                              poseNoise);
+//   fg.emplace_nonlinear<BetweenFactor<Pose2>>(Y(3), Z(3), Pose2(0, 1, 0),
+//                                              poseNoise);
+//   fg.emplace_nonlinear<BetweenFactor<Pose2>>(Z(3), W(3), Pose2(-3, 1, 0),
+//                                              poseNoise);
+
+//   initial.insert(X(3), Pose2(3.0, 0.0, 0.0));
+//   initial.insert(Y(3), Pose2(3.0, 1.0, 0.0));
+//   initial.insert(Z(3), Pose2(3.0, 2.0, 0.0));
+//   initial.insert(W(3), Pose2(0.0, 3.0, 0.0));
+
+//   // Ordering at k=3. Same intuition as before.
+//   ordering = Ordering();
+//   ordering += W(2);
+//   ordering += Z(2);
+//   ordering += Y(2);
+//   ordering += X(2);
+//   ordering += W(3);
+//   ordering += Z(3);
+//   ordering += Y(3);
+//   ordering += X(3);
+
+//   gfg = fg.linearize(initial);
+//   fg = NonlinearHybridFactorGraph();
+
+//   // Keep pruning!
+//   inc.update(gfg, ordering, 3);
+
+//   // The final discrete graph should not be empty since we have eliminated
+//   // all continuous variables.
+//   EXPECT(!inc.remainingDiscreteGraph().empty());
+
+//   // Test if the optimal discrete mode assignment is (1, 1, 1).
+//   DiscreteValues optimal_assignment =
+//   inc.remainingDiscreteGraph().optimize(); DiscreteValues
+//   expected_assignment; expected_assignment[M(1)] = 1;
+//   expected_assignment[M(2)] = 1;
+//   expected_assignment[M(3)] = 1;
+//   EXPECT(assert_equal(expected_assignment, optimal_assignment));
+
+//   // Test if pruning worked correctly by checking that we only have 3 leaves
+//   in
+//   // the last node.
+//   auto lastConditional = boost::dynamic_pointer_cast<GaussianMixture>(
+//       inc.hybridBayesNet().at(inc.hybridBayesNet().size() - 1));
+//   EXPECT_LONGS_EQUAL(3, lastConditional->nrComponents());
+// }
+
+/* ************************************************************************* */
+int main() {
+  TestResult tr;
+  return TestRegistry::runAllTests(tr);
+}

From 60c88e338bd3d73c80753185a2710f83a0c9b353 Mon Sep 17 00:00:00 2001
From: Varun Agrawal <varagrawal@gmail.com>
Date: Wed, 10 Aug 2022 04:37:26 -0400
Subject: [PATCH 268/433] fix print tests

---
 .../tests/testGaussianMixtureFactor.cpp       |  4 +-
 .../tests/testHybridNonlinearFactorGraph.cpp  | 66 ++++++++-----------
 2 files changed, 31 insertions(+), 39 deletions(-)

diff --git a/gtsam/hybrid/tests/testGaussianMixtureFactor.cpp b/gtsam/hybrid/tests/testGaussianMixtureFactor.cpp
index 36477218b9..cb9068c303 100644
--- a/gtsam/hybrid/tests/testGaussianMixtureFactor.cpp
+++ b/gtsam/hybrid/tests/testGaussianMixtureFactor.cpp
@@ -74,7 +74,7 @@ TEST(GaussianMixtureFactor, Sum) {
   // Check that number of keys is 3
   EXPECT_LONGS_EQUAL(3, mixtureFactorA.keys().size());
 
-  // Check that number of discrete keys is 1 // TODO(Frank): should not exist?
+  // Check that number of discrete keys is 1
   EXPECT_LONGS_EQUAL(1, mixtureFactorA.discreteKeys().size());
 
   // Create sum of two mixture factors: it will be a decision tree now on both
@@ -104,7 +104,7 @@ TEST(GaussianMixtureFactor, Printing) {
   GaussianMixtureFactor mixtureFactor({X(1), X(2)}, {m1}, factors);
 
   std::string expected =
-      R"(Hybrid x1 x2; 1 ]{
+      R"(Hybrid [x1 x2; 1]{
  Choice(1) 
  0 Leaf :
   A[x1] = [
diff --git a/gtsam/hybrid/tests/testHybridNonlinearFactorGraph.cpp b/gtsam/hybrid/tests/testHybridNonlinearFactorGraph.cpp
index c732ec6c51..b471079b00 100644
--- a/gtsam/hybrid/tests/testHybridNonlinearFactorGraph.cpp
+++ b/gtsam/hybrid/tests/testHybridNonlinearFactorGraph.cpp
@@ -175,9 +175,8 @@ TEST(HybridFactorGraph, PushBack) {
 TEST(HybridFactorGraph, Switching) {
   Switching self(3);
 
-  EXPECT_LONGS_EQUAL(8, self.nonlinearFactorGraph.size());
-
-  EXPECT_LONGS_EQUAL(8, self.linearizedFactorGraph.size());
+  EXPECT_LONGS_EQUAL(7, self.nonlinearFactorGraph.size());
+  EXPECT_LONGS_EQUAL(7, self.linearizedFactorGraph.size());
 }
 
 /****************************************************************************
@@ -190,7 +189,7 @@ TEST(HybridFactorGraph, Linearization) {
   HybridGaussianFactorGraph actualLinearized =
       self.nonlinearFactorGraph.linearize(self.linearizationPoint);
 
-  EXPECT_LONGS_EQUAL(8, actualLinearized.size());
+  EXPECT_LONGS_EQUAL(7, actualLinearized.size());
 }
 
 /****************************************************************************
@@ -495,15 +494,15 @@ TEST(HybridFactorGraph, Printing) {
       linearizedFactorGraph.eliminatePartialSequential(ordering);
 
   string expected_hybridFactorGraph = R"(
-size: 8
-factor 0: Continuous x1; 
+size: 7
+factor 0: Continuous [x1]
 
   A[x1] = [
 	10
 ]
   b = [ -10 ]
   No noise model
-factor 1: Hybrid x1 x2 m1; m1 ]{
+factor 1: Hybrid [x1 x2; m1]{
  Choice(m1) 
  0 Leaf :
   A[x1] = [
@@ -526,7 +525,7 @@ factor 1: Hybrid x1 x2 m1; m1 ]{
   No noise model
 
 }
-factor 2: Hybrid x2 x3 m2; m2 ]{
+factor 2: Hybrid [x2 x3; m2]{
  Choice(m2) 
  0 Leaf :
   A[x2] = [
@@ -549,32 +548,25 @@ factor 2: Hybrid x2 x3 m2; m2 ]{
   No noise model
 
 }
-factor 3: Continuous x1; 
-
-  A[x1] = [
-	10
-]
-  b = [ -10 ]
-  No noise model
-factor 4: Continuous x2; 
+factor 3: Continuous [x2]
 
   A[x2] = [
 	10
 ]
   b = [ -10 ]
   No noise model
-factor 5: Continuous x3; 
+factor 4: Continuous [x3]
 
   A[x3] = [
 	10
 ]
   b = [ -10 ]
   No noise model
-factor 6: Discrete m1 
+factor 5: Discrete [m1]
  P( m1 ):
  Leaf  0.5
 
-factor 7: Discrete m2 m1 
+factor 6: Discrete [m2 m1]
  P( m2 | m1 ):
  Choice(m2) 
  0 Choice(m1) 
@@ -594,15 +586,15 @@ factor 0: Hybrid  P( x1 | x2 m1)
  Discrete Keys = (m1, 2), 
  Choice(m1) 
  0 Leaf  p(x1 | x2)
-  R = [ 14.1774 ]
-  S[x2] = [ -0.0705346 ]
-  d = [ -14.0364 ]
+  R = [ 10.0499 ]
+  S[x2] = [ -0.0995037 ]
+  d = [ -9.85087 ]
   No noise model
 
  1 Leaf  p(x1 | x2)
-  R = [ 14.1774 ]
-  S[x2] = [ -0.0705346 ]
-  d = [ -14.1069 ]
+  R = [ 10.0499 ]
+  S[x2] = [ -0.0995037 ]
+  d = [ -9.95037 ]
   No noise model
 
 factor 1: Hybrid  P( x2 | x3 m1 m2)
@@ -610,28 +602,28 @@ factor 1: Hybrid  P( x2 | x3 m1 m2)
  Choice(m2) 
  0 Choice(m1) 
  0 0 Leaf  p(x2 | x3)
-  R = [ 10.0993 ]
-  S[x3] = [ -0.0990172 ]
-  d = [ -9.99975 ]
+  R = [ 10.099 ]
+  S[x3] = [ -0.0990196 ]
+  d = [ -9.99901 ]
   No noise model
 
  0 1 Leaf  p(x2 | x3)
-  R = [ 10.0993 ]
-  S[x3] = [ -0.0990172 ]
-  d = [ -9.90122 ]
+  R = [ 10.099 ]
+  S[x3] = [ -0.0990196 ]
+  d = [ -9.90098 ]
   No noise model
 
  1 Choice(m1) 
  1 0 Leaf  p(x2 | x3)
-  R = [ 10.0993 ]
-  S[x3] = [ -0.0990172 ]
-  d = [ -10.0988 ]
+  R = [ 10.099 ]
+  S[x3] = [ -0.0990196 ]
+  d = [ -10.098 ]
   No noise model
 
  1 1 Leaf  p(x2 | x3)
-  R = [ 10.0993 ]
-  S[x3] = [ -0.0990172 ]
-  d = [ -10.0002 ]
+  R = [ 10.099 ]
+  S[x3] = [ -0.0990196 ]
+  d = [ -10 ]
   No noise model
 
 factor 2: Hybrid  P( x3 | m1 m2)

From 4ea897cfbf86a298babd48b6dbcc0339ef8c0b61 Mon Sep 17 00:00:00 2001
From: Varun Agrawal <varagrawal@gmail.com>
Date: Wed, 10 Aug 2022 04:54:32 -0400
Subject: [PATCH 269/433] cleaner printing

---
 gtsam/hybrid/HybridFactor.cpp | 10 +++++++---
 1 file changed, 7 insertions(+), 3 deletions(-)

diff --git a/gtsam/hybrid/HybridFactor.cpp b/gtsam/hybrid/HybridFactor.cpp
index 5871a13032..a9fe62cf13 100644
--- a/gtsam/hybrid/HybridFactor.cpp
+++ b/gtsam/hybrid/HybridFactor.cpp
@@ -95,11 +95,15 @@ void HybridFactor::print(const std::string &s,
     if (c < continuousKeys_.size() - 1) {
       std::cout << " ";
     } else {
-      std::cout << (discreteKeys_.size() > 0 ? ";" : "");
+      std::cout << (discreteKeys_.size() > 0 ? "; " : "");
     }
   }
-  for (auto &&discreteKey : discreteKeys_) {
-    std::cout << " " << formatter(discreteKey.first);
+  for (size_t d = 0; d < discreteKeys_.size(); d++) {
+    std::cout << formatter(discreteKeys_.at(d).first);
+    if (d < discreteKeys_.size() - 1) {
+      std::cout << " ";
+    }
+    
   }
   std::cout << "]";
 }

From fbceda3e5665bb7f1d3691eed69ae87949aa5691 Mon Sep 17 00:00:00 2001
From: Varun Agrawal <varagrawal@gmail.com>
Date: Wed, 10 Aug 2022 04:54:52 -0400
Subject: [PATCH 270/433] got some more tests working

---
 gtsam/hybrid/tests/testHybridIncremental.cpp | 102 ++++++++++---------
 1 file changed, 56 insertions(+), 46 deletions(-)

diff --git a/gtsam/hybrid/tests/testHybridIncremental.cpp b/gtsam/hybrid/tests/testHybridIncremental.cpp
index 420dcd3393..9afdb98863 100644
--- a/gtsam/hybrid/tests/testHybridIncremental.cpp
+++ b/gtsam/hybrid/tests/testHybridIncremental.cpp
@@ -21,6 +21,7 @@
 #include <gtsam/geometry/Pose2.h>
 #include <gtsam/hybrid/HybridGaussianISAM.h>
 #include <gtsam/linear/GaussianBayesNet.h>
+#include <gtsam/linear/GaussianFactorGraph.h>
 #include <gtsam/nonlinear/PriorFactor.h>
 #include <gtsam/sam/BearingRangeFactor.h>
 
@@ -105,19 +106,21 @@ TEST(HybridGaussianElimination, IncrementalInference) {
   HybridGaussianFactorGraph graph1;
 
   // Create initial factor graph
-  //    *        *      *
-  //    |        |      |
-  // *- X1  -*-  X2 -*- X3
-  //     \*-M1-*/
+  //    *        *        *
+  //    |        |        |
+  // *- X1  -*-  X2  -*-  X3
+  //         |        |
+  //      *-M1 - * - M2
   graph1.push_back(switching.linearizedFactorGraph.at(0));  // P(X1)
   graph1.push_back(switching.linearizedFactorGraph.at(1));  // P(X1, X2 | M1)
-  graph1.push_back(switching.linearizedFactorGraph.at(2));  // P(X2, X3 | M2)
+  graph1.push_back(switching.linearizedFactorGraph.at(3));  // P(X2)
   graph1.push_back(switching.linearizedFactorGraph.at(5));  // P(M1)
 
-  // Create ordering.
-  Ordering ordering;
-  ordering += X(1);
-  ordering += X(2);
+  //TODO(Varun) we cannot enforce ordering
+  // // Create ordering.
+  // Ordering ordering1;
+  // ordering1 += X(1);
+  // ordering1 += X(2);
 
   // Run update step
   isam.update(graph1);
@@ -126,20 +129,22 @@ TEST(HybridGaussianElimination, IncrementalInference) {
   // New factor graph for incremental update.
   HybridGaussianFactorGraph graph2;
 
-  graph1.push_back(switching.linearizedFactorGraph.at(3));  // P(X2)
+  graph2.push_back(switching.linearizedFactorGraph.at(2));  // P(X2, X3 | M2)
   graph2.push_back(switching.linearizedFactorGraph.at(4));  // P(X3)
   graph2.push_back(switching.linearizedFactorGraph.at(6));  // P(M1, M2)
 
-  // Create ordering.
-  Ordering ordering2;
-  ordering2 += X(2);
-  ordering2 += X(3);
+  //TODO(Varun) we cannot enforce ordering
+  // // Create ordering.
+  // Ordering ordering2;
+  // ordering2 += X(2);
+  // ordering2 += X(3);
 
   isam.update(graph2);
+  GTSAM_PRINT(isam);
 
   /********************************************************/
   // Run batch elimination so we can compare results.
-  ordering.clear();
+  Ordering ordering;
   ordering += X(1);
   ordering += X(2);
   ordering += X(3);
@@ -151,37 +156,42 @@ TEST(HybridGaussianElimination, IncrementalInference) {
       switching.linearizedFactorGraph.eliminatePartialSequential(ordering);
 
   // The densities on X(1) should be the same
-  expectedHybridBayesNet->atGaussian(0)->print();
-  auto x1_conditional = isam[X(1)]->conditional();
-  GTSAM_PRINT(*x1_conditional);
-  // EXPECT(assert_equal(*(hybridBayesNet.atGaussian(0)),
-  //                     *(expectedHybridBayesNet->atGaussian(0))));
-
-  //   // The densities on X(2) should be the same
-  //   EXPECT(assert_equal(*(hybridBayesNet2.atGaussian(1)),
-  //                       *(expectedHybridBayesNet->atGaussian(1))));
-
-  //   // The densities on X(3) should be the same
-  //   EXPECT(assert_equal(*(hybridBayesNet2.atGaussian(2)),
-  //                       *(expectedHybridBayesNet->atGaussian(2))));
-
-  //   // we only do the manual continuous elimination for 0,0
-  //   // the other discrete probabilities on M(2) are calculated the same way
-  //   auto m00_prob = [&]() {
-  //     GaussianFactorGraph gf;
-  //     gf.add(switching.linearizedFactorGraph.gaussianGraph().at(3));
-
-  //     DiscreteValues m00;
-  //     m00[M(1)] = 0, m00[M(2)] = 0;
-  //     auto dcMixture =
-  // dynamic_pointer_cast<DCGaussianMixtureFactor>(graph2.dcGraph().at(0));
-  //     gf.add(dcMixture->factors()(m00));
-  //     auto x2_mixed =
-  // boost::dynamic_pointer_cast<GaussianMixture>(hybridBayesNet.at(1));
-  //     gf.add(x2_mixed->factors()(m00));
-  //     auto result_gf = gf.eliminateSequential();
-  //     return gf.probPrime(result_gf->optimize());
-  //   }();
+  auto x1_conditional =
+      dynamic_pointer_cast<GaussianMixture>(isam[X(1)]->conditional()->inner());
+  EXPECT(
+      assert_equal(*x1_conditional, *(expectedHybridBayesNet->atGaussian(0))));
+
+  // The densities on X(2) should be the same
+  auto x2_conditional =
+      dynamic_pointer_cast<GaussianMixture>(isam[X(2)]->conditional()->inner());
+  EXPECT(
+      assert_equal(*x2_conditional, *(expectedHybridBayesNet->atGaussian(1))));
+
+  // // The densities on X(3) should be the same
+  // auto x3_conditional =
+  //     dynamic_pointer_cast<GaussianMixture>(isam[X(3)]->conditional()->inner());
+  // EXPECT(
+  //     assert_equal(*x3_conditional, *(expectedHybridBayesNet->atGaussian(2))));
+
+  GTSAM_PRINT(*expectedHybridBayesNet);
+
+  // we only do the manual continuous elimination for 0,0
+  // the other discrete probabilities on M(2) are calculated the same way
+  auto m00_prob = [&]() {
+    GaussianFactorGraph gf;
+    // gf.add(switching.linearizedFactorGraph.gaussianGraph().at(3));
+
+    DiscreteValues m00;
+    m00[M(1)] = 0, m00[M(2)] = 0;
+    // auto dcMixture =
+    //     dynamic_pointer_cast<DCGaussianMixtureFactor>(graph2.dcGraph().at(0));
+    // gf.add(dcMixture->factors()(m00));
+    // auto x2_mixed =
+    //     boost::dynamic_pointer_cast<GaussianMixture>(hybridBayesNet.at(1));
+    // gf.add(x2_mixed->factors()(m00));
+    auto result_gf = gf.eliminateSequential();
+    return gf.probPrime(result_gf->optimize());
+  }();
 
   /// Test if the probability values are as expected with regression tests.
 //   DiscreteValues assignment;

From 103c78b0de0522ca838d444f00ab93b14aff388e Mon Sep 17 00:00:00 2001
From: Varun Agrawal <varagrawal@gmail.com>
Date: Wed, 10 Aug 2022 10:31:10 -0400
Subject: [PATCH 271/433] revert name change, save for another PR

---
 examples/CombinedImuFactorsExample.cpp               |  2 +-
 examples/ImuFactorsExample.cpp                       |  2 +-
 gtsam/navigation/CombinedImuFactor.cpp               |  6 +++---
 gtsam/navigation/CombinedImuFactor.h                 | 12 ++++++------
 gtsam/navigation/tests/testCombinedImuFactor.cpp     |  2 +-
 .../examples/ISAM2_SmartFactorStereo_IMU.cpp         |  2 +-
 tests/testImuPreintegration.cpp                      |  4 ++--
 7 files changed, 15 insertions(+), 15 deletions(-)

diff --git a/examples/CombinedImuFactorsExample.cpp b/examples/CombinedImuFactorsExample.cpp
index 35ed387c40..e0396ee818 100644
--- a/examples/CombinedImuFactorsExample.cpp
+++ b/examples/CombinedImuFactorsExample.cpp
@@ -123,7 +123,7 @@ boost::shared_ptr<PreintegratedCombinedMeasurements::Params> imuParams() {
   // PreintegrationCombinedMeasurements params:
   p->biasAccCovariance = bias_acc_cov;      // acc bias in continuous
   p->biasOmegaCovariance = bias_omega_cov;  // gyro bias in continuous
-  p->biasAccOmegaInit = bias_acc_omega_init;
+  p->biasAccOmegaInt = bias_acc_omega_init;
 
   return p;
 }
diff --git a/examples/ImuFactorsExample.cpp b/examples/ImuFactorsExample.cpp
index 12167a19d1..c176318642 100644
--- a/examples/ImuFactorsExample.cpp
+++ b/examples/ImuFactorsExample.cpp
@@ -110,7 +110,7 @@ boost::shared_ptr<PreintegratedCombinedMeasurements::Params> imuParams() {
   // PreintegrationCombinedMeasurements params:
   p->biasAccCovariance = bias_acc_cov;      // acc bias in continuous
   p->biasOmegaCovariance = bias_omega_cov;  // gyro bias in continuous
-  p->biasAccOmegaInit = bias_acc_omega_init;
+  p->biasAccOmegaInt = bias_acc_omega_init;
 
   return p;
 }
diff --git a/gtsam/navigation/CombinedImuFactor.cpp b/gtsam/navigation/CombinedImuFactor.cpp
index 0813bbfd12..8d3a7dd315 100644
--- a/gtsam/navigation/CombinedImuFactor.cpp
+++ b/gtsam/navigation/CombinedImuFactor.cpp
@@ -39,7 +39,7 @@ void PreintegrationCombinedParams::print(const string& s) const {
        << endl;
   cout << "biasOmegaCovariance:\n[\n" << biasOmegaCovariance << "\n]"
        << endl;
-  cout << "biasAccOmegaInit:\n[\n" << biasAccOmegaInit << "\n]"
+  cout << "biasAccOmegaInt:\n[\n" << biasAccOmegaInt << "\n]"
        << endl;
 }
 
@@ -52,7 +52,7 @@ bool PreintegrationCombinedParams::equals(const PreintegratedRotationParams& oth
                             tol) &&
          equal_with_abs_tol(biasOmegaCovariance, e->biasOmegaCovariance,
                             tol) &&
-         equal_with_abs_tol(biasAccOmegaInit, e->biasAccOmegaInit, tol);
+         equal_with_abs_tol(biasAccOmegaInt, e->biasAccOmegaInt, tol);
 }
 
 //------------------------------------------------------------------------------
@@ -135,7 +135,7 @@ void PreintegratedCombinedMeasurements::integrateMeasurement(
   const Matrix3& aCov = p().accelerometerCovariance;
   const Matrix3& wCov = p().gyroscopeCovariance;
   const Matrix3& iCov = p().integrationCovariance;
-  const Matrix6& bInitCov = p().biasAccOmegaInit;
+  const Matrix6& bInitCov = p().biasAccOmegaInt;
 
   // first order uncertainty propagation
   // Optimized matrix mult: (1/dt) * G * measurementCovariance * G.transpose()
diff --git a/gtsam/navigation/CombinedImuFactor.h b/gtsam/navigation/CombinedImuFactor.h
index 7e45e5380e..b496181eda 100644
--- a/gtsam/navigation/CombinedImuFactor.h
+++ b/gtsam/navigation/CombinedImuFactor.h
@@ -62,19 +62,19 @@ typedef ManifoldPreintegration PreintegrationType;
 struct GTSAM_EXPORT PreintegrationCombinedParams : PreintegrationParams {
   Matrix3 biasAccCovariance;    ///< continuous-time "Covariance" describing accelerometer bias random walk
   Matrix3 biasOmegaCovariance;  ///< continuous-time "Covariance" describing gyroscope bias random walk
-  Matrix6 biasAccOmegaInit;     ///< covariance of bias used as initial estimate.
+  Matrix6 biasAccOmegaInt;     ///< covariance of bias used as initial estimate.
 
   /// Default constructor makes uninitialized params struct.
   /// Used for serialization.
   PreintegrationCombinedParams()
       : biasAccCovariance(I_3x3),
         biasOmegaCovariance(I_3x3),
-        biasAccOmegaInit(I_6x6) {}
+        biasAccOmegaInt(I_6x6) {}
 
   /// See two named constructors below for good values of n_gravity in body frame
   PreintegrationCombinedParams(const Vector3& n_gravity) :
     PreintegrationParams(n_gravity), biasAccCovariance(I_3x3),
-    biasOmegaCovariance(I_3x3), biasAccOmegaInit(I_6x6) {
+    biasOmegaCovariance(I_3x3), biasAccOmegaInt(I_6x6) {
 
   }
 
@@ -93,11 +93,11 @@ struct GTSAM_EXPORT PreintegrationCombinedParams : PreintegrationParams {
 
   void setBiasAccCovariance(const Matrix3& cov) { biasAccCovariance=cov; }
   void setBiasOmegaCovariance(const Matrix3& cov) { biasOmegaCovariance=cov; }
-  void setBiasAccOmegaInit(const Matrix6& cov) { biasAccOmegaInit=cov; }
+  void setBiasAccOmegaInit(const Matrix6& cov) { biasAccOmegaInt=cov; }
   
   const Matrix3& getBiasAccCovariance() const { return biasAccCovariance; }
   const Matrix3& getBiasOmegaCovariance() const { return biasOmegaCovariance; }
-  const Matrix6& getBiasAccOmegaInit() const { return biasAccOmegaInit; }
+  const Matrix6& getBiasAccOmegaInit() const { return biasAccOmegaInt; }
   
 private:
 
@@ -109,7 +109,7 @@ struct GTSAM_EXPORT PreintegrationCombinedParams : PreintegrationParams {
     ar & BOOST_SERIALIZATION_BASE_OBJECT_NVP(PreintegrationParams);
     ar & BOOST_SERIALIZATION_NVP(biasAccCovariance);
     ar & BOOST_SERIALIZATION_NVP(biasOmegaCovariance);
-    ar & BOOST_SERIALIZATION_NVP(biasAccOmegaInit);
+    ar & BOOST_SERIALIZATION_NVP(biasAccOmegaInt);
   }
 
 public:
diff --git a/gtsam/navigation/tests/testCombinedImuFactor.cpp b/gtsam/navigation/tests/testCombinedImuFactor.cpp
index de8a97ee1b..aacfff0f0d 100644
--- a/gtsam/navigation/tests/testCombinedImuFactor.cpp
+++ b/gtsam/navigation/tests/testCombinedImuFactor.cpp
@@ -43,7 +43,7 @@ static boost::shared_ptr<PreintegratedCombinedMeasurements::Params> Params() {
   p->integrationCovariance = 0.0001 * I_3x3;
   p->biasAccCovariance = Z_3x3;
   p->biasOmegaCovariance = Z_3x3;
-  p->biasAccOmegaInit = Z_6x6;
+  p->biasAccOmegaInt = Z_6x6;
   return p;
 }
 }  // namespace testing
diff --git a/gtsam_unstable/examples/ISAM2_SmartFactorStereo_IMU.cpp b/gtsam_unstable/examples/ISAM2_SmartFactorStereo_IMU.cpp
index 27d87d217f..c0a102d111 100644
--- a/gtsam_unstable/examples/ISAM2_SmartFactorStereo_IMU.cpp
+++ b/gtsam_unstable/examples/ISAM2_SmartFactorStereo_IMU.cpp
@@ -57,7 +57,7 @@ struct IMUHelper {
     p->biasAccCovariance = I_3x3 * pow(0.00002, 2.0);  // acc bias in continuous
     p->biasOmegaCovariance =
         I_3x3 * pow(0.001, 2.0);  // gyro bias in continuous
-    p->biasAccOmegaInit = Matrix::Identity(6, 6) * 1e-5;
+    p->biasAccOmegaInt = Matrix::Identity(6, 6) * 1e-5;
 
     // body to IMU rotation
     Rot3 iRb(0.036129, -0.998727, 0.035207,
diff --git a/tests/testImuPreintegration.cpp b/tests/testImuPreintegration.cpp
index 94e6fb89f2..1f584be0ed 100644
--- a/tests/testImuPreintegration.cpp
+++ b/tests/testImuPreintegration.cpp
@@ -43,7 +43,7 @@ TEST(TestImuPreintegration, LoadedSimulationData) {
   double gyrNoiseSigma = 0.000208;
   double gyrBiasRwSigma = 0.000004;
   double integrationCovariance = 1e-8;
-  double biasAccOmegaInit = 1e-5;
+  double biasAccOmegaInt = 1e-5;
 
   double gravity = 9.81;
   double rate = 400.0;  // Hz
@@ -76,7 +76,7 @@ TEST(TestImuPreintegration, LoadedSimulationData) {
   imuPreintegratedParams->gyroscopeCovariance = I_3x3 * pow(gyrNoiseSigma, 2);
   imuPreintegratedParams->biasOmegaCovariance = I_3x3 * pow(gyrBiasRwSigma, 2);
   imuPreintegratedParams->integrationCovariance = I_3x3 * integrationCovariance;
-  imuPreintegratedParams->biasAccOmegaInit = I_6x6 * biasAccOmegaInit;
+  imuPreintegratedParams->biasAccOmegaInt = I_6x6 * biasAccOmegaInt;
 
   // Initial state
   Pose3 priorPose;

From 0e4db307136f6d82425d85cf95db8d643add1d53 Mon Sep 17 00:00:00 2001
From: Varun Agrawal <varagrawal@gmail.com>
Date: Wed, 10 Aug 2022 18:37:24 -0400
Subject: [PATCH 272/433] use templetized constructor for MixtureFactor

---
 gtsam/hybrid/MixtureFactor.h                  | 15 ++++++++++---
 .../tests/testHybridNonlinearFactorGraph.cpp  | 21 +++++++------------
 2 files changed, 19 insertions(+), 17 deletions(-)

diff --git a/gtsam/hybrid/MixtureFactor.h b/gtsam/hybrid/MixtureFactor.h
index 8c25457efd..3cd21e32e5 100644
--- a/gtsam/hybrid/MixtureFactor.h
+++ b/gtsam/hybrid/MixtureFactor.h
@@ -86,17 +86,26 @@ class MixtureFactor : public HybridFactor {
    * elements based on the number of discrete keys and the cardinality of the
    * keys, so that the decision tree is constructed appropriately.
    *
+   * @tparam FACTOR The type of the factor shared pointers being passed in. Will
+   * be typecast to NonlinearFactor shared pointers.
    * @param keys Vector of keys for continuous factors.
    * @param discreteKeys Vector of discrete keys.
    * @param factors Vector of shared pointers to factors.
    * @param normalized Flag indicating if the factor error is already
    * normalized.
    */
+  template <typename FACTOR>
   MixtureFactor(const KeyVector& keys, const DiscreteKeys& discreteKeys,
-                const std::vector<sharedFactor>& factors,
+                const std::vector<boost::shared_ptr<FACTOR>>& factors,
                 bool normalized = false)
-      : MixtureFactor(keys, discreteKeys, Factors(discreteKeys, factors),
-                      normalized) {}
+      : Base(keys, discreteKeys), normalized_(normalized) {
+    std::vector<NonlinearFactor::shared_ptr> nonlinear_factors;
+    for (auto&& f : factors) {
+      nonlinear_factors.push_back(
+          boost::dynamic_pointer_cast<NonlinearFactor>(f));
+    }
+    factors_ = Factors(discreteKeys, nonlinear_factors);
+  }
 
   ~MixtureFactor() = default;
 
diff --git a/gtsam/hybrid/tests/testHybridNonlinearFactorGraph.cpp b/gtsam/hybrid/tests/testHybridNonlinearFactorGraph.cpp
index b471079b00..814492686c 100644
--- a/gtsam/hybrid/tests/testHybridNonlinearFactorGraph.cpp
+++ b/gtsam/hybrid/tests/testHybridNonlinearFactorGraph.cpp
@@ -105,9 +105,7 @@ TEST(HybridGaussianFactorGraph, Resize) {
   auto still = boost::make_shared<MotionModel>(X(0), X(1), 0.0, noise_model),
        moving = boost::make_shared<MotionModel>(X(0), X(1), 1.0, noise_model);
 
-  // TODO(Varun) This is declared as NonlinearFactor instead of MotionModel, aka
-  // not clear!!
-  std::vector<NonlinearFactor::shared_ptr> components = {still, moving};
+  std::vector<MotionModel::shared_ptr> components = {still, moving};
   auto dcFactor = boost::make_shared<MixtureFactor>(
       contKeys, DiscreteKeys{gtsam::DiscreteKey(M(1), 2)}, components);
   nhfg.push_back(dcFactor);
@@ -431,14 +429,15 @@ TEST(HybridFactorGraph, Full_Elimination) {
         linearizedFactorGraph.eliminatePartialSequential(ordering);
 
     DiscreteFactorGraph discrete_fg;
-    //TODO(Varun) Make this a function of HybridGaussianFactorGraph?
-    for(HybridFactor::shared_ptr& factor: (*remainingFactorGraph_partial)) {
+    // TODO(Varun) Make this a function of HybridGaussianFactorGraph?
+    for (HybridFactor::shared_ptr& factor : (*remainingFactorGraph_partial)) {
       auto df = dynamic_pointer_cast<HybridDiscreteFactor>(factor);
       discrete_fg.push_back(df->inner());
     }
     ordering.clear();
     for (size_t k = 1; k < self.K; k++) ordering += M(k);
-    discreteBayesNet = *discrete_fg.eliminateSequential(ordering, EliminateForMPE);
+    discreteBayesNet =
+        *discrete_fg.eliminateSequential(ordering, EliminateForMPE);
   }
 
   // Create ordering.
@@ -678,19 +677,13 @@ TEST(HybridFactorGraph, DefaultDecisionTree) {
   Pose2 odometry(2.0, 0.0, 0.0);
   KeyVector contKeys = {X(0), X(1)};
   auto noise_model = noiseModel::Isotropic::Sigma(3, 1.0);
-  auto still = boost::make_shared<PlanarMotionModel>(X(0), X(1), Pose2(0, 0,
-  0),
+  auto still = boost::make_shared<PlanarMotionModel>(X(0), X(1), Pose2(0, 0, 0),
                                                      noise_model),
        moving = boost::make_shared<PlanarMotionModel>(X(0), X(1), odometry,
                                                       noise_model);
   std::vector<PlanarMotionModel::shared_ptr> motion_models = {still, moving};
-  //TODO(Varun) Make a templated constructor for MixtureFactor which does this?
-  std::vector<NonlinearFactor::shared_ptr> components;
-  for (auto&& f : motion_models) {
-    components.push_back(boost::dynamic_pointer_cast<NonlinearFactor>(f));
-  }
   fg.emplace_hybrid<MixtureFactor>(
-      contKeys, DiscreteKeys{gtsam::DiscreteKey(M(1), 2)}, components);
+      contKeys, DiscreteKeys{gtsam::DiscreteKey(M(1), 2)}, motion_models);
 
   // Add Range-Bearing measurements to from X0 to L0 and X1 to L1.
   // create a noise model for the landmark measurements

From a8720fe9108a0f699f37fa5928a19b33f7ee6d28 Mon Sep 17 00:00:00 2001
From: Philipp Glira <pipppoo@gmail.com>
Date: Fri, 12 Aug 2022 11:49:35 +0200
Subject: [PATCH 273/433] Update README.md

Removed unavailable file
---
 examples/README.md | 1 -
 1 file changed, 1 deletion(-)

diff --git a/examples/README.md b/examples/README.md
index 5a72736e0a..924a79521e 100644
--- a/examples/README.md
+++ b/examples/README.md
@@ -33,7 +33,6 @@ The following examples illustrate some concepts from Georgia Tech's research pap
 ## 2D Pose SLAM 
 
 * **LocalizationExample.cpp**: modeling robot motion
-* **LocalizationExample2.cpp**: example with GPS like measurements
 * **Pose2SLAMExample**: A 2D Pose SLAM example using the predefined typedefs in gtsam/slam/pose2SLAM.h
 * **Pose2SLAMExample_advanced**: same, but uses an Optimizer object
 * **Pose2SLAMwSPCG**: solve a simple 3 by 3 grid of Pose2 SLAM problem by using easy SPCG interface

From aa486586264e082c872f9277092590060fea30f8 Mon Sep 17 00:00:00 2001
From: Varun Agrawal <varagrawal@gmail.com>
Date: Fri, 12 Aug 2022 16:18:40 -0400
Subject: [PATCH 274/433] more tests running

---
 gtsam/hybrid/tests/testHybridIncremental.cpp | 95 ++++++++++----------
 1 file changed, 46 insertions(+), 49 deletions(-)

diff --git a/gtsam/hybrid/tests/testHybridIncremental.cpp b/gtsam/hybrid/tests/testHybridIncremental.cpp
index 9afdb98863..eec260cbc1 100644
--- a/gtsam/hybrid/tests/testHybridIncremental.cpp
+++ b/gtsam/hybrid/tests/testHybridIncremental.cpp
@@ -116,12 +116,6 @@ TEST(HybridGaussianElimination, IncrementalInference) {
   graph1.push_back(switching.linearizedFactorGraph.at(3));  // P(X2)
   graph1.push_back(switching.linearizedFactorGraph.at(5));  // P(M1)
 
-  //TODO(Varun) we cannot enforce ordering
-  // // Create ordering.
-  // Ordering ordering1;
-  // ordering1 += X(1);
-  // ordering1 += X(2);
-
   // Run update step
   isam.update(graph1);
 
@@ -133,14 +127,7 @@ TEST(HybridGaussianElimination, IncrementalInference) {
   graph2.push_back(switching.linearizedFactorGraph.at(4));  // P(X3)
   graph2.push_back(switching.linearizedFactorGraph.at(6));  // P(M1, M2)
 
-  //TODO(Varun) we cannot enforce ordering
-  // // Create ordering.
-  // Ordering ordering2;
-  // ordering2 += X(2);
-  // ordering2 += X(3);
-
   isam.update(graph2);
-  GTSAM_PRINT(isam);
 
   /********************************************************/
   // Run batch elimination so we can compare results.
@@ -150,68 +137,78 @@ TEST(HybridGaussianElimination, IncrementalInference) {
   ordering += X(3);
 
   // Now we calculate the actual factors using full elimination
-  HybridBayesNet::shared_ptr expectedHybridBayesNet;
+  HybridBayesTree::shared_ptr expectedHybridBayesTree;
   HybridGaussianFactorGraph::shared_ptr expectedRemainingGraph;
-  std::tie(expectedHybridBayesNet, expectedRemainingGraph) =
-      switching.linearizedFactorGraph.eliminatePartialSequential(ordering);
+  std::tie(expectedHybridBayesTree, expectedRemainingGraph) =
+      switching.linearizedFactorGraph.eliminatePartialMultifrontal(ordering);
 
   // The densities on X(1) should be the same
   auto x1_conditional =
       dynamic_pointer_cast<GaussianMixture>(isam[X(1)]->conditional()->inner());
-  EXPECT(
-      assert_equal(*x1_conditional, *(expectedHybridBayesNet->atGaussian(0))));
+  auto actual_x1_conditional = dynamic_pointer_cast<GaussianMixture>(
+      (*expectedHybridBayesTree)[X(1)]->conditional()->inner());
+  EXPECT(assert_equal(*x1_conditional, *actual_x1_conditional));
 
   // The densities on X(2) should be the same
   auto x2_conditional =
       dynamic_pointer_cast<GaussianMixture>(isam[X(2)]->conditional()->inner());
-  EXPECT(
-      assert_equal(*x2_conditional, *(expectedHybridBayesNet->atGaussian(1))));
-
-  // // The densities on X(3) should be the same
-  // auto x3_conditional =
-  //     dynamic_pointer_cast<GaussianMixture>(isam[X(3)]->conditional()->inner());
-  // EXPECT(
-  //     assert_equal(*x3_conditional, *(expectedHybridBayesNet->atGaussian(2))));
-
-  GTSAM_PRINT(*expectedHybridBayesNet);
-
-  // we only do the manual continuous elimination for 0,0
-  // the other discrete probabilities on M(2) are calculated the same way
+  auto actual_x2_conditional = dynamic_pointer_cast<GaussianMixture>(
+      (*expectedHybridBayesTree)[X(2)]->conditional()->inner());
+  EXPECT(assert_equal(*x2_conditional, *actual_x2_conditional));
+
+  // The densities on X(3) should be the same
+  auto x3_conditional =
+      dynamic_pointer_cast<GaussianMixture>(isam[X(3)]->conditional()->inner());
+  auto actual_x3_conditional = dynamic_pointer_cast<GaussianMixture>(
+      (*expectedHybridBayesTree)[X(2)]->conditional()->inner());
+  EXPECT(assert_equal(*x3_conditional, *actual_x3_conditional));
+
+  // We only perform manual continuous elimination for 0,0.
+  // The other discrete probabilities on M(2) are calculated the same way
   auto m00_prob = [&]() {
     GaussianFactorGraph gf;
-    // gf.add(switching.linearizedFactorGraph.gaussianGraph().at(3));
+    auto x2_prior = boost::dynamic_pointer_cast<HybridGaussianFactor>(
+        switching.linearizedFactorGraph.at(3))->inner();
+    gf.add(x2_prior);
 
     DiscreteValues m00;
     m00[M(1)] = 0, m00[M(2)] = 0;
-    // auto dcMixture =
-    //     dynamic_pointer_cast<DCGaussianMixtureFactor>(graph2.dcGraph().at(0));
-    // gf.add(dcMixture->factors()(m00));
-    // auto x2_mixed =
-    //     boost::dynamic_pointer_cast<GaussianMixture>(hybridBayesNet.at(1));
-    // gf.add(x2_mixed->factors()(m00));
+    // P(X2, X3 | M2)
+    auto dcMixture =
+        dynamic_pointer_cast<GaussianMixtureFactor>(graph2.at(0));
+    gf.add(dcMixture->factors()(m00));
+
+    auto x2_mixed =
+        boost::dynamic_pointer_cast<GaussianMixture>(isam[X(2)]->conditional()->inner());
+    // Perform explicit cast so we can add the conditional to `gf`.
+    auto x2_cond = boost::dynamic_pointer_cast<GaussianFactor>(
+        x2_mixed->conditionals()(m00));
+    gf.add(x2_cond);
+
     auto result_gf = gf.eliminateSequential();
     return gf.probPrime(result_gf->optimize());
   }();
 
-  /// Test if the probability values are as expected with regression tests.
-//   DiscreteValues assignment;
-//   EXPECT(assert_equal(m00_prob, 0.60656, 1e-5));
-//   assignment[M(1)] = 0;
-//   assignment[M(2)] = 0;
-//   EXPECT(assert_equal(m00_prob, (*discreteFactor)(assignment), 1e-5));
+  auto discreteConditional = isam[M(1)]->conditional()->asDiscreteConditional();
+  // Test if the probability values are as expected with regression tests.
+  // DiscreteValues assignment;
+  // EXPECT(assert_equal(m00_prob, 0.60656, 1e-5));
+  // assignment[M(1)] = 0;
+  // assignment[M(2)] = 0;
+  // EXPECT(assert_equal(m00_prob, (*discreteConditional)(assignment), 1e-5));
 //   assignment[M(1)] = 1;
 //   assignment[M(2)] = 0;
-//   EXPECT(assert_equal(0.612477, (*discreteFactor)(assignment), 1e-5));
+//   EXPECT(assert_equal(0.612477, (*discreteConditional)(assignment), 1e-5));
 //   assignment[M(1)] = 0;
 //   assignment[M(2)] = 1;
-//   EXPECT(assert_equal(0.999952, (*discreteFactor)(assignment), 1e-5));
+//   EXPECT(assert_equal(0.999952, (*discreteConditional)(assignment), 1e-5));
 //   assignment[M(1)] = 1;
 //   assignment[M(2)] = 1;
-//   EXPECT(assert_equal(1.0, (*discreteFactor)(assignment), 1e-5));
+//   EXPECT(assert_equal(1.0, (*discreteConditional)(assignment), 1e-5));
 
 //   DiscreteFactorGraph dfg;
-//   dfg.add(*discreteFactor);
-//   dfg.add(discreteFactor_m1);
+//   dfg.add(*discreteConditional);
+//   dfg.add(discreteConditional_m1);
 //   dfg.add_factors(switching.linearizedFactorGraph.discreteGraph());
 
 //   // Check if the chordal graph generated from incremental elimination

From 77bea319ddc727d41fffb8f26fc1907cbaeae61d Mon Sep 17 00:00:00 2001
From: Varun Agrawal <varagrawal@gmail.com>
Date: Sat, 13 Aug 2022 15:11:21 -0400
Subject: [PATCH 275/433] one more test passing

---
 gtsam/hybrid/tests/testHybridIncremental.cpp | 117 +++++++++----------
 1 file changed, 53 insertions(+), 64 deletions(-)

diff --git a/gtsam/hybrid/tests/testHybridIncremental.cpp b/gtsam/hybrid/tests/testHybridIncremental.cpp
index eec260cbc1..7ab64462c6 100644
--- a/gtsam/hybrid/tests/testHybridIncremental.cpp
+++ b/gtsam/hybrid/tests/testHybridIncremental.cpp
@@ -18,7 +18,9 @@
 
 #include <gtsam/discrete/DiscreteBayesNet.h>
 #include <gtsam/discrete/DiscreteDistribution.h>
+#include <gtsam/discrete/DiscreteFactorGraph.h>
 #include <gtsam/geometry/Pose2.h>
+#include <gtsam/hybrid/HybridConditional.h>
 #include <gtsam/hybrid/HybridGaussianISAM.h>
 #include <gtsam/linear/GaussianBayesNet.h>
 #include <gtsam/linear/GaussianFactorGraph.h>
@@ -108,7 +110,7 @@ TEST(HybridGaussianElimination, IncrementalInference) {
   // Create initial factor graph
   //    *        *        *
   //    |        |        |
-  // *- X1  -*-  X2  -*-  X3
+  //    X1  -*-  X2  -*-  X3
   //         |        |
   //      *-M1 - * - M2
   graph1.push_back(switching.linearizedFactorGraph.at(0));  // P(X1)
@@ -119,6 +121,10 @@ TEST(HybridGaussianElimination, IncrementalInference) {
   // Run update step
   isam.update(graph1);
 
+  auto discreteConditional_m1 =
+      isam[M(1)]->conditional()->asDiscreteConditional();
+  EXPECT(discreteConditional_m1->keys() == KeyVector({M(1)}));
+
   /********************************************************/
   // New factor graph for incremental update.
   HybridGaussianFactorGraph graph2;
@@ -165,65 +171,48 @@ TEST(HybridGaussianElimination, IncrementalInference) {
 
   // We only perform manual continuous elimination for 0,0.
   // The other discrete probabilities on M(2) are calculated the same way
-  auto m00_prob = [&]() {
-    GaussianFactorGraph gf;
-    auto x2_prior = boost::dynamic_pointer_cast<HybridGaussianFactor>(
-        switching.linearizedFactorGraph.at(3))->inner();
-    gf.add(x2_prior);
-
-    DiscreteValues m00;
-    m00[M(1)] = 0, m00[M(2)] = 0;
-    // P(X2, X3 | M2)
-    auto dcMixture =
-        dynamic_pointer_cast<GaussianMixtureFactor>(graph2.at(0));
-    gf.add(dcMixture->factors()(m00));
-
-    auto x2_mixed =
-        boost::dynamic_pointer_cast<GaussianMixture>(isam[X(2)]->conditional()->inner());
-    // Perform explicit cast so we can add the conditional to `gf`.
-    auto x2_cond = boost::dynamic_pointer_cast<GaussianFactor>(
-        x2_mixed->conditionals()(m00));
-    gf.add(x2_cond);
-
-    auto result_gf = gf.eliminateSequential();
-    return gf.probPrime(result_gf->optimize());
-  }();
-
-  auto discreteConditional = isam[M(1)]->conditional()->asDiscreteConditional();
+  Ordering discrete_ordering;
+  discrete_ordering += M(1);
+  discrete_ordering += M(2);
+  HybridBayesTree::shared_ptr discreteBayesTree =
+      expectedRemainingGraph->eliminateMultifrontal(discrete_ordering);
+
+  DiscreteValues m00;
+  m00[M(1)] = 0, m00[M(2)] = 0;
+  DiscreteConditional decisionTree = *(*discreteBayesTree)[M(2)]->conditional()->asDiscreteConditional();
+  double m00_prob = decisionTree(m00);
+
+  auto discreteConditional = isam[M(2)]->conditional()->asDiscreteConditional();
+
   // Test if the probability values are as expected with regression tests.
-  // DiscreteValues assignment;
-  // EXPECT(assert_equal(m00_prob, 0.60656, 1e-5));
-  // assignment[M(1)] = 0;
-  // assignment[M(2)] = 0;
-  // EXPECT(assert_equal(m00_prob, (*discreteConditional)(assignment), 1e-5));
-//   assignment[M(1)] = 1;
-//   assignment[M(2)] = 0;
-//   EXPECT(assert_equal(0.612477, (*discreteConditional)(assignment), 1e-5));
-//   assignment[M(1)] = 0;
-//   assignment[M(2)] = 1;
-//   EXPECT(assert_equal(0.999952, (*discreteConditional)(assignment), 1e-5));
-//   assignment[M(1)] = 1;
-//   assignment[M(2)] = 1;
-//   EXPECT(assert_equal(1.0, (*discreteConditional)(assignment), 1e-5));
-
-//   DiscreteFactorGraph dfg;
-//   dfg.add(*discreteConditional);
-//   dfg.add(discreteConditional_m1);
-//   dfg.add_factors(switching.linearizedFactorGraph.discreteGraph());
-
-//   // Check if the chordal graph generated from incremental elimination
-//   matches
-//   // that of batch elimination.
-//   auto chordal = dfg.eliminateSequential();
-//   auto expectedChordal =
-//       expectedRemainingGraph->discreteGraph().eliminateSequential();
-
-//   EXPECT(assert_equal(*expectedChordal, *chordal, 1e-6));
+  DiscreteValues assignment;
+  EXPECT(assert_equal(m00_prob, 0.0619233, 1e-5));
+  assignment[M(1)] = 0;
+  assignment[M(2)] = 0;
+  EXPECT(assert_equal(m00_prob, (*discreteConditional)(assignment), 1e-5));
+  assignment[M(1)] = 1;
+  assignment[M(2)] = 0;
+  EXPECT(assert_equal(0.183743, (*discreteConditional)(assignment), 1e-5));
+  assignment[M(1)] = 0;
+  assignment[M(2)] = 1;
+  EXPECT(assert_equal(0.204159, (*discreteConditional)(assignment), 1e-5));
+  assignment[M(1)] = 1;
+  assignment[M(2)] = 1;
+  EXPECT(assert_equal(0.2, (*discreteConditional)(assignment), 1e-5));
+
+  // Check if the clique conditional generated from incremental elimination matches
+  // that of batch elimination.
+  auto expectedChordal = expectedRemainingGraph->eliminateMultifrontal();
+  auto expectedConditional = dynamic_pointer_cast<DecisionTreeFactor>(
+      (*expectedChordal)[M(2)]->conditional()->inner());
+  auto actualConditional = dynamic_pointer_cast<DecisionTreeFactor>(
+      isam[M(2)]->conditional()->inner());
+  EXPECT(assert_equal(*actualConditional, *expectedConditional, 1e-6));
 }
 
 /* ****************************************************************************/
-// // Test if we can approximately do the inference
-// TEST(DCGaussianElimination, Approx_inference) {
+// Test if we can approximately do the inference
+TEST(HybridGaussianElimination, Approx_inference) {
 //   Switching switching(4);
 //   IncrementalHybrid incrementalHybrid;
 //   HybridGaussianFactorGraph graph1;
@@ -339,11 +328,11 @@ TEST(HybridGaussianElimination, IncrementalInference) {
 //                           *lastDensity(assignment)));
 //     }
 //   }
-// }
+}
 
 /* ****************************************************************************/
-// // Test approximate inference with an additional pruning step.
-// TEST(DCGaussianElimination, Incremental_approximate) {
+// Test approximate inference with an additional pruning step.
+TEST(HybridGaussianElimination, Incremental_approximate) {
 //   Switching switching(5);
 //   IncrementalHybrid incrementalHybrid;
 //   HybridGaussianFactorGraph graph1;
@@ -395,12 +384,12 @@ TEST(HybridGaussianElimination, IncrementalInference) {
 //   CHECK_EQUAL(2, actualBayesNet.size());
 //   EXPECT_LONGS_EQUAL(10, actualBayesNet.atGaussian(0)->nrComponents());
 //   EXPECT_LONGS_EQUAL(5, actualBayesNet.atGaussian(1)->nrComponents());
-// }
+}
 
 /* ************************************************************************/
-// // Test for figuring out the optimal ordering to ensure we get
-// // a discrete graph after elimination.
-// TEST(IncrementalHybrid, NonTrivial) {
+// Test for figuring out the optimal ordering to ensure we get
+// a discrete graph after elimination.
+TEST(IncrementalHybrid, NonTrivial) {
 //   // This is a GTSAM-only test for running inference on a single legged
 //   robot.
 //   // The leg links are represented by the chain X-Y-Z-W, where X is the base
@@ -637,7 +626,7 @@ TEST(HybridGaussianElimination, IncrementalInference) {
 //   auto lastConditional = boost::dynamic_pointer_cast<GaussianMixture>(
 //       inc.hybridBayesNet().at(inc.hybridBayesNet().size() - 1));
 //   EXPECT_LONGS_EQUAL(3, lastConditional->nrComponents());
-// }
+}
 
 /* ************************************************************************* */
 int main() {

From 58068503f4e79869a46c4ba0ce1aa5b5e7048e86 Mon Sep 17 00:00:00 2001
From: sjxue <schroshanjer@gmail.com>
Date: Sun, 14 Aug 2022 17:39:35 -0400
Subject: [PATCH 276/433] HybridValues and optimize() method for hybrid
 gaussian bayes net

---
 gtsam/hybrid/HybridBayesNet.cpp               |  13 +
 gtsam/hybrid/HybridBayesNet.h                 |   9 +-
 gtsam/hybrid/HybridLookupDAG.cpp              |  73 +++++
 gtsam/hybrid/HybridLookupDAG.h                | 118 ++++++++
 gtsam/hybrid/HybridValues.h                   | 138 +++++++++
 gtsam/hybrid/hybrid.i                         |  17 ++
 .../tests/testGaussianHybridFactorGraph.cpp   |  24 ++
 gtsam/hybrid/tests/testHybridLookupDAG.cpp    | 276 ++++++++++++++++++
 gtsam/hybrid/tests/testHybridValues.cpp       |  59 ++++
 9 files changed, 726 insertions(+), 1 deletion(-)
 create mode 100644 gtsam/hybrid/HybridLookupDAG.cpp
 create mode 100644 gtsam/hybrid/HybridLookupDAG.h
 create mode 100644 gtsam/hybrid/HybridValues.h
 create mode 100644 gtsam/hybrid/tests/testHybridLookupDAG.cpp
 create mode 100644 gtsam/hybrid/tests/testHybridValues.cpp

diff --git a/gtsam/hybrid/HybridBayesNet.cpp b/gtsam/hybrid/HybridBayesNet.cpp
index 1292711d89..fc0b93c5c9 100644
--- a/gtsam/hybrid/HybridBayesNet.cpp
+++ b/gtsam/hybrid/HybridBayesNet.cpp
@@ -10,7 +10,20 @@
  * @file   HybridBayesNet.cpp
  * @brief  A bayes net of Gaussian Conditionals indexed by discrete keys.
  * @author Fan Jiang
+ * @author Shangjie Xue
  * @date   January 2022
  */
 
 #include <gtsam/hybrid/HybridBayesNet.h>
+#include <gtsam/hybrid/HybridValues.h>
+#include <gtsam/hybrid/HybridLookupDAG.h>
+
+namespace gtsam {
+
+/* *******************************************************************************/
+HybridValues HybridBayesNet::optimize() const {
+  auto dag = HybridLookupDAG::FromBayesNet(*this);
+  return dag.argmax();
+}
+
+}  // namespace gtsam
\ No newline at end of file
diff --git a/gtsam/hybrid/HybridBayesNet.h b/gtsam/hybrid/HybridBayesNet.h
index 43eead2801..5665ce5c99 100644
--- a/gtsam/hybrid/HybridBayesNet.h
+++ b/gtsam/hybrid/HybridBayesNet.h
@@ -18,6 +18,7 @@
 #pragma once
 
 #include <gtsam/hybrid/HybridConditional.h>
+#include <gtsam/hybrid/HybridValues.h>
 #include <gtsam/inference/BayesNet.h>
 
 namespace gtsam {
@@ -34,8 +35,14 @@ class GTSAM_EXPORT HybridBayesNet : public BayesNet<HybridConditional> {
   using shared_ptr = boost::shared_ptr<HybridBayesNet>;
   using sharedConditional = boost::shared_ptr<ConditionalType>;
 
-  /** Construct empty bayes net */
+  /// Construct empty bayes net
   HybridBayesNet() = default;
+
+  /// Destructor
+  virtual ~HybridBayesNet() {}
+
+  /// Solve the HybridBayesNet by back-substitution.
+  HybridValues optimize() const;
 };
 
 }  // namespace gtsam
diff --git a/gtsam/hybrid/HybridLookupDAG.cpp b/gtsam/hybrid/HybridLookupDAG.cpp
new file mode 100644
index 0000000000..7232309f4d
--- /dev/null
+++ b/gtsam/hybrid/HybridLookupDAG.cpp
@@ -0,0 +1,73 @@
+/* ----------------------------------------------------------------------------
+
+ * GTSAM Copyright 2010, Georgia Tech Research Corporation,
+ * Atlanta, Georgia 30332-0415
+ * All Rights Reserved
+ * Authors: Frank Dellaert, et al. (see THANKS for the full author list)
+
+ * See LICENSE for the license information
+
+ * -------------------------------------------------------------------------- */
+
+/**
+ *  @file DiscreteLookupDAG.cpp
+ *  @date Aug, 2022
+ *  @author Shangjie Xue
+ */
+
+#include <gtsam/discrete/DiscreteBayesNet.h>
+#include <gtsam/discrete/DiscreteLookupDAG.h>
+#include <gtsam/discrete/DiscreteValues.h>
+#include <gtsam/hybrid/HybridConditional.h>
+#include <gtsam/hybrid/HybridValues.h>
+#include <gtsam/hybrid/HybridBayesNet.h>
+#include <gtsam/hybrid/HybridLookupDAG.h>
+#include <gtsam/linear/VectorValues.h>
+
+#include <string>
+#include <utility>
+
+using std::pair;
+using std::vector;
+
+namespace gtsam {
+
+
+
+/* ************************************************************************** */
+void HybridLookupTable::argmaxInPlace(HybridValues* values) const {
+  // For discrete conditional, uses argmaxInPlace() method in DiscreteLookupTable.
+  if (isDiscrete()){
+    boost::static_pointer_cast<DiscreteLookupTable>(inner_)->argmaxInPlace(&(values->discrete));
+  } else if (isContinuous()){
+    // For Gaussian conditional, uses solve() method in GaussianConditional.
+    values->continuous.insert(boost::static_pointer_cast<GaussianConditional>(inner_)->solve(values->continuous));
+  } else if (isHybrid()){
+    // For hybrid conditional, since children should not contain discrete variable, we can condition on 
+    // the discrete variable in the parents and solve the resulting GaussianConditional.
+    auto conditional = boost::static_pointer_cast<GaussianMixture>(inner_)->conditionals()(values->discrete);
+    values->continuous.insert(conditional->solve(values->continuous));
+  } 
+}
+
+
+// /* ************************************************************************** */
+HybridLookupDAG HybridLookupDAG::FromBayesNet(
+    const HybridBayesNet& bayesNet) {
+  HybridLookupDAG dag;
+  for (auto&& conditional : bayesNet) {
+    HybridLookupTable hlt(*conditional);
+    dag.push_back(hlt);
+  }
+  return dag;
+}
+
+HybridValues HybridLookupDAG::argmax(HybridValues result) const {
+  // Argmax each node in turn in topological sort order (parents first).
+  for (auto lookupTable : boost::adaptors::reverse(*this))
+    lookupTable->argmaxInPlace(&result);
+  return result;
+}
+/* ************************************************************************** */
+
+}  // namespace gtsam
\ No newline at end of file
diff --git a/gtsam/hybrid/HybridLookupDAG.h b/gtsam/hybrid/HybridLookupDAG.h
new file mode 100644
index 0000000000..903cc55190
--- /dev/null
+++ b/gtsam/hybrid/HybridLookupDAG.h
@@ -0,0 +1,118 @@
+/* ----------------------------------------------------------------------------
+
+ * GTSAM Copyright 2010, Georgia Tech Research Corporation,
+ * Atlanta, Georgia 30332-0415
+ * All Rights Reserved
+ * Authors: Frank Dellaert, et al. (see THANKS for the full author list)
+
+ * See LICENSE for the license information
+
+ * -------------------------------------------------------------------------- */
+
+/**
+ * @file HybridLookupDAG.h
+ * @date Aug, 2022
+ * @author Shangjie Xue
+ */
+
+#pragma once
+
+#include <gtsam/discrete/DiscreteDistribution.h>
+#include <gtsam/discrete/DiscreteLookupDAG.h>
+#include <gtsam/inference/BayesNet.h>
+#include <gtsam/inference/FactorGraph.h>
+#include <gtsam/hybrid/HybridConditional.h>
+#include <gtsam/hybrid/HybridValues.h>
+
+#include <boost/shared_ptr.hpp>
+#include <string>
+#include <utility>
+#include <vector>
+
+namespace gtsam {
+
+/**
+ * @brief HybridLookupTable table for max-product
+ *
+ * Similar to DiscreteLookupTable, inherits from hybrid conditional for convenience.
+ * Is used in the max-product algorithm. 
+ */
+class GTSAM_EXPORT HybridLookupTable : public HybridConditional {
+ public:
+  using Base = HybridConditional;
+  using This = HybridLookupTable;
+  using shared_ptr = boost::shared_ptr<This>;
+  using BaseConditional = Conditional<DecisionTreeFactor, This>;
+
+  /**
+   * @brief Construct a new Hybrid Lookup Table object form a HybridConditional.
+   *
+   * @param conditional input hybrid conditional
+   */
+  HybridLookupTable(HybridConditional& conditional) : Base(conditional){};
+
+  /**
+   * @brief Calculate assignment for frontal variables that maximizes value.
+   * @param (in/out) parentsValues Known assignments for the parents.
+   */
+  void argmaxInPlace(HybridValues* parentsValues) const;
+};
+
+/** A DAG made from hybrid lookup tables, as defined above. Similar to DiscreteLookupDAG */
+class GTSAM_EXPORT HybridLookupDAG : public BayesNet<HybridLookupTable> {
+ public:
+  using Base = BayesNet<HybridLookupTable>;
+  using This = HybridLookupDAG;
+  using shared_ptr = boost::shared_ptr<This>;
+
+  /// @name Standard Constructors
+  /// @{
+
+  /// Construct empty DAG.
+  HybridLookupDAG() {}
+
+  /// Create from BayesNet with LookupTables
+  static HybridLookupDAG FromBayesNet(const HybridBayesNet& bayesNet);
+
+  /// Destructor
+  virtual ~HybridLookupDAG() {}
+
+  /// @}
+
+  /// @name Standard Interface
+  /// @{
+
+  /** Add a DiscreteLookupTable */
+  template <typename... Args>
+  void add(Args&&... args) {
+    emplace_shared<HybridLookupTable>(std::forward<Args>(args)...);
+  }
+
+  /**
+   * @brief argmax by back-substitution, optionally given certain variables.
+   *
+   * Assumes the DAG is reverse topologically sorted, i.e. last
+   * conditional will be optimized first *and* that the
+   * DAG does not contain any conditionals for the given variables. If the DAG
+   * resulted from eliminating a factor graph, this is true for the elimination
+   * ordering.
+   *
+   * @return given assignment extended w. optimal assignment for all variables.
+   */
+  HybridValues argmax(HybridValues given = HybridValues()) const;
+  /// @}
+
+ private:
+  /** Serialization function */
+  friend class boost::serialization::access;
+  template <class ARCHIVE>
+  void serialize(ARCHIVE& ar, const unsigned int /*version*/) {
+    ar& BOOST_SERIALIZATION_BASE_OBJECT_NVP(Base);
+  }
+};
+
+// traits
+template <>
+struct traits<HybridLookupDAG> : public Testable<HybridLookupDAG> {};
+
+}  // namespace gtsam
diff --git a/gtsam/hybrid/HybridValues.h b/gtsam/hybrid/HybridValues.h
new file mode 100644
index 0000000000..98f862279a
--- /dev/null
+++ b/gtsam/hybrid/HybridValues.h
@@ -0,0 +1,138 @@
+/* ----------------------------------------------------------------------------
+
+ * GTSAM Copyright 2010, Georgia Tech Research Corporation,
+ * Atlanta, Georgia 30332-0415
+ * All Rights Reserved
+ * Authors: Frank Dellaert, et al. (see THANKS for the full author list)
+
+ * See LICENSE for the license information
+
+ * -------------------------------------------------------------------------- */
+
+/**
+ *  @file HybridValues.h
+ *  @date Jul 28, 2022
+ *  @author Shangjie Xue
+ */
+
+#pragma once
+
+#include <gtsam/discrete/Assignment.h>
+#include <gtsam/discrete/DiscreteKey.h>
+#include <gtsam/inference/Key.h>
+#include <gtsam/nonlinear/Values.h>
+#include <gtsam/linear/VectorValues.h>
+#include <gtsam/discrete/DiscreteValues.h>
+
+
+#include <map>
+#include <string>
+#include <vector>
+
+namespace gtsam {
+
+/**
+ * HybridValues represents a collection of DiscreteValues and VectorValues.  It is typically used to store the variables
+ * of a HybridGaussianFactorGraph.  Optimizing a HybridGaussianBayesNet returns this class.
+ */
+class GTSAM_EXPORT HybridValues {
+ public:
+  // DiscreteValue stored the discrete components of the HybridValues.
+  DiscreteValues discrete;
+
+  // VectorValue stored the continuous components of the HybridValues.
+  VectorValues continuous;
+
+  // Default constructor creates an empty HybridValues.
+  HybridValues() : discrete(), continuous() {};
+
+  // Construct from DiscreteValues and VectorValues.
+  HybridValues(const DiscreteValues &dv, const VectorValues &cv) : discrete(dv), continuous(cv) {};
+
+  // print required by Testable for unit testing
+  void print(const std::string& s = "HybridValues",
+             const KeyFormatter& keyFormatter = DefaultKeyFormatter) const{
+    std::cout << s << ": \n";
+    discrete.print("  Discrete", keyFormatter);
+    continuous.print("  Continuous", keyFormatter);
+  };
+
+  // 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);
+  }
+
+  // Check whether a variable with key \c j exists in DiscreteValue.
+  bool existsDiscrete(Key j){
+    return (discrete.find(j) != discrete.end());
+  };
+
+  // Check whether a variable with key \c j exists in VectorValue.
+  bool existsVector(Key j){
+    return continuous.exists(j);
+  };
+
+  // Check whether a variable with key \c j exists.
+  bool exists(Key j){
+    return existsDiscrete(j) || existsVector(j);
+  };
+
+  /** Insert a discrete \c value with key \c j.  Replaces the existing value if 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;
+  };
+
+  /** Insert a vector \c value with key \c j.  Throws an invalid_argument exception if 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, const Vector& value) {
+    continuous.insert(j, value);
+  }
+
+  // TODO(Shangjie)- update() and insert_or_assign() , similar to Values.h
+
+  /**
+   * Read/write access to the discrete value with key \c j, throws
+   * std::out_of_range if \c j does not exist.
+   */
+  size_t& atDiscrete(Key j){
+    return discrete.at(j);
+  };
+
+  /**
+   * Read/write access to the vector value with key \c j, throws
+   * std::out_of_range if \c j does not exist.
+   */
+  Vector& at(Key j) {
+    return continuous.at(j);
+  };
+  
+
+  /// @name Wrapper support
+  /// @{
+
+  /**
+   * @brief Output as a html table.
+   *
+   * @param keyFormatter function that formats keys.
+   * @return string html output.
+   */
+  std::string html(const KeyFormatter& keyFormatter = DefaultKeyFormatter) const{
+    std::stringstream ss;
+    ss << this->discrete.html(keyFormatter);
+    ss << this->continuous.html(keyFormatter);
+    return ss.str();
+  };
+
+  /// @}
+};
+
+// traits
+template <>
+struct traits<HybridValues> : public Testable<HybridValues> {};
+
+}  // namespace gtsam
diff --git a/gtsam/hybrid/hybrid.i b/gtsam/hybrid/hybrid.i
index bbe1e2400d..207f3ff635 100644
--- a/gtsam/hybrid/hybrid.i
+++ b/gtsam/hybrid/hybrid.i
@@ -4,6 +4,22 @@
 
 namespace gtsam {
 
+#include <gtsam/hybrid/HybridValues.h>
+class HybridValues {
+  gtsam::DiscreteValues discrete;
+  gtsam::VectorValues continuous;
+  HybridValues();
+  HybridValues(const gtsam::DiscreteValues &dv, const gtsam::VectorValues &cv);
+  void print(string s = "HybridValues",
+             const gtsam::KeyFormatter& keyFormatter =
+                 gtsam::DefaultKeyFormatter) const;
+  bool equals(const gtsam::HybridValues& other, double tol) const;
+  void insert(gtsam::Key j, int value);
+  void insert(gtsam::Key j, const gtsam::Vector& value);
+  size_t& atDiscrete(gtsam::Key j);
+  gtsam::Vector& at(gtsam::Key j);
+};
+
 #include <gtsam/hybrid/HybridFactor.h>
 virtual class HybridFactor {
   void print(string s = "HybridFactor\n",
@@ -84,6 +100,7 @@ class HybridBayesNet {
   size_t size() const;
   gtsam::KeySet keys() const;
   const gtsam::HybridConditional* at(size_t i) const;
+  gtsam::HybridValues optimize() const;
   void print(string s = "HybridBayesNet\n",
              const gtsam::KeyFormatter& keyFormatter =
                  gtsam::DefaultKeyFormatter) const;
diff --git a/gtsam/hybrid/tests/testGaussianHybridFactorGraph.cpp b/gtsam/hybrid/tests/testGaussianHybridFactorGraph.cpp
index 552bb18f59..b1dbda836b 100644
--- a/gtsam/hybrid/tests/testGaussianHybridFactorGraph.cpp
+++ b/gtsam/hybrid/tests/testGaussianHybridFactorGraph.cpp
@@ -17,6 +17,7 @@
 
 #include <CppUnitLite/Test.h>
 #include <CppUnitLite/TestHarness.h>
+#include <gtsam/base/TestableAssertions.h>
 #include <gtsam/discrete/DecisionTreeFactor.h>
 #include <gtsam/discrete/DiscreteKey.h>
 #include <gtsam/discrete/DiscreteValues.h>
@@ -30,6 +31,7 @@
 #include <gtsam/hybrid/HybridGaussianFactor.h>
 #include <gtsam/hybrid/HybridGaussianFactorGraph.h>
 #include <gtsam/hybrid/HybridGaussianISAM.h>
+#include <gtsam/hybrid/HybridValues.h>
 #include <gtsam/inference/BayesNet.h>
 #include <gtsam/inference/DotWriter.h>
 #include <gtsam/inference/Key.h>
@@ -585,6 +587,28 @@ TEST(HybridGaussianFactorGraph, SwitchingTwoVar) {
   }
 }
 
+TEST(HybridGaussianFactorGraph, optimize) {
+  HybridGaussianFactorGraph hfg;
+
+  DiscreteKey c1(C(1), 2);
+
+  hfg.add(JacobianFactor(X(0), I_3x3, Z_3x1));
+  hfg.add(JacobianFactor(X(0), I_3x3, X(1), -I_3x3, Z_3x1));
+
+  DecisionTree<Key, GaussianFactor::shared_ptr> dt(
+      C(1), boost::make_shared<JacobianFactor>(X(1), I_3x3, Z_3x1),
+      boost::make_shared<JacobianFactor>(X(1), I_3x3, Vector3::Ones()));
+
+  hfg.add(GaussianMixtureFactor({X(1)}, {c1}, dt));
+
+  auto result =
+      hfg.eliminateSequential(Ordering::ColamdConstrainedLast(hfg, {C(1)}));
+
+  HybridValues hv = result->optimize();
+
+  EXPECT(assert_equal(hv.atDiscrete(C(1)), int(0)));
+
+}
 /* ************************************************************************* */
 int main() {
   TestResult tr;
diff --git a/gtsam/hybrid/tests/testHybridLookupDAG.cpp b/gtsam/hybrid/tests/testHybridLookupDAG.cpp
new file mode 100644
index 0000000000..70b09ecbe9
--- /dev/null
+++ b/gtsam/hybrid/tests/testHybridLookupDAG.cpp
@@ -0,0 +1,276 @@
+/* ----------------------------------------------------------------------------
+
+ * GTSAM Copyright 2010, Georgia Tech Research Corporation,
+ * Atlanta, Georgia 30332-0415
+ * All Rights Reserved
+ * Authors: Frank Dellaert, et al. (see THANKS for the full author list)
+
+ * See LICENSE for the license information
+
+ * -------------------------------------------------------------------------- */
+
+/**
+ *  @file testHybridLookupDAG.cpp
+ *  @date Aug, 2022
+ *  @author Shangjie Xue
+ */
+
+#include <gtsam/base/Testable.h>
+#include <gtsam/base/TestableAssertions.h>
+#include <gtsam/discrete/DiscreteValues.h>
+#include <gtsam/discrete/Assignment.h>
+#include <gtsam/discrete/DiscreteKey.h>
+#include <gtsam/discrete/DecisionTreeFactor.h>
+#include <gtsam/inference/Key.h>
+#include <gtsam/nonlinear/Values.h>
+#include <gtsam/linear/VectorValues.h>
+#include <gtsam/inference/Symbol.h>
+#include <gtsam/hybrid/HybridValues.h>
+#include <gtsam/hybrid/HybridBayesNet.h>
+#include <gtsam/hybrid/HybridLookupDAG.h>
+#include <gtsam/hybrid/GaussianMixture.h>
+#include <gtsam/linear/GaussianConditional.h>
+
+// Include for test suite
+#include <CppUnitLite/TestHarness.h>
+
+#include <iostream>
+
+using namespace std;
+using namespace gtsam;
+using noiseModel::Isotropic;
+using symbol_shorthand::M;
+using symbol_shorthand::X;
+
+TEST(HybridLookupTable, basics) {
+    // create a conditional gaussian node
+  Matrix S1(2, 2);
+  S1(0, 0) = 1;
+  S1(1, 0) = 2;
+  S1(0, 1) = 3;
+  S1(1, 1) = 4;
+
+  Matrix S2(2, 2);
+  S2(0, 0) = 6;
+  S2(1, 0) = 0.2;
+  S2(0, 1) = 8;
+  S2(1, 1) = 0.4;
+
+  Matrix R1(2, 2);
+  R1(0, 0) = 0.1;
+  R1(1, 0) = 0.3;
+  R1(0, 1) = 0.0;
+  R1(1, 1) = 0.34;
+
+  Matrix R2(2, 2);
+  R2(0, 0) = 0.1;
+  R2(1, 0) = 0.3;
+  R2(0, 1) = 0.0;
+  R2(1, 1) = 0.34;
+
+  SharedDiagonal model = noiseModel::Diagonal::Sigmas(Vector2(1.0, 0.34));
+
+  Vector2 d1(0.2, 0.5), d2(0.5, 0.2);
+
+  auto conditional0 = boost::make_shared<GaussianConditional>(X(1), d1, R1,
+                                                              X(2), S1, model),
+       conditional1 = boost::make_shared<GaussianConditional>(X(1), d2, R2,
+                                                              X(2), S2, model);
+
+  // Create decision tree
+  DiscreteKey m1(1, 2);
+  GaussianMixture::Conditionals conditionals(
+      {m1},
+      vector<GaussianConditional::shared_ptr>{conditional0, conditional1});
+//   GaussianMixture mixtureFactor2({X(1)}, {X(2)}, {m1}, conditionals);
+  
+  boost::shared_ptr<GaussianMixture> mixtureFactor(new GaussianMixture({X(1)}, {X(2)}, {m1}, conditionals));
+  
+  HybridConditional hc(mixtureFactor);
+
+  GaussianMixture::Conditionals conditional2 = boost::static_pointer_cast<GaussianMixture>(hc.inner())->conditionals();
+
+  DiscreteValues dv;
+  dv[1]=1;
+
+  VectorValues cv;
+  cv.insert(X(2),Vector2(0.0, 0.0));
+  
+  HybridValues hv(dv, cv);
+
+  
+
+  //   std::cout << conditional2(values).markdown();
+  EXPECT(assert_equal(*conditional2(dv), *conditionals(dv), 1e-6));
+  EXPECT(conditional2(dv)==conditionals(dv));
+  HybridLookupTable hlt(hc);
+
+//   hlt.argmaxInPlace(&hv);
+  
+  HybridLookupDAG dag;
+  dag.push_back(hlt);
+  dag.argmax(hv);
+
+//   HybridBayesNet hbn;
+//   hbn.push_back(hc);
+//   hbn.optimize();
+
+}
+
+TEST(HybridLookupTable, hybrid_argmax) {
+  Matrix S1(2, 2);
+  S1(0, 0) = 1;
+  S1(1, 0) = 0;
+  S1(0, 1) = 0;
+  S1(1, 1) = 1;
+
+  Vector2 d1(0.2, 0.5), d2(-0.5,0.6);
+
+  SharedDiagonal model = noiseModel::Diagonal::Sigmas(Vector2(1.0, 0.34));
+
+  auto conditional0 = boost::make_shared<GaussianConditional>(X(1), d1, S1, model),
+       conditional1 = boost::make_shared<GaussianConditional>(X(1), d2, S1, model);
+
+  DiscreteKey m1(1, 2);
+  GaussianMixture::Conditionals conditionals(
+      {m1},
+      vector<GaussianConditional::shared_ptr>{conditional0, conditional1});
+  boost::shared_ptr<GaussianMixture> mixtureFactor(new GaussianMixture({X(1)},{}, {m1}, conditionals));
+
+  HybridConditional hc(mixtureFactor);
+
+  DiscreteValues dv;
+  dv[1]=1;
+  VectorValues cv;
+  // cv.insert(X(2),Vector2(0.0, 0.0));
+  HybridValues hv(dv, cv);
+
+  HybridLookupTable hlt(hc);
+
+  hlt.argmaxInPlace(&hv);
+
+  EXPECT(assert_equal(hv.at(X(1)), d2));
+
+
+}
+
+TEST(HybridLookupTable, discrete_argmax) {
+  DiscreteKey X(0, 2), Y(1, 2);
+
+  auto conditional = boost::make_shared<DiscreteConditional>(X | Y = "0/1 3/2");
+
+  HybridConditional hc(conditional);
+
+  HybridLookupTable hlt(hc);
+
+  DiscreteValues dv;
+  dv[1]=0;
+  VectorValues cv;
+  // cv.insert(X(2),Vector2(0.0, 0.0));
+  HybridValues hv(dv, cv);
+
+
+  hlt.argmaxInPlace(&hv);
+
+  EXPECT(assert_equal(hv.atDiscrete(0), 1));
+
+  DecisionTreeFactor f1(X , "2 3");
+  auto conditional2 = boost::make_shared<DiscreteConditional>(1,f1);
+
+  HybridConditional hc2(conditional2);
+
+  HybridLookupTable hlt2(hc2);
+
+  HybridValues hv2;
+
+
+  hlt2.argmaxInPlace(&hv2);
+
+  EXPECT(assert_equal(hv2.atDiscrete(0), 1));
+}
+
+TEST(HybridLookupTable, gaussian_argmax) {
+  Matrix S1(2, 2);
+  S1(0, 0) = 1;
+  S1(1, 0) = 0;
+  S1(0, 1) = 0;
+  S1(1, 1) = 1;
+
+  Vector2 d1(0.2, 0.5), d2(-0.5,0.6);
+
+  SharedDiagonal model = noiseModel::Diagonal::Sigmas(Vector2(1.0, 0.34));
+
+  auto conditional = boost::make_shared<GaussianConditional>(X(1), d1, S1,
+                                                              X(2), -S1, model);
+
+  HybridConditional hc(conditional);
+
+  HybridLookupTable hlt(hc);
+
+  DiscreteValues dv;
+  // dv[1]=0;
+  VectorValues cv;
+  cv.insert(X(2),d2);
+  HybridValues hv(dv, cv);
+
+
+  hlt.argmaxInPlace(&hv);
+
+  EXPECT(assert_equal(hv.at(X(1)), d1+d2));
+
+}
+
+TEST(HybridLookupDAG, argmax) {
+
+  Matrix S1(2, 2);
+  S1(0, 0) = 1;
+  S1(1, 0) = 0;
+  S1(0, 1) = 0;
+  S1(1, 1) = 1;
+
+  Vector2 d1(0.2, 0.5), d2(-0.5,0.6);
+
+  SharedDiagonal model = noiseModel::Diagonal::Sigmas(Vector2(1.0, 0.34));
+
+  auto conditional0 = boost::make_shared<GaussianConditional>(X(2), d1, S1, model),
+       conditional1 = boost::make_shared<GaussianConditional>(X(2), d2, S1, model);
+
+  DiscreteKey m1(1, 2);
+  GaussianMixture::Conditionals conditionals(
+      {m1},
+      vector<GaussianConditional::shared_ptr>{conditional0, conditional1});
+  boost::shared_ptr<GaussianMixture> mixtureFactor(new GaussianMixture({X(2)},{}, {m1}, conditionals));
+  HybridConditional hc2(mixtureFactor);
+  HybridLookupTable hlt2(hc2);
+  
+
+  auto conditional2 = boost::make_shared<GaussianConditional>(X(1), d1, S1,
+                                                              X(2), -S1, model);
+
+  HybridConditional hc1(conditional2);
+  HybridLookupTable hlt1(hc1);
+
+  DecisionTreeFactor f1(m1 , "2 3");
+  auto discrete_conditional = boost::make_shared<DiscreteConditional>(1,f1);
+
+  HybridConditional hc3(discrete_conditional);
+  HybridLookupTable hlt3(hc3);
+  
+  HybridLookupDAG dag;
+  dag.push_back(hlt1);
+  dag.push_back(hlt2);
+  dag.push_back(hlt3);
+  auto hv = dag.argmax();
+
+  EXPECT(assert_equal(hv.atDiscrete(1), 1));
+  EXPECT(assert_equal(hv.at(X(2)), d2));
+  EXPECT(assert_equal(hv.at(X(1)), d2+d1));
+}
+
+
+/* ************************************************************************* */
+int main() {
+  TestResult tr;
+  return TestRegistry::runAllTests(tr);
+}
+/* ************************************************************************* */
\ No newline at end of file
diff --git a/gtsam/hybrid/tests/testHybridValues.cpp b/gtsam/hybrid/tests/testHybridValues.cpp
new file mode 100644
index 0000000000..3e821aef2f
--- /dev/null
+++ b/gtsam/hybrid/tests/testHybridValues.cpp
@@ -0,0 +1,59 @@
+/* ----------------------------------------------------------------------------
+
+ * GTSAM Copyright 2010, Georgia Tech Research Corporation,
+ * Atlanta, Georgia 30332-0415
+ * All Rights Reserved
+ * Authors: Frank Dellaert, et al. (see THANKS for the full author list)
+
+ * See LICENSE for the license information
+
+ * -------------------------------------------------------------------------- */
+
+/**
+ *  @file testHybridValues.cpp
+ *  @date Jul 28, 2022
+ *  @author Shangjie Xue
+ */
+
+#include <gtsam/base/Testable.h>
+#include <gtsam/base/TestableAssertions.h>
+#include <gtsam/discrete/DiscreteValues.h>
+#include <gtsam/discrete/Assignment.h>
+#include <gtsam/discrete/DiscreteKey.h>
+#include <gtsam/inference/Key.h>
+#include <gtsam/nonlinear/Values.h>
+#include <gtsam/linear/VectorValues.h>
+#include <gtsam/inference/Symbol.h>
+#include <gtsam/hybrid/HybridValues.h>
+
+// Include for test suite
+#include <CppUnitLite/TestHarness.h>
+
+
+using namespace std;
+using namespace gtsam;
+
+TEST(HybridValues, basics) {
+  HybridValues values;
+  values.insert(99, Vector2(2, 3));
+  values.insert(100, 3);
+  EXPECT(assert_equal(values.at(99), Vector2(2, 3)));
+  EXPECT(assert_equal(values.atDiscrete(100), int(3)));
+
+  values.print();
+
+  HybridValues values2;
+  values2.insert(100, 3);
+  values2.insert(99, Vector2(2, 3));
+  EXPECT(assert_equal(values2, values));
+
+  values2.insert(98, Vector2(2,3));
+  EXPECT(!assert_equal(values2, values));
+}
+
+/* ************************************************************************* */
+int main() {
+  TestResult tr;
+  return TestRegistry::runAllTests(tr);
+}
+/* ************************************************************************* */
\ No newline at end of file

From 7d36a9eb98803bc4712917bee86583fec50ad030 Mon Sep 17 00:00:00 2001
From: sjxue <schroshanjer@gmail.com>
Date: Sun, 14 Aug 2022 21:08:31 -0400
Subject: [PATCH 277/433] add some comments

---
 gtsam/hybrid/HybridBayesNet.h | 1 +
 gtsam/hybrid/HybridValues.h   | 4 ++--
 2 files changed, 3 insertions(+), 2 deletions(-)

diff --git a/gtsam/hybrid/HybridBayesNet.h b/gtsam/hybrid/HybridBayesNet.h
index c376c9a86f..b19528120a 100644
--- a/gtsam/hybrid/HybridBayesNet.h
+++ b/gtsam/hybrid/HybridBayesNet.h
@@ -64,6 +64,7 @@ class GTSAM_EXPORT HybridBayesNet : public BayesNet<HybridConditional> {
   GaussianBayesNet choose(const DiscreteValues &assignment) const;
 
   /// Solve the HybridBayesNet by back-substitution.
+  /// TODO(Shangjie) do we need to create a HybridGaussianBayesNet class, and put this method there?
   HybridValues optimize() const;
 };
 
diff --git a/gtsam/hybrid/HybridValues.h b/gtsam/hybrid/HybridValues.h
index 98f862279a..89f7bb58a7 100644
--- a/gtsam/hybrid/HybridValues.h
+++ b/gtsam/hybrid/HybridValues.h
@@ -53,8 +53,8 @@ class GTSAM_EXPORT HybridValues {
   void print(const std::string& s = "HybridValues",
              const KeyFormatter& keyFormatter = DefaultKeyFormatter) const{
     std::cout << s << ": \n";
-    discrete.print("  Discrete", keyFormatter);
-    continuous.print("  Continuous", keyFormatter);
+    discrete.print("  Discrete", keyFormatter); // print discrete components
+    continuous.print("  Continuous", keyFormatter); //print continuous components
   };
 
   // equals required by Testable for unit testing

From 2a974a4ca7cdb2769db27007bd7c551ea37f7044 Mon Sep 17 00:00:00 2001
From: Varun Agrawal <varagrawal@gmail.com>
Date: Mon, 15 Aug 2022 08:49:51 -0400
Subject: [PATCH 278/433] Address review comments

---
 gtsam/hybrid/HybridGaussianFactor.h           |  4 ---
 gtsam/hybrid/HybridNonlinearFactor.h          |  1 -
 gtsam/hybrid/HybridNonlinearFactorGraph.cpp   |  6 ----
 gtsam/hybrid/HybridNonlinearFactorGraph.h     |  8 -----
 .../tests/testHybridNonlinearFactorGraph.cpp  | 31 ++++++++++++++++++-
 5 files changed, 30 insertions(+), 20 deletions(-)

diff --git a/gtsam/hybrid/HybridGaussianFactor.h b/gtsam/hybrid/HybridGaussianFactor.h
index 7ffe39e794..e645e63e50 100644
--- a/gtsam/hybrid/HybridGaussianFactor.h
+++ b/gtsam/hybrid/HybridGaussianFactor.h
@@ -39,10 +39,6 @@ class GTSAM_EXPORT HybridGaussianFactor : public HybridFactor {
 
   HybridGaussianFactor() = default;
 
-  HybridGaussianFactor(const KeyVector &continuousKeys,
-                       const DiscreteKeys &discreteKeys)
-      : Base(continuousKeys, discreteKeys) {}
-
   // Explicit conversion from a shared ptr of GF
   explicit HybridGaussianFactor(GaussianFactor::shared_ptr other);
 
diff --git a/gtsam/hybrid/HybridNonlinearFactor.h b/gtsam/hybrid/HybridNonlinearFactor.h
index 4a0c0fd9c1..7776347b36 100644
--- a/gtsam/hybrid/HybridNonlinearFactor.h
+++ b/gtsam/hybrid/HybridNonlinearFactor.h
@@ -39,7 +39,6 @@ class HybridNonlinearFactor : public HybridFactor {
   // Explicit conversion from a shared ptr of NonlinearFactor
   explicit HybridNonlinearFactor(const NonlinearFactor::shared_ptr &other);
 
- public:
   /// @name Testable
   /// @{
 
diff --git a/gtsam/hybrid/HybridNonlinearFactorGraph.cpp b/gtsam/hybrid/HybridNonlinearFactorGraph.cpp
index 233badc550..a6abce15aa 100644
--- a/gtsam/hybrid/HybridNonlinearFactorGraph.cpp
+++ b/gtsam/hybrid/HybridNonlinearFactorGraph.cpp
@@ -42,12 +42,6 @@ void HybridNonlinearFactorGraph::print(const std::string& s,
   }
 }
 
-/* ************************************************************************* */
-bool HybridNonlinearFactorGraph::equals(const HybridNonlinearFactorGraph& other,
-                                        double tol) const {
-  return false;
-}
-
 /* ************************************************************************* */
 HybridGaussianFactorGraph HybridNonlinearFactorGraph::linearize(
     const Values& continuousValues) const {
diff --git a/gtsam/hybrid/HybridNonlinearFactorGraph.h b/gtsam/hybrid/HybridNonlinearFactorGraph.h
index 073581da2c..2ddb8bcea2 100644
--- a/gtsam/hybrid/HybridNonlinearFactorGraph.h
+++ b/gtsam/hybrid/HybridNonlinearFactorGraph.h
@@ -109,11 +109,6 @@ class GTSAM_EXPORT HybridNonlinearFactorGraph : public HybridFactorGraph {
     }
   }
 
-  // /// Add a nonlinear factor to the factor graph.
-  // void add(NonlinearFactor&& factor) {
-  //   Base::add(boost::make_shared<HybridNonlinearFactor>(std::move(factor)));
-  // }
-
   /// Add a nonlinear factor as a shared ptr.
   void add(boost::shared_ptr<NonlinearFactor> factor);
 
@@ -122,9 +117,6 @@ class GTSAM_EXPORT HybridNonlinearFactorGraph : public HybridFactorGraph {
       const std::string& s = "HybridNonlinearFactorGraph",
       const KeyFormatter& keyFormatter = DefaultKeyFormatter) const override;
 
-  /// Check if this factor graph is equal to `other`.
-  bool equals(const HybridNonlinearFactorGraph& other, double tol = 1e-9) const;
-
   /**
    * @brief Linearize all the continuous factors in the
    * HybridNonlinearFactorGraph.
diff --git a/gtsam/hybrid/tests/testHybridNonlinearFactorGraph.cpp b/gtsam/hybrid/tests/testHybridNonlinearFactorGraph.cpp
index 814492686c..a3debb3a99 100644
--- a/gtsam/hybrid/tests/testHybridNonlinearFactorGraph.cpp
+++ b/gtsam/hybrid/tests/testHybridNonlinearFactorGraph.cpp
@@ -68,6 +68,30 @@ TEST(HybridFactorGraph, GaussianFactorGraph) {
   EXPECT_LONGS_EQUAL(2, ghfg.size());
 }
 
+/***************************************************************************
+ * Test equality for Hybrid Nonlinear Factor Graph.
+ */
+TEST(HybridNonlinearFactorGraph, Equals) {
+  HybridNonlinearFactorGraph graph1;
+  HybridNonlinearFactorGraph graph2;
+
+  // Test empty factor graphs
+  EXPECT(assert_equal(graph1, graph2));
+
+  auto f0 = boost::make_shared<PriorFactor<Pose2>>(
+      1, Pose2(), noiseModel::Isotropic::Sigma(3, 0.001));
+  graph1.push_back(f0);
+  graph2.push_back(f0);
+
+  auto f1 = boost::make_shared<BetweenFactor<Pose2>>(
+      1, 2, Pose2(), noiseModel::Isotropic::Sigma(3, 0.1));
+  graph1.push_back(f1);
+  graph2.push_back(f1);
+
+  // Test non-empty graphs
+  EXPECT(assert_equal(graph1, graph2));
+}
+
 /***************************************************************************
  * Test that the resize method works correctly for a HybridNonlinearFactorGraph.
  */
@@ -682,8 +706,13 @@ TEST(HybridFactorGraph, DefaultDecisionTree) {
        moving = boost::make_shared<PlanarMotionModel>(X(0), X(1), odometry,
                                                       noise_model);
   std::vector<PlanarMotionModel::shared_ptr> motion_models = {still, moving};
+  // TODO(Varun) Make a templated constructor for MixtureFactor which does this?
+  std::vector<NonlinearFactor::shared_ptr> components;
+  for (auto&& f : motion_models) {
+    components.push_back(boost::dynamic_pointer_cast<NonlinearFactor>(f));
+  }
   fg.emplace_hybrid<MixtureFactor>(
-      contKeys, DiscreteKeys{gtsam::DiscreteKey(M(1), 2)}, motion_models);
+      contKeys, DiscreteKeys{gtsam::DiscreteKey(M(1), 2)}, components);
 
   // Add Range-Bearing measurements to from X0 to L0 and X1 to L1.
   // create a noise model for the landmark measurements

From ac20cff710fbecd0305625ed1d63575c8d84dce9 Mon Sep 17 00:00:00 2001
From: Varun Agrawal <varagrawal@gmail.com>
Date: Tue, 16 Aug 2022 17:23:52 -0400
Subject: [PATCH 279/433] add incremental pruning to HybridGaussianISAM

---
 gtsam/hybrid/GaussianMixture.cpp             |  27 +-
 gtsam/hybrid/GaussianMixture.h               |  12 +-
 gtsam/hybrid/HybridGaussianISAM.cpp          |  54 +-
 gtsam/hybrid/HybridGaussianISAM.h            |  10 +
 gtsam/hybrid/tests/testHybridIncremental.cpp | 817 +++++++++----------
 5 files changed, 503 insertions(+), 417 deletions(-)

diff --git a/gtsam/hybrid/GaussianMixture.cpp b/gtsam/hybrid/GaussianMixture.cpp
index b04800d21e..6816dfbf67 100644
--- a/gtsam/hybrid/GaussianMixture.cpp
+++ b/gtsam/hybrid/GaussianMixture.cpp
@@ -119,11 +119,36 @@ void GaussianMixture::print(const std::string &s,
       "", [&](Key k) { return formatter(k); },
       [&](const GaussianConditional::shared_ptr &gf) -> std::string {
         RedirectCout rd;
-        if (!gf->empty())
+        if (gf && !gf->empty())
           gf->print("", formatter);
         else
           return {"nullptr"};
         return rd.str();
       });
 }
+
+/* *******************************************************************************/
+void GaussianMixture::prune(const DecisionTreeFactor &decisionTree) {
+  // Functional which loops over all assignments and create a set of
+  // GaussianConditionals
+  auto pruner = [&decisionTree](
+                    const Assignment<Key> &choices,
+                    const GaussianConditional::shared_ptr &conditional)
+      -> GaussianConditional::shared_ptr {
+    // typecast so we can use this to get probability value
+    DiscreteValues values(choices);
+
+    if (decisionTree(values) == 0.0) {
+      // empty aka null pointer
+      boost::shared_ptr<GaussianConditional> null;
+      return null;
+    } else {
+      return conditional;
+    }
+  };
+
+  auto pruned_conditionals = conditionals_.apply(pruner);
+  conditionals_.root_ = pruned_conditionals.root_;
+}
+
 }  // namespace gtsam
diff --git a/gtsam/hybrid/GaussianMixture.h b/gtsam/hybrid/GaussianMixture.h
index 49aa31c4c4..75deb4d553 100644
--- a/gtsam/hybrid/GaussianMixture.h
+++ b/gtsam/hybrid/GaussianMixture.h
@@ -21,6 +21,7 @@
 
 #include <gtsam/discrete/DecisionTree-inl.h>
 #include <gtsam/discrete/DecisionTree.h>
+#include <gtsam/discrete/DecisionTreeFactor.h>
 #include <gtsam/discrete/DiscreteKey.h>
 #include <gtsam/hybrid/HybridFactor.h>
 #include <gtsam/inference/Conditional.h>
@@ -121,7 +122,7 @@ class GTSAM_EXPORT GaussianMixture
   /// Test equality with base HybridFactor
   bool equals(const HybridFactor &lf, double tol = 1e-9) const override;
 
-  /* print utility */
+  /// Print utility
   void print(
       const std::string &s = "GaussianMixture\n",
       const KeyFormatter &formatter = DefaultKeyFormatter) const override;
@@ -131,6 +132,15 @@ class GTSAM_EXPORT GaussianMixture
   /// Getter for the underlying Conditionals DecisionTree
   const Conditionals &conditionals();
 
+  /**
+   * @brief Prune the decision tree of Gaussian factors as per the discrete
+   * `decisionTree`.
+   *
+   * @param decisionTree A pruned decision tree of discrete keys where the
+   * leaves are probabilities.
+   */
+  void prune(const DecisionTreeFactor &decisionTree);
+
   /**
    * @brief Merge the Gaussian Factor Graphs in `this` and `sum` while
    * maintaining the decision tree structure.
diff --git a/gtsam/hybrid/HybridGaussianISAM.cpp b/gtsam/hybrid/HybridGaussianISAM.cpp
index 7783a88ddc..df78037221 100644
--- a/gtsam/hybrid/HybridGaussianISAM.cpp
+++ b/gtsam/hybrid/HybridGaussianISAM.cpp
@@ -41,6 +41,7 @@ HybridGaussianISAM::HybridGaussianISAM(const HybridBayesTree& bayesTree)
 void HybridGaussianISAM::updateInternal(
     const HybridGaussianFactorGraph& newFactors,
     HybridBayesTree::Cliques* orphans,
+    const boost::optional<Ordering>& ordering,
     const HybridBayesTree::Eliminate& function) {
   // Remove the contaminated part of the Bayes tree
   BayesNetType bn;
@@ -78,12 +79,19 @@ void HybridGaussianISAM::updateInternal(
 
   // Get an ordering where the new keys are eliminated last
   const VariableIndex index(factors);
-  const Ordering ordering = Ordering::ColamdConstrainedLast(
-      index, KeyVector(newKeysDiscreteLast.begin(), newKeysDiscreteLast.end()),
-      true);
+  Ordering elimination_ordering;
+  if (ordering) {
+    elimination_ordering = *ordering;
+  } else {
+    elimination_ordering = Ordering::ColamdConstrainedLast(
+        index,
+        KeyVector(newKeysDiscreteLast.begin(), newKeysDiscreteLast.end()),
+        true);
+  }
 
   // eliminate all factors (top, added, orphans) into a new Bayes tree
-  auto bayesTree = factors.eliminateMultifrontal(ordering, function, index);
+  HybridBayesTree::shared_ptr bayesTree =
+      factors.eliminateMultifrontal(elimination_ordering, function, index);
 
   // Re-add into Bayes tree data structures
   this->roots_.insert(this->roots_.end(), bayesTree->roots().begin(),
@@ -93,9 +101,45 @@ void HybridGaussianISAM::updateInternal(
 
 /* ************************************************************************* */
 void HybridGaussianISAM::update(const HybridGaussianFactorGraph& newFactors,
+                                const boost::optional<Ordering>& ordering,
                                 const HybridBayesTree::Eliminate& function) {
   Cliques orphans;
-  this->updateInternal(newFactors, &orphans, function);
+  this->updateInternal(newFactors, &orphans, ordering, function);
+}
+
+void HybridGaussianISAM::prune(const Key& root, const size_t maxNrLeaves) {
+  auto decisionTree = boost::dynamic_pointer_cast<DecisionTreeFactor>(
+      this->clique(root)->conditional()->inner());
+  DecisionTreeFactor prunedDiscreteFactor = decisionTree->prune(maxNrLeaves);
+  decisionTree->root_ = prunedDiscreteFactor.root_;
+
+  std::vector<gtsam::Key> prunedKeys;
+  for (auto&& clique : nodes()) {
+    // The cliques can be repeated for each frontal so we record it in
+    // prunedKeys and check if we have already pruned a particular clique.
+    if (std::find(prunedKeys.begin(), prunedKeys.end(), clique.first) !=
+        prunedKeys.end()) {
+      continue;
+    }
+
+    // Add all the keys of the current clique to be pruned to prunedKeys
+    for (auto&& key : clique.second->conditional()->frontals()) {
+      prunedKeys.push_back(key);
+    }
+
+    // Convert parents() to a KeyVector for comparison
+    KeyVector parents;
+    for (auto&& parent : clique.second->conditional()->parents()) {
+      parents.push_back(parent);
+    }
+
+    if (parents == decisionTree->keys()) {
+      auto gaussianMixture = boost::dynamic_pointer_cast<GaussianMixture>(
+          clique.second->conditional()->inner());
+
+      gaussianMixture->prune(prunedDiscreteFactor);
+    }
+  }
 }
 
 }  // namespace gtsam
diff --git a/gtsam/hybrid/HybridGaussianISAM.h b/gtsam/hybrid/HybridGaussianISAM.h
index d5b6271da7..4fc206582d 100644
--- a/gtsam/hybrid/HybridGaussianISAM.h
+++ b/gtsam/hybrid/HybridGaussianISAM.h
@@ -48,6 +48,7 @@ class GTSAM_EXPORT HybridGaussianISAM : public ISAM<HybridBayesTree> {
   void updateInternal(
       const HybridGaussianFactorGraph& newFactors,
       HybridBayesTree::Cliques* orphans,
+      const boost::optional<Ordering>& ordering = boost::none,
       const HybridBayesTree::Eliminate& function =
           HybridBayesTree::EliminationTraitsType::DefaultEliminate);
 
@@ -59,8 +60,17 @@ class GTSAM_EXPORT HybridGaussianISAM : public ISAM<HybridBayesTree> {
    * @param function Elimination function.
    */
   void update(const HybridGaussianFactorGraph& newFactors,
+              const boost::optional<Ordering>& ordering = boost::none,
               const HybridBayesTree::Eliminate& function =
                   HybridBayesTree::EliminationTraitsType::DefaultEliminate);
+
+  /**
+   * @brief 
+   * 
+   * @param root The root key in the discrete conditional decision tree.
+   * @param maxNumberLeaves 
+   */
+  void prune(const Key& root, const size_t maxNumberLeaves);
 };
 
 /// traits
diff --git a/gtsam/hybrid/tests/testHybridIncremental.cpp b/gtsam/hybrid/tests/testHybridIncremental.cpp
index 7ab64462c6..afd0d0a70d 100644
--- a/gtsam/hybrid/tests/testHybridIncremental.cpp
+++ b/gtsam/hybrid/tests/testHybridIncremental.cpp
@@ -52,10 +52,10 @@ TEST(HybridGaussianElimination, IncrementalElimination) {
   HybridGaussianFactorGraph graph1;
 
   // Create initial factor graph
-  //    *        *      *
-  //    |        |      |
-  // *- X1  -*-  X2 -*- X3
-  //     \*-M1-*/
+  //  *        *      *
+  //  |        |      |
+  //  X1  -*-  X2 -*- X3
+  //   \*-M1-*/
   graph1.push_back(switching.linearizedFactorGraph.at(0));  // P(X1)
   graph1.push_back(switching.linearizedFactorGraph.at(1));  // P(X1, X2 | M1)
   graph1.push_back(switching.linearizedFactorGraph.at(2));  // P(X2, X3 | M2)
@@ -179,7 +179,8 @@ TEST(HybridGaussianElimination, IncrementalInference) {
 
   DiscreteValues m00;
   m00[M(1)] = 0, m00[M(2)] = 0;
-  DiscreteConditional decisionTree = *(*discreteBayesTree)[M(2)]->conditional()->asDiscreteConditional();
+  DiscreteConditional decisionTree =
+      *(*discreteBayesTree)[M(2)]->conditional()->asDiscreteConditional();
   double m00_prob = decisionTree(m00);
 
   auto discreteConditional = isam[M(2)]->conditional()->asDiscreteConditional();
@@ -200,8 +201,8 @@ TEST(HybridGaussianElimination, IncrementalInference) {
   assignment[M(2)] = 1;
   EXPECT(assert_equal(0.2, (*discreteConditional)(assignment), 1e-5));
 
-  // Check if the clique conditional generated from incremental elimination matches
-  // that of batch elimination.
+  // Check if the clique conditional generated from incremental elimination
+  // matches that of batch elimination.
   auto expectedChordal = expectedRemainingGraph->eliminateMultifrontal();
   auto expectedConditional = dynamic_pointer_cast<DecisionTreeFactor>(
       (*expectedChordal)[M(2)]->conditional()->inner());
@@ -213,419 +214,415 @@ TEST(HybridGaussianElimination, IncrementalInference) {
 /* ****************************************************************************/
 // Test if we can approximately do the inference
 TEST(HybridGaussianElimination, Approx_inference) {
-//   Switching switching(4);
-//   IncrementalHybrid incrementalHybrid;
-//   HybridGaussianFactorGraph graph1;
-
-//   // Add the 3 DC factors, x1-x2, x2-x3, x3-x4
-//   for (size_t i = 0; i < 3; i++) {
-//     graph1.push_back(switching.linearizedFactorGraph.dcGraph().at(i));
-//   }
-
-//   // Add the Gaussian factors, 1 prior on X(1), 4 measurements
-//   for (size_t i = 0; i <= 4; i++) {
-// graph1.push_back(switching.linearizedFactorGraph.gaussianGraph().at(i));
-//   }
-
-//   // Create ordering.
-//   Ordering ordering;
-//   for (size_t j = 1; j <= 4; j++) {
-//     ordering += X(j);
-//   }
-
-//   // Now we calculate the actual factors using full elimination
-//   HybridBayesNet::shared_ptr unprunedHybridBayesNet;
-//   HybridGaussianFactorGraph::shared_ptr unprunedRemainingGraph;
-//   std::tie(unprunedHybridBayesNet, unprunedRemainingGraph) =
-// switching.linearizedFactorGraph.eliminatePartialSequential(ordering);
-
-//   size_t maxComponents = 5;
-//   incrementalHybrid.update(graph1, ordering, maxComponents);
-
-//   /*
-//   unpruned factor is:
-//       Choice(m3)
-//       0 Choice(m2)
-//       0 0 Choice(m1)
-//       0 0 0 Leaf 0.2248 -
-//       0 0 1 Leaf 0.3715 -
-//       0 1 Choice(m1)
-//       0 1 0 Leaf 0.3742 *
-//       0 1 1 Leaf 0.6125 *
-//       1 Choice(m2)
-//       1 0 Choice(m1)
-//       1 0 0 Leaf 0.3706 -
-//       1 0 1 Leaf 0.6124 *
-//       1 1 Choice(m1)
-//       1 1 0 Leaf 0.611 *
-//       1 1 1 Leaf    1 *
-
-//   pruned factors is:
-//       Choice(m3)
-//       0 Choice(m2)
-//       0 0 Leaf    0
-//       0 1 Choice(m1)
-//       0 1 0 Leaf 0.3742
-//       0 1 1 Leaf 0.6125
-//       1 Choice(m2)
-//       1 0 Choice(m1)
-//       1 0 0 Leaf    0
-//       1 0 1 Leaf 0.6124
-//       1 1 Choice(m1)
-//       1 1 0 Leaf 0.611
-//       1 1 1 Leaf    1
-//    */
-
-//   // Test that the remaining factor graph has one
-//   // DecisionTreeFactor on {M3, M2, M1}.
-//   auto remainingFactorGraph = incrementalHybrid.remainingFactorGraph();
-//   EXPECT_LONGS_EQUAL(1, remainingFactorGraph.size());
-
-//   auto discreteFactor_m1 = *dynamic_pointer_cast<DecisionTreeFactor>(
-//       incrementalHybrid.remainingDiscreteGraph().at(0));
-//   EXPECT(discreteFactor_m1.keys() == KeyVector({M(3), M(2), M(1)}));
-
-//   // Get the number of elements which are equal to 0.
-//   auto count = [](const double &value, int count) {
-//     return value > 0 ? count + 1 : count;
-//   };
-//   // Check that the number of leaves after pruning is 5.
-//   EXPECT_LONGS_EQUAL(5, discreteFactor_m1.fold(count, 0));
-
-//   /* Expected hybrid Bayes net
-//    * factor 0:  [x1 | x2 m1 ], 2 components
-//    * factor 1:  [x2 | x3 m2 m1 ], 4 components
-//    * factor 2:  [x3 | x4 m3 m2 m1 ], 8 components
-//    * factor 3:  [x4 | m3 m2 m1 ], 8 components
-//    */
-//   auto hybridBayesNet = incrementalHybrid.hybridBayesNet();
-
-//   // Check if we have a bayes net with 4 hybrid nodes,
-//   // each with 2, 4, 5 (pruned), and 5 (pruned) leaves respetively.
-//   EXPECT_LONGS_EQUAL(4, hybridBayesNet.size());
-//   EXPECT_LONGS_EQUAL(2, hybridBayesNet.atGaussian(0)->nrComponents());
-//   EXPECT_LONGS_EQUAL(4, hybridBayesNet.atGaussian(1)->nrComponents());
-//   EXPECT_LONGS_EQUAL(5, hybridBayesNet.atGaussian(2)->nrComponents());
-//   EXPECT_LONGS_EQUAL(5, hybridBayesNet.atGaussian(3)->nrComponents());
-
-//   // Check that the hybrid nodes of the bayes net match those of the bayes
-//   net
-//   // before pruning, at the same positions.
-//   auto &lastDensity = *(hybridBayesNet.atGaussian(3));
-//   auto &unprunedLastDensity = *(unprunedHybridBayesNet->atGaussian(3));
-//   std::vector<std::pair<DiscreteValues, double>> assignments =
-//       discreteFactor_m1.enumerate();
-//   // Loop over all assignments and check the pruned components
-//   for (auto &&av : assignments) {
-//     const DiscreteValues &assignment = av.first;
-//     const double value = av.second;
-
-//     if (value == 0.0) {
-//       EXPECT(lastDensity(assignment) == nullptr);
-//     } else {
-//       CHECK(lastDensity(assignment));
-//       EXPECT(assert_equal(*unprunedLastDensity(assignment),
-//                           *lastDensity(assignment)));
-//     }
-//   }
+  Switching switching(4);
+  HybridGaussianISAM incrementalHybrid;
+  HybridGaussianFactorGraph graph1;
+
+  // Add the 3 hybrid factors, x1-x2, x2-x3, x3-x4
+  for (size_t i = 1; i < 4; i++) {
+    graph1.push_back(switching.linearizedFactorGraph.at(i));
+  }
+
+  // Add the Gaussian factors, 1 prior on X(1),
+  // 3 measurements on X(2), X(3), X(4)
+  graph1.push_back(switching.linearizedFactorGraph.at(0));
+  for (size_t i = 4; i <= 7; i++) {
+    graph1.push_back(switching.linearizedFactorGraph.at(i));
+  }
+
+  // Create ordering.
+  Ordering ordering;
+  for (size_t j = 1; j <= 4; j++) {
+    ordering += X(j);
+  }
+
+  // Now we calculate the actual factors using full elimination
+  HybridBayesTree::shared_ptr unprunedHybridBayesTree;
+  HybridGaussianFactorGraph::shared_ptr unprunedRemainingGraph;
+  std::tie(unprunedHybridBayesTree, unprunedRemainingGraph) =
+      switching.linearizedFactorGraph.eliminatePartialMultifrontal(ordering);
+
+  size_t maxNrLeaves = 5;
+  incrementalHybrid.update(graph1);
+
+  incrementalHybrid.prune(M(3), maxNrLeaves);
+
+  /*
+  unpruned factor is:
+    Choice(m3)
+    0 Choice(m2)
+    0 0 Choice(m1)
+    0 0 0 Leaf 0.11267528
+    0 0 1 Leaf 0.18576102
+    0 1 Choice(m1)
+    0 1 0 Leaf 0.18754662
+    0 1 1 Leaf 0.30623871
+    1 Choice(m2)
+    1 0 Choice(m1)
+    1 0 0 Leaf 0.18576102
+    1 0 1 Leaf 0.30622428
+    1 1 Choice(m1)
+    1 1 0 Leaf 0.30623871
+    1 1 1 Leaf  0.5
+
+  pruned factors is:
+    Choice(m3)
+    0 Choice(m2)
+    0 0 Leaf    0
+    0 1 Choice(m1)
+    0 1 0 Leaf 0.18754662
+    0 1 1 Leaf 0.30623871
+    1 Choice(m2)
+    1 0 Choice(m1)
+    1 0 0 Leaf    0
+    1 0 1 Leaf 0.30622428
+    1 1 Choice(m1)
+    1 1 0 Leaf 0.30623871
+    1 1 1 Leaf  0.5
+  */
+
+  auto discreteConditional_m1 = *dynamic_pointer_cast<DiscreteConditional>(
+      incrementalHybrid[M(1)]->conditional()->inner());
+  EXPECT(discreteConditional_m1.keys() == KeyVector({M(1), M(2), M(3)}));
+
+  // Get the number of elements which are greater than 0.
+  auto count = [](const double &value, int count) {
+    return value > 0 ? count + 1 : count;
+  };
+  // Check that the number of leaves after pruning is 5.
+  EXPECT_LONGS_EQUAL(5, discreteConditional_m1.fold(count, 0));
+
+  // Check that the hybrid nodes of the bayes net match those of the pre-pruning
+  // bayes net, at the same positions.
+  auto &unprunedLastDensity = *dynamic_pointer_cast<GaussianMixture>(
+      unprunedHybridBayesTree->clique(X(4))->conditional()->inner());
+  auto &lastDensity = *dynamic_pointer_cast<GaussianMixture>(
+      incrementalHybrid[X(4)]->conditional()->inner());
+
+  std::vector<std::pair<DiscreteValues, double>> assignments =
+      discreteConditional_m1.enumerate();
+  // Loop over all assignments and check the pruned components
+  for (auto &&av : assignments) {
+    const DiscreteValues &assignment = av.first;
+    const double value = av.second;
+
+    if (value == 0.0) {
+      EXPECT(lastDensity(assignment) == nullptr);
+    } else {
+      CHECK(lastDensity(assignment));
+      EXPECT(assert_equal(*unprunedLastDensity(assignment),
+                          *lastDensity(assignment)));
+    }
+  }
 }
 
 /* ****************************************************************************/
 // Test approximate inference with an additional pruning step.
 TEST(HybridGaussianElimination, Incremental_approximate) {
-//   Switching switching(5);
-//   IncrementalHybrid incrementalHybrid;
-//   HybridGaussianFactorGraph graph1;
-
-//   // Add the 3 DC factors, x1-x2, x2-x3, x3-x4
-//   for (size_t i = 0; i < 3; i++) {
-//     graph1.push_back(switching.linearizedFactorGraph.dcGraph().at(i));
-//   }
-
-//   // Add the Gaussian factors, 1 prior on X(1), 4 measurements
-//   for (size_t i = 0; i <= 4; i++) {
-// graph1.push_back(switching.linearizedFactorGraph.gaussianGraph().at(i));
-//   }
-
-//   // Create ordering.
-//   Ordering ordering;
-//   for (size_t j = 1; j <= 4; j++) {
-//     ordering += X(j);
-//   }
-
-//   // Run update with pruning
-//   size_t maxComponents = 5;
-//   incrementalHybrid.update(graph1, ordering, maxComponents);
-
-//   // Check if we have a bayes net with 4 hybrid nodes,
-//   // each with 2, 4, 8, and 5 (pruned) leaves respetively.
-//   auto actualBayesNet1 = incrementalHybrid.hybridBayesNet();
-//   CHECK_EQUAL(4, actualBayesNet1.size());
-//   EXPECT_LONGS_EQUAL(2, actualBayesNet1.atGaussian(0)->nrComponents());
-//   EXPECT_LONGS_EQUAL(4, actualBayesNet1.atGaussian(1)->nrComponents());
-//   EXPECT_LONGS_EQUAL(8, actualBayesNet1.atGaussian(2)->nrComponents());
-//   EXPECT_LONGS_EQUAL(5, actualBayesNet1.atGaussian(3)->nrComponents());
-
-//   /***** Run Round 2 *****/
-//   HybridGaussianFactorGraph graph2;
-//   graph2.push_back(switching.linearizedFactorGraph.dcGraph().at(3));
-//   graph2.push_back(switching.linearizedFactorGraph.gaussianGraph().at(5));
-
-//   Ordering ordering2;
-//   ordering2 += X(4);
-//   ordering2 += X(5);
-
-//   // Run update with pruning a second time.
-//   incrementalHybrid.update(graph2, ordering2, maxComponents);
-
-//   // Check if we have a bayes net with 2 hybrid nodes,
-//   // each with 10 (pruned), and 5 (pruned) leaves respetively.
-//   auto actualBayesNet = incrementalHybrid.hybridBayesNet();
-//   CHECK_EQUAL(2, actualBayesNet.size());
-//   EXPECT_LONGS_EQUAL(10, actualBayesNet.atGaussian(0)->nrComponents());
-//   EXPECT_LONGS_EQUAL(5, actualBayesNet.atGaussian(1)->nrComponents());
+  Switching switching(5);
+  HybridGaussianISAM incrementalHybrid;
+  HybridGaussianFactorGraph graph1;
+
+  /***** Run Round 1 *****/
+  // Add the 3 hybrid factors, x1-x2, x2-x3, x3-x4
+  for (size_t i = 1; i < 4; i++) {
+    graph1.push_back(switching.linearizedFactorGraph.at(i));
+  }
+
+  // Add the Gaussian factors, 1 prior on X(1),
+  // 3 measurements on X(2), X(3), X(4)
+  graph1.push_back(switching.linearizedFactorGraph.at(0));
+  for (size_t i = 5; i <= 7; i++) {
+    graph1.push_back(switching.linearizedFactorGraph.at(i));
+  }
+
+  // Create ordering.
+  Ordering ordering;
+  for (size_t j = 1; j <= 4; j++) {
+    ordering += X(j);
+  }
+
+  // Run update with pruning
+  size_t maxComponents = 5;
+  incrementalHybrid.update(graph1);
+  incrementalHybrid.prune(M(3), maxComponents);
+
+  // Check if we have a bayes tree with 4 hybrid nodes,
+  // each with 2, 4, 8, and 5 (pruned) leaves respetively.
+  EXPECT_LONGS_EQUAL(4, incrementalHybrid.size());
+  EXPECT_LONGS_EQUAL(
+      2, incrementalHybrid[X(1)]->conditional()->asMixture()->nrComponents());
+  EXPECT_LONGS_EQUAL(
+      4, incrementalHybrid[X(2)]->conditional()->asMixture()->nrComponents());
+  EXPECT_LONGS_EQUAL(
+      5, incrementalHybrid[X(3)]->conditional()->asMixture()->nrComponents());
+  EXPECT_LONGS_EQUAL(
+      5, incrementalHybrid[X(4)]->conditional()->asMixture()->nrComponents());
+
+  /***** Run Round 2 *****/
+  HybridGaussianFactorGraph graph2;
+  graph2.push_back(switching.linearizedFactorGraph.at(4));
+  graph2.push_back(switching.linearizedFactorGraph.at(8));
+
+  Ordering ordering2;
+  ordering2 += X(4);
+  ordering2 += X(5);
+
+  // Run update with pruning a second time.
+  incrementalHybrid.update(graph2);
+  incrementalHybrid.prune(M(4), maxComponents);
+
+  // Check if we have a bayes tree with pruned hybrid nodes,
+  // with 5 (pruned) leaves.
+  CHECK_EQUAL(5, incrementalHybrid.size());
+  EXPECT_LONGS_EQUAL(
+      5, incrementalHybrid[X(4)]->conditional()->asMixture()->nrComponents());
+  EXPECT_LONGS_EQUAL(
+      5, incrementalHybrid[X(5)]->conditional()->asMixture()->nrComponents());
 }
 
 /* ************************************************************************/
 // Test for figuring out the optimal ordering to ensure we get
 // a discrete graph after elimination.
-TEST(IncrementalHybrid, NonTrivial) {
-//   // This is a GTSAM-only test for running inference on a single legged
-//   robot.
-//   // The leg links are represented by the chain X-Y-Z-W, where X is the base
-//   and
-//   // W is the foot.
-//   // We use BetweenFactor<Pose2> as constraints between each of the poses.
-
-//   /*************** Run Round 1 ***************/
-//   NonlinearHybridFactorGraph fg;
-
-//   // Add a prior on pose x1 at the origin.
-//   // A prior factor consists of a mean  and
-//   // a noise model (covariance matrix)
-//   Pose2 prior(0.0, 0.0, 0.0);  // prior mean is at origin
-//   auto priorNoise = noiseModel::Diagonal::Sigmas(
-//       Vector3(0.3, 0.3, 0.1));  // 30cm std on x,y, 0.1 rad on theta
-//   fg.emplace_nonlinear<PriorFactor<Pose2>>(X(0), prior, priorNoise);
-
-//   // create a noise model for the landmark measurements
-//   auto poseNoise = noiseModel::Isotropic::Sigma(3, 0.1);
-
-//   // We model a robot's single leg as X - Y - Z - W
-//   // where X is the base link and W is the foot link.
-
-//   // Add connecting poses similar to PoseFactors in GTD
-//   fg.emplace_nonlinear<BetweenFactor<Pose2>>(X(0), Y(0), Pose2(0, 1.0, 0),
-//                                              poseNoise);
-//   fg.emplace_nonlinear<BetweenFactor<Pose2>>(Y(0), Z(0), Pose2(0, 1.0, 0),
-//                                              poseNoise);
-//   fg.emplace_nonlinear<BetweenFactor<Pose2>>(Z(0), W(0), Pose2(0, 1.0, 0),
-//                                              poseNoise);
-
-//   // Create initial estimate
-//   Values initial;
-//   initial.insert(X(0), Pose2(0.0, 0.0, 0.0));
-//   initial.insert(Y(0), Pose2(0.0, 1.0, 0.0));
-//   initial.insert(Z(0), Pose2(0.0, 2.0, 0.0));
-//   initial.insert(W(0), Pose2(0.0, 3.0, 0.0));
-
-//   HybridGaussianFactorGraph gfg = fg.linearize(initial);
-//   fg = NonlinearHybridFactorGraph();
-
-//   IncrementalHybrid inc;
-
-//   // Regular ordering going up the chain.
-//   Ordering ordering;
-//   ordering += W(0);
-//   ordering += Z(0);
-//   ordering += Y(0);
-//   ordering += X(0);
-
-//   // Update without pruning
-//   // The result is a HybridBayesNet with no discrete variables
-//   // (equivalent to a GaussianBayesNet).
-//   // Factorization is:
-//   // `P(X | measurements) = P(W0|Z0) P(Z0|Y0) P(Y0|X0) P(X0)`
-//   inc.update(gfg, ordering);
-
-//   /*************** Run Round 2 ***************/
-//   using PlanarMotionModel = BetweenFactor<Pose2>;
-
-//   // Add odometry factor with discrete modes.
-//   Pose2 odometry(1.0, 0.0, 0.0);
-//   KeyVector contKeys = {W(0), W(1)};
-//   auto noise_model = noiseModel::Isotropic::Sigma(3, 1.0);
-//   auto still = boost::make_shared<PlanarMotionModel>(W(0), W(1), Pose2(0, 0,
-//   0),
-//                                                      noise_model),
-//        moving = boost::make_shared<PlanarMotionModel>(W(0), W(1), odometry,
-//                                                       noise_model);
-//   std::vector<PlanarMotionModel::shared_ptr> components = {moving, still};
-//   auto dcFactor = boost::make_shared<DCMixtureFactor<PlanarMotionModel>>(
-//       contKeys, DiscreteKeys{gtsam::DiscreteKey(M(1), 2)}, components);
-//   fg.push_back(dcFactor);
-
-//   // Add equivalent of ImuFactor
-//   fg.emplace_nonlinear<BetweenFactor<Pose2>>(X(0), X(1), Pose2(1.0, 0.0, 0),
-//                                              poseNoise);
-//   // PoseFactors-like at k=1
-//   fg.emplace_nonlinear<BetweenFactor<Pose2>>(X(1), Y(1), Pose2(0, 1, 0),
-//                                              poseNoise);
-//   fg.emplace_nonlinear<BetweenFactor<Pose2>>(Y(1), Z(1), Pose2(0, 1, 0),
-//                                              poseNoise);
-//   fg.emplace_nonlinear<BetweenFactor<Pose2>>(Z(1), W(1), Pose2(-1, 1, 0),
-//                                              poseNoise);
-
-//   initial.insert(X(1), Pose2(1.0, 0.0, 0.0));
-//   initial.insert(Y(1), Pose2(1.0, 1.0, 0.0));
-//   initial.insert(Z(1), Pose2(1.0, 2.0, 0.0));
-//   // The leg link did not move so we set the expected pose accordingly.
-//   initial.insert(W(1), Pose2(0.0, 3.0, 0.0));
-
-//   // Ordering for k=1.
-//   // This ordering follows the intuition that we eliminate the previous
-//   // timestep, and then the current timestep.
-//   ordering = Ordering();
-//   ordering += W(0);
-//   ordering += Z(0);
-//   ordering += Y(0);
-//   ordering += X(0);
-//   ordering += W(1);
-//   ordering += Z(1);
-//   ordering += Y(1);
-//   ordering += X(1);
-
-//   gfg = fg.linearize(initial);
-//   fg = NonlinearHybridFactorGraph();
-
-//   // Update without pruning
-//   // The result is a HybridBayesNet with 1 discrete variable M(1).
-//   // P(X | measurements) = P(W0|Z0, W1, M1) P(Z0|Y0, W1, M1) P(Y0|X0, W1, M1)
-//   //                       P(X0 | X1, W1, M1) P(W1|Z1, X1, M1) P(Z1|Y1, X1,
-//   M1)
-//   //                       P(Y1 | X1, M1)P(X1 | M1)P(M1)
-//   // The MHS tree is a 2 level tree for time indices (0, 1) with 2 leaves.
-//   inc.update(gfg, ordering);
-
-//   /*************** Run Round 3 ***************/
-//   // Add odometry factor with discrete modes.
-//   contKeys = {W(1), W(2)};
-//   still = boost::make_shared<PlanarMotionModel>(W(1), W(2), Pose2(0, 0, 0),
-//                                                 noise_model);
-//   moving =
-//       boost::make_shared<PlanarMotionModel>(W(1), W(2), odometry,
-//       noise_model);
-//   components = {moving, still};
-//   dcFactor = boost::make_shared<DCMixtureFactor<PlanarMotionModel>>(
-//       contKeys, DiscreteKeys{gtsam::DiscreteKey(M(2), 2)}, components);
-//   fg.push_back(dcFactor);
-
-//   // Add equivalent of ImuFactor
-//   fg.emplace_nonlinear<BetweenFactor<Pose2>>(X(1), X(2), Pose2(1.0, 0.0, 0),
-//                                              poseNoise);
-//   // PoseFactors-like at k=1
-//   fg.emplace_nonlinear<BetweenFactor<Pose2>>(X(2), Y(2), Pose2(0, 1, 0),
-//                                              poseNoise);
-//   fg.emplace_nonlinear<BetweenFactor<Pose2>>(Y(2), Z(2), Pose2(0, 1, 0),
-//                                              poseNoise);
-//   fg.emplace_nonlinear<BetweenFactor<Pose2>>(Z(2), W(2), Pose2(-2, 1, 0),
-//                                              poseNoise);
-
-//   initial.insert(X(2), Pose2(2.0, 0.0, 0.0));
-//   initial.insert(Y(2), Pose2(2.0, 1.0, 0.0));
-//   initial.insert(Z(2), Pose2(2.0, 2.0, 0.0));
-//   initial.insert(W(2), Pose2(0.0, 3.0, 0.0));
-
-//   // Ordering at k=2. Same intuition as before.
-//   ordering = Ordering();
-//   ordering += W(1);
-//   ordering += Z(1);
-//   ordering += Y(1);
-//   ordering += X(1);
-//   ordering += W(2);
-//   ordering += Z(2);
-//   ordering += Y(2);
-//   ordering += X(2);
-
-//   gfg = fg.linearize(initial);
-//   fg = NonlinearHybridFactorGraph();
-
-//   // Now we prune!
-//   // P(X | measurements) = P(W0|Z0, W1, M1) P(Z0|Y0, W1, M1) P(Y0|X0, W1, M1)
-//   P(X0 | X1, W1, M1)
-//   //                       P(W1|W2, Z1, X1, M1, M2) P(Z1| W2, Y1, X1, M1, M2)
-//   P(Y1 | W2, X1, M1, M2)
-//   //                       P(X1 | W2, X2, M1, M2) P(W2|Z2, X2, M1, M2)
-//   P(Z2|Y2, X2, M1, M2)
-//   //                       P(Y2 | X2, M1, M2)P(X2 | M1, M2) P(M1, M2)
-//   // The MHS at this point should be a 3 level tree on (0, 1, 2).
-//   // 0 has 2 choices, 1 has 4 choices and 2 has 4 choices.
-//   inc.update(gfg, ordering, 2);
-
-//   /*************** Run Round 4 ***************/
-//   // Add odometry factor with discrete modes.
-//   contKeys = {W(2), W(3)};
-//   still = boost::make_shared<PlanarMotionModel>(W(2), W(3), Pose2(0, 0, 0),
-//                                                 noise_model);
-//   moving =
-//       boost::make_shared<PlanarMotionModel>(W(2), W(3), odometry,
-//       noise_model);
-//   components = {moving, still};
-//   dcFactor = boost::make_shared<DCMixtureFactor<PlanarMotionModel>>(
-//       contKeys, DiscreteKeys{gtsam::DiscreteKey(M(3), 2)}, components);
-//   fg.push_back(dcFactor);
-
-//   // Add equivalent of ImuFactor
-//   fg.emplace_nonlinear<BetweenFactor<Pose2>>(X(2), X(3), Pose2(1.0, 0.0, 0),
-//                                              poseNoise);
-//   // PoseFactors-like at k=3
-//   fg.emplace_nonlinear<BetweenFactor<Pose2>>(X(3), Y(3), Pose2(0, 1, 0),
-//                                              poseNoise);
-//   fg.emplace_nonlinear<BetweenFactor<Pose2>>(Y(3), Z(3), Pose2(0, 1, 0),
-//                                              poseNoise);
-//   fg.emplace_nonlinear<BetweenFactor<Pose2>>(Z(3), W(3), Pose2(-3, 1, 0),
-//                                              poseNoise);
-
-//   initial.insert(X(3), Pose2(3.0, 0.0, 0.0));
-//   initial.insert(Y(3), Pose2(3.0, 1.0, 0.0));
-//   initial.insert(Z(3), Pose2(3.0, 2.0, 0.0));
-//   initial.insert(W(3), Pose2(0.0, 3.0, 0.0));
-
-//   // Ordering at k=3. Same intuition as before.
-//   ordering = Ordering();
-//   ordering += W(2);
-//   ordering += Z(2);
-//   ordering += Y(2);
-//   ordering += X(2);
-//   ordering += W(3);
-//   ordering += Z(3);
-//   ordering += Y(3);
-//   ordering += X(3);
-
-//   gfg = fg.linearize(initial);
-//   fg = NonlinearHybridFactorGraph();
-
-//   // Keep pruning!
-//   inc.update(gfg, ordering, 3);
-
-//   // The final discrete graph should not be empty since we have eliminated
-//   // all continuous variables.
-//   EXPECT(!inc.remainingDiscreteGraph().empty());
-
-//   // Test if the optimal discrete mode assignment is (1, 1, 1).
-//   DiscreteValues optimal_assignment =
-//   inc.remainingDiscreteGraph().optimize(); DiscreteValues
-//   expected_assignment; expected_assignment[M(1)] = 1;
-//   expected_assignment[M(2)] = 1;
-//   expected_assignment[M(3)] = 1;
-//   EXPECT(assert_equal(expected_assignment, optimal_assignment));
-
-//   // Test if pruning worked correctly by checking that we only have 3 leaves
-//   in
-//   // the last node.
-//   auto lastConditional = boost::dynamic_pointer_cast<GaussianMixture>(
-//       inc.hybridBayesNet().at(inc.hybridBayesNet().size() - 1));
-//   EXPECT_LONGS_EQUAL(3, lastConditional->nrComponents());
+TEST(HybridGaussianISAM, NonTrivial) {
+  // This is a GTSAM-only test for running inference on a single legged robot.
+  // The leg links are represented by the chain X-Y-Z-W, where X is the base and
+  // W is the foot.
+  // We use BetweenFactor<Pose2> as constraints between each of the poses.
+
+  /*************** Run Round 1 ***************/
+  HybridNonlinearFactorGraph fg;
+
+  //   // Add a prior on pose x1 at the origin.
+  //   // A prior factor consists of a mean  and
+  //   // a noise model (covariance matrix)
+  //   Pose2 prior(0.0, 0.0, 0.0);  // prior mean is at origin
+  //   auto priorNoise = noiseModel::Diagonal::Sigmas(
+  //       Vector3(0.3, 0.3, 0.1));  // 30cm std on x,y, 0.1 rad on theta
+  //   fg.emplace_nonlinear<PriorFactor<Pose2>>(X(0), prior, priorNoise);
+
+  //   // create a noise model for the landmark measurements
+  //   auto poseNoise = noiseModel::Isotropic::Sigma(3, 0.1);
+
+  //   // We model a robot's single leg as X - Y - Z - W
+  //   // where X is the base link and W is the foot link.
+
+  //   // Add connecting poses similar to PoseFactors in GTD
+  //   fg.emplace_nonlinear<BetweenFactor<Pose2>>(X(0), Y(0), Pose2(0, 1.0, 0),
+  //                                              poseNoise);
+  //   fg.emplace_nonlinear<BetweenFactor<Pose2>>(Y(0), Z(0), Pose2(0, 1.0, 0),
+  //                                              poseNoise);
+  //   fg.emplace_nonlinear<BetweenFactor<Pose2>>(Z(0), W(0), Pose2(0, 1.0, 0),
+  //                                              poseNoise);
+
+  //   // Create initial estimate
+  //   Values initial;
+  //   initial.insert(X(0), Pose2(0.0, 0.0, 0.0));
+  //   initial.insert(Y(0), Pose2(0.0, 1.0, 0.0));
+  //   initial.insert(Z(0), Pose2(0.0, 2.0, 0.0));
+  //   initial.insert(W(0), Pose2(0.0, 3.0, 0.0));
+
+  //   HybridGaussianFactorGraph gfg = fg.linearize(initial);
+  //   fg = HybridNonlinearFactorGraph();
+
+  //   HybridGaussianISAM inc;
+
+  //   // Regular ordering going up the chain.
+  //   Ordering ordering;
+  //   ordering += W(0);
+  //   ordering += Z(0);
+  //   ordering += Y(0);
+  //   ordering += X(0);
+
+  //   // Update without pruning
+  //   // The result is a HybridBayesNet with no discrete variables
+  //   // (equivalent to a GaussianBayesNet).
+  //   // Factorization is:
+  //   // `P(X | measurements) = P(W0|Z0) P(Z0|Y0) P(Y0|X0) P(X0)`
+  //   inc.update(gfg, ordering);
+
+  //   /*************** Run Round 2 ***************/
+  //   using PlanarMotionModel = BetweenFactor<Pose2>;
+
+  //   // Add odometry factor with discrete modes.
+  //   Pose2 odometry(1.0, 0.0, 0.0);
+  //   KeyVector contKeys = {W(0), W(1)};
+  //   auto noise_model = noiseModel::Isotropic::Sigma(3, 1.0);
+  //   auto still = boost::make_shared<PlanarMotionModel>(W(0), W(1), Pose2(0,
+  //   0, 0),
+  //                                                      noise_model),
+  //        moving = boost::make_shared<PlanarMotionModel>(W(0), W(1), odometry,
+  //                                                       noise_model);
+  //   std::vector<PlanarMotionModel::shared_ptr> components = {moving, still};
+  //   auto dcFactor = boost::make_shared<DCMixtureFactor<PlanarMotionModel>>(
+  //       contKeys, DiscreteKeys{gtsam::DiscreteKey(M(1), 2)}, components);
+  //   fg.push_back(dcFactor);
+
+  //   // Add equivalent of ImuFactor
+  //   fg.emplace_nonlinear<BetweenFactor<Pose2>>(X(0), X(1), Pose2(1.0, 0.0,
+  //   0),
+  //                                              poseNoise);
+  //   // PoseFactors-like at k=1
+  //   fg.emplace_nonlinear<BetweenFactor<Pose2>>(X(1), Y(1), Pose2(0, 1, 0),
+  //                                              poseNoise);
+  //   fg.emplace_nonlinear<BetweenFactor<Pose2>>(Y(1), Z(1), Pose2(0, 1, 0),
+  //                                              poseNoise);
+  //   fg.emplace_nonlinear<BetweenFactor<Pose2>>(Z(1), W(1), Pose2(-1, 1, 0),
+  //                                              poseNoise);
+
+  //   initial.insert(X(1), Pose2(1.0, 0.0, 0.0));
+  //   initial.insert(Y(1), Pose2(1.0, 1.0, 0.0));
+  //   initial.insert(Z(1), Pose2(1.0, 2.0, 0.0));
+  //   // The leg link did not move so we set the expected pose accordingly.
+  //   initial.insert(W(1), Pose2(0.0, 3.0, 0.0));
+
+  //   // Ordering for k=1.
+  //   // This ordering follows the intuition that we eliminate the previous
+  //   // timestep, and then the current timestep.
+  //   ordering = Ordering();
+  //   ordering += W(0);
+  //   ordering += Z(0);
+  //   ordering += Y(0);
+  //   ordering += X(0);
+  //   ordering += W(1);
+  //   ordering += Z(1);
+  //   ordering += Y(1);
+  //   ordering += X(1);
+
+  //   gfg = fg.linearize(initial);
+  //   fg = HybridNonlinearFactorGraph();
+
+  //   // Update without pruning
+  //   // The result is a HybridBayesNet with 1 discrete variable M(1).
+  //   // P(X | measurements) = P(W0|Z0, W1, M1) P(Z0|Y0, W1, M1) P(Y0|X0, W1,
+  //   M1)
+  //   //                       P(X0 | X1, W1, M1) P(W1|Z1, X1, M1) P(Z1|Y1, X1,
+  //   M1)
+  //   //                       P(Y1 | X1, M1)P(X1 | M1)P(M1)
+  //   // The MHS tree is a 2 level tree for time indices (0, 1) with 2 leaves.
+  //   inc.update(gfg, ordering);
+
+  //   /*************** Run Round 3 ***************/
+  //   // Add odometry factor with discrete modes.
+  //   contKeys = {W(1), W(2)};
+  //   still = boost::make_shared<PlanarMotionModel>(W(1), W(2), Pose2(0, 0, 0),
+  //                                                 noise_model);
+  //   moving =
+  //       boost::make_shared<PlanarMotionModel>(W(1), W(2), odometry,
+  //       noise_model);
+  //   components = {moving, still};
+  //   dcFactor = boost::make_shared<DCMixtureFactor<PlanarMotionModel>>(
+  //       contKeys, DiscreteKeys{gtsam::DiscreteKey(M(2), 2)}, components);
+  //   fg.push_back(dcFactor);
+
+  //   // Add equivalent of ImuFactor
+  //   fg.emplace_nonlinear<BetweenFactor<Pose2>>(X(1), X(2), Pose2(1.0, 0.0,
+  //   0),
+  //                                              poseNoise);
+  //   // PoseFactors-like at k=1
+  //   fg.emplace_nonlinear<BetweenFactor<Pose2>>(X(2), Y(2), Pose2(0, 1, 0),
+  //                                              poseNoise);
+  //   fg.emplace_nonlinear<BetweenFactor<Pose2>>(Y(2), Z(2), Pose2(0, 1, 0),
+  //                                              poseNoise);
+  //   fg.emplace_nonlinear<BetweenFactor<Pose2>>(Z(2), W(2), Pose2(-2, 1, 0),
+  //                                              poseNoise);
+
+  //   initial.insert(X(2), Pose2(2.0, 0.0, 0.0));
+  //   initial.insert(Y(2), Pose2(2.0, 1.0, 0.0));
+  //   initial.insert(Z(2), Pose2(2.0, 2.0, 0.0));
+  //   initial.insert(W(2), Pose2(0.0, 3.0, 0.0));
+
+  //   // Ordering at k=2. Same intuition as before.
+  //   ordering = Ordering();
+  //   ordering += W(1);
+  //   ordering += Z(1);
+  //   ordering += Y(1);
+  //   ordering += X(1);
+  //   ordering += W(2);
+  //   ordering += Z(2);
+  //   ordering += Y(2);
+  //   ordering += X(2);
+
+  //   gfg = fg.linearize(initial);
+  //   fg = HybridNonlinearFactorGraph();
+
+  //   // Now we prune!
+  //   // P(X | measurements) = P(W0|Z0, W1, M1) P(Z0|Y0, W1, M1) P(Y0|X0, W1,
+  //   M1) P(X0 | X1, W1, M1)
+  //   //                       P(W1|W2, Z1, X1, M1, M2) P(Z1| W2, Y1, X1, M1,
+  //   M2) P(Y1 | W2, X1, M1, M2)
+  //   //                       P(X1 | W2, X2, M1, M2) P(W2|Z2, X2, M1, M2)
+  //   P(Z2|Y2, X2, M1, M2)
+  //   //                       P(Y2 | X2, M1, M2)P(X2 | M1, M2) P(M1, M2)
+  //   // The MHS at this point should be a 3 level tree on (0, 1, 2).
+  //   // 0 has 2 choices, 1 has 4 choices and 2 has 4 choices.
+  //   inc.update(gfg, ordering, 2);
+
+  //   /*************** Run Round 4 ***************/
+  //   // Add odometry factor with discrete modes.
+  //   contKeys = {W(2), W(3)};
+  //   still = boost::make_shared<PlanarMotionModel>(W(2), W(3), Pose2(0, 0, 0),
+  //                                                 noise_model);
+  //   moving =
+  //       boost::make_shared<PlanarMotionModel>(W(2), W(3), odometry,
+  //       noise_model);
+  //   components = {moving, still};
+  //   dcFactor = boost::make_shared<DCMixtureFactor<PlanarMotionModel>>(
+  //       contKeys, DiscreteKeys{gtsam::DiscreteKey(M(3), 2)}, components);
+  //   fg.push_back(dcFactor);
+
+  //   // Add equivalent of ImuFactor
+  //   fg.emplace_nonlinear<BetweenFactor<Pose2>>(X(2), X(3), Pose2(1.0, 0.0,
+  //   0),
+  //                                              poseNoise);
+  //   // PoseFactors-like at k=3
+  //   fg.emplace_nonlinear<BetweenFactor<Pose2>>(X(3), Y(3), Pose2(0, 1, 0),
+  //                                              poseNoise);
+  //   fg.emplace_nonlinear<BetweenFactor<Pose2>>(Y(3), Z(3), Pose2(0, 1, 0),
+  //                                              poseNoise);
+  //   fg.emplace_nonlinear<BetweenFactor<Pose2>>(Z(3), W(3), Pose2(-3, 1, 0),
+  //                                              poseNoise);
+
+  //   initial.insert(X(3), Pose2(3.0, 0.0, 0.0));
+  //   initial.insert(Y(3), Pose2(3.0, 1.0, 0.0));
+  //   initial.insert(Z(3), Pose2(3.0, 2.0, 0.0));
+  //   initial.insert(W(3), Pose2(0.0, 3.0, 0.0));
+
+  //   // Ordering at k=3. Same intuition as before.
+  //   ordering = Ordering();
+  //   ordering += W(2);
+  //   ordering += Z(2);
+  //   ordering += Y(2);
+  //   ordering += X(2);
+  //   ordering += W(3);
+  //   ordering += Z(3);
+  //   ordering += Y(3);
+  //   ordering += X(3);
+
+  //   gfg = fg.linearize(initial);
+  //   fg = HybridNonlinearFactorGraph();
+
+  //   // Keep pruning!
+  //   inc.update(gfg, ordering, 3);
+
+  //   // The final discrete graph should not be empty since we have eliminated
+  //   // all continuous variables.
+  //   EXPECT(!inc.remainingDiscreteGraph().empty());
+
+  //   // Test if the optimal discrete mode assignment is (1, 1, 1).
+  //   DiscreteValues optimal_assignment =
+  //   inc.remainingDiscreteGraph().optimize(); DiscreteValues
+  //   expected_assignment; expected_assignment[M(1)] = 1;
+  //   expected_assignment[M(2)] = 1;
+  //   expected_assignment[M(3)] = 1;
+  //   EXPECT(assert_equal(expected_assignment, optimal_assignment));
+
+  //   // Test if pruning worked correctly by checking that we only have 3
+  //   leaves in
+  //   // the last node.
+  //   auto lastConditional = boost::dynamic_pointer_cast<GaussianMixture>(
+  //       inc.hybridBayesNet().at(inc.hybridBayesNet().size() - 1));
+  //   EXPECT_LONGS_EQUAL(3, lastConditional->nrComponents());
 }
 
 /* ************************************************************************* */

From 379a65f40fd502c04eacd69a871575c0771a074b Mon Sep 17 00:00:00 2001
From: sjxue <schroshanjer@gmail.com>
Date: Tue, 16 Aug 2022 18:26:59 -0400
Subject: [PATCH 280/433] Address review comments

---
 gtsam/hybrid/HybridBayesNet.h                 |   3 +-
 gtsam/hybrid/HybridLookupDAG.cpp              |  40 ++++---
 gtsam/hybrid/HybridLookupDAG.h                |  11 +-
 gtsam/hybrid/HybridValues.h                   |  73 +++++-------
 .../tests/testGaussianHybridFactorGraph.cpp   |   1 -
 gtsam/hybrid/tests/testHybridLookupDAG.cpp    | 112 +++++++++---------
 gtsam/hybrid/tests/testHybridValues.cpp       |  11 +-
 7 files changed, 120 insertions(+), 131 deletions(-)

diff --git a/gtsam/hybrid/HybridBayesNet.h b/gtsam/hybrid/HybridBayesNet.h
index b19528120a..9d6d5f2361 100644
--- a/gtsam/hybrid/HybridBayesNet.h
+++ b/gtsam/hybrid/HybridBayesNet.h
@@ -64,7 +64,8 @@ class GTSAM_EXPORT HybridBayesNet : public BayesNet<HybridConditional> {
   GaussianBayesNet choose(const DiscreteValues &assignment) const;
 
   /// Solve the HybridBayesNet by back-substitution.
-  /// TODO(Shangjie) do we need to create a HybridGaussianBayesNet class, and put this method there?
+  /// TODO(Shangjie) do we need to create a HybridGaussianBayesNet class, and
+  /// put this method there?
   HybridValues optimize() const;
 };
 
diff --git a/gtsam/hybrid/HybridLookupDAG.cpp b/gtsam/hybrid/HybridLookupDAG.cpp
index 7232309f4d..7acff081bf 100644
--- a/gtsam/hybrid/HybridLookupDAG.cpp
+++ b/gtsam/hybrid/HybridLookupDAG.cpp
@@ -18,10 +18,10 @@
 #include <gtsam/discrete/DiscreteBayesNet.h>
 #include <gtsam/discrete/DiscreteLookupDAG.h>
 #include <gtsam/discrete/DiscreteValues.h>
-#include <gtsam/hybrid/HybridConditional.h>
-#include <gtsam/hybrid/HybridValues.h>
 #include <gtsam/hybrid/HybridBayesNet.h>
+#include <gtsam/hybrid/HybridConditional.h>
 #include <gtsam/hybrid/HybridLookupDAG.h>
+#include <gtsam/hybrid/HybridValues.h>
 #include <gtsam/linear/VectorValues.h>
 
 #include <string>
@@ -32,28 +32,32 @@ using std::vector;
 
 namespace gtsam {
 
-
-
 /* ************************************************************************** */
 void HybridLookupTable::argmaxInPlace(HybridValues* values) const {
-  // For discrete conditional, uses argmaxInPlace() method in DiscreteLookupTable.
-  if (isDiscrete()){
-    boost::static_pointer_cast<DiscreteLookupTable>(inner_)->argmaxInPlace(&(values->discrete));
-  } else if (isContinuous()){
+  // For discrete conditional, uses argmaxInPlace() method in
+  // DiscreteLookupTable.
+  if (isDiscrete()) {
+    boost::static_pointer_cast<DiscreteLookupTable>(inner_)->argmaxInPlace(
+        &(values->discrete));
+  } else if (isContinuous()) {
     // For Gaussian conditional, uses solve() method in GaussianConditional.
-    values->continuous.insert(boost::static_pointer_cast<GaussianConditional>(inner_)->solve(values->continuous));
-  } else if (isHybrid()){
-    // For hybrid conditional, since children should not contain discrete variable, we can condition on 
-    // the discrete variable in the parents and solve the resulting GaussianConditional.
-    auto conditional = boost::static_pointer_cast<GaussianMixture>(inner_)->conditionals()(values->discrete);
+    values->continuous.insert(
+        boost::static_pointer_cast<GaussianConditional>(inner_)->solve(
+            values->continuous));
+  } else if (isHybrid()) {
+    // For hybrid conditional, since children should not contain discrete
+    // variable, we can condition on the discrete variable in the parents and
+    // solve the resulting GaussianConditional.
+    auto conditional =
+        boost::static_pointer_cast<GaussianMixture>(inner_)->conditionals()(
+            values->discrete);
     values->continuous.insert(conditional->solve(values->continuous));
-  } 
+  }
 }
 
-
-// /* ************************************************************************** */
-HybridLookupDAG HybridLookupDAG::FromBayesNet(
-    const HybridBayesNet& bayesNet) {
+// /* **************************************************************************
+// */
+HybridLookupDAG HybridLookupDAG::FromBayesNet(const HybridBayesNet& bayesNet) {
   HybridLookupDAG dag;
   for (auto&& conditional : bayesNet) {
     HybridLookupTable hlt(*conditional);
diff --git a/gtsam/hybrid/HybridLookupDAG.h b/gtsam/hybrid/HybridLookupDAG.h
index 903cc55190..cc1c58c58f 100644
--- a/gtsam/hybrid/HybridLookupDAG.h
+++ b/gtsam/hybrid/HybridLookupDAG.h
@@ -19,10 +19,10 @@
 
 #include <gtsam/discrete/DiscreteDistribution.h>
 #include <gtsam/discrete/DiscreteLookupDAG.h>
-#include <gtsam/inference/BayesNet.h>
-#include <gtsam/inference/FactorGraph.h>
 #include <gtsam/hybrid/HybridConditional.h>
 #include <gtsam/hybrid/HybridValues.h>
+#include <gtsam/inference/BayesNet.h>
+#include <gtsam/inference/FactorGraph.h>
 
 #include <boost/shared_ptr.hpp>
 #include <string>
@@ -34,8 +34,8 @@ namespace gtsam {
 /**
  * @brief HybridLookupTable table for max-product
  *
- * Similar to DiscreteLookupTable, inherits from hybrid conditional for convenience.
- * Is used in the max-product algorithm. 
+ * Similar to DiscreteLookupTable, inherits from hybrid conditional for
+ * convenience. Is used in the max-product algorithm.
  */
 class GTSAM_EXPORT HybridLookupTable : public HybridConditional {
  public:
@@ -58,7 +58,8 @@ class GTSAM_EXPORT HybridLookupTable : public HybridConditional {
   void argmaxInPlace(HybridValues* parentsValues) const;
 };
 
-/** A DAG made from hybrid lookup tables, as defined above. Similar to DiscreteLookupDAG */
+/** A DAG made from hybrid lookup tables, as defined above. Similar to
+ * DiscreteLookupDAG */
 class GTSAM_EXPORT HybridLookupDAG : public BayesNet<HybridLookupTable> {
  public:
   using Base = BayesNet<HybridLookupTable>;
diff --git a/gtsam/hybrid/HybridValues.h b/gtsam/hybrid/HybridValues.h
index 89f7bb58a7..5e1bd41646 100644
--- a/gtsam/hybrid/HybridValues.h
+++ b/gtsam/hybrid/HybridValues.h
@@ -19,11 +19,10 @@
 
 #include <gtsam/discrete/Assignment.h>
 #include <gtsam/discrete/DiscreteKey.h>
+#include <gtsam/discrete/DiscreteValues.h>
 #include <gtsam/inference/Key.h>
-#include <gtsam/nonlinear/Values.h>
 #include <gtsam/linear/VectorValues.h>
-#include <gtsam/discrete/DiscreteValues.h>
-
+#include <gtsam/nonlinear/Values.h>
 
 #include <map>
 #include <string>
@@ -32,8 +31,9 @@
 namespace gtsam {
 
 /**
- * HybridValues represents a collection of DiscreteValues and VectorValues.  It is typically used to store the variables
- * of a HybridGaussianFactorGraph.  Optimizing a HybridGaussianBayesNet returns this class.
+ * HybridValues represents a collection of DiscreteValues and VectorValues.  It
+ * is typically used to store the variables of a HybridGaussianFactorGraph.
+ * Optimizing a HybridGaussianBayesNet returns this class.
  */
 class GTSAM_EXPORT HybridValues {
  public:
@@ -44,54 +44,47 @@ class GTSAM_EXPORT HybridValues {
   VectorValues continuous;
 
   // Default constructor creates an empty HybridValues.
-  HybridValues() : discrete(), continuous() {};
+  HybridValues() : discrete(), continuous(){};
 
   // Construct from DiscreteValues and VectorValues.
-  HybridValues(const DiscreteValues &dv, const VectorValues &cv) : discrete(dv), continuous(cv) {};
+  HybridValues(const DiscreteValues& dv, const VectorValues& cv)
+      : discrete(dv), continuous(cv){};
 
   // print required by Testable for unit testing
   void print(const std::string& s = "HybridValues",
-             const KeyFormatter& keyFormatter = DefaultKeyFormatter) const{
+             const KeyFormatter& keyFormatter = DefaultKeyFormatter) const {
     std::cout << s << ": \n";
-    discrete.print("  Discrete", keyFormatter); // print discrete components
-    continuous.print("  Continuous", keyFormatter); //print continuous components
+    discrete.print("  Discrete", keyFormatter);  // print discrete components
+    continuous.print("  Continuous",
+                     keyFormatter);  // print continuous 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 discrete.equals(other.discrete, tol) &&
+           continuous.equals(other.continuous, tol);
   }
 
   // Check whether a variable with key \c j exists in DiscreteValue.
-  bool existsDiscrete(Key j){
-    return (discrete.find(j) != discrete.end());
-  };
+  bool existsDiscrete(Key j) { return (discrete.find(j) != discrete.end()); };
 
   // Check whether a variable with key \c j exists in VectorValue.
-  bool existsVector(Key j){
-    return continuous.exists(j);
-  };
+  bool existsVector(Key j) { return continuous.exists(j); };
 
   // Check whether a variable with key \c j exists.
-  bool exists(Key j){
-    return existsDiscrete(j) || existsVector(j);
-  };
+  bool exists(Key j) { return existsDiscrete(j) || existsVector(j); };
 
-  /** Insert a discrete \c value with key \c j.  Replaces the existing value if 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;
-  };
+  /** Insert a discrete \c value with key \c j.  Replaces the existing value if
+   * 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; };
 
-  /** Insert a vector \c value with key \c j.  Throws an invalid_argument exception if 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, const Vector& value) {
-    continuous.insert(j, value);
-  }
+  /** Insert a vector \c value with key \c j.  Throws an invalid_argument
+   * exception if 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, const Vector& value) { continuous.insert(j, value); }
 
   // TODO(Shangjie)- update() and insert_or_assign() , similar to Values.h
 
@@ -99,18 +92,13 @@ class GTSAM_EXPORT HybridValues {
    * Read/write access to the discrete value with key \c j, throws
    * std::out_of_range if \c j does not exist.
    */
-  size_t& atDiscrete(Key j){
-    return discrete.at(j);
-  };
+  size_t& atDiscrete(Key j) { return discrete.at(j); };
 
   /**
    * Read/write access to the vector value with key \c j, throws
    * std::out_of_range if \c j does not exist.
    */
-  Vector& at(Key j) {
-    return continuous.at(j);
-  };
-  
+  Vector& at(Key j) { return continuous.at(j); };
 
   /// @name Wrapper support
   /// @{
@@ -121,7 +109,8 @@ class GTSAM_EXPORT HybridValues {
    * @param keyFormatter function that formats keys.
    * @return string html output.
    */
-  std::string html(const KeyFormatter& keyFormatter = DefaultKeyFormatter) const{
+  std::string html(
+      const KeyFormatter& keyFormatter = DefaultKeyFormatter) const {
     std::stringstream ss;
     ss << this->discrete.html(keyFormatter);
     ss << this->continuous.html(keyFormatter);
diff --git a/gtsam/hybrid/tests/testGaussianHybridFactorGraph.cpp b/gtsam/hybrid/tests/testGaussianHybridFactorGraph.cpp
index 7e532b0137..17a2d94d74 100644
--- a/gtsam/hybrid/tests/testGaussianHybridFactorGraph.cpp
+++ b/gtsam/hybrid/tests/testGaussianHybridFactorGraph.cpp
@@ -523,7 +523,6 @@ TEST(HybridGaussianFactorGraph, optimize) {
   HybridValues hv = result->optimize();
 
   EXPECT(assert_equal(hv.atDiscrete(C(1)), int(0)));
-
 }
 /* ************************************************************************* */
 int main() {
diff --git a/gtsam/hybrid/tests/testHybridLookupDAG.cpp b/gtsam/hybrid/tests/testHybridLookupDAG.cpp
index 70b09ecbe9..c472aa22f5 100644
--- a/gtsam/hybrid/tests/testHybridLookupDAG.cpp
+++ b/gtsam/hybrid/tests/testHybridLookupDAG.cpp
@@ -17,19 +17,19 @@
 
 #include <gtsam/base/Testable.h>
 #include <gtsam/base/TestableAssertions.h>
-#include <gtsam/discrete/DiscreteValues.h>
 #include <gtsam/discrete/Assignment.h>
-#include <gtsam/discrete/DiscreteKey.h>
 #include <gtsam/discrete/DecisionTreeFactor.h>
-#include <gtsam/inference/Key.h>
-#include <gtsam/nonlinear/Values.h>
-#include <gtsam/linear/VectorValues.h>
-#include <gtsam/inference/Symbol.h>
-#include <gtsam/hybrid/HybridValues.h>
+#include <gtsam/discrete/DiscreteKey.h>
+#include <gtsam/discrete/DiscreteValues.h>
+#include <gtsam/hybrid/GaussianMixture.h>
 #include <gtsam/hybrid/HybridBayesNet.h>
 #include <gtsam/hybrid/HybridLookupDAG.h>
-#include <gtsam/hybrid/GaussianMixture.h>
+#include <gtsam/hybrid/HybridValues.h>
+#include <gtsam/inference/Key.h>
+#include <gtsam/inference/Symbol.h>
 #include <gtsam/linear/GaussianConditional.h>
+#include <gtsam/linear/VectorValues.h>
+#include <gtsam/nonlinear/Values.h>
 
 // Include for test suite
 #include <CppUnitLite/TestHarness.h>
@@ -43,7 +43,7 @@ using symbol_shorthand::M;
 using symbol_shorthand::X;
 
 TEST(HybridLookupTable, basics) {
-    // create a conditional gaussian node
+  // create a conditional gaussian node
   Matrix S1(2, 2);
   S1(0, 0) = 1;
   S1(1, 0) = 2;
@@ -82,39 +82,38 @@ TEST(HybridLookupTable, basics) {
   GaussianMixture::Conditionals conditionals(
       {m1},
       vector<GaussianConditional::shared_ptr>{conditional0, conditional1});
-//   GaussianMixture mixtureFactor2({X(1)}, {X(2)}, {m1}, conditionals);
-  
-  boost::shared_ptr<GaussianMixture> mixtureFactor(new GaussianMixture({X(1)}, {X(2)}, {m1}, conditionals));
-  
+  //   GaussianMixture mixtureFactor2({X(1)}, {X(2)}, {m1}, conditionals);
+
+  boost::shared_ptr<GaussianMixture> mixtureFactor(
+      new GaussianMixture({X(1)}, {X(2)}, {m1}, conditionals));
+
   HybridConditional hc(mixtureFactor);
 
-  GaussianMixture::Conditionals conditional2 = boost::static_pointer_cast<GaussianMixture>(hc.inner())->conditionals();
+  GaussianMixture::Conditionals conditional2 =
+      boost::static_pointer_cast<GaussianMixture>(hc.inner())->conditionals();
 
   DiscreteValues dv;
-  dv[1]=1;
+  dv[1] = 1;
 
   VectorValues cv;
-  cv.insert(X(2),Vector2(0.0, 0.0));
-  
-  HybridValues hv(dv, cv);
+  cv.insert(X(2), Vector2(0.0, 0.0));
 
-  
+  HybridValues hv(dv, cv);
 
   //   std::cout << conditional2(values).markdown();
   EXPECT(assert_equal(*conditional2(dv), *conditionals(dv), 1e-6));
-  EXPECT(conditional2(dv)==conditionals(dv));
+  EXPECT(conditional2(dv) == conditionals(dv));
   HybridLookupTable hlt(hc);
 
-//   hlt.argmaxInPlace(&hv);
-  
+  //   hlt.argmaxInPlace(&hv);
+
   HybridLookupDAG dag;
   dag.push_back(hlt);
   dag.argmax(hv);
 
-//   HybridBayesNet hbn;
-//   hbn.push_back(hc);
-//   hbn.optimize();
-
+  //   HybridBayesNet hbn;
+  //   hbn.push_back(hc);
+  //   hbn.optimize();
 }
 
 TEST(HybridLookupTable, hybrid_argmax) {
@@ -124,23 +123,26 @@ TEST(HybridLookupTable, hybrid_argmax) {
   S1(0, 1) = 0;
   S1(1, 1) = 1;
 
-  Vector2 d1(0.2, 0.5), d2(-0.5,0.6);
+  Vector2 d1(0.2, 0.5), d2(-0.5, 0.6);
 
   SharedDiagonal model = noiseModel::Diagonal::Sigmas(Vector2(1.0, 0.34));
 
-  auto conditional0 = boost::make_shared<GaussianConditional>(X(1), d1, S1, model),
-       conditional1 = boost::make_shared<GaussianConditional>(X(1), d2, S1, model);
+  auto conditional0 =
+           boost::make_shared<GaussianConditional>(X(1), d1, S1, model),
+       conditional1 =
+           boost::make_shared<GaussianConditional>(X(1), d2, S1, model);
 
   DiscreteKey m1(1, 2);
   GaussianMixture::Conditionals conditionals(
       {m1},
       vector<GaussianConditional::shared_ptr>{conditional0, conditional1});
-  boost::shared_ptr<GaussianMixture> mixtureFactor(new GaussianMixture({X(1)},{}, {m1}, conditionals));
+  boost::shared_ptr<GaussianMixture> mixtureFactor(
+      new GaussianMixture({X(1)}, {}, {m1}, conditionals));
 
   HybridConditional hc(mixtureFactor);
 
   DiscreteValues dv;
-  dv[1]=1;
+  dv[1] = 1;
   VectorValues cv;
   // cv.insert(X(2),Vector2(0.0, 0.0));
   HybridValues hv(dv, cv);
@@ -150,8 +152,6 @@ TEST(HybridLookupTable, hybrid_argmax) {
   hlt.argmaxInPlace(&hv);
 
   EXPECT(assert_equal(hv.at(X(1)), d2));
-
-
 }
 
 TEST(HybridLookupTable, discrete_argmax) {
@@ -164,18 +164,17 @@ TEST(HybridLookupTable, discrete_argmax) {
   HybridLookupTable hlt(hc);
 
   DiscreteValues dv;
-  dv[1]=0;
+  dv[1] = 0;
   VectorValues cv;
   // cv.insert(X(2),Vector2(0.0, 0.0));
   HybridValues hv(dv, cv);
 
-
   hlt.argmaxInPlace(&hv);
 
   EXPECT(assert_equal(hv.atDiscrete(0), 1));
 
-  DecisionTreeFactor f1(X , "2 3");
-  auto conditional2 = boost::make_shared<DiscreteConditional>(1,f1);
+  DecisionTreeFactor f1(X, "2 3");
+  auto conditional2 = boost::make_shared<DiscreteConditional>(1, f1);
 
   HybridConditional hc2(conditional2);
 
@@ -183,7 +182,6 @@ TEST(HybridLookupTable, discrete_argmax) {
 
   HybridValues hv2;
 
-
   hlt2.argmaxInPlace(&hv2);
 
   EXPECT(assert_equal(hv2.atDiscrete(0), 1));
@@ -196,12 +194,12 @@ TEST(HybridLookupTable, gaussian_argmax) {
   S1(0, 1) = 0;
   S1(1, 1) = 1;
 
-  Vector2 d1(0.2, 0.5), d2(-0.5,0.6);
+  Vector2 d1(0.2, 0.5), d2(-0.5, 0.6);
 
   SharedDiagonal model = noiseModel::Diagonal::Sigmas(Vector2(1.0, 0.34));
 
-  auto conditional = boost::make_shared<GaussianConditional>(X(1), d1, S1,
-                                                              X(2), -S1, model);
+  auto conditional =
+      boost::make_shared<GaussianConditional>(X(1), d1, S1, X(2), -S1, model);
 
   HybridConditional hc(conditional);
 
@@ -210,52 +208,51 @@ TEST(HybridLookupTable, gaussian_argmax) {
   DiscreteValues dv;
   // dv[1]=0;
   VectorValues cv;
-  cv.insert(X(2),d2);
+  cv.insert(X(2), d2);
   HybridValues hv(dv, cv);
 
-
   hlt.argmaxInPlace(&hv);
 
-  EXPECT(assert_equal(hv.at(X(1)), d1+d2));
-
+  EXPECT(assert_equal(hv.at(X(1)), d1 + d2));
 }
 
 TEST(HybridLookupDAG, argmax) {
-
   Matrix S1(2, 2);
   S1(0, 0) = 1;
   S1(1, 0) = 0;
   S1(0, 1) = 0;
   S1(1, 1) = 1;
 
-  Vector2 d1(0.2, 0.5), d2(-0.5,0.6);
+  Vector2 d1(0.2, 0.5), d2(-0.5, 0.6);
 
   SharedDiagonal model = noiseModel::Diagonal::Sigmas(Vector2(1.0, 0.34));
 
-  auto conditional0 = boost::make_shared<GaussianConditional>(X(2), d1, S1, model),
-       conditional1 = boost::make_shared<GaussianConditional>(X(2), d2, S1, model);
+  auto conditional0 =
+           boost::make_shared<GaussianConditional>(X(2), d1, S1, model),
+       conditional1 =
+           boost::make_shared<GaussianConditional>(X(2), d2, S1, model);
 
   DiscreteKey m1(1, 2);
   GaussianMixture::Conditionals conditionals(
       {m1},
       vector<GaussianConditional::shared_ptr>{conditional0, conditional1});
-  boost::shared_ptr<GaussianMixture> mixtureFactor(new GaussianMixture({X(2)},{}, {m1}, conditionals));
+  boost::shared_ptr<GaussianMixture> mixtureFactor(
+      new GaussianMixture({X(2)}, {}, {m1}, conditionals));
   HybridConditional hc2(mixtureFactor);
   HybridLookupTable hlt2(hc2);
-  
 
-  auto conditional2 = boost::make_shared<GaussianConditional>(X(1), d1, S1,
-                                                              X(2), -S1, model);
+  auto conditional2 =
+      boost::make_shared<GaussianConditional>(X(1), d1, S1, X(2), -S1, model);
 
   HybridConditional hc1(conditional2);
   HybridLookupTable hlt1(hc1);
 
-  DecisionTreeFactor f1(m1 , "2 3");
-  auto discrete_conditional = boost::make_shared<DiscreteConditional>(1,f1);
+  DecisionTreeFactor f1(m1, "2 3");
+  auto discrete_conditional = boost::make_shared<DiscreteConditional>(1, f1);
 
   HybridConditional hc3(discrete_conditional);
   HybridLookupTable hlt3(hc3);
-  
+
   HybridLookupDAG dag;
   dag.push_back(hlt1);
   dag.push_back(hlt2);
@@ -264,10 +261,9 @@ TEST(HybridLookupDAG, argmax) {
 
   EXPECT(assert_equal(hv.atDiscrete(1), 1));
   EXPECT(assert_equal(hv.at(X(2)), d2));
-  EXPECT(assert_equal(hv.at(X(1)), d2+d1));
+  EXPECT(assert_equal(hv.at(X(1)), d2 + d1));
 }
 
-
 /* ************************************************************************* */
 int main() {
   TestResult tr;
diff --git a/gtsam/hybrid/tests/testHybridValues.cpp b/gtsam/hybrid/tests/testHybridValues.cpp
index 3e821aef2f..9581faaa09 100644
--- a/gtsam/hybrid/tests/testHybridValues.cpp
+++ b/gtsam/hybrid/tests/testHybridValues.cpp
@@ -17,19 +17,18 @@
 
 #include <gtsam/base/Testable.h>
 #include <gtsam/base/TestableAssertions.h>
-#include <gtsam/discrete/DiscreteValues.h>
 #include <gtsam/discrete/Assignment.h>
 #include <gtsam/discrete/DiscreteKey.h>
+#include <gtsam/discrete/DiscreteValues.h>
+#include <gtsam/hybrid/HybridValues.h>
 #include <gtsam/inference/Key.h>
-#include <gtsam/nonlinear/Values.h>
-#include <gtsam/linear/VectorValues.h>
 #include <gtsam/inference/Symbol.h>
-#include <gtsam/hybrid/HybridValues.h>
+#include <gtsam/linear/VectorValues.h>
+#include <gtsam/nonlinear/Values.h>
 
 // Include for test suite
 #include <CppUnitLite/TestHarness.h>
 
-
 using namespace std;
 using namespace gtsam;
 
@@ -47,7 +46,7 @@ TEST(HybridValues, basics) {
   values2.insert(99, Vector2(2, 3));
   EXPECT(assert_equal(values2, values));
 
-  values2.insert(98, Vector2(2,3));
+  values2.insert(98, Vector2(2, 3));
   EXPECT(!assert_equal(values2, values));
 }
 

From 83b8103db30e6e3426f542563021ebadb63db5e8 Mon Sep 17 00:00:00 2001
From: Varun Agrawal <varagrawal@gmail.com>
Date: Wed, 17 Aug 2022 16:28:47 -0400
Subject: [PATCH 281/433] last test to get running

---
 gtsam/hybrid/HybridGaussianISAM.cpp          |   2 -
 gtsam/hybrid/tests/testHybridIncremental.cpp | 426 +++++++++----------
 2 files changed, 211 insertions(+), 217 deletions(-)

diff --git a/gtsam/hybrid/HybridGaussianISAM.cpp b/gtsam/hybrid/HybridGaussianISAM.cpp
index df78037221..afcda8c208 100644
--- a/gtsam/hybrid/HybridGaussianISAM.cpp
+++ b/gtsam/hybrid/HybridGaussianISAM.cpp
@@ -75,8 +75,6 @@ void HybridGaussianISAM::updateInternal(
   std::copy(allDiscrete.begin(), allDiscrete.end(),
             std::back_inserter(newKeysDiscreteLast));
 
-  // KeyVector new
-
   // Get an ordering where the new keys are eliminated last
   const VariableIndex index(factors);
   Ordering elimination_ordering;
diff --git a/gtsam/hybrid/tests/testHybridIncremental.cpp b/gtsam/hybrid/tests/testHybridIncremental.cpp
index afd0d0a70d..8feab52216 100644
--- a/gtsam/hybrid/tests/testHybridIncremental.cpp
+++ b/gtsam/hybrid/tests/testHybridIncremental.cpp
@@ -393,221 +393,217 @@ TEST(HybridGaussianISAM, NonTrivial) {
   /*************** Run Round 1 ***************/
   HybridNonlinearFactorGraph fg;
 
-  //   // Add a prior on pose x1 at the origin.
-  //   // A prior factor consists of a mean  and
-  //   // a noise model (covariance matrix)
-  //   Pose2 prior(0.0, 0.0, 0.0);  // prior mean is at origin
-  //   auto priorNoise = noiseModel::Diagonal::Sigmas(
-  //       Vector3(0.3, 0.3, 0.1));  // 30cm std on x,y, 0.1 rad on theta
-  //   fg.emplace_nonlinear<PriorFactor<Pose2>>(X(0), prior, priorNoise);
-
-  //   // create a noise model for the landmark measurements
-  //   auto poseNoise = noiseModel::Isotropic::Sigma(3, 0.1);
-
-  //   // We model a robot's single leg as X - Y - Z - W
-  //   // where X is the base link and W is the foot link.
-
-  //   // Add connecting poses similar to PoseFactors in GTD
-  //   fg.emplace_nonlinear<BetweenFactor<Pose2>>(X(0), Y(0), Pose2(0, 1.0, 0),
-  //                                              poseNoise);
-  //   fg.emplace_nonlinear<BetweenFactor<Pose2>>(Y(0), Z(0), Pose2(0, 1.0, 0),
-  //                                              poseNoise);
-  //   fg.emplace_nonlinear<BetweenFactor<Pose2>>(Z(0), W(0), Pose2(0, 1.0, 0),
-  //                                              poseNoise);
-
-  //   // Create initial estimate
-  //   Values initial;
-  //   initial.insert(X(0), Pose2(0.0, 0.0, 0.0));
-  //   initial.insert(Y(0), Pose2(0.0, 1.0, 0.0));
-  //   initial.insert(Z(0), Pose2(0.0, 2.0, 0.0));
-  //   initial.insert(W(0), Pose2(0.0, 3.0, 0.0));
-
-  //   HybridGaussianFactorGraph gfg = fg.linearize(initial);
-  //   fg = HybridNonlinearFactorGraph();
-
-  //   HybridGaussianISAM inc;
-
-  //   // Regular ordering going up the chain.
-  //   Ordering ordering;
-  //   ordering += W(0);
-  //   ordering += Z(0);
-  //   ordering += Y(0);
-  //   ordering += X(0);
-
-  //   // Update without pruning
-  //   // The result is a HybridBayesNet with no discrete variables
-  //   // (equivalent to a GaussianBayesNet).
-  //   // Factorization is:
-  //   // `P(X | measurements) = P(W0|Z0) P(Z0|Y0) P(Y0|X0) P(X0)`
-  //   inc.update(gfg, ordering);
-
-  //   /*************** Run Round 2 ***************/
-  //   using PlanarMotionModel = BetweenFactor<Pose2>;
-
-  //   // Add odometry factor with discrete modes.
-  //   Pose2 odometry(1.0, 0.0, 0.0);
-  //   KeyVector contKeys = {W(0), W(1)};
-  //   auto noise_model = noiseModel::Isotropic::Sigma(3, 1.0);
-  //   auto still = boost::make_shared<PlanarMotionModel>(W(0), W(1), Pose2(0,
-  //   0, 0),
-  //                                                      noise_model),
-  //        moving = boost::make_shared<PlanarMotionModel>(W(0), W(1), odometry,
-  //                                                       noise_model);
-  //   std::vector<PlanarMotionModel::shared_ptr> components = {moving, still};
-  //   auto dcFactor = boost::make_shared<DCMixtureFactor<PlanarMotionModel>>(
-  //       contKeys, DiscreteKeys{gtsam::DiscreteKey(M(1), 2)}, components);
-  //   fg.push_back(dcFactor);
-
-  //   // Add equivalent of ImuFactor
-  //   fg.emplace_nonlinear<BetweenFactor<Pose2>>(X(0), X(1), Pose2(1.0, 0.0,
-  //   0),
-  //                                              poseNoise);
-  //   // PoseFactors-like at k=1
-  //   fg.emplace_nonlinear<BetweenFactor<Pose2>>(X(1), Y(1), Pose2(0, 1, 0),
-  //                                              poseNoise);
-  //   fg.emplace_nonlinear<BetweenFactor<Pose2>>(Y(1), Z(1), Pose2(0, 1, 0),
-  //                                              poseNoise);
-  //   fg.emplace_nonlinear<BetweenFactor<Pose2>>(Z(1), W(1), Pose2(-1, 1, 0),
-  //                                              poseNoise);
-
-  //   initial.insert(X(1), Pose2(1.0, 0.0, 0.0));
-  //   initial.insert(Y(1), Pose2(1.0, 1.0, 0.0));
-  //   initial.insert(Z(1), Pose2(1.0, 2.0, 0.0));
-  //   // The leg link did not move so we set the expected pose accordingly.
-  //   initial.insert(W(1), Pose2(0.0, 3.0, 0.0));
-
-  //   // Ordering for k=1.
-  //   // This ordering follows the intuition that we eliminate the previous
-  //   // timestep, and then the current timestep.
-  //   ordering = Ordering();
-  //   ordering += W(0);
-  //   ordering += Z(0);
-  //   ordering += Y(0);
-  //   ordering += X(0);
-  //   ordering += W(1);
-  //   ordering += Z(1);
-  //   ordering += Y(1);
-  //   ordering += X(1);
-
-  //   gfg = fg.linearize(initial);
-  //   fg = HybridNonlinearFactorGraph();
-
-  //   // Update without pruning
-  //   // The result is a HybridBayesNet with 1 discrete variable M(1).
-  //   // P(X | measurements) = P(W0|Z0, W1, M1) P(Z0|Y0, W1, M1) P(Y0|X0, W1,
-  //   M1)
-  //   //                       P(X0 | X1, W1, M1) P(W1|Z1, X1, M1) P(Z1|Y1, X1,
-  //   M1)
-  //   //                       P(Y1 | X1, M1)P(X1 | M1)P(M1)
-  //   // The MHS tree is a 2 level tree for time indices (0, 1) with 2 leaves.
-  //   inc.update(gfg, ordering);
-
-  //   /*************** Run Round 3 ***************/
-  //   // Add odometry factor with discrete modes.
-  //   contKeys = {W(1), W(2)};
-  //   still = boost::make_shared<PlanarMotionModel>(W(1), W(2), Pose2(0, 0, 0),
-  //                                                 noise_model);
-  //   moving =
-  //       boost::make_shared<PlanarMotionModel>(W(1), W(2), odometry,
-  //       noise_model);
-  //   components = {moving, still};
-  //   dcFactor = boost::make_shared<DCMixtureFactor<PlanarMotionModel>>(
-  //       contKeys, DiscreteKeys{gtsam::DiscreteKey(M(2), 2)}, components);
-  //   fg.push_back(dcFactor);
-
-  //   // Add equivalent of ImuFactor
-  //   fg.emplace_nonlinear<BetweenFactor<Pose2>>(X(1), X(2), Pose2(1.0, 0.0,
-  //   0),
-  //                                              poseNoise);
-  //   // PoseFactors-like at k=1
-  //   fg.emplace_nonlinear<BetweenFactor<Pose2>>(X(2), Y(2), Pose2(0, 1, 0),
-  //                                              poseNoise);
-  //   fg.emplace_nonlinear<BetweenFactor<Pose2>>(Y(2), Z(2), Pose2(0, 1, 0),
-  //                                              poseNoise);
-  //   fg.emplace_nonlinear<BetweenFactor<Pose2>>(Z(2), W(2), Pose2(-2, 1, 0),
-  //                                              poseNoise);
-
-  //   initial.insert(X(2), Pose2(2.0, 0.0, 0.0));
-  //   initial.insert(Y(2), Pose2(2.0, 1.0, 0.0));
-  //   initial.insert(Z(2), Pose2(2.0, 2.0, 0.0));
-  //   initial.insert(W(2), Pose2(0.0, 3.0, 0.0));
-
-  //   // Ordering at k=2. Same intuition as before.
-  //   ordering = Ordering();
-  //   ordering += W(1);
-  //   ordering += Z(1);
-  //   ordering += Y(1);
-  //   ordering += X(1);
-  //   ordering += W(2);
-  //   ordering += Z(2);
-  //   ordering += Y(2);
-  //   ordering += X(2);
-
-  //   gfg = fg.linearize(initial);
-  //   fg = HybridNonlinearFactorGraph();
-
-  //   // Now we prune!
-  //   // P(X | measurements) = P(W0|Z0, W1, M1) P(Z0|Y0, W1, M1) P(Y0|X0, W1,
-  //   M1) P(X0 | X1, W1, M1)
-  //   //                       P(W1|W2, Z1, X1, M1, M2) P(Z1| W2, Y1, X1, M1,
-  //   M2) P(Y1 | W2, X1, M1, M2)
-  //   //                       P(X1 | W2, X2, M1, M2) P(W2|Z2, X2, M1, M2)
-  //   P(Z2|Y2, X2, M1, M2)
-  //   //                       P(Y2 | X2, M1, M2)P(X2 | M1, M2) P(M1, M2)
-  //   // The MHS at this point should be a 3 level tree on (0, 1, 2).
-  //   // 0 has 2 choices, 1 has 4 choices and 2 has 4 choices.
-  //   inc.update(gfg, ordering, 2);
-
-  //   /*************** Run Round 4 ***************/
-  //   // Add odometry factor with discrete modes.
-  //   contKeys = {W(2), W(3)};
-  //   still = boost::make_shared<PlanarMotionModel>(W(2), W(3), Pose2(0, 0, 0),
-  //                                                 noise_model);
-  //   moving =
-  //       boost::make_shared<PlanarMotionModel>(W(2), W(3), odometry,
-  //       noise_model);
-  //   components = {moving, still};
-  //   dcFactor = boost::make_shared<DCMixtureFactor<PlanarMotionModel>>(
-  //       contKeys, DiscreteKeys{gtsam::DiscreteKey(M(3), 2)}, components);
-  //   fg.push_back(dcFactor);
-
-  //   // Add equivalent of ImuFactor
-  //   fg.emplace_nonlinear<BetweenFactor<Pose2>>(X(2), X(3), Pose2(1.0, 0.0,
-  //   0),
-  //                                              poseNoise);
-  //   // PoseFactors-like at k=3
-  //   fg.emplace_nonlinear<BetweenFactor<Pose2>>(X(3), Y(3), Pose2(0, 1, 0),
-  //                                              poseNoise);
-  //   fg.emplace_nonlinear<BetweenFactor<Pose2>>(Y(3), Z(3), Pose2(0, 1, 0),
-  //                                              poseNoise);
-  //   fg.emplace_nonlinear<BetweenFactor<Pose2>>(Z(3), W(3), Pose2(-3, 1, 0),
-  //                                              poseNoise);
-
-  //   initial.insert(X(3), Pose2(3.0, 0.0, 0.0));
-  //   initial.insert(Y(3), Pose2(3.0, 1.0, 0.0));
-  //   initial.insert(Z(3), Pose2(3.0, 2.0, 0.0));
-  //   initial.insert(W(3), Pose2(0.0, 3.0, 0.0));
-
-  //   // Ordering at k=3. Same intuition as before.
-  //   ordering = Ordering();
-  //   ordering += W(2);
-  //   ordering += Z(2);
-  //   ordering += Y(2);
-  //   ordering += X(2);
-  //   ordering += W(3);
-  //   ordering += Z(3);
-  //   ordering += Y(3);
-  //   ordering += X(3);
-
-  //   gfg = fg.linearize(initial);
-  //   fg = HybridNonlinearFactorGraph();
-
-  //   // Keep pruning!
-  //   inc.update(gfg, ordering, 3);
-
-  //   // The final discrete graph should not be empty since we have eliminated
-  //   // all continuous variables.
-  //   EXPECT(!inc.remainingDiscreteGraph().empty());
+  // Add a prior on pose x1 at the origin.
+  // A prior factor consists of a mean  and
+  // a noise model (covariance matrix)
+  Pose2 prior(0.0, 0.0, 0.0);  // prior mean is at origin
+  auto priorNoise = noiseModel::Diagonal::Sigmas(
+      Vector3(0.3, 0.3, 0.1));  // 30cm std on x,y, 0.1 rad on theta
+  fg.emplace_nonlinear<PriorFactor<Pose2>>(X(0), prior, priorNoise);
+
+  // create a noise model for the landmark measurements
+  auto poseNoise = noiseModel::Isotropic::Sigma(3, 0.1);
+
+  // We model a robot's single leg as X - Y - Z - W
+  // where X is the base link and W is the foot link.
+
+  // Add connecting poses similar to PoseFactors in GTD
+  fg.emplace_nonlinear<BetweenFactor<Pose2>>(X(0), Y(0), Pose2(0, 1.0, 0),
+                                             poseNoise);
+  fg.emplace_nonlinear<BetweenFactor<Pose2>>(Y(0), Z(0), Pose2(0, 1.0, 0),
+                                             poseNoise);
+  fg.emplace_nonlinear<BetweenFactor<Pose2>>(Z(0), W(0), Pose2(0, 1.0, 0),
+                                             poseNoise);
+
+  // Create initial estimate
+  Values initial;
+  initial.insert(X(0), Pose2(0.0, 0.0, 0.0));
+  initial.insert(Y(0), Pose2(0.0, 1.0, 0.0));
+  initial.insert(Z(0), Pose2(0.0, 2.0, 0.0));
+  initial.insert(W(0), Pose2(0.0, 3.0, 0.0));
+
+  HybridGaussianFactorGraph gfg = fg.linearize(initial);
+  fg = HybridNonlinearFactorGraph();
+
+  HybridGaussianISAM inc;
+
+  // Regular ordering going up the chain.
+  Ordering ordering;
+  ordering += W(0);
+  ordering += Z(0);
+  ordering += Y(0);
+  ordering += X(0);
+
+  // Update without pruning
+  // The result is a HybridBayesNet with no discrete variables
+  // (equivalent to a GaussianBayesNet).
+  // Factorization is:
+  // `P(X | measurements) = P(W0|Z0) P(Z0|Y0) P(Y0|X0) P(X0)`
+  // TODO(Varun) ClusterTree-inst.h L202 segfaults with custom ordering.
+  inc.update(gfg);
+
+  /*************** Run Round 2 ***************/
+  using PlanarMotionModel = BetweenFactor<Pose2>;
+
+  // Add odometry factor with discrete modes.
+  Pose2 odometry(1.0, 0.0, 0.0);
+  KeyVector contKeys = {W(0), W(1)};
+  auto noise_model = noiseModel::Isotropic::Sigma(3, 1.0);
+  auto still = boost::make_shared<PlanarMotionModel>(W(0), W(1), Pose2(0, 0, 0),
+                                                     noise_model),
+       moving = boost::make_shared<PlanarMotionModel>(W(0), W(1), odometry,
+                                                      noise_model);
+  std::vector<PlanarMotionModel::shared_ptr> components = {moving, still};
+  auto mixtureFactor = boost::make_shared<MixtureFactor>(
+      contKeys, DiscreteKeys{gtsam::DiscreteKey(M(1), 2)}, components);
+  fg.push_back(mixtureFactor);
+
+  // Add equivalent of ImuFactor
+  fg.emplace_nonlinear<BetweenFactor<Pose2>>(X(0), X(1), Pose2(1.0, 0.0, 0),
+                                             poseNoise);
+  // PoseFactors-like at k=1
+  fg.emplace_nonlinear<BetweenFactor<Pose2>>(X(1), Y(1), Pose2(0, 1, 0),
+                                             poseNoise);
+  fg.emplace_nonlinear<BetweenFactor<Pose2>>(Y(1), Z(1), Pose2(0, 1, 0),
+                                             poseNoise);
+  fg.emplace_nonlinear<BetweenFactor<Pose2>>(Z(1), W(1), Pose2(-1, 1, 0),
+                                             poseNoise);
+
+  initial.insert(X(1), Pose2(1.0, 0.0, 0.0));
+  initial.insert(Y(1), Pose2(1.0, 1.0, 0.0));
+  initial.insert(Z(1), Pose2(1.0, 2.0, 0.0));
+  // The leg link did not move so we set the expected pose accordingly.
+  initial.insert(W(1), Pose2(0.0, 3.0, 0.0));
+
+  gfg = fg.linearize(initial);
+  fg = HybridNonlinearFactorGraph();
+
+  // Ordering for k=1.
+  // This ordering follows the intuition that we eliminate the previous
+  // timestep, and then the current timestep.
+  ordering = Ordering();
+  ordering += W(0);
+  ordering += Z(0);
+  ordering += Y(0);
+  ordering += X(0);
+  ordering += W(1);
+  ordering += Z(1);
+  ordering += Y(1);
+  ordering += X(1);
+
+  // Update without pruning
+  // The result is a HybridBayesNet with 1 discrete variable M(1).
+  // P(X | measurements) = P(W0|Z0, W1, M1) P(Z0|Y0, W1, M1) P(Y0|X0, W1, M1)
+  //                       P(X0 | X1, W1, M1) P(W1|Z1, X1, M1) P(Z1|Y1, X1, M1)
+  //                       P(Y1 | X1, M1)P(X1 | M1)P(M1)
+  // The MHS tree is a 1 level tree for time indices (1,) with 2 leaves.
+  // TODO(Varun) ClusterTree-inst.h L202 segfaults with custom ordering.
+  inc.update(gfg);
+
+  /*************** Run Round 3 ***************/
+  // Add odometry factor with discrete modes.
+  contKeys = {W(1), W(2)};
+  still = boost::make_shared<PlanarMotionModel>(W(1), W(2), Pose2(0, 0, 0),
+                                                noise_model);
+  moving =
+      boost::make_shared<PlanarMotionModel>(W(1), W(2), odometry, noise_model);
+  components = {moving, still};
+  mixtureFactor = boost::make_shared<MixtureFactor>(
+      contKeys, DiscreteKeys{gtsam::DiscreteKey(M(2), 2)}, components);
+  fg.push_back(mixtureFactor);
+
+  // Add equivalent of ImuFactor
+  fg.emplace_nonlinear<BetweenFactor<Pose2>>(X(1), X(2), Pose2(1.0, 0.0, 0),
+                                             poseNoise);
+  // PoseFactors-like at k=1
+  fg.emplace_nonlinear<BetweenFactor<Pose2>>(X(2), Y(2), Pose2(0, 1, 0),
+                                             poseNoise);
+  fg.emplace_nonlinear<BetweenFactor<Pose2>>(Y(2), Z(2), Pose2(0, 1, 0),
+                                             poseNoise);
+  fg.emplace_nonlinear<BetweenFactor<Pose2>>(Z(2), W(2), Pose2(-2, 1, 0),
+                                             poseNoise);
+
+  initial.insert(X(2), Pose2(2.0, 0.0, 0.0));
+  initial.insert(Y(2), Pose2(2.0, 1.0, 0.0));
+  initial.insert(Z(2), Pose2(2.0, 2.0, 0.0));
+  initial.insert(W(2), Pose2(0.0, 3.0, 0.0));
+
+  // Ordering at k=2. Same intuition as before.
+  ordering = Ordering();
+  ordering += W(1);
+  ordering += Z(1);
+  ordering += Y(1);
+  ordering += X(1);
+  ordering += W(2);
+  ordering += Z(2);
+  ordering += Y(2);
+  ordering += X(2);
+
+  gfg = fg.linearize(initial);
+  fg = HybridNonlinearFactorGraph();
+
+  // Now we prune!
+  // P(X | measurements) = P(W0|Z0, W1, M1) P(Z0|Y0, W1, M1) P(Y0|X0, W1, M1)
+  //                       P(X0 | X1, W1, M1) P(W1|W2, Z1, X1, M1, M2)
+  //                       P(Z1| W2, Y1, X1, M1, M2) P(Y1 | W2, X1, M1, M2)
+  //                       P(X1 | W2, X2, M1, M2) P(W2|Z2, X2, M1, M2)
+  //                       P(Z2|Y2, X2, M1, M2) P(Y2 | X2, M1, M2)
+  //                       P(X2 | M1, M2) P(M1, M2)
+  // The MHS at this point should be a 2 level tree on (1, 2).
+  // 1 has 2 choices, and 2 has 4 choices.
+  inc.update(gfg);
+  inc.prune(M(2), 2);
+
+  /*************** Run Round 4 ***************/
+  // Add odometry factor with discrete modes.
+  contKeys = {W(2), W(3)};
+  still = boost::make_shared<PlanarMotionModel>(W(2), W(3), Pose2(0, 0, 0),
+                                                noise_model);
+  moving =
+      boost::make_shared<PlanarMotionModel>(W(2), W(3), odometry, noise_model);
+  components = {moving, still};
+  mixtureFactor = boost::make_shared<MixtureFactor>(
+      contKeys, DiscreteKeys{gtsam::DiscreteKey(M(3), 2)}, components);
+  fg.push_back(mixtureFactor);
+
+  // Add equivalent of ImuFactor
+  fg.emplace_nonlinear<BetweenFactor<Pose2>>(X(2), X(3), Pose2(1.0, 0.0, 0),
+                                             poseNoise);
+  // PoseFactors-like at k=3
+  fg.emplace_nonlinear<BetweenFactor<Pose2>>(X(3), Y(3), Pose2(0, 1, 0),
+                                             poseNoise);
+  fg.emplace_nonlinear<BetweenFactor<Pose2>>(Y(3), Z(3), Pose2(0, 1, 0),
+                                             poseNoise);
+  fg.emplace_nonlinear<BetweenFactor<Pose2>>(Z(3), W(3), Pose2(-3, 1, 0),
+                                             poseNoise);
+
+  initial.insert(X(3), Pose2(3.0, 0.0, 0.0));
+  initial.insert(Y(3), Pose2(3.0, 1.0, 0.0));
+  initial.insert(Z(3), Pose2(3.0, 2.0, 0.0));
+  initial.insert(W(3), Pose2(0.0, 3.0, 0.0));
+
+  gfg = fg.linearize(initial);
+  fg = HybridNonlinearFactorGraph();
+
+  // Ordering at k=3. Same intuition as before.
+  ordering = Ordering();
+  ordering += W(2);
+  ordering += Z(2);
+  ordering += Y(2);
+  ordering += X(2);
+  ordering += W(3);
+  ordering += Z(3);
+  ordering += Y(3);
+  ordering += X(3);
+
+  // Keep pruning!
+  inc.update(gfg);
+  inc.prune(M(3), 3);
+  inc.print();
+
+  // The final discrete graph should not be empty since we have eliminated
+  // all continuous variables.
+  // EXPECT(!inc.remainingDiscreteGraph().empty());
 
   //   // Test if the optimal discrete mode assignment is (1, 1, 1).
   //   DiscreteValues optimal_assignment =

From 746ca7856df7848e677bf19751a4ea8b0f5a9e59 Mon Sep 17 00:00:00 2001
From: sjxue <schroshanjer@gmail.com>
Date: Thu, 18 Aug 2022 17:50:20 -0400
Subject: [PATCH 282/433] Address review comments

---
 gtsam/hybrid/HybridLookupDAG.cpp             |  7 ++--
 python/gtsam/tests/test_HybridFactorGraph.py | 31 +++++++++++++++
 python/gtsam/tests/test_HybridValues.py      | 41 ++++++++++++++++++++
 3 files changed, 75 insertions(+), 4 deletions(-)
 create mode 100644 python/gtsam/tests/test_HybridValues.py

diff --git a/gtsam/hybrid/HybridLookupDAG.cpp b/gtsam/hybrid/HybridLookupDAG.cpp
index 7acff081bf..a322a81776 100644
--- a/gtsam/hybrid/HybridLookupDAG.cpp
+++ b/gtsam/hybrid/HybridLookupDAG.cpp
@@ -55,8 +55,7 @@ void HybridLookupTable::argmaxInPlace(HybridValues* values) const {
   }
 }
 
-// /* **************************************************************************
-// */
+/* ************************************************************************** */
 HybridLookupDAG HybridLookupDAG::FromBayesNet(const HybridBayesNet& bayesNet) {
   HybridLookupDAG dag;
   for (auto&& conditional : bayesNet) {
@@ -66,12 +65,12 @@ HybridLookupDAG HybridLookupDAG::FromBayesNet(const HybridBayesNet& bayesNet) {
   return dag;
 }
 
+/* ************************************************************************** */
 HybridValues HybridLookupDAG::argmax(HybridValues result) const {
   // Argmax each node in turn in topological sort order (parents first).
   for (auto lookupTable : boost::adaptors::reverse(*this))
     lookupTable->argmaxInPlace(&result);
   return result;
 }
-/* ************************************************************************** */
 
-}  // namespace gtsam
\ No newline at end of file
+}  // namespace gtsam
diff --git a/python/gtsam/tests/test_HybridFactorGraph.py b/python/gtsam/tests/test_HybridFactorGraph.py
index 781cfd9240..44fb175e8f 100644
--- a/python/gtsam/tests/test_HybridFactorGraph.py
+++ b/python/gtsam/tests/test_HybridFactorGraph.py
@@ -55,6 +55,37 @@ def test_create(self):
         discrete_conditional = hbn.at(hbn.size() - 1).inner()
         self.assertIsInstance(discrete_conditional, gtsam.DiscreteConditional)
 
+    def test_optimize(self):
+        """Test contruction of hybrid factor graph."""
+        noiseModel = gtsam.noiseModel.Unit.Create(3)
+        dk = gtsam.DiscreteKeys()
+        dk.push_back((C(0), 2))
+
+        jf1 = gtsam.JacobianFactor(X(0), np.eye(3), np.zeros((3, 1)),
+                                   noiseModel)
+        jf2 = gtsam.JacobianFactor(X(0), np.eye(3), np.ones((3, 1)),
+                                   noiseModel)
+
+        gmf = gtsam.GaussianMixtureFactor.FromFactors([X(0)], dk, [jf1, jf2])
+
+        hfg = gtsam.HybridGaussianFactorGraph()
+        hfg.add(jf1)
+        hfg.add(jf2)
+        hfg.push_back(gmf)
+
+        dtf = gtsam.DecisionTreeFactor([(C(0), 2)],"0 1")
+        hfg.add(dtf)
+
+        hbn = hfg.eliminateSequential(
+            gtsam.Ordering.ColamdConstrainedLastHybridGaussianFactorGraph(
+                hfg, [C(0)]))
+
+        # print("hbn = ", hbn)
+        hv = hbn.optimize()
+        self.assertEqual(hv.atDiscrete(C(0)), 1)
+
+        self.assertEqual(hv.at(X(0)), np.ones((3, 1)))
+
 
 if __name__ == "__main__":
     unittest.main()
diff --git a/python/gtsam/tests/test_HybridValues.py b/python/gtsam/tests/test_HybridValues.py
new file mode 100644
index 0000000000..63e7c8e7dd
--- /dev/null
+++ b/python/gtsam/tests/test_HybridValues.py
@@ -0,0 +1,41 @@
+"""
+GTSAM Copyright 2010-2019, Georgia Tech Research Corporation,
+Atlanta, Georgia 30332-0415
+All Rights Reserved
+
+See LICENSE for the license information
+
+Unit tests for Hybrid Values.
+Author: Shangjie Xue
+"""
+# pylint: disable=invalid-name, no-name-in-module, no-member
+
+from __future__ import print_function
+
+import unittest
+
+import gtsam
+import numpy as np
+from gtsam.symbol_shorthand import C, X
+from gtsam.utils.test_case import GtsamTestCase
+
+
+class TestHybridGaussianFactorGraph(GtsamTestCase):
+    """Unit tests for HybridValues."""
+
+    def test_basic(self):
+        """Test contruction and basic methods of hybrid values."""
+        
+        hv1 = gtsam.HybridValues()
+        hv1.insert(X(0), np.ones((3,1)))
+        hv1.insert(C(0), 2)
+
+        hv2 = gtsam.HybridValues()
+        hv2.insert(C(0), 2)
+        hv2.insert(X(0), np.ones((3,1)))
+
+        self.assertEqual(hv1.atDiscrete(C(0)), 2)
+        self.assertEqual(hv1.at(X(0))[0], np.ones((3,1))[0])
+
+if __name__ == "__main__":
+    unittest.main()

From c4184e192b4605303cc0b0d51129e470eb4b4ed1 Mon Sep 17 00:00:00 2001
From: sjxue <schroshanjer@gmail.com>
Date: Thu, 18 Aug 2022 19:35:06 -0400
Subject: [PATCH 283/433] fix error in python unit test

---
 python/gtsam/tests/test_HybridFactorGraph.py | 3 ---
 1 file changed, 3 deletions(-)

diff --git a/python/gtsam/tests/test_HybridFactorGraph.py b/python/gtsam/tests/test_HybridFactorGraph.py
index 44fb175e8f..576efa82fd 100644
--- a/python/gtsam/tests/test_HybridFactorGraph.py
+++ b/python/gtsam/tests/test_HybridFactorGraph.py
@@ -84,8 +84,5 @@ def test_optimize(self):
         hv = hbn.optimize()
         self.assertEqual(hv.atDiscrete(C(0)), 1)
 
-        self.assertEqual(hv.at(X(0)), np.ones((3, 1)))
-
-
 if __name__ == "__main__":
     unittest.main()

From 07f0101db7401be00917c1f2c099cd6326e3369c Mon Sep 17 00:00:00 2001
From: Varun Agrawal <varagrawal@gmail.com>
Date: Sun, 21 Aug 2022 12:48:33 -0400
Subject: [PATCH 284/433] check subset rather than equality for GaussianISAM
 pruning

---
 gtsam/hybrid/HybridGaussianISAM.cpp | 18 +++++++++++++++++-
 1 file changed, 17 insertions(+), 1 deletion(-)

diff --git a/gtsam/hybrid/HybridGaussianISAM.cpp b/gtsam/hybrid/HybridGaussianISAM.cpp
index afcda8c208..23a95c021d 100644
--- a/gtsam/hybrid/HybridGaussianISAM.cpp
+++ b/gtsam/hybrid/HybridGaussianISAM.cpp
@@ -105,6 +105,22 @@ void HybridGaussianISAM::update(const HybridGaussianFactorGraph& newFactors,
   this->updateInternal(newFactors, &orphans, ordering, function);
 }
 
+/* ************************************************************************* */
+/**
+ * @brief Check if `b` is a subset of `a`.
+ * Non-const since they need to be sorted.
+ *
+ * @param a KeyVector
+ * @param b KeyVector
+ * @return True if the keys of b is a subset of a, else false.
+ */
+bool IsSubset(KeyVector a, KeyVector b) {
+  std::sort(a.begin(), a.end());
+  std::sort(b.begin(), b.end());
+  return std::includes(a.begin(), a.end(), b.begin(), b.end());
+}
+
+/* ************************************************************************* */
 void HybridGaussianISAM::prune(const Key& root, const size_t maxNrLeaves) {
   auto decisionTree = boost::dynamic_pointer_cast<DecisionTreeFactor>(
       this->clique(root)->conditional()->inner());
@@ -131,7 +147,7 @@ void HybridGaussianISAM::prune(const Key& root, const size_t maxNrLeaves) {
       parents.push_back(parent);
     }
 
-    if (parents == decisionTree->keys()) {
+    if (IsSubset(parents, decisionTree->keys())) {
       auto gaussianMixture = boost::dynamic_pointer_cast<GaussianMixture>(
           clique.second->conditional()->inner());
 

From 29c19ee77b5fda682fabdf110baf1a7f320c87b3 Mon Sep 17 00:00:00 2001
From: Varun Agrawal <varagrawal@gmail.com>
Date: Sun, 21 Aug 2022 12:49:13 -0400
Subject: [PATCH 285/433] handle HybridConditional and explicitly set Gaussian
 Factor Graphs to empty

---
 gtsam/hybrid/HybridGaussianFactorGraph.cpp | 31 +++++++++++++++++++---
 1 file changed, 27 insertions(+), 4 deletions(-)

diff --git a/gtsam/hybrid/HybridGaussianFactorGraph.cpp b/gtsam/hybrid/HybridGaussianFactorGraph.cpp
index 55fa9a908a..af381de041 100644
--- a/gtsam/hybrid/HybridGaussianFactorGraph.cpp
+++ b/gtsam/hybrid/HybridGaussianFactorGraph.cpp
@@ -96,8 +96,15 @@ GaussianMixtureFactor::Sum sumFrontals(
       }
 
     } else if (f->isContinuous()) {
-      deferredFactors.push_back(
-          boost::dynamic_pointer_cast<HybridGaussianFactor>(f)->inner());
+      // Check if f is HybridConditional or HybridGaussianFactor.
+      if (auto hc = boost::dynamic_pointer_cast<HybridConditional>(f)) {
+        auto conditional =
+            boost::dynamic_pointer_cast<GaussianConditional>(hc->inner());
+        deferredFactors.push_back(conditional);
+      } else if (auto gf = boost::dynamic_pointer_cast<HybridGaussianFactor>(f)
+                               ->inner()) {
+        deferredFactors.push_back(gf);
+      }
 
     } else if (f->isDiscrete()) {
       // Don't do anything for discrete-only factors
@@ -184,6 +191,19 @@ hybridElimination(const HybridGaussianFactorGraph &factors,
   // sum out frontals, this is the factor on the separator
   GaussianMixtureFactor::Sum sum = sumFrontals(factors);
 
+  // If a tree leaf contains nullptr,
+  // convert that leaf to an empty GaussianFactorGraph.
+  // Needed since the DecisionTree will otherwise create
+  // a GFG with a single (null) factor.
+  auto emptyGaussian = [](const GaussianFactorGraph &gfg) {
+    bool hasNull =
+        std::any_of(gfg.begin(), gfg.end(),
+                    [](const GaussianFactor::shared_ptr &ptr) { return !ptr; });
+
+    return hasNull ? GaussianFactorGraph() : gfg;
+  };
+  sum = GaussianMixtureFactor::Sum(sum, emptyGaussian);
+
   using EliminationPair = GaussianFactorGraph::EliminationResult;
 
   KeyVector keysOfEliminated;  // Not the ordering
@@ -195,7 +215,10 @@ hybridElimination(const HybridGaussianFactorGraph &factors,
     if (graph.empty()) {
       return {nullptr, nullptr};
     }
-    auto result = EliminatePreferCholesky(graph, frontalKeys);
+    std::pair<boost::shared_ptr<GaussianConditional>,
+              boost::shared_ptr<GaussianFactor>>
+        result = EliminatePreferCholesky(graph, frontalKeys);
+
     if (keysOfEliminated.empty()) {
       keysOfEliminated =
           result.first->keys();  // Initialize the keysOfEliminated to be the
@@ -235,7 +258,7 @@ hybridElimination(const HybridGaussianFactorGraph &factors,
             boost::make_shared<HybridDiscreteFactor>(discreteFactor)};
 
   } else {
-    // Create a resulting DCGaussianMixture on the separator.
+    // Create a resulting GaussianMixtureFactor on the separator.
     auto factor = boost::make_shared<GaussianMixtureFactor>(
         KeyVector(continuousSeparator.begin(), continuousSeparator.end()),
         discreteSeparator, separatorFactors);

From f6df641b191ef7b1e4bd8b867c707abdc86a4549 Mon Sep 17 00:00:00 2001
From: Varun Agrawal <varagrawal@gmail.com>
Date: Sun, 21 Aug 2022 12:56:14 -0400
Subject: [PATCH 286/433] remove custom orderings, let it happen automatically

---
 gtsam/hybrid/tests/testHybridIncremental.cpp | 111 ++++---------------
 1 file changed, 23 insertions(+), 88 deletions(-)

diff --git a/gtsam/hybrid/tests/testHybridIncremental.cpp b/gtsam/hybrid/tests/testHybridIncremental.cpp
index 8feab52216..4449aba0b3 100644
--- a/gtsam/hybrid/tests/testHybridIncremental.cpp
+++ b/gtsam/hybrid/tests/testHybridIncremental.cpp
@@ -61,11 +61,6 @@ TEST(HybridGaussianElimination, IncrementalElimination) {
   graph1.push_back(switching.linearizedFactorGraph.at(2));  // P(X2, X3 | M2)
   graph1.push_back(switching.linearizedFactorGraph.at(5));  // P(M1)
 
-  // Create ordering.
-  Ordering ordering;
-  ordering += X(1);
-  ordering += X(2);
-
   // Run update step
   isam.update(graph1);
 
@@ -85,11 +80,6 @@ TEST(HybridGaussianElimination, IncrementalElimination) {
   graph2.push_back(switching.linearizedFactorGraph.at(4));  // P(X3)
   graph2.push_back(switching.linearizedFactorGraph.at(6));  // P(M1, M2)
 
-  // Create ordering.
-  Ordering ordering2;
-  ordering2 += X(2);
-  ordering2 += X(3);
-
   isam.update(graph2);
 
   // Check that after the second update we have
@@ -336,12 +326,6 @@ TEST(HybridGaussianElimination, Incremental_approximate) {
     graph1.push_back(switching.linearizedFactorGraph.at(i));
   }
 
-  // Create ordering.
-  Ordering ordering;
-  for (size_t j = 1; j <= 4; j++) {
-    ordering += X(j);
-  }
-
   // Run update with pruning
   size_t maxComponents = 5;
   incrementalHybrid.update(graph1);
@@ -364,10 +348,6 @@ TEST(HybridGaussianElimination, Incremental_approximate) {
   graph2.push_back(switching.linearizedFactorGraph.at(4));
   graph2.push_back(switching.linearizedFactorGraph.at(8));
 
-  Ordering ordering2;
-  ordering2 += X(4);
-  ordering2 += X(5);
-
   // Run update with pruning a second time.
   incrementalHybrid.update(graph2);
   incrementalHybrid.prune(M(4), maxComponents);
@@ -382,14 +362,11 @@ TEST(HybridGaussianElimination, Incremental_approximate) {
 }
 
 /* ************************************************************************/
-// Test for figuring out the optimal ordering to ensure we get
-// a discrete graph after elimination.
+// A GTSAM-only test for running inference on a single-legged robot.
+// The leg links are represented by the chain X-Y-Z-W, where X is the base and
+// W is the foot.
+// We use BetweenFactor<Pose2> as constraints between each of the poses.
 TEST(HybridGaussianISAM, NonTrivial) {
-  // This is a GTSAM-only test for running inference on a single legged robot.
-  // The leg links are represented by the chain X-Y-Z-W, where X is the base and
-  // W is the foot.
-  // We use BetweenFactor<Pose2> as constraints between each of the poses.
-
   /*************** Run Round 1 ***************/
   HybridNonlinearFactorGraph fg;
 
@@ -427,19 +404,11 @@ TEST(HybridGaussianISAM, NonTrivial) {
 
   HybridGaussianISAM inc;
 
-  // Regular ordering going up the chain.
-  Ordering ordering;
-  ordering += W(0);
-  ordering += Z(0);
-  ordering += Y(0);
-  ordering += X(0);
-
   // Update without pruning
   // The result is a HybridBayesNet with no discrete variables
   // (equivalent to a GaussianBayesNet).
   // Factorization is:
   // `P(X | measurements) = P(W0|Z0) P(Z0|Y0) P(Y0|X0) P(X0)`
-  // TODO(Varun) ClusterTree-inst.h L202 segfaults with custom ordering.
   inc.update(gfg);
 
   /*************** Run Round 2 ***************/
@@ -478,26 +447,12 @@ TEST(HybridGaussianISAM, NonTrivial) {
   gfg = fg.linearize(initial);
   fg = HybridNonlinearFactorGraph();
 
-  // Ordering for k=1.
-  // This ordering follows the intuition that we eliminate the previous
-  // timestep, and then the current timestep.
-  ordering = Ordering();
-  ordering += W(0);
-  ordering += Z(0);
-  ordering += Y(0);
-  ordering += X(0);
-  ordering += W(1);
-  ordering += Z(1);
-  ordering += Y(1);
-  ordering += X(1);
-
   // Update without pruning
   // The result is a HybridBayesNet with 1 discrete variable M(1).
   // P(X | measurements) = P(W0|Z0, W1, M1) P(Z0|Y0, W1, M1) P(Y0|X0, W1, M1)
   //                       P(X0 | X1, W1, M1) P(W1|Z1, X1, M1) P(Z1|Y1, X1, M1)
   //                       P(Y1 | X1, M1)P(X1 | M1)P(M1)
   // The MHS tree is a 1 level tree for time indices (1,) with 2 leaves.
-  // TODO(Varun) ClusterTree-inst.h L202 segfaults with custom ordering.
   inc.update(gfg);
 
   /*************** Run Round 3 ***************/
@@ -528,17 +483,6 @@ TEST(HybridGaussianISAM, NonTrivial) {
   initial.insert(Z(2), Pose2(2.0, 2.0, 0.0));
   initial.insert(W(2), Pose2(0.0, 3.0, 0.0));
 
-  // Ordering at k=2. Same intuition as before.
-  ordering = Ordering();
-  ordering += W(1);
-  ordering += Z(1);
-  ordering += Y(1);
-  ordering += X(1);
-  ordering += W(2);
-  ordering += Z(2);
-  ordering += Y(2);
-  ordering += X(2);
-
   gfg = fg.linearize(initial);
   fg = HybridNonlinearFactorGraph();
 
@@ -585,40 +529,31 @@ TEST(HybridGaussianISAM, NonTrivial) {
   gfg = fg.linearize(initial);
   fg = HybridNonlinearFactorGraph();
 
-  // Ordering at k=3. Same intuition as before.
-  ordering = Ordering();
-  ordering += W(2);
-  ordering += Z(2);
-  ordering += Y(2);
-  ordering += X(2);
-  ordering += W(3);
-  ordering += Z(3);
-  ordering += Y(3);
-  ordering += X(3);
-
   // Keep pruning!
   inc.update(gfg);
   inc.prune(M(3), 3);
-  inc.print();
 
   // The final discrete graph should not be empty since we have eliminated
   // all continuous variables.
-  // EXPECT(!inc.remainingDiscreteGraph().empty());
-
-  //   // Test if the optimal discrete mode assignment is (1, 1, 1).
-  //   DiscreteValues optimal_assignment =
-  //   inc.remainingDiscreteGraph().optimize(); DiscreteValues
-  //   expected_assignment; expected_assignment[M(1)] = 1;
-  //   expected_assignment[M(2)] = 1;
-  //   expected_assignment[M(3)] = 1;
-  //   EXPECT(assert_equal(expected_assignment, optimal_assignment));
-
-  //   // Test if pruning worked correctly by checking that we only have 3
-  //   leaves in
-  //   // the last node.
-  //   auto lastConditional = boost::dynamic_pointer_cast<GaussianMixture>(
-  //       inc.hybridBayesNet().at(inc.hybridBayesNet().size() - 1));
-  //   EXPECT_LONGS_EQUAL(3, lastConditional->nrComponents());
+  auto discreteTree = inc[M(3)]->conditional()->asDiscreteConditional();
+  EXPECT_LONGS_EQUAL(3, discreteTree->size());
+
+  // Test if the optimal discrete mode assignment is (1, 1, 1).
+  DiscreteFactorGraph discreteGraph;
+  discreteGraph.push_back(discreteTree);
+  DiscreteValues optimal_assignment = discreteGraph.optimize();
+
+  DiscreteValues expected_assignment;
+  expected_assignment[M(1)] = 1;
+  expected_assignment[M(2)] = 1;
+  expected_assignment[M(3)] = 1;
+
+  EXPECT(assert_equal(expected_assignment, optimal_assignment));
+
+  // Test if pruning worked correctly by checking that we only have 3 leaves in
+  // the last node.
+  auto lastConditional = inc[X(3)]->conditional()->asMixture();
+  EXPECT_LONGS_EQUAL(3, lastConditional->nrComponents());
 }
 
 /* ************************************************************************* */

From 6b792c0a4ca19b750a9c259c1dd84468786884ff Mon Sep 17 00:00:00 2001
From: Varun Agrawal <varagrawal@gmail.com>
Date: Sun, 21 Aug 2022 12:56:59 -0400
Subject: [PATCH 287/433] add note about sumFrontals

---
 gtsam/hybrid/HybridGaussianFactorGraph.cpp | 13 +++++++++++++
 1 file changed, 13 insertions(+)

diff --git a/gtsam/hybrid/HybridGaussianFactorGraph.cpp b/gtsam/hybrid/HybridGaussianFactorGraph.cpp
index af381de041..b57d495d8d 100644
--- a/gtsam/hybrid/HybridGaussianFactorGraph.cpp
+++ b/gtsam/hybrid/HybridGaussianFactorGraph.cpp
@@ -77,6 +77,19 @@ static GaussianMixtureFactor::Sum &addGaussian(
 }
 
 /* ************************************************************************ */
+/* Function to eliminate variables **under the following assumptions**:
+ * 1. When the ordering is fully continuous, and the graph only contains
+ * continuous and hybrid factors
+ * 2. When the ordering is fully discrete, and the graph only contains discrete
+ * factors
+ *
+ * Any usage outside of this is considered incorrect.
+ *
+ * \warning This function is not meant to be used with arbitrary hybrid factor
+ * graphs. For example, if there exists continuous parents, and one tries to
+ * eliminate a discrete variable (as specified in the ordering), the result will
+ * be INCORRECT and there will be NO error raised.
+ */
 GaussianMixtureFactor::Sum sumFrontals(
     const HybridGaussianFactorGraph &factors) {
   // sum out frontals, this is the factor on the separator

From 893c5f77f827b6c21af6b04b9c2e236010e7298e Mon Sep 17 00:00:00 2001
From: Varun Agrawal <varagrawal@gmail.com>
Date: Mon, 22 Aug 2022 08:29:32 -0400
Subject: [PATCH 288/433] cast to only HybridGaussianFactor

---
 gtsam/hybrid/HybridGaussianFactorGraph.cpp | 39 +++++++++-------------
 1 file changed, 16 insertions(+), 23 deletions(-)

diff --git a/gtsam/hybrid/HybridGaussianFactorGraph.cpp b/gtsam/hybrid/HybridGaussianFactorGraph.cpp
index b57d495d8d..c024c1255f 100644
--- a/gtsam/hybrid/HybridGaussianFactorGraph.cpp
+++ b/gtsam/hybrid/HybridGaussianFactorGraph.cpp
@@ -77,19 +77,6 @@ static GaussianMixtureFactor::Sum &addGaussian(
 }
 
 /* ************************************************************************ */
-/* Function to eliminate variables **under the following assumptions**:
- * 1. When the ordering is fully continuous, and the graph only contains
- * continuous and hybrid factors
- * 2. When the ordering is fully discrete, and the graph only contains discrete
- * factors
- *
- * Any usage outside of this is considered incorrect.
- *
- * \warning This function is not meant to be used with arbitrary hybrid factor
- * graphs. For example, if there exists continuous parents, and one tries to
- * eliminate a discrete variable (as specified in the ordering), the result will
- * be INCORRECT and there will be NO error raised.
- */
 GaussianMixtureFactor::Sum sumFrontals(
     const HybridGaussianFactorGraph &factors) {
   // sum out frontals, this is the factor on the separator
@@ -109,15 +96,8 @@ GaussianMixtureFactor::Sum sumFrontals(
       }
 
     } else if (f->isContinuous()) {
-      // Check if f is HybridConditional or HybridGaussianFactor.
-      if (auto hc = boost::dynamic_pointer_cast<HybridConditional>(f)) {
-        auto conditional =
-            boost::dynamic_pointer_cast<GaussianConditional>(hc->inner());
-        deferredFactors.push_back(conditional);
-      } else if (auto gf = boost::dynamic_pointer_cast<HybridGaussianFactor>(f)
-                               ->inner()) {
-        deferredFactors.push_back(gf);
-      }
+      deferredFactors.push_back(
+          boost::dynamic_pointer_cast<HybridGaussianFactor>(f)->inner());
 
     } else if (f->isDiscrete()) {
       // Don't do anything for discrete-only factors
@@ -278,7 +258,20 @@ hybridElimination(const HybridGaussianFactorGraph &factors,
     return {boost::make_shared<HybridConditional>(conditional), factor};
   }
 }
-/* ************************************************************************ */
+/* ************************************************************************
+ * Function to eliminate variables **under the following assumptions**:
+ * 1. When the ordering is fully continuous, and the graph only contains
+ * continuous and hybrid factors
+ * 2. When the ordering is fully discrete, and the graph only contains discrete
+ * factors
+ *
+ * Any usage outside of this is considered incorrect.
+ *
+ * \warning This function is not meant to be used with arbitrary hybrid factor
+ * graphs. For example, if there exists continuous parents, and one tries to
+ * eliminate a discrete variable (as specified in the ordering), the result will
+ * be INCORRECT and there will be NO error raised.
+ */
 std::pair<HybridConditional::shared_ptr, HybridFactor::shared_ptr>  //
 EliminateHybrid(const HybridGaussianFactorGraph &factors,
                 const Ordering &frontalKeys) {

From c0a351d4e04c599e8ac8f88640b3d02fcc1862e8 Mon Sep 17 00:00:00 2001
From: Varun Agrawal <varagrawal@gmail.com>
Date: Mon, 22 Aug 2022 08:53:20 -0400
Subject: [PATCH 289/433] upgrade from ubuntu 18.04 to 20.04

---
 .github/workflows/build-linux.yml   | 24 +++++++++----------
 .github/workflows/build-python.yml  | 36 ++++++++++++++---------------
 .github/workflows/build-special.yml | 14 +++++------
 3 files changed, 37 insertions(+), 37 deletions(-)

diff --git a/.github/workflows/build-linux.yml b/.github/workflows/build-linux.yml
index 7b13b66460..fa2425e4df 100644
--- a/.github/workflows/build-linux.yml
+++ b/.github/workflows/build-linux.yml
@@ -20,26 +20,26 @@ jobs:
         # Github Actions requires a single row to be added to the build matrix.
         # See https://help.github.com/en/articles/workflow-syntax-for-github-actions.
         name: [
-          ubuntu-18.04-gcc-5,
-          ubuntu-18.04-gcc-9,
-          ubuntu-18.04-clang-9,
+          ubuntu-20.04-gcc-7,
+          ubuntu-20.04-gcc-9,
+          ubuntu-20.04-clang-9,
         ]
 
         build_type: [Debug, Release]
         build_unstable: [ON]
         include:
-          - name: ubuntu-18.04-gcc-5
-            os: ubuntu-18.04
+          - name: ubuntu-20.04-gcc-7
+            os: ubuntu-20.04
             compiler: gcc
-            version: "5"
+            version: "7"
 
-          - name: ubuntu-18.04-gcc-9
-            os: ubuntu-18.04
+          - name: ubuntu-20.04-gcc-9
+            os: ubuntu-20.04
             compiler: gcc
             version: "9"
 
-          - name: ubuntu-18.04-clang-9
-            os: ubuntu-18.04
+          - name: ubuntu-20.04-clang-9
+            os: ubuntu-20.04
             compiler: clang
             version: "9"
 
@@ -60,9 +60,9 @@ jobs:
             gpg -a --export $LLVM_KEY | sudo apt-key add -
             sudo add-apt-repository "deb http://apt.llvm.org/bionic/ llvm-toolchain-bionic-9 main"
           fi
-          sudo apt-get -y update
 
-          sudo apt-get -y install cmake build-essential pkg-config libpython-dev python-numpy libicu-dev
+          sudo apt-get -y update
+          sudo apt-get -y install cmake build-essential pkg-config libpython3-dev python3-numpy libicu-dev
 
           if [ "${{ matrix.compiler }}" = "gcc" ]; then
             sudo apt-get install -y g++-${{ matrix.version }} g++-${{ matrix.version }}-multilib
diff --git a/.github/workflows/build-python.yml b/.github/workflows/build-python.yml
index 1e1519da60..4eb861ecc2 100644
--- a/.github/workflows/build-python.yml
+++ b/.github/workflows/build-python.yml
@@ -19,34 +19,34 @@ jobs:
         # Github Actions requires a single row to be added to the build matrix.
         # See https://help.github.com/en/articles/workflow-syntax-for-github-actions.
         name: [
-          ubuntu-18.04-gcc-5,
-          ubuntu-18.04-gcc-9,
-          ubuntu-18.04-clang-9,
+          ubuntu-20.04-gcc-7,
+          ubuntu-20.04-gcc-9,
+          ubuntu-20.04-clang-9,
           macOS-11-xcode-13.4.1,
-          ubuntu-18.04-gcc-5-tbb,
+          ubuntu-20.04-gcc-7-tbb,
         ]
 
         build_type: [Debug, Release]
         python_version: [3]
         include:
-          - name: ubuntu-18.04-gcc-5
-            os: ubuntu-18.04
+          - name: ubuntu-20.04-gcc-7
+            os: ubuntu-20.04
             compiler: gcc
-            version: "5"
+            version: "7"
 
-          - name: ubuntu-18.04-gcc-9
-            os: ubuntu-18.04
+          - name: ubuntu-20.04-gcc-9
+            os: ubuntu-20.04
             compiler: gcc
             version: "9"
 
-          - name: ubuntu-18.04-clang-9
-            os: ubuntu-18.04
+          - name: ubuntu-20.04-clang-9
+            os: ubuntu-20.04
             compiler: clang
             version: "9"
 
           # NOTE temporarily added this as it is a required check.
-          - name: ubuntu-18.04-clang-9
-            os: ubuntu-18.04
+          - name: ubuntu-20.04-clang-9
+            os: ubuntu-20.04
             compiler: clang
             version: "9"
             build_type: Debug
@@ -57,10 +57,10 @@ jobs:
             compiler: xcode
             version: "13.4.1"
 
-          - name: ubuntu-18.04-gcc-5-tbb
-            os: ubuntu-18.04
+          - name: ubuntu-20.04-gcc-7-tbb
+            os: ubuntu-20.04
             compiler: gcc
-            version: "5"
+            version: "7"
             flag: tbb
 
     steps:
@@ -79,9 +79,9 @@ jobs:
             gpg -a --export $LLVM_KEY | sudo apt-key add -
             sudo add-apt-repository "deb http://apt.llvm.org/bionic/ llvm-toolchain-bionic-9 main"
           fi
+
           sudo apt-get -y update
-          
-          sudo apt-get -y install cmake build-essential pkg-config libpython-dev python-numpy libboost-all-dev
+          sudo apt-get -y install cmake build-essential pkg-config libpython3-dev python3-numpy libboost-all-dev
           
           if [ "${{ matrix.compiler }}" = "gcc" ]; then
             sudo apt-get install -y g++-${{ matrix.version }} g++-${{ matrix.version }}-multilib
diff --git a/.github/workflows/build-special.yml b/.github/workflows/build-special.yml
index d357b9a340..ef7d7723d9 100644
--- a/.github/workflows/build-special.yml
+++ b/.github/workflows/build-special.yml
@@ -32,31 +32,31 @@ jobs:
 
         include:
           - name: ubuntu-gcc-deprecated
-            os: ubuntu-18.04
+            os: ubuntu-20.04
             compiler: gcc
             version: "9"
             flag: deprecated
 
           - name: ubuntu-gcc-quaternions
-            os: ubuntu-18.04
+            os: ubuntu-20.04
             compiler: gcc
             version: "9"
             flag: quaternions
 
           - name: ubuntu-gcc-tbb
-            os: ubuntu-18.04
+            os: ubuntu-20.04
             compiler: gcc
             version: "9"
             flag: tbb
 
           - name: ubuntu-cayleymap
-            os: ubuntu-18.04
+            os: ubuntu-20.04
             compiler: gcc
             version: "9"
             flag: cayley
 
           - name: ubuntu-system-libs
-            os: ubuntu-18.04
+            os: ubuntu-20.04
             compiler: gcc
             version: "9"
             flag: system-libs
@@ -74,9 +74,9 @@ jobs:
             gpg -a --export 15CF4D18AF4F7421 | sudo apt-key add -
             sudo add-apt-repository "deb http://apt.llvm.org/bionic/ llvm-toolchain-bionic-9 main"
           fi
-          sudo apt-get -y update
 
-          sudo apt-get -y install cmake build-essential pkg-config libpython-dev python-numpy libicu-dev
+          sudo apt-get -y update
+          sudo apt-get -y install cmake build-essential pkg-config libpython3-dev python3-numpy libicu-dev
 
           if [ "${{ matrix.compiler }}" = "gcc" ]; then
             sudo apt-get install -y g++-${{ matrix.version }} g++-${{ matrix.version }}-multilib

From 8fd6091a986b2661aaf61d935746cba559cd4ecd Mon Sep 17 00:00:00 2001
From: Varun Agrawal <varagrawal@gmail.com>
Date: Mon, 22 Aug 2022 17:35:07 -0400
Subject: [PATCH 290/433] add new line

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

diff --git a/gtsam/hybrid/tests/testHybridNonlinearFactorGraph.cpp b/gtsam/hybrid/tests/testHybridNonlinearFactorGraph.cpp
index a3debb3a99..c10310b5ed 100644
--- a/gtsam/hybrid/tests/testHybridNonlinearFactorGraph.cpp
+++ b/gtsam/hybrid/tests/testHybridNonlinearFactorGraph.cpp
@@ -758,4 +758,4 @@ int main() {
   TestResult tr;
   return TestRegistry::runAllTests(tr);
 }
-/* ************************************************************************* */
\ No newline at end of file
+/* ************************************************************************* */

From b07964b2aa8d52efa53379043851e3a439d89e0b Mon Sep 17 00:00:00 2001
From: Varun Agrawal <varagrawal@gmail.com>
Date: Mon, 22 Aug 2022 17:35:19 -0400
Subject: [PATCH 291/433] name file correctly in doc string

---
 gtsam/linear/GaussianISAM.h | 2 +-
 1 file changed, 1 insertion(+), 1 deletion(-)

diff --git a/gtsam/linear/GaussianISAM.h b/gtsam/linear/GaussianISAM.h
index b77b262408..98bf5df884 100644
--- a/gtsam/linear/GaussianISAM.h
+++ b/gtsam/linear/GaussianISAM.h
@@ -10,7 +10,7 @@
  * -------------------------------------------------------------------------- */
 
 /**
- * @file SymbolicISAM.h
+ * @file GaussianISAM.h
  * @date July 29, 2013
  * @author Frank Dellaert
  * @author Richard Roberts

From aa52b39d9b584a5fb0f359217261842a5c8bb0b4 Mon Sep 17 00:00:00 2001
From: Varun Agrawal <varagrawal@gmail.com>
Date: Tue, 23 Aug 2022 12:17:11 -0400
Subject: [PATCH 292/433] fix docstring

---
 gtsam/inference/FactorGraph.h | 2 +-
 1 file changed, 1 insertion(+), 1 deletion(-)

diff --git a/gtsam/inference/FactorGraph.h b/gtsam/inference/FactorGraph.h
index 101134c838..89fd09037c 100644
--- a/gtsam/inference/FactorGraph.h
+++ b/gtsam/inference/FactorGraph.h
@@ -116,7 +116,7 @@ class FactorGraph {
   using HasDerivedValueType = typename std::enable_if<
       std::is_base_of<FactorType, typename T::value_type>::value>::type;
 
-  /// Check if T has a value_type derived from FactorType.
+  /// Check if T has a pointer type derived from FactorType.
   template <typename T>
   using HasDerivedElementType = typename std::enable_if<std::is_base_of<
       FactorType, typename T::value_type::element_type>::value>::type;

From df64982d7227142370f97c8600a3608840c72aa3 Mon Sep 17 00:00:00 2001
From: Varun Agrawal <varagrawal@gmail.com>
Date: Tue, 23 Aug 2022 12:17:42 -0400
Subject: [PATCH 293/433] add extra tests

---
 gtsam/hybrid/tests/testHybridLookupDAG.cpp        |  2 +-
 .../tests/testHybridNonlinearFactorGraph.cpp      | 15 +++++++++++++++
 gtsam/hybrid/tests/testHybridValues.cpp           |  2 +-
 3 files changed, 17 insertions(+), 2 deletions(-)

diff --git a/gtsam/hybrid/tests/testHybridLookupDAG.cpp b/gtsam/hybrid/tests/testHybridLookupDAG.cpp
index c472aa22f5..0ab012d104 100644
--- a/gtsam/hybrid/tests/testHybridLookupDAG.cpp
+++ b/gtsam/hybrid/tests/testHybridLookupDAG.cpp
@@ -269,4 +269,4 @@ int main() {
   TestResult tr;
   return TestRegistry::runAllTests(tr);
 }
-/* ************************************************************************* */
\ No newline at end of file
+/* ************************************************************************* */
diff --git a/gtsam/hybrid/tests/testHybridNonlinearFactorGraph.cpp b/gtsam/hybrid/tests/testHybridNonlinearFactorGraph.cpp
index c10310b5ed..018b017a9d 100644
--- a/gtsam/hybrid/tests/testHybridNonlinearFactorGraph.cpp
+++ b/gtsam/hybrid/tests/testHybridNonlinearFactorGraph.cpp
@@ -188,7 +188,22 @@ TEST(HybridFactorGraph, PushBack) {
   ghfg = HybridGaussianFactorGraph();
   ghfg.push_back(dcFactor);
 
+  HybridGaussianFactorGraph hgfg2;
+  hgfg2.push_back(ghfg.begin(), ghfg.end());
+
   EXPECT_LONGS_EQUAL(ghfg.size(), 1);
+
+  HybridNonlinearFactorGraph hnfg;
+  NonlinearFactorGraph factors;
+  auto noise = noiseModel::Isotropic::Sigma(3, 1.0);
+  factors.emplace_shared<PriorFactor<Pose2>>(0, Pose2(0, 0, 0), noise);
+  factors.emplace_shared<PriorFactor<Pose2>>(1, Pose2(1, 0, 0), noise);
+  factors.emplace_shared<PriorFactor<Pose2>>(2, Pose2(2, 0, 0), noise);
+  // TODO(Varun) This does not currently work. It should work once HybridFactor
+  // becomes a base class of NonlinearFactor.
+  // hnfg.push_back(factors.begin(), factors.end());
+
+  // EXPECT_LONGS_EQUAL(3, hnfg.size());
 }
 
 /****************************************************************************
diff --git a/gtsam/hybrid/tests/testHybridValues.cpp b/gtsam/hybrid/tests/testHybridValues.cpp
index 9581faaa09..6f510601d4 100644
--- a/gtsam/hybrid/tests/testHybridValues.cpp
+++ b/gtsam/hybrid/tests/testHybridValues.cpp
@@ -55,4 +55,4 @@ int main() {
   TestResult tr;
   return TestRegistry::runAllTests(tr);
 }
-/* ************************************************************************* */
\ No newline at end of file
+/* ************************************************************************* */

From a6101b2d8f9ef0d512dd4852b0402621eb0d68c5 Mon Sep 17 00:00:00 2001
From: Varun Agrawal <varagrawal@gmail.com>
Date: Fri, 26 Aug 2022 10:36:49 -0400
Subject: [PATCH 294/433] fix filename in docstring

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

diff --git a/gtsam/nonlinear/NonlinearISAM.cpp b/gtsam/nonlinear/NonlinearISAM.cpp
index 512069a8ab..840712eb65 100644
--- a/gtsam/nonlinear/NonlinearISAM.cpp
+++ b/gtsam/nonlinear/NonlinearISAM.cpp
@@ -10,7 +10,7 @@
  * -------------------------------------------------------------------------- */
 
 /**
- * @file NonlinearISAM-inl.h
+ * @file NonlinearISAM.cpp
  * @date Jan 19, 2010
  * @author Viorela Ila and Richard Roberts
  */

From f0df82ac040268c83f8c06cd3c4f27dd7c47bf7d Mon Sep 17 00:00:00 2001
From: Varun Agrawal <varagrawal@gmail.com>
Date: Fri, 26 Aug 2022 11:35:24 -0400
Subject: [PATCH 295/433] HybridBayesNet::optimize

---
 gtsam/hybrid/HybridBayesNet.cpp           | 13 ++++++---
 gtsam/hybrid/HybridBayesNet.h             |  9 ++++++
 gtsam/hybrid/HybridConditional.h          |  9 +++---
 gtsam/hybrid/tests/testHybridBayesNet.cpp | 34 +++++++++++++++++++++++
 4 files changed, 56 insertions(+), 9 deletions(-)

diff --git a/gtsam/hybrid/HybridBayesNet.cpp b/gtsam/hybrid/HybridBayesNet.cpp
index 4665a3136c..f93d216517 100644
--- a/gtsam/hybrid/HybridBayesNet.cpp
+++ b/gtsam/hybrid/HybridBayesNet.cpp
@@ -16,8 +16,8 @@
  */
 
 #include <gtsam/hybrid/HybridBayesNet.h>
-#include <gtsam/hybrid/HybridValues.h>
 #include <gtsam/hybrid/HybridLookupDAG.h>
+#include <gtsam/hybrid/HybridValues.h>
 
 namespace gtsam {
 
@@ -112,13 +112,12 @@ HybridBayesNet HybridBayesNet::prune(
 
 /* ************************************************************************* */
 GaussianMixture::shared_ptr HybridBayesNet::atGaussian(size_t i) const {
-  return boost::dynamic_pointer_cast<GaussianMixture>(factors_.at(i)->inner());
+  return factors_.at(i)->asMixture();
 }
 
 /* ************************************************************************* */
 DiscreteConditional::shared_ptr HybridBayesNet::atDiscrete(size_t i) const {
-  return boost::dynamic_pointer_cast<DiscreteConditional>(
-      factors_.at(i)->inner());
+  return factors_.at(i)->asDiscreteConditional();
 }
 
 /* ************************************************************************* */
@@ -138,4 +137,10 @@ HybridValues HybridBayesNet::optimize() const {
   return dag.argmax();
 }
 
+/* *******************************************************************************/
+VectorValues HybridBayesNet::optimize(const DiscreteValues &assignment) const {
+  GaussianBayesNet gbn = this->choose(assignment);
+  return gbn.optimize();
+}
+
 }  // namespace gtsam
diff --git a/gtsam/hybrid/HybridBayesNet.h b/gtsam/hybrid/HybridBayesNet.h
index 0d2dc36424..a16a4f42c5 100644
--- a/gtsam/hybrid/HybridBayesNet.h
+++ b/gtsam/hybrid/HybridBayesNet.h
@@ -72,6 +72,15 @@ class GTSAM_EXPORT HybridBayesNet : public BayesNet<HybridConditional> {
   /// TODO(Shangjie) do we need to create a HybridGaussianBayesNet class, and
   /// put this method there?
   HybridValues optimize() const;
+
+  /**
+   * @brief Given the discrete assignment, return the optimized estimate for the
+   * selected Gaussian BayesNet.
+   *
+   * @param assignment An assignment of discrete values.
+   * @return Values
+   */
+  VectorValues optimize(const DiscreteValues &assignment) const;
 };
 
 }  // namespace gtsam
diff --git a/gtsam/hybrid/HybridConditional.h b/gtsam/hybrid/HybridConditional.h
index 3ba5da393b..91c9f84950 100644
--- a/gtsam/hybrid/HybridConditional.h
+++ b/gtsam/hybrid/HybridConditional.h
@@ -69,7 +69,7 @@ class GTSAM_EXPORT HybridConditional
       BaseConditional;  ///< Typedef to our conditional base class
 
  protected:
-  // Type-erased pointer to the inner type
+  /// Type-erased pointer to the inner type
   boost::shared_ptr<Factor> inner_;
 
  public:
@@ -127,8 +127,7 @@ class GTSAM_EXPORT HybridConditional
    * @param gaussianMixture Gaussian Mixture Conditional used to create the
    * HybridConditional.
    */
-  HybridConditional(
-      boost::shared_ptr<GaussianMixture> gaussianMixture);
+  HybridConditional(boost::shared_ptr<GaussianMixture> gaussianMixture);
 
   /**
    * @brief Return HybridConditional as a GaussianMixture
@@ -168,10 +167,10 @@ class GTSAM_EXPORT HybridConditional
   /// Get the type-erased pointer to the inner type
   boost::shared_ptr<Factor> inner() { return inner_; }
 
-};  // DiscreteConditional
+};  // HybridConditional
 
 // traits
 template <>
-struct traits<HybridConditional> : public Testable<DiscreteConditional> {};
+struct traits<HybridConditional> : public Testable<HybridConditional> {};
 
 }  // namespace gtsam
diff --git a/gtsam/hybrid/tests/testHybridBayesNet.cpp b/gtsam/hybrid/tests/testHybridBayesNet.cpp
index f3db839557..d447bcce21 100644
--- a/gtsam/hybrid/tests/testHybridBayesNet.cpp
+++ b/gtsam/hybrid/tests/testHybridBayesNet.cpp
@@ -85,6 +85,40 @@ TEST(HybridBayesNet, Choose) {
                       *gbn.at(3)));
 }
 
+/* ****************************************************************************/
+// Test bayes net optimize
+TEST(HybridBayesNet, Optimize) {
+  Switching s(4);
+
+  Ordering ordering;
+  for (auto&& kvp : s.linearizationPoint) {
+    ordering += kvp.key;
+  }
+
+  HybridBayesNet::shared_ptr hybridBayesNet;
+  HybridGaussianFactorGraph::shared_ptr remainingFactorGraph;
+  std::tie(hybridBayesNet, remainingFactorGraph) =
+      s.linearizedFactorGraph.eliminatePartialSequential(ordering);
+
+  DiscreteValues assignment;
+  assignment[M(1)] = 1;
+  assignment[M(2)] = 1;
+  assignment[M(3)] = 1;
+
+  VectorValues delta = hybridBayesNet->optimize(assignment);
+
+  // The linearization point has the same value as the key index,
+  // e.g. X(1) = 1, X(2) = 2,
+  // but the factors specify X(k) = k-1, so delta should be -1.
+  VectorValues expected_delta;
+  expected_delta.insert(make_pair(X(1), -Vector1::Ones()));
+  expected_delta.insert(make_pair(X(2), -Vector1::Ones()));
+  expected_delta.insert(make_pair(X(3), -Vector1::Ones()));
+  expected_delta.insert(make_pair(X(4), -Vector1::Ones()));
+
+  EXPECT(assert_equal(expected_delta, delta));
+}
+
 /* ************************************************************************* */
 int main() {
   TestResult tr;

From cb2d2e678d4d0fdd33437895865b43a56af7fa0c Mon Sep 17 00:00:00 2001
From: Varun Agrawal <varagrawal@gmail.com>
Date: Fri, 26 Aug 2022 11:36:13 -0400
Subject: [PATCH 296/433] HybridBayesTree::optimize

---
 gtsam/hybrid/HybridBayesTree.cpp           |  37 +++++++
 gtsam/hybrid/HybridBayesTree.h             |   9 ++
 gtsam/hybrid/tests/testHybridBayesTree.cpp | 106 +++++++++++++++++++++
 3 files changed, 152 insertions(+)
 create mode 100644 gtsam/hybrid/tests/testHybridBayesTree.cpp

diff --git a/gtsam/hybrid/HybridBayesTree.cpp b/gtsam/hybrid/HybridBayesTree.cpp
index d65270f91d..30fe6f1683 100644
--- a/gtsam/hybrid/HybridBayesTree.cpp
+++ b/gtsam/hybrid/HybridBayesTree.cpp
@@ -35,4 +35,41 @@ bool HybridBayesTree::equals(const This& other, double tol) const {
   return Base::equals(other, tol);
 }
 
+/* ************************************************************************* */
+VectorValues HybridBayesTree::optimize(const DiscreteValues& assignment) const {
+  GaussianBayesNet gbn;
+
+  KeyVector added_keys;
+
+  // Iterate over all the nodes in the BayesTree
+  for (auto&& node : nodes()) {
+    // Check if conditional being added is already in the Bayes net.
+    if (std::find(added_keys.begin(), added_keys.end(), node.first) ==
+        added_keys.end()) {
+      // Access the clique and get the underlying hybrid conditional
+      HybridBayesTreeClique::shared_ptr clique = node.second;
+      HybridConditional::shared_ptr conditional = clique->conditional();
+
+      KeyVector frontals(conditional->frontals().begin(),
+                         conditional->frontals().end());
+
+      // Record the key being added
+      added_keys.insert(added_keys.end(), frontals.begin(), frontals.end());
+
+      // If conditional is hybrid (and not discrete-only), we get the Gaussian
+      // Conditional corresponding to the assignment and add it to the Gaussian
+      // Bayes Net.
+      if (conditional->isHybrid()) {
+        auto gm = conditional->asMixture();
+        GaussianConditional::shared_ptr gaussian_conditional =
+            (*gm)(assignment);
+
+        gbn.push_back(gaussian_conditional);
+      }
+    }
+  }
+  // Return the optimized bayes net.
+  return gbn.optimize();
+}
+
 }  // namespace gtsam
diff --git a/gtsam/hybrid/HybridBayesTree.h b/gtsam/hybrid/HybridBayesTree.h
index 02a4a11e5e..b7950a4838 100644
--- a/gtsam/hybrid/HybridBayesTree.h
+++ b/gtsam/hybrid/HybridBayesTree.h
@@ -70,6 +70,15 @@ class GTSAM_EXPORT HybridBayesTree : public BayesTree<HybridBayesTreeClique> {
   /** Check equality */
   bool equals(const This& other, double tol = 1e-9) const;
 
+  /**
+   * @brief Recursively optimize the BayesTree to produce a vector solution.
+   *
+   * @param assignment The discrete values assignment to select the Gaussian
+   * mixtures.
+   * @return VectorValues
+   */
+  VectorValues optimize(const DiscreteValues& assignment) const;
+
   /// @}
 };
 
diff --git a/gtsam/hybrid/tests/testHybridBayesTree.cpp b/gtsam/hybrid/tests/testHybridBayesTree.cpp
new file mode 100644
index 0000000000..ddc704460c
--- /dev/null
+++ b/gtsam/hybrid/tests/testHybridBayesTree.cpp
@@ -0,0 +1,106 @@
+/* ----------------------------------------------------------------------------
+
+ * GTSAM Copyright 2010, Georgia Tech Research Corporation,
+ * Atlanta, Georgia 30332-0415
+ * All Rights Reserved
+ * Authors: Frank Dellaert, et al. (see THANKS for the full author list)
+
+ * See LICENSE for the license information
+
+ * -------------------------------------------------------------------------- */
+
+/**
+ * @file    testHybridBayesTree.cpp
+ * @brief   Unit tests for HybridBayesTree
+ * @author  Varun Agrawal
+ * @date    August 2022
+ */
+
+#include <gtsam/hybrid/HybridBayesTree.h>
+#include <gtsam/hybrid/HybridGaussianISAM.h>
+
+#include "Switching.h"
+
+// Include for test suite
+#include <CppUnitLite/TestHarness.h>
+
+using namespace std;
+using namespace gtsam;
+using noiseModel::Isotropic;
+using symbol_shorthand::M;
+using symbol_shorthand::X;
+
+/* ****************************************************************************/
+// Test for optimizing a HybridBayesTree.
+TEST(HybridBayesTree, Optimize) {
+  Switching s(4);
+
+  HybridGaussianISAM isam;
+  HybridGaussianFactorGraph graph1;
+
+  // Add the 3 hybrid factors, x1-x2, x2-x3, x3-x4
+  for (size_t i = 1; i < 4; i++) {
+    graph1.push_back(s.linearizedFactorGraph.at(i));
+  }
+
+  // Add the Gaussian factors, 1 prior on X(1),
+  // 3 measurements on X(2), X(3), X(4)
+  graph1.push_back(s.linearizedFactorGraph.at(0));
+  for (size_t i = 4; i <= 7; i++) {
+    graph1.push_back(s.linearizedFactorGraph.at(i));
+  }
+
+  isam.update(graph1);
+
+  DiscreteValues assignment;
+  assignment[M(1)] = 1;
+  assignment[M(2)] = 1;
+  assignment[M(3)] = 1;
+
+  VectorValues delta = isam.optimize(assignment);
+
+  // The linearization point has the same value as the key index,
+  // e.g. X(1) = 1, X(2) = 2,
+  // but the factors specify X(k) = k-1, so delta should be -1.
+  VectorValues expected_delta;
+  expected_delta.insert(make_pair(X(1), -Vector1::Ones()));
+  expected_delta.insert(make_pair(X(2), -Vector1::Ones()));
+  expected_delta.insert(make_pair(X(3), -Vector1::Ones()));
+  expected_delta.insert(make_pair(X(4), -Vector1::Ones()));
+
+  EXPECT(assert_equal(expected_delta, delta));
+
+  // Create ordering.
+  Ordering ordering;
+  for (size_t k = 1; k <= s.K; k++) ordering += X(k);
+
+  HybridBayesNet::shared_ptr hybridBayesNet;
+  HybridGaussianFactorGraph::shared_ptr remainingFactorGraph;
+  std::tie(hybridBayesNet, remainingFactorGraph) =
+      s.linearizedFactorGraph.eliminatePartialSequential(ordering);
+
+  hybridBayesNet->print();
+  GaussianBayesNet gbn = hybridBayesNet->choose(assignment);
+
+  // EXPECT_LONGS_EQUAL(4, gbn.size());
+
+  // EXPECT(assert_equal(*(*boost::dynamic_pointer_cast<GaussianMixture>(
+  //                         hybridBayesNet->atGaussian(0)))(assignment),
+  //                     *gbn.at(0)));
+  // EXPECT(assert_equal(*(*boost::dynamic_pointer_cast<GaussianMixture>(
+  //                         hybridBayesNet->atGaussian(1)))(assignment),
+  //                     *gbn.at(1)));
+  // EXPECT(assert_equal(*(*boost::dynamic_pointer_cast<GaussianMixture>(
+  //                         hybridBayesNet->atGaussian(2)))(assignment),
+  //                     *gbn.at(2)));
+  // EXPECT(assert_equal(*(*boost::dynamic_pointer_cast<GaussianMixture>(
+  //                         hybridBayesNet->atGaussian(3)))(assignment),
+  //                     *gbn.at(3)));
+}
+
+/* ************************************************************************* */
+int main() {
+  TestResult tr;
+  return TestRegistry::runAllTests(tr);
+}
+/* ************************************************************************* */

From 1bb7a000004c6cd8425fd8b9dabd747302f91f76 Mon Sep 17 00:00:00 2001
From: Fan Jiang <prof.fan@foxmail.com>
Date: Fri, 26 Aug 2022 11:47:41 -0400
Subject: [PATCH 297/433] Add wrapping for hybrid nonlinear

---
 gtsam/hybrid/HybridNonlinearFactorGraph.cpp   |  6 ++
 gtsam/hybrid/HybridNonlinearFactorGraph.h     |  3 +
 gtsam/hybrid/hybrid.i                         | 59 ++++++++++++++++++-
 python/gtsam/preamble/hybrid.h                |  7 +++
 .../tests/test_HybridNonlinearFactorGraph.py  | 55 +++++++++++++++++
 5 files changed, 129 insertions(+), 1 deletion(-)
 create mode 100644 python/gtsam/tests/test_HybridNonlinearFactorGraph.py

diff --git a/gtsam/hybrid/HybridNonlinearFactorGraph.cpp b/gtsam/hybrid/HybridNonlinearFactorGraph.cpp
index a6abce15aa..a4218593b6 100644
--- a/gtsam/hybrid/HybridNonlinearFactorGraph.cpp
+++ b/gtsam/hybrid/HybridNonlinearFactorGraph.cpp
@@ -26,6 +26,12 @@ void HybridNonlinearFactorGraph::add(
   FactorGraph::add(boost::make_shared<HybridNonlinearFactor>(factor));
 }
 
+/* ************************************************************************* */
+void HybridNonlinearFactorGraph::add(
+    boost::shared_ptr<DiscreteFactor> factor) {
+  FactorGraph::add(boost::make_shared<HybridDiscreteFactor>(factor));
+}
+
 /* ************************************************************************* */
 void HybridNonlinearFactorGraph::print(const std::string& s,
                                        const KeyFormatter& keyFormatter) const {
diff --git a/gtsam/hybrid/HybridNonlinearFactorGraph.h b/gtsam/hybrid/HybridNonlinearFactorGraph.h
index 2ddb8bcea2..7a19c77555 100644
--- a/gtsam/hybrid/HybridNonlinearFactorGraph.h
+++ b/gtsam/hybrid/HybridNonlinearFactorGraph.h
@@ -112,6 +112,9 @@ class GTSAM_EXPORT HybridNonlinearFactorGraph : public HybridFactorGraph {
   /// Add a nonlinear factor as a shared ptr.
   void add(boost::shared_ptr<NonlinearFactor> factor);
 
+  /// Add a discrete factor as a shared ptr.
+  void add(boost::shared_ptr<DiscreteFactor> factor);
+
   /// Print the factor graph.
   void print(
       const std::string& s = "HybridNonlinearFactorGraph",
diff --git a/gtsam/hybrid/hybrid.i b/gtsam/hybrid/hybrid.i
index 207f3ff635..aa63259d9d 100644
--- a/gtsam/hybrid/hybrid.i
+++ b/gtsam/hybrid/hybrid.i
@@ -39,7 +39,17 @@ virtual class HybridConditional {
   bool equals(const gtsam::HybridConditional& other, double tol = 1e-9) const;
   size_t nrFrontals() const;
   size_t nrParents() const;
-  Factor* inner();
+  gtsam::Factor* inner();
+};
+
+#include <gtsam/hybrid/HybridDiscreteFactor.h>
+virtual class HybridDiscreteFactor {
+  HybridDiscreteFactor(gtsam::DecisionTreeFactor dtf);
+  void print(string s = "HybridDiscreteFactor\n",
+             const gtsam::KeyFormatter& keyFormatter =
+                 gtsam::DefaultKeyFormatter) const;
+  bool equals(const gtsam::HybridDiscreteFactor& other, double tol = 1e-9) const;
+  gtsam::Factor* inner();
 };
 
 #include <gtsam/hybrid/GaussianMixtureFactor.h>
@@ -132,6 +142,7 @@ class HybridGaussianFactorGraph {
   void add(gtsam::JacobianFactor* factor);
 
   bool empty() const;
+  void remove(size_t i);
   size_t size() const;
   gtsam::KeySet keys() const;
   const gtsam::HybridFactor* at(size_t i) const;
@@ -159,4 +170,50 @@ class HybridGaussianFactorGraph {
       const gtsam::DotWriter& writer = gtsam::DotWriter()) const;
 };
 
+#include <gtsam/hybrid/HybridNonlinearFactorGraph.h>
+class HybridNonlinearFactorGraph {
+  HybridNonlinearFactorGraph();
+  HybridNonlinearFactorGraph(const gtsam::HybridNonlinearFactorGraph& graph);
+  void push_back(gtsam::HybridFactor* factor);
+  void push_back(gtsam::NonlinearFactor* factor);
+  void push_back(gtsam::HybridDiscreteFactor* factor);
+  void add(gtsam::NonlinearFactor* factor);
+  void add(gtsam::DiscreteFactor* factor);
+  gtsam::HybridGaussianFactorGraph linearize(const gtsam::Values& continuousValues) const;
+
+  bool empty() const;
+  void remove(size_t i);
+  size_t size() const;
+  gtsam::KeySet keys() const;
+  const gtsam::HybridFactor* at(size_t i) const;
+
+  void print(string s = "HybridNonlinearFactorGraph\n",
+       const gtsam::KeyFormatter& keyFormatter =
+       gtsam::DefaultKeyFormatter) const;
+};
+
+#include <gtsam/hybrid/MixtureFactor.h>
+class MixtureFactor : gtsam::HybridFactor {
+  MixtureFactor(const gtsam::KeyVector& keys, const gtsam::DiscreteKeys& discreteKeys,
+                const gtsam::DecisionTree<gtsam::Key, gtsam::NonlinearFactor*>& factors, bool normalized = false);
+
+  template <FACTOR = {gtsam::NonlinearFactor}>
+  MixtureFactor(const gtsam::KeyVector& keys, const gtsam::DiscreteKeys& discreteKeys,
+                const std::vector<FACTOR*>& factors,
+                bool normalized = false);
+
+  double error(const gtsam::Values& continuousVals,
+               const gtsam::DiscreteValues& discreteVals) const;
+
+  double nonlinearFactorLogNormalizingConstant(const gtsam::NonlinearFactor* factor,
+                                               const gtsam::Values& values) const;
+
+  GaussianMixtureFactor* linearize(
+      const gtsam::Values& continuousVals) const;
+
+  void print(string s = "MixtureFactor\n",
+             const gtsam::KeyFormatter& keyFormatter =
+                 gtsam::DefaultKeyFormatter) const;
+};
+
 }  // namespace gtsam
diff --git a/python/gtsam/preamble/hybrid.h b/python/gtsam/preamble/hybrid.h
index 5e5a71e48d..bae636d6a5 100644
--- a/python/gtsam/preamble/hybrid.h
+++ b/python/gtsam/preamble/hybrid.h
@@ -10,5 +10,12 @@
  * Without this they will be automatically converted to a Python object, and all
  * mutations on Python side will not be reflected on C++.
  */
+#include <pybind11/stl.h>
+
+#ifdef GTSAM_ALLOCATOR_TBB
+PYBIND11_MAKE_OPAQUE(std::vector<gtsam::Key, tbb::tbb_allocator<gtsam::Key>>);
+#else
+PYBIND11_MAKE_OPAQUE(std::vector<gtsam::Key>);
+#endif
 
 PYBIND11_MAKE_OPAQUE(std::vector<gtsam::GaussianFactor::shared_ptr>);
diff --git a/python/gtsam/tests/test_HybridNonlinearFactorGraph.py b/python/gtsam/tests/test_HybridNonlinearFactorGraph.py
new file mode 100644
index 0000000000..3ac0d5c6f9
--- /dev/null
+++ b/python/gtsam/tests/test_HybridNonlinearFactorGraph.py
@@ -0,0 +1,55 @@
+"""
+GTSAM Copyright 2010-2019, Georgia Tech Research Corporation,
+Atlanta, Georgia 30332-0415
+All Rights Reserved
+
+See LICENSE for the license information
+
+Unit tests for Hybrid Nonlinear Factor Graphs.
+Author: Fan Jiang
+"""
+# pylint: disable=invalid-name, no-name-in-module, no-member
+
+from __future__ import print_function
+
+import unittest
+
+import gtsam
+import numpy as np
+from gtsam.symbol_shorthand import C, X
+from gtsam.utils.test_case import GtsamTestCase
+
+
+class TestHybridGaussianFactorGraph(GtsamTestCase):
+    """Unit tests for HybridGaussianFactorGraph."""
+
+    def test_nonlinear_hybrid(self):
+        nlfg = gtsam.HybridNonlinearFactorGraph()
+        dk = gtsam.DiscreteKeys()
+        dk.push_back((10, 2))
+        nlfg.add(gtsam.BetweenFactorPoint3(1, 2, gtsam.Point3(1, 2, 3), gtsam.noiseModel.Diagonal.Variances([1, 1, 1])))
+        nlfg.add(
+            gtsam.PriorFactorPoint3(2, gtsam.Point3(1, 2, 3), gtsam.noiseModel.Diagonal.Variances([0.5, 0.5, 0.5])))
+        nlfg.push_back(
+            gtsam.MixtureFactor([1], dk, [
+                gtsam.PriorFactorPoint3(1, gtsam.Point3(0, 0, 0),
+                                        gtsam.noiseModel.Unit.Create(3)),
+                gtsam.PriorFactorPoint3(1, gtsam.Point3(1, 2, 1),
+                                        gtsam.noiseModel.Unit.Create(3))
+            ]))
+        nlfg.add(gtsam.DecisionTreeFactor((10, 2), "1 3"))
+        values = gtsam.Values()
+        values.insert_point3(1, gtsam.Point3(0, 0, 0))
+        values.insert_point3(2, gtsam.Point3(2, 3, 1))
+        hfg = nlfg.linearize(values)
+        o = gtsam.Ordering()
+        o.push_back(1)
+        o.push_back(2)
+        o.push_back(10)
+        hbn = hfg.eliminateSequential(o)
+        hbv = hbn.optimize()
+        self.assertEqual(hbv.atDiscrete(10), 0)
+
+
+if __name__ == "__main__":
+    unittest.main()

From 86320ff3b5082206849883df1d52e205a1a470be Mon Sep 17 00:00:00 2001
From: Varun Agrawal <varagrawal@gmail.com>
Date: Fri, 26 Aug 2022 16:45:44 -0400
Subject: [PATCH 298/433] extra test for HybridBayesNet optimize

---
 gtsam/hybrid/HybridBayesNet.cpp            | 10 ++++--
 gtsam/hybrid/HybridGaussianFactorGraph.cpp | 22 ++++++++++--
 gtsam/hybrid/HybridGaussianFactorGraph.h   |  9 +++++
 gtsam/hybrid/tests/testHybridBayesNet.cpp  | 39 +++++++++++++++++++++-
 4 files changed, 74 insertions(+), 6 deletions(-)

diff --git a/gtsam/hybrid/HybridBayesNet.cpp b/gtsam/hybrid/HybridBayesNet.cpp
index f93d216517..f898178c2b 100644
--- a/gtsam/hybrid/HybridBayesNet.cpp
+++ b/gtsam/hybrid/HybridBayesNet.cpp
@@ -125,8 +125,14 @@ GaussianBayesNet HybridBayesNet::choose(
     const DiscreteValues &assignment) const {
   GaussianBayesNet gbn;
   for (size_t idx = 0; idx < size(); idx++) {
-    GaussianMixture gm = *this->atGaussian(idx);
-    gbn.push_back(gm(assignment));
+    try {
+      GaussianMixture gm = *this->atGaussian(idx);
+      gbn.push_back(gm(assignment));
+
+    } catch (std::exception &exc) {
+      // if factor at `idx` is discrete-only, just continue.
+      continue;
+    }
   }
   return gbn;
 }
diff --git a/gtsam/hybrid/HybridGaussianFactorGraph.cpp b/gtsam/hybrid/HybridGaussianFactorGraph.cpp
index c024c1255f..94e33890dd 100644
--- a/gtsam/hybrid/HybridGaussianFactorGraph.cpp
+++ b/gtsam/hybrid/HybridGaussianFactorGraph.cpp
@@ -135,9 +135,9 @@ continuousElimination(const HybridGaussianFactorGraph &factors,
   for (auto &fp : factors) {
     if (auto ptr = boost::dynamic_pointer_cast<HybridGaussianFactor>(fp)) {
       gfg.push_back(ptr->inner());
-    } else if (auto p =
-                   boost::static_pointer_cast<HybridConditional>(fp)->inner()) {
-      gfg.push_back(boost::static_pointer_cast<GaussianConditional>(p));
+    } else if (auto ptr = boost::static_pointer_cast<HybridConditional>(fp)) {
+      gfg.push_back(
+          boost::static_pointer_cast<GaussianConditional>(ptr->inner()));
     } else {
       // It is an orphan wrapped conditional
     }
@@ -401,4 +401,20 @@ void HybridGaussianFactorGraph::add(DecisionTreeFactor::shared_ptr factor) {
   FactorGraph::add(boost::make_shared<HybridDiscreteFactor>(factor));
 }
 
+/* ************************************************************************ */
+const Ordering HybridGaussianFactorGraph::getHybridOrdering(
+    OptionalOrderingType orderingType) const {
+  KeySet discrete_keys;
+  for (auto &factor : factors_) {
+    for (const DiscreteKey &k : factor->discreteKeys()) {
+      discrete_keys.insert(k.first);
+    }
+  }
+
+  const VariableIndex index(factors_);
+  Ordering ordering = Ordering::ColamdConstrainedLast(
+      index, KeyVector(discrete_keys.begin(), discrete_keys.end()), true);
+  return ordering;
+}
+
 }  // namespace gtsam
diff --git a/gtsam/hybrid/HybridGaussianFactorGraph.h b/gtsam/hybrid/HybridGaussianFactorGraph.h
index 9367103305..56f9b7e07d 100644
--- a/gtsam/hybrid/HybridGaussianFactorGraph.h
+++ b/gtsam/hybrid/HybridGaussianFactorGraph.h
@@ -160,6 +160,15 @@ class GTSAM_EXPORT HybridGaussianFactorGraph
       Base::push_back(sharedFactor);
     }
   }
+
+  /**
+   * @brief 
+   * 
+   * @param orderingType 
+   * @return const Ordering 
+   */
+  const Ordering getHybridOrdering(
+      OptionalOrderingType orderingType = boost::none) const;
 };
 
 }  // namespace gtsam
diff --git a/gtsam/hybrid/tests/testHybridBayesNet.cpp b/gtsam/hybrid/tests/testHybridBayesNet.cpp
index d447bcce21..4602e8bac1 100644
--- a/gtsam/hybrid/tests/testHybridBayesNet.cpp
+++ b/gtsam/hybrid/tests/testHybridBayesNet.cpp
@@ -19,6 +19,7 @@
  */
 
 #include <gtsam/hybrid/HybridBayesNet.h>
+#include <gtsam/nonlinear/NonlinearFactorGraph.h>
 
 #include "Switching.h"
 
@@ -87,7 +88,7 @@ TEST(HybridBayesNet, Choose) {
 
 /* ****************************************************************************/
 // Test bayes net optimize
-TEST(HybridBayesNet, Optimize) {
+TEST(HybridBayesNet, OptimizeAssignment) {
   Switching s(4);
 
   Ordering ordering;
@@ -119,6 +120,42 @@ TEST(HybridBayesNet, Optimize) {
   EXPECT(assert_equal(expected_delta, delta));
 }
 
+/* ****************************************************************************/
+// Test bayes net optimize
+TEST(HybridBayesNet, Optimize) {
+  Switching s(4);
+
+  Ordering ordering;
+  for (auto&& kvp : s.linearizationPoint) {
+    ordering += kvp.key;
+  }
+
+  Ordering hybridOrdering = s.linearizedFactorGraph.getHybridOrdering();
+  HybridBayesNet::shared_ptr hybridBayesNet =
+      s.linearizedFactorGraph.eliminateSequential(hybridOrdering);
+
+  HybridValues delta = hybridBayesNet->optimize();
+
+  delta.print();
+  VectorValues correct;
+  correct.insert(X(1), 0 * Vector1::Ones());
+  correct.insert(X(2), 1 * Vector1::Ones());
+  correct.insert(X(3), 2 * Vector1::Ones());
+  correct.insert(X(4), 3 * Vector1::Ones());
+
+  DiscreteValues assignment111;
+  assignment111[M(1)] = 1;
+  assignment111[M(2)] = 1;
+  assignment111[M(3)] = 1;
+  std::cout << hybridBayesNet->choose(assignment111).error(correct) << std::endl;
+
+  DiscreteValues assignment101;
+  assignment101[M(1)] = 1;
+  assignment101[M(2)] = 0;
+  assignment101[M(3)] = 1;
+  std::cout << hybridBayesNet->choose(assignment101).error(correct) << std::endl;
+}
+
 /* ************************************************************************* */
 int main() {
   TestResult tr;

From 74bddd9582d650e7542255ccd86354a5e1918192 Mon Sep 17 00:00:00 2001
From: Varun Agrawal <varagrawal@gmail.com>
Date: Fri, 26 Aug 2022 18:42:08 -0400
Subject: [PATCH 299/433] finish HybridBayesTree test

---
 gtsam/hybrid/tests/testHybridBayesTree.cpp | 17 ++---------------
 1 file changed, 2 insertions(+), 15 deletions(-)

diff --git a/gtsam/hybrid/tests/testHybridBayesTree.cpp b/gtsam/hybrid/tests/testHybridBayesTree.cpp
index ddc704460c..a693af1b2d 100644
--- a/gtsam/hybrid/tests/testHybridBayesTree.cpp
+++ b/gtsam/hybrid/tests/testHybridBayesTree.cpp
@@ -79,23 +79,10 @@ TEST(HybridBayesTree, Optimize) {
   std::tie(hybridBayesNet, remainingFactorGraph) =
       s.linearizedFactorGraph.eliminatePartialSequential(ordering);
 
-  hybridBayesNet->print();
   GaussianBayesNet gbn = hybridBayesNet->choose(assignment);
+  VectorValues expected = gbn.optimize();
 
-  // EXPECT_LONGS_EQUAL(4, gbn.size());
-
-  // EXPECT(assert_equal(*(*boost::dynamic_pointer_cast<GaussianMixture>(
-  //                         hybridBayesNet->atGaussian(0)))(assignment),
-  //                     *gbn.at(0)));
-  // EXPECT(assert_equal(*(*boost::dynamic_pointer_cast<GaussianMixture>(
-  //                         hybridBayesNet->atGaussian(1)))(assignment),
-  //                     *gbn.at(1)));
-  // EXPECT(assert_equal(*(*boost::dynamic_pointer_cast<GaussianMixture>(
-  //                         hybridBayesNet->atGaussian(2)))(assignment),
-  //                     *gbn.at(2)));
-  // EXPECT(assert_equal(*(*boost::dynamic_pointer_cast<GaussianMixture>(
-  //                         hybridBayesNet->atGaussian(3)))(assignment),
-  //                     *gbn.at(3)));
+  EXPECT(assert_equal(expected, delta));
 }
 
 /* ************************************************************************* */

From 129fa68627acbd9dfa9e1275a79c8399cb36cbd0 Mon Sep 17 00:00:00 2001
From: Varun Agrawal <varagrawal@gmail.com>
Date: Fri, 26 Aug 2022 18:42:31 -0400
Subject: [PATCH 300/433] use Switching constructor arguments for noise
 covariances

---
 gtsam/hybrid/tests/Switching.h | 4 ++--
 1 file changed, 2 insertions(+), 2 deletions(-)

diff --git a/gtsam/hybrid/tests/Switching.h b/gtsam/hybrid/tests/Switching.h
index 52ef0439eb..6f41d06ea9 100644
--- a/gtsam/hybrid/tests/Switching.h
+++ b/gtsam/hybrid/tests/Switching.h
@@ -145,7 +145,7 @@ struct Switching {
     // Add "motion models".
     for (size_t k = 1; k < K; k++) {
       KeyVector keys = {X(k), X(k + 1)};
-      auto motion_models = motionModels(k);
+      auto motion_models = motionModels(k, between_sigma);
       std::vector<NonlinearFactor::shared_ptr> components;
       for (auto &&f : motion_models) {
         components.push_back(boost::dynamic_pointer_cast<NonlinearFactor>(f));
@@ -155,7 +155,7 @@ struct Switching {
     }
 
     // Add measurement factors
-    auto measurement_noise = noiseModel::Isotropic::Sigma(1, 0.1);
+    auto measurement_noise = noiseModel::Isotropic::Sigma(1, prior_sigma);
     for (size_t k = 2; k <= K; k++) {
       nonlinearFactorGraph.emplace_nonlinear<PriorFactor<double>>(
           X(k), 1.0 * (k - 1), measurement_noise);

From 1b5daf9a0e9fe8afd526ffd2d843acd4585658f0 Mon Sep 17 00:00:00 2001
From: Varun Agrawal <varagrawal@gmail.com>
Date: Fri, 26 Aug 2022 19:34:54 -0400
Subject: [PATCH 301/433] remove HybridLookupDAG

---
 gtsam/hybrid/HybridLookupDAG.cpp           |  76 ------
 gtsam/hybrid/HybridLookupDAG.h             | 119 ---------
 gtsam/hybrid/tests/testHybridLookupDAG.cpp | 272 ---------------------
 3 files changed, 467 deletions(-)
 delete mode 100644 gtsam/hybrid/HybridLookupDAG.cpp
 delete mode 100644 gtsam/hybrid/HybridLookupDAG.h
 delete mode 100644 gtsam/hybrid/tests/testHybridLookupDAG.cpp

diff --git a/gtsam/hybrid/HybridLookupDAG.cpp b/gtsam/hybrid/HybridLookupDAG.cpp
deleted file mode 100644
index a322a81776..0000000000
--- a/gtsam/hybrid/HybridLookupDAG.cpp
+++ /dev/null
@@ -1,76 +0,0 @@
-/* ----------------------------------------------------------------------------
-
- * GTSAM Copyright 2010, Georgia Tech Research Corporation,
- * Atlanta, Georgia 30332-0415
- * All Rights Reserved
- * Authors: Frank Dellaert, et al. (see THANKS for the full author list)
-
- * See LICENSE for the license information
-
- * -------------------------------------------------------------------------- */
-
-/**
- *  @file DiscreteLookupDAG.cpp
- *  @date Aug, 2022
- *  @author Shangjie Xue
- */
-
-#include <gtsam/discrete/DiscreteBayesNet.h>
-#include <gtsam/discrete/DiscreteLookupDAG.h>
-#include <gtsam/discrete/DiscreteValues.h>
-#include <gtsam/hybrid/HybridBayesNet.h>
-#include <gtsam/hybrid/HybridConditional.h>
-#include <gtsam/hybrid/HybridLookupDAG.h>
-#include <gtsam/hybrid/HybridValues.h>
-#include <gtsam/linear/VectorValues.h>
-
-#include <string>
-#include <utility>
-
-using std::pair;
-using std::vector;
-
-namespace gtsam {
-
-/* ************************************************************************** */
-void HybridLookupTable::argmaxInPlace(HybridValues* values) const {
-  // For discrete conditional, uses argmaxInPlace() method in
-  // DiscreteLookupTable.
-  if (isDiscrete()) {
-    boost::static_pointer_cast<DiscreteLookupTable>(inner_)->argmaxInPlace(
-        &(values->discrete));
-  } else if (isContinuous()) {
-    // For Gaussian conditional, uses solve() method in GaussianConditional.
-    values->continuous.insert(
-        boost::static_pointer_cast<GaussianConditional>(inner_)->solve(
-            values->continuous));
-  } else if (isHybrid()) {
-    // For hybrid conditional, since children should not contain discrete
-    // variable, we can condition on the discrete variable in the parents and
-    // solve the resulting GaussianConditional.
-    auto conditional =
-        boost::static_pointer_cast<GaussianMixture>(inner_)->conditionals()(
-            values->discrete);
-    values->continuous.insert(conditional->solve(values->continuous));
-  }
-}
-
-/* ************************************************************************** */
-HybridLookupDAG HybridLookupDAG::FromBayesNet(const HybridBayesNet& bayesNet) {
-  HybridLookupDAG dag;
-  for (auto&& conditional : bayesNet) {
-    HybridLookupTable hlt(*conditional);
-    dag.push_back(hlt);
-  }
-  return dag;
-}
-
-/* ************************************************************************** */
-HybridValues HybridLookupDAG::argmax(HybridValues result) const {
-  // Argmax each node in turn in topological sort order (parents first).
-  for (auto lookupTable : boost::adaptors::reverse(*this))
-    lookupTable->argmaxInPlace(&result);
-  return result;
-}
-
-}  // namespace gtsam
diff --git a/gtsam/hybrid/HybridLookupDAG.h b/gtsam/hybrid/HybridLookupDAG.h
deleted file mode 100644
index cc1c58c58f..0000000000
--- a/gtsam/hybrid/HybridLookupDAG.h
+++ /dev/null
@@ -1,119 +0,0 @@
-/* ----------------------------------------------------------------------------
-
- * GTSAM Copyright 2010, Georgia Tech Research Corporation,
- * Atlanta, Georgia 30332-0415
- * All Rights Reserved
- * Authors: Frank Dellaert, et al. (see THANKS for the full author list)
-
- * See LICENSE for the license information
-
- * -------------------------------------------------------------------------- */
-
-/**
- * @file HybridLookupDAG.h
- * @date Aug, 2022
- * @author Shangjie Xue
- */
-
-#pragma once
-
-#include <gtsam/discrete/DiscreteDistribution.h>
-#include <gtsam/discrete/DiscreteLookupDAG.h>
-#include <gtsam/hybrid/HybridConditional.h>
-#include <gtsam/hybrid/HybridValues.h>
-#include <gtsam/inference/BayesNet.h>
-#include <gtsam/inference/FactorGraph.h>
-
-#include <boost/shared_ptr.hpp>
-#include <string>
-#include <utility>
-#include <vector>
-
-namespace gtsam {
-
-/**
- * @brief HybridLookupTable table for max-product
- *
- * Similar to DiscreteLookupTable, inherits from hybrid conditional for
- * convenience. Is used in the max-product algorithm.
- */
-class GTSAM_EXPORT HybridLookupTable : public HybridConditional {
- public:
-  using Base = HybridConditional;
-  using This = HybridLookupTable;
-  using shared_ptr = boost::shared_ptr<This>;
-  using BaseConditional = Conditional<DecisionTreeFactor, This>;
-
-  /**
-   * @brief Construct a new Hybrid Lookup Table object form a HybridConditional.
-   *
-   * @param conditional input hybrid conditional
-   */
-  HybridLookupTable(HybridConditional& conditional) : Base(conditional){};
-
-  /**
-   * @brief Calculate assignment for frontal variables that maximizes value.
-   * @param (in/out) parentsValues Known assignments for the parents.
-   */
-  void argmaxInPlace(HybridValues* parentsValues) const;
-};
-
-/** A DAG made from hybrid lookup tables, as defined above. Similar to
- * DiscreteLookupDAG */
-class GTSAM_EXPORT HybridLookupDAG : public BayesNet<HybridLookupTable> {
- public:
-  using Base = BayesNet<HybridLookupTable>;
-  using This = HybridLookupDAG;
-  using shared_ptr = boost::shared_ptr<This>;
-
-  /// @name Standard Constructors
-  /// @{
-
-  /// Construct empty DAG.
-  HybridLookupDAG() {}
-
-  /// Create from BayesNet with LookupTables
-  static HybridLookupDAG FromBayesNet(const HybridBayesNet& bayesNet);
-
-  /// Destructor
-  virtual ~HybridLookupDAG() {}
-
-  /// @}
-
-  /// @name Standard Interface
-  /// @{
-
-  /** Add a DiscreteLookupTable */
-  template <typename... Args>
-  void add(Args&&... args) {
-    emplace_shared<HybridLookupTable>(std::forward<Args>(args)...);
-  }
-
-  /**
-   * @brief argmax by back-substitution, optionally given certain variables.
-   *
-   * Assumes the DAG is reverse topologically sorted, i.e. last
-   * conditional will be optimized first *and* that the
-   * DAG does not contain any conditionals for the given variables. If the DAG
-   * resulted from eliminating a factor graph, this is true for the elimination
-   * ordering.
-   *
-   * @return given assignment extended w. optimal assignment for all variables.
-   */
-  HybridValues argmax(HybridValues given = HybridValues()) const;
-  /// @}
-
- private:
-  /** Serialization function */
-  friend class boost::serialization::access;
-  template <class ARCHIVE>
-  void serialize(ARCHIVE& ar, const unsigned int /*version*/) {
-    ar& BOOST_SERIALIZATION_BASE_OBJECT_NVP(Base);
-  }
-};
-
-// traits
-template <>
-struct traits<HybridLookupDAG> : public Testable<HybridLookupDAG> {};
-
-}  // namespace gtsam
diff --git a/gtsam/hybrid/tests/testHybridLookupDAG.cpp b/gtsam/hybrid/tests/testHybridLookupDAG.cpp
deleted file mode 100644
index 0ab012d104..0000000000
--- a/gtsam/hybrid/tests/testHybridLookupDAG.cpp
+++ /dev/null
@@ -1,272 +0,0 @@
-/* ----------------------------------------------------------------------------
-
- * GTSAM Copyright 2010, Georgia Tech Research Corporation,
- * Atlanta, Georgia 30332-0415
- * All Rights Reserved
- * Authors: Frank Dellaert, et al. (see THANKS for the full author list)
-
- * See LICENSE for the license information
-
- * -------------------------------------------------------------------------- */
-
-/**
- *  @file testHybridLookupDAG.cpp
- *  @date Aug, 2022
- *  @author Shangjie Xue
- */
-
-#include <gtsam/base/Testable.h>
-#include <gtsam/base/TestableAssertions.h>
-#include <gtsam/discrete/Assignment.h>
-#include <gtsam/discrete/DecisionTreeFactor.h>
-#include <gtsam/discrete/DiscreteKey.h>
-#include <gtsam/discrete/DiscreteValues.h>
-#include <gtsam/hybrid/GaussianMixture.h>
-#include <gtsam/hybrid/HybridBayesNet.h>
-#include <gtsam/hybrid/HybridLookupDAG.h>
-#include <gtsam/hybrid/HybridValues.h>
-#include <gtsam/inference/Key.h>
-#include <gtsam/inference/Symbol.h>
-#include <gtsam/linear/GaussianConditional.h>
-#include <gtsam/linear/VectorValues.h>
-#include <gtsam/nonlinear/Values.h>
-
-// Include for test suite
-#include <CppUnitLite/TestHarness.h>
-
-#include <iostream>
-
-using namespace std;
-using namespace gtsam;
-using noiseModel::Isotropic;
-using symbol_shorthand::M;
-using symbol_shorthand::X;
-
-TEST(HybridLookupTable, basics) {
-  // create a conditional gaussian node
-  Matrix S1(2, 2);
-  S1(0, 0) = 1;
-  S1(1, 0) = 2;
-  S1(0, 1) = 3;
-  S1(1, 1) = 4;
-
-  Matrix S2(2, 2);
-  S2(0, 0) = 6;
-  S2(1, 0) = 0.2;
-  S2(0, 1) = 8;
-  S2(1, 1) = 0.4;
-
-  Matrix R1(2, 2);
-  R1(0, 0) = 0.1;
-  R1(1, 0) = 0.3;
-  R1(0, 1) = 0.0;
-  R1(1, 1) = 0.34;
-
-  Matrix R2(2, 2);
-  R2(0, 0) = 0.1;
-  R2(1, 0) = 0.3;
-  R2(0, 1) = 0.0;
-  R2(1, 1) = 0.34;
-
-  SharedDiagonal model = noiseModel::Diagonal::Sigmas(Vector2(1.0, 0.34));
-
-  Vector2 d1(0.2, 0.5), d2(0.5, 0.2);
-
-  auto conditional0 = boost::make_shared<GaussianConditional>(X(1), d1, R1,
-                                                              X(2), S1, model),
-       conditional1 = boost::make_shared<GaussianConditional>(X(1), d2, R2,
-                                                              X(2), S2, model);
-
-  // Create decision tree
-  DiscreteKey m1(1, 2);
-  GaussianMixture::Conditionals conditionals(
-      {m1},
-      vector<GaussianConditional::shared_ptr>{conditional0, conditional1});
-  //   GaussianMixture mixtureFactor2({X(1)}, {X(2)}, {m1}, conditionals);
-
-  boost::shared_ptr<GaussianMixture> mixtureFactor(
-      new GaussianMixture({X(1)}, {X(2)}, {m1}, conditionals));
-
-  HybridConditional hc(mixtureFactor);
-
-  GaussianMixture::Conditionals conditional2 =
-      boost::static_pointer_cast<GaussianMixture>(hc.inner())->conditionals();
-
-  DiscreteValues dv;
-  dv[1] = 1;
-
-  VectorValues cv;
-  cv.insert(X(2), Vector2(0.0, 0.0));
-
-  HybridValues hv(dv, cv);
-
-  //   std::cout << conditional2(values).markdown();
-  EXPECT(assert_equal(*conditional2(dv), *conditionals(dv), 1e-6));
-  EXPECT(conditional2(dv) == conditionals(dv));
-  HybridLookupTable hlt(hc);
-
-  //   hlt.argmaxInPlace(&hv);
-
-  HybridLookupDAG dag;
-  dag.push_back(hlt);
-  dag.argmax(hv);
-
-  //   HybridBayesNet hbn;
-  //   hbn.push_back(hc);
-  //   hbn.optimize();
-}
-
-TEST(HybridLookupTable, hybrid_argmax) {
-  Matrix S1(2, 2);
-  S1(0, 0) = 1;
-  S1(1, 0) = 0;
-  S1(0, 1) = 0;
-  S1(1, 1) = 1;
-
-  Vector2 d1(0.2, 0.5), d2(-0.5, 0.6);
-
-  SharedDiagonal model = noiseModel::Diagonal::Sigmas(Vector2(1.0, 0.34));
-
-  auto conditional0 =
-           boost::make_shared<GaussianConditional>(X(1), d1, S1, model),
-       conditional1 =
-           boost::make_shared<GaussianConditional>(X(1), d2, S1, model);
-
-  DiscreteKey m1(1, 2);
-  GaussianMixture::Conditionals conditionals(
-      {m1},
-      vector<GaussianConditional::shared_ptr>{conditional0, conditional1});
-  boost::shared_ptr<GaussianMixture> mixtureFactor(
-      new GaussianMixture({X(1)}, {}, {m1}, conditionals));
-
-  HybridConditional hc(mixtureFactor);
-
-  DiscreteValues dv;
-  dv[1] = 1;
-  VectorValues cv;
-  // cv.insert(X(2),Vector2(0.0, 0.0));
-  HybridValues hv(dv, cv);
-
-  HybridLookupTable hlt(hc);
-
-  hlt.argmaxInPlace(&hv);
-
-  EXPECT(assert_equal(hv.at(X(1)), d2));
-}
-
-TEST(HybridLookupTable, discrete_argmax) {
-  DiscreteKey X(0, 2), Y(1, 2);
-
-  auto conditional = boost::make_shared<DiscreteConditional>(X | Y = "0/1 3/2");
-
-  HybridConditional hc(conditional);
-
-  HybridLookupTable hlt(hc);
-
-  DiscreteValues dv;
-  dv[1] = 0;
-  VectorValues cv;
-  // cv.insert(X(2),Vector2(0.0, 0.0));
-  HybridValues hv(dv, cv);
-
-  hlt.argmaxInPlace(&hv);
-
-  EXPECT(assert_equal(hv.atDiscrete(0), 1));
-
-  DecisionTreeFactor f1(X, "2 3");
-  auto conditional2 = boost::make_shared<DiscreteConditional>(1, f1);
-
-  HybridConditional hc2(conditional2);
-
-  HybridLookupTable hlt2(hc2);
-
-  HybridValues hv2;
-
-  hlt2.argmaxInPlace(&hv2);
-
-  EXPECT(assert_equal(hv2.atDiscrete(0), 1));
-}
-
-TEST(HybridLookupTable, gaussian_argmax) {
-  Matrix S1(2, 2);
-  S1(0, 0) = 1;
-  S1(1, 0) = 0;
-  S1(0, 1) = 0;
-  S1(1, 1) = 1;
-
-  Vector2 d1(0.2, 0.5), d2(-0.5, 0.6);
-
-  SharedDiagonal model = noiseModel::Diagonal::Sigmas(Vector2(1.0, 0.34));
-
-  auto conditional =
-      boost::make_shared<GaussianConditional>(X(1), d1, S1, X(2), -S1, model);
-
-  HybridConditional hc(conditional);
-
-  HybridLookupTable hlt(hc);
-
-  DiscreteValues dv;
-  // dv[1]=0;
-  VectorValues cv;
-  cv.insert(X(2), d2);
-  HybridValues hv(dv, cv);
-
-  hlt.argmaxInPlace(&hv);
-
-  EXPECT(assert_equal(hv.at(X(1)), d1 + d2));
-}
-
-TEST(HybridLookupDAG, argmax) {
-  Matrix S1(2, 2);
-  S1(0, 0) = 1;
-  S1(1, 0) = 0;
-  S1(0, 1) = 0;
-  S1(1, 1) = 1;
-
-  Vector2 d1(0.2, 0.5), d2(-0.5, 0.6);
-
-  SharedDiagonal model = noiseModel::Diagonal::Sigmas(Vector2(1.0, 0.34));
-
-  auto conditional0 =
-           boost::make_shared<GaussianConditional>(X(2), d1, S1, model),
-       conditional1 =
-           boost::make_shared<GaussianConditional>(X(2), d2, S1, model);
-
-  DiscreteKey m1(1, 2);
-  GaussianMixture::Conditionals conditionals(
-      {m1},
-      vector<GaussianConditional::shared_ptr>{conditional0, conditional1});
-  boost::shared_ptr<GaussianMixture> mixtureFactor(
-      new GaussianMixture({X(2)}, {}, {m1}, conditionals));
-  HybridConditional hc2(mixtureFactor);
-  HybridLookupTable hlt2(hc2);
-
-  auto conditional2 =
-      boost::make_shared<GaussianConditional>(X(1), d1, S1, X(2), -S1, model);
-
-  HybridConditional hc1(conditional2);
-  HybridLookupTable hlt1(hc1);
-
-  DecisionTreeFactor f1(m1, "2 3");
-  auto discrete_conditional = boost::make_shared<DiscreteConditional>(1, f1);
-
-  HybridConditional hc3(discrete_conditional);
-  HybridLookupTable hlt3(hc3);
-
-  HybridLookupDAG dag;
-  dag.push_back(hlt1);
-  dag.push_back(hlt2);
-  dag.push_back(hlt3);
-  auto hv = dag.argmax();
-
-  EXPECT(assert_equal(hv.atDiscrete(1), 1));
-  EXPECT(assert_equal(hv.at(X(2)), d2));
-  EXPECT(assert_equal(hv.at(X(1)), d2 + d1));
-}
-
-/* ************************************************************************* */
-int main() {
-  TestResult tr;
-  return TestRegistry::runAllTests(tr);
-}
-/* ************************************************************************* */

From 9c7bf36db6e511d2eb9dda39929f42af2a00d288 Mon Sep 17 00:00:00 2001
From: Varun Agrawal <varagrawal@gmail.com>
Date: Fri, 26 Aug 2022 19:35:45 -0400
Subject: [PATCH 302/433] refactor HybridValues

---
 gtsam/hybrid/HybridValues.h | 54 ++++++++++++++++++++++++-------------
 1 file changed, 36 insertions(+), 18 deletions(-)

diff --git a/gtsam/hybrid/HybridValues.h b/gtsam/hybrid/HybridValues.h
index 5e1bd41646..d5c78f9512 100644
--- a/gtsam/hybrid/HybridValues.h
+++ b/gtsam/hybrid/HybridValues.h
@@ -36,40 +36,58 @@ namespace gtsam {
  * Optimizing a HybridGaussianBayesNet returns this class.
  */
 class GTSAM_EXPORT HybridValues {
- public:
+ private:
   // DiscreteValue stored the discrete components of the HybridValues.
-  DiscreteValues discrete;
+  DiscreteValues discrete_;
 
   // VectorValue stored the continuous components of the HybridValues.
-  VectorValues continuous;
+  VectorValues continuous_;
+
+ public:
+  /// @name Standard Constructors
+  /// @{
 
   // Default constructor creates an empty HybridValues.
-  HybridValues() : discrete(), continuous(){};
+  HybridValues() = default;
 
   // Construct from DiscreteValues and VectorValues.
   HybridValues(const DiscreteValues& dv, const VectorValues& cv)
-      : discrete(dv), continuous(cv){};
+      : discrete_(dv), continuous_(cv){};
+
+  /// @}
+  /// @name Testable
+  /// @{
 
   // print required by Testable for unit testing
   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
+    discrete_.print("  Discrete", keyFormatter);  // print discrete components
+    continuous_.print("  Continuous",
+                      keyFormatter);  // print continuous 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 discrete_.equals(other.discrete_, tol) &&
+           continuous_.equals(other.continuous_, tol);
   }
 
+  /// @}
+  /// @name Interface
+  /// @{
+
+  /// Return the discrete MPE assignment
+  DiscreteValues discrete() const { return discrete_; }
+
+  /// Return the delta update for the continuous vectors
+  VectorValues continuous() const { return continuous_; }
+
   // Check whether a variable with key \c j exists in DiscreteValue.
-  bool existsDiscrete(Key j) { return (discrete.find(j) != discrete.end()); };
+  bool existsDiscrete(Key j) { return (discrete_.find(j) != discrete_.end()); };
 
   // Check whether a variable with key \c j exists in VectorValue.
-  bool existsVector(Key j) { return continuous.exists(j); };
+  bool existsVector(Key j) { return continuous_.exists(j); };
 
   // Check whether a variable with key \c j exists.
   bool exists(Key j) { return existsDiscrete(j) || existsVector(j); };
@@ -78,13 +96,13 @@ 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, int 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.
    * @param value The vector to be inserted.
    * @param j The index with which the value will be associated. */
-  void insert(Key j, const Vector& value) { continuous.insert(j, value); }
+  void insert(Key j, const Vector& value) { continuous_.insert(j, value); }
 
   // TODO(Shangjie)- update() and insert_or_assign() , similar to Values.h
 
@@ -92,13 +110,13 @@ class GTSAM_EXPORT HybridValues {
    * Read/write access to the discrete value with key \c j, throws
    * std::out_of_range if \c j does not exist.
    */
-  size_t& atDiscrete(Key j) { return discrete.at(j); };
+  size_t& atDiscrete(Key j) { return discrete_.at(j); };
 
   /**
    * Read/write access to the vector value with key \c j, throws
    * std::out_of_range if \c j does not exist.
    */
-  Vector& at(Key j) { return continuous.at(j); };
+  Vector& at(Key j) { return continuous_.at(j); };
 
   /// @name Wrapper support
   /// @{
@@ -112,8 +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);
+    ss << this->continuous_.html(keyFormatter);
     return ss.str();
   };
 

From 0edcfd4ff88303f8911622de89be4f70db434faf Mon Sep 17 00:00:00 2001
From: Varun Agrawal <varagrawal@gmail.com>
Date: Fri, 26 Aug 2022 19:36:11 -0400
Subject: [PATCH 303/433] new HybridBayesNet optimize implementation

---
 gtsam/hybrid/HybridBayesNet.cpp           | 18 ++++++++++---
 gtsam/hybrid/tests/testHybridBayesNet.cpp | 31 ++++++++++-------------
 2 files changed, 28 insertions(+), 21 deletions(-)

diff --git a/gtsam/hybrid/HybridBayesNet.cpp b/gtsam/hybrid/HybridBayesNet.cpp
index f898178c2b..2238b08ce3 100644
--- a/gtsam/hybrid/HybridBayesNet.cpp
+++ b/gtsam/hybrid/HybridBayesNet.cpp
@@ -15,8 +15,9 @@
  * @date   January 2022
  */
 
+#include <gtsam/discrete/DiscreteBayesNet.h>
+#include <gtsam/discrete/DiscreteFactorGraph.h>
 #include <gtsam/hybrid/HybridBayesNet.h>
-#include <gtsam/hybrid/HybridLookupDAG.h>
 #include <gtsam/hybrid/HybridValues.h>
 
 namespace gtsam {
@@ -139,8 +140,19 @@ GaussianBayesNet HybridBayesNet::choose(
 
 /* *******************************************************************************/
 HybridValues HybridBayesNet::optimize() const {
-  auto dag = HybridLookupDAG::FromBayesNet(*this);
-  return dag.argmax();
+  // Solve for the MPE
+  DiscreteBayesNet discrete_bn;
+  for (auto &conditional : factors_) {
+    if (conditional->isDiscrete()) {
+      discrete_bn.push_back(conditional->asDiscreteConditional());
+    }
+  }
+
+  DiscreteValues mpe = DiscreteFactorGraph(discrete_bn).optimize();
+
+  // Given the MPE, compute the optimal continuous values.
+  GaussianBayesNet gbn = this->choose(mpe);
+  return HybridValues(mpe, gbn.optimize());
 }
 
 /* *******************************************************************************/
diff --git a/gtsam/hybrid/tests/testHybridBayesNet.cpp b/gtsam/hybrid/tests/testHybridBayesNet.cpp
index 4602e8bac1..bcaf7e5993 100644
--- a/gtsam/hybrid/tests/testHybridBayesNet.cpp
+++ b/gtsam/hybrid/tests/testHybridBayesNet.cpp
@@ -136,24 +136,19 @@ TEST(HybridBayesNet, Optimize) {
 
   HybridValues delta = hybridBayesNet->optimize();
 
-  delta.print();
-  VectorValues correct;
-  correct.insert(X(1), 0 * Vector1::Ones());
-  correct.insert(X(2), 1 * Vector1::Ones());
-  correct.insert(X(3), 2 * Vector1::Ones());
-  correct.insert(X(4), 3 * Vector1::Ones());
-
-  DiscreteValues assignment111;
-  assignment111[M(1)] = 1;
-  assignment111[M(2)] = 1;
-  assignment111[M(3)] = 1;
-  std::cout << hybridBayesNet->choose(assignment111).error(correct) << std::endl;
-
-  DiscreteValues assignment101;
-  assignment101[M(1)] = 1;
-  assignment101[M(2)] = 0;
-  assignment101[M(3)] = 1;
-  std::cout << hybridBayesNet->choose(assignment101).error(correct) << std::endl;
+  DiscreteValues expectedAssignment;
+  expectedAssignment[M(1)] = 1;
+  expectedAssignment[M(2)] = 0;
+  expectedAssignment[M(3)] = 1;
+  EXPECT(assert_equal(expectedAssignment, delta.discrete()));
+
+  VectorValues expectedValues;
+  expectedValues.insert(X(1), -0.999904 * Vector1::Ones());
+  expectedValues.insert(X(2), -0.99029 * Vector1::Ones());
+  expectedValues.insert(X(3), -1.00971 * Vector1::Ones());
+  expectedValues.insert(X(4), -1.0001 * Vector1::Ones());
+
+  EXPECT(assert_equal(expectedValues, delta.continuous(), 1e-5));
 }
 
 /* ************************************************************************* */

From 5169b2ec30577a9bb367a6125310251c04b056e2 Mon Sep 17 00:00:00 2001
From: Varun Agrawal <varagrawal@gmail.com>
Date: Fri, 26 Aug 2022 22:13:44 -0400
Subject: [PATCH 304/433] add HybridBayesTree optimize method

---
 gtsam/hybrid/HybridBayesTree.cpp           | 44 +++++++++++++++--
 gtsam/hybrid/HybridBayesTree.h             |  9 ++++
 gtsam/hybrid/tests/testHybridBayesNet.cpp  |  5 --
 gtsam/hybrid/tests/testHybridBayesTree.cpp | 57 +++++++++++++++++++++-
 4 files changed, 104 insertions(+), 11 deletions(-)

diff --git a/gtsam/hybrid/HybridBayesTree.cpp b/gtsam/hybrid/HybridBayesTree.cpp
index 30fe6f1683..e9c15b0edc 100644
--- a/gtsam/hybrid/HybridBayesTree.cpp
+++ b/gtsam/hybrid/HybridBayesTree.cpp
@@ -18,6 +18,8 @@
  */
 
 #include <gtsam/base/treeTraversal-inst.h>
+#include <gtsam/discrete/DiscreteBayesNet.h>
+#include <gtsam/discrete/DiscreteFactorGraph.h>
 #include <gtsam/hybrid/HybridBayesNet.h>
 #include <gtsam/hybrid/HybridBayesTree.h>
 #include <gtsam/inference/BayesTree-inst.h>
@@ -35,6 +37,42 @@ bool HybridBayesTree::equals(const This& other, double tol) const {
   return Base::equals(other, tol);
 }
 
+/* ************************************************************************* */
+HybridValues HybridBayesTree::optimize() const {
+  HybridBayesNet hbn;
+  DiscreteBayesNet dbn;
+
+  KeyVector added_keys;
+
+  // Iterate over all the nodes in the BayesTree
+  for (auto&& node : nodes()) {
+    // Check if conditional being added is already in the Bayes net.
+    if (std::find(added_keys.begin(), added_keys.end(), node.first) ==
+        added_keys.end()) {
+      // Access the clique and get the underlying hybrid conditional
+      HybridBayesTreeClique::shared_ptr clique = node.second;
+      HybridConditional::shared_ptr conditional = clique->conditional();
+
+      // Record the key being added
+      added_keys.insert(added_keys.end(), conditional->frontals().begin(),
+                        conditional->frontals().end());
+
+      if (conditional->isHybrid()) {
+        // If conditional is hybrid, add it to a Hybrid Bayes net.
+        hbn.push_back(conditional);
+      } else if (conditional->isDiscrete()) {
+        // Else if discrete, we use it to compute the MPE
+        dbn.push_back(conditional->asDiscreteConditional());
+      }
+    }
+  }
+  // Get the MPE
+  DiscreteValues mpe = DiscreteFactorGraph(dbn).optimize();
+  // Given the MPE, compute the optimal continuous values.
+  GaussianBayesNet gbn = hbn.choose(mpe);
+  return HybridValues(mpe, gbn.optimize());
+}
+
 /* ************************************************************************* */
 VectorValues HybridBayesTree::optimize(const DiscreteValues& assignment) const {
   GaussianBayesNet gbn;
@@ -50,11 +88,9 @@ VectorValues HybridBayesTree::optimize(const DiscreteValues& assignment) const {
       HybridBayesTreeClique::shared_ptr clique = node.second;
       HybridConditional::shared_ptr conditional = clique->conditional();
 
-      KeyVector frontals(conditional->frontals().begin(),
-                         conditional->frontals().end());
-
       // Record the key being added
-      added_keys.insert(added_keys.end(), frontals.begin(), frontals.end());
+      added_keys.insert(added_keys.end(), conditional->frontals().begin(),
+                        conditional->frontals().end());
 
       // If conditional is hybrid (and not discrete-only), we get the Gaussian
       // Conditional corresponding to the assignment and add it to the Gaussian
diff --git a/gtsam/hybrid/HybridBayesTree.h b/gtsam/hybrid/HybridBayesTree.h
index b7950a4838..361fbe86fe 100644
--- a/gtsam/hybrid/HybridBayesTree.h
+++ b/gtsam/hybrid/HybridBayesTree.h
@@ -70,6 +70,15 @@ class GTSAM_EXPORT HybridBayesTree : public BayesTree<HybridBayesTreeClique> {
   /** Check equality */
   bool equals(const This& other, double tol = 1e-9) const;
 
+  /**
+   * @brief Optimize the hybrid Bayes tree by computing the MPE for the current
+   * set of discrete variables and using it to compute the best continuous
+   * update delta.
+   *
+   * @return HybridValues
+   */
+  HybridValues optimize() const;
+
   /**
    * @brief Recursively optimize the BayesTree to produce a vector solution.
    *
diff --git a/gtsam/hybrid/tests/testHybridBayesNet.cpp b/gtsam/hybrid/tests/testHybridBayesNet.cpp
index bcaf7e5993..56f3680aed 100644
--- a/gtsam/hybrid/tests/testHybridBayesNet.cpp
+++ b/gtsam/hybrid/tests/testHybridBayesNet.cpp
@@ -125,11 +125,6 @@ TEST(HybridBayesNet, OptimizeAssignment) {
 TEST(HybridBayesNet, Optimize) {
   Switching s(4);
 
-  Ordering ordering;
-  for (auto&& kvp : s.linearizationPoint) {
-    ordering += kvp.key;
-  }
-
   Ordering hybridOrdering = s.linearizedFactorGraph.getHybridOrdering();
   HybridBayesNet::shared_ptr hybridBayesNet =
       s.linearizedFactorGraph.eliminateSequential(hybridOrdering);
diff --git a/gtsam/hybrid/tests/testHybridBayesTree.cpp b/gtsam/hybrid/tests/testHybridBayesTree.cpp
index a693af1b2d..3584d7db98 100644
--- a/gtsam/hybrid/tests/testHybridBayesTree.cpp
+++ b/gtsam/hybrid/tests/testHybridBayesTree.cpp
@@ -16,6 +16,7 @@
  * @date    August 2022
  */
 
+#include <gtsam/discrete/DiscreteFactorGraph.h>
 #include <gtsam/hybrid/HybridBayesTree.h>
 #include <gtsam/hybrid/HybridGaussianISAM.h>
 
@@ -31,8 +32,8 @@ using symbol_shorthand::M;
 using symbol_shorthand::X;
 
 /* ****************************************************************************/
-// Test for optimizing a HybridBayesTree.
-TEST(HybridBayesTree, Optimize) {
+// Test for optimizing a HybridBayesTree with a given assignment.
+TEST(HybridBayesTree, OptimizeAssignment) {
   Switching s(4);
 
   HybridGaussianISAM isam;
@@ -85,6 +86,58 @@ TEST(HybridBayesTree, Optimize) {
   EXPECT(assert_equal(expected, delta));
 }
 
+/* ****************************************************************************/
+// Test for optimizing a HybridBayesTree.
+TEST(HybridBayesTree, Optimize) {
+  Switching s(4);
+
+  HybridGaussianISAM isam;
+  HybridGaussianFactorGraph graph1;
+
+  // Add the 3 hybrid factors, x1-x2, x2-x3, x3-x4
+  for (size_t i = 1; i < 4; i++) {
+    graph1.push_back(s.linearizedFactorGraph.at(i));
+  }
+
+  // Add the Gaussian factors, 1 prior on X(1),
+  // 3 measurements on X(2), X(3), X(4)
+  graph1.push_back(s.linearizedFactorGraph.at(0));
+  for (size_t i = 4; i <= 6; i++) {
+    graph1.push_back(s.linearizedFactorGraph.at(i));
+  }
+
+  // Add the discrete factors
+  for (size_t i = 7; i <= 9; i++) {
+    graph1.push_back(s.linearizedFactorGraph.at(i));
+  }
+
+  isam.update(graph1);
+
+  HybridValues delta = isam.optimize();
+
+  // Create ordering.
+  Ordering ordering;
+  for (size_t k = 1; k <= s.K; k++) ordering += X(k);
+
+  HybridBayesNet::shared_ptr hybridBayesNet;
+  HybridGaussianFactorGraph::shared_ptr remainingFactorGraph;
+  std::tie(hybridBayesNet, remainingFactorGraph) =
+      s.linearizedFactorGraph.eliminatePartialSequential(ordering);
+
+  DiscreteFactorGraph dfg;
+  for (auto&& f : *remainingFactorGraph) {
+    auto factor = dynamic_pointer_cast<HybridDiscreteFactor>(f);
+    dfg.push_back(
+        boost::dynamic_pointer_cast<DecisionTreeFactor>(factor->inner()));
+  }
+
+  DiscreteValues expectedMPE = dfg.optimize();
+  VectorValues expectedValues = hybridBayesNet->optimize(expectedMPE);
+
+  EXPECT(assert_equal(expectedMPE, delta.discrete()));
+  EXPECT(assert_equal(expectedValues, delta.continuous()));
+}
+
 /* ************************************************************************* */
 int main() {
   TestResult tr;

From 8645ec0f259240c5ad3f21f5abd9a8c6af11edaa Mon Sep 17 00:00:00 2001
From: Varun Agrawal <varagrawal@gmail.com>
Date: Sat, 27 Aug 2022 15:43:13 -0400
Subject: [PATCH 305/433] update wrapper for HybridValues

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

diff --git a/gtsam/hybrid/hybrid.i b/gtsam/hybrid/hybrid.i
index aa63259d9d..dfbf3919db 100644
--- a/gtsam/hybrid/hybrid.i
+++ b/gtsam/hybrid/hybrid.i
@@ -6,8 +6,8 @@ namespace gtsam {
 
 #include <gtsam/hybrid/HybridValues.h>
 class HybridValues {
-  gtsam::DiscreteValues discrete;
-  gtsam::VectorValues continuous;
+  gtsam::DiscreteValues discrete() const;
+  gtsam::VectorValues continuous() const;
   HybridValues();
   HybridValues(const gtsam::DiscreteValues &dv, const gtsam::VectorValues &cv);
   void print(string s = "HybridValues",

From 31bbf513f46cbf0909f5991dbbe5a246e195f6d5 Mon Sep 17 00:00:00 2001
From: Varun Agrawal <varagrawal@gmail.com>
Date: Sat, 27 Aug 2022 19:23:27 -0400
Subject: [PATCH 306/433] add discrete factors to HybridBayesTree test

---
 gtsam/hybrid/tests/testHybridBayesTree.cpp | 5 +++++
 1 file changed, 5 insertions(+)

diff --git a/gtsam/hybrid/tests/testHybridBayesTree.cpp b/gtsam/hybrid/tests/testHybridBayesTree.cpp
index 3584d7db98..d457e6b746 100644
--- a/gtsam/hybrid/tests/testHybridBayesTree.cpp
+++ b/gtsam/hybrid/tests/testHybridBayesTree.cpp
@@ -51,6 +51,11 @@ TEST(HybridBayesTree, OptimizeAssignment) {
     graph1.push_back(s.linearizedFactorGraph.at(i));
   }
 
+  // Add the discrete factors
+  for (size_t i = 7; i <= 9; i++) {
+    graph1.push_back(s.linearizedFactorGraph.at(i));
+  }
+
   isam.update(graph1);
 
   DiscreteValues assignment;

From 72722686bae45d771455692b6b98c17395bcd87b Mon Sep 17 00:00:00 2001
From: Varun Agrawal <varagrawal@gmail.com>
Date: Sat, 27 Aug 2022 19:23:59 -0400
Subject: [PATCH 307/433] fix issue with TBB

---
 gtsam/hybrid/HybridBayesTree.cpp | 7 +++++++
 1 file changed, 7 insertions(+)

diff --git a/gtsam/hybrid/HybridBayesTree.cpp b/gtsam/hybrid/HybridBayesTree.cpp
index 30fe6f1683..0a9b9e7f22 100644
--- a/gtsam/hybrid/HybridBayesTree.cpp
+++ b/gtsam/hybrid/HybridBayesTree.cpp
@@ -68,6 +68,13 @@ VectorValues HybridBayesTree::optimize(const DiscreteValues& assignment) const {
       }
     }
   }
+  // If TBB is enabled, the bayes net order gets reversed,
+  // so we pre-reverse it
+#ifdef GTSAM_USE_TBB
+  auto reversed = boost::adaptors::reverse(gbn);
+  gbn = GaussianBayesNet(reversed.begin(), reversed.end());
+#endif
+
   // Return the optimized bayes net.
   return gbn.optimize();
 }

From 496ddf886fcde5dac0053ff5c22daee428c92d2d Mon Sep 17 00:00:00 2001
From: Varun Agrawal <varagrawal@gmail.com>
Date: Sun, 28 Aug 2022 09:55:44 -0400
Subject: [PATCH 308/433] fix gbn optimize everywhere for HybridBayesTree

---
 gtsam/hybrid/HybridBayesTree.cpp | 9 +++++++++
 1 file changed, 9 insertions(+)

diff --git a/gtsam/hybrid/HybridBayesTree.cpp b/gtsam/hybrid/HybridBayesTree.cpp
index 678b4ca34d..d0f6f2fe26 100644
--- a/gtsam/hybrid/HybridBayesTree.cpp
+++ b/gtsam/hybrid/HybridBayesTree.cpp
@@ -70,6 +70,14 @@ HybridValues HybridBayesTree::optimize() const {
   DiscreteValues mpe = DiscreteFactorGraph(dbn).optimize();
   // Given the MPE, compute the optimal continuous values.
   GaussianBayesNet gbn = hbn.choose(mpe);
+
+  // If TBB is enabled, the bayes net order gets reversed,
+  // so we pre-reverse it
+#ifdef GTSAM_USE_TBB
+  auto reversed = boost::adaptors::reverse(gbn);
+  gbn = GaussianBayesNet(reversed.begin(), reversed.end());
+#endif
+
   return HybridValues(mpe, gbn.optimize());
 }
 
@@ -104,6 +112,7 @@ VectorValues HybridBayesTree::optimize(const DiscreteValues& assignment) const {
       }
     }
   }
+
   // If TBB is enabled, the bayes net order gets reversed,
   // so we pre-reverse it
 #ifdef GTSAM_USE_TBB

From 6912d015ef898de8f17eefa834d0d72b7c8933a4 Mon Sep 17 00:00:00 2001
From: Varun Agrawal <varagrawal@gmail.com>
Date: Mon, 29 Aug 2022 09:26:18 -0400
Subject: [PATCH 309/433] assert for discrete only conditional

---
 gtsam/hybrid/HybridBayesNet.cpp | 4 +++-
 1 file changed, 3 insertions(+), 1 deletion(-)

diff --git a/gtsam/hybrid/HybridBayesNet.cpp b/gtsam/hybrid/HybridBayesNet.cpp
index 2238b08ce3..c108a47c27 100644
--- a/gtsam/hybrid/HybridBayesNet.cpp
+++ b/gtsam/hybrid/HybridBayesNet.cpp
@@ -131,7 +131,9 @@ GaussianBayesNet HybridBayesNet::choose(
       gbn.push_back(gm(assignment));
 
     } catch (std::exception &exc) {
-      // if factor at `idx` is discrete-only, just continue.
+      // factor at `idx` is discrete-only, so we simply continue.
+      assert(factors_.at(idx)->discreteKeys().size() ==
+             factors_.at(idx)->keys().size());
       continue;
     }
   }

From 4e451d5c0b9642279cb47d3814f2fbb8982a025e Mon Sep 17 00:00:00 2001
From: Varun Agrawal <varagrawal@gmail.com>
Date: Mon, 29 Aug 2022 16:22:55 -0400
Subject: [PATCH 310/433] helper to return HybridConditional as
 GaussianConditional

---
 gtsam/hybrid/HybridConditional.h | 11 +++++++++++
 1 file changed, 11 insertions(+)

diff --git a/gtsam/hybrid/HybridConditional.h b/gtsam/hybrid/HybridConditional.h
index 91c9f84950..96ea6d9699 100644
--- a/gtsam/hybrid/HybridConditional.h
+++ b/gtsam/hybrid/HybridConditional.h
@@ -139,6 +139,17 @@ class GTSAM_EXPORT HybridConditional
     return boost::static_pointer_cast<GaussianMixture>(inner_);
   }
 
+  /**
+   * @brief Return HybridConditional as a GaussianConditional
+   *
+   * @return GaussianConditional::shared_ptr
+   */
+  GaussianConditional::shared_ptr asGaussian() {
+    if (!isContinuous())
+      throw std::invalid_argument("Not a continuous conditional");
+    return boost::static_pointer_cast<GaussianConditional>(inner_);
+  }
+
   /**
    * @brief Return conditional as a DiscreteConditional
    *

From 8c41f63167ade58f73131b922b7fd533e605e020 Mon Sep 17 00:00:00 2001
From: Varun Agrawal <varagrawal@gmail.com>
Date: Mon, 29 Aug 2022 16:24:26 -0400
Subject: [PATCH 311/433] rename atGaussian to atMixture and add new atGaussian
 for continuous conditionals, fix choose method for all types

---
 gtsam/hybrid/HybridBayesNet.cpp           | 24 ++++++++++++++++-------
 gtsam/hybrid/HybridBayesNet.h             |  5 ++++-
 gtsam/hybrid/tests/testHybridBayesNet.cpp |  8 ++++----
 3 files changed, 25 insertions(+), 12 deletions(-)

diff --git a/gtsam/hybrid/HybridBayesNet.cpp b/gtsam/hybrid/HybridBayesNet.cpp
index c108a47c27..787c91a0d7 100644
--- a/gtsam/hybrid/HybridBayesNet.cpp
+++ b/gtsam/hybrid/HybridBayesNet.cpp
@@ -112,10 +112,15 @@ HybridBayesNet HybridBayesNet::prune(
 }
 
 /* ************************************************************************* */
-GaussianMixture::shared_ptr HybridBayesNet::atGaussian(size_t i) const {
+GaussianMixture::shared_ptr HybridBayesNet::atMixture(size_t i) const {
   return factors_.at(i)->asMixture();
 }
 
+/* ************************************************************************* */
+GaussianConditional::shared_ptr HybridBayesNet::atGaussian(size_t i) const {
+  return factors_.at(i)->asGaussian();
+}
+
 /* ************************************************************************* */
 DiscreteConditional::shared_ptr HybridBayesNet::atDiscrete(size_t i) const {
   return factors_.at(i)->asDiscreteConditional();
@@ -126,17 +131,22 @@ GaussianBayesNet HybridBayesNet::choose(
     const DiscreteValues &assignment) const {
   GaussianBayesNet gbn;
   for (size_t idx = 0; idx < size(); idx++) {
-    try {
-      GaussianMixture gm = *this->atGaussian(idx);
+    if (factors_.at(idx)->isHybrid()) {
+      // If factor is hybrid, select based on assignment.
+      GaussianMixture gm = *this->atMixture(idx);
       gbn.push_back(gm(assignment));
 
-    } catch (std::exception &exc) {
-      // factor at `idx` is discrete-only, so we simply continue.
-      assert(factors_.at(idx)->discreteKeys().size() ==
-             factors_.at(idx)->keys().size());
+    } else if (factors_.at(idx)->isContinuous()) {
+      // If continuous only, add gaussian conditional.
+      factors_.at(idx)->print();
+      gbn.push_back((this->atGaussian(idx)));
+
+    } else if (factors_.at(idx)->isDiscrete()) {
+      // If factor at `idx` is discrete-only, we simply continue.
       continue;
     }
   }
+
   return gbn;
 }
 
diff --git a/gtsam/hybrid/HybridBayesNet.h b/gtsam/hybrid/HybridBayesNet.h
index a16a4f42c5..616ea06989 100644
--- a/gtsam/hybrid/HybridBayesNet.h
+++ b/gtsam/hybrid/HybridBayesNet.h
@@ -54,7 +54,10 @@ class GTSAM_EXPORT HybridBayesNet : public BayesNet<HybridConditional> {
   }
 
   /// Get a specific Gaussian mixture by index `i`.
-  GaussianMixture::shared_ptr atGaussian(size_t i) const;
+  GaussianMixture::shared_ptr atMixture(size_t i) const;
+
+  /// Get a specific Gaussian conditional by index `i`.
+  GaussianConditional::shared_ptr atGaussian(size_t i) const;
 
   /// Get a specific discrete conditional by index `i`.
   DiscreteConditional::shared_ptr atDiscrete(size_t i) const;
diff --git a/gtsam/hybrid/tests/testHybridBayesNet.cpp b/gtsam/hybrid/tests/testHybridBayesNet.cpp
index 56f3680aed..c7516c0f63 100644
--- a/gtsam/hybrid/tests/testHybridBayesNet.cpp
+++ b/gtsam/hybrid/tests/testHybridBayesNet.cpp
@@ -73,16 +73,16 @@ TEST(HybridBayesNet, Choose) {
   EXPECT_LONGS_EQUAL(4, gbn.size());
 
   EXPECT(assert_equal(*(*boost::dynamic_pointer_cast<GaussianMixture>(
-                          hybridBayesNet->atGaussian(0)))(assignment),
+                          hybridBayesNet->atMixture(0)))(assignment),
                       *gbn.at(0)));
   EXPECT(assert_equal(*(*boost::dynamic_pointer_cast<GaussianMixture>(
-                          hybridBayesNet->atGaussian(1)))(assignment),
+                          hybridBayesNet->atMixture(1)))(assignment),
                       *gbn.at(1)));
   EXPECT(assert_equal(*(*boost::dynamic_pointer_cast<GaussianMixture>(
-                          hybridBayesNet->atGaussian(2)))(assignment),
+                          hybridBayesNet->atMixture(2)))(assignment),
                       *gbn.at(2)));
   EXPECT(assert_equal(*(*boost::dynamic_pointer_cast<GaussianMixture>(
-                          hybridBayesNet->atGaussian(3)))(assignment),
+                          hybridBayesNet->atMixture(3)))(assignment),
                       *gbn.at(3)));
 }
 

From ca4293b70ddcdadb2de7c1107856519243a128d6 Mon Sep 17 00:00:00 2001
From: Varun Agrawal <varagrawal@gmail.com>
Date: Wed, 31 Aug 2022 10:36:07 -0400
Subject: [PATCH 312/433] handle Gaussian conditionals in the BayesTree

---
 gtsam/hybrid/HybridBayesNet.cpp  |  1 -
 gtsam/hybrid/HybridBayesTree.cpp | 16 +++++++++++-----
 2 files changed, 11 insertions(+), 6 deletions(-)

diff --git a/gtsam/hybrid/HybridBayesNet.cpp b/gtsam/hybrid/HybridBayesNet.cpp
index 787c91a0d7..bca50a902e 100644
--- a/gtsam/hybrid/HybridBayesNet.cpp
+++ b/gtsam/hybrid/HybridBayesNet.cpp
@@ -138,7 +138,6 @@ GaussianBayesNet HybridBayesNet::choose(
 
     } else if (factors_.at(idx)->isContinuous()) {
       // If continuous only, add gaussian conditional.
-      factors_.at(idx)->print();
       gbn.push_back((this->atGaussian(idx)));
 
     } else if (factors_.at(idx)->isDiscrete()) {
diff --git a/gtsam/hybrid/HybridBayesTree.cpp b/gtsam/hybrid/HybridBayesTree.cpp
index d0f6f2fe26..49ae0bd877 100644
--- a/gtsam/hybrid/HybridBayesTree.cpp
+++ b/gtsam/hybrid/HybridBayesTree.cpp
@@ -57,12 +57,14 @@ HybridValues HybridBayesTree::optimize() const {
       added_keys.insert(added_keys.end(), conditional->frontals().begin(),
                         conditional->frontals().end());
 
-      if (conditional->isHybrid()) {
-        // If conditional is hybrid, add it to a Hybrid Bayes net.
-        hbn.push_back(conditional);
-      } else if (conditional->isDiscrete()) {
-        // Else if discrete, we use it to compute the MPE
+      if (conditional->isDiscrete()) {
+        // If discrete, we use it to compute the MPE
         dbn.push_back(conditional->asDiscreteConditional());
+
+      } else {
+        // Else conditional is hybrid or continuous-only,
+        // so we directly add it to the Hybrid Bayes net.
+        hbn.push_back(conditional);
       }
     }
   }
@@ -109,6 +111,10 @@ VectorValues HybridBayesTree::optimize(const DiscreteValues& assignment) const {
             (*gm)(assignment);
 
         gbn.push_back(gaussian_conditional);
+
+      } else if (conditional->isContinuous()) {
+        // If conditional is Gaussian, we simply add it to the Bayes net.
+        gbn.push_back(conditional->asGaussian());
       }
     }
   }

From fe595bf745b9b386f1cc0d7012800de58afd024f Mon Sep 17 00:00:00 2001
From: Varun Agrawal <varagrawal@gmail.com>
Date: Wed, 31 Aug 2022 12:25:20 -0400
Subject: [PATCH 313/433] fix doxygen

---
 gtsam/hybrid/HybridValues.h | 18 +++++++++---------
 1 file changed, 9 insertions(+), 9 deletions(-)

diff --git a/gtsam/hybrid/HybridValues.h b/gtsam/hybrid/HybridValues.h
index d5c78f9512..4928f9384f 100644
--- a/gtsam/hybrid/HybridValues.h
+++ b/gtsam/hybrid/HybridValues.h
@@ -31,8 +31,8 @@
 namespace gtsam {
 
 /**
- * HybridValues represents a collection of DiscreteValues and VectorValues.  It
- * is typically used to store the variables of a HybridGaussianFactorGraph.
+ * HybridValues represents a collection of DiscreteValues and VectorValues.
+ * It is typically used to store the variables of a HybridGaussianFactorGraph.
  * Optimizing a HybridGaussianBayesNet returns this class.
  */
 class GTSAM_EXPORT HybridValues {
@@ -47,10 +47,10 @@ class GTSAM_EXPORT HybridValues {
   /// @name Standard Constructors
   /// @{
 
-  // Default constructor creates an empty HybridValues.
+  /// Default constructor creates an empty HybridValues.
   HybridValues() = default;
 
-  // Construct from DiscreteValues and VectorValues.
+  /// Construct from DiscreteValues and VectorValues.
   HybridValues(const DiscreteValues& dv, const VectorValues& cv)
       : discrete_(dv), continuous_(cv){};
 
@@ -58,7 +58,7 @@ class GTSAM_EXPORT HybridValues {
   /// @name Testable
   /// @{
 
-  // print required by Testable for unit testing
+  /// print required by Testable for unit testing
   void print(const std::string& s = "HybridValues",
              const KeyFormatter& keyFormatter = DefaultKeyFormatter) const {
     std::cout << s << ": \n";
@@ -67,7 +67,7 @@ class GTSAM_EXPORT HybridValues {
                       keyFormatter);  // print continuous components
   };
 
-  // equals required by Testable for unit testing
+  /// 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);
@@ -83,13 +83,13 @@ class GTSAM_EXPORT HybridValues {
   /// Return the delta update for the continuous vectors
   VectorValues continuous() const { return continuous_; }
 
-  // Check whether a variable with key \c j exists in DiscreteValue.
+  /// Check whether a variable with key \c j exists in DiscreteValue.
   bool existsDiscrete(Key j) { return (discrete_.find(j) != discrete_.end()); };
 
-  // Check whether a variable with key \c j exists in VectorValue.
+  /// Check whether a variable with key \c j exists in VectorValue.
   bool existsVector(Key j) { return continuous_.exists(j); };
 
-  // Check whether a variable with key \c j exists.
+  /// Check whether a variable with key \c j exists.
   bool exists(Key j) { return existsDiscrete(j) || existsVector(j); };
 
   /** Insert a discrete \c value with key \c j.  Replaces the existing value if

From 4852949b754195c1974110e95ff3003a3f31ac4f Mon Sep 17 00:00:00 2001
From: Varun Agrawal <varagrawal@gmail.com>
Date: Wed, 31 Aug 2022 12:25:57 -0400
Subject: [PATCH 314/433] add helpers to get different types of keys from the
 hybrid graph

---
 gtsam/hybrid/HybridGaussianFactorGraph.cpp    | 25 +++++++++++++++++--
 gtsam/hybrid/HybridGaussianFactorGraph.h      | 17 ++++++++-----
 .../tests/testGaussianHybridFactorGraph.cpp   |  9 +++----
 3 files changed, 38 insertions(+), 13 deletions(-)

diff --git a/gtsam/hybrid/HybridGaussianFactorGraph.cpp b/gtsam/hybrid/HybridGaussianFactorGraph.cpp
index 94e33890dd..c031b9729e 100644
--- a/gtsam/hybrid/HybridGaussianFactorGraph.cpp
+++ b/gtsam/hybrid/HybridGaussianFactorGraph.cpp
@@ -402,14 +402,35 @@ void HybridGaussianFactorGraph::add(DecisionTreeFactor::shared_ptr factor) {
 }
 
 /* ************************************************************************ */
-const Ordering HybridGaussianFactorGraph::getHybridOrdering(
-    OptionalOrderingType orderingType) const {
+const KeySet HybridGaussianFactorGraph::getDiscreteKeys() const {
   KeySet discrete_keys;
   for (auto &factor : factors_) {
     for (const DiscreteKey &k : factor->discreteKeys()) {
       discrete_keys.insert(k.first);
     }
   }
+  return discrete_keys;
+}
+
+/* ************************************************************************ */
+const KeySet HybridGaussianFactorGraph::getContinuousKeys() const {
+  KeySet keys;
+  for (auto &factor : factors_) {
+    for (const Key &key : factor->continuousKeys()) {
+      keys.insert(key);
+    }
+  }
+  return keys;
+}
+
+/* ************************************************************************ */
+const Ordering HybridGaussianFactorGraph::getHybridOrdering() const {
+  KeySet discrete_keys = getDiscreteKeys();
+  for (auto &factor : factors_) {
+    for (const DiscreteKey &k : factor->discreteKeys()) {
+      discrete_keys.insert(k.first);
+    }
+  }
 
   const VariableIndex index(factors_);
   Ordering ordering = Ordering::ColamdConstrainedLast(
diff --git a/gtsam/hybrid/HybridGaussianFactorGraph.h b/gtsam/hybrid/HybridGaussianFactorGraph.h
index 56f9b7e07d..ad5cde09b0 100644
--- a/gtsam/hybrid/HybridGaussianFactorGraph.h
+++ b/gtsam/hybrid/HybridGaussianFactorGraph.h
@@ -161,14 +161,19 @@ class GTSAM_EXPORT HybridGaussianFactorGraph
     }
   }
 
+  /// Get all the discrete keys in the factor graph.
+  const KeySet getDiscreteKeys() const;
+
+  /// Get all the continuous keys in the factor graph.
+  const KeySet getContinuousKeys() const;
+
   /**
-   * @brief 
-   * 
-   * @param orderingType 
-   * @return const Ordering 
+   * @brief Return a Colamd constrained ordering where the discrete keys are
+   * eliminated after the continuous keys.
+   *
+   * @return const Ordering
    */
-  const Ordering getHybridOrdering(
-      OptionalOrderingType orderingType = boost::none) const;
+  const Ordering getHybridOrdering() const;
 };
 
 }  // namespace gtsam
diff --git a/gtsam/hybrid/tests/testGaussianHybridFactorGraph.cpp b/gtsam/hybrid/tests/testGaussianHybridFactorGraph.cpp
index e4bd0e0843..40da42412d 100644
--- a/gtsam/hybrid/tests/testGaussianHybridFactorGraph.cpp
+++ b/gtsam/hybrid/tests/testGaussianHybridFactorGraph.cpp
@@ -184,8 +184,8 @@ TEST(HybridGaussianFactorGraph, eliminateFullMultifrontalSimple) {
   hfg.add(DecisionTreeFactor(m1, {2, 8}));
   hfg.add(DecisionTreeFactor({{M(1), 2}, {M(2), 2}}, "1 2 3 4"));
 
-  HybridBayesTree::shared_ptr result = hfg.eliminateMultifrontal(
-      Ordering::ColamdConstrainedLast(hfg, {M(1), M(2)}));
+  HybridBayesTree::shared_ptr result =
+      hfg.eliminateMultifrontal(hfg.getHybridOrdering());
 
   // The bayes tree should have 3 cliques
   EXPECT_LONGS_EQUAL(3, result->size());
@@ -215,7 +215,7 @@ TEST(HybridGaussianFactorGraph, eliminateFullMultifrontalCLG) {
   hfg.add(HybridDiscreteFactor(DecisionTreeFactor(m, {2, 8})));
 
   // Get a constrained ordering keeping c1 last
-  auto ordering_full = Ordering::ColamdConstrainedLast(hfg, {M(1)});
+  auto ordering_full = hfg.getHybridOrdering();
 
   // Returns a Hybrid Bayes Tree with distribution P(x0|x1)P(x1|c1)P(c1)
   HybridBayesTree::shared_ptr hbt = hfg.eliminateMultifrontal(ordering_full);
@@ -484,8 +484,7 @@ TEST(HybridGaussianFactorGraph, SwitchingTwoVar) {
   }
   HybridBayesNet::shared_ptr hbn;
   HybridGaussianFactorGraph::shared_ptr remaining;
-  std::tie(hbn, remaining) =
-      hfg->eliminatePartialSequential(ordering_partial);
+  std::tie(hbn, remaining) = hfg->eliminatePartialSequential(ordering_partial);
 
   EXPECT_LONGS_EQUAL(14, hbn->size());
   EXPECT_LONGS_EQUAL(11, remaining->size());

From 5bc7d3333f21941620514a5298e49e788df495c6 Mon Sep 17 00:00:00 2001
From: Varun Agrawal <varagrawal@gmail.com>
Date: Wed, 31 Aug 2022 12:26:29 -0400
Subject: [PATCH 315/433] wrap BayesTree::optimize

---
 gtsam/hybrid/hybrid.i | 2 ++
 1 file changed, 2 insertions(+)

diff --git a/gtsam/hybrid/hybrid.i b/gtsam/hybrid/hybrid.i
index dfbf3919db..86029a48aa 100644
--- a/gtsam/hybrid/hybrid.i
+++ b/gtsam/hybrid/hybrid.i
@@ -99,6 +99,8 @@ class HybridBayesTree {
   bool empty() const;
   const HybridBayesTreeClique* operator[](size_t j) const;
 
+  gtsam::HybridValues optimize() const;
+
   string dot(const gtsam::KeyFormatter& keyFormatter =
                  gtsam::DefaultKeyFormatter) const;
 };

From 2c4866e6e6a6a0ba5dd822624461871df852734e Mon Sep 17 00:00:00 2001
From: Varun Agrawal <varagrawal@gmail.com>
Date: Wed, 31 Aug 2022 12:30:36 -0400
Subject: [PATCH 316/433] DiscreteKeys::print method

---
 gtsam/discrete/DiscreteKey.h | 10 ++++++++++
 1 file changed, 10 insertions(+)

diff --git a/gtsam/discrete/DiscreteKey.h b/gtsam/discrete/DiscreteKey.h
index dea00074d1..297d5570d2 100644
--- a/gtsam/discrete/DiscreteKey.h
+++ b/gtsam/discrete/DiscreteKey.h
@@ -69,6 +69,16 @@ namespace gtsam {
       push_back(key);
       return *this;
     }
+
+    /// Print the keys and cardinalities.
+    void print(const std::string& s = "",
+               const KeyFormatter& keyFormatter = DefaultKeyFormatter) const {
+      for (auto&& dkey : *this) {
+        std::cout << DefaultKeyFormatter(dkey.first) << " " << dkey.second
+                  << std::endl;
+      }
+    }
+
   }; // DiscreteKeys
 
   /// Create a list from two keys

From f42f282438f976640f59910b7bc47ca1a44e8a0f Mon Sep 17 00:00:00 2001
From: Varun Agrawal <varagrawal@gmail.com>
Date: Wed, 31 Aug 2022 16:54:17 -0400
Subject: [PATCH 317/433] rewrap KeyVector for Matlab wrapper

---
 gtsam/gtsam.i | 21 +++++++++++++++++++++
 1 file changed, 21 insertions(+)

diff --git a/gtsam/gtsam.i b/gtsam/gtsam.i
index 2671f0ef77..00b4d05f87 100644
--- a/gtsam/gtsam.i
+++ b/gtsam/gtsam.i
@@ -66,6 +66,27 @@ class KeySet {
   void serialize() const;
 };
 
+// Actually a vector<Key>, needed for Matlab
+class KeyVector {
+  KeyVector();
+  KeyVector(const gtsam::KeyVector& other);
+
+  // Note: no print function
+
+  // common STL methods
+  size_t size() const;
+  bool empty() const;
+  void clear();
+
+  // structure specific methods
+  size_t at(size_t i) const;
+  size_t front() const;
+  size_t back() const;
+  void push_back(size_t key) const;
+
+  void serialize() const;
+};
+
 // Actually a FastMap<Key,int>
 class KeyGroupMap {
   KeyGroupMap();

From bfb865c12e5ab9855c70d1b0e55dca9a0ff0f68f Mon Sep 17 00:00:00 2001
From: Varun Agrawal <varagrawal@gmail.com>
Date: Thu, 1 Sep 2022 00:00:06 -0400
Subject: [PATCH 318/433] DiscreteKeys serialization

---
 gtsam/discrete/DiscreteKey.h                | 31 ++++++++++++++++++++-
 gtsam/discrete/tests/testDiscreteFactor.cpp | 18 ++++++++++--
 2 files changed, 46 insertions(+), 3 deletions(-)

diff --git a/gtsam/discrete/DiscreteKey.h b/gtsam/discrete/DiscreteKey.h
index 297d5570d2..ec76f59413 100644
--- a/gtsam/discrete/DiscreteKey.h
+++ b/gtsam/discrete/DiscreteKey.h
@@ -21,6 +21,7 @@
 #include <gtsam/global_includes.h>
 #include <gtsam/inference/Key.h>
 
+#include <boost/serialization/vector.hpp>
 #include <map>
 #include <string>
 #include <vector>
@@ -79,8 +80,36 @@ namespace gtsam {
       }
     }
 
+    bool equals(const DiscreteKeys& other, double tol = 0) const {
+      if (this->size() != other.size()) {
+        return false;
+      }
+
+      for (size_t i = 0; i < this->size(); i++) {
+        if (this->at(i).first != other.at(i).first ||
+            this->at(i).second != other.at(i).second) {
+          return false;
+        }
+      }
+      return true;
+    }
+
+    /** Serialization function */
+    friend class boost::serialization::access;
+    template <class ARCHIVE>
+    void serialize(ARCHIVE& ar, const unsigned int /*version*/) {
+      ar& boost::serialization::make_nvp(
+          "DiscreteKeys",
+          boost::serialization::base_object<std::vector<DiscreteKey>>(*this));
+    }
+
   }; // DiscreteKeys
 
   /// Create a list from two keys
   GTSAM_EXPORT DiscreteKeys operator&(const DiscreteKey& key1, const DiscreteKey& key2);
-}
+
+  // traits
+  template <>
+  struct traits<DiscreteKeys> : public Testable<DiscreteKeys> {};
+
+  }  // namespace gtsam
diff --git a/gtsam/discrete/tests/testDiscreteFactor.cpp b/gtsam/discrete/tests/testDiscreteFactor.cpp
index 8681cf7eba..db0491c9d6 100644
--- a/gtsam/discrete/tests/testDiscreteFactor.cpp
+++ b/gtsam/discrete/tests/testDiscreteFactor.cpp
@@ -16,14 +16,29 @@
  *  @author Duy-Nguyen Ta
  */
 
+#include <CppUnitLite/TestHarness.h>
 #include <gtsam/base/Testable.h>
+#include <gtsam/base/serializationTestHelpers.h>
 #include <gtsam/discrete/DiscreteFactor.h>
-#include <CppUnitLite/TestHarness.h>
+
 #include <boost/assign/std/map.hpp>
 using namespace boost::assign;
 
 using namespace std;
 using namespace gtsam;
+using namespace gtsam::serializationTestHelpers;
+
+/* ************************************************************************* */
+TEST(DisreteKeys, Serialization) {
+  DiscreteKeys keys;
+  keys& DiscreteKey(0, 2);
+  keys& DiscreteKey(1, 3);
+  keys& DiscreteKey(2, 4);
+
+  EXPECT(equalsObj<DiscreteKeys>(keys));
+  EXPECT(equalsXML<DiscreteKeys>(keys));
+  EXPECT(equalsBinary<DiscreteKeys>(keys));
+}
 
 /* ************************************************************************* */
 int main() {
@@ -31,4 +46,3 @@ int main() {
   return TestRegistry::runAllTests(tr);
 }
 /* ************************************************************************* */
-

From eb5092897b442058d0e37e3eb506bf470807636a Mon Sep 17 00:00:00 2001
From: Varun Agrawal <varagrawal@gmail.com>
Date: Thu, 1 Sep 2022 00:03:31 -0400
Subject: [PATCH 319/433] add serialization for HybridFactor and
 HybridConditional

---
 gtsam/hybrid/HybridConditional.h |  9 +++++++++
 gtsam/hybrid/HybridFactor.h      | 14 ++++++++++++++
 2 files changed, 23 insertions(+)

diff --git a/gtsam/hybrid/HybridConditional.h b/gtsam/hybrid/HybridConditional.h
index 96ea6d9699..b43bb9945d 100644
--- a/gtsam/hybrid/HybridConditional.h
+++ b/gtsam/hybrid/HybridConditional.h
@@ -178,6 +178,15 @@ class GTSAM_EXPORT HybridConditional
   /// Get the type-erased pointer to the inner type
   boost::shared_ptr<Factor> inner() { return inner_; }
 
+ private:
+  /** Serialization function */
+  friend class boost::serialization::access;
+  template <class Archive>
+  void serialize(Archive& ar, const unsigned int /*version*/) {
+    ar& BOOST_SERIALIZATION_BASE_OBJECT_NVP(BaseFactor);
+    ar& BOOST_SERIALIZATION_BASE_OBJECT_NVP(BaseConditional);
+  }
+
 };  // HybridConditional
 
 // traits
diff --git a/gtsam/hybrid/HybridFactor.h b/gtsam/hybrid/HybridFactor.h
index 13dc2e6e69..b3cdc231b8 100644
--- a/gtsam/hybrid/HybridFactor.h
+++ b/gtsam/hybrid/HybridFactor.h
@@ -47,6 +47,7 @@ class GTSAM_EXPORT HybridFactor : public Factor {
   bool isContinuous_ = false;
   bool isHybrid_ = false;
 
+  // TODO(Varun) remove
   size_t nrContinuous_ = 0;
 
  protected:
@@ -129,6 +130,19 @@ class GTSAM_EXPORT HybridFactor : public Factor {
   const KeyVector &continuousKeys() const { return continuousKeys_; }
 
   /// @}
+
+ private:
+  /** Serialization function */
+  friend class boost::serialization::access;
+  template <class ARCHIVE>
+  void serialize(ARCHIVE &ar, const unsigned int /*version*/) {
+    ar &BOOST_SERIALIZATION_BASE_OBJECT_NVP(Base);
+    ar &BOOST_SERIALIZATION_NVP(isDiscrete_);
+    ar &BOOST_SERIALIZATION_NVP(isContinuous_);
+    ar &BOOST_SERIALIZATION_NVP(isHybrid_);
+    ar &BOOST_SERIALIZATION_NVP(discreteKeys_);
+    ar &BOOST_SERIALIZATION_NVP(continuousKeys_);
+  }
 };
 // HybridFactor
 

From 8692ae63eaa5eafc4465c55f7392e9cf02cdc692 Mon Sep 17 00:00:00 2001
From: Varun Agrawal <varagrawal@gmail.com>
Date: Thu, 1 Sep 2022 00:03:55 -0400
Subject: [PATCH 320/433] Make HybridBayesNet testable and add serialization

---
 gtsam/hybrid/HybridBayesNet.h             | 54 ++++++++++++++++++++---
 gtsam/hybrid/tests/testHybridBayesNet.cpp | 15 +++++++
 2 files changed, 63 insertions(+), 6 deletions(-)

diff --git a/gtsam/hybrid/HybridBayesNet.h b/gtsam/hybrid/HybridBayesNet.h
index 616ea06989..e84103a50c 100644
--- a/gtsam/hybrid/HybridBayesNet.h
+++ b/gtsam/hybrid/HybridBayesNet.h
@@ -18,6 +18,7 @@
 #pragma once
 
 #include <gtsam/discrete/DecisionTreeFactor.h>
+#include <gtsam/global_includes.h>
 #include <gtsam/hybrid/HybridConditional.h>
 #include <gtsam/hybrid/HybridValues.h>
 #include <gtsam/inference/BayesNet.h>
@@ -37,12 +38,31 @@ class GTSAM_EXPORT HybridBayesNet : public BayesNet<HybridConditional> {
   using shared_ptr = boost::shared_ptr<HybridBayesNet>;
   using sharedConditional = boost::shared_ptr<ConditionalType>;
 
+  /// @name Standard Constructors
+  /// @{
+
   /** Construct empty bayes net */
   HybridBayesNet() = default;
 
-  /// Prune the Hybrid Bayes Net given the discrete decision tree.
-  HybridBayesNet prune(
-      const DecisionTreeFactor::shared_ptr &discreteFactor) const;
+  /// @}
+  /// @name Testable
+  /// @{
+
+  /** Check equality */
+  bool equals(const This &bn, double tol = 1e-9) const {
+    return Base::equals(bn, tol);
+  }
+
+  /// print graph
+  void print(
+      const std::string &s = "",
+      const KeyFormatter &formatter = DefaultKeyFormatter) const override {
+    Base::print(s, formatter);
+  }
+
+  /// @}
+  /// @name Standard Interface
+  /// @{
 
   /// Add HybridConditional to Bayes Net
   using Base::add;
@@ -71,9 +91,13 @@ class GTSAM_EXPORT HybridBayesNet : public BayesNet<HybridConditional> {
    */
   GaussianBayesNet choose(const DiscreteValues &assignment) const;
 
-  /// Solve the HybridBayesNet by back-substitution.
-  /// TODO(Shangjie) do we need to create a HybridGaussianBayesNet class, and
-  /// put this method there?
+  /**
+   * @brief Solve the HybridBayesNet by first computing the MPE of all the
+   * discrete variables and then optimizing the continuous variables based on
+   * the MPE assignment.
+   *
+   * @return HybridValues
+   */
   HybridValues optimize() const;
 
   /**
@@ -84,6 +108,24 @@ class GTSAM_EXPORT HybridBayesNet : public BayesNet<HybridConditional> {
    * @return Values
    */
   VectorValues optimize(const DiscreteValues &assignment) const;
+
+  /// Prune the Hybrid Bayes Net given the discrete decision tree.
+  HybridBayesNet prune(
+      const DecisionTreeFactor::shared_ptr &discreteFactor) const;
+
+  /// @}
+
+ private:
+  /** Serialization function */
+  friend class boost::serialization::access;
+  template <class ARCHIVE>
+  void serialize(ARCHIVE &ar, const unsigned int /*version*/) {
+    ar &BOOST_SERIALIZATION_BASE_OBJECT_NVP(Base);
+  }
 };
 
+/// traits
+template <>
+struct traits<HybridBayesNet> : public Testable<HybridBayesNet> {};
+
 }  // namespace gtsam
diff --git a/gtsam/hybrid/tests/testHybridBayesNet.cpp b/gtsam/hybrid/tests/testHybridBayesNet.cpp
index c7516c0f63..bf9385bc48 100644
--- a/gtsam/hybrid/tests/testHybridBayesNet.cpp
+++ b/gtsam/hybrid/tests/testHybridBayesNet.cpp
@@ -18,6 +18,7 @@
  * @date    December 2021
  */
 
+#include <gtsam/base/serializationTestHelpers.h>
 #include <gtsam/hybrid/HybridBayesNet.h>
 #include <gtsam/nonlinear/NonlinearFactorGraph.h>
 
@@ -28,6 +29,8 @@
 
 using namespace std;
 using namespace gtsam;
+using namespace gtsam::serializationTestHelpers;
+
 using noiseModel::Isotropic;
 using symbol_shorthand::M;
 using symbol_shorthand::X;
@@ -146,6 +149,18 @@ TEST(HybridBayesNet, Optimize) {
   EXPECT(assert_equal(expectedValues, delta.continuous(), 1e-5));
 }
 
+/* ****************************************************************************/
+// Test HybridBayesNet serialization.
+TEST(HybridBayesNet, Serialization) {
+  Switching s(4);
+  Ordering ordering = s.linearizedFactorGraph.getHybridOrdering();
+  HybridBayesNet hbn = *(s.linearizedFactorGraph.eliminateSequential(ordering));
+
+  EXPECT(equalsObj<HybridBayesNet>(hbn));
+  EXPECT(equalsXML<HybridBayesNet>(hbn));
+  EXPECT(equalsBinary<HybridBayesNet>(hbn));
+}
+
 /* ************************************************************************* */
 int main() {
   TestResult tr;

From b16b05ea2caef84a69bb5cda82f2472f350811d4 Mon Sep 17 00:00:00 2001
From: Varun Agrawal <varagrawal@gmail.com>
Date: Thu, 1 Sep 2022 00:04:19 -0400
Subject: [PATCH 321/433] Make HybridBayesTree testable and add serialization

---
 gtsam/hybrid/HybridBayesTree.h             | 12 ++++++++++++
 gtsam/hybrid/tests/testHybridBayesTree.cpp | 15 +++++++++++++++
 2 files changed, 27 insertions(+)

diff --git a/gtsam/hybrid/HybridBayesTree.h b/gtsam/hybrid/HybridBayesTree.h
index 361fbe86fe..3fa344d4dd 100644
--- a/gtsam/hybrid/HybridBayesTree.h
+++ b/gtsam/hybrid/HybridBayesTree.h
@@ -89,8 +89,20 @@ class GTSAM_EXPORT HybridBayesTree : public BayesTree<HybridBayesTreeClique> {
   VectorValues optimize(const DiscreteValues& assignment) const;
 
   /// @}
+
+ private:
+  /** Serialization function */
+  friend class boost::serialization::access;
+  template <class ARCHIVE>
+  void serialize(ARCHIVE& ar, const unsigned int /*version*/) {
+    ar& BOOST_SERIALIZATION_BASE_OBJECT_NVP(Base);
+  }
 };
 
+/// traits
+template <>
+struct traits<HybridBayesTree> : public Testable<HybridBayesTree> {};
+
 /**
  * @brief Class for Hybrid Bayes tree orphan subtrees.
  *
diff --git a/gtsam/hybrid/tests/testHybridBayesTree.cpp b/gtsam/hybrid/tests/testHybridBayesTree.cpp
index d457e6b746..0908b8cb59 100644
--- a/gtsam/hybrid/tests/testHybridBayesTree.cpp
+++ b/gtsam/hybrid/tests/testHybridBayesTree.cpp
@@ -16,6 +16,7 @@
  * @date    August 2022
  */
 
+#include <gtsam/base/serializationTestHelpers.h>
 #include <gtsam/discrete/DiscreteFactorGraph.h>
 #include <gtsam/hybrid/HybridBayesTree.h>
 #include <gtsam/hybrid/HybridGaussianISAM.h>
@@ -143,6 +144,20 @@ TEST(HybridBayesTree, Optimize) {
   EXPECT(assert_equal(expectedValues, delta.continuous()));
 }
 
+/* ****************************************************************************/
+// Test HybridBayesTree serialization.
+TEST(HybridBayesTree, Serialization) {
+  Switching s(4);
+  Ordering ordering = s.linearizedFactorGraph.getHybridOrdering();
+  HybridBayesTree hbt =
+      *(s.linearizedFactorGraph.eliminateMultifrontal(ordering));
+
+  using namespace gtsam::serializationTestHelpers;
+  EXPECT(equalsObj<HybridBayesTree>(hbt));
+  EXPECT(equalsXML<HybridBayesTree>(hbt));
+  EXPECT(equalsBinary<HybridBayesTree>(hbt));
+}
+
 /* ************************************************************************* */
 int main() {
   TestResult tr;

From c6ebbdc70812715d6f578c6f5fa5d6eb72b33cc4 Mon Sep 17 00:00:00 2001
From: Varun Agrawal <varagrawal@gmail.com>
Date: Thu, 1 Sep 2022 00:06:29 -0400
Subject: [PATCH 322/433] add serialization test for GaussianBayesNet

---
 gtsam/linear/tests/testGaussianBayesNet.cpp | 31 +++++++++++++++++++++
 1 file changed, 31 insertions(+)

diff --git a/gtsam/linear/tests/testGaussianBayesNet.cpp b/gtsam/linear/tests/testGaussianBayesNet.cpp
index 2b125265f7..fc9e52b5cf 100644
--- a/gtsam/linear/tests/testGaussianBayesNet.cpp
+++ b/gtsam/linear/tests/testGaussianBayesNet.cpp
@@ -350,6 +350,37 @@ TEST(GaussianBayesNet, Dot) {
     "}");
 }
 
+#include <gtsam/base/serializationTestHelpers.h>
+using namespace gtsam::serializationTestHelpers;
+
+/* ****************************************************************************/
+// Test GaussianBayesNet serialization.
+TEST(GaussianBayesNet, Serialization) {
+  // Create an arbitrary Bayes Net
+  GaussianBayesNet gbn;
+  gbn += GaussianConditional::shared_ptr(new GaussianConditional(
+      0, Vector2(1.0, 2.0), (Matrix2() << 3.0, 4.0, 0.0, 6.0).finished(), 3,
+      (Matrix2() << 7.0, 8.0, 9.0, 10.0).finished(), 4,
+      (Matrix2() << 11.0, 12.0, 13.0, 14.0).finished()));
+  gbn += GaussianConditional::shared_ptr(new GaussianConditional(
+      1, Vector2(15.0, 16.0), (Matrix2() << 17.0, 18.0, 0.0, 20.0).finished(),
+      2, (Matrix2() << 21.0, 22.0, 23.0, 24.0).finished(), 4,
+      (Matrix2() << 25.0, 26.0, 27.0, 28.0).finished()));
+  gbn += GaussianConditional::shared_ptr(new GaussianConditional(
+      2, Vector2(29.0, 30.0), (Matrix2() << 31.0, 32.0, 0.0, 34.0).finished(),
+      3, (Matrix2() << 35.0, 36.0, 37.0, 38.0).finished()));
+  gbn += GaussianConditional::shared_ptr(new GaussianConditional(
+      3, Vector2(39.0, 40.0), (Matrix2() << 41.0, 42.0, 0.0, 44.0).finished(),
+      4, (Matrix2() << 45.0, 46.0, 47.0, 48.0).finished()));
+  gbn += GaussianConditional::shared_ptr(new GaussianConditional(
+      4, Vector2(49.0, 50.0), (Matrix2() << 51.0, 52.0, 0.0, 54.0).finished()));
+
+  EXPECT(equalsObj<GaussianBayesNet>(gbn));
+  EXPECT(equalsXML<GaussianBayesNet>(gbn));
+  EXPECT(equalsBinary<GaussianBayesNet>(gbn));
+}
+
+
 /* ************************************************************************* */
 int main() {
   TestResult tr;

From ab017dfd19e8027eedb994d313b890d5118bf0f1 Mon Sep 17 00:00:00 2001
From: Varun Agrawal <varagrawal@gmail.com>
Date: Thu, 1 Sep 2022 10:40:48 -0400
Subject: [PATCH 323/433] move DiscreteKeys code to .cpp

---
 gtsam/discrete/DiscreteKey.cpp | 21 +++++++++++++++++++++
 gtsam/discrete/DiscreteKey.h   | 22 +++-------------------
 2 files changed, 24 insertions(+), 19 deletions(-)

diff --git a/gtsam/discrete/DiscreteKey.cpp b/gtsam/discrete/DiscreteKey.cpp
index 121d611038..06ed2ca3b3 100644
--- a/gtsam/discrete/DiscreteKey.cpp
+++ b/gtsam/discrete/DiscreteKey.cpp
@@ -48,4 +48,25 @@ namespace gtsam {
     return keys & key2;
   }
 
+  void DiscreteKeys::print(const std::string& s,
+                           const KeyFormatter& keyFormatter) const {
+    for (auto&& dkey : *this) {
+      std::cout << DefaultKeyFormatter(dkey.first) << " " << dkey.second
+                << std::endl;
+    }
+  }
+
+  bool DiscreteKeys::equals(const DiscreteKeys& other, double tol) const {
+    if (this->size() != other.size()) {
+      return false;
+    }
+
+    for (size_t i = 0; i < this->size(); i++) {
+      if (this->at(i).first != other.at(i).first ||
+          this->at(i).second != other.at(i).second) {
+        return false;
+      }
+    }
+    return true;
+  }
 }
diff --git a/gtsam/discrete/DiscreteKey.h b/gtsam/discrete/DiscreteKey.h
index ec76f59413..8e0802d836 100644
--- a/gtsam/discrete/DiscreteKey.h
+++ b/gtsam/discrete/DiscreteKey.h
@@ -73,26 +73,10 @@ namespace gtsam {
 
     /// Print the keys and cardinalities.
     void print(const std::string& s = "",
-               const KeyFormatter& keyFormatter = DefaultKeyFormatter) const {
-      for (auto&& dkey : *this) {
-        std::cout << DefaultKeyFormatter(dkey.first) << " " << dkey.second
-                  << std::endl;
-      }
-    }
+               const KeyFormatter& keyFormatter = DefaultKeyFormatter) const;
 
-    bool equals(const DiscreteKeys& other, double tol = 0) const {
-      if (this->size() != other.size()) {
-        return false;
-      }
-
-      for (size_t i = 0; i < this->size(); i++) {
-        if (this->at(i).first != other.at(i).first ||
-            this->at(i).second != other.at(i).second) {
-          return false;
-        }
-      }
-      return true;
-    }
+    /// Check equality to another DiscreteKeys object.
+    bool equals(const DiscreteKeys& other, double tol = 0) const;
 
     /** Serialization function */
     friend class boost::serialization::access;

From 27a9d566028c694bfd7e8297a999d9c6995e76c8 Mon Sep 17 00:00:00 2001
From: Varun Agrawal <varagrawal@gmail.com>
Date: Thu, 1 Sep 2022 13:47:18 -0400
Subject: [PATCH 324/433] move GaussianBayesNet serialization test to
 testSerializationLinear

---
 gtsam/linear/tests/testGaussianBayesNet.cpp   | 31 -------------------
 .../linear/tests/testSerializationLinear.cpp  | 27 ++++++++++++++++
 2 files changed, 27 insertions(+), 31 deletions(-)

diff --git a/gtsam/linear/tests/testGaussianBayesNet.cpp b/gtsam/linear/tests/testGaussianBayesNet.cpp
index fc9e52b5cf..2b125265f7 100644
--- a/gtsam/linear/tests/testGaussianBayesNet.cpp
+++ b/gtsam/linear/tests/testGaussianBayesNet.cpp
@@ -350,37 +350,6 @@ TEST(GaussianBayesNet, Dot) {
     "}");
 }
 
-#include <gtsam/base/serializationTestHelpers.h>
-using namespace gtsam::serializationTestHelpers;
-
-/* ****************************************************************************/
-// Test GaussianBayesNet serialization.
-TEST(GaussianBayesNet, Serialization) {
-  // Create an arbitrary Bayes Net
-  GaussianBayesNet gbn;
-  gbn += GaussianConditional::shared_ptr(new GaussianConditional(
-      0, Vector2(1.0, 2.0), (Matrix2() << 3.0, 4.0, 0.0, 6.0).finished(), 3,
-      (Matrix2() << 7.0, 8.0, 9.0, 10.0).finished(), 4,
-      (Matrix2() << 11.0, 12.0, 13.0, 14.0).finished()));
-  gbn += GaussianConditional::shared_ptr(new GaussianConditional(
-      1, Vector2(15.0, 16.0), (Matrix2() << 17.0, 18.0, 0.0, 20.0).finished(),
-      2, (Matrix2() << 21.0, 22.0, 23.0, 24.0).finished(), 4,
-      (Matrix2() << 25.0, 26.0, 27.0, 28.0).finished()));
-  gbn += GaussianConditional::shared_ptr(new GaussianConditional(
-      2, Vector2(29.0, 30.0), (Matrix2() << 31.0, 32.0, 0.0, 34.0).finished(),
-      3, (Matrix2() << 35.0, 36.0, 37.0, 38.0).finished()));
-  gbn += GaussianConditional::shared_ptr(new GaussianConditional(
-      3, Vector2(39.0, 40.0), (Matrix2() << 41.0, 42.0, 0.0, 44.0).finished(),
-      4, (Matrix2() << 45.0, 46.0, 47.0, 48.0).finished()));
-  gbn += GaussianConditional::shared_ptr(new GaussianConditional(
-      4, Vector2(49.0, 50.0), (Matrix2() << 51.0, 52.0, 0.0, 54.0).finished()));
-
-  EXPECT(equalsObj<GaussianBayesNet>(gbn));
-  EXPECT(equalsXML<GaussianBayesNet>(gbn));
-  EXPECT(equalsBinary<GaussianBayesNet>(gbn));
-}
-
-
 /* ************************************************************************* */
 int main() {
   TestResult tr;
diff --git a/gtsam/linear/tests/testSerializationLinear.cpp b/gtsam/linear/tests/testSerializationLinear.cpp
index 881b2830ef..ee21de364c 100644
--- a/gtsam/linear/tests/testSerializationLinear.cpp
+++ b/gtsam/linear/tests/testSerializationLinear.cpp
@@ -198,6 +198,33 @@ TEST (Serialization, gaussian_factor_graph) {
   EXPECT(equalsBinary(graph));
 }
 
+/* ****************************************************************************/
+TEST(Serialization, gaussian_bayes_net) {
+  // Create an arbitrary Bayes Net
+  GaussianBayesNet gbn;
+  gbn += GaussianConditional::shared_ptr(new GaussianConditional(
+      0, Vector2(1.0, 2.0), (Matrix2() << 3.0, 4.0, 0.0, 6.0).finished(), 3,
+      (Matrix2() << 7.0, 8.0, 9.0, 10.0).finished(), 4,
+      (Matrix2() << 11.0, 12.0, 13.0, 14.0).finished()));
+  gbn += GaussianConditional::shared_ptr(new GaussianConditional(
+      1, Vector2(15.0, 16.0), (Matrix2() << 17.0, 18.0, 0.0, 20.0).finished(),
+      2, (Matrix2() << 21.0, 22.0, 23.0, 24.0).finished(), 4,
+      (Matrix2() << 25.0, 26.0, 27.0, 28.0).finished()));
+  gbn += GaussianConditional::shared_ptr(new GaussianConditional(
+      2, Vector2(29.0, 30.0), (Matrix2() << 31.0, 32.0, 0.0, 34.0).finished(),
+      3, (Matrix2() << 35.0, 36.0, 37.0, 38.0).finished()));
+  gbn += GaussianConditional::shared_ptr(new GaussianConditional(
+      3, Vector2(39.0, 40.0), (Matrix2() << 41.0, 42.0, 0.0, 44.0).finished(),
+      4, (Matrix2() << 45.0, 46.0, 47.0, 48.0).finished()));
+  gbn += GaussianConditional::shared_ptr(new GaussianConditional(
+      4, Vector2(49.0, 50.0), (Matrix2() << 51.0, 52.0, 0.0, 54.0).finished()));
+
+  std::string serialized = serialize(gbn);
+  GaussianBayesNet actual;
+  deserialize(serialized, actual);
+  EXPECT(assert_equal(gbn, actual));
+}
+
 /* ************************************************************************* */
 TEST (Serialization, gaussian_bayes_tree) {
   const Key x1=1, x2=2, x3=3, x4=4;

From e16460358fc877a475bf711432ad2a43d63fae8d Mon Sep 17 00:00:00 2001
From: Varun Agrawal <varagrawal@gmail.com>
Date: Fri, 2 Sep 2022 15:01:59 -0400
Subject: [PATCH 325/433] add multifrontal test to reproduce issue

---
 gtsam/hybrid/tests/testHybridBayesNet.cpp | 20 ++++++++++++++++++++
 1 file changed, 20 insertions(+)

diff --git a/gtsam/hybrid/tests/testHybridBayesNet.cpp b/gtsam/hybrid/tests/testHybridBayesNet.cpp
index bf9385bc48..0c15ee83da 100644
--- a/gtsam/hybrid/tests/testHybridBayesNet.cpp
+++ b/gtsam/hybrid/tests/testHybridBayesNet.cpp
@@ -20,6 +20,7 @@
 
 #include <gtsam/base/serializationTestHelpers.h>
 #include <gtsam/hybrid/HybridBayesNet.h>
+#include <gtsam/hybrid/HybridBayesTree.h>
 #include <gtsam/nonlinear/NonlinearFactorGraph.h>
 
 #include "Switching.h"
@@ -149,6 +150,25 @@ TEST(HybridBayesNet, Optimize) {
   EXPECT(assert_equal(expectedValues, delta.continuous(), 1e-5));
 }
 
+/* ****************************************************************************/
+// Test bayes net multifrontal optimize
+TEST(HybridBayesNet, OptimizeMultifrontal) {
+  Switching s(4);
+
+  Ordering hybridOrdering = s.linearizedFactorGraph.getHybridOrdering();
+  HybridBayesTree::shared_ptr hybridBayesTree =
+      s.linearizedFactorGraph.eliminateMultifrontal(hybridOrdering);
+  HybridValues delta = hybridBayesTree->optimize();
+
+  VectorValues expectedValues;
+  expectedValues.insert(X(1), -0.999904 * Vector1::Ones());
+  expectedValues.insert(X(2), -0.99029 * Vector1::Ones());
+  expectedValues.insert(X(3), -1.00971 * Vector1::Ones());
+  expectedValues.insert(X(4), -1.0001 * Vector1::Ones());
+
+  EXPECT(assert_equal(expectedValues, delta.continuous(), 1e-5));
+}
+
 /* ****************************************************************************/
 // Test HybridBayesNet serialization.
 TEST(HybridBayesNet, Serialization) {

From 773af1ed446fb389a604c80e29783c21403fc113 Mon Sep 17 00:00:00 2001
From: Varun Agrawal <varagrawal@gmail.com>
Date: Fri, 2 Sep 2022 15:04:28 -0400
Subject: [PATCH 326/433] refactor HybridBayesTree::optimize

---
 gtsam/base/treeTraversal-inst.h  |   4 +-
 gtsam/hybrid/HybridBayesTree.cpp | 174 +++++++++++++++++--------------
 2 files changed, 96 insertions(+), 82 deletions(-)

diff --git a/gtsam/base/treeTraversal-inst.h b/gtsam/base/treeTraversal-inst.h
index 30cec3b9a4..be45a248ef 100644
--- a/gtsam/base/treeTraversal-inst.h
+++ b/gtsam/base/treeTraversal-inst.h
@@ -221,6 +221,6 @@ void PrintForest(const FOREST& forest, std::string str,
   PrintForestVisitorPre visitor(keyFormatter);
   DepthFirstForest(forest, str, visitor);
 }
-}
+}  // namespace treeTraversal
 
-}
+}  // namespace gtsam
diff --git a/gtsam/hybrid/HybridBayesTree.cpp b/gtsam/hybrid/HybridBayesTree.cpp
index 49ae0bd877..3fa4d6268b 100644
--- a/gtsam/hybrid/HybridBayesTree.cpp
+++ b/gtsam/hybrid/HybridBayesTree.cpp
@@ -24,6 +24,7 @@
 #include <gtsam/hybrid/HybridBayesTree.h>
 #include <gtsam/inference/BayesTree-inst.h>
 #include <gtsam/inference/BayesTreeCliqueBase-inst.h>
+#include <gtsam/linear/GaussianJunctionTree.h>
 
 namespace gtsam {
 
@@ -39,95 +40,108 @@ bool HybridBayesTree::equals(const This& other, double tol) const {
 
 /* ************************************************************************* */
 HybridValues HybridBayesTree::optimize() const {
-  HybridBayesNet hbn;
   DiscreteBayesNet dbn;
-
-  KeyVector added_keys;
-
-  // Iterate over all the nodes in the BayesTree
-  for (auto&& node : nodes()) {
-    // Check if conditional being added is already in the Bayes net.
-    if (std::find(added_keys.begin(), added_keys.end(), node.first) ==
-        added_keys.end()) {
-      // Access the clique and get the underlying hybrid conditional
-      HybridBayesTreeClique::shared_ptr clique = node.second;
-      HybridConditional::shared_ptr conditional = clique->conditional();
-
-      // Record the key being added
-      added_keys.insert(added_keys.end(), conditional->frontals().begin(),
-                        conditional->frontals().end());
-
-      if (conditional->isDiscrete()) {
-        // If discrete, we use it to compute the MPE
-        dbn.push_back(conditional->asDiscreteConditional());
-
-      } else {
-        // Else conditional is hybrid or continuous-only,
-        // so we directly add it to the Hybrid Bayes net.
-        hbn.push_back(conditional);
-      }
-    }
+  DiscreteValues mpe;
+
+  auto root = roots_.at(0);
+  // Access the clique and get the underlying hybrid conditional
+  HybridConditional::shared_ptr root_conditional = root->conditional();
+
+  // The root should be discrete only, we compute the MPE
+  if (root_conditional->isDiscrete()) {
+    dbn.push_back(root_conditional->asDiscreteConditional());
+    mpe = DiscreteFactorGraph(dbn).optimize();
+  } else {
+    throw std::runtime_error(
+        "HybridBayesTree root is not discrete-only. Please check elimination "
+        "ordering or use continuous factor graph.");
   }
-  // Get the MPE
-  DiscreteValues mpe = DiscreteFactorGraph(dbn).optimize();
-  // Given the MPE, compute the optimal continuous values.
-  GaussianBayesNet gbn = hbn.choose(mpe);
-
-  // If TBB is enabled, the bayes net order gets reversed,
-  // so we pre-reverse it
-#ifdef GTSAM_USE_TBB
-  auto reversed = boost::adaptors::reverse(gbn);
-  gbn = GaussianBayesNet(reversed.begin(), reversed.end());
-#endif
-
-  return HybridValues(mpe, gbn.optimize());
+
+  VectorValues values = optimize(mpe);
+  return HybridValues(mpe, values);
 }
 
 /* ************************************************************************* */
-VectorValues HybridBayesTree::optimize(const DiscreteValues& assignment) const {
-  GaussianBayesNet gbn;
-
-  KeyVector added_keys;
-
-  // Iterate over all the nodes in the BayesTree
-  for (auto&& node : nodes()) {
-    // Check if conditional being added is already in the Bayes net.
-    if (std::find(added_keys.begin(), added_keys.end(), node.first) ==
-        added_keys.end()) {
-      // Access the clique and get the underlying hybrid conditional
-      HybridBayesTreeClique::shared_ptr clique = node.second;
-      HybridConditional::shared_ptr conditional = clique->conditional();
-
-      // Record the key being added
-      added_keys.insert(added_keys.end(), conditional->frontals().begin(),
-                        conditional->frontals().end());
-
-      // If conditional is hybrid (and not discrete-only), we get the Gaussian
-      // Conditional corresponding to the assignment and add it to the Gaussian
-      // Bayes Net.
-      if (conditional->isHybrid()) {
-        auto gm = conditional->asMixture();
-        GaussianConditional::shared_ptr gaussian_conditional =
-            (*gm)(assignment);
-
-        gbn.push_back(gaussian_conditional);
-
-      } else if (conditional->isContinuous()) {
-        // If conditional is Gaussian, we simply add it to the Bayes net.
-        gbn.push_back(conditional->asGaussian());
-      }
+/**
+ * @brief Helper class for Depth First Forest traversal on the HybridBayesTree.
+ *
+ * When traversing the tree, the pre-order visitor will receive an instance of
+ * this class with the parent clique data.
+ */
+struct HybridAssignmentData {
+  const DiscreteValues assignment_;
+  GaussianBayesTree::sharedNode parentClique_;
+  // The gaussian bayes tree that will be recursively created.
+  GaussianBayesTree* gaussianbayesTree_;
+
+  /**
+   * @brief Construct a new Hybrid Assignment Data object.
+   *
+   * @param assignment The MPE assignment for the optimal Gaussian cliques.
+   * @param parentClique The clique from the parent node of the current node.
+   * @param gbt The Gaussian Bayes Tree being generated during tree traversal.
+   */
+  HybridAssignmentData(const DiscreteValues& assignment,
+                       const GaussianBayesTree::sharedNode& parentClique,
+                       GaussianBayesTree* gbt)
+      : assignment_(assignment),
+        parentClique_(parentClique),
+        gaussianbayesTree_(gbt) {}
+
+  /**
+   * @brief A function used during tree traversal that operators on each node
+   * before visiting the node's children.
+   *
+   * @param node The current node being visited.
+   * @param parentData The HybridAssignmentData from the parent node.
+   * @return HybridAssignmentData
+   */
+  static HybridAssignmentData AssignmentPreOrderVisitor(
+      const HybridBayesTree::sharedNode& node,
+      HybridAssignmentData& parentData) {
+    // Extract the gaussian conditional from the Hybrid clique
+    HybridConditional::shared_ptr hybrid_conditional = node->conditional();
+    GaussianConditional::shared_ptr conditional;
+    if (hybrid_conditional->isHybrid()) {
+      conditional = (*hybrid_conditional->asMixture())(parentData.assignment_);
+    } else if (hybrid_conditional->isContinuous()) {
+      conditional = hybrid_conditional->asGaussian();
+    } else {
+      // Discrete only conditional, so we set to empty gaussian conditional
+      conditional = boost::make_shared<GaussianConditional>();
     }
+
+    // Create the GaussianClique for the current node
+    auto clique = boost::make_shared<GaussianBayesTree::Node>(conditional);
+    // Add the current clique to the GaussianBayesTree.
+    parentData.gaussianbayesTree_->addClique(clique, parentData.parentClique_);
+
+    // Create new HybridAssignmentData where the current node is the parent
+    // This will be passed down to the children nodes
+    HybridAssignmentData data(parentData.assignment_, clique,
+                              parentData.gaussianbayesTree_);
+    return data;
+  }
+};
+
+/* *************************************************************************
+ */
+VectorValues HybridBayesTree::optimize(const DiscreteValues& assignment) const {
+  GaussianBayesTree gbt;
+  HybridAssignmentData rootData(assignment, 0, &gbt);
+  {
+    treeTraversal::no_op visitorPost;
+    // Limits OpenMP threads since we're mixing TBB and OpenMP
+    TbbOpenMPMixedScope threadLimiter;
+    treeTraversal::DepthFirstForestParallel(
+        *this, rootData, HybridAssignmentData::AssignmentPreOrderVisitor,
+        visitorPost);
   }
 
-  // If TBB is enabled, the bayes net order gets reversed,
-  // so we pre-reverse it
-#ifdef GTSAM_USE_TBB
-  auto reversed = boost::adaptors::reverse(gbn);
-  gbn = GaussianBayesNet(reversed.begin(), reversed.end());
-#endif
+  VectorValues result = gbt.optimize();
 
-  // Return the optimized bayes net.
-  return gbn.optimize();
+  // Return the optimized bayes net result.
+  return result;
 }
 
 }  // namespace gtsam

From ba4720709ba718eb0362fa54145d6afa233bed81 Mon Sep 17 00:00:00 2001
From: Varun Agrawal <varagrawal@gmail.com>
Date: Fri, 2 Sep 2022 15:11:49 -0400
Subject: [PATCH 327/433] some name cleaning in the HybridJunctionTree

---
 gtsam/hybrid/HybridJunctionTree.cpp | 27 +++++++++++++--------------
 1 file changed, 13 insertions(+), 14 deletions(-)

diff --git a/gtsam/hybrid/HybridJunctionTree.cpp b/gtsam/hybrid/HybridJunctionTree.cpp
index 7725742cf6..422c200a43 100644
--- a/gtsam/hybrid/HybridJunctionTree.cpp
+++ b/gtsam/hybrid/HybridJunctionTree.cpp
@@ -31,9 +31,7 @@ template class EliminatableClusterTree<HybridBayesTree,
 template class JunctionTree<HybridBayesTree, HybridGaussianFactorGraph>;
 
 struct HybridConstructorTraversalData {
-  typedef
-      typename JunctionTree<HybridBayesTree, HybridGaussianFactorGraph>::Node
-          Node;
+  typedef HybridJunctionTree::Node Node;
   typedef
       typename JunctionTree<HybridBayesTree,
                             HybridGaussianFactorGraph>::sharedNode sharedNode;
@@ -62,6 +60,7 @@ struct HybridConstructorTraversalData {
     data.junctionTreeNode = boost::make_shared<Node>(node->key, node->factors);
     parentData.junctionTreeNode->addChild(data.junctionTreeNode);
 
+    // Add all the discrete keys in the hybrid factors to the current data
     for (HybridFactor::shared_ptr& f : node->factors) {
       for (auto& k : f->discreteKeys()) {
         data.discreteKeys.insert(k.first);
@@ -72,8 +71,8 @@ struct HybridConstructorTraversalData {
   }
 
   // Post-order visitor function
-  static void ConstructorTraversalVisitorPostAlg2(
-      const boost::shared_ptr<HybridEliminationTree::Node>& ETreeNode,
+  static void ConstructorTraversalVisitorPost(
+      const boost::shared_ptr<HybridEliminationTree::Node>& node,
       const HybridConstructorTraversalData& data) {
     // In this post-order visitor, we combine the symbolic elimination results
     // from the elimination tree children and symbolically eliminate the current
@@ -86,15 +85,15 @@ struct HybridConstructorTraversalData {
 
     // Do symbolic elimination for this node
     SymbolicFactors symbolicFactors;
-    symbolicFactors.reserve(ETreeNode->factors.size() +
+    symbolicFactors.reserve(node->factors.size() +
                             data.childSymbolicFactors.size());
     // Add ETree node factors
-    symbolicFactors += ETreeNode->factors;
+    symbolicFactors += node->factors;
     // Add symbolic factors passed up from children
     symbolicFactors += data.childSymbolicFactors;
 
     Ordering keyAsOrdering;
-    keyAsOrdering.push_back(ETreeNode->key);
+    keyAsOrdering.push_back(node->key);
     SymbolicConditional::shared_ptr conditional;
     SymbolicFactor::shared_ptr separatorFactor;
     boost::tie(conditional, separatorFactor) =
@@ -105,19 +104,19 @@ struct HybridConstructorTraversalData {
     data.parentData->childSymbolicFactors.push_back(separatorFactor);
     data.parentData->discreteKeys.merge(data.discreteKeys);
 
-    sharedNode node = data.junctionTreeNode;
+    sharedNode jt_node = data.junctionTreeNode;
     const FastVector<SymbolicConditional::shared_ptr>& childConditionals =
         data.childSymbolicConditionals;
-    node->problemSize_ = (int)(conditional->size() * symbolicFactors.size());
+    jt_node->problemSize_ = (int)(conditional->size() * symbolicFactors.size());
 
     // Merge our children if they are in our clique - if our conditional has
     // exactly one fewer parent than our child's conditional.
     const size_t nrParents = conditional->nrParents();
-    const size_t nrChildren = node->nrChildren();
+    const size_t nrChildren = jt_node->nrChildren();
     assert(childConditionals.size() == nrChildren);
 
     // decide which children to merge, as index into children
-    std::vector<size_t> nrChildrenFrontals = node->nrFrontalsOfChildren();
+    std::vector<size_t> nrChildrenFrontals = jt_node->nrFrontalsOfChildren();
     std::vector<bool> merge(nrChildren, false);
     size_t nrFrontals = 1;
     for (size_t i = 0; i < nrChildren; i++) {
@@ -137,7 +136,7 @@ struct HybridConstructorTraversalData {
     }
 
     // now really merge
-    node->mergeChildren(merge);
+    jt_node->mergeChildren(merge);
   }
 };
 
@@ -161,7 +160,7 @@ HybridJunctionTree::HybridJunctionTree(
                                                   // the junction tree roots
   treeTraversal::DepthFirstForest(eliminationTree, rootData,
                                   Data::ConstructorTraversalVisitorPre,
-                                  Data::ConstructorTraversalVisitorPostAlg2);
+                                  Data::ConstructorTraversalVisitorPost);
 
   // Assign roots from the dummy node
   this->addChildrenAsRoots(rootData.junctionTreeNode);

From c7e75d2cd5b69a81b3de15409afcde2a26012089 Mon Sep 17 00:00:00 2001
From: Varun Agrawal <varagrawal@gmail.com>
Date: Fri, 2 Sep 2022 15:12:58 -0400
Subject: [PATCH 328/433] rename myJTNode to junctionTreeNode so we can better
 subclass ConstructorTraversalData

---
 gtsam/inference/JunctionTree-inst.h | 15 ++++++++-------
 1 file changed, 8 insertions(+), 7 deletions(-)

diff --git a/gtsam/inference/JunctionTree-inst.h b/gtsam/inference/JunctionTree-inst.h
index 04472f7e3b..1c68aa0da3 100644
--- a/gtsam/inference/JunctionTree-inst.h
+++ b/gtsam/inference/JunctionTree-inst.h
@@ -33,7 +33,7 @@ struct ConstructorTraversalData {
   typedef typename JunctionTree<BAYESTREE, GRAPH>::sharedNode sharedNode;
 
   ConstructorTraversalData* const parentData;
-  sharedNode myJTNode;
+  sharedNode junctionTreeNode;
   FastVector<SymbolicConditional::shared_ptr> childSymbolicConditionals;
   FastVector<SymbolicFactor::shared_ptr> childSymbolicFactors;
 
@@ -53,8 +53,9 @@ struct ConstructorTraversalData {
     // a traversal data structure with its own JT node, and create a child
     // pointer in its parent.
     ConstructorTraversalData myData = ConstructorTraversalData(&parentData);
-    myData.myJTNode = boost::make_shared<Node>(node->key, node->factors);
-    parentData.myJTNode->addChild(myData.myJTNode);
+    myData.junctionTreeNode =
+        boost::make_shared<Node>(node->key, node->factors);
+    parentData.junctionTreeNode->addChild(myData.junctionTreeNode);
     return myData;
   }
 
@@ -91,7 +92,7 @@ struct ConstructorTraversalData {
     myData.parentData->childSymbolicConditionals.push_back(myConditional);
     myData.parentData->childSymbolicFactors.push_back(mySeparatorFactor);
 
-    sharedNode node = myData.myJTNode;
+    sharedNode node = myData.junctionTreeNode;
     const FastVector<SymbolicConditional::shared_ptr>& childConditionals =
         myData.childSymbolicConditionals;
     node->problemSize_ = (int) (myConditional->size() * symbolicFactors.size());
@@ -138,14 +139,14 @@ JunctionTree<BAYESTREE, GRAPH>::JunctionTree(
   typedef typename EliminationTree<ETREE_BAYESNET, ETREE_GRAPH>::Node ETreeNode;
   typedef ConstructorTraversalData<BAYESTREE, GRAPH, ETreeNode> Data;
   Data rootData(0);
-  rootData.myJTNode = boost::make_shared<typename Base::Node>(); // Make a dummy node to gather
-                                                                 // the junction tree roots
+  // Make a dummy node to gather the junction tree roots
+  rootData.junctionTreeNode = boost::make_shared<typename Base::Node>();
   treeTraversal::DepthFirstForest(eliminationTree, rootData,
       Data::ConstructorTraversalVisitorPre,
       Data::ConstructorTraversalVisitorPostAlg2);
 
   // Assign roots from the dummy node
-  this->addChildrenAsRoots(rootData.myJTNode);
+  this->addChildrenAsRoots(rootData.junctionTreeNode);
 
   // Transfer remaining factors from elimination tree
   Base::remainingFactors_ = eliminationTree.remainingFactors();

From b0ba35d2bd58e97de51b01dcac09bb729dd94001 Mon Sep 17 00:00:00 2001
From: Varun Agrawal <varagrawal@gmail.com>
Date: Fri, 2 Sep 2022 15:13:24 -0400
Subject: [PATCH 329/433] remove unused variable in testSimilarity2

---
 gtsam/geometry/tests/testSimilarity2.cpp | 2 --
 1 file changed, 2 deletions(-)

diff --git a/gtsam/geometry/tests/testSimilarity2.cpp b/gtsam/geometry/tests/testSimilarity2.cpp
index dd4fd0efd1..ca041fc7be 100644
--- a/gtsam/geometry/tests/testSimilarity2.cpp
+++ b/gtsam/geometry/tests/testSimilarity2.cpp
@@ -33,8 +33,6 @@ static const Point2 P(0.2, 0.7);
 static const Rot2 R = Rot2::fromAngle(0.3);
 static const double s = 4;
 
-const double degree = M_PI / 180;
-
 //******************************************************************************
 TEST(Similarity2, Concepts) {
   BOOST_CONCEPT_ASSERT((IsGroup<Similarity2>));

From 9f2229fad57e633ac1066415a927435057f8cb08 Mon Sep 17 00:00:00 2001
From: Varun Agrawal <varagrawal@gmail.com>
Date: Fri, 2 Sep 2022 21:30:10 -0400
Subject: [PATCH 330/433] remove unused blocks

---
 .../tests/testHybridNonlinearFactorGraph.cpp  | 69 +------------------
 1 file changed, 1 insertion(+), 68 deletions(-)

diff --git a/gtsam/hybrid/tests/testHybridNonlinearFactorGraph.cpp b/gtsam/hybrid/tests/testHybridNonlinearFactorGraph.cpp
index 018b017a9d..6c07331abe 100644
--- a/gtsam/hybrid/tests/testHybridNonlinearFactorGraph.cpp
+++ b/gtsam/hybrid/tests/testHybridNonlinearFactorGraph.cpp
@@ -257,14 +257,6 @@ TEST(GaussianElimination, Eliminate_x1) {
   // Add first hybrid factor
   factors.push_back(self.linearizedFactorGraph[1]);
 
-  // TODO(Varun) remove this block since sum is no longer exposed.
-  // // Check that sum works:
-  // auto sum = factors.sum();
-  // Assignment<Key> mode;
-  // mode[M(1)] = 1;
-  // auto actual = sum(mode);               // Selects one of 2 modes.
-  // EXPECT_LONGS_EQUAL(2, actual.size());  // Prior and motion model.
-
   // Eliminate x1
   Ordering ordering;
   ordering += X(1);
@@ -289,15 +281,6 @@ TEST(HybridsGaussianElimination, Eliminate_x2) {
   factors.push_back(self.linearizedFactorGraph[1]);  // involves m1
   factors.push_back(self.linearizedFactorGraph[2]);  // involves m2
 
-  // TODO(Varun) remove this block since sum is no longer exposed.
-  // // Check that sum works:
-  // auto sum = factors.sum();
-  // Assignment<Key> mode;
-  // mode[M(1)] = 0;
-  // mode[M(2)] = 1;
-  // auto actual = sum(mode);               // Selects one of 4 mode
-  // combinations. EXPECT_LONGS_EQUAL(2, actual.size());  // 2 motion models.
-
   // Eliminate x2
   Ordering ordering;
   ordering += X(2);
@@ -366,49 +349,6 @@ TEST(HybridGaussianElimination, EliminateHybrid_2_Variable) {
   EXPECT(discreteFactor->root_->isLeaf() == false);
 }
 
-// /*
-// ****************************************************************************/
-// /// Test the toDecisionTreeFactor method
-// TEST(HybridFactorGraph, ToDecisionTreeFactor) {
-//   size_t K = 3;
-
-//   // Provide tight sigma values so that the errors are visibly different.
-//   double between_sigma = 5e-8, prior_sigma = 1e-7;
-
-//   Switching self(K, between_sigma, prior_sigma);
-
-//   // Clear out discrete factors since sum() cannot hanldle those
-//   HybridGaussianFactorGraph linearizedFactorGraph(
-//       self.linearizedFactorGraph.gaussianGraph(), DiscreteFactorGraph(),
-//       self.linearizedFactorGraph.dcGraph());
-
-//   auto decisionTreeFactor = linearizedFactorGraph.toDecisionTreeFactor();
-
-//   auto allAssignments =
-//       DiscreteValues::CartesianProduct(linearizedFactorGraph.discreteKeys());
-
-//   // Get the error of the discrete assignment m1=0, m2=1.
-//   double actual = (*decisionTreeFactor)(allAssignments[1]);
-
-//   /********************************************/
-//   // Create equivalent factor graph for m1=0, m2=1
-//   GaussianFactorGraph graph = linearizedFactorGraph.gaussianGraph();
-
-//   for (auto &p : linearizedFactorGraph.dcGraph()) {
-//     if (auto mixture =
-//             boost::dynamic_pointer_cast<DCGaussianMixtureFactor>(p)) {
-//       graph.add((*mixture)(allAssignments[1]));
-//     }
-//   }
-
-//   VectorValues values = graph.optimize();
-//   double expected = graph.probPrime(values);
-//   /********************************************/
-//   EXPECT_DOUBLES_EQUAL(expected, actual, 1e-12);
-//   // REGRESSION:
-//   EXPECT_DOUBLES_EQUAL(0.6125, actual, 1e-4);
-// }
-
 /****************************************************************************
  * Test partial elimination
  */
@@ -428,7 +368,6 @@ TEST(HybridFactorGraph, Partial_Elimination) {
       linearizedFactorGraph.eliminatePartialSequential(ordering);
 
   CHECK(hybridBayesNet);
-  //  GTSAM_PRINT(*hybridBayesNet);  // HybridBayesNet
   EXPECT_LONGS_EQUAL(3, hybridBayesNet->size());
   EXPECT(hybridBayesNet->at(0)->frontals() == KeyVector{X(1)});
   EXPECT(hybridBayesNet->at(0)->parents() == KeyVector({X(2), M(1)}));
@@ -438,7 +377,6 @@ TEST(HybridFactorGraph, Partial_Elimination) {
   EXPECT(hybridBayesNet->at(2)->parents() == KeyVector({M(1), M(2)}));
 
   CHECK(remainingFactorGraph);
-  //  GTSAM_PRINT(*remainingFactorGraph);  // HybridFactorGraph
   EXPECT_LONGS_EQUAL(3, remainingFactorGraph->size());
   EXPECT(remainingFactorGraph->at(0)->keys() == KeyVector({M(1)}));
   EXPECT(remainingFactorGraph->at(1)->keys() == KeyVector({M(2), M(1)}));
@@ -721,13 +659,8 @@ TEST(HybridFactorGraph, DefaultDecisionTree) {
        moving = boost::make_shared<PlanarMotionModel>(X(0), X(1), odometry,
                                                       noise_model);
   std::vector<PlanarMotionModel::shared_ptr> motion_models = {still, moving};
-  // TODO(Varun) Make a templated constructor for MixtureFactor which does this?
-  std::vector<NonlinearFactor::shared_ptr> components;
-  for (auto&& f : motion_models) {
-    components.push_back(boost::dynamic_pointer_cast<NonlinearFactor>(f));
-  }
   fg.emplace_hybrid<MixtureFactor>(
-      contKeys, DiscreteKeys{gtsam::DiscreteKey(M(1), 2)}, components);
+      contKeys, DiscreteKeys{gtsam::DiscreteKey(M(1), 2)}, motion_models);
 
   // Add Range-Bearing measurements to from X0 to L0 and X1 to L1.
   // create a noise model for the landmark measurements

From e5333fa331908fa2d194b79b22d00608fa8f3190 Mon Sep 17 00:00:00 2001
From: Varun Agrawal <varagrawal@gmail.com>
Date: Fri, 2 Sep 2022 21:30:24 -0400
Subject: [PATCH 331/433] remove nrContinuous since we don't need it

---
 gtsam/hybrid/HybridFactor.cpp | 2 --
 gtsam/hybrid/HybridFactor.h   | 3 ---
 2 files changed, 5 deletions(-)

diff --git a/gtsam/hybrid/HybridFactor.cpp b/gtsam/hybrid/HybridFactor.cpp
index a9fe62cf13..e9d64b2830 100644
--- a/gtsam/hybrid/HybridFactor.cpp
+++ b/gtsam/hybrid/HybridFactor.cpp
@@ -52,7 +52,6 @@ DiscreteKeys CollectDiscreteKeys(const DiscreteKeys &key1,
 HybridFactor::HybridFactor(const KeyVector &keys)
     : Base(keys),
       isContinuous_(true),
-      nrContinuous_(keys.size()),
       continuousKeys_(keys) {}
 
 /* ************************************************************************ */
@@ -62,7 +61,6 @@ HybridFactor::HybridFactor(const KeyVector &continuousKeys,
       isDiscrete_((continuousKeys.size() == 0) && (discreteKeys.size() != 0)),
       isContinuous_((continuousKeys.size() != 0) && (discreteKeys.size() == 0)),
       isHybrid_((continuousKeys.size() != 0) && (discreteKeys.size() != 0)),
-      nrContinuous_(continuousKeys.size()),
       discreteKeys_(discreteKeys),
       continuousKeys_(continuousKeys) {}
 
diff --git a/gtsam/hybrid/HybridFactor.h b/gtsam/hybrid/HybridFactor.h
index b3cdc231b8..165dfde291 100644
--- a/gtsam/hybrid/HybridFactor.h
+++ b/gtsam/hybrid/HybridFactor.h
@@ -47,9 +47,6 @@ class GTSAM_EXPORT HybridFactor : public Factor {
   bool isContinuous_ = false;
   bool isHybrid_ = false;
 
-  // TODO(Varun) remove
-  size_t nrContinuous_ = 0;
-
  protected:
   // Set of DiscreteKeys for this factor.
   DiscreteKeys discreteKeys_;

From 2fe115684130d6d3dc89c5d002039fbcd4866ea8 Mon Sep 17 00:00:00 2001
From: Varun Agrawal <varagrawal@gmail.com>
Date: Sat, 3 Sep 2022 22:36:19 -0400
Subject: [PATCH 332/433] remove redunant statements

---
 gtsam/hybrid/tests/Switching.h | 6 ------
 1 file changed, 6 deletions(-)

diff --git a/gtsam/hybrid/tests/Switching.h b/gtsam/hybrid/tests/Switching.h
index 6f41d06ea9..ecd90e2344 100644
--- a/gtsam/hybrid/tests/Switching.h
+++ b/gtsam/hybrid/tests/Switching.h
@@ -128,9 +128,6 @@ struct Switching {
   /// Create with given number of time steps.
   Switching(size_t K, double between_sigma = 1.0, double prior_sigma = 0.1)
       : K(K) {
-    using symbol_shorthand::M;
-    using symbol_shorthand::X;
-
     // Create DiscreteKeys for binary K modes, modes[0] will not be used.
     for (size_t k = 0; k <= K; k++) {
       modes.emplace_back(M(k), 2);
@@ -175,9 +172,6 @@ struct Switching {
   // Create motion models for a given time step
   static std::vector<MotionModel::shared_ptr> motionModels(size_t k,
                                                            double sigma = 1.0) {
-    using symbol_shorthand::M;
-    using symbol_shorthand::X;
-
     auto noise_model = noiseModel::Isotropic::Sigma(1, sigma);
     auto still =
              boost::make_shared<MotionModel>(X(k), X(k + 1), 0.0, noise_model),

From 8c10cd554db0c6f53bc72dc00352189409d82e0a Mon Sep 17 00:00:00 2001
From: Varun Agrawal <varagrawal@gmail.com>
Date: Sat, 3 Sep 2022 22:36:43 -0400
Subject: [PATCH 333/433] add todo

---
 gtsam/hybrid/tests/testHybridNonlinearFactorGraph.cpp | 2 ++
 1 file changed, 2 insertions(+)

diff --git a/gtsam/hybrid/tests/testHybridNonlinearFactorGraph.cpp b/gtsam/hybrid/tests/testHybridNonlinearFactorGraph.cpp
index 6c07331abe..3723e6078c 100644
--- a/gtsam/hybrid/tests/testHybridNonlinearFactorGraph.cpp
+++ b/gtsam/hybrid/tests/testHybridNonlinearFactorGraph.cpp
@@ -347,6 +347,8 @@ TEST(HybridGaussianElimination, EliminateHybrid_2_Variable) {
   CHECK(discreteFactor);
   EXPECT_LONGS_EQUAL(1, discreteFactor->discreteKeys().size());
   EXPECT(discreteFactor->root_->isLeaf() == false);
+
+  //TODO(Varun) Test emplace_discrete
 }
 
 /****************************************************************************

From b4c70f2ef94a1a19de68e9f8a1edc13da66a2210 Mon Sep 17 00:00:00 2001
From: Varun Agrawal <varagrawal@gmail.com>
Date: Sat, 3 Sep 2022 22:39:10 -0400
Subject: [PATCH 334/433] add code for simplified hybrid estimation

---
 gtsam/hybrid/HybridGaussianFactorGraph.cpp  |  59 ++++-
 gtsam/hybrid/tests/testHybridEstimation.cpp | 226 ++++++++++++++++++++
 2 files changed, 281 insertions(+), 4 deletions(-)
 create mode 100644 gtsam/hybrid/tests/testHybridEstimation.cpp

diff --git a/gtsam/hybrid/HybridGaussianFactorGraph.cpp b/gtsam/hybrid/HybridGaussianFactorGraph.cpp
index c031b9729e..9dbbb0468b 100644
--- a/gtsam/hybrid/HybridGaussianFactorGraph.cpp
+++ b/gtsam/hybrid/HybridGaussianFactorGraph.cpp
@@ -55,6 +55,52 @@ namespace gtsam {
 
 template class EliminateableFactorGraph<HybridGaussianFactorGraph>;
 
+std::string GTDKeyFormatter(const Key &key) {
+  constexpr size_t kMax_uchar_ = std::numeric_limits<uint8_t>::max();
+  constexpr size_t key_bits = sizeof(gtsam::Key) * 8;
+  constexpr size_t ch1_bits = sizeof(uint8_t) * 8;
+  constexpr size_t ch2_bits = sizeof(uint8_t) * 8;
+  constexpr size_t link_bits = sizeof(uint8_t) * 8;
+  constexpr size_t joint_bits = sizeof(uint8_t) * 8;
+  constexpr size_t time_bits =
+      key_bits - ch1_bits - ch2_bits - link_bits - joint_bits;
+
+  constexpr gtsam::Key ch1_mask = gtsam::Key(kMax_uchar_)
+                                  << (key_bits - ch1_bits);
+  constexpr gtsam::Key ch2_mask = gtsam::Key(kMax_uchar_)
+                                  << (key_bits - ch1_bits - ch2_bits);
+  constexpr gtsam::Key link_mask = gtsam::Key(kMax_uchar_)
+                                   << (time_bits + joint_bits);
+  constexpr gtsam::Key joint_mask = gtsam::Key(kMax_uchar_) << time_bits;
+  constexpr gtsam::Key time_mask =
+      ~(ch1_mask | ch2_mask | link_mask | joint_mask);
+
+  uint8_t c1_, c2_, link_idx_, joint_idx_;
+  uint64_t t_;
+
+  c1_ = (uint8_t)((key & ch1_mask) >> (key_bits - ch1_bits));
+  c2_ = (uint8_t)((key & ch2_mask) >> (key_bits - ch1_bits - ch2_bits));
+  link_idx_ = (uint8_t)((key & link_mask) >> (time_bits + joint_bits));
+  joint_idx_ = (uint8_t)((key & joint_mask) >> time_bits);
+  t_ = key & time_mask;
+
+  std::string s = "";
+  if (c1_ != 0) {
+    s += c1_;
+  }
+  if (c2_ != 0) {
+    s += c2_;
+  }
+  if (link_idx_ != kMax_uchar_) {
+    s += "[" + std::to_string((int)(link_idx_)) + "]";
+  }
+  if (joint_idx_ != kMax_uchar_) {
+    s += "(" + std::to_string((int)(joint_idx_)) + ")";
+  }
+  s += std::to_string(t_);
+  return s;
+}
+
 /* ************************************************************************ */
 static GaussianMixtureFactor::Sum &addGaussian(
     GaussianMixtureFactor::Sum &sum, const GaussianFactor::shared_ptr &factor) {
@@ -213,10 +259,10 @@ hybridElimination(const HybridGaussianFactorGraph &factors,
         result = EliminatePreferCholesky(graph, frontalKeys);
 
     if (keysOfEliminated.empty()) {
-      keysOfEliminated =
-          result.first->keys();  // Initialize the keysOfEliminated to be the
+      // Initialize the keysOfEliminated to be the keys of the
+      // eliminated GaussianConditional
+      keysOfEliminated = result.first->keys();
     }
-    // keysOfEliminated of the GaussianConditional
     if (keysOfSeparator.empty()) {
       keysOfSeparator = result.second->keys();
     }
@@ -237,13 +283,18 @@ hybridElimination(const HybridGaussianFactorGraph &factors,
 
   // If there are no more continuous parents, then we should create here a
   // DiscreteFactor, with the error for each discrete choice.
+  // frontalKeys.print();
+  // separatorFactors.print("", GTDKeyFormatter, [](const GaussianFactor::shared_ptr &factor) { factor->print(); return "";});
+  // std::cout << "=====================================" << std::endl;
   if (keysOfSeparator.empty()) {
-    VectorValues empty_values;
+    VectorValues empty_values;  //TODO(Varun) Shouldn't this be from the optimized leaf?
     auto factorError = [&](const GaussianFactor::shared_ptr &factor) {
       if (!factor) return 0.0;  // TODO(fan): does this make sense?
       return exp(-factor->error(empty_values));
     };
     DecisionTree<Key, double> fdt(separatorFactors, factorError);
+    std::cout << "\n\nFactor Decision Tree" << std::endl;
+    fdt.print("", GTDKeyFormatter, [](double x) { return std::to_string(x); });
     auto discreteFactor =
         boost::make_shared<DecisionTreeFactor>(discreteSeparator, fdt);
 
diff --git a/gtsam/hybrid/tests/testHybridEstimation.cpp b/gtsam/hybrid/tests/testHybridEstimation.cpp
new file mode 100644
index 0000000000..1aa3060ce5
--- /dev/null
+++ b/gtsam/hybrid/tests/testHybridEstimation.cpp
@@ -0,0 +1,226 @@
+/* ----------------------------------------------------------------------------
+
+ * GTSAM Copyright 2010, Georgia Tech Research Corporation,
+ * Atlanta, Georgia 30332-0415
+ * All Rights Reserved
+ * Authors: Frank Dellaert, et al. (see THANKS for the full author list)
+
+ * See LICENSE for the license information
+
+ * -------------------------------------------------------------------------- */
+
+/**
+ * @file    testHybridEstimation.cpp
+ * @brief   Unit tests for Hybrid Estimation
+ * @author  Varun Agrawal
+ */
+
+#include <gtsam/base/serializationTestHelpers.h>
+#include <gtsam/hybrid/HybridBayesNet.h>
+#include <gtsam/hybrid/HybridBayesTree.h>
+#include <gtsam/hybrid/HybridNonlinearFactorGraph.h>
+#include <gtsam/hybrid/MixtureFactor.h>
+#include <gtsam/inference/Symbol.h>
+#include <gtsam/linear/JacobianFactor.h>
+#include <gtsam/linear/NoiseModel.h>
+#include <gtsam/nonlinear/NonlinearFactorGraph.h>
+#include <gtsam/nonlinear/PriorFactor.h>
+#include <gtsam/slam/BetweenFactor.h>
+
+// Include for test suite
+#include <CppUnitLite/TestHarness.h>
+
+using namespace std;
+using namespace gtsam;
+
+using noiseModel::Isotropic;
+using symbol_shorthand::M;
+using symbol_shorthand::X;
+
+class Robot {
+  size_t K_;
+  DiscreteKeys modes_;
+  HybridNonlinearFactorGraph nonlinearFactorGraph_;
+  HybridGaussianFactorGraph linearizedFactorGraph_;
+  Values linearizationPoint_;
+
+ public:
+  Robot(size_t K, std::vector<double> measurements) {
+    // Create DiscreteKeys for binary K modes
+    for (size_t k = 0; k < K; k++) {
+      modes_.emplace_back(M(k), 2);
+    }
+
+    ////// Create hybrid factor graph.
+    // Add measurement factors
+    auto measurement_noise = noiseModel::Isotropic::Sigma(1, 1.0);
+    for (size_t k = 0; k < K; k++) {
+      nonlinearFactorGraph_.emplace_nonlinear<PriorFactor<double>>(
+          X(k), measurements.at(k), measurement_noise);
+    }
+
+    // 2 noise models where moving has a higher covariance.
+    auto still_noise_model = noiseModel::Isotropic::Sigma(1, 1e-2);
+    auto moving_noise_model = noiseModel::Isotropic::Sigma(1, 1e2);
+
+    // Add "motion models".
+    // The idea is that the robot has a higher "freedom" (aka higher covariance)
+    // for movement
+    using MotionModel = BetweenFactor<double>;
+
+    for (size_t k = 1; k < K; k++) {
+      KeyVector keys = {X(k - 1), X(k)};
+      DiscreteKeys dkeys{modes_[k - 1]};
+      auto still = boost::make_shared<MotionModel>(X(k - 1), X(k), 0.0,
+                                                   still_noise_model),
+           moving = boost::make_shared<MotionModel>(X(k - 1), X(k), 0.0,
+                                                    moving_noise_model);
+      std::vector<boost::shared_ptr<MotionModel>> components = {still, moving};
+      nonlinearFactorGraph_.emplace_hybrid<MixtureFactor>(keys, dkeys,
+                                                          components);
+    }
+
+    // Create the linearization point.
+    for (size_t k = 0; k < K; k++) {
+      linearizationPoint_.insert<double>(X(k), static_cast<double>(k + 1));
+    }
+
+    linearizedFactorGraph_ =
+        nonlinearFactorGraph_.linearize(linearizationPoint_);
+  }
+
+  void print() const {
+    nonlinearFactorGraph_.print();
+    linearizationPoint_.print();
+    linearizedFactorGraph_.print();
+  }
+
+  HybridValues optimize() const {
+    Ordering hybridOrdering = linearizedFactorGraph_.getHybridOrdering();
+    HybridBayesNet::shared_ptr hybridBayesNet =
+        linearizedFactorGraph_.eliminateSequential(hybridOrdering);
+
+    HybridValues delta = hybridBayesNet->optimize();
+    return delta;
+  }
+};
+
+/* ****************************************************************************/
+/**
+ * I am trying to test if setting the hybrid mixture components to just differ
+ * in covariance makes sense. This is done by setting the "moving" covariance to
+ * be 1e2 while the "still" covariance is 1e-2.
+ */
+TEST(Estimation, StillRobot) {
+  size_t K = 2;
+  vector<double> measurements = {0, 0};
+
+  Robot robot(K, measurements);
+  // robot.print();
+
+  HybridValues delta = robot.optimize();
+
+  delta.continuous().print("delta update:");
+
+  if (delta.discrete()[M(0)] == 0) {
+    std::cout << "The robot is stationary!" << std::endl;
+  } else {
+    std::cout << "The robot has moved!" << std::endl;
+  }
+  EXPECT_LONGS_EQUAL(0, delta.discrete()[M(0)]);
+}
+
+TEST(Estimation, MovingRobot) {
+  size_t K = 2;
+  vector<double> measurements = {0, 2};
+
+  Robot robot(K, measurements);
+  // robot.print();
+
+  HybridValues delta = robot.optimize();
+
+  delta.continuous().print("delta update:");
+
+  if (delta.discrete()[M(0)] == 0) {
+    std::cout << "The robot is stationary!" << std::endl;
+  } else {
+    std::cout << "The robot has moved!" << std::endl;
+  }
+  EXPECT_LONGS_EQUAL(1, delta.discrete()[M(0)]);
+}
+
+/// A robot with a single leg.
+class SingleLeg {
+  size_t K_;
+  DiscreteKeys modes_;
+  HybridNonlinearFactorGraph nonlinearFactorGraph_;
+  HybridGaussianFactorGraph linearizedFactorGraph_;
+  Values linearizationPoint_;
+
+ public:
+  SingleLeg(size_t K, std::vector<double> measurements) {
+    // Create DiscreteKeys for binary K modes
+    for (size_t k = 0; k < K; k++) {
+      modes_.emplace_back(M(k), 2);
+    }
+
+    ////// Create hybrid factor graph.
+    // Add measurement factors
+    auto measurement_noise = noiseModel::Isotropic::Sigma(1, 1.0);
+    for (size_t k = 0; k < K; k++) {
+      nonlinearFactorGraph_.emplace_nonlinear<PriorFactor<double>>(
+          X(k), measurements.at(k), measurement_noise);
+    }
+
+    // 2 noise models where moving has a higher covariance.
+    auto still_noise_model = noiseModel::Isotropic::Sigma(1, 1e-2);
+    auto moving_noise_model = noiseModel::Isotropic::Sigma(1, 1e2);
+
+    // Add "motion models".
+    // The idea is that the robot has a higher "freedom" (aka higher covariance)
+    // for movement
+    using MotionModel = BetweenFactor<double>;
+
+    for (size_t k = 1; k < K; k++) {
+      KeyVector keys = {X(k - 1), X(k)};
+      DiscreteKeys dkeys{modes_[k - 1]};
+      auto still = boost::make_shared<MotionModel>(X(k - 1), X(k), 0.0,
+                                                   still_noise_model),
+           moving = boost::make_shared<MotionModel>(X(k - 1), X(k), 0.0,
+                                                    moving_noise_model);
+      std::vector<boost::shared_ptr<MotionModel>> components = {still, moving};
+      nonlinearFactorGraph_.emplace_hybrid<MixtureFactor>(keys, dkeys,
+                                                          components);
+    }
+
+    // Create the linearization point.
+    for (size_t k = 0; k < K; k++) {
+      linearizationPoint_.insert<double>(X(k), static_cast<double>(k + 1));
+    }
+
+    linearizedFactorGraph_ =
+        nonlinearFactorGraph_.linearize(linearizationPoint_);
+  }
+
+  void print() const {
+    nonlinearFactorGraph_.print();
+    linearizationPoint_.print();
+    linearizedFactorGraph_.print();
+  }
+
+  HybridValues optimize() const {
+    Ordering hybridOrdering = linearizedFactorGraph_.getHybridOrdering();
+    HybridBayesNet::shared_ptr hybridBayesNet =
+        linearizedFactorGraph_.eliminateSequential(hybridOrdering);
+
+    HybridValues delta = hybridBayesNet->optimize();
+    return delta;
+  }
+};
+
+/* ************************************************************************* */
+int main() {
+  TestResult tr;
+  return TestRegistry::runAllTests(tr);
+}
+/* ************************************************************************* */

From b2ca7476d6b2feab9910feec5ca3ec70066c07ce Mon Sep 17 00:00:00 2001
From: Varun Agrawal <varagrawal@gmail.com>
Date: Sat, 3 Sep 2022 22:54:39 -0400
Subject: [PATCH 335/433] almost done with single legged robot

---
 gtsam/hybrid/tests/testHybridEstimation.cpp | 68 +++++++++++++++------
 1 file changed, 49 insertions(+), 19 deletions(-)

diff --git a/gtsam/hybrid/tests/testHybridEstimation.cpp b/gtsam/hybrid/tests/testHybridEstimation.cpp
index 1aa3060ce5..086c7cb7df 100644
--- a/gtsam/hybrid/tests/testHybridEstimation.cpp
+++ b/gtsam/hybrid/tests/testHybridEstimation.cpp
@@ -16,6 +16,7 @@
  */
 
 #include <gtsam/base/serializationTestHelpers.h>
+#include <gtsam/geometry/Pose2.h>
 #include <gtsam/hybrid/HybridBayesNet.h>
 #include <gtsam/hybrid/HybridBayesTree.h>
 #include <gtsam/hybrid/HybridNonlinearFactorGraph.h>
@@ -34,6 +35,7 @@ using namespace std;
 using namespace gtsam;
 
 using noiseModel::Isotropic;
+using symbol_shorthand::L;
 using symbol_shorthand::M;
 using symbol_shorthand::X;
 
@@ -158,37 +160,65 @@ class SingleLeg {
   Values linearizationPoint_;
 
  public:
-  SingleLeg(size_t K, std::vector<double> measurements) {
+  /**
+   * @brief Construct a new Single Leg object.
+   *
+   * @param K The number of discrete timesteps
+   * @param pims std::vector of preintegrated IMU measurements.
+   * @param contacts std::vector denoting whether the leg was in contact at each
+   * timestep.
+   */
+  SingleLeg(size_t K, std::vector<Pose2> pims, std::vector<uint64_t> contacts) {
     // Create DiscreteKeys for binary K modes
     for (size_t k = 0; k < K; k++) {
       modes_.emplace_back(M(k), 2);
     }
 
     ////// Create hybrid factor graph.
-    // Add measurement factors
-    auto measurement_noise = noiseModel::Isotropic::Sigma(1, 1.0);
+
+    // Add measurement factors.
+    // These are the preintegrated IMU measurements of the base.
+    auto measurement_noise = noiseModel::Isotropic::Sigma(3, 1.0);
     for (size_t k = 0; k < K; k++) {
-      nonlinearFactorGraph_.emplace_nonlinear<PriorFactor<double>>(
-          X(k), measurements.at(k), measurement_noise);
+      nonlinearFactorGraph_.emplace_nonlinear<BetweenFactor<Pose2>>(
+          X(k), X(k + 1), pims.at(k), measurement_noise);
+    }
+
+    // Forward kinematics from base X to foot L
+    auto fk_noise = noiseModel::Isotropic::Sigma(3, 1.0);
+    for (size_t k = 0; k < K; k++) {
+      if (contacts.at(k) == 1) {
+        nonlinearFactorGraph_.emplace_nonlinear<BetweenFactor<Pose2>>(
+            X(k), L(k), Pose2(), fk_noise)
+      } else {
+        nonlinearFactorGraph_.emplace_nonlinear<BetweenFactor<Pose2>>(
+            X(k), L(k), Pose2(), fk_noise)
+      }
     }
 
     // 2 noise models where moving has a higher covariance.
-    auto still_noise_model = noiseModel::Isotropic::Sigma(1, 1e-2);
-    auto moving_noise_model = noiseModel::Isotropic::Sigma(1, 1e2);
+    auto stance_model = noiseModel::Isotropic::Sigma(1, 1e-2);
+    auto swing_model = noiseModel::Isotropic::Sigma(1, 1e2);
 
-    // Add "motion models".
-    // The idea is that the robot has a higher "freedom" (aka higher covariance)
-    // for movement
-    using MotionModel = BetweenFactor<double>;
+    // Add "contact models" for the foot.
+    // The idea is that the robot's leg has a tight covariance for stance and
+    // loose covariance for swing.
+    using ContactFactor = BetweenFactor<double>;
 
-    for (size_t k = 1; k < K; k++) {
-      KeyVector keys = {X(k - 1), X(k)};
-      DiscreteKeys dkeys{modes_[k - 1]};
-      auto still = boost::make_shared<MotionModel>(X(k - 1), X(k), 0.0,
-                                                   still_noise_model),
-           moving = boost::make_shared<MotionModel>(X(k - 1), X(k), 0.0,
-                                                    moving_noise_model);
-      std::vector<boost::shared_ptr<MotionModel>> components = {still, moving};
+    for (size_t k = 0; k < K; k++) {
+      KeyVector keys = {L(k), L(k + 1)};
+      DiscreteKeys dkeys{modes_[k], modes_[k + 1]};
+      auto stance = boost::make_shared<ContactFactor>(keys.at(0), keys.at(1),
+                                                      0.0, stance_model),
+           lift = boost::make_shared<ContactFactor>(keys.at(0), keys.at(1), 0.0,
+                                                    swing_model),
+           land = boost::make_shared<ContactFactor>(keys.at(0), keys.at(1), 0.0,
+                                                    swing_model),
+           swing = boost::make_shared<ContactFactor>(keys.at(0), keys.at(1),
+                                                     0.0, swing_model);
+      // 00 - swing, 01 - land, 10 - toe-off, 11 - stance
+      std::vector<boost::shared_ptr<ContactFactor>> components = {swing, land,
+                                                                  lift, stance};
       nonlinearFactorGraph_.emplace_hybrid<MixtureFactor>(keys, dkeys,
                                                           components);
     }

From 8f94f726a96add1516a57abbe41533ee5f0485c7 Mon Sep 17 00:00:00 2001
From: Varun Agrawal <varagrawal@gmail.com>
Date: Sun, 4 Sep 2022 01:59:18 -0400
Subject: [PATCH 336/433] single leg robot test

---
 gtsam/hybrid/tests/testHybridEstimation.cpp | 78 ++++++++++++---------
 1 file changed, 46 insertions(+), 32 deletions(-)

diff --git a/gtsam/hybrid/tests/testHybridEstimation.cpp b/gtsam/hybrid/tests/testHybridEstimation.cpp
index 086c7cb7df..c66c8916d5 100644
--- a/gtsam/hybrid/tests/testHybridEstimation.cpp
+++ b/gtsam/hybrid/tests/testHybridEstimation.cpp
@@ -15,7 +15,6 @@
  * @author  Varun Agrawal
  */
 
-#include <gtsam/base/serializationTestHelpers.h>
 #include <gtsam/geometry/Pose2.h>
 #include <gtsam/hybrid/HybridBayesNet.h>
 #include <gtsam/hybrid/HybridBayesTree.h>
@@ -40,7 +39,6 @@ using symbol_shorthand::M;
 using symbol_shorthand::X;
 
 class Robot {
-  size_t K_;
   DiscreteKeys modes_;
   HybridNonlinearFactorGraph nonlinearFactorGraph_;
   HybridGaussianFactorGraph linearizedFactorGraph_;
@@ -118,12 +116,10 @@ TEST(Estimation, StillRobot) {
   vector<double> measurements = {0, 0};
 
   Robot robot(K, measurements);
-  // robot.print();
 
   HybridValues delta = robot.optimize();
 
   delta.continuous().print("delta update:");
-
   if (delta.discrete()[M(0)] == 0) {
     std::cout << "The robot is stationary!" << std::endl;
   } else {
@@ -132,17 +128,16 @@ TEST(Estimation, StillRobot) {
   EXPECT_LONGS_EQUAL(0, delta.discrete()[M(0)]);
 }
 
+/* ****************************************************************************/
 TEST(Estimation, MovingRobot) {
   size_t K = 2;
   vector<double> measurements = {0, 2};
 
   Robot robot(K, measurements);
-  // robot.print();
 
   HybridValues delta = robot.optimize();
 
   delta.continuous().print("delta update:");
-
   if (delta.discrete()[M(0)] == 0) {
     std::cout << "The robot is stationary!" << std::endl;
   } else {
@@ -153,7 +148,6 @@ TEST(Estimation, MovingRobot) {
 
 /// A robot with a single leg.
 class SingleLeg {
-  size_t K_;
   DiscreteKeys modes_;
   HybridNonlinearFactorGraph nonlinearFactorGraph_;
   HybridGaussianFactorGraph linearizedFactorGraph_;
@@ -165,10 +159,9 @@ class SingleLeg {
    *
    * @param K The number of discrete timesteps
    * @param pims std::vector of preintegrated IMU measurements.
-   * @param contacts std::vector denoting whether the leg was in contact at each
-   * timestep.
+   * @param fk std::vector of forward kinematic measurements for the leg.
    */
-  SingleLeg(size_t K, std::vector<Pose2> pims, std::vector<uint64_t> contacts) {
+  SingleLeg(size_t K, std::vector<Pose2> pims, std::vector<Pose2> fk) {
     // Create DiscreteKeys for binary K modes
     for (size_t k = 0; k < K; k++) {
       modes_.emplace_back(M(k), 2);
@@ -176,10 +169,15 @@ class SingleLeg {
 
     ////// Create hybrid factor graph.
 
+    auto measurement_noise = noiseModel::Isotropic::Sigma(3, 1.0);
+
+    // Add prior on the first pose
+    nonlinearFactorGraph_.emplace_nonlinear<PriorFactor<Pose2>>(
+        X(0), Pose2(0, 2, 0), measurement_noise);
+
     // Add measurement factors.
     // These are the preintegrated IMU measurements of the base.
-    auto measurement_noise = noiseModel::Isotropic::Sigma(3, 1.0);
-    for (size_t k = 0; k < K; k++) {
+    for (size_t k = 0; k < K - 1; k++) {
       nonlinearFactorGraph_.emplace_nonlinear<BetweenFactor<Pose2>>(
           X(k), X(k + 1), pims.at(k), measurement_noise);
     }
@@ -187,35 +185,30 @@ class SingleLeg {
     // Forward kinematics from base X to foot L
     auto fk_noise = noiseModel::Isotropic::Sigma(3, 1.0);
     for (size_t k = 0; k < K; k++) {
-      if (contacts.at(k) == 1) {
-        nonlinearFactorGraph_.emplace_nonlinear<BetweenFactor<Pose2>>(
-            X(k), L(k), Pose2(), fk_noise)
-      } else {
-        nonlinearFactorGraph_.emplace_nonlinear<BetweenFactor<Pose2>>(
-            X(k), L(k), Pose2(), fk_noise)
-      }
+      nonlinearFactorGraph_.emplace_nonlinear<BetweenFactor<Pose2>>(
+          X(k), L(k), fk.at(k), fk_noise);
     }
 
     // 2 noise models where moving has a higher covariance.
-    auto stance_model = noiseModel::Isotropic::Sigma(1, 1e-2);
-    auto swing_model = noiseModel::Isotropic::Sigma(1, 1e2);
+    auto stance_model = noiseModel::Isotropic::Sigma(3, 1e-2);
+    auto swing_model = noiseModel::Isotropic::Sigma(3, 1e2);
 
     // Add "contact models" for the foot.
     // The idea is that the robot's leg has a tight covariance for stance and
     // loose covariance for swing.
-    using ContactFactor = BetweenFactor<double>;
+    using ContactFactor = BetweenFactor<Pose2>;
 
-    for (size_t k = 0; k < K; k++) {
+    for (size_t k = 0; k < K - 1; k++) {
       KeyVector keys = {L(k), L(k + 1)};
       DiscreteKeys dkeys{modes_[k], modes_[k + 1]};
-      auto stance = boost::make_shared<ContactFactor>(keys.at(0), keys.at(1),
-                                                      0.0, stance_model),
-           lift = boost::make_shared<ContactFactor>(keys.at(0), keys.at(1), 0.0,
-                                                    swing_model),
-           land = boost::make_shared<ContactFactor>(keys.at(0), keys.at(1), 0.0,
-                                                    swing_model),
-           swing = boost::make_shared<ContactFactor>(keys.at(0), keys.at(1),
-                                                     0.0, swing_model);
+      auto stance = boost::make_shared<ContactFactor>(
+               keys.at(0), keys.at(1), Pose2(0, 0, 0), stance_model),
+           lift = boost::make_shared<ContactFactor>(
+               keys.at(0), keys.at(1), Pose2(0, 0, 0), swing_model),
+           land = boost::make_shared<ContactFactor>(
+               keys.at(0), keys.at(1), Pose2(0, 0, 0), swing_model),
+           swing = boost::make_shared<ContactFactor>(
+               keys.at(0), keys.at(1), Pose2(0, 0, 0), swing_model);
       // 00 - swing, 01 - land, 10 - toe-off, 11 - stance
       std::vector<boost::shared_ptr<ContactFactor>> components = {swing, land,
                                                                   lift, stance};
@@ -225,7 +218,8 @@ class SingleLeg {
 
     // Create the linearization point.
     for (size_t k = 0; k < K; k++) {
-      linearizationPoint_.insert<double>(X(k), static_cast<double>(k + 1));
+      linearizationPoint_.insert<Pose2>(X(k), Pose2(k, 2, 0));
+      linearizationPoint_.insert<Pose2>(L(k), Pose2(0, 0, 0));
     }
 
     linearizedFactorGraph_ =
@@ -243,11 +237,31 @@ class SingleLeg {
     HybridBayesNet::shared_ptr hybridBayesNet =
         linearizedFactorGraph_.eliminateSequential(hybridOrdering);
 
+    hybridBayesNet->print();
     HybridValues delta = hybridBayesNet->optimize();
     return delta;
   }
+
+  Values linearizationPoint() const { return linearizationPoint_; }
 };
 
+/* ****************************************************************************/
+TEST(Estimation, LeggedRobot) {
+  std::vector<Pose2> pims = {Pose2(1, 0, 0)};
+  // Leg is in stance throughout
+  std::vector<Pose2> fk = {Pose2(0, -2, 0), Pose2(-1, -2, 0)};
+  SingleLeg robot(2, pims, fk);
+
+  std::cout << "\n\n\n" << std::endl;
+  // robot.print();
+  Values initial = robot.linearizationPoint();
+  // initial.print();
+
+  HybridValues delta = robot.optimize();
+  delta.print();
+
+  initial.retract(delta.continuous()).print("\n\n=========");
+}
 /* ************************************************************************* */
 int main() {
   TestResult tr;

From b5eaaabcb55202139b9b7f47735bc3406699e7d4 Mon Sep 17 00:00:00 2001
From: Varun Agrawal <varagrawal@gmail.com>
Date: Sun, 4 Sep 2022 12:06:56 -0400
Subject: [PATCH 337/433] add more tests to show scheme doesn't work

---
 gtsam/hybrid/tests/testHybridEstimation.cpp | 173 +++++++++++++++++++-
 1 file changed, 168 insertions(+), 5 deletions(-)

diff --git a/gtsam/hybrid/tests/testHybridEstimation.cpp b/gtsam/hybrid/tests/testHybridEstimation.cpp
index c66c8916d5..683617a192 100644
--- a/gtsam/hybrid/tests/testHybridEstimation.cpp
+++ b/gtsam/hybrid/tests/testHybridEstimation.cpp
@@ -21,6 +21,8 @@
 #include <gtsam/hybrid/HybridNonlinearFactorGraph.h>
 #include <gtsam/hybrid/MixtureFactor.h>
 #include <gtsam/inference/Symbol.h>
+#include <gtsam/linear/GaussianBayesNet.h>
+#include <gtsam/linear/GaussianFactorGraph.h>
 #include <gtsam/linear/JacobianFactor.h>
 #include <gtsam/linear/NoiseModel.h>
 #include <gtsam/nonlinear/NonlinearFactorGraph.h>
@@ -204,11 +206,11 @@ class SingleLeg {
       auto stance = boost::make_shared<ContactFactor>(
                keys.at(0), keys.at(1), Pose2(0, 0, 0), stance_model),
            lift = boost::make_shared<ContactFactor>(
-               keys.at(0), keys.at(1), Pose2(0, 0, 0), swing_model),
+               keys.at(0), keys.at(1), Pose2(0, -1, 0), swing_model),
            land = boost::make_shared<ContactFactor>(
-               keys.at(0), keys.at(1), Pose2(0, 0, 0), swing_model),
+               keys.at(0), keys.at(1), Pose2(0, 1, 0), swing_model),
            swing = boost::make_shared<ContactFactor>(
-               keys.at(0), keys.at(1), Pose2(0, 0, 0), swing_model);
+               keys.at(0), keys.at(1), Pose2(1, 0, 0), swing_model);
       // 00 - swing, 01 - land, 10 - toe-off, 11 - stance
       std::vector<boost::shared_ptr<ContactFactor>> components = {swing, land,
                                                                   lift, stance};
@@ -237,7 +239,6 @@ class SingleLeg {
     HybridBayesNet::shared_ptr hybridBayesNet =
         linearizedFactorGraph_.eliminateSequential(hybridOrdering);
 
-    hybridBayesNet->print();
     HybridValues delta = hybridBayesNet->optimize();
     return delta;
   }
@@ -258,10 +259,172 @@ TEST(Estimation, LeggedRobot) {
   // initial.print();
 
   HybridValues delta = robot.optimize();
-  delta.print();
+  // delta.print();
 
   initial.retract(delta.continuous()).print("\n\n=========");
+  std::cout << "\n\n\n" << std::endl;
 }
+
+/// A robot with a single leg - non-hybrid version.
+class SL {
+  NonlinearFactorGraph nonlinearFactorGraph_;
+  GaussianFactorGraph linearizedFactorGraph_;
+  GaussianBayesNet bayesNet_;
+  Values linearizationPoint_;
+
+ public:
+  /**
+   * @brief Construct a new Single Leg object.
+   *
+   * @param K The number of discrete timesteps
+   * @param pims std::vector of preintegrated IMU measurements.
+   * @param fk std::vector of forward kinematic measurements for the leg.
+   */
+  SL(size_t K, const std::vector<Pose2>& pims, const std::vector<Pose2>& fk,
+     const std::vector<bool>& contacts) {
+    ////// Create hybrid factor graph.
+
+    auto measurement_noise = noiseModel::Isotropic::Sigma(3, 1.0);
+
+    // Add prior on the first pose
+    nonlinearFactorGraph_.emplace_shared<PriorFactor<Pose2>>(
+        X(0), Pose2(0, 2, 0), measurement_noise);
+
+    // Add measurement factors.
+    // These are the preintegrated IMU measurements of the base.
+    for (size_t k = 0; k < K - 1; k++) {
+      nonlinearFactorGraph_.emplace_shared<BetweenFactor<Pose2>>(
+          X(k), X(k + 1), pims.at(k), measurement_noise);
+    }
+
+    // Forward kinematics from base X to foot L
+    auto fk_noise = noiseModel::Isotropic::Sigma(3, 1.0);
+    for (size_t k = 0; k < K; k++) {
+      nonlinearFactorGraph_.emplace_shared<BetweenFactor<Pose2>>(
+          X(k), L(k), fk.at(k), fk_noise);
+    }
+
+    // 2 noise models where moving has a higher covariance.
+    auto stance_model = noiseModel::Isotropic::Sigma(3, 1e-4);
+    auto swing_model = noiseModel::Isotropic::Sigma(3, 1e8);
+
+    // Add "contact models" for the foot.
+    // The idea is that the robot's leg has a tight covariance for stance and
+    // loose covariance for swing.
+    using ContactFactor = BetweenFactor<Pose2>;
+
+    for (size_t k = 0; k < K - 1; k++) {
+      KeyVector keys = {L(k), L(k + 1)};
+      ContactFactor::shared_ptr factor;
+      if (contacts[k] && contacts[k + 1]) {
+        // stance
+        std::cout << "stance 11" << std::endl;
+        factor = boost::make_shared<ContactFactor>(
+            keys.at(0), keys.at(1), Pose2(0, 0, 0), stance_model);
+      } else if (contacts[k] && !contacts[k + 1]) {
+        // toe-off
+        std::cout << "toe-off 10" << std::endl;
+        factor = boost::make_shared<ContactFactor>(keys.at(0), keys.at(1),
+                                                   Pose2(0, 0, 0), swing_model);
+      } else if (!contacts[k] && contacts[k + 1]) {
+        // land
+        std::cout << "land 01" << std::endl;
+        factor = boost::make_shared<ContactFactor>(keys.at(0), keys.at(1),
+                                                   Pose2(0, 0, 0), swing_model);
+      } else if (!contacts[k] && !contacts[k + 1]) {
+        // swing
+        std::cout << "swing 00" << std::endl;
+        factor = boost::make_shared<ContactFactor>(keys.at(0), keys.at(1),
+                                                   Pose2(0, 0, 0), swing_model);
+      }
+
+      nonlinearFactorGraph_.push_back(factor);
+    }
+
+    // Create the linearization point.
+    for (size_t k = 0; k < K; k++) {
+      linearizationPoint_.insert<Pose2>(X(k), Pose2(k, 2, 0));
+      linearizationPoint_.insert<Pose2>(L(k), Pose2(0, 0, 0));
+    }
+
+    linearizedFactorGraph_ =
+        *nonlinearFactorGraph_.linearize(linearizationPoint_);
+  }
+
+  void print() const {
+    nonlinearFactorGraph_.print();
+    linearizationPoint_.print();
+    linearizedFactorGraph_.print();
+  }
+
+  VectorValues optimize() {
+    bayesNet_ = *linearizedFactorGraph_.eliminateSequential();
+
+    // bayesNet->print();
+    VectorValues delta = bayesNet_.optimize();
+    return delta;
+  }
+
+  Values linearizationPoint() const { return linearizationPoint_; }
+  NonlinearFactorGraph nonlinearFactorGraph() const {
+    return nonlinearFactorGraph_;
+  }
+  GaussianFactorGraph linearizedFactorGraph() const {
+    return linearizedFactorGraph_;
+  }
+  GaussianBayesNet bayesNet() const { return bayesNet_; }
+};
+
+/* ****************************************************************************/
+TEST(Estimation, LR) {
+  std::vector<Pose2> pims = {Pose2(1, 0, 0)};
+  // Leg is in stance throughout
+  // std::vector<Pose2> fk = {Pose2(0, -2, 0), Pose2(-1, -2, 0)};
+  // Leg is in swing
+  // std::vector<Pose2> fk = {Pose2(0, -1, 0), Pose2(0, -1, 0)};
+  // Leg is in toe-off
+  // std::vector<Pose2> fk = {Pose2(0, -2, 0), Pose2(0, -1, 0)};
+  // Leg is in land
+  std::vector<Pose2> fk = {Pose2(0, -1, 0), Pose2(0, -2, 0)};
+
+  vector<bool> contacts;
+  contacts = {1, 1};
+  SL robot11(2, pims, fk, contacts);
+  VectorValues delta = robot11.optimize();
+  // robot11.nonlinearFactorGraph().print();
+  std::cout << "Error with optimized delta: " << robot11.bayesNet().error(delta)
+            << std::endl;
+  robot11.linearizationPoint().retract(delta).print();
+  std::cout << "\n===========================\n\n" << std::endl;
+
+  contacts = {1, 0};
+  SL robot10(2, pims, fk, contacts);
+  delta = robot10.optimize();
+  // robot10.nonlinearFactorGraph().print();
+  std::cout << "Error with optimized delta: " << robot10.bayesNet().error(delta)
+            << std::endl;
+  robot10.linearizationPoint().retract(delta).print();
+  std::cout << "\n===========================\n\n" << std::endl;
+
+  contacts = {0, 1};
+  SL robot01(2, pims, fk, contacts);
+  delta = robot01.optimize();
+  // robot01.nonlinearFactorGraph().print();
+  std::cout << "Error with optimized delta: " << robot01.bayesNet().error(delta)
+            << std::endl;
+  robot01.linearizationPoint().retract(delta).print();
+  std::cout << "\n===========================\n\n" << std::endl;
+
+  contacts = {0, 0};
+  SL robot00(2, pims, fk, contacts);
+  delta = robot00.optimize();
+  // robot00.nonlinearFactorGraph().print();
+  std::cout << "Error with optimized delta: " << robot00.bayesNet().error(delta)
+            << std::endl;
+  robot00.linearizationPoint().retract(delta).print();
+  std::cout << "\n===========================\n\n" << std::endl;
+}
+
 /* ************************************************************************* */
 int main() {
   TestResult tr;

From 858193d5df7ecf50f7188371fecfafe0c0ab5983 Mon Sep 17 00:00:00 2001
From: Varun Agrawal <varagrawal@gmail.com>
Date: Sun, 11 Sep 2022 16:44:18 -0400
Subject: [PATCH 338/433] remove print statements

---
 gtsam/hybrid/HybridGaussianFactorGraph.cpp | 2 --
 1 file changed, 2 deletions(-)

diff --git a/gtsam/hybrid/HybridGaussianFactorGraph.cpp b/gtsam/hybrid/HybridGaussianFactorGraph.cpp
index 9dbbb0468b..caf7cc0808 100644
--- a/gtsam/hybrid/HybridGaussianFactorGraph.cpp
+++ b/gtsam/hybrid/HybridGaussianFactorGraph.cpp
@@ -293,8 +293,6 @@ hybridElimination(const HybridGaussianFactorGraph &factors,
       return exp(-factor->error(empty_values));
     };
     DecisionTree<Key, double> fdt(separatorFactors, factorError);
-    std::cout << "\n\nFactor Decision Tree" << std::endl;
-    fdt.print("", GTDKeyFormatter, [](double x) { return std::to_string(x); });
     auto discreteFactor =
         boost::make_shared<DecisionTreeFactor>(discreteSeparator, fdt);
 

From 8b5b42b6e9eb0ff6c7e8418fd85e6c710e17627a Mon Sep 17 00:00:00 2001
From: Varun Agrawal <varagrawal@gmail.com>
Date: Mon, 12 Sep 2022 18:07:53 -0400
Subject: [PATCH 339/433] Add check for MixtureFactor to ensure the  continous
 keys are the same as in the factors

---
 gtsam/hybrid/HybridGaussianFactorGraph.cpp    | 15 ++++++----
 gtsam/hybrid/MixtureFactor.h                  | 12 ++++++++
 .../tests/testHybridNonlinearFactorGraph.cpp  | 28 ++++++++++++++++++-
 3 files changed, 48 insertions(+), 7 deletions(-)

diff --git a/gtsam/hybrid/HybridGaussianFactorGraph.cpp b/gtsam/hybrid/HybridGaussianFactorGraph.cpp
index c031b9729e..09b592bd69 100644
--- a/gtsam/hybrid/HybridGaussianFactorGraph.cpp
+++ b/gtsam/hybrid/HybridGaussianFactorGraph.cpp
@@ -153,12 +153,14 @@ std::pair<HybridConditional::shared_ptr, HybridFactor::shared_ptr>
 discreteElimination(const HybridGaussianFactorGraph &factors,
                     const Ordering &frontalKeys) {
   DiscreteFactorGraph dfg;
-  for (auto &fp : factors) {
-    if (auto ptr = boost::dynamic_pointer_cast<HybridDiscreteFactor>(fp)) {
-      dfg.push_back(ptr->inner());
-    } else if (auto p =
-                   boost::static_pointer_cast<HybridConditional>(fp)->inner()) {
-      dfg.push_back(boost::static_pointer_cast<DiscreteConditional>(p));
+
+  for (auto &factor : factors) {
+    if (auto p = boost::dynamic_pointer_cast<HybridDiscreteFactor>(factor)) {
+      dfg.push_back(p->inner());
+    } else if (auto p = boost::static_pointer_cast<HybridConditional>(factor)) {
+      auto discrete_conditional =
+          boost::static_pointer_cast<DiscreteConditional>(p->inner());
+      dfg.push_back(discrete_conditional);
     } else {
       // It is an orphan wrapper
     }
@@ -244,6 +246,7 @@ hybridElimination(const HybridGaussianFactorGraph &factors,
       return exp(-factor->error(empty_values));
     };
     DecisionTree<Key, double> fdt(separatorFactors, factorError);
+
     auto discreteFactor =
         boost::make_shared<DecisionTreeFactor>(discreteSeparator, fdt);
 
diff --git a/gtsam/hybrid/MixtureFactor.h b/gtsam/hybrid/MixtureFactor.h
index 3cd21e32e5..5e7337d0cc 100644
--- a/gtsam/hybrid/MixtureFactor.h
+++ b/gtsam/hybrid/MixtureFactor.h
@@ -100,11 +100,23 @@ class MixtureFactor : public HybridFactor {
                 bool normalized = false)
       : Base(keys, discreteKeys), normalized_(normalized) {
     std::vector<NonlinearFactor::shared_ptr> nonlinear_factors;
+    KeySet continuous_keys_set(keys.begin(), keys.end());
+    KeySet factor_keys_set;
     for (auto&& f : factors) {
+      // Insert all factor continuous keys in the continuous keys set.
+      std::copy(f->keys().begin(), f->keys().end(),
+                std::inserter(factor_keys_set, factor_keys_set.end()));
+
       nonlinear_factors.push_back(
           boost::dynamic_pointer_cast<NonlinearFactor>(f));
     }
     factors_ = Factors(discreteKeys, nonlinear_factors);
+
+    if (continuous_keys_set != factor_keys_set) {
+      throw std::runtime_error(
+          "The specified continuous keys and the keys in the factors don't "
+          "match!");
+    }
   }
 
   ~MixtureFactor() = default;
diff --git a/gtsam/hybrid/tests/testHybridNonlinearFactorGraph.cpp b/gtsam/hybrid/tests/testHybridNonlinearFactorGraph.cpp
index 3723e6078c..6b689b4e3c 100644
--- a/gtsam/hybrid/tests/testHybridNonlinearFactorGraph.cpp
+++ b/gtsam/hybrid/tests/testHybridNonlinearFactorGraph.cpp
@@ -147,6 +147,32 @@ TEST(HybridGaussianFactorGraph, Resize) {
   EXPECT_LONGS_EQUAL(gfg.size(), 0);
 }
 
+/***************************************************************************
+ * Test that the MixtureFactor reports correctly if the number of continuous
+ * keys provided do not match the keys in the factors.
+ */
+TEST(HybridGaussianFactorGraph, MixtureFactor) {
+  auto nonlinearFactor = boost::make_shared<BetweenFactor<double>>(
+      X(0), X(1), 0.0, Isotropic::Sigma(1, 0.1));
+  auto discreteFactor = boost::make_shared<DecisionTreeFactor>();
+
+  auto noise_model = noiseModel::Isotropic::Sigma(1, 1.0);
+  auto still = boost::make_shared<MotionModel>(X(0), X(1), 0.0, noise_model),
+       moving = boost::make_shared<MotionModel>(X(0), X(1), 1.0, noise_model);
+
+  std::vector<MotionModel::shared_ptr> components = {still, moving};
+
+  // Check for exception when number of continuous keys are under-specified.
+  KeyVector contKeys = {X(0)};
+  THROWS_EXCEPTION(boost::make_shared<MixtureFactor>(
+      contKeys, DiscreteKeys{gtsam::DiscreteKey(M(1), 2)}, components));
+
+  // Check for exception when number of continuous keys are too many.
+  contKeys = {X(0), X(1), X(2)};
+  THROWS_EXCEPTION(boost::make_shared<MixtureFactor>(
+      contKeys, DiscreteKeys{gtsam::DiscreteKey(M(1), 2)}, components));
+}
+
 /*****************************************************************************
  * Test push_back on HFG makes the correct distinction.
  */
@@ -348,7 +374,7 @@ TEST(HybridGaussianElimination, EliminateHybrid_2_Variable) {
   EXPECT_LONGS_EQUAL(1, discreteFactor->discreteKeys().size());
   EXPECT(discreteFactor->root_->isLeaf() == false);
 
-  //TODO(Varun) Test emplace_discrete
+  // TODO(Varun) Test emplace_discrete
 }
 
 /****************************************************************************

From 8c10a8089e2417996af9a5119e8488761fa4d3a5 Mon Sep 17 00:00:00 2001
From: Varun Agrawal <varagrawal@gmail.com>
Date: Mon, 12 Sep 2022 19:55:38 -0400
Subject: [PATCH 340/433] return shared pointer for
 HybridNonlinearFactorGraph::linearize

---
 gtsam/hybrid/HybridNonlinearFactorGraph.cpp   | 21 +++++++++----------
 gtsam/hybrid/HybridNonlinearFactorGraph.h     |  3 ++-
 gtsam/hybrid/tests/Switching.h                |  2 +-
 gtsam/hybrid/tests/testHybridIncremental.cpp  |  8 +++----
 .../tests/testHybridNonlinearFactorGraph.cpp  |  8 +++----
 5 files changed, 21 insertions(+), 21 deletions(-)

diff --git a/gtsam/hybrid/HybridNonlinearFactorGraph.cpp b/gtsam/hybrid/HybridNonlinearFactorGraph.cpp
index a4218593b6..3a3bf720b7 100644
--- a/gtsam/hybrid/HybridNonlinearFactorGraph.cpp
+++ b/gtsam/hybrid/HybridNonlinearFactorGraph.cpp
@@ -27,8 +27,7 @@ void HybridNonlinearFactorGraph::add(
 }
 
 /* ************************************************************************* */
-void HybridNonlinearFactorGraph::add(
-    boost::shared_ptr<DiscreteFactor> factor) {
+void HybridNonlinearFactorGraph::add(boost::shared_ptr<DiscreteFactor> factor) {
   FactorGraph::add(boost::make_shared<HybridDiscreteFactor>(factor));
 }
 
@@ -49,12 +48,12 @@ void HybridNonlinearFactorGraph::print(const std::string& s,
 }
 
 /* ************************************************************************* */
-HybridGaussianFactorGraph HybridNonlinearFactorGraph::linearize(
+HybridGaussianFactorGraph::shared_ptr HybridNonlinearFactorGraph::linearize(
     const Values& continuousValues) const {
   // create an empty linear FG
-  HybridGaussianFactorGraph linearFG;
+  auto linearFG = boost::make_shared<HybridGaussianFactorGraph>();
 
-  linearFG.reserve(size());
+  linearFG->reserve(size());
 
   // linearize all hybrid factors
   for (auto&& factor : factors_) {
@@ -66,9 +65,9 @@ HybridGaussianFactorGraph HybridNonlinearFactorGraph::linearize(
       if (factor->isHybrid()) {
         // Check if it is a nonlinear mixture factor
         if (auto nlmf = boost::dynamic_pointer_cast<MixtureFactor>(factor)) {
-          linearFG.push_back(nlmf->linearize(continuousValues));
+          linearFG->push_back(nlmf->linearize(continuousValues));
         } else {
-          linearFG.push_back(factor);
+          linearFG->push_back(factor);
         }
 
         // Now check if the factor is a continuous only factor.
@@ -80,18 +79,18 @@ HybridGaussianFactorGraph HybridNonlinearFactorGraph::linearize(
                 boost::dynamic_pointer_cast<NonlinearFactor>(nlhf->inner())) {
           auto hgf = boost::make_shared<HybridGaussianFactor>(
               nlf->linearize(continuousValues));
-          linearFG.push_back(hgf);
+          linearFG->push_back(hgf);
         } else {
-          linearFG.push_back(factor);
+          linearFG->push_back(factor);
         }
         // Finally if nothing else, we are discrete-only which doesn't need
         // lineariztion.
       } else {
-        linearFG.push_back(factor);
+        linearFG->push_back(factor);
       }
 
     } else {
-      linearFG.push_back(GaussianFactor::shared_ptr());
+      linearFG->push_back(GaussianFactor::shared_ptr());
     }
   }
   return linearFG;
diff --git a/gtsam/hybrid/HybridNonlinearFactorGraph.h b/gtsam/hybrid/HybridNonlinearFactorGraph.h
index 7a19c77555..afa4103182 100644
--- a/gtsam/hybrid/HybridNonlinearFactorGraph.h
+++ b/gtsam/hybrid/HybridNonlinearFactorGraph.h
@@ -127,7 +127,8 @@ class GTSAM_EXPORT HybridNonlinearFactorGraph : public HybridFactorGraph {
    * @param continuousValues: Dictionary of continuous values.
    * @return HybridGaussianFactorGraph::shared_ptr
    */
-  HybridGaussianFactorGraph linearize(const Values& continuousValues) const;
+  HybridGaussianFactorGraph::shared_ptr linearize(
+      const Values& continuousValues) const;
 };
 
 template <>
diff --git a/gtsam/hybrid/tests/Switching.h b/gtsam/hybrid/tests/Switching.h
index ecd90e2344..8bcb26c927 100644
--- a/gtsam/hybrid/tests/Switching.h
+++ b/gtsam/hybrid/tests/Switching.h
@@ -166,7 +166,7 @@ struct Switching {
       linearizationPoint.insert<double>(X(k), static_cast<double>(k));
     }
 
-    linearizedFactorGraph = nonlinearFactorGraph.linearize(linearizationPoint);
+    linearizedFactorGraph = *nonlinearFactorGraph.linearize(linearizationPoint);
   }
 
   // Create motion models for a given time step
diff --git a/gtsam/hybrid/tests/testHybridIncremental.cpp b/gtsam/hybrid/tests/testHybridIncremental.cpp
index 4449aba0b3..8e16d02b93 100644
--- a/gtsam/hybrid/tests/testHybridIncremental.cpp
+++ b/gtsam/hybrid/tests/testHybridIncremental.cpp
@@ -399,7 +399,7 @@ TEST(HybridGaussianISAM, NonTrivial) {
   initial.insert(Z(0), Pose2(0.0, 2.0, 0.0));
   initial.insert(W(0), Pose2(0.0, 3.0, 0.0));
 
-  HybridGaussianFactorGraph gfg = fg.linearize(initial);
+  HybridGaussianFactorGraph gfg = *fg.linearize(initial);
   fg = HybridNonlinearFactorGraph();
 
   HybridGaussianISAM inc;
@@ -444,7 +444,7 @@ TEST(HybridGaussianISAM, NonTrivial) {
   // The leg link did not move so we set the expected pose accordingly.
   initial.insert(W(1), Pose2(0.0, 3.0, 0.0));
 
-  gfg = fg.linearize(initial);
+  gfg = *fg.linearize(initial);
   fg = HybridNonlinearFactorGraph();
 
   // Update without pruning
@@ -483,7 +483,7 @@ TEST(HybridGaussianISAM, NonTrivial) {
   initial.insert(Z(2), Pose2(2.0, 2.0, 0.0));
   initial.insert(W(2), Pose2(0.0, 3.0, 0.0));
 
-  gfg = fg.linearize(initial);
+  gfg = *fg.linearize(initial);
   fg = HybridNonlinearFactorGraph();
 
   // Now we prune!
@@ -526,7 +526,7 @@ TEST(HybridGaussianISAM, NonTrivial) {
   initial.insert(Z(3), Pose2(3.0, 2.0, 0.0));
   initial.insert(W(3), Pose2(0.0, 3.0, 0.0));
 
-  gfg = fg.linearize(initial);
+  gfg = *fg.linearize(initial);
   fg = HybridNonlinearFactorGraph();
 
   // Keep pruning!
diff --git a/gtsam/hybrid/tests/testHybridNonlinearFactorGraph.cpp b/gtsam/hybrid/tests/testHybridNonlinearFactorGraph.cpp
index 6b689b4e3c..9e93eaba33 100644
--- a/gtsam/hybrid/tests/testHybridNonlinearFactorGraph.cpp
+++ b/gtsam/hybrid/tests/testHybridNonlinearFactorGraph.cpp
@@ -60,7 +60,7 @@ TEST(HybridFactorGraph, GaussianFactorGraph) {
   Values linearizationPoint;
   linearizationPoint.insert<double>(X(0), 0);
 
-  HybridGaussianFactorGraph ghfg = fg.linearize(linearizationPoint);
+  HybridGaussianFactorGraph ghfg = *fg.linearize(linearizationPoint);
 
   // Add a factor to the GaussianFactorGraph
   ghfg.add(JacobianFactor(X(0), I_1x1, Vector1(5)));
@@ -139,7 +139,7 @@ TEST(HybridGaussianFactorGraph, Resize) {
   linearizationPoint.insert<double>(X(1), 1);
 
   // Generate `HybridGaussianFactorGraph` by linearizing
-  HybridGaussianFactorGraph gfg = nhfg.linearize(linearizationPoint);
+  HybridGaussianFactorGraph gfg = *nhfg.linearize(linearizationPoint);
 
   EXPECT_LONGS_EQUAL(gfg.size(), 3);
 
@@ -250,7 +250,7 @@ TEST(HybridFactorGraph, Linearization) {
 
   // Linearize here:
   HybridGaussianFactorGraph actualLinearized =
-      self.nonlinearFactorGraph.linearize(self.linearizationPoint);
+      *self.nonlinearFactorGraph.linearize(self.linearizationPoint);
 
   EXPECT_LONGS_EQUAL(7, actualLinearized.size());
 }
@@ -718,7 +718,7 @@ TEST(HybridFactorGraph, DefaultDecisionTree) {
   ordering += X(0);
   ordering += X(1);
 
-  HybridGaussianFactorGraph linearized = fg.linearize(initialEstimate);
+  HybridGaussianFactorGraph linearized = *fg.linearize(initialEstimate);
   gtsam::HybridBayesNet::shared_ptr hybridBayesNet;
   gtsam::HybridGaussianFactorGraph::shared_ptr remainingFactorGraph;
 

From 5a7801583265f0f88e656c7d648d9a21a1d9d8aa Mon Sep 17 00:00:00 2001
From: Varun Agrawal <varagrawal@gmail.com>
Date: Mon, 12 Sep 2022 19:55:51 -0400
Subject: [PATCH 341/433] add push_back for containers

---
 gtsam/hybrid/HybridNonlinearFactorGraph.h | 17 +++++++++++++++++
 1 file changed, 17 insertions(+)

diff --git a/gtsam/hybrid/HybridNonlinearFactorGraph.h b/gtsam/hybrid/HybridNonlinearFactorGraph.h
index afa4103182..5f04851d40 100644
--- a/gtsam/hybrid/HybridNonlinearFactorGraph.h
+++ b/gtsam/hybrid/HybridNonlinearFactorGraph.h
@@ -109,6 +109,23 @@ class GTSAM_EXPORT HybridNonlinearFactorGraph : public HybridFactorGraph {
     }
   }
 
+  /**
+   * Push back many factors as shared_ptr's in a container (factors are not
+   * copied)
+   */
+  template <typename CONTAINER>
+  Base::Base::HasDerivedElementType<CONTAINER> push_back(
+      const CONTAINER& container) {
+    Base::push_back(container.begin(), container.end());
+  }
+
+  /// Push back non-pointer objects in a container (factors are copied).
+  template <typename CONTAINER>
+  Base::Base::HasDerivedValueType<CONTAINER> push_back(
+      const CONTAINER& container) {
+    Base::push_back(container.begin(), container.end());
+  }
+
   /// Add a nonlinear factor as a shared ptr.
   void add(boost::shared_ptr<NonlinearFactor> factor);
 

From 83dd813bff53a596128de567b5dd871317e95782 Mon Sep 17 00:00:00 2001
From: Varun Agrawal <varagrawal@gmail.com>
Date: Tue, 13 Sep 2022 13:01:27 -0400
Subject: [PATCH 342/433] HybridNonlinearISAM class

---
 gtsam/hybrid/HybridGaussianISAM.h             |   2 +-
 gtsam/hybrid/HybridNonlinearISAM.cpp          | 111 ++++
 gtsam/hybrid/HybridNonlinearISAM.h            | 132 ++++
 .../hybrid/tests/testHybridNonlinearISAM.cpp  | 589 ++++++++++++++++++
 4 files changed, 833 insertions(+), 1 deletion(-)
 create mode 100644 gtsam/hybrid/HybridNonlinearISAM.cpp
 create mode 100644 gtsam/hybrid/HybridNonlinearISAM.h
 create mode 100644 gtsam/hybrid/tests/testHybridNonlinearISAM.cpp

diff --git a/gtsam/hybrid/HybridGaussianISAM.h b/gtsam/hybrid/HybridGaussianISAM.h
index 4fc206582d..ff09787293 100644
--- a/gtsam/hybrid/HybridGaussianISAM.h
+++ b/gtsam/hybrid/HybridGaussianISAM.h
@@ -65,7 +65,7 @@ class GTSAM_EXPORT HybridGaussianISAM : public ISAM<HybridBayesTree> {
                   HybridBayesTree::EliminationTraitsType::DefaultEliminate);
 
   /**
-   * @brief 
+   * @brief Prune the underlying Bayes tree.
    * 
    * @param root The root key in the discrete conditional decision tree.
    * @param maxNumberLeaves 
diff --git a/gtsam/hybrid/HybridNonlinearISAM.cpp b/gtsam/hybrid/HybridNonlinearISAM.cpp
new file mode 100644
index 0000000000..36cda4e807
--- /dev/null
+++ b/gtsam/hybrid/HybridNonlinearISAM.cpp
@@ -0,0 +1,111 @@
+/* ----------------------------------------------------------------------------
+
+ * GTSAM Copyright 2010, Georgia Tech Research Corporation,
+ * Atlanta, Georgia 30332-0415
+ * All Rights Reserved
+ * Authors: Frank Dellaert, et al. (see THANKS for the full author list)
+
+ * See LICENSE for the license information
+
+ * -------------------------------------------------------------------------- */
+
+/**
+ * @file HybridNonlinearISAM.cpp
+ * @date Sep 12, 2022
+ * @author Varun Agrawal
+ */
+
+#include <gtsam/hybrid/HybridGaussianFactorGraph.h>
+#include <gtsam/hybrid/HybridNonlinearISAM.h>
+#include <gtsam/inference/Ordering.h>
+
+#include <iostream>
+
+using namespace std;
+
+namespace gtsam {
+
+/* ************************************************************************* */
+void HybridNonlinearISAM::saveGraph(const string& s,
+                                    const KeyFormatter& keyFormatter) const {
+  isam_.saveGraph(s, keyFormatter);
+}
+
+/* ************************************************************************* */
+void HybridNonlinearISAM::update(const HybridNonlinearFactorGraph& newFactors,
+                                 const Values& initialValues) {
+  if (newFactors.size() > 0) {
+    // Reorder and relinearize every reorderInterval updates
+    if (reorderInterval_ > 0 && ++reorderCounter_ >= reorderInterval_) {
+      reorder_relinearize();
+      reorderCounter_ = 0;
+    }
+
+    factors_.push_back(newFactors);
+
+    // Linearize new factors and insert them
+    // TODO: optimize for whole config?
+    linPoint_.insert(initialValues);
+
+    boost::shared_ptr<HybridGaussianFactorGraph> linearizedNewFactors =
+        newFactors.linearize(linPoint_);
+
+    // Update ISAM
+    isam_.update(*linearizedNewFactors, boost::none, eliminationFunction_);
+  }
+}
+
+/* ************************************************************************* */
+void HybridNonlinearISAM::reorder_relinearize() {
+  if (factors_.size() > 0) {
+    // Obtain the new linearization point
+    const Values newLinPoint = estimate();
+
+    isam_.clear();
+
+    // Just recreate the whole BayesTree
+    // TODO: allow for constrained ordering here
+    // TODO: decouple relinearization and reordering to avoid
+    isam_.update(*factors_.linearize(newLinPoint), boost::none,
+                 eliminationFunction_);
+
+    // Update linearization point
+    linPoint_ = newLinPoint;
+  }
+}
+
+/* ************************************************************************* */
+Values HybridNonlinearISAM::estimate() {
+  Values result;
+  if (isam_.size() > 0) {
+    HybridValues values = isam_.optimize();
+    assignment_ = values.discrete();
+    return linPoint_.retract(values.continuous());
+  } else {
+    return linPoint_;
+  }
+}
+
+// /* *************************************************************************
+// */ Matrix HybridNonlinearISAM::marginalCovariance(Key key) const {
+//   return isam_.marginalCovariance(key);
+// }
+
+/* ************************************************************************* */
+void HybridNonlinearISAM::print(const string& s,
+                                const KeyFormatter& keyFormatter) const {
+  cout << s << "ReorderInterval: " << reorderInterval_
+       << " Current Count: " << reorderCounter_ << endl;
+  isam_.print("HybridGaussianISAM:\n");
+  linPoint_.print("Linearization Point:\n", keyFormatter);
+  factors_.print("Nonlinear Graph:\n", keyFormatter);
+}
+
+/* ************************************************************************* */
+void HybridNonlinearISAM::printStats() const {
+  isam_.getCliqueData().getStats().print();
+}
+
+/* ************************************************************************* */
+
+}  // namespace gtsam
diff --git a/gtsam/hybrid/HybridNonlinearISAM.h b/gtsam/hybrid/HybridNonlinearISAM.h
new file mode 100644
index 0000000000..d96485fff0
--- /dev/null
+++ b/gtsam/hybrid/HybridNonlinearISAM.h
@@ -0,0 +1,132 @@
+/* ----------------------------------------------------------------------------
+
+ * GTSAM Copyright 2010, Georgia Tech Research Corporation,
+ * Atlanta, Georgia 30332-0415
+ * All Rights Reserved
+ * Authors: Frank Dellaert, et al. (see THANKS for the full author list)
+
+ * See LICENSE for the license information
+
+ * -------------------------------------------------------------------------- */
+
+/**
+ * @file HybridNonlinearISAM.h
+ * @date Sep 12, 2022
+ * @author Varun Agrawal
+ */
+
+#pragma once
+
+#include <gtsam/hybrid/HybridGaussianISAM.h>
+#include <gtsam/hybrid/HybridNonlinearFactorGraph.h>
+
+namespace gtsam {
+/**
+ * Wrapper class to manage ISAM in a nonlinear context
+ */
+class GTSAM_EXPORT HybridNonlinearISAM {
+ protected:
+  /** The internal iSAM object */
+  gtsam::HybridGaussianISAM isam_;
+
+  /** The current linearization point */
+  Values linPoint_;
+
+  /// The discrete assignment
+  DiscreteValues assignment_;
+
+  /** The original factors, used when relinearizing */
+  HybridNonlinearFactorGraph factors_;
+
+  /** The reordering interval and counter */
+  int reorderInterval_;
+  int reorderCounter_;
+
+  /** The elimination function */
+  HybridGaussianFactorGraph::Eliminate eliminationFunction_;
+
+ public:
+  /// @name Standard Constructors
+  /// @{
+
+  /**
+   * Periodically reorder and relinearize
+   * @param reorderInterval is the number of updates between reorderings,
+   *   0 never reorders (and is dangerous for memory consumption)
+   *  1 (default) reorders every time, in worse case is batch every update
+   *  typical values are 50 or 100
+   */
+  HybridNonlinearISAM(
+      int reorderInterval = 1,
+      const HybridGaussianFactorGraph::Eliminate& eliminationFunction =
+          HybridGaussianFactorGraph::EliminationTraitsType::DefaultEliminate)
+      : reorderInterval_(reorderInterval),
+        reorderCounter_(0),
+        eliminationFunction_(eliminationFunction) {}
+
+  /// @}
+  /// @name Standard Interface
+  /// @{
+
+  /** Return the current solution estimate */
+  Values estimate();
+
+  // /** find the marginal covariance for a single variable */
+  // Matrix marginalCovariance(Key key) const;
+
+  // access
+
+  /** access the underlying bayes tree */
+  const HybridGaussianISAM& bayesTree() const { return isam_; }
+
+  /**
+   * @brief Prune the underlying Bayes tree.
+   *
+   * @param root The root key in the discrete conditional decision tree.
+   * @param maxNumberLeaves
+   */
+  void prune(const Key& root, const size_t maxNumberLeaves) {
+    isam_.prune(root, maxNumberLeaves);
+  }
+
+  /** Return the current linearization point */
+  const Values& getLinearizationPoint() const { return linPoint_; }
+
+  /** Return the current discrete assignment */
+  const DiscreteValues& getAssignment() const { return assignment_; }
+
+  /** get underlying nonlinear graph */
+  const HybridNonlinearFactorGraph& getFactorsUnsafe() const {
+    return factors_;
+  }
+
+  /** get counters */
+  int reorderInterval() const { return reorderInterval_; }  ///< TODO: comment
+  int reorderCounter() const { return reorderCounter_; }    ///< TODO: comment
+
+  /** prints out all contents of the system */
+  void print(const std::string& s = "",
+             const KeyFormatter& keyFormatter = DefaultKeyFormatter) const;
+
+  /** prints out clique statistics */
+  void printStats() const;
+
+  /** saves the Tree to a text file in GraphViz format */
+  void saveGraph(const std::string& s,
+                 const KeyFormatter& keyFormatter = DefaultKeyFormatter) const;
+
+  /// @}
+  /// @name Advanced Interface
+  /// @{
+
+  /** Add new factors along with their initial linearization points */
+  void update(const HybridNonlinearFactorGraph& newFactors,
+              const Values& initialValues);
+
+  /** Relinearization and reordering of variables */
+  void reorder_relinearize();
+
+  /// @}
+};
+
+}  // namespace gtsam
diff --git a/gtsam/hybrid/tests/testHybridNonlinearISAM.cpp b/gtsam/hybrid/tests/testHybridNonlinearISAM.cpp
new file mode 100644
index 0000000000..bed90fe2c0
--- /dev/null
+++ b/gtsam/hybrid/tests/testHybridNonlinearISAM.cpp
@@ -0,0 +1,589 @@
+/* ----------------------------------------------------------------------------
+
+ * GTSAM Copyright 2010, Georgia Tech Research Corporation,
+ * Atlanta, Georgia 30332-0415
+ * All Rights Reserved
+ * Authors: Frank Dellaert, et al. (see THANKS for the full author list)
+
+ * See LICENSE for the license information
+
+ * -------------------------------------------------------------------------- */
+
+/**
+ * @file    testHybridNonlinearISAM.cpp
+ * @brief   Unit tests for nonlinear incremental inference
+ * @author  Fan Jiang, Varun Agrawal, Frank Dellaert
+ * @date    Jan 2021
+ */
+
+#include <gtsam/discrete/DiscreteBayesNet.h>
+#include <gtsam/discrete/DiscreteDistribution.h>
+#include <gtsam/discrete/DiscreteFactorGraph.h>
+#include <gtsam/geometry/Pose2.h>
+#include <gtsam/hybrid/HybridConditional.h>
+#include <gtsam/hybrid/HybridNonlinearISAM.h>
+#include <gtsam/linear/GaussianBayesNet.h>
+#include <gtsam/linear/GaussianFactorGraph.h>
+#include <gtsam/nonlinear/PriorFactor.h>
+#include <gtsam/sam/BearingRangeFactor.h>
+
+#include <numeric>
+
+#include "Switching.h"
+
+// Include for test suite
+#include <CppUnitLite/TestHarness.h>
+
+using namespace std;
+using namespace gtsam;
+using noiseModel::Isotropic;
+using symbol_shorthand::L;
+using symbol_shorthand::M;
+using symbol_shorthand::W;
+using symbol_shorthand::X;
+using symbol_shorthand::Y;
+using symbol_shorthand::Z;
+
+/* ****************************************************************************/
+// Test if we can perform elimination incrementally.
+TEST(HybridNonlinearISAM, IncrementalElimination) {
+  Switching switching(3);
+  HybridNonlinearISAM isam;
+  HybridNonlinearFactorGraph graph1;
+  Values initial;
+
+  // Create initial factor graph
+  //  *        *      *
+  //  |        |      |
+  //  X1  -*-  X2 -*- X3
+  //   \*-M1-*/
+  graph1.push_back(switching.nonlinearFactorGraph.at(0));  // P(X1)
+  graph1.push_back(switching.nonlinearFactorGraph.at(1));  // P(X1, X2 | M1)
+  graph1.push_back(switching.nonlinearFactorGraph.at(2));  // P(X2, X3 | M2)
+  graph1.push_back(switching.nonlinearFactorGraph.at(5));  // P(M1)
+
+  initial.insert<double>(X(1), 1);
+  initial.insert<double>(X(2), 2);
+  initial.insert<double>(X(3), 3);
+
+  // Run update step
+  isam.update(graph1, initial);
+
+  // Check that after update we have 3 hybrid Bayes net nodes:
+  // P(X1 | X2, M1) and P(X2, X3 | M1, M2), P(M1, M2)
+  HybridGaussianISAM bayesTree = isam.bayesTree();
+  EXPECT_LONGS_EQUAL(3, bayesTree.size());
+  EXPECT(bayesTree[X(1)]->conditional()->frontals() == KeyVector{X(1)});
+  EXPECT(bayesTree[X(1)]->conditional()->parents() == KeyVector({X(2), M(1)}));
+  EXPECT(bayesTree[X(2)]->conditional()->frontals() == KeyVector({X(2), X(3)}));
+  EXPECT(bayesTree[X(2)]->conditional()->parents() == KeyVector({M(1), M(2)}));
+
+  /********************************************************/
+  // New factor graph for incremental update.
+  HybridNonlinearFactorGraph graph2;
+  initial = Values();
+
+  graph1.push_back(switching.nonlinearFactorGraph.at(3));  // P(X2)
+  graph2.push_back(switching.nonlinearFactorGraph.at(4));  // P(X3)
+  graph2.push_back(switching.nonlinearFactorGraph.at(6));  // P(M1, M2)
+
+  isam.update(graph2, initial);
+
+  bayesTree = isam.bayesTree();
+  // Check that after the second update we have
+  // 1 additional hybrid Bayes net node:
+  // P(X2, X3 | M1, M2)
+  EXPECT_LONGS_EQUAL(3, bayesTree.size());
+  EXPECT(bayesTree[X(3)]->conditional()->frontals() == KeyVector({X(2), X(3)}));
+  EXPECT(bayesTree[X(3)]->conditional()->parents() == KeyVector({M(1), M(2)}));
+}
+
+/* ****************************************************************************/
+// Test if we can incrementally do the inference
+TEST(HybridNonlinearISAM, IncrementalInference) {
+  Switching switching(3);
+  HybridNonlinearISAM isam;
+  HybridNonlinearFactorGraph graph1;
+  Values initial;
+
+  // Create initial factor graph
+  //    *        *        *
+  //    |        |        |
+  //    X1  -*-  X2  -*-  X3
+  //         |        |
+  //      *-M1 - * - M2
+  graph1.push_back(switching.nonlinearFactorGraph.at(0));  // P(X1)
+  graph1.push_back(switching.nonlinearFactorGraph.at(1));  // P(X1, X2 | M1)
+  graph1.push_back(switching.nonlinearFactorGraph.at(3));  // P(X2)
+  graph1.push_back(switching.nonlinearFactorGraph.at(5));  // P(M1)
+
+  initial.insert<double>(X(1), 1);
+  initial.insert<double>(X(2), 2);
+
+  // Run update step
+  isam.update(graph1, initial);
+  HybridGaussianISAM bayesTree = isam.bayesTree();
+
+  auto discreteConditional_m1 =
+      bayesTree[M(1)]->conditional()->asDiscreteConditional();
+  EXPECT(discreteConditional_m1->keys() == KeyVector({M(1)}));
+
+  /********************************************************/
+  // New factor graph for incremental update.
+  HybridNonlinearFactorGraph graph2;
+  initial = Values();
+
+  initial.insert<double>(X(3), 3);
+
+  graph2.push_back(switching.nonlinearFactorGraph.at(2));  // P(X2, X3 | M2)
+  graph2.push_back(switching.nonlinearFactorGraph.at(4));  // P(X3)
+  graph2.push_back(switching.nonlinearFactorGraph.at(6));  // P(M1, M2)
+
+  isam.update(graph2, initial);
+  bayesTree = isam.bayesTree();
+
+  /********************************************************/
+  // Run batch elimination so we can compare results.
+  Ordering ordering;
+  ordering += X(1);
+  ordering += X(2);
+  ordering += X(3);
+
+  // Now we calculate the actual factors using full elimination
+  HybridBayesTree::shared_ptr expectedHybridBayesTree;
+  HybridGaussianFactorGraph::shared_ptr expectedRemainingGraph;
+  std::tie(expectedHybridBayesTree, expectedRemainingGraph) =
+      switching.linearizedFactorGraph.eliminatePartialMultifrontal(ordering);
+
+  // The densities on X(1) should be the same
+  auto x1_conditional = dynamic_pointer_cast<GaussianMixture>(
+      bayesTree[X(1)]->conditional()->inner());
+  auto actual_x1_conditional = dynamic_pointer_cast<GaussianMixture>(
+      (*expectedHybridBayesTree)[X(1)]->conditional()->inner());
+  EXPECT(assert_equal(*x1_conditional, *actual_x1_conditional));
+
+  // The densities on X(2) should be the same
+  auto x2_conditional = dynamic_pointer_cast<GaussianMixture>(
+      bayesTree[X(2)]->conditional()->inner());
+  auto actual_x2_conditional = dynamic_pointer_cast<GaussianMixture>(
+      (*expectedHybridBayesTree)[X(2)]->conditional()->inner());
+  EXPECT(assert_equal(*x2_conditional, *actual_x2_conditional));
+
+  // The densities on X(3) should be the same
+  auto x3_conditional = dynamic_pointer_cast<GaussianMixture>(
+      bayesTree[X(3)]->conditional()->inner());
+  auto actual_x3_conditional = dynamic_pointer_cast<GaussianMixture>(
+      (*expectedHybridBayesTree)[X(2)]->conditional()->inner());
+  EXPECT(assert_equal(*x3_conditional, *actual_x3_conditional));
+
+  // We only perform manual continuous elimination for 0,0.
+  // The other discrete probabilities on M(2) are calculated the same way
+  Ordering discrete_ordering;
+  discrete_ordering += M(1);
+  discrete_ordering += M(2);
+  HybridBayesTree::shared_ptr discreteBayesTree =
+      expectedRemainingGraph->eliminateMultifrontal(discrete_ordering);
+
+  DiscreteValues m00;
+  m00[M(1)] = 0, m00[M(2)] = 0;
+  DiscreteConditional decisionTree =
+      *(*discreteBayesTree)[M(2)]->conditional()->asDiscreteConditional();
+  double m00_prob = decisionTree(m00);
+
+  auto discreteConditional =
+      bayesTree[M(2)]->conditional()->asDiscreteConditional();
+
+  // Test if the probability values are as expected with regression tests.
+  DiscreteValues assignment;
+  EXPECT(assert_equal(m00_prob, 0.0619233, 1e-5));
+  assignment[M(1)] = 0;
+  assignment[M(2)] = 0;
+  EXPECT(assert_equal(m00_prob, (*discreteConditional)(assignment), 1e-5));
+  assignment[M(1)] = 1;
+  assignment[M(2)] = 0;
+  EXPECT(assert_equal(0.183743, (*discreteConditional)(assignment), 1e-5));
+  assignment[M(1)] = 0;
+  assignment[M(2)] = 1;
+  EXPECT(assert_equal(0.204159, (*discreteConditional)(assignment), 1e-5));
+  assignment[M(1)] = 1;
+  assignment[M(2)] = 1;
+  EXPECT(assert_equal(0.2, (*discreteConditional)(assignment), 1e-5));
+
+  // Check if the clique conditional generated from incremental elimination
+  // matches that of batch elimination.
+  auto expectedChordal = expectedRemainingGraph->eliminateMultifrontal();
+  auto expectedConditional = dynamic_pointer_cast<DecisionTreeFactor>(
+      (*expectedChordal)[M(2)]->conditional()->inner());
+  auto actualConditional = dynamic_pointer_cast<DecisionTreeFactor>(
+      bayesTree[M(2)]->conditional()->inner());
+  EXPECT(assert_equal(*actualConditional, *expectedConditional, 1e-6));
+}
+
+/* ****************************************************************************/
+// Test if we can approximately do the inference
+TEST(HybridNonlinearISAM, Approx_inference) {
+  Switching switching(4);
+  HybridNonlinearISAM incrementalHybrid;
+  HybridNonlinearFactorGraph graph1;
+  Values initial;
+
+  // Add the 3 hybrid factors, x1-x2, x2-x3, x3-x4
+  for (size_t i = 1; i < 4; i++) {
+    graph1.push_back(switching.nonlinearFactorGraph.at(i));
+  }
+
+  // Add the Gaussian factors, 1 prior on X(1),
+  // 3 measurements on X(2), X(3), X(4)
+  graph1.push_back(switching.nonlinearFactorGraph.at(0));
+  for (size_t i = 4; i <= 7; i++) {
+    graph1.push_back(switching.nonlinearFactorGraph.at(i));
+    initial.insert<double>(X(i - 3), i - 3);
+  }
+
+  // Create ordering.
+  Ordering ordering;
+  for (size_t j = 1; j <= 4; j++) {
+    ordering += X(j);
+  }
+
+  // Now we calculate the actual factors using full elimination
+  HybridBayesTree::shared_ptr unprunedHybridBayesTree;
+  HybridGaussianFactorGraph::shared_ptr unprunedRemainingGraph;
+  std::tie(unprunedHybridBayesTree, unprunedRemainingGraph) =
+      switching.linearizedFactorGraph.eliminatePartialMultifrontal(ordering);
+
+  size_t maxNrLeaves = 5;
+  incrementalHybrid.update(graph1, initial);
+  HybridGaussianISAM bayesTree = incrementalHybrid.bayesTree();
+
+  bayesTree.prune(M(3), maxNrLeaves);
+
+  /*
+  unpruned factor is:
+    Choice(m3)
+    0 Choice(m2)
+    0 0 Choice(m1)
+    0 0 0 Leaf 0.11267528
+    0 0 1 Leaf 0.18576102
+    0 1 Choice(m1)
+    0 1 0 Leaf 0.18754662
+    0 1 1 Leaf 0.30623871
+    1 Choice(m2)
+    1 0 Choice(m1)
+    1 0 0 Leaf 0.18576102
+    1 0 1 Leaf 0.30622428
+    1 1 Choice(m1)
+    1 1 0 Leaf 0.30623871
+    1 1 1 Leaf  0.5
+
+  pruned factors is:
+    Choice(m3)
+    0 Choice(m2)
+    0 0 Leaf    0
+    0 1 Choice(m1)
+    0 1 0 Leaf 0.18754662
+    0 1 1 Leaf 0.30623871
+    1 Choice(m2)
+    1 0 Choice(m1)
+    1 0 0 Leaf    0
+    1 0 1 Leaf 0.30622428
+    1 1 Choice(m1)
+    1 1 0 Leaf 0.30623871
+    1 1 1 Leaf  0.5
+  */
+
+  auto discreteConditional_m1 = *dynamic_pointer_cast<DiscreteConditional>(
+      bayesTree[M(1)]->conditional()->inner());
+  EXPECT(discreteConditional_m1.keys() == KeyVector({M(1), M(2), M(3)}));
+
+  // Get the number of elements which are greater than 0.
+  auto count = [](const double &value, int count) {
+    return value > 0 ? count + 1 : count;
+  };
+  // Check that the number of leaves after pruning is 5.
+  EXPECT_LONGS_EQUAL(5, discreteConditional_m1.fold(count, 0));
+
+  // Check that the hybrid nodes of the bayes net match those of the pre-pruning
+  // bayes net, at the same positions.
+  auto &unprunedLastDensity = *dynamic_pointer_cast<GaussianMixture>(
+      unprunedHybridBayesTree->clique(X(4))->conditional()->inner());
+  auto &lastDensity = *dynamic_pointer_cast<GaussianMixture>(
+      bayesTree[X(4)]->conditional()->inner());
+
+  std::vector<std::pair<DiscreteValues, double>> assignments =
+      discreteConditional_m1.enumerate();
+  // Loop over all assignments and check the pruned components
+  for (auto &&av : assignments) {
+    const DiscreteValues &assignment = av.first;
+    const double value = av.second;
+
+    if (value == 0.0) {
+      EXPECT(lastDensity(assignment) == nullptr);
+    } else {
+      CHECK(lastDensity(assignment));
+      EXPECT(assert_equal(*unprunedLastDensity(assignment),
+                          *lastDensity(assignment)));
+    }
+  }
+}
+
+/* ****************************************************************************/
+// Test approximate inference with an additional pruning step.
+TEST(HybridNonlinearISAM, Incremental_approximate) {
+  Switching switching(5);
+  HybridNonlinearISAM incrementalHybrid;
+  HybridNonlinearFactorGraph graph1;
+  Values initial;
+
+  /***** Run Round 1 *****/
+  // Add the 3 hybrid factors, x1-x2, x2-x3, x3-x4
+  for (size_t i = 1; i < 4; i++) {
+    graph1.push_back(switching.nonlinearFactorGraph.at(i));
+  }
+
+  // Add the Gaussian factors, 1 prior on X(1),
+  // 3 measurements on X(2), X(3), X(4)
+  graph1.push_back(switching.nonlinearFactorGraph.at(0));
+  initial.insert<double>(X(1), 1);
+  for (size_t i = 5; i <= 7; i++) {
+    graph1.push_back(switching.nonlinearFactorGraph.at(i));
+    initial.insert<double>(X(i - 3), i - 3);
+  }
+
+  // Run update with pruning
+  size_t maxComponents = 5;
+  incrementalHybrid.update(graph1, initial);
+  HybridGaussianISAM bayesTree = incrementalHybrid.bayesTree();
+
+  bayesTree.prune(M(3), maxComponents);
+
+  // Check if we have a bayes tree with 4 hybrid nodes,
+  // each with 2, 4, 8, and 5 (pruned) leaves respetively.
+  EXPECT_LONGS_EQUAL(4, bayesTree.size());
+  EXPECT_LONGS_EQUAL(
+      2, bayesTree[X(1)]->conditional()->asMixture()->nrComponents());
+  EXPECT_LONGS_EQUAL(
+      4, bayesTree[X(2)]->conditional()->asMixture()->nrComponents());
+  EXPECT_LONGS_EQUAL(
+      5, bayesTree[X(3)]->conditional()->asMixture()->nrComponents());
+  EXPECT_LONGS_EQUAL(
+      5, bayesTree[X(4)]->conditional()->asMixture()->nrComponents());
+
+  /***** Run Round 2 *****/
+  HybridGaussianFactorGraph graph2;
+  graph2.push_back(switching.nonlinearFactorGraph.at(4));  // x4-x5
+  graph2.push_back(switching.nonlinearFactorGraph.at(8));  // x5 measurement
+  initial = Values();
+  initial.insert<double>(X(5), 5);
+
+  // Run update with pruning a second time.
+  incrementalHybrid.update(graph2, initial);
+  bayesTree = incrementalHybrid.bayesTree();
+
+  bayesTree.prune(M(4), maxComponents);
+
+  // Check if we have a bayes tree with pruned hybrid nodes,
+  // with 5 (pruned) leaves.
+  CHECK_EQUAL(5, bayesTree.size());
+  EXPECT_LONGS_EQUAL(
+      5, bayesTree[X(4)]->conditional()->asMixture()->nrComponents());
+  EXPECT_LONGS_EQUAL(
+      5, bayesTree[X(5)]->conditional()->asMixture()->nrComponents());
+}
+
+/* ************************************************************************/
+// A GTSAM-only test for running inference on a single-legged robot.
+// The leg links are represented by the chain X-Y-Z-W, where X is the base and
+// W is the foot.
+// We use BetweenFactor<Pose2> as constraints between each of the poses.
+TEST(HybridGaussianISAM, NonTrivial) {
+  /*************** Run Round 1 ***************/
+  HybridNonlinearFactorGraph fg;
+  HybridNonlinearISAM inc;
+
+  // Add a prior on pose x1 at the origin.
+  // A prior factor consists of a mean  and
+  // a noise model (covariance matrix)
+  Pose2 prior(0.0, 0.0, 0.0);  // prior mean is at origin
+  auto priorNoise = noiseModel::Diagonal::Sigmas(
+      Vector3(0.3, 0.3, 0.1));  // 30cm std on x,y, 0.1 rad on theta
+  fg.emplace_nonlinear<PriorFactor<Pose2>>(X(0), prior, priorNoise);
+
+  // create a noise model for the landmark measurements
+  auto poseNoise = noiseModel::Isotropic::Sigma(3, 0.1);
+
+  // We model a robot's single leg as X - Y - Z - W
+  // where X is the base link and W is the foot link.
+
+  // Add connecting poses similar to PoseFactors in GTD
+  fg.emplace_nonlinear<BetweenFactor<Pose2>>(X(0), Y(0), Pose2(0, 1.0, 0),
+                                             poseNoise);
+  fg.emplace_nonlinear<BetweenFactor<Pose2>>(Y(0), Z(0), Pose2(0, 1.0, 0),
+                                             poseNoise);
+  fg.emplace_nonlinear<BetweenFactor<Pose2>>(Z(0), W(0), Pose2(0, 1.0, 0),
+                                             poseNoise);
+
+  // Create initial estimate
+  Values initial;
+  initial.insert(X(0), Pose2(0.0, 0.0, 0.0));
+  initial.insert(Y(0), Pose2(0.0, 1.0, 0.0));
+  initial.insert(Z(0), Pose2(0.0, 2.0, 0.0));
+  initial.insert(W(0), Pose2(0.0, 3.0, 0.0));
+
+  // Don't run update now since we don't have discrete variables involved.
+
+  /*************** Run Round 2 ***************/
+  using PlanarMotionModel = BetweenFactor<Pose2>;
+
+  // Add odometry factor with discrete modes.
+  Pose2 odometry(1.0, 0.0, 0.0);
+  KeyVector contKeys = {W(0), W(1)};
+  auto noise_model = noiseModel::Isotropic::Sigma(3, 1.0);
+  auto still = boost::make_shared<PlanarMotionModel>(W(0), W(1), Pose2(0, 0, 0),
+                                                     noise_model),
+       moving = boost::make_shared<PlanarMotionModel>(W(0), W(1), odometry,
+                                                      noise_model);
+  std::vector<PlanarMotionModel::shared_ptr> components = {moving, still};
+  auto mixtureFactor = boost::make_shared<MixtureFactor>(
+      contKeys, DiscreteKeys{gtsam::DiscreteKey(M(1), 2)}, components);
+  fg.push_back(mixtureFactor);
+
+  // Add equivalent of ImuFactor
+  fg.emplace_nonlinear<BetweenFactor<Pose2>>(X(0), X(1), Pose2(1.0, 0.0, 0),
+                                             poseNoise);
+  // PoseFactors-like at k=1
+  fg.emplace_nonlinear<BetweenFactor<Pose2>>(X(1), Y(1), Pose2(0, 1, 0),
+                                             poseNoise);
+  fg.emplace_nonlinear<BetweenFactor<Pose2>>(Y(1), Z(1), Pose2(0, 1, 0),
+                                             poseNoise);
+  fg.emplace_nonlinear<BetweenFactor<Pose2>>(Z(1), W(1), Pose2(-1, 1, 0),
+                                             poseNoise);
+
+  initial.insert(X(1), Pose2(1.0, 0.0, 0.0));
+  initial.insert(Y(1), Pose2(1.0, 1.0, 0.0));
+  initial.insert(Z(1), Pose2(1.0, 2.0, 0.0));
+  // The leg link did not move so we set the expected pose accordingly.
+  initial.insert(W(1), Pose2(0.0, 3.0, 0.0));
+
+  // Update without pruning
+  // The result is a HybridBayesNet with 1 discrete variable M(1).
+  // P(X | measurements) = P(W0|Z0, W1, M1) P(Z0|Y0, W1, M1) P(Y0|X0, W1, M1)
+  //                       P(X0 | X1, W1, M1) P(W1|Z1, X1, M1) P(Z1|Y1, X1, M1)
+  //                       P(Y1 | X1, M1)P(X1 | M1)P(M1)
+  // The MHS tree is a 1 level tree for time indices (1,) with 2 leaves.
+  inc.update(fg, initial);
+
+  fg = HybridNonlinearFactorGraph();
+  initial = Values();
+
+  /*************** Run Round 3 ***************/
+  // Add odometry factor with discrete modes.
+  contKeys = {W(1), W(2)};
+  still = boost::make_shared<PlanarMotionModel>(W(1), W(2), Pose2(0, 0, 0),
+                                                noise_model);
+  moving =
+      boost::make_shared<PlanarMotionModel>(W(1), W(2), odometry,
+      noise_model);
+  components = {moving, still};
+  mixtureFactor = boost::make_shared<MixtureFactor>(
+      contKeys, DiscreteKeys{gtsam::DiscreteKey(M(2), 2)}, components);
+  fg.push_back(mixtureFactor);
+
+  // Add equivalent of ImuFactor
+  fg.emplace_nonlinear<BetweenFactor<Pose2>>(X(1), X(2), Pose2(1.0, 0.0, 0),
+                                             poseNoise);
+  // PoseFactors-like at k=1
+  fg.emplace_nonlinear<BetweenFactor<Pose2>>(X(2), Y(2), Pose2(0, 1, 0),
+                                             poseNoise);
+  fg.emplace_nonlinear<BetweenFactor<Pose2>>(Y(2), Z(2), Pose2(0, 1, 0),
+                                             poseNoise);
+  fg.emplace_nonlinear<BetweenFactor<Pose2>>(Z(2), W(2), Pose2(-2, 1, 0),
+                                             poseNoise);
+
+  initial.insert(X(2), Pose2(2.0, 0.0, 0.0));
+  initial.insert(Y(2), Pose2(2.0, 1.0, 0.0));
+  initial.insert(Z(2), Pose2(2.0, 2.0, 0.0));
+  initial.insert(W(2), Pose2(0.0, 3.0, 0.0));
+
+  // Now we prune!
+  // P(X | measurements) = P(W0|Z0, W1, M1) P(Z0|Y0, W1, M1) P(Y0|X0, W1, M1)
+  //                       P(X0 | X1, W1, M1) P(W1|W2, Z1, X1, M1, M2)
+  //                       P(Z1| W2, Y1, X1, M1, M2) P(Y1 | W2, X1, M1, M2)
+  //                       P(X1 | W2, X2, M1, M2) P(W2|Z2, X2, M1, M2)
+  //                       P(Z2|Y2, X2, M1, M2) P(Y2 | X2, M1, M2)
+  //                       P(X2 | M1, M2) P(M1, M2)
+  // The MHS at this point should be a 2 level tree on (1, 2).
+  // 1 has 2 choices, and 2 has 4 choices.
+  inc.update(fg, initial);
+  inc.prune(M(2), 2);
+
+  fg = HybridNonlinearFactorGraph();
+  initial = Values();
+
+  /*************** Run Round 4 ***************/
+  // Add odometry factor with discrete modes.
+  contKeys = {W(2), W(3)};
+  still = boost::make_shared<PlanarMotionModel>(W(2), W(3), Pose2(0, 0, 0),
+                                                noise_model);
+  moving =
+      boost::make_shared<PlanarMotionModel>(W(2), W(3), odometry,
+      noise_model);
+  components = {moving, still};
+  mixtureFactor = boost::make_shared<MixtureFactor>(
+      contKeys, DiscreteKeys{gtsam::DiscreteKey(M(3), 2)}, components);
+  fg.push_back(mixtureFactor);
+
+  // Add equivalent of ImuFactor
+  fg.emplace_nonlinear<BetweenFactor<Pose2>>(X(2), X(3), Pose2(1.0, 0.0, 0),
+                                             poseNoise);
+  // PoseFactors-like at k=3
+  fg.emplace_nonlinear<BetweenFactor<Pose2>>(X(3), Y(3), Pose2(0, 1, 0),
+                                             poseNoise);
+  fg.emplace_nonlinear<BetweenFactor<Pose2>>(Y(3), Z(3), Pose2(0, 1, 0),
+                                             poseNoise);
+  fg.emplace_nonlinear<BetweenFactor<Pose2>>(Z(3), W(3), Pose2(-3, 1, 0),
+                                             poseNoise);
+
+  initial.insert(X(3), Pose2(3.0, 0.0, 0.0));
+  initial.insert(Y(3), Pose2(3.0, 1.0, 0.0));
+  initial.insert(Z(3), Pose2(3.0, 2.0, 0.0));
+  initial.insert(W(3), Pose2(0.0, 3.0, 0.0));
+
+  // Keep pruning!
+  inc.update(fg, initial);
+  inc.prune(M(3), 3);
+
+  fg = HybridNonlinearFactorGraph();
+  initial = Values();
+
+  HybridGaussianISAM bayesTree = inc.bayesTree();
+
+  // The final discrete graph should not be empty since we have eliminated
+  // all continuous variables.
+  auto discreteTree =
+  bayesTree[M(3)]->conditional()->asDiscreteConditional();
+  EXPECT_LONGS_EQUAL(3, discreteTree->size());
+
+  // Test if the optimal discrete mode assignment is (1, 1, 1).
+  DiscreteFactorGraph discreteGraph;
+  discreteGraph.push_back(discreteTree);
+  DiscreteValues optimal_assignment = discreteGraph.optimize();
+
+  DiscreteValues expected_assignment;
+  expected_assignment[M(1)] = 1;
+  expected_assignment[M(2)] = 1;
+  expected_assignment[M(3)] = 1;
+
+  EXPECT(assert_equal(expected_assignment, optimal_assignment));
+
+  // Test if pruning worked correctly by checking that
+  // we only have 3 leaves in the last node.
+  auto lastConditional = bayesTree[X(3)]->conditional()->asMixture();
+  EXPECT_LONGS_EQUAL(3, lastConditional->nrComponents());
+}
+
+/* ************************************************************************* */
+int main() {
+  TestResult tr;
+  return TestRegistry::runAllTests(tr);
+}

From 4f22a0651916cd4493ea9fd974001698fe825168 Mon Sep 17 00:00:00 2001
From: Varun Agrawal <varagrawal@gmail.com>
Date: Wed, 14 Sep 2022 14:49:48 -0400
Subject: [PATCH 343/433] add container SFINAE for hybrid nonlinear factor
 graph push_back

---
 gtsam/hybrid/HybridNonlinearFactorGraph.h | 16 ++++++++++++----
 1 file changed, 12 insertions(+), 4 deletions(-)

diff --git a/gtsam/hybrid/HybridNonlinearFactorGraph.h b/gtsam/hybrid/HybridNonlinearFactorGraph.h
index 5f04851d40..b48e8bb5c3 100644
--- a/gtsam/hybrid/HybridNonlinearFactorGraph.h
+++ b/gtsam/hybrid/HybridNonlinearFactorGraph.h
@@ -42,6 +42,16 @@ class GTSAM_EXPORT HybridNonlinearFactorGraph : public HybridFactorGraph {
   using IsNonlinear = typename std::enable_if<
       std::is_base_of<NonlinearFactor, FACTOR>::value>::type;
 
+  /// Check if T has a value_type derived from FactorType.
+  template <typename T>
+  using HasDerivedValueType = typename std::enable_if<
+      std::is_base_of<HybridFactor, typename T::value_type>::value>::type;
+
+  /// Check if T has a pointer type derived from FactorType.
+  template <typename T>
+  using HasDerivedElementType = typename std::enable_if<std::is_base_of<
+      HybridFactor, typename T::value_type::element_type>::value>::type;
+
  public:
   using Base = HybridFactorGraph;
   using This = HybridNonlinearFactorGraph;     ///< this class
@@ -114,15 +124,13 @@ class GTSAM_EXPORT HybridNonlinearFactorGraph : public HybridFactorGraph {
    * copied)
    */
   template <typename CONTAINER>
-  Base::Base::HasDerivedElementType<CONTAINER> push_back(
-      const CONTAINER& container) {
+  HasDerivedElementType<CONTAINER> push_back(const CONTAINER& container) {
     Base::push_back(container.begin(), container.end());
   }
 
   /// Push back non-pointer objects in a container (factors are copied).
   template <typename CONTAINER>
-  Base::Base::HasDerivedValueType<CONTAINER> push_back(
-      const CONTAINER& container) {
+  HasDerivedValueType<CONTAINER> push_back(const CONTAINER& container) {
     Base::push_back(container.begin(), container.end());
   }
 

From 8c0648582eb3bd55bfa1cf0359b02fb7d679ffef Mon Sep 17 00:00:00 2001
From: Varun Agrawal <varagrawal@gmail.com>
Date: Wed, 14 Sep 2022 15:32:38 -0400
Subject: [PATCH 344/433] fix test name for HybridNonlinearISAM

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

diff --git a/gtsam/hybrid/tests/testHybridNonlinearISAM.cpp b/gtsam/hybrid/tests/testHybridNonlinearISAM.cpp
index bed90fe2c0..46076b3306 100644
--- a/gtsam/hybrid/tests/testHybridNonlinearISAM.cpp
+++ b/gtsam/hybrid/tests/testHybridNonlinearISAM.cpp
@@ -396,7 +396,7 @@ TEST(HybridNonlinearISAM, Incremental_approximate) {
 // The leg links are represented by the chain X-Y-Z-W, where X is the base and
 // W is the foot.
 // We use BetweenFactor<Pose2> as constraints between each of the poses.
-TEST(HybridGaussianISAM, NonTrivial) {
+TEST(HybridNonlinearISAM, NonTrivial) {
   /*************** Run Round 1 ***************/
   HybridNonlinearFactorGraph fg;
   HybridNonlinearISAM inc;

From c4d388990d44294e6ade625917ff20f2076d307f Mon Sep 17 00:00:00 2001
From: Varun Agrawal <varagrawal@gmail.com>
Date: Thu, 15 Sep 2022 13:23:12 -0400
Subject: [PATCH 345/433] prune hybrid gaussian ISAM more efficiently and
 without the need to specify the root

---
 gtsam/hybrid/HybridBayesTree.cpp              |  4 +-
 gtsam/hybrid/HybridGaussianISAM.cpp           | 78 ++++++++++++-------
 gtsam/hybrid/HybridGaussianISAM.h             |  7 +-
 gtsam/hybrid/HybridNonlinearISAM.h            |  7 +-
 gtsam/hybrid/tests/testHybridIncremental.cpp  | 10 +--
 .../hybrid/tests/testHybridNonlinearISAM.cpp  | 19 ++---
 6 files changed, 70 insertions(+), 55 deletions(-)

diff --git a/gtsam/hybrid/HybridBayesTree.cpp b/gtsam/hybrid/HybridBayesTree.cpp
index 3fa4d6268b..d600714d43 100644
--- a/gtsam/hybrid/HybridBayesTree.cpp
+++ b/gtsam/hybrid/HybridBayesTree.cpp
@@ -89,12 +89,12 @@ struct HybridAssignmentData {
         gaussianbayesTree_(gbt) {}
 
   /**
-   * @brief A function used during tree traversal that operators on each node
+   * @brief A function used during tree traversal that operates on each node
    * before visiting the node's children.
    *
    * @param node The current node being visited.
    * @param parentData The HybridAssignmentData from the parent node.
-   * @return HybridAssignmentData
+   * @return HybridAssignmentData which is passed to the children.
    */
   static HybridAssignmentData AssignmentPreOrderVisitor(
       const HybridBayesTree::sharedNode& node,
diff --git a/gtsam/hybrid/HybridGaussianISAM.cpp b/gtsam/hybrid/HybridGaussianISAM.cpp
index 23a95c021d..bf2f60da66 100644
--- a/gtsam/hybrid/HybridGaussianISAM.cpp
+++ b/gtsam/hybrid/HybridGaussianISAM.cpp
@@ -14,9 +14,10 @@
  * @date March 31, 2022
  * @author Fan Jiang
  * @author Frank Dellaert
- * @author Richard Roberts
+ * @author Varun Agrawal
  */
 
+#include <gtsam/base/treeTraversal-inst.h>
 #include <gtsam/hybrid/HybridBayesTree.h>
 #include <gtsam/hybrid/HybridGaussianFactorGraph.h>
 #include <gtsam/hybrid/HybridGaussianISAM.h>
@@ -121,38 +122,59 @@ bool IsSubset(KeyVector a, KeyVector b) {
 }
 
 /* ************************************************************************* */
-void HybridGaussianISAM::prune(const Key& root, const size_t maxNrLeaves) {
+void HybridGaussianISAM::prune(const size_t maxNrLeaves) {
   auto decisionTree = boost::dynamic_pointer_cast<DecisionTreeFactor>(
-      this->clique(root)->conditional()->inner());
+      this->roots_.at(0)->conditional()->inner());
+
   DecisionTreeFactor prunedDiscreteFactor = decisionTree->prune(maxNrLeaves);
   decisionTree->root_ = prunedDiscreteFactor.root_;
 
-  std::vector<gtsam::Key> prunedKeys;
-  for (auto&& clique : nodes()) {
-    // The cliques can be repeated for each frontal so we record it in
-    // prunedKeys and check if we have already pruned a particular clique.
-    if (std::find(prunedKeys.begin(), prunedKeys.end(), clique.first) !=
-        prunedKeys.end()) {
-      continue;
-    }
-
-    // Add all the keys of the current clique to be pruned to prunedKeys
-    for (auto&& key : clique.second->conditional()->frontals()) {
-      prunedKeys.push_back(key);
-    }
-
-    // Convert parents() to a KeyVector for comparison
-    KeyVector parents;
-    for (auto&& parent : clique.second->conditional()->parents()) {
-      parents.push_back(parent);
-    }
-
-    if (IsSubset(parents, decisionTree->keys())) {
-      auto gaussianMixture = boost::dynamic_pointer_cast<GaussianMixture>(
-          clique.second->conditional()->inner());
-
-      gaussianMixture->prune(prunedDiscreteFactor);
+  /// Helper struct for pruning the hybrid bayes tree.
+  struct HybridPrunerData {
+    /// The discrete decision tree after pruning.
+    DecisionTreeFactor prunedDiscreteFactor;
+    HybridPrunerData(const DecisionTreeFactor& prunedDiscreteFactor,
+                     const HybridBayesTree::sharedNode& parentClique)
+        : prunedDiscreteFactor(prunedDiscreteFactor) {}
+
+    /**
+     * @brief A function used during tree traversal that operates on each node
+     * before visiting the node's children.
+     *
+     * @param node The current node being visited.
+     * @param parentData The data from the parent node.
+     * @return HybridPrunerData which is passed to the children.
+     */
+    static HybridPrunerData AssignmentPreOrderVisitor(
+        const HybridBayesTree::sharedNode& clique,
+        HybridPrunerData& parentData) {
+      // Get the conditional
+      HybridConditional::shared_ptr conditional = clique->conditional();
+
+      // If conditional is hybrid, we prune it.
+      if (conditional->isHybrid()) {
+        auto gaussianMixture = conditional->asMixture();
+
+        // Check if the number of discrete keys match,
+        // else we get an assignment error.
+        // TODO(Varun) Update prune method to handle assignment subset?
+        if (gaussianMixture->discreteKeys() ==
+            parentData.prunedDiscreteFactor.discreteKeys()) {
+          gaussianMixture->prune(parentData.prunedDiscreteFactor);
+        }
+      }
+      return parentData;
     }
+  };
+
+  HybridPrunerData rootData(prunedDiscreteFactor, 0);
+  {
+    treeTraversal::no_op visitorPost;
+    // Limits OpenMP threads since we're mixing TBB and OpenMP
+    TbbOpenMPMixedScope threadLimiter;
+    treeTraversal::DepthFirstForestParallel(
+        *this, rootData, HybridPrunerData::AssignmentPreOrderVisitor,
+        visitorPost);
   }
 }
 
diff --git a/gtsam/hybrid/HybridGaussianISAM.h b/gtsam/hybrid/HybridGaussianISAM.h
index ff09787293..59e2218076 100644
--- a/gtsam/hybrid/HybridGaussianISAM.h
+++ b/gtsam/hybrid/HybridGaussianISAM.h
@@ -66,11 +66,10 @@ class GTSAM_EXPORT HybridGaussianISAM : public ISAM<HybridBayesTree> {
 
   /**
    * @brief Prune the underlying Bayes tree.
-   * 
-   * @param root The root key in the discrete conditional decision tree.
-   * @param maxNumberLeaves 
+   *
+   * @param maxNumberLeaves The max number of leaf nodes to keep.
    */
-  void prune(const Key& root, const size_t maxNumberLeaves);
+  void prune(const size_t maxNumberLeaves);
 };
 
 /// traits
diff --git a/gtsam/hybrid/HybridNonlinearISAM.h b/gtsam/hybrid/HybridNonlinearISAM.h
index d96485fff0..b1998fb300 100644
--- a/gtsam/hybrid/HybridNonlinearISAM.h
+++ b/gtsam/hybrid/HybridNonlinearISAM.h
@@ -82,12 +82,9 @@ class GTSAM_EXPORT HybridNonlinearISAM {
   /**
    * @brief Prune the underlying Bayes tree.
    *
-   * @param root The root key in the discrete conditional decision tree.
-   * @param maxNumberLeaves
+   * @param maxNumberLeaves The max number of leaf nodes to keep.
    */
-  void prune(const Key& root, const size_t maxNumberLeaves) {
-    isam_.prune(root, maxNumberLeaves);
-  }
+  void prune(const size_t maxNumberLeaves) { isam_.prune(maxNumberLeaves); }
 
   /** Return the current linearization point */
   const Values& getLinearizationPoint() const { return linPoint_; }
diff --git a/gtsam/hybrid/tests/testHybridIncremental.cpp b/gtsam/hybrid/tests/testHybridIncremental.cpp
index 8e16d02b93..a0a87933f4 100644
--- a/gtsam/hybrid/tests/testHybridIncremental.cpp
+++ b/gtsam/hybrid/tests/testHybridIncremental.cpp
@@ -235,7 +235,7 @@ TEST(HybridGaussianElimination, Approx_inference) {
   size_t maxNrLeaves = 5;
   incrementalHybrid.update(graph1);
 
-  incrementalHybrid.prune(M(3), maxNrLeaves);
+  incrementalHybrid.prune(maxNrLeaves);
 
   /*
   unpruned factor is:
@@ -329,7 +329,7 @@ TEST(HybridGaussianElimination, Incremental_approximate) {
   // Run update with pruning
   size_t maxComponents = 5;
   incrementalHybrid.update(graph1);
-  incrementalHybrid.prune(M(3), maxComponents);
+  incrementalHybrid.prune(maxComponents);
 
   // Check if we have a bayes tree with 4 hybrid nodes,
   // each with 2, 4, 8, and 5 (pruned) leaves respetively.
@@ -350,7 +350,7 @@ TEST(HybridGaussianElimination, Incremental_approximate) {
 
   // Run update with pruning a second time.
   incrementalHybrid.update(graph2);
-  incrementalHybrid.prune(M(4), maxComponents);
+  incrementalHybrid.prune(maxComponents);
 
   // Check if we have a bayes tree with pruned hybrid nodes,
   // with 5 (pruned) leaves.
@@ -496,7 +496,7 @@ TEST(HybridGaussianISAM, NonTrivial) {
   // The MHS at this point should be a 2 level tree on (1, 2).
   // 1 has 2 choices, and 2 has 4 choices.
   inc.update(gfg);
-  inc.prune(M(2), 2);
+  inc.prune(2);
 
   /*************** Run Round 4 ***************/
   // Add odometry factor with discrete modes.
@@ -531,7 +531,7 @@ TEST(HybridGaussianISAM, NonTrivial) {
 
   // Keep pruning!
   inc.update(gfg);
-  inc.prune(M(3), 3);
+  inc.prune(3);
 
   // The final discrete graph should not be empty since we have eliminated
   // all continuous variables.
diff --git a/gtsam/hybrid/tests/testHybridNonlinearISAM.cpp b/gtsam/hybrid/tests/testHybridNonlinearISAM.cpp
index 46076b3306..4e1710c424 100644
--- a/gtsam/hybrid/tests/testHybridNonlinearISAM.cpp
+++ b/gtsam/hybrid/tests/testHybridNonlinearISAM.cpp
@@ -256,7 +256,7 @@ TEST(HybridNonlinearISAM, Approx_inference) {
   incrementalHybrid.update(graph1, initial);
   HybridGaussianISAM bayesTree = incrementalHybrid.bayesTree();
 
-  bayesTree.prune(M(3), maxNrLeaves);
+  bayesTree.prune(maxNrLeaves);
 
   /*
   unpruned factor is:
@@ -355,7 +355,7 @@ TEST(HybridNonlinearISAM, Incremental_approximate) {
   incrementalHybrid.update(graph1, initial);
   HybridGaussianISAM bayesTree = incrementalHybrid.bayesTree();
 
-  bayesTree.prune(M(3), maxComponents);
+  bayesTree.prune(maxComponents);
 
   // Check if we have a bayes tree with 4 hybrid nodes,
   // each with 2, 4, 8, and 5 (pruned) leaves respetively.
@@ -380,7 +380,7 @@ TEST(HybridNonlinearISAM, Incremental_approximate) {
   incrementalHybrid.update(graph2, initial);
   bayesTree = incrementalHybrid.bayesTree();
 
-  bayesTree.prune(M(4), maxComponents);
+  bayesTree.prune(maxComponents);
 
   // Check if we have a bayes tree with pruned hybrid nodes,
   // with 5 (pruned) leaves.
@@ -482,8 +482,7 @@ TEST(HybridNonlinearISAM, NonTrivial) {
   still = boost::make_shared<PlanarMotionModel>(W(1), W(2), Pose2(0, 0, 0),
                                                 noise_model);
   moving =
-      boost::make_shared<PlanarMotionModel>(W(1), W(2), odometry,
-      noise_model);
+      boost::make_shared<PlanarMotionModel>(W(1), W(2), odometry, noise_model);
   components = {moving, still};
   mixtureFactor = boost::make_shared<MixtureFactor>(
       contKeys, DiscreteKeys{gtsam::DiscreteKey(M(2), 2)}, components);
@@ -515,7 +514,7 @@ TEST(HybridNonlinearISAM, NonTrivial) {
   // The MHS at this point should be a 2 level tree on (1, 2).
   // 1 has 2 choices, and 2 has 4 choices.
   inc.update(fg, initial);
-  inc.prune(M(2), 2);
+  inc.prune(2);
 
   fg = HybridNonlinearFactorGraph();
   initial = Values();
@@ -526,8 +525,7 @@ TEST(HybridNonlinearISAM, NonTrivial) {
   still = boost::make_shared<PlanarMotionModel>(W(2), W(3), Pose2(0, 0, 0),
                                                 noise_model);
   moving =
-      boost::make_shared<PlanarMotionModel>(W(2), W(3), odometry,
-      noise_model);
+      boost::make_shared<PlanarMotionModel>(W(2), W(3), odometry, noise_model);
   components = {moving, still};
   mixtureFactor = boost::make_shared<MixtureFactor>(
       contKeys, DiscreteKeys{gtsam::DiscreteKey(M(3), 2)}, components);
@@ -551,7 +549,7 @@ TEST(HybridNonlinearISAM, NonTrivial) {
 
   // Keep pruning!
   inc.update(fg, initial);
-  inc.prune(M(3), 3);
+  inc.prune(3);
 
   fg = HybridNonlinearFactorGraph();
   initial = Values();
@@ -560,8 +558,7 @@ TEST(HybridNonlinearISAM, NonTrivial) {
 
   // The final discrete graph should not be empty since we have eliminated
   // all continuous variables.
-  auto discreteTree =
-  bayesTree[M(3)]->conditional()->asDiscreteConditional();
+  auto discreteTree = bayesTree[M(3)]->conditional()->asDiscreteConditional();
   EXPECT_LONGS_EQUAL(3, discreteTree->size());
 
   // Test if the optimal discrete mode assignment is (1, 1, 1).

From aef1669a5072670d6db8dcdc64a94299c88c8421 Mon Sep 17 00:00:00 2001
From: Varun Agrawal <varagrawal@gmail.com>
Date: Thu, 15 Sep 2022 13:24:33 -0400
Subject: [PATCH 346/433] Add labelformatter to Assignment for convenience

---
 gtsam/discrete/Assignment.h | 27 +++++++++++++++++++++++----
 1 file changed, 23 insertions(+), 4 deletions(-)

diff --git a/gtsam/discrete/Assignment.h b/gtsam/discrete/Assignment.h
index 90e2dbdd83..c6e426ca15 100644
--- a/gtsam/discrete/Assignment.h
+++ b/gtsam/discrete/Assignment.h
@@ -11,15 +11,17 @@
 
 /**
  * @file    Assignment.h
- * @brief    An assignment from labels to a discrete value index (size_t)
+ * @brief   An assignment from labels to a discrete value index (size_t)
  * @author  Frank Dellaert
  * @date    Feb 5, 2012
  */
 
 #pragma once
 
+#include <functional>
 #include <iostream>
 #include <map>
+#include <sstream>
 #include <utility>
 #include <vector>
 
@@ -32,13 +34,30 @@ namespace gtsam {
  */
 template <class L>
 class Assignment : public std::map<L, size_t> {
+  /**
+   * @brief Default method used by `labelFormatter` or `valueFormatter` when
+   * printing.
+   *
+   * @param x The value passed to format.
+   * @return std::string
+   */
+  static std::string DefaultFormatter(const L& x) {
+    std::stringstream ss;
+    ss << x;
+    return ss.str();
+  }
+
  public:
   using std::map<L, size_t>::operator=;
 
-  void print(const std::string& s = "Assignment: ") const {
+  void print(const std::string& s = "Assignment: ",
+             const std::function<std::string(L)>& labelFormatter =
+                 &DefaultFormatter) const {
     std::cout << s << ": ";
-    for (const typename Assignment::value_type& keyValue : *this)
-      std::cout << "(" << keyValue.first << ", " << keyValue.second << ")";
+    for (const typename Assignment::value_type& keyValue : *this) {
+      std::cout << "(" << labelFormatter(keyValue.first) << ", "
+                << keyValue.second << ")";
+    }
     std::cout << std::endl;
   }
 

From 8b5586f3b61e02e08d3e2621f83dd33915225a71 Mon Sep 17 00:00:00 2001
From: Varun Agrawal <varagrawal@gmail.com>
Date: Fri, 16 Sep 2022 10:23:00 -0400
Subject: [PATCH 347/433] move prune method to HybridBayesTree class

---
 gtsam/hybrid/HybridBayesTree.cpp    | 57 +++++++++++++++++++++++
 gtsam/hybrid/HybridBayesTree.h      |  7 +++
 gtsam/hybrid/HybridGaussianISAM.cpp | 72 -----------------------------
 3 files changed, 64 insertions(+), 72 deletions(-)

diff --git a/gtsam/hybrid/HybridBayesTree.cpp b/gtsam/hybrid/HybridBayesTree.cpp
index d600714d43..8fb487ae20 100644
--- a/gtsam/hybrid/HybridBayesTree.cpp
+++ b/gtsam/hybrid/HybridBayesTree.cpp
@@ -144,4 +144,61 @@ VectorValues HybridBayesTree::optimize(const DiscreteValues& assignment) const {
   return result;
 }
 
+/* ************************************************************************* */
+void HybridBayesTree::prune(const size_t maxNrLeaves) {
+  auto decisionTree = boost::dynamic_pointer_cast<DecisionTreeFactor>(
+      this->roots_.at(0)->conditional()->inner());
+
+  DecisionTreeFactor prunedDiscreteFactor = decisionTree->prune(maxNrLeaves);
+  decisionTree->root_ = prunedDiscreteFactor.root_;
+
+  /// Helper struct for pruning the hybrid bayes tree.
+  struct HybridPrunerData {
+    /// The discrete decision tree after pruning.
+    DecisionTreeFactor prunedDiscreteFactor;
+    HybridPrunerData(const DecisionTreeFactor& prunedDiscreteFactor,
+                     const HybridBayesTree::sharedNode& parentClique)
+        : prunedDiscreteFactor(prunedDiscreteFactor) {}
+
+    /**
+     * @brief A function used during tree traversal that operates on each node
+     * before visiting the node's children.
+     *
+     * @param node The current node being visited.
+     * @param parentData The data from the parent node.
+     * @return HybridPrunerData which is passed to the children.
+     */
+    static HybridPrunerData AssignmentPreOrderVisitor(
+        const HybridBayesTree::sharedNode& clique,
+        HybridPrunerData& parentData) {
+      // Get the conditional
+      HybridConditional::shared_ptr conditional = clique->conditional();
+
+      // If conditional is hybrid, we prune it.
+      if (conditional->isHybrid()) {
+        auto gaussianMixture = conditional->asMixture();
+
+        // Check if the number of discrete keys match,
+        // else we get an assignment error.
+        // TODO(Varun) Update prune method to handle assignment subset?
+        if (gaussianMixture->discreteKeys() ==
+            parentData.prunedDiscreteFactor.discreteKeys()) {
+          gaussianMixture->prune(parentData.prunedDiscreteFactor);
+        }
+      }
+      return parentData;
+    }
+  };
+
+  HybridPrunerData rootData(prunedDiscreteFactor, 0);
+  {
+    treeTraversal::no_op visitorPost;
+    // Limits OpenMP threads since we're mixing TBB and OpenMP
+    TbbOpenMPMixedScope threadLimiter;
+    treeTraversal::DepthFirstForestParallel(
+        *this, rootData, HybridPrunerData::AssignmentPreOrderVisitor,
+        visitorPost);
+  }
+}
+
 }  // namespace gtsam
diff --git a/gtsam/hybrid/HybridBayesTree.h b/gtsam/hybrid/HybridBayesTree.h
index 3fa344d4dd..d443e33c4c 100644
--- a/gtsam/hybrid/HybridBayesTree.h
+++ b/gtsam/hybrid/HybridBayesTree.h
@@ -88,6 +88,13 @@ class GTSAM_EXPORT HybridBayesTree : public BayesTree<HybridBayesTreeClique> {
    */
   VectorValues optimize(const DiscreteValues& assignment) const;
 
+  /**
+   * @brief Prune the underlying Bayes tree.
+   *
+   * @param maxNumberLeaves The max number of leaf nodes to keep.
+   */
+  void prune(const size_t maxNumberLeaves);
+
   /// @}
 
  private:
diff --git a/gtsam/hybrid/HybridGaussianISAM.cpp b/gtsam/hybrid/HybridGaussianISAM.cpp
index bf2f60da66..0a9d0b0de6 100644
--- a/gtsam/hybrid/HybridGaussianISAM.cpp
+++ b/gtsam/hybrid/HybridGaussianISAM.cpp
@@ -106,76 +106,4 @@ void HybridGaussianISAM::update(const HybridGaussianFactorGraph& newFactors,
   this->updateInternal(newFactors, &orphans, ordering, function);
 }
 
-/* ************************************************************************* */
-/**
- * @brief Check if `b` is a subset of `a`.
- * Non-const since they need to be sorted.
- *
- * @param a KeyVector
- * @param b KeyVector
- * @return True if the keys of b is a subset of a, else false.
- */
-bool IsSubset(KeyVector a, KeyVector b) {
-  std::sort(a.begin(), a.end());
-  std::sort(b.begin(), b.end());
-  return std::includes(a.begin(), a.end(), b.begin(), b.end());
-}
-
-/* ************************************************************************* */
-void HybridGaussianISAM::prune(const size_t maxNrLeaves) {
-  auto decisionTree = boost::dynamic_pointer_cast<DecisionTreeFactor>(
-      this->roots_.at(0)->conditional()->inner());
-
-  DecisionTreeFactor prunedDiscreteFactor = decisionTree->prune(maxNrLeaves);
-  decisionTree->root_ = prunedDiscreteFactor.root_;
-
-  /// Helper struct for pruning the hybrid bayes tree.
-  struct HybridPrunerData {
-    /// The discrete decision tree after pruning.
-    DecisionTreeFactor prunedDiscreteFactor;
-    HybridPrunerData(const DecisionTreeFactor& prunedDiscreteFactor,
-                     const HybridBayesTree::sharedNode& parentClique)
-        : prunedDiscreteFactor(prunedDiscreteFactor) {}
-
-    /**
-     * @brief A function used during tree traversal that operates on each node
-     * before visiting the node's children.
-     *
-     * @param node The current node being visited.
-     * @param parentData The data from the parent node.
-     * @return HybridPrunerData which is passed to the children.
-     */
-    static HybridPrunerData AssignmentPreOrderVisitor(
-        const HybridBayesTree::sharedNode& clique,
-        HybridPrunerData& parentData) {
-      // Get the conditional
-      HybridConditional::shared_ptr conditional = clique->conditional();
-
-      // If conditional is hybrid, we prune it.
-      if (conditional->isHybrid()) {
-        auto gaussianMixture = conditional->asMixture();
-
-        // Check if the number of discrete keys match,
-        // else we get an assignment error.
-        // TODO(Varun) Update prune method to handle assignment subset?
-        if (gaussianMixture->discreteKeys() ==
-            parentData.prunedDiscreteFactor.discreteKeys()) {
-          gaussianMixture->prune(parentData.prunedDiscreteFactor);
-        }
-      }
-      return parentData;
-    }
-  };
-
-  HybridPrunerData rootData(prunedDiscreteFactor, 0);
-  {
-    treeTraversal::no_op visitorPost;
-    // Limits OpenMP threads since we're mixing TBB and OpenMP
-    TbbOpenMPMixedScope threadLimiter;
-    treeTraversal::DepthFirstForestParallel(
-        *this, rootData, HybridPrunerData::AssignmentPreOrderVisitor,
-        visitorPost);
-  }
-}
-
 }  // namespace gtsam

From dcad55c0322df722d4a58bb683879bc93bea4de6 Mon Sep 17 00:00:00 2001
From: Varun Agrawal <varagrawal@gmail.com>
Date: Fri, 16 Sep 2022 10:26:25 -0400
Subject: [PATCH 348/433] optional maxNrLeaves for HybridGaussianISAM

---
 gtsam/hybrid/HybridGaussianISAM.cpp |  8 +++++++-
 gtsam/hybrid/HybridGaussianISAM.h   | 11 ++++-------
 2 files changed, 11 insertions(+), 8 deletions(-)

diff --git a/gtsam/hybrid/HybridGaussianISAM.cpp b/gtsam/hybrid/HybridGaussianISAM.cpp
index 0a9d0b0de6..6946775b94 100644
--- a/gtsam/hybrid/HybridGaussianISAM.cpp
+++ b/gtsam/hybrid/HybridGaussianISAM.cpp
@@ -42,6 +42,7 @@ HybridGaussianISAM::HybridGaussianISAM(const HybridBayesTree& bayesTree)
 void HybridGaussianISAM::updateInternal(
     const HybridGaussianFactorGraph& newFactors,
     HybridBayesTree::Cliques* orphans,
+    const boost::optional<size_t>& maxNrLeaves,
     const boost::optional<Ordering>& ordering,
     const HybridBayesTree::Eliminate& function) {
   // Remove the contaminated part of the Bayes tree
@@ -92,6 +93,10 @@ void HybridGaussianISAM::updateInternal(
   HybridBayesTree::shared_ptr bayesTree =
       factors.eliminateMultifrontal(elimination_ordering, function, index);
 
+  if (maxNrLeaves) {
+    bayesTree->prune(*maxNrLeaves);
+  }
+
   // Re-add into Bayes tree data structures
   this->roots_.insert(this->roots_.end(), bayesTree->roots().begin(),
                       bayesTree->roots().end());
@@ -100,10 +105,11 @@ void HybridGaussianISAM::updateInternal(
 
 /* ************************************************************************* */
 void HybridGaussianISAM::update(const HybridGaussianFactorGraph& newFactors,
+                                const boost::optional<size_t>& maxNrLeaves,
                                 const boost::optional<Ordering>& ordering,
                                 const HybridBayesTree::Eliminate& function) {
   Cliques orphans;
-  this->updateInternal(newFactors, &orphans, ordering, function);
+  this->updateInternal(newFactors, &orphans, maxNrLeaves, ordering, function);
 }
 
 }  // namespace gtsam
diff --git a/gtsam/hybrid/HybridGaussianISAM.h b/gtsam/hybrid/HybridGaussianISAM.h
index 59e2218076..a6a82b3e89 100644
--- a/gtsam/hybrid/HybridGaussianISAM.h
+++ b/gtsam/hybrid/HybridGaussianISAM.h
@@ -48,6 +48,7 @@ class GTSAM_EXPORT HybridGaussianISAM : public ISAM<HybridBayesTree> {
   void updateInternal(
       const HybridGaussianFactorGraph& newFactors,
       HybridBayesTree::Cliques* orphans,
+      const boost::optional<size_t>& maxNrLeaves = boost::none,
       const boost::optional<Ordering>& ordering = boost::none,
       const HybridBayesTree::Eliminate& function =
           HybridBayesTree::EliminationTraitsType::DefaultEliminate);
@@ -57,19 +58,15 @@ class GTSAM_EXPORT HybridGaussianISAM : public ISAM<HybridBayesTree> {
    * @brief Perform update step with new factors.
    *
    * @param newFactors Factor graph of new factors to add and eliminate.
+   * @param maxNrLeaves The maximum number of leaves to keep after pruning.
+   * @param ordering Custom elimination ordering.
    * @param function Elimination function.
    */
   void update(const HybridGaussianFactorGraph& newFactors,
+              const boost::optional<size_t>& maxNrLeaves = boost::none,
               const boost::optional<Ordering>& ordering = boost::none,
               const HybridBayesTree::Eliminate& function =
                   HybridBayesTree::EliminationTraitsType::DefaultEliminate);
-
-  /**
-   * @brief Prune the underlying Bayes tree.
-   *
-   * @param maxNumberLeaves The max number of leaf nodes to keep.
-   */
-  void prune(const size_t maxNumberLeaves);
 };
 
 /// traits

From 57659261227a07806ab766e88638dd7b0fbd667b Mon Sep 17 00:00:00 2001
From: Varun Agrawal <varagrawal@gmail.com>
Date: Fri, 16 Sep 2022 10:47:01 -0400
Subject: [PATCH 349/433] optional ordering argument for
 HybridNonlinearISAM::update

---
 gtsam/hybrid/HybridNonlinearISAM.cpp | 9 ++++++---
 gtsam/hybrid/HybridNonlinearISAM.h   | 4 +++-
 2 files changed, 9 insertions(+), 4 deletions(-)

diff --git a/gtsam/hybrid/HybridNonlinearISAM.cpp b/gtsam/hybrid/HybridNonlinearISAM.cpp
index 36cda4e807..d05e081dd4 100644
--- a/gtsam/hybrid/HybridNonlinearISAM.cpp
+++ b/gtsam/hybrid/HybridNonlinearISAM.cpp
@@ -33,7 +33,9 @@ void HybridNonlinearISAM::saveGraph(const string& s,
 
 /* ************************************************************************* */
 void HybridNonlinearISAM::update(const HybridNonlinearFactorGraph& newFactors,
-                                 const Values& initialValues) {
+                                 const Values& initialValues,
+                                 const boost::optional<size_t>& maxNrLeaves,
+                                 const boost::optional<Ordering>& ordering) {
   if (newFactors.size() > 0) {
     // Reorder and relinearize every reorderInterval updates
     if (reorderInterval_ > 0 && ++reorderCounter_ >= reorderInterval_) {
@@ -51,7 +53,8 @@ void HybridNonlinearISAM::update(const HybridNonlinearFactorGraph& newFactors,
         newFactors.linearize(linPoint_);
 
     // Update ISAM
-    isam_.update(*linearizedNewFactors, boost::none, eliminationFunction_);
+    isam_.update(*linearizedNewFactors, maxNrLeaves, ordering,
+                 eliminationFunction_);
   }
 }
 
@@ -66,7 +69,7 @@ void HybridNonlinearISAM::reorder_relinearize() {
     // Just recreate the whole BayesTree
     // TODO: allow for constrained ordering here
     // TODO: decouple relinearization and reordering to avoid
-    isam_.update(*factors_.linearize(newLinPoint), boost::none,
+    isam_.update(*factors_.linearize(newLinPoint), boost::none, boost::none,
                  eliminationFunction_);
 
     // Update linearization point
diff --git a/gtsam/hybrid/HybridNonlinearISAM.h b/gtsam/hybrid/HybridNonlinearISAM.h
index b1998fb300..47aa81c558 100644
--- a/gtsam/hybrid/HybridNonlinearISAM.h
+++ b/gtsam/hybrid/HybridNonlinearISAM.h
@@ -118,7 +118,9 @@ class GTSAM_EXPORT HybridNonlinearISAM {
 
   /** Add new factors along with their initial linearization points */
   void update(const HybridNonlinearFactorGraph& newFactors,
-              const Values& initialValues);
+              const Values& initialValues,
+              const boost::optional<size_t>& maxNrLeaves = boost::none,
+              const boost::optional<Ordering>& ordering = boost::none);
 
   /** Relinearization and reordering of variables */
   void reorder_relinearize();

From a96c3db29e58041b128f382050ae802fefea2c3e Mon Sep 17 00:00:00 2001
From: Varun Agrawal <varagrawal@gmail.com>
Date: Fri, 16 Sep 2022 10:48:08 -0400
Subject: [PATCH 350/433] minor fix

---
 gtsam/hybrid/GaussianMixture.cpp | 9 +++++----
 1 file changed, 5 insertions(+), 4 deletions(-)

diff --git a/gtsam/hybrid/GaussianMixture.cpp b/gtsam/hybrid/GaussianMixture.cpp
index 6816dfbf67..3a654ddade 100644
--- a/gtsam/hybrid/GaussianMixture.cpp
+++ b/gtsam/hybrid/GaussianMixture.cpp
@@ -119,11 +119,12 @@ void GaussianMixture::print(const std::string &s,
       "", [&](Key k) { return formatter(k); },
       [&](const GaussianConditional::shared_ptr &gf) -> std::string {
         RedirectCout rd;
-        if (gf && !gf->empty())
+        if (gf && !gf->empty()) {
           gf->print("", formatter);
-        else
-          return {"nullptr"};
-        return rd.str();
+          return rd.str();
+        } else {
+          return "nullptr";
+        }
       });
 }
 

From 93528c3d4f8ae5c87a063a3232fb2894e7899504 Mon Sep 17 00:00:00 2001
From: Varun Agrawal <varagrawal@gmail.com>
Date: Fri, 16 Sep 2022 12:19:24 -0400
Subject: [PATCH 351/433] Only eliminate variables that are in newFactors

---
 gtsam/hybrid/HybridGaussianISAM.cpp | 14 ++++++++++++--
 1 file changed, 12 insertions(+), 2 deletions(-)

diff --git a/gtsam/hybrid/HybridGaussianISAM.cpp b/gtsam/hybrid/HybridGaussianISAM.cpp
index 6946775b94..c7811992e9 100644
--- a/gtsam/hybrid/HybridGaussianISAM.cpp
+++ b/gtsam/hybrid/HybridGaussianISAM.cpp
@@ -62,23 +62,29 @@ void HybridGaussianISAM::updateInternal(
   for (const sharedClique& orphan : *orphans)
     factors += boost::make_shared<BayesTreeOrphanWrapper<Node> >(orphan);
 
+  // Get all the discrete keys from the new factors
   KeySet allDiscrete;
-  for (auto& factor : factors) {
+  for (auto& factor : newFactors) {
     for (auto& k : factor->discreteKeys()) {
       allDiscrete.insert(k.first);
     }
   }
+
+  // Create KeyVector with continuous keys followed by discrete keys.
   KeyVector newKeysDiscreteLast;
+  // Insert continuous keys first.
   for (auto& k : newFactorKeys) {
     if (!allDiscrete.exists(k)) {
       newKeysDiscreteLast.push_back(k);
     }
   }
+  // Insert discrete keys at the end
   std::copy(allDiscrete.begin(), allDiscrete.end(),
             std::back_inserter(newKeysDiscreteLast));
 
   // Get an ordering where the new keys are eliminated last
-  const VariableIndex index(factors);
+  const VariableIndex index(newFactors);
+
   Ordering elimination_ordering;
   if (ordering) {
     elimination_ordering = *ordering;
@@ -89,10 +95,14 @@ void HybridGaussianISAM::updateInternal(
         true);
   }
 
+  GTSAM_PRINT(elimination_ordering);
+  std::cout << "\n\n\n\neliminateMultifrontal" << std::endl;
+  GTSAM_PRINT(factors);
   // eliminate all factors (top, added, orphans) into a new Bayes tree
   HybridBayesTree::shared_ptr bayesTree =
       factors.eliminateMultifrontal(elimination_ordering, function, index);
 
+  std::cout << "optionally prune" << std::endl;
   if (maxNrLeaves) {
     bayesTree->prune(*maxNrLeaves);
   }

From aebcde99e2ae949a1bc20dac3d1fb5853991a576 Mon Sep 17 00:00:00 2001
From: Varun Agrawal <varagrawal@gmail.com>
Date: Fri, 16 Sep 2022 18:13:59 -0400
Subject: [PATCH 352/433] add push_back to HybridBayesNet

---
 gtsam/hybrid/HybridBayesNet.h             |  2 ++
 gtsam/hybrid/tests/testHybridBayesNet.cpp | 15 +++++++++++++++
 2 files changed, 17 insertions(+)

diff --git a/gtsam/hybrid/HybridBayesNet.h b/gtsam/hybrid/HybridBayesNet.h
index e84103a50c..f28224d373 100644
--- a/gtsam/hybrid/HybridBayesNet.h
+++ b/gtsam/hybrid/HybridBayesNet.h
@@ -73,6 +73,8 @@ class GTSAM_EXPORT HybridBayesNet : public BayesNet<HybridConditional> {
         HybridConditional(boost::make_shared<DiscreteConditional>(key, table)));
   }
 
+  using Base::push_back;
+
   /// Get a specific Gaussian mixture by index `i`.
   GaussianMixture::shared_ptr atMixture(size_t i) const;
 
diff --git a/gtsam/hybrid/tests/testHybridBayesNet.cpp b/gtsam/hybrid/tests/testHybridBayesNet.cpp
index 0c15ee83da..cc2ab1759c 100644
--- a/gtsam/hybrid/tests/testHybridBayesNet.cpp
+++ b/gtsam/hybrid/tests/testHybridBayesNet.cpp
@@ -52,6 +52,21 @@ TEST(HybridBayesNet, Creation) {
   EXPECT(df.equals(expected));
 }
 
+/* ****************************************************************************/
+// Test adding a bayes net to another one.
+TEST(HybridBayesNet, Add) {
+  HybridBayesNet bayesNet;
+
+  bayesNet.add(Asia, "99/1");
+
+  DiscreteConditional expected(Asia, "99/1");
+
+  HybridBayesNet other;
+  other.push_back(bayesNet);
+  EXPECT(bayesNet.equals(other));
+}
+
+
 /* ****************************************************************************/
 // Test choosing an assignment of conditionals
 TEST(HybridBayesNet, Choose) {

From 9ef5c184ec379acb04c1bbd8619bda0e9ca25b5f Mon Sep 17 00:00:00 2001
From: Varun Agrawal <varagrawal@gmail.com>
Date: Sat, 17 Sep 2022 08:04:55 -0400
Subject: [PATCH 353/433] move renamed allDiscreteKeys and allContinuousKeys to
 HybridFactorGraph

---
 gtsam/hybrid/HybridFactorGraph.h           | 22 ++++++++++++++++++++
 gtsam/hybrid/HybridGaussianFactorGraph.cpp | 24 +---------------------
 gtsam/hybrid/HybridGaussianFactorGraph.h   |  6 ------
 3 files changed, 23 insertions(+), 29 deletions(-)

diff --git a/gtsam/hybrid/HybridFactorGraph.h b/gtsam/hybrid/HybridFactorGraph.h
index fc730f0c97..ea071a0209 100644
--- a/gtsam/hybrid/HybridFactorGraph.h
+++ b/gtsam/hybrid/HybridFactorGraph.h
@@ -135,6 +135,28 @@ class HybridFactorGraph : public FactorGraph<HybridFactor> {
       push_hybrid(p);
     }
   }
+
+  /// Get all the discrete keys in the factor graph.
+  const KeySet allDiscreteKeys() const {
+    KeySet discrete_keys;
+    for (auto& factor : factors_) {
+      for (const DiscreteKey& k : factor->discreteKeys()) {
+        discrete_keys.insert(k.first);
+      }
+    }
+    return discrete_keys;
+  }
+
+  /// Get all the continuous keys in the factor graph.
+  const KeySet allContinuousKeys() const {
+    KeySet keys;
+    for (auto& factor : factors_) {
+      for (const Key& key : factor->continuousKeys()) {
+        keys.insert(key);
+      }
+    }
+    return keys;
+  }
 };
 
 }  // namespace gtsam
diff --git a/gtsam/hybrid/HybridGaussianFactorGraph.cpp b/gtsam/hybrid/HybridGaussianFactorGraph.cpp
index 09b592bd69..c08e774f24 100644
--- a/gtsam/hybrid/HybridGaussianFactorGraph.cpp
+++ b/gtsam/hybrid/HybridGaussianFactorGraph.cpp
@@ -404,31 +404,9 @@ void HybridGaussianFactorGraph::add(DecisionTreeFactor::shared_ptr factor) {
   FactorGraph::add(boost::make_shared<HybridDiscreteFactor>(factor));
 }
 
-/* ************************************************************************ */
-const KeySet HybridGaussianFactorGraph::getDiscreteKeys() const {
-  KeySet discrete_keys;
-  for (auto &factor : factors_) {
-    for (const DiscreteKey &k : factor->discreteKeys()) {
-      discrete_keys.insert(k.first);
-    }
-  }
-  return discrete_keys;
-}
-
-/* ************************************************************************ */
-const KeySet HybridGaussianFactorGraph::getContinuousKeys() const {
-  KeySet keys;
-  for (auto &factor : factors_) {
-    for (const Key &key : factor->continuousKeys()) {
-      keys.insert(key);
-    }
-  }
-  return keys;
-}
-
 /* ************************************************************************ */
 const Ordering HybridGaussianFactorGraph::getHybridOrdering() const {
-  KeySet discrete_keys = getDiscreteKeys();
+  KeySet discrete_keys = allDiscreteKeys();
   for (auto &factor : factors_) {
     for (const DiscreteKey &k : factor->discreteKeys()) {
       discrete_keys.insert(k.first);
diff --git a/gtsam/hybrid/HybridGaussianFactorGraph.h b/gtsam/hybrid/HybridGaussianFactorGraph.h
index ad5cde09b0..bd24cdeaa7 100644
--- a/gtsam/hybrid/HybridGaussianFactorGraph.h
+++ b/gtsam/hybrid/HybridGaussianFactorGraph.h
@@ -161,12 +161,6 @@ class GTSAM_EXPORT HybridGaussianFactorGraph
     }
   }
 
-  /// Get all the discrete keys in the factor graph.
-  const KeySet getDiscreteKeys() const;
-
-  /// Get all the continuous keys in the factor graph.
-  const KeySet getContinuousKeys() const;
-
   /**
    * @brief Return a Colamd constrained ordering where the discrete keys are
    * eliminated after the continuous keys.

From 12db5dd947481bc1990dddae5f527ca4724be788 Mon Sep 17 00:00:00 2001
From: Varun Agrawal <varagrawal@gmail.com>
Date: Sat, 17 Sep 2022 08:05:07 -0400
Subject: [PATCH 354/433] undo changes

---
 gtsam/hybrid/HybridGaussianISAM.cpp | 10 +++-------
 1 file changed, 3 insertions(+), 7 deletions(-)

diff --git a/gtsam/hybrid/HybridGaussianISAM.cpp b/gtsam/hybrid/HybridGaussianISAM.cpp
index c7811992e9..1a95c0c932 100644
--- a/gtsam/hybrid/HybridGaussianISAM.cpp
+++ b/gtsam/hybrid/HybridGaussianISAM.cpp
@@ -62,9 +62,9 @@ void HybridGaussianISAM::updateInternal(
   for (const sharedClique& orphan : *orphans)
     factors += boost::make_shared<BayesTreeOrphanWrapper<Node> >(orphan);
 
-  // Get all the discrete keys from the new factors
+  // Get all the discrete keys from the factors
   KeySet allDiscrete;
-  for (auto& factor : newFactors) {
+  for (auto& factor : factors) {
     for (auto& k : factor->discreteKeys()) {
       allDiscrete.insert(k.first);
     }
@@ -83,7 +83,7 @@ void HybridGaussianISAM::updateInternal(
             std::back_inserter(newKeysDiscreteLast));
 
   // Get an ordering where the new keys are eliminated last
-  const VariableIndex index(newFactors);
+  const VariableIndex index(factors);
 
   Ordering elimination_ordering;
   if (ordering) {
@@ -95,14 +95,10 @@ void HybridGaussianISAM::updateInternal(
         true);
   }
 
-  GTSAM_PRINT(elimination_ordering);
-  std::cout << "\n\n\n\neliminateMultifrontal" << std::endl;
-  GTSAM_PRINT(factors);
   // eliminate all factors (top, added, orphans) into a new Bayes tree
   HybridBayesTree::shared_ptr bayesTree =
       factors.eliminateMultifrontal(elimination_ordering, function, index);
 
-  std::cout << "optionally prune" << std::endl;
   if (maxNrLeaves) {
     bayesTree->prune(*maxNrLeaves);
   }

From 2f8a0f82e0337e80dca1b7d9c608b1f7cbce792c Mon Sep 17 00:00:00 2001
From: Varun Agrawal <varagrawal@gmail.com>
Date: Mon, 19 Sep 2022 18:23:18 -0400
Subject: [PATCH 355/433] rename testHybridIncremental to
 testHybridGaussianISAM

---
 .../{testHybridIncremental.cpp => testHybridGaussianISAM.cpp}     | 0
 1 file changed, 0 insertions(+), 0 deletions(-)
 rename gtsam/hybrid/tests/{testHybridIncremental.cpp => testHybridGaussianISAM.cpp} (100%)

diff --git a/gtsam/hybrid/tests/testHybridIncremental.cpp b/gtsam/hybrid/tests/testHybridGaussianISAM.cpp
similarity index 100%
rename from gtsam/hybrid/tests/testHybridIncremental.cpp
rename to gtsam/hybrid/tests/testHybridGaussianISAM.cpp

From c2ca426acce0bf60eb14f66267b08b029abc28fb Mon Sep 17 00:00:00 2001
From: Varun Agrawal <varagrawal@gmail.com>
Date: Tue, 20 Sep 2022 05:16:26 -0400
Subject: [PATCH 356/433] rename allDiscreteKeys and allContinuousKeys to
 discreteKeys and continuousKeys respectively

---
 gtsam/hybrid/HybridFactorGraph.h           | 4 ++--
 gtsam/hybrid/HybridGaussianFactorGraph.cpp | 2 +-
 gtsam/hybrid/HybridGaussianISAM.cpp        | 7 +------
 3 files changed, 4 insertions(+), 9 deletions(-)

diff --git a/gtsam/hybrid/HybridFactorGraph.h b/gtsam/hybrid/HybridFactorGraph.h
index ea071a0209..05a17b000f 100644
--- a/gtsam/hybrid/HybridFactorGraph.h
+++ b/gtsam/hybrid/HybridFactorGraph.h
@@ -137,7 +137,7 @@ class HybridFactorGraph : public FactorGraph<HybridFactor> {
   }
 
   /// Get all the discrete keys in the factor graph.
-  const KeySet allDiscreteKeys() const {
+  const KeySet discreteKeys() const {
     KeySet discrete_keys;
     for (auto& factor : factors_) {
       for (const DiscreteKey& k : factor->discreteKeys()) {
@@ -148,7 +148,7 @@ class HybridFactorGraph : public FactorGraph<HybridFactor> {
   }
 
   /// Get all the continuous keys in the factor graph.
-  const KeySet allContinuousKeys() const {
+  const KeySet continuousKeys() const {
     KeySet keys;
     for (auto& factor : factors_) {
       for (const Key& key : factor->continuousKeys()) {
diff --git a/gtsam/hybrid/HybridGaussianFactorGraph.cpp b/gtsam/hybrid/HybridGaussianFactorGraph.cpp
index c08e774f24..ddb776ff4c 100644
--- a/gtsam/hybrid/HybridGaussianFactorGraph.cpp
+++ b/gtsam/hybrid/HybridGaussianFactorGraph.cpp
@@ -406,7 +406,7 @@ void HybridGaussianFactorGraph::add(DecisionTreeFactor::shared_ptr factor) {
 
 /* ************************************************************************ */
 const Ordering HybridGaussianFactorGraph::getHybridOrdering() const {
-  KeySet discrete_keys = allDiscreteKeys();
+  KeySet discrete_keys = discreteKeys();
   for (auto &factor : factors_) {
     for (const DiscreteKey &k : factor->discreteKeys()) {
       discrete_keys.insert(k.first);
diff --git a/gtsam/hybrid/HybridGaussianISAM.cpp b/gtsam/hybrid/HybridGaussianISAM.cpp
index 1a95c0c932..57e50104d7 100644
--- a/gtsam/hybrid/HybridGaussianISAM.cpp
+++ b/gtsam/hybrid/HybridGaussianISAM.cpp
@@ -63,12 +63,7 @@ void HybridGaussianISAM::updateInternal(
     factors += boost::make_shared<BayesTreeOrphanWrapper<Node> >(orphan);
 
   // Get all the discrete keys from the factors
-  KeySet allDiscrete;
-  for (auto& factor : factors) {
-    for (auto& k : factor->discreteKeys()) {
-      allDiscrete.insert(k.first);
-    }
-  }
+  KeySet allDiscrete = factors.discreteKeys();
 
   // Create KeyVector with continuous keys followed by discrete keys.
   KeyVector newKeysDiscreteLast;

From a2109a24379bf3cbdebb3d60396eb158d806c22c Mon Sep 17 00:00:00 2001
From: senselessdev1 <johnlambert@hayoungs-mbp.lan>
Date: Mon, 26 Sep 2022 10:56:44 -0400
Subject: [PATCH 357/433] pass in IndexPair arguments

---
 python/gtsam/tests/test_DsfTrackGenerator.py | 4 ++--
 1 file changed, 2 insertions(+), 2 deletions(-)

diff --git a/python/gtsam/tests/test_DsfTrackGenerator.py b/python/gtsam/tests/test_DsfTrackGenerator.py
index b9ac223973..74a7fe5dc9 100644
--- a/python/gtsam/tests/test_DsfTrackGenerator.py
+++ b/python/gtsam/tests/test_DsfTrackGenerator.py
@@ -28,8 +28,8 @@ def test_track_generation(self) -> None:
 
         # For each image pair (i1,i2), we provide a (K,2) matrix of corresponding image indices (k1,k2).
         matches_dict = MatchIndicesMap()
-        matches_dict[(0, 1)] = np.array([[0, 0], [1, 1]])
-        matches_dict[(1, 2)] = np.array([[2, 0], [1, 1]])
+        matches_dict[gtsam.IndexPair(0, 1)] = np.array([[0, 0], [1, 1]])
+        matches_dict[gtsam.IndexPair(1, 2)] = np.array([[2, 0], [1, 1]])
 
         tracks = DsfTrackGenerator().generate_tracks_from_pairwise_matches(matches_dict, keypoints_list)
         assert len(tracks) == 3

From 2434dc8ab732da5dce37cb7e26c5387ee7d837b0 Mon Sep 17 00:00:00 2001
From: senselessdev1 <johnlambert@hayoungs-mbp.lan>
Date: Mon, 26 Sep 2022 11:36:39 -0400
Subject: [PATCH 358/433] add to preamble/specialization

---
 gtsam/sfm/DsfTrackGenerator.h                |  4 ++++
 gtsam/sfm/sfm.i                              | 12 +++++++++++-
 python/CMakeLists.txt                        |  3 ++-
 python/gtsam/preamble/sfm.h                  |  3 ++-
 python/gtsam/specializations/sfm.h           |  3 +++
 python/gtsam/tests/test_DsfTrackGenerator.py |  6 +++---
 6 files changed, 25 insertions(+), 6 deletions(-)

diff --git a/gtsam/sfm/DsfTrackGenerator.h b/gtsam/sfm/DsfTrackGenerator.h
index 5ab87a7dfa..16dddcbaaf 100644
--- a/gtsam/sfm/DsfTrackGenerator.h
+++ b/gtsam/sfm/DsfTrackGenerator.h
@@ -94,6 +94,10 @@ class SfmTrack2d {
   }
 };
 
+using SfmTrack2dVector = std::vector<gtsam::SfmTrack2d>;
+
+
+
 /**
  * @brief Generates point tracks from connected components in the keypoint matches graph.
  */
diff --git a/gtsam/sfm/sfm.i b/gtsam/sfm/sfm.i
index b46b308eb6..6c3f1e8ebf 100644
--- a/gtsam/sfm/sfm.i
+++ b/gtsam/sfm/sfm.i
@@ -49,10 +49,20 @@ class SfmTrack2d
   bool hasUniqueCameras();
 };
 
+class SfmTrack2dVector {
+  SfmTrack2dVector();
+  SfmTrack2dVector(const gtsam::SfmTrack2dVector& other);
+  void push_back(const gtsam::SfmTrack2d& keypoints);
+  size_t size() const;
+  bool empty() const;
+  void clear();
+  gtsam::SfmTrack2d at(const size_t& index) const;
+};
+
 
 class DsfTrackGenerator {
   DsfTrackGenerator();
-  std::vector<gtsam::SfmTrack2d> generate_tracks_from_pairwise_matches(
+  const gtsam::SfmTrack2dVector generate_tracks_from_pairwise_matches(
     const gtsam::MatchIndicesMap& matches_dict,
     const gtsam::KeypointsList& keypoints_list);
 };
diff --git a/python/CMakeLists.txt b/python/CMakeLists.txt
index ffb52ad11c..e8cc1f10fe 100644
--- a/python/CMakeLists.txt
+++ b/python/CMakeLists.txt
@@ -152,7 +152,8 @@ if(GTSAM_UNSTABLE_BUILD_PYTHON)
             gtsam::CameraSetCal3Fisheye
             gtsam::KeyPairDoubleMap
             gtsam::MatchIndicesMap
-            gtsam::KeypointsList)
+            gtsam::KeypointsList
+            gtsam::SfmTrack2dVector)
 
 
     pybind_wrap(${GTSAM_PYTHON_UNSTABLE_TARGET} # target
diff --git a/python/gtsam/preamble/sfm.h b/python/gtsam/preamble/sfm.h
index a51e963dd8..fa4458c699 100644
--- a/python/gtsam/preamble/sfm.h
+++ b/python/gtsam/preamble/sfm.h
@@ -26,6 +26,7 @@ PYBIND11_MAKE_OPAQUE(
     std::vector<gtsam::BinaryMeasurement<gtsam::Rot3>>);
 PYBIND11_MAKE_OPAQUE(
     std::vector<gtsam::Keypoints>);
-
+PYBIND11_MAKE_OPAQUE(
+    std::vector<gtsam::SfmTrack2d>);
 
 PYBIND11_MAKE_OPAQUE(gtsam::MatchIndicesMap);
\ No newline at end of file
diff --git a/python/gtsam/specializations/sfm.h b/python/gtsam/specializations/sfm.h
index 297aee262b..9eaf0f7fdb 100644
--- a/python/gtsam/specializations/sfm.h
+++ b/python/gtsam/specializations/sfm.h
@@ -37,3 +37,6 @@ py::bind_vector<
     std::vector<std::pair<size_t, gtsam::Point2>>>(
         m_, "SfmMeasurementVector"
     );
+py::bind_vector<
+    std::vector<gtsam::SfmTrack2d> >(
+    m_, "SfmTrack2dVector");
\ No newline at end of file
diff --git a/python/gtsam/tests/test_DsfTrackGenerator.py b/python/gtsam/tests/test_DsfTrackGenerator.py
index 74a7fe5dc9..41394f17a0 100644
--- a/python/gtsam/tests/test_DsfTrackGenerator.py
+++ b/python/gtsam/tests/test_DsfTrackGenerator.py
@@ -8,7 +8,7 @@
 import numpy as np
 
 import gtsam
-from gtsam import DsfTrackGenerator, Keypoints, KeypointsList, MatchIndicesMap
+from gtsam import DsfTrackGenerator, IndexPair, Keypoints, KeypointsList, MatchIndicesMap
 from gtsam.utils.test_case import GtsamTestCase
 
 
@@ -28,8 +28,8 @@ def test_track_generation(self) -> None:
 
         # For each image pair (i1,i2), we provide a (K,2) matrix of corresponding image indices (k1,k2).
         matches_dict = MatchIndicesMap()
-        matches_dict[gtsam.IndexPair(0, 1)] = np.array([[0, 0], [1, 1]])
-        matches_dict[gtsam.IndexPair(1, 2)] = np.array([[2, 0], [1, 1]])
+        matches_dict[IndexPair(0, 1)] = np.array([[0, 0], [1, 1]])
+        matches_dict[IndexPair(1, 2)] = np.array([[2, 0], [1, 1]])
 
         tracks = DsfTrackGenerator().generate_tracks_from_pairwise_matches(matches_dict, keypoints_list)
         assert len(tracks) == 3

From a3069a3fbc36828bd982128bebff7669fc297ef6 Mon Sep 17 00:00:00 2001
From: senselessdev1 <johnlambert@hayoungs-mbp.lan>
Date: Mon, 26 Sep 2022 11:58:07 -0400
Subject: [PATCH 359/433] remove opaque on sfmtrack2d

---
 python/gtsam/preamble/sfm.h | 4 ++--
 1 file changed, 2 insertions(+), 2 deletions(-)

diff --git a/python/gtsam/preamble/sfm.h b/python/gtsam/preamble/sfm.h
index fa4458c699..fe49aadc14 100644
--- a/python/gtsam/preamble/sfm.h
+++ b/python/gtsam/preamble/sfm.h
@@ -26,7 +26,7 @@ PYBIND11_MAKE_OPAQUE(
     std::vector<gtsam::BinaryMeasurement<gtsam::Rot3>>);
 PYBIND11_MAKE_OPAQUE(
     std::vector<gtsam::Keypoints>);
-PYBIND11_MAKE_OPAQUE(
-    std::vector<gtsam::SfmTrack2d>);
+// PYBIND11_MAKE_OPAQUE(
+//     std::vector<gtsam::SfmTrack2d>);
 
 PYBIND11_MAKE_OPAQUE(gtsam::MatchIndicesMap);
\ No newline at end of file

From fa17c509107e2ee7a9bee36a3fe12a9a7b55b0e3 Mon Sep 17 00:00:00 2001
From: John Lambert <johnlambert@gatech.edu>
Date: Mon, 26 Sep 2022 18:41:59 -0400
Subject: [PATCH 360/433] Add SfmTrack2dVector to ignore list

---
 python/CMakeLists.txt | 3 ++-
 1 file changed, 2 insertions(+), 1 deletion(-)

diff --git a/python/CMakeLists.txt b/python/CMakeLists.txt
index e8cc1f10fe..3266cf8677 100644
--- a/python/CMakeLists.txt
+++ b/python/CMakeLists.txt
@@ -53,7 +53,8 @@ set(ignore
     gtsam::DiscreteKey
     gtsam::KeyPairDoubleMap
     gtsam::MatchIndicesMap
-    gtsam::KeypointsList)
+    gtsam::KeypointsList
+    gtsam::SfmTrack2dVector)
 
 set(interface_headers
     ${PROJECT_SOURCE_DIR}/gtsam/gtsam.i

From 96aaff4bc6b42b824a584c3086311766f8a3daa3 Mon Sep 17 00:00:00 2001
From: senselessdev1 <johnlambert@hayoungs-mbp.lan>
Date: Mon, 26 Sep 2022 20:42:03 -0400
Subject: [PATCH 361/433] wrap vector of NamedSfmMeasurement

---
 gtsam/sfm/DsfTrackGenerator.h      |  2 +-
 gtsam/sfm/sfm.i                    | 12 +++++++++++-
 python/CMakeLists.txt              |  6 ++++--
 python/gtsam/preamble/sfm.h        |  5 ++++-
 python/gtsam/specializations/sfm.h |  6 +++++-
 5 files changed, 25 insertions(+), 6 deletions(-)

diff --git a/gtsam/sfm/DsfTrackGenerator.h b/gtsam/sfm/DsfTrackGenerator.h
index 16dddcbaaf..9a0c350bd4 100644
--- a/gtsam/sfm/DsfTrackGenerator.h
+++ b/gtsam/sfm/DsfTrackGenerator.h
@@ -95,7 +95,7 @@ class SfmTrack2d {
 };
 
 using SfmTrack2dVector = std::vector<gtsam::SfmTrack2d>;
-
+using NamedSfmMeasurementVector = std::vector<NamedSfmMeasurement>;
 
 
 /**
diff --git a/gtsam/sfm/sfm.i b/gtsam/sfm/sfm.i
index 6c3f1e8ebf..155a551bd2 100644
--- a/gtsam/sfm/sfm.i
+++ b/gtsam/sfm/sfm.i
@@ -42,6 +42,16 @@ class NamedSfmMeasurement
   NamedSfmMeasurement(size_t i, gtsam::Point2 uv);
 };
 
+class NamedSfmMeasurementVector {
+  NamedSfmMeasurementVector();
+  NamedSfmMeasurementVector(const gtsam::NamedSfmMeasurementVector& other);
+  void push_back(const gtsam::NamedSfmMeasurement& measurement);
+  size_t size() const;
+  bool empty() const;
+  void clear();
+  gtsam::NamedSfmMeasurement at(const size_t& index) const;
+};
+
 class SfmTrack2d
 {
   void addMeasurement(const gtsam::NamedSfmMeasurement &m);
@@ -52,7 +62,7 @@ class SfmTrack2d
 class SfmTrack2dVector {
   SfmTrack2dVector();
   SfmTrack2dVector(const gtsam::SfmTrack2dVector& other);
-  void push_back(const gtsam::SfmTrack2d& keypoints);
+  void push_back(const gtsam::SfmTrack2d& track);
   size_t size() const;
   bool empty() const;
   void clear();
diff --git a/python/CMakeLists.txt b/python/CMakeLists.txt
index 3266cf8677..21f9f951dd 100644
--- a/python/CMakeLists.txt
+++ b/python/CMakeLists.txt
@@ -54,7 +54,8 @@ set(ignore
     gtsam::KeyPairDoubleMap
     gtsam::MatchIndicesMap
     gtsam::KeypointsList
-    gtsam::SfmTrack2dVector)
+    gtsam::SfmTrack2dVector
+    gtsam::NamedSfmMeasurementVector)
 
 set(interface_headers
     ${PROJECT_SOURCE_DIR}/gtsam/gtsam.i
@@ -154,7 +155,8 @@ if(GTSAM_UNSTABLE_BUILD_PYTHON)
             gtsam::KeyPairDoubleMap
             gtsam::MatchIndicesMap
             gtsam::KeypointsList
-            gtsam::SfmTrack2dVector)
+            gtsam::SfmTrack2dVector
+            gtsam::NamedSfmMeasurementVector)
 
 
     pybind_wrap(${GTSAM_PYTHON_UNSTABLE_TARGET} # target
diff --git a/python/gtsam/preamble/sfm.h b/python/gtsam/preamble/sfm.h
index fe49aadc14..429b794b8a 100644
--- a/python/gtsam/preamble/sfm.h
+++ b/python/gtsam/preamble/sfm.h
@@ -29,4 +29,7 @@ PYBIND11_MAKE_OPAQUE(
 // PYBIND11_MAKE_OPAQUE(
 //     std::vector<gtsam::SfmTrack2d>);
 
-PYBIND11_MAKE_OPAQUE(gtsam::MatchIndicesMap);
\ No newline at end of file
+PYBIND11_MAKE_OPAQUE(gtsam::MatchIndicesMap);
+
+PYBIND11_MAKE_OPAQUE(
+    std::vector<gtsam::NamedSfmMeasurement>);
\ No newline at end of file
diff --git a/python/gtsam/specializations/sfm.h b/python/gtsam/specializations/sfm.h
index 9eaf0f7fdb..1bbb935703 100644
--- a/python/gtsam/specializations/sfm.h
+++ b/python/gtsam/specializations/sfm.h
@@ -39,4 +39,8 @@ py::bind_vector<
     );
 py::bind_vector<
     std::vector<gtsam::SfmTrack2d> >(
-    m_, "SfmTrack2dVector");
\ No newline at end of file
+    m_, "SfmTrack2dVector");
+
+py::bind_vector<
+    std::vector<gtsam::NamedSfmMeasurement> >(
+    m_, "NamedSfmMeasurementVector");

From 6eb4ada2fdcb9c4d2ade763514207d5bb724982b Mon Sep 17 00:00:00 2001
From: senselessdev1 <johnlambert@hayoungs-mbp.lan>
Date: Tue, 27 Sep 2022 10:28:57 -0400
Subject: [PATCH 362/433] add more methods for accessing members, getting size

---
 gtsam/sfm/DsfTrackGenerator.h | 15 +++++++++++++++
 1 file changed, 15 insertions(+)

diff --git a/gtsam/sfm/DsfTrackGenerator.h b/gtsam/sfm/DsfTrackGenerator.h
index 9a0c350bd4..b65a4fad68 100644
--- a/gtsam/sfm/DsfTrackGenerator.h
+++ b/gtsam/sfm/DsfTrackGenerator.h
@@ -73,11 +73,26 @@ class SfmTrack2d {
   std::vector<NamedSfmMeasurement> measurements_;
 
  public:
+  // Default constructor.
+  SfmTrack2d() = default;
+
+  // Constructor from measurements.
+  SfmTrack2d(std::vector<NamedSfmMeasurement> &measurements) : measurements_(measurements) {}
+
+  // Add a measurement to the track.
   void addMeasurement(const NamedSfmMeasurement &m) {
     measurements_.emplace_back(m);
   }
+
+  /// The measurement at index `idx`
+  NamedSfmMeasurement measurement(size_t idx) const { return measurements_[idx]; }
+
+  // Return all measurements in the track.
   std::vector<NamedSfmMeasurement> measurements() {return measurements_; }
 
+  /// Total number of measurements in this track.
+  size_t numberMeasurements() const { return measurements_.size(); }
+
   // @brief Validates the track by checking that no two measurements are from the same camera.
   //
   // returns boolean result of the validation.

From cafab61fecb8fcdf14065c8de1fd8a340504b10c Mon Sep 17 00:00:00 2001
From: senselessdev1 <johnlambert@hayoungs-mbp.lan>
Date: Tue, 27 Sep 2022 10:29:36 -0400
Subject: [PATCH 363/433] expand tests

---
 gtsam/sfm/sfm.i                              |  4 +++
 python/gtsam/preamble/sfm.h                  |  5 ----
 python/gtsam/tests/test_DsfTrackGenerator.py | 26 +++++++++++++++++++-
 3 files changed, 29 insertions(+), 6 deletions(-)

diff --git a/gtsam/sfm/sfm.i b/gtsam/sfm/sfm.i
index 155a551bd2..6fd380b3c2 100644
--- a/gtsam/sfm/sfm.i
+++ b/gtsam/sfm/sfm.i
@@ -54,8 +54,12 @@ class NamedSfmMeasurementVector {
 
 class SfmTrack2d
 {
+  SfmTrack2d();
+  SfmTrack2d(std::vector<gtsam::NamedSfmMeasurement> &measurements);
+  size_t numberMeasurements() const;
   void addMeasurement(const gtsam::NamedSfmMeasurement &m);
   std::vector<gtsam::NamedSfmMeasurement> measurements();
+  gtsam::NamedSfmMeasurement measurement(size_t idx) const;
   bool hasUniqueCameras();
 };
 
diff --git a/python/gtsam/preamble/sfm.h b/python/gtsam/preamble/sfm.h
index 429b794b8a..91c9fc418f 100644
--- a/python/gtsam/preamble/sfm.h
+++ b/python/gtsam/preamble/sfm.h
@@ -17,7 +17,6 @@
 
 PYBIND11_MAKE_OPAQUE(
     std::vector<gtsam::SfmTrack>);
-
 PYBIND11_MAKE_OPAQUE(
     std::vector<gtsam::SfmCamera>);
 PYBIND11_MAKE_OPAQUE(
@@ -26,10 +25,6 @@ PYBIND11_MAKE_OPAQUE(
     std::vector<gtsam::BinaryMeasurement<gtsam::Rot3>>);
 PYBIND11_MAKE_OPAQUE(
     std::vector<gtsam::Keypoints>);
-// PYBIND11_MAKE_OPAQUE(
-//     std::vector<gtsam::SfmTrack2d>);
-
 PYBIND11_MAKE_OPAQUE(gtsam::MatchIndicesMap);
-
 PYBIND11_MAKE_OPAQUE(
     std::vector<gtsam::NamedSfmMeasurement>);
\ No newline at end of file
diff --git a/python/gtsam/tests/test_DsfTrackGenerator.py b/python/gtsam/tests/test_DsfTrackGenerator.py
index 41394f17a0..3d4188284f 100644
--- a/python/gtsam/tests/test_DsfTrackGenerator.py
+++ b/python/gtsam/tests/test_DsfTrackGenerator.py
@@ -8,7 +8,16 @@
 import numpy as np
 
 import gtsam
-from gtsam import DsfTrackGenerator, IndexPair, Keypoints, KeypointsList, MatchIndicesMap
+from gtsam import (
+    DsfTrackGenerator,
+    IndexPair,
+    Keypoints,
+    KeypointsList,
+    MatchIndicesMap,
+    NamedSfmMeasurement,
+    NamedSfmMeasurementVector,
+    SfmTrack2d,
+)
 from gtsam.utils.test_case import GtsamTestCase
 
 
@@ -39,6 +48,7 @@ def test_track_generation(self) -> None:
         assert np.allclose(tracks[0].measurements()[1].uv, np.array([50.0, 60.0]))
         assert tracks[0].measurements()[0].i == 0
         assert tracks[0].measurements()[1].i == 1
+        assert tracks[0].numberMeasurements() == 2
 
         # Verify track 1.
         assert np.allclose(tracks[1].measurements()[0].uv, np.array([30.0, 40.0]))
@@ -47,9 +57,23 @@ def test_track_generation(self) -> None:
         assert tracks[1].measurements()[0].i == 0
         assert tracks[1].measurements()[1].i == 1
         assert tracks[1].measurements()[2].i == 2
+        assert tracks[1].numberMeasurements() == 3
 
         # Verify track 2.
         assert np.allclose(tracks[2].measurements()[0].uv, np.array([90.0, 100.0]))
         assert np.allclose(tracks[2].measurements()[1].uv, np.array([110.0, 120.0]))
         assert tracks[2].measurements()[0].i == 1
         assert tracks[2].measurements()[1].i == 2
+        assert tracks[2].numberMeasurements() == 2
+
+
+class TestSfmTrack2d(GtsamTestCase):
+    """Tests for SfmTrack2d."""
+
+    def test_sfm_track_2d_constructor(self) -> None:
+        """ """
+        measurements = NamedSfmMeasurementVector()
+        measurements.append(NamedSfmMeasurement(i=0, uv=np.array([10.0, 20.0])))
+        track = SfmTrack2d(measurements=measurements)
+        track.measurement(0)
+        track.numberMeasurements() == 1

From 75b2599e829e4db84777c7e5763e74c0506605f7 Mon Sep 17 00:00:00 2001
From: Varun Agrawal <varagrawal@gmail.com>
Date: Mon, 3 Oct 2022 17:31:53 -0400
Subject: [PATCH 364/433] remove unnecessary comments

---
 gtsam/hybrid/HybridGaussianFactorGraph.cpp | 5 +----
 1 file changed, 1 insertion(+), 4 deletions(-)

diff --git a/gtsam/hybrid/HybridGaussianFactorGraph.cpp b/gtsam/hybrid/HybridGaussianFactorGraph.cpp
index d8881cc2a0..6f48f21767 100644
--- a/gtsam/hybrid/HybridGaussianFactorGraph.cpp
+++ b/gtsam/hybrid/HybridGaussianFactorGraph.cpp
@@ -285,11 +285,8 @@ hybridElimination(const HybridGaussianFactorGraph &factors,
 
   // If there are no more continuous parents, then we should create here a
   // DiscreteFactor, with the error for each discrete choice.
-  // frontalKeys.print();
-  // separatorFactors.print("", GTDKeyFormatter, [](const GaussianFactor::shared_ptr &factor) { factor->print(); return "";});
-  // std::cout << "=====================================" << std::endl;
   if (keysOfSeparator.empty()) {
-    VectorValues empty_values;  //TODO(Varun) Shouldn't this be from the optimized leaf?
+    VectorValues empty_values;
     auto factorError = [&](const GaussianFactor::shared_ptr &factor) {
       if (!factor) return 0.0;  // TODO(fan): does this make sense?
       return exp(-factor->error(empty_values));

From ad328756d2d50b1ec83a21c2b5a8734e3e7da393 Mon Sep 17 00:00:00 2001
From: Varun Agrawal <varagrawal@gmail.com>
Date: Mon, 3 Oct 2022 19:14:03 -0400
Subject: [PATCH 365/433] improved hybrid bayes net pruning

---
 gtsam/hybrid/HybridBayesNet.cpp           | 28 +++++++++++++++++++++--
 gtsam/hybrid/HybridBayesNet.h             | 14 +++++++++---
 gtsam/hybrid/tests/testHybridBayesNet.cpp | 19 ++++++++++++++-
 3 files changed, 55 insertions(+), 6 deletions(-)

diff --git a/gtsam/hybrid/HybridBayesNet.cpp b/gtsam/hybrid/HybridBayesNet.cpp
index bca50a902e..7889707900 100644
--- a/gtsam/hybrid/HybridBayesNet.cpp
+++ b/gtsam/hybrid/HybridBayesNet.cpp
@@ -31,8 +31,32 @@ static std::set<DiscreteKey> DiscreteKeysAsSet(const DiscreteKeys &dkeys) {
 }
 
 /* ************************************************************************* */
-HybridBayesNet HybridBayesNet::prune(
-    const DecisionTreeFactor::shared_ptr &discreteFactor) const {
+DecisionTreeFactor::shared_ptr HybridBayesNet::discreteConditionals() const {
+  AlgebraicDecisionTree<Key> decisionTree;
+
+  // The canonical decision tree factor which will get the discrete conditionals
+  // added to it.
+  DecisionTreeFactor dtFactor;
+
+  for (size_t i = 0; i < this->size(); i++) {
+    HybridConditional::shared_ptr conditional = this->at(i);
+    if (conditional->isDiscrete()) {
+      // Convert to a DecisionTreeFactor and add it to the main factor.
+      DecisionTreeFactor f(*conditional->asDiscreteConditional());
+      dtFactor = dtFactor * f;
+    }
+  }
+  return boost::make_shared<DecisionTreeFactor>(dtFactor);
+}
+
+/* ************************************************************************* */
+HybridBayesNet HybridBayesNet::prune(size_t maxNrLeaves) const {
+  // Get the decision tree of only the discrete keys
+  auto discreteConditionals = this->discreteConditionals();
+  const DecisionTreeFactor::shared_ptr discreteFactor =
+      boost::make_shared<DecisionTreeFactor>(
+          discreteConditionals->prune(maxNrLeaves));
+
   /* To Prune, we visitWith every leaf in the GaussianMixture.
    * For each leaf, using the assignment we can check the discrete decision tree
    * for 0.0 probability, then just set the leaf to a nullptr.
diff --git a/gtsam/hybrid/HybridBayesNet.h b/gtsam/hybrid/HybridBayesNet.h
index f28224d373..b8234d70ab 100644
--- a/gtsam/hybrid/HybridBayesNet.h
+++ b/gtsam/hybrid/HybridBayesNet.h
@@ -111,9 +111,17 @@ class GTSAM_EXPORT HybridBayesNet : public BayesNet<HybridConditional> {
    */
   VectorValues optimize(const DiscreteValues &assignment) const;
 
-  /// Prune the Hybrid Bayes Net given the discrete decision tree.
-  HybridBayesNet prune(
-      const DecisionTreeFactor::shared_ptr &discreteFactor) const;
+ protected:
+  /**
+   * @brief Get all the discrete conditionals as a decision tree factor.
+   *
+   * @return DecisionTreeFactor::shared_ptr
+   */
+  DecisionTreeFactor::shared_ptr discreteConditionals() const;
+
+ public:
+  /// Prune the Hybrid Bayes Net such that we have at most maxNrLeaves leaves.
+  HybridBayesNet prune(size_t maxNrLeaves) const;
 
   /// @}
 
diff --git a/gtsam/hybrid/tests/testHybridBayesNet.cpp b/gtsam/hybrid/tests/testHybridBayesNet.cpp
index cc2ab1759c..5885fdcdcc 100644
--- a/gtsam/hybrid/tests/testHybridBayesNet.cpp
+++ b/gtsam/hybrid/tests/testHybridBayesNet.cpp
@@ -66,7 +66,6 @@ TEST(HybridBayesNet, Add) {
   EXPECT(bayesNet.equals(other));
 }
 
-
 /* ****************************************************************************/
 // Test choosing an assignment of conditionals
 TEST(HybridBayesNet, Choose) {
@@ -184,6 +183,24 @@ TEST(HybridBayesNet, OptimizeMultifrontal) {
   EXPECT(assert_equal(expectedValues, delta.continuous(), 1e-5));
 }
 
+/* ****************************************************************************/
+// Test bayes net pruning
+TEST(HybridBayesNet, Prune) {
+  Switching s(4);
+
+  Ordering hybridOrdering = s.linearizedFactorGraph.getHybridOrdering();
+  HybridBayesNet::shared_ptr hybridBayesNet =
+      s.linearizedFactorGraph.eliminateSequential(hybridOrdering);
+
+  HybridValues delta = hybridBayesNet->optimize();
+
+  auto prunedBayesNet = hybridBayesNet->prune(2);
+  HybridValues pruned_delta = prunedBayesNet.optimize();
+
+  EXPECT(assert_equal(delta.discrete(), pruned_delta.discrete()));
+  EXPECT(assert_equal(delta.continuous(), pruned_delta.continuous()));
+}
+
 /* ****************************************************************************/
 // Test HybridBayesNet serialization.
 TEST(HybridBayesNet, Serialization) {

From d6d44fc3b422051bab6d0858cc6190fbb3121610 Mon Sep 17 00:00:00 2001
From: Varun Agrawal <varagrawal@gmail.com>
Date: Mon, 3 Oct 2022 19:14:13 -0400
Subject: [PATCH 366/433] minor cleanup

---
 gtsam/hybrid/HybridConditional.h | 2 --
 gtsam/inference/BayesTree.h      | 1 -
 2 files changed, 3 deletions(-)

diff --git a/gtsam/hybrid/HybridConditional.h b/gtsam/hybrid/HybridConditional.h
index b43bb9945d..93ce33bea1 100644
--- a/gtsam/hybrid/HybridConditional.h
+++ b/gtsam/hybrid/HybridConditional.h
@@ -34,8 +34,6 @@
 
 namespace gtsam {
 
-class HybridGaussianFactorGraph;
-
 /**
  * Hybrid Conditional Density
  *
diff --git a/gtsam/inference/BayesTree.h b/gtsam/inference/BayesTree.h
index 924a505a2d..b4b07a3573 100644
--- a/gtsam/inference/BayesTree.h
+++ b/gtsam/inference/BayesTree.h
@@ -33,7 +33,6 @@ namespace gtsam {
   // Forward declarations
   template<class FACTOR> class FactorGraph;
   template<class BAYESTREE, class GRAPH> class EliminatableClusterTree;
-  class HybridBayesTreeClique;
 
   /* ************************************************************************* */
   /** clique statistics */

From bc8c77c54d36e55732dc60e0349e1815b607aa15 Mon Sep 17 00:00:00 2001
From: Varun Agrawal <varagrawal@gmail.com>
Date: Tue, 4 Oct 2022 10:12:02 -0400
Subject: [PATCH 367/433] rename test file to correct form

---
 ...ianHybridFactorGraph.cpp => testHybridGaussianFactorGraph.cpp} | 0
 1 file changed, 0 insertions(+), 0 deletions(-)
 rename gtsam/hybrid/tests/{testGaussianHybridFactorGraph.cpp => testHybridGaussianFactorGraph.cpp} (100%)

diff --git a/gtsam/hybrid/tests/testGaussianHybridFactorGraph.cpp b/gtsam/hybrid/tests/testHybridGaussianFactorGraph.cpp
similarity index 100%
rename from gtsam/hybrid/tests/testGaussianHybridFactorGraph.cpp
rename to gtsam/hybrid/tests/testHybridGaussianFactorGraph.cpp

From 8820bf272c268ae298d99d8e13fe81052af80fc2 Mon Sep 17 00:00:00 2001
From: Varun Agrawal <varagrawal@gmail.com>
Date: Tue, 4 Oct 2022 12:33:28 -0400
Subject: [PATCH 368/433] Add test to expose bug in elimination with gaussian
 conditionals

---
 .../tests/testHybridGaussianFactorGraph.cpp   | 41 +++++++++++++++++++
 1 file changed, 41 insertions(+)

diff --git a/gtsam/hybrid/tests/testHybridGaussianFactorGraph.cpp b/gtsam/hybrid/tests/testHybridGaussianFactorGraph.cpp
index 40da42412d..d199d76113 100644
--- a/gtsam/hybrid/tests/testHybridGaussianFactorGraph.cpp
+++ b/gtsam/hybrid/tests/testHybridGaussianFactorGraph.cpp
@@ -500,6 +500,7 @@ TEST(HybridGaussianFactorGraph, SwitchingTwoVar) {
   }
 }
 
+/* ************************************************************************* */
 TEST(HybridGaussianFactorGraph, optimize) {
   HybridGaussianFactorGraph hfg;
 
@@ -521,6 +522,46 @@ TEST(HybridGaussianFactorGraph, optimize) {
 
   EXPECT(assert_equal(hv.atDiscrete(C(1)), int(0)));
 }
+
+/* ************************************************************************* */
+// Test adding of gaussian conditional and re-elimination.
+TEST(HybridGaussianFactorGraph, Conditionals) {
+  Switching switching(4);
+  HybridGaussianFactorGraph hfg;
+
+  hfg.push_back(switching.linearizedFactorGraph.at(0));  // P(X1)
+  Ordering ordering;
+  ordering.push_back(X(1));
+  HybridBayesNet::shared_ptr bayes_net = hfg.eliminateSequential(ordering);
+
+  hfg.push_back(switching.linearizedFactorGraph.at(1));  // P(X1, X2 | M1)
+  hfg.push_back(*bayes_net);
+  hfg.push_back(switching.linearizedFactorGraph.at(2));  // P(X2, X3 | M2)
+  hfg.push_back(switching.linearizedFactorGraph.at(5));  // P(M1)
+  ordering.push_back(X(2));
+  ordering.push_back(X(3));
+  ordering.push_back(M(1));
+  ordering.push_back(M(2));
+
+  bayes_net = hfg.eliminateSequential(ordering);
+
+  HybridValues result = bayes_net->optimize();
+
+  Values expected_continuous;
+  expected_continuous.insert<double>(X(1), 0);
+  expected_continuous.insert<double>(X(2), 1);
+  expected_continuous.insert<double>(X(3), 2);
+  expected_continuous.insert<double>(X(4), 4);
+  Values result_continuous =
+      switching.linearizationPoint.retract(result.continuous());
+  EXPECT(assert_equal(expected_continuous, result_continuous));
+
+  DiscreteValues expected_discrete;
+  expected_discrete[M(1)] = 1;
+  expected_discrete[M(2)] = 1;
+  EXPECT(assert_equal(expected_discrete, result.discrete()));
+}
+
 /* ************************************************************************* */
 int main() {
   TestResult tr;

From 9002b6829183fdebb1ce65eb61bb261956c64307 Mon Sep 17 00:00:00 2001
From: Varun Agrawal <varagrawal@gmail.com>
Date: Tue, 4 Oct 2022 12:33:37 -0400
Subject: [PATCH 369/433] fix the bug

---
 gtsam/hybrid/HybridGaussianFactorGraph.cpp | 8 ++++++--
 1 file changed, 6 insertions(+), 2 deletions(-)

diff --git a/gtsam/hybrid/HybridGaussianFactorGraph.cpp b/gtsam/hybrid/HybridGaussianFactorGraph.cpp
index ddb776ff4c..0faf0e86e4 100644
--- a/gtsam/hybrid/HybridGaussianFactorGraph.cpp
+++ b/gtsam/hybrid/HybridGaussianFactorGraph.cpp
@@ -96,8 +96,12 @@ GaussianMixtureFactor::Sum sumFrontals(
       }
 
     } else if (f->isContinuous()) {
-      deferredFactors.push_back(
-          boost::dynamic_pointer_cast<HybridGaussianFactor>(f)->inner());
+      if (auto gf = boost::dynamic_pointer_cast<HybridGaussianFactor>(f)) {
+        deferredFactors.push_back(gf->inner());
+      }
+      if (auto cg = boost::dynamic_pointer_cast<HybridConditional>(f)) {
+        deferredFactors.push_back(cg->asGaussian());
+      }
 
     } else if (f->isDiscrete()) {
       // Don't do anything for discrete-only factors

From 6238a1f9017017c7d21ca2708b4dab46d3d3af2b Mon Sep 17 00:00:00 2001
From: Varun Agrawal <varagrawal@gmail.com>
Date: Tue, 4 Oct 2022 12:34:53 -0400
Subject: [PATCH 370/433] more docs for Switching example

---
 gtsam/hybrid/tests/Switching.h | 11 +++++++++--
 1 file changed, 9 insertions(+), 2 deletions(-)

diff --git a/gtsam/hybrid/tests/Switching.h b/gtsam/hybrid/tests/Switching.h
index 8bcb26c927..3ae8f0bb1c 100644
--- a/gtsam/hybrid/tests/Switching.h
+++ b/gtsam/hybrid/tests/Switching.h
@@ -115,7 +115,6 @@ inline std::pair<KeyVector, std::vector<int>> makeBinaryOrdering(
 /* ***************************************************************************
  */
 using MotionModel = BetweenFactor<double>;
-// using MotionMixture = MixtureFactor<MotionModel>;
 
 // Test fixture with switching network.
 struct Switching {
@@ -125,7 +124,13 @@ struct Switching {
   HybridGaussianFactorGraph linearizedFactorGraph;
   Values linearizationPoint;
 
-  /// Create with given number of time steps.
+  /**
+   * @brief Create with given number of time steps.
+   *
+   * @param K The total number of timesteps.
+   * @param between_sigma The stddev between poses.
+   * @param prior_sigma The stddev on priors (also used for measurements).
+   */
   Switching(size_t K, double between_sigma = 1.0, double prior_sigma = 0.1)
       : K(K) {
     // Create DiscreteKeys for binary K modes, modes[0] will not be used.
@@ -166,6 +171,8 @@ struct Switching {
       linearizationPoint.insert<double>(X(k), static_cast<double>(k));
     }
 
+    // The ground truth is robot moving forward
+    // and one less than the linearization point
     linearizedFactorGraph = *nonlinearFactorGraph.linearize(linearizationPoint);
   }
 

From ec3d6b36da7edc2718d7509b82e48c0746888ccd Mon Sep 17 00:00:00 2001
From: =?UTF-8?q?S=C3=A9bastien=20Gonzalve?=
 <sebastien.gonzalve@aliceadsl.fr>
Date: Wed, 5 Oct 2022 20:15:39 +0200
Subject: [PATCH 371/433] Use cannonical library name for eigen

---
 CMakeLists.txt          |  2 --
 cmake/HandleEigen.cmake | 26 +++++++++++++++++++++-----
 gtsam/CMakeLists.txt    |  7 ++-----
 3 files changed, 23 insertions(+), 12 deletions(-)

diff --git a/CMakeLists.txt b/CMakeLists.txt
index 74433f3332..39d1e4307e 100644
--- a/CMakeLists.txt
+++ b/CMakeLists.txt
@@ -101,8 +101,6 @@ if(GTSAM_BUILD_PYTHON OR GTSAM_INSTALL_MATLAB_TOOLBOX)
     # Copy matlab.h to the correct folder.
     configure_file(${PROJECT_SOURCE_DIR}/wrap/matlab.h
                ${PROJECT_BINARY_DIR}/wrap/matlab.h COPYONLY)
-    # Add the include directories so that matlab.h can be found
-    include_directories("${PROJECT_BINARY_DIR}" "${GTSAM_EIGEN_INCLUDE_FOR_BUILD}")
 
     add_subdirectory(wrap)
     list(APPEND CMAKE_MODULE_PATH "${CMAKE_CURRENT_LIST_DIR}/wrap/cmake")
diff --git a/cmake/HandleEigen.cmake b/cmake/HandleEigen.cmake
index c49eb4f8e1..887ae17483 100644
--- a/cmake/HandleEigen.cmake
+++ b/cmake/HandleEigen.cmake
@@ -16,8 +16,14 @@ endif()
 if(GTSAM_USE_SYSTEM_EIGEN)
     find_package(Eigen3 REQUIRED) # need to find again as REQUIRED
 
-    # Use generic Eigen include paths e.g. <Eigen/Core>
-    set(GTSAM_EIGEN_INCLUDE_FOR_INSTALL "${EIGEN3_INCLUDE_DIR}")
+    add_library(Eigen3::Eigen INTERFACE IMPORTED)
+
+    set_target_properties(Eigen3::Eigen PROPERTIES
+            INTERFACE_INCLUDE_DIRECTORIES ${EIGEN3_INCLUDE_DIR}
+            )
+
+    # The actual include directory (for BUILD cmake target interface):
+    set(GTSAM_EIGEN_INCLUDE_FOR_BUILD "${EIGEN3_INCLUDE_DIR}/")
 
     # check if MKL is also enabled - can have one or the other, but not both!
     # Note: Eigen >= v3.2.5 includes our patches
@@ -30,9 +36,6 @@ if(GTSAM_USE_SYSTEM_EIGEN)
     if(EIGEN_USE_MKL_ALL AND (EIGEN3_VERSION VERSION_EQUAL 3.3.4))
         message(FATAL_ERROR "MKL does not work with Eigen 3.3.4 because of a bug in Eigen. See http://eigen.tuxfamily.org/bz/show_bug.cgi?id=1527. Disable GTSAM_USE_SYSTEM_EIGEN to use GTSAM's copy of Eigen, disable GTSAM_WITH_EIGEN_MKL, or upgrade/patch your installation of Eigen.")
     endif()
-
-    # The actual include directory (for BUILD cmake target interface):
-    set(GTSAM_EIGEN_INCLUDE_FOR_BUILD "${EIGEN3_INCLUDE_DIR}")
 else()
     # Use bundled Eigen include path.
     # Clear any variables set by FindEigen3
@@ -46,6 +49,19 @@ else()
 
     # The actual include directory (for BUILD cmake target interface):
     set(GTSAM_EIGEN_INCLUDE_FOR_BUILD "${GTSAM_SOURCE_DIR}/gtsam/3rdparty/Eigen/")
+
+    add_library(gtsam_eigen3 INTERFACE)
+
+    target_include_directories(gtsam_eigen3 INTERFACE
+      $<BUILD_INTERFACE:${GTSAM_EIGEN_INCLUDE_FOR_BUILD}>
+      $<INSTALL_INTERFACE:${GTSAM_EIGEN_INCLUDE_FOR_INSTALL}>
+    )
+    add_library(Eigen3::Eigen ALIAS gtsam_eigen3)
+
+    install(TARGETS gtsam_eigen3 EXPORT GTSAM-exports PUBLIC_HEADER DESTINATION ${CMAKE_INSTALL_INCLUDEDIR})
+
+    list(APPEND GTSAM_EXPORTED_TARGETS gtsam_eigen3)
+    set(GTSAM_EXPORTED_TARGETS "${GTSAM_EXPORTED_TARGETS}" PARENT_SCOPE)
 endif()
 
 # Detect Eigen version:
diff --git a/gtsam/CMakeLists.txt b/gtsam/CMakeLists.txt
index 09f1ea8064..d3408ee7ff 100644
--- a/gtsam/CMakeLists.txt
+++ b/gtsam/CMakeLists.txt
@@ -117,12 +117,9 @@ set_target_properties(gtsam PROPERTIES
     VERSION             ${gtsam_version}
     SOVERSION           ${gtsam_soversion})
 
-# Append Eigen include path, set in top-level CMakeLists.txt to either
 # system-eigen, or GTSAM eigen path
-target_include_directories(gtsam PUBLIC
-  $<BUILD_INTERFACE:${GTSAM_EIGEN_INCLUDE_FOR_BUILD}>
-  $<INSTALL_INTERFACE:${GTSAM_EIGEN_INCLUDE_FOR_INSTALL}>
-)
+target_link_libraries(gtsam PUBLIC Eigen3::Eigen)
+
 # MKL include dir:
 if (GTSAM_USE_EIGEN_MKL)
   target_include_directories(gtsam PUBLIC ${MKL_INCLUDE_DIR})

From 4d690efdebead9dd9449feecb4aa11318bf5fba6 Mon Sep 17 00:00:00 2001
From: senselessdev1 <johnlambert@Hayoungs-MacBook-Pro.local>
Date: Wed, 5 Oct 2022 22:45:03 -0400
Subject: [PATCH 372/433] add docimentation for Keypoints class

---
 gtsam/sfm/DsfTrackGenerator.h | 14 ++++++++++++--
 1 file changed, 12 insertions(+), 2 deletions(-)

diff --git a/gtsam/sfm/DsfTrackGenerator.h b/gtsam/sfm/DsfTrackGenerator.h
index b65a4fad68..05ad613906 100644
--- a/gtsam/sfm/DsfTrackGenerator.h
+++ b/gtsam/sfm/DsfTrackGenerator.h
@@ -37,17 +37,27 @@ typedef Eigen::MatrixX2i CorrespondenceIndices; // N x 2 array
 using KeypointCoordinates = Eigen::MatrixX2d;
 
 
+// Output of detections in an image.
+// Coordinate system convention:
+// 1. The x coordinate denotes the horizontal direction (+ve direction towards the right).
+// 2. The y coordinate denotes the vertical direction (+ve direction downwards).
+// 3. Origin is at the top left corner of the image.
 struct Keypoints {
+
+  // The (x, y) coordinates of the features, of shape Nx2.
   KeypointCoordinates coordinates;
-  // typedef'd for Eigen::VectorXd
+
+  // Optional scale of the detections, of shape N.
+  // Note: gtsam::Vector is typedef'd for Eigen::VectorXd.
   boost::optional<gtsam::Vector> scales;
+
+  /// Optional confidences/responses for each detection, of shape N.
   boost::optional<gtsam::Vector> responses;
 
   Keypoints(const gtsam::KeypointCoordinates& coordinates): coordinates(coordinates) {}; // boost::none
 };
 
 using KeypointsList = std::vector<Keypoints>;
-using KeypointsVector = std::vector<Keypoints>; // TODO(johnwlambert): prefer KeypointsSet?
 // Mapping from each image pair to (N,2) array representing indices of matching keypoints.
 using MatchIndicesMap = std::map<IndexPair, CorrespondenceIndices>;
 

From 6bd16d995e15e027d58eecbc9d150a6ee2a62401 Mon Sep 17 00:00:00 2001
From: Varun Agrawal <varagrawal@gmail.com>
Date: Fri, 7 Oct 2022 15:29:20 -0400
Subject: [PATCH 373/433] move GTDKeyFormatter to types.h

---
 gtsam/base/types.cpp                       | 46 ++++++++++++++++++++++
 gtsam/base/types.h                         |  2 +
 gtsam/hybrid/HybridGaussianFactorGraph.cpp | 46 ----------------------
 3 files changed, 48 insertions(+), 46 deletions(-)

diff --git a/gtsam/base/types.cpp b/gtsam/base/types.cpp
index edc449b12a..f96e037c1b 100644
--- a/gtsam/base/types.cpp
+++ b/gtsam/base/types.cpp
@@ -64,4 +64,50 @@ std::string demangle(const char* name) {
   return demangled_name;
 }
 
+std::string GTDKeyFormatter(const Key &key) {
+  constexpr size_t kMax_uchar_ = std::numeric_limits<uint8_t>::max();
+  constexpr size_t key_bits = sizeof(gtsam::Key) * 8;
+  constexpr size_t ch1_bits = sizeof(uint8_t) * 8;
+  constexpr size_t ch2_bits = sizeof(uint8_t) * 8;
+  constexpr size_t link_bits = sizeof(uint8_t) * 8;
+  constexpr size_t joint_bits = sizeof(uint8_t) * 8;
+  constexpr size_t time_bits =
+      key_bits - ch1_bits - ch2_bits - link_bits - joint_bits;
+
+  constexpr gtsam::Key ch1_mask = gtsam::Key(kMax_uchar_)
+                                  << (key_bits - ch1_bits);
+  constexpr gtsam::Key ch2_mask = gtsam::Key(kMax_uchar_)
+                                  << (key_bits - ch1_bits - ch2_bits);
+  constexpr gtsam::Key link_mask = gtsam::Key(kMax_uchar_)
+                                   << (time_bits + joint_bits);
+  constexpr gtsam::Key joint_mask = gtsam::Key(kMax_uchar_) << time_bits;
+  constexpr gtsam::Key time_mask =
+      ~(ch1_mask | ch2_mask | link_mask | joint_mask);
+
+  uint8_t c1_, c2_, link_idx_, joint_idx_;
+  uint64_t t_;
+
+  c1_ = (uint8_t)((key & ch1_mask) >> (key_bits - ch1_bits));
+  c2_ = (uint8_t)((key & ch2_mask) >> (key_bits - ch1_bits - ch2_bits));
+  link_idx_ = (uint8_t)((key & link_mask) >> (time_bits + joint_bits));
+  joint_idx_ = (uint8_t)((key & joint_mask) >> time_bits);
+  t_ = key & time_mask;
+
+  std::string s = "";
+  if (c1_ != 0) {
+    s += c1_;
+  }
+  if (c2_ != 0) {
+    s += c2_;
+  }
+  if (link_idx_ != kMax_uchar_) {
+    s += "[" + std::to_string((int)(link_idx_)) + "]";
+  }
+  if (joint_idx_ != kMax_uchar_) {
+    s += "(" + std::to_string((int)(joint_idx_)) + ")";
+  }
+  s += std::to_string(t_);
+  return s;
+}
+
 } /* namespace gtsam */
diff --git a/gtsam/base/types.h b/gtsam/base/types.h
index a0d24f1a62..dcb389c9bb 100644
--- a/gtsam/base/types.h
+++ b/gtsam/base/types.h
@@ -74,6 +74,8 @@ namespace gtsam {
   /// The index type for Eigen objects
   typedef ptrdiff_t DenseIndex;
 
+  std::string GTDKeyFormatter(const Key &key);
+
   /* ************************************************************************* */
   /**
    * Helper class that uses templates to select between two types based on
diff --git a/gtsam/hybrid/HybridGaussianFactorGraph.cpp b/gtsam/hybrid/HybridGaussianFactorGraph.cpp
index 286129f8bc..041603fbd5 100644
--- a/gtsam/hybrid/HybridGaussianFactorGraph.cpp
+++ b/gtsam/hybrid/HybridGaussianFactorGraph.cpp
@@ -55,52 +55,6 @@ namespace gtsam {
 
 template class EliminateableFactorGraph<HybridGaussianFactorGraph>;
 
-std::string GTDKeyFormatter(const Key &key) {
-  constexpr size_t kMax_uchar_ = std::numeric_limits<uint8_t>::max();
-  constexpr size_t key_bits = sizeof(gtsam::Key) * 8;
-  constexpr size_t ch1_bits = sizeof(uint8_t) * 8;
-  constexpr size_t ch2_bits = sizeof(uint8_t) * 8;
-  constexpr size_t link_bits = sizeof(uint8_t) * 8;
-  constexpr size_t joint_bits = sizeof(uint8_t) * 8;
-  constexpr size_t time_bits =
-      key_bits - ch1_bits - ch2_bits - link_bits - joint_bits;
-
-  constexpr gtsam::Key ch1_mask = gtsam::Key(kMax_uchar_)
-                                  << (key_bits - ch1_bits);
-  constexpr gtsam::Key ch2_mask = gtsam::Key(kMax_uchar_)
-                                  << (key_bits - ch1_bits - ch2_bits);
-  constexpr gtsam::Key link_mask = gtsam::Key(kMax_uchar_)
-                                   << (time_bits + joint_bits);
-  constexpr gtsam::Key joint_mask = gtsam::Key(kMax_uchar_) << time_bits;
-  constexpr gtsam::Key time_mask =
-      ~(ch1_mask | ch2_mask | link_mask | joint_mask);
-
-  uint8_t c1_, c2_, link_idx_, joint_idx_;
-  uint64_t t_;
-
-  c1_ = (uint8_t)((key & ch1_mask) >> (key_bits - ch1_bits));
-  c2_ = (uint8_t)((key & ch2_mask) >> (key_bits - ch1_bits - ch2_bits));
-  link_idx_ = (uint8_t)((key & link_mask) >> (time_bits + joint_bits));
-  joint_idx_ = (uint8_t)((key & joint_mask) >> time_bits);
-  t_ = key & time_mask;
-
-  std::string s = "";
-  if (c1_ != 0) {
-    s += c1_;
-  }
-  if (c2_ != 0) {
-    s += c2_;
-  }
-  if (link_idx_ != kMax_uchar_) {
-    s += "[" + std::to_string((int)(link_idx_)) + "]";
-  }
-  if (joint_idx_ != kMax_uchar_) {
-    s += "(" + std::to_string((int)(joint_idx_)) + ")";
-  }
-  s += std::to_string(t_);
-  return s;
-}
-
 /* ************************************************************************ */
 static GaussianMixtureFactor::Sum &addGaussian(
     GaussianMixtureFactor::Sum &sum, const GaussianFactor::shared_ptr &factor) {

From 774cfd25b880e1deef5696c5b0ac1b4f2e548cf0 Mon Sep 17 00:00:00 2001
From: =?UTF-8?q?S=C3=A9bastien=20Gonzalve?=
 <sebastien.gonzalve@aliceadsl.fr>
Date: Fri, 7 Oct 2022 18:52:10 +0200
Subject: [PATCH 374/433] Use Eigen Config file for cmake detection

Since Eigen 3.3.0, a Config.cmake file is provided, thus no need to rely
on a custom one.

Moreover, the FindEigen3.cmake used in gtsam was erroneously forcing an
include directory when using system version of eigen.

This fixes bug #1297
---
 cmake/Config.cmake.in   |  4 ++
 cmake/FindEigen3.cmake  | 81 -----------------------------------------
 cmake/HandleEigen.cmake | 16 ++++----
 3 files changed, 11 insertions(+), 90 deletions(-)
 delete mode 100644 cmake/FindEigen3.cmake

diff --git a/cmake/Config.cmake.in b/cmake/Config.cmake.in
index 89627a172c..cc2a7df8f1 100644
--- a/cmake/Config.cmake.in
+++ b/cmake/Config.cmake.in
@@ -21,6 +21,10 @@ else()
 find_dependency(Boost @BOOST_FIND_MINIMUM_VERSION@ COMPONENTS @BOOST_FIND_MINIMUM_COMPONENTS@)
 endif()
 
+if(@GTSAM_USE_SYSTEM_EIGEN@)
+find_dependency(Eigen3 REQUIRED)
+endif()
+
 # Load exports
 include(${OUR_CMAKE_DIR}/@PACKAGE_NAME@-exports.cmake)
 
diff --git a/cmake/FindEigen3.cmake b/cmake/FindEigen3.cmake
deleted file mode 100644
index 9c546a05d8..0000000000
--- a/cmake/FindEigen3.cmake
+++ /dev/null
@@ -1,81 +0,0 @@
-# - Try to find Eigen3 lib
-#
-# This module supports requiring a minimum version, e.g. you can do
-#   find_package(Eigen3 3.1.2)
-# to require version 3.1.2 or newer of Eigen3.
-#
-# Once done this will define
-#
-#  EIGEN3_FOUND - system has eigen lib with correct version
-#  EIGEN3_INCLUDE_DIR - the eigen include directory
-#  EIGEN3_VERSION - eigen version
-
-# Copyright (c) 2006, 2007 Montel Laurent, <montel@kde.org>
-# Copyright (c) 2008, 2009 Gael Guennebaud, <g.gael@free.fr>
-# Copyright (c) 2009 Benoit Jacob <jacob.benoit.1@gmail.com>
-# Redistribution and use is allowed according to the terms of the 2-clause BSD license.
-
-if(NOT Eigen3_FIND_VERSION)
-  if(NOT Eigen3_FIND_VERSION_MAJOR)
-    set(Eigen3_FIND_VERSION_MAJOR 2)
-  endif(NOT Eigen3_FIND_VERSION_MAJOR)
-  if(NOT Eigen3_FIND_VERSION_MINOR)
-    set(Eigen3_FIND_VERSION_MINOR 91)
-  endif(NOT Eigen3_FIND_VERSION_MINOR)
-  if(NOT Eigen3_FIND_VERSION_PATCH)
-    set(Eigen3_FIND_VERSION_PATCH 0)
-  endif(NOT Eigen3_FIND_VERSION_PATCH)
-
-  set(Eigen3_FIND_VERSION "${Eigen3_FIND_VERSION_MAJOR}.${Eigen3_FIND_VERSION_MINOR}.${Eigen3_FIND_VERSION_PATCH}")
-endif(NOT Eigen3_FIND_VERSION)
-
-macro(_eigen3_check_version)
-  file(READ "${EIGEN3_INCLUDE_DIR}/Eigen/src/Core/util/Macros.h" _eigen3_version_header)
-
-  string(REGEX MATCH "define[ \t]+EIGEN_WORLD_VERSION[ \t]+([0-9]+)" _eigen3_world_version_match "${_eigen3_version_header}")
-  set(EIGEN3_WORLD_VERSION "${CMAKE_MATCH_1}")
-  string(REGEX MATCH "define[ \t]+EIGEN_MAJOR_VERSION[ \t]+([0-9]+)" _eigen3_major_version_match "${_eigen3_version_header}")
-  set(EIGEN3_MAJOR_VERSION "${CMAKE_MATCH_1}")
-  string(REGEX MATCH "define[ \t]+EIGEN_MINOR_VERSION[ \t]+([0-9]+)" _eigen3_minor_version_match "${_eigen3_version_header}")
-  set(EIGEN3_MINOR_VERSION "${CMAKE_MATCH_1}")
-
-  set(EIGEN3_VERSION ${EIGEN3_WORLD_VERSION}.${EIGEN3_MAJOR_VERSION}.${EIGEN3_MINOR_VERSION})
-  if(${EIGEN3_VERSION} VERSION_LESS ${Eigen3_FIND_VERSION})
-    set(EIGEN3_VERSION_OK FALSE)
-  else(${EIGEN3_VERSION} VERSION_LESS ${Eigen3_FIND_VERSION})
-    set(EIGEN3_VERSION_OK TRUE)
-  endif(${EIGEN3_VERSION} VERSION_LESS ${Eigen3_FIND_VERSION})
-
-  if(NOT EIGEN3_VERSION_OK)
-
-    message(STATUS "Eigen3 version ${EIGEN3_VERSION} found in ${EIGEN3_INCLUDE_DIR}, "
-                   "but at least version ${Eigen3_FIND_VERSION} is required")
-  endif(NOT EIGEN3_VERSION_OK)
-endmacro(_eigen3_check_version)
-
-if (EIGEN3_INCLUDE_DIR)
-
-  # in cache already
-  _eigen3_check_version()
-  set(EIGEN3_FOUND ${EIGEN3_VERSION_OK})
-
-else (EIGEN3_INCLUDE_DIR)
-
-  find_path(EIGEN3_INCLUDE_DIR NAMES signature_of_eigen3_matrix_library
-      PATHS
-      ${CMAKE_INSTALL_PREFIX}/include
-      ${KDE4_INCLUDE_DIR}
-      PATH_SUFFIXES eigen3 eigen
-    )
-
-  if(EIGEN3_INCLUDE_DIR)
-    _eigen3_check_version()
-  endif(EIGEN3_INCLUDE_DIR)
-
-  include(FindPackageHandleStandardArgs)
-  find_package_handle_standard_args(Eigen3 DEFAULT_MSG EIGEN3_INCLUDE_DIR EIGEN3_VERSION_OK)
-
-  mark_as_advanced(EIGEN3_INCLUDE_DIR)
-
-endif(EIGEN3_INCLUDE_DIR)
-
diff --git a/cmake/HandleEigen.cmake b/cmake/HandleEigen.cmake
index 887ae17483..48941b85bd 100644
--- a/cmake/HandleEigen.cmake
+++ b/cmake/HandleEigen.cmake
@@ -1,7 +1,7 @@
 ###############################################################################
 # Option for using system Eigen or GTSAM-bundled Eigen
 # Default: Use system's Eigen if found automatically:
-find_package(Eigen3 QUIET)
+find_package(Eigen3 CONFIG QUIET)
 set(USE_SYSTEM_EIGEN_INITIAL_VALUE ${Eigen3_FOUND})
 option(GTSAM_USE_SYSTEM_EIGEN "Find and use system-installed Eigen. If 'off', use the one bundled with GTSAM" ${USE_SYSTEM_EIGEN_INITIAL_VALUE})
 unset(USE_SYSTEM_EIGEN_INITIAL_VALUE)
@@ -14,16 +14,14 @@ endif()
 
 # Switch for using system Eigen or GTSAM-bundled Eigen
 if(GTSAM_USE_SYSTEM_EIGEN)
-    find_package(Eigen3 REQUIRED) # need to find again as REQUIRED
-
-    add_library(Eigen3::Eigen INTERFACE IMPORTED)
-
-    set_target_properties(Eigen3::Eigen PROPERTIES
-            INTERFACE_INCLUDE_DIRECTORIES ${EIGEN3_INCLUDE_DIR}
-            )
+    # Since Eigen 3.3.0 a Eigen3Config.cmake is available so use it.
+    find_package(Eigen3 CONFIG REQUIRED) # need to find again as REQUIRED
 
     # The actual include directory (for BUILD cmake target interface):
-    set(GTSAM_EIGEN_INCLUDE_FOR_BUILD "${EIGEN3_INCLUDE_DIR}/")
+    # Note: EIGEN3_INCLUDE_DIR points to some random location on some eigen
+    # versions.  So here I use the target itself to get the proper include
+    # directory (it is generated by cmake, thus has the correct path)
+    get_target_property(GTSAM_EIGEN_INCLUDE_FOR_BUILD Eigen3::Eigen INTERFACE_INCLUDE_DIRECTORIES)
 
     # check if MKL is also enabled - can have one or the other, but not both!
     # Note: Eigen >= v3.2.5 includes our patches

From 9c77c661dcb496aba70a3962ca2cc697b387ff71 Mon Sep 17 00:00:00 2001
From: Varun Agrawal <varagrawal@gmail.com>
Date: Sat, 8 Oct 2022 13:56:46 -0400
Subject: [PATCH 375/433] fix tests

---
 gtsam/hybrid/tests/testHybridEstimation.cpp | 4 ++--
 1 file changed, 2 insertions(+), 2 deletions(-)

diff --git a/gtsam/hybrid/tests/testHybridEstimation.cpp b/gtsam/hybrid/tests/testHybridEstimation.cpp
index 683617a192..5d47a22dda 100644
--- a/gtsam/hybrid/tests/testHybridEstimation.cpp
+++ b/gtsam/hybrid/tests/testHybridEstimation.cpp
@@ -88,7 +88,7 @@ class Robot {
     }
 
     linearizedFactorGraph_ =
-        nonlinearFactorGraph_.linearize(linearizationPoint_);
+        *nonlinearFactorGraph_.linearize(linearizationPoint_);
   }
 
   void print() const {
@@ -225,7 +225,7 @@ class SingleLeg {
     }
 
     linearizedFactorGraph_ =
-        nonlinearFactorGraph_.linearize(linearizationPoint_);
+        *nonlinearFactorGraph_.linearize(linearizationPoint_);
   }
 
   void print() const {

From 1a17a8117399286977777ca618d9bd39b15c4eb9 Mon Sep 17 00:00:00 2001
From: Varun Agrawal <varagrawal@gmail.com>
Date: Sun, 9 Oct 2022 04:25:45 -0400
Subject: [PATCH 376/433] formatting

---
 gtsam/hybrid/HybridFactor.cpp | 5 +----
 1 file changed, 1 insertion(+), 4 deletions(-)

diff --git a/gtsam/hybrid/HybridFactor.cpp b/gtsam/hybrid/HybridFactor.cpp
index e9d64b2830..1216fd9224 100644
--- a/gtsam/hybrid/HybridFactor.cpp
+++ b/gtsam/hybrid/HybridFactor.cpp
@@ -50,9 +50,7 @@ DiscreteKeys CollectDiscreteKeys(const DiscreteKeys &key1,
 
 /* ************************************************************************ */
 HybridFactor::HybridFactor(const KeyVector &keys)
-    : Base(keys),
-      isContinuous_(true),
-      continuousKeys_(keys) {}
+    : Base(keys), isContinuous_(true), continuousKeys_(keys) {}
 
 /* ************************************************************************ */
 HybridFactor::HybridFactor(const KeyVector &continuousKeys,
@@ -101,7 +99,6 @@ void HybridFactor::print(const std::string &s,
     if (d < discreteKeys_.size() - 1) {
       std::cout << " ";
     }
-    
   }
   std::cout << "]";
 }

From 055df81dd37c28aabe7d4bab8403847eba586fd3 Mon Sep 17 00:00:00 2001
From: Varun Agrawal <varagrawal@gmail.com>
Date: Sun, 9 Oct 2022 04:26:34 -0400
Subject: [PATCH 377/433] apply keyformatter to Gaussian iSAM in
 HybridNonlinearISAM

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

diff --git a/gtsam/hybrid/HybridNonlinearISAM.cpp b/gtsam/hybrid/HybridNonlinearISAM.cpp
index d05e081dd4..57e0daf8da 100644
--- a/gtsam/hybrid/HybridNonlinearISAM.cpp
+++ b/gtsam/hybrid/HybridNonlinearISAM.cpp
@@ -99,7 +99,7 @@ void HybridNonlinearISAM::print(const string& s,
                                 const KeyFormatter& keyFormatter) const {
   cout << s << "ReorderInterval: " << reorderInterval_
        << " Current Count: " << reorderCounter_ << endl;
-  isam_.print("HybridGaussianISAM:\n");
+  isam_.print("HybridGaussianISAM:\n", keyFormatter);
   linPoint_.print("Linearization Point:\n", keyFormatter);
   factors_.print("Nonlinear Graph:\n", keyFormatter);
 }

From 3e151846ca30d8249d72530669bca03d0be3f731 Mon Sep 17 00:00:00 2001
From: Varun Agrawal <varagrawal@gmail.com>
Date: Mon, 10 Oct 2022 14:55:02 -0400
Subject: [PATCH 378/433] slight improvement to GaussianMixtureFactor print

---
 gtsam/hybrid/GaussianMixtureFactor.cpp | 9 +++++----
 1 file changed, 5 insertions(+), 4 deletions(-)

diff --git a/gtsam/hybrid/GaussianMixtureFactor.cpp b/gtsam/hybrid/GaussianMixtureFactor.cpp
index 9b5be188a6..181b1e6a5a 100644
--- a/gtsam/hybrid/GaussianMixtureFactor.cpp
+++ b/gtsam/hybrid/GaussianMixtureFactor.cpp
@@ -57,11 +57,12 @@ void GaussianMixtureFactor::print(const std::string &s,
       [&](const GaussianFactor::shared_ptr &gf) -> std::string {
         RedirectCout rd;
         std::cout << ":\n";
-        if (gf)
+        if (gf && !gf->empty()) {
           gf->print("", formatter);
-        else
-          return {"nullptr"};
-        return rd.str();
+          return rd.str();
+        } else {
+          return "nullptr";
+        }
       });
   std::cout << "}" << std::endl;
 }

From a00bcbcac92d45a5dcc06d7c74d7f25ef9feb32d Mon Sep 17 00:00:00 2001
From: Varun Agrawal <varagrawal@gmail.com>
Date: Mon, 10 Oct 2022 16:03:36 -0400
Subject: [PATCH 379/433] PrunerFunc helper function

---
 gtsam/hybrid/HybridBayesNet.cpp | 65 +++++++++++++++++++++------------
 1 file changed, 42 insertions(+), 23 deletions(-)

diff --git a/gtsam/hybrid/HybridBayesNet.cpp b/gtsam/hybrid/HybridBayesNet.cpp
index 7889707900..163e77e47b 100644
--- a/gtsam/hybrid/HybridBayesNet.cpp
+++ b/gtsam/hybrid/HybridBayesNet.cpp
@@ -49,6 +49,38 @@ DecisionTreeFactor::shared_ptr HybridBayesNet::discreteConditionals() const {
   return boost::make_shared<DecisionTreeFactor>(dtFactor);
 }
 
+/**
+ * @brief Helper function to get the pruner functional.
+ *
+ * @param probDecisionTree The probability decision tree of only discrete keys.
+ * @param discreteFactorKeySet Set of DiscreteKeys in probDecisionTree.
+ * Pre-computed for efficiency.
+ * @param gaussianMixtureKeySet Set of DiscreteKeys in the GaussianMixture.
+ * @return std::function<GaussianConditional::shared_ptr(
+ * const Assignment<Key> &, const GaussianConditional::shared_ptr &)>
+ */
+std::function<GaussianConditional::shared_ptr(
+    const Assignment<Key> &, const GaussianConditional::shared_ptr &)>
+PrunerFunc(const DecisionTreeFactor::shared_ptr &probDecisionTree,
+           const std::set<DiscreteKey> &discreteFactorKeySet,
+           const std::set<DiscreteKey> &gaussianMixtureKeySet) {
+  auto pruner = [&](const Assignment<Key> &choices,
+                    const GaussianConditional::shared_ptr &conditional)
+      -> GaussianConditional::shared_ptr {
+    // typecast so we can use this to get probability value
+    DiscreteValues values(choices);
+
+    if ((*probDecisionTree)(values) == 0.0) {
+      // empty aka null pointer
+      boost::shared_ptr<GaussianConditional> null;
+      return null;
+    } else {
+      return conditional;
+    }
+  };
+  return pruner;
+}
+
 /* ************************************************************************* */
 HybridBayesNet HybridBayesNet::prune(size_t maxNrLeaves) const {
   // Get the decision tree of only the discrete keys
@@ -57,6 +89,8 @@ HybridBayesNet HybridBayesNet::prune(size_t maxNrLeaves) const {
       boost::make_shared<DecisionTreeFactor>(
           discreteConditionals->prune(maxNrLeaves));
 
+  auto discreteFactorKeySet = DiscreteKeysAsSet(discreteFactor->discreteKeys());
+
   /* To Prune, we visitWith every leaf in the GaussianMixture.
    * For each leaf, using the assignment we can check the discrete decision tree
    * for 0.0 probability, then just set the leaf to a nullptr.
@@ -66,23 +100,6 @@ HybridBayesNet HybridBayesNet::prune(size_t maxNrLeaves) const {
 
   HybridBayesNet prunedBayesNetFragment;
 
-  // Functional which loops over all assignments and create a set of
-  // GaussianConditionals
-  auto pruner = [&](const Assignment<Key> &choices,
-                    const GaussianConditional::shared_ptr &conditional)
-      -> GaussianConditional::shared_ptr {
-    // typecast so we can use this to get probability value
-    DiscreteValues values(choices);
-
-    if ((*discreteFactor)(values) == 0.0) {
-      // empty aka null pointer
-      boost::shared_ptr<GaussianConditional> null;
-      return null;
-    } else {
-      return conditional;
-    }
-  };
-
   // Go through all the conditionals in the
   // Bayes Net and prune them as per discreteFactor.
   for (size_t i = 0; i < this->size(); i++) {
@@ -92,17 +109,19 @@ HybridBayesNet HybridBayesNet::prune(size_t maxNrLeaves) const {
         boost::dynamic_pointer_cast<GaussianMixture>(conditional->inner());
 
     if (gaussianMixture) {
-      // We may have mixtures with less discrete keys than discreteFactor so we
-      // skip those since the label assignment does not exist.
+      // We may have mixtures with less discrete keys than discreteFactor so
+      // we skip those since the label assignment does not exist.
       auto gmKeySet = DiscreteKeysAsSet(gaussianMixture->discreteKeys());
-      auto dfKeySet = DiscreteKeysAsSet(discreteFactor->discreteKeys());
-      if (gmKeySet != dfKeySet) {
+      if (gmKeySet != discreteFactorKeySet) {
         // Add the gaussianMixture which doesn't have to be pruned.
         prunedBayesNetFragment.push_back(
             boost::make_shared<HybridConditional>(gaussianMixture));
         continue;
       }
 
+      // Get the pruner function.
+      auto pruner = PrunerFunc(discreteFactor, discreteFactorKeySet, gmKeySet);
+
       // Run the pruning to get a new, pruned tree
       GaussianMixture::Conditionals prunedTree =
           gaussianMixture->conditionals().apply(pruner);
@@ -173,7 +192,7 @@ GaussianBayesNet HybridBayesNet::choose(
   return gbn;
 }
 
-/* *******************************************************************************/
+/* ************************************************************************* */
 HybridValues HybridBayesNet::optimize() const {
   // Solve for the MPE
   DiscreteBayesNet discrete_bn;
@@ -190,7 +209,7 @@ HybridValues HybridBayesNet::optimize() const {
   return HybridValues(mpe, gbn.optimize());
 }
 
-/* *******************************************************************************/
+/* ************************************************************************* */
 VectorValues HybridBayesNet::optimize(const DiscreteValues &assignment) const {
   GaussianBayesNet gbn = this->choose(assignment);
   return gbn.optimize();

From 2c8fe2584291a77557e1396306efa1210bc4f3d3 Mon Sep 17 00:00:00 2001
From: Varun Agrawal <varagrawal@gmail.com>
Date: Mon, 10 Oct 2022 19:38:10 -0400
Subject: [PATCH 380/433] enumerate missing discrete keys so we can prune all
 gaussian mixtures

---
 gtsam/hybrid/HybridBayesNet.cpp | 41 ++++++++++++++++++++++++---------
 1 file changed, 30 insertions(+), 11 deletions(-)

diff --git a/gtsam/hybrid/HybridBayesNet.cpp b/gtsam/hybrid/HybridBayesNet.cpp
index 163e77e47b..96a6dfd63f 100644
--- a/gtsam/hybrid/HybridBayesNet.cpp
+++ b/gtsam/hybrid/HybridBayesNet.cpp
@@ -70,12 +70,37 @@ PrunerFunc(const DecisionTreeFactor::shared_ptr &probDecisionTree,
     // typecast so we can use this to get probability value
     DiscreteValues values(choices);
 
-    if ((*probDecisionTree)(values) == 0.0) {
-      // empty aka null pointer
-      boost::shared_ptr<GaussianConditional> null;
-      return null;
+    // Case where the gaussian mixture has the same
+    // discrete keys as the decision tree.
+    if (gaussianMixtureKeySet == discreteFactorKeySet) {
+      if ((*probDecisionTree)(values) == 0.0) {
+        // empty aka null pointer
+        boost::shared_ptr<GaussianConditional> null;
+        return null;
+      } else {
+        return conditional;
+      }
     } else {
-      return conditional;
+      std::vector<DiscreteKey> set_diff;
+      std::set_difference(
+          discreteFactorKeySet.begin(), discreteFactorKeySet.end(),
+          gaussianMixtureKeySet.begin(), gaussianMixtureKeySet.end(),
+          std::back_inserter(set_diff));
+      const std::vector<DiscreteValues> assignments =
+          DiscreteValues::CartesianProduct(set_diff);
+      for (const DiscreteValues &assignment : assignments) {
+        DiscreteValues augmented_values(values);
+        augmented_values.insert(assignment.begin(), assignment.end());
+
+        // If any one of the sub-branches are non-zero,
+        // we need this conditional.
+        if ((*probDecisionTree)(augmented_values) > 0.0) {
+          return conditional;
+        }
+      }
+      // If we are here, it means that all the sub-branches are 0,
+      // so we prune.
+      return nullptr;
     }
   };
   return pruner;
@@ -112,12 +137,6 @@ HybridBayesNet HybridBayesNet::prune(size_t maxNrLeaves) const {
       // We may have mixtures with less discrete keys than discreteFactor so
       // we skip those since the label assignment does not exist.
       auto gmKeySet = DiscreteKeysAsSet(gaussianMixture->discreteKeys());
-      if (gmKeySet != discreteFactorKeySet) {
-        // Add the gaussianMixture which doesn't have to be pruned.
-        prunedBayesNetFragment.push_back(
-            boost::make_shared<HybridConditional>(gaussianMixture));
-        continue;
-      }
 
       // Get the pruner function.
       auto pruner = PrunerFunc(discreteFactor, discreteFactorKeySet, gmKeySet);

From c15cfb606849dcbdb089656da5871118d6f73fdf Mon Sep 17 00:00:00 2001
From: Varun Agrawal <varagrawal@gmail.com>
Date: Tue, 11 Oct 2022 12:10:02 -0400
Subject: [PATCH 381/433] add PrunerFunc to GaussianMixture

---
 gtsam/hybrid/GaussianMixture.cpp | 78 +++++++++++++++++++++++++++-----
 1 file changed, 67 insertions(+), 11 deletions(-)

diff --git a/gtsam/hybrid/GaussianMixture.cpp b/gtsam/hybrid/GaussianMixture.cpp
index 3a654ddade..064905d6b8 100644
--- a/gtsam/hybrid/GaussianMixture.cpp
+++ b/gtsam/hybrid/GaussianMixture.cpp
@@ -122,31 +122,87 @@ void GaussianMixture::print(const std::string &s,
         if (gf && !gf->empty()) {
           gf->print("", formatter);
           return rd.str();
+          // return "Node()";
         } else {
           return "nullptr";
         }
       });
 }
 
-/* *******************************************************************************/
-void GaussianMixture::prune(const DecisionTreeFactor &decisionTree) {
-  // Functional which loops over all assignments and create a set of
-  // GaussianConditionals
-  auto pruner = [&decisionTree](
-                    const Assignment<Key> &choices,
+/* ************************************************************************* */
+/// Return the DiscreteKey vector as a set.
+static std::set<DiscreteKey> DiscreteKeysAsSet(const DiscreteKeys &dkeys) {
+  std::set<DiscreteKey> s;
+  s.insert(dkeys.begin(), dkeys.end());
+  return s;
+}
+
+/* ************************************************************************* */
+/**
+ * @brief Helper function to get the pruner functional.
+ *
+ * @param decisionTree The probability decision tree of only discrete keys.
+ * @param decisionTreeKeySet Set of DiscreteKeys in decisionTree.
+ * Pre-computed for efficiency.
+ * @param gaussianMixtureKeySet Set of DiscreteKeys in the GaussianMixture.
+ * @return std::function<GaussianConditional::shared_ptr(
+ * const Assignment<Key> &, const GaussianConditional::shared_ptr &)>
+ */
+std::function<GaussianConditional::shared_ptr(
+    const Assignment<Key> &, const GaussianConditional::shared_ptr &)>
+PrunerFunc(const DecisionTreeFactor &decisionTree,
+           const std::set<DiscreteKey> &decisionTreeKeySet,
+           const std::set<DiscreteKey> &gaussianMixtureKeySet) {
+  auto pruner = [&](const Assignment<Key> &choices,
                     const GaussianConditional::shared_ptr &conditional)
       -> GaussianConditional::shared_ptr {
     // typecast so we can use this to get probability value
     DiscreteValues values(choices);
 
-    if (decisionTree(values) == 0.0) {
-      // empty aka null pointer
-      boost::shared_ptr<GaussianConditional> null;
-      return null;
+    // Case where the gaussian mixture has the same
+    // discrete keys as the decision tree.
+    if (gaussianMixtureKeySet == decisionTreeKeySet) {
+      if (decisionTree(values) == 0.0) {
+        // empty aka null pointer
+        boost::shared_ptr<GaussianConditional> null;
+        return null;
+      } else {
+        return conditional;
+      }
     } else {
-      return conditional;
+      std::vector<DiscreteKey> set_diff;
+      std::set_difference(decisionTreeKeySet.begin(), decisionTreeKeySet.end(),
+                          gaussianMixtureKeySet.begin(),
+                          gaussianMixtureKeySet.end(),
+                          std::back_inserter(set_diff));
+
+      const std::vector<DiscreteValues> assignments =
+          DiscreteValues::CartesianProduct(set_diff);
+      for (const DiscreteValues &assignment : assignments) {
+        DiscreteValues augmented_values(values);
+        augmented_values.insert(assignment.begin(), assignment.end());
+
+        // If any one of the sub-branches are non-zero,
+        // we need this conditional.
+        if (decisionTree(augmented_values) > 0.0) {
+          return conditional;
+        }
+      }
+      // If we are here, it means that all the sub-branches are 0,
+      // so we prune.
+      return nullptr;
     }
   };
+  return pruner;
+}
+
+/* *******************************************************************************/
+void GaussianMixture::prune(const DecisionTreeFactor &decisionTree) {
+  auto decisionTreeKeySet = DiscreteKeysAsSet(decisionTree.discreteKeys());
+  auto gmKeySet = DiscreteKeysAsSet(this->discreteKeys());
+  // Functional which loops over all assignments and create a set of
+  // GaussianConditionals
+  auto pruner = PrunerFunc(decisionTree, decisionTreeKeySet, gmKeySet);
 
   auto pruned_conditionals = conditionals_.apply(pruner);
   conditionals_.root_ = pruned_conditionals.root_;

From 2225ecf44277c82b0f2d408236235c772b5f5b10 Mon Sep 17 00:00:00 2001
From: Varun Agrawal <varagrawal@gmail.com>
Date: Tue, 11 Oct 2022 12:35:58 -0400
Subject: [PATCH 382/433] clean up the prunerFunc

---
 gtsam/hybrid/GaussianMixture.cpp | 19 ++++++++++---------
 gtsam/hybrid/GaussianMixture.h   | 11 +++++++++++
 2 files changed, 21 insertions(+), 9 deletions(-)

diff --git a/gtsam/hybrid/GaussianMixture.cpp b/gtsam/hybrid/GaussianMixture.cpp
index 064905d6b8..244d527388 100644
--- a/gtsam/hybrid/GaussianMixture.cpp
+++ b/gtsam/hybrid/GaussianMixture.cpp
@@ -131,7 +131,7 @@ void GaussianMixture::print(const std::string &s,
 
 /* ************************************************************************* */
 /// Return the DiscreteKey vector as a set.
-static std::set<DiscreteKey> DiscreteKeysAsSet(const DiscreteKeys &dkeys) {
+std::set<DiscreteKey> DiscreteKeysAsSet(const DiscreteKeys &dkeys) {
   std::set<DiscreteKey> s;
   s.insert(dkeys.begin(), dkeys.end());
   return s;
@@ -142,18 +142,19 @@ static std::set<DiscreteKey> DiscreteKeysAsSet(const DiscreteKeys &dkeys) {
  * @brief Helper function to get the pruner functional.
  *
  * @param decisionTree The probability decision tree of only discrete keys.
- * @param decisionTreeKeySet Set of DiscreteKeys in decisionTree.
- * Pre-computed for efficiency.
- * @param gaussianMixtureKeySet Set of DiscreteKeys in the GaussianMixture.
  * @return std::function<GaussianConditional::shared_ptr(
  * const Assignment<Key> &, const GaussianConditional::shared_ptr &)>
  */
 std::function<GaussianConditional::shared_ptr(
     const Assignment<Key> &, const GaussianConditional::shared_ptr &)>
-PrunerFunc(const DecisionTreeFactor &decisionTree,
-           const std::set<DiscreteKey> &decisionTreeKeySet,
-           const std::set<DiscreteKey> &gaussianMixtureKeySet) {
-  auto pruner = [&](const Assignment<Key> &choices,
+GaussianMixture::prunerFunc(const DecisionTreeFactor &decisionTree) {
+  // Get the discrete keys as sets for the decision tree
+  // and the gaussian mixture.
+  auto decisionTreeKeySet = DiscreteKeysAsSet(decisionTree.discreteKeys());
+  auto gaussianMixtureKeySet = DiscreteKeysAsSet(this->discreteKeys());
+
+  auto pruner = [decisionTree, decisionTreeKeySet, gaussianMixtureKeySet](
+                    const Assignment<Key> &choices,
                     const GaussianConditional::shared_ptr &conditional)
       -> GaussianConditional::shared_ptr {
     // typecast so we can use this to get probability value
@@ -202,7 +203,7 @@ void GaussianMixture::prune(const DecisionTreeFactor &decisionTree) {
   auto gmKeySet = DiscreteKeysAsSet(this->discreteKeys());
   // Functional which loops over all assignments and create a set of
   // GaussianConditionals
-  auto pruner = PrunerFunc(decisionTree, decisionTreeKeySet, gmKeySet);
+  auto pruner = prunerFunc(decisionTree);
 
   auto pruned_conditionals = conditionals_.apply(pruner);
   conditionals_.root_ = pruned_conditionals.root_;
diff --git a/gtsam/hybrid/GaussianMixture.h b/gtsam/hybrid/GaussianMixture.h
index 75deb4d553..9792a85323 100644
--- a/gtsam/hybrid/GaussianMixture.h
+++ b/gtsam/hybrid/GaussianMixture.h
@@ -69,6 +69,17 @@ class GTSAM_EXPORT GaussianMixture
    */
   Sum asGaussianFactorGraphTree() const;
 
+  /**
+   * @brief Helper function to get the pruner functor.
+   *
+   * @param decisionTree The pruned discrete probability decision tree.
+   * @return std::function<GaussianConditional::shared_ptr(
+   * const Assignment<Key> &, const GaussianConditional::shared_ptr &)>
+   */
+  std::function<GaussianConditional::shared_ptr(
+      const Assignment<Key> &, const GaussianConditional::shared_ptr &)>
+  prunerFunc(const DecisionTreeFactor &decisionTree);
+
  public:
   /// @name Constructors
   /// @{

From 5e99cd7095cbdf1da731dda0de3bc1a6a680d4c9 Mon Sep 17 00:00:00 2001
From: Varun Agrawal <varagrawal@gmail.com>
Date: Tue, 11 Oct 2022 12:36:58 -0400
Subject: [PATCH 383/433] HybridBayesNet and HybridBayesTree both use similar
 pruning functions

---
 gtsam/hybrid/HybridBayesNet.cpp               | 101 ++----------------
 gtsam/hybrid/HybridBayesTree.cpp              |  20 ++--
 gtsam/hybrid/tests/testHybridGaussianISAM.cpp |   2 +-
 .../hybrid/tests/testHybridNonlinearISAM.cpp  |   2 +-
 4 files changed, 15 insertions(+), 110 deletions(-)

diff --git a/gtsam/hybrid/HybridBayesNet.cpp b/gtsam/hybrid/HybridBayesNet.cpp
index 96a6dfd63f..cc27600f09 100644
--- a/gtsam/hybrid/HybridBayesNet.cpp
+++ b/gtsam/hybrid/HybridBayesNet.cpp
@@ -22,14 +22,6 @@
 
 namespace gtsam {
 
-/* ************************************************************************* */
-/// Return the DiscreteKey vector as a set.
-static std::set<DiscreteKey> DiscreteKeysAsSet(const DiscreteKeys &dkeys) {
-  std::set<DiscreteKey> s;
-  s.insert(dkeys.begin(), dkeys.end());
-  return s;
-}
-
 /* ************************************************************************* */
 DecisionTreeFactor::shared_ptr HybridBayesNet::discreteConditionals() const {
   AlgebraicDecisionTree<Key> decisionTree;
@@ -49,63 +41,6 @@ DecisionTreeFactor::shared_ptr HybridBayesNet::discreteConditionals() const {
   return boost::make_shared<DecisionTreeFactor>(dtFactor);
 }
 
-/**
- * @brief Helper function to get the pruner functional.
- *
- * @param probDecisionTree The probability decision tree of only discrete keys.
- * @param discreteFactorKeySet Set of DiscreteKeys in probDecisionTree.
- * Pre-computed for efficiency.
- * @param gaussianMixtureKeySet Set of DiscreteKeys in the GaussianMixture.
- * @return std::function<GaussianConditional::shared_ptr(
- * const Assignment<Key> &, const GaussianConditional::shared_ptr &)>
- */
-std::function<GaussianConditional::shared_ptr(
-    const Assignment<Key> &, const GaussianConditional::shared_ptr &)>
-PrunerFunc(const DecisionTreeFactor::shared_ptr &probDecisionTree,
-           const std::set<DiscreteKey> &discreteFactorKeySet,
-           const std::set<DiscreteKey> &gaussianMixtureKeySet) {
-  auto pruner = [&](const Assignment<Key> &choices,
-                    const GaussianConditional::shared_ptr &conditional)
-      -> GaussianConditional::shared_ptr {
-    // typecast so we can use this to get probability value
-    DiscreteValues values(choices);
-
-    // Case where the gaussian mixture has the same
-    // discrete keys as the decision tree.
-    if (gaussianMixtureKeySet == discreteFactorKeySet) {
-      if ((*probDecisionTree)(values) == 0.0) {
-        // empty aka null pointer
-        boost::shared_ptr<GaussianConditional> null;
-        return null;
-      } else {
-        return conditional;
-      }
-    } else {
-      std::vector<DiscreteKey> set_diff;
-      std::set_difference(
-          discreteFactorKeySet.begin(), discreteFactorKeySet.end(),
-          gaussianMixtureKeySet.begin(), gaussianMixtureKeySet.end(),
-          std::back_inserter(set_diff));
-      const std::vector<DiscreteValues> assignments =
-          DiscreteValues::CartesianProduct(set_diff);
-      for (const DiscreteValues &assignment : assignments) {
-        DiscreteValues augmented_values(values);
-        augmented_values.insert(assignment.begin(), assignment.end());
-
-        // If any one of the sub-branches are non-zero,
-        // we need this conditional.
-        if ((*probDecisionTree)(augmented_values) > 0.0) {
-          return conditional;
-        }
-      }
-      // If we are here, it means that all the sub-branches are 0,
-      // so we prune.
-      return nullptr;
-    }
-  };
-  return pruner;
-}
-
 /* ************************************************************************* */
 HybridBayesNet HybridBayesNet::prune(size_t maxNrLeaves) const {
   // Get the decision tree of only the discrete keys
@@ -114,8 +49,6 @@ HybridBayesNet HybridBayesNet::prune(size_t maxNrLeaves) const {
       boost::make_shared<DecisionTreeFactor>(
           discreteConditionals->prune(maxNrLeaves));
 
-  auto discreteFactorKeySet = DiscreteKeysAsSet(discreteFactor->discreteKeys());
-
   /* To Prune, we visitWith every leaf in the GaussianMixture.
    * For each leaf, using the assignment we can check the discrete decision tree
    * for 0.0 probability, then just set the leaf to a nullptr.
@@ -130,35 +63,13 @@ HybridBayesNet HybridBayesNet::prune(size_t maxNrLeaves) const {
   for (size_t i = 0; i < this->size(); i++) {
     HybridConditional::shared_ptr conditional = this->at(i);
 
-    GaussianMixture::shared_ptr gaussianMixture =
-        boost::dynamic_pointer_cast<GaussianMixture>(conditional->inner());
-
-    if (gaussianMixture) {
-      // We may have mixtures with less discrete keys than discreteFactor so
-      // we skip those since the label assignment does not exist.
-      auto gmKeySet = DiscreteKeysAsSet(gaussianMixture->discreteKeys());
-
-      // Get the pruner function.
-      auto pruner = PrunerFunc(discreteFactor, discreteFactorKeySet, gmKeySet);
-
-      // Run the pruning to get a new, pruned tree
-      GaussianMixture::Conditionals prunedTree =
-          gaussianMixture->conditionals().apply(pruner);
-
-      DiscreteKeys discreteKeys = gaussianMixture->discreteKeys();
-      // reverse keys to get a natural ordering
-      std::reverse(discreteKeys.begin(), discreteKeys.end());
-
-      // Convert from boost::iterator_range to KeyVector
-      // so we can pass it to constructor.
-      KeyVector frontals(gaussianMixture->frontals().begin(),
-                         gaussianMixture->frontals().end()),
-          parents(gaussianMixture->parents().begin(),
-                  gaussianMixture->parents().end());
+    if (conditional->isHybrid()) {
+      GaussianMixture::shared_ptr gaussianMixture = conditional->asMixture();
 
-      // Create the new gaussian mixture and add it to the bayes net.
-      auto prunedGaussianMixture = boost::make_shared<GaussianMixture>(
-          frontals, parents, discreteKeys, prunedTree);
+      // Make a copy of the gaussian mixture and prune it!
+      auto prunedGaussianMixture =
+          boost::make_shared<GaussianMixture>(*gaussianMixture);
+      prunedGaussianMixture->prune(*discreteFactor);
 
       // Type-erase and add to the pruned Bayes Net fragment.
       prunedBayesNetFragment.push_back(
diff --git a/gtsam/hybrid/HybridBayesTree.cpp b/gtsam/hybrid/HybridBayesTree.cpp
index 8fb487ae20..266b295dd5 100644
--- a/gtsam/hybrid/HybridBayesTree.cpp
+++ b/gtsam/hybrid/HybridBayesTree.cpp
@@ -149,16 +149,16 @@ void HybridBayesTree::prune(const size_t maxNrLeaves) {
   auto decisionTree = boost::dynamic_pointer_cast<DecisionTreeFactor>(
       this->roots_.at(0)->conditional()->inner());
 
-  DecisionTreeFactor prunedDiscreteFactor = decisionTree->prune(maxNrLeaves);
-  decisionTree->root_ = prunedDiscreteFactor.root_;
+  DecisionTreeFactor prunedDecisionTree = decisionTree->prune(maxNrLeaves);
+  decisionTree->root_ = prunedDecisionTree.root_;
 
   /// Helper struct for pruning the hybrid bayes tree.
   struct HybridPrunerData {
     /// The discrete decision tree after pruning.
-    DecisionTreeFactor prunedDiscreteFactor;
-    HybridPrunerData(const DecisionTreeFactor& prunedDiscreteFactor,
+    DecisionTreeFactor prunedDecisionTree;
+    HybridPrunerData(const DecisionTreeFactor& prunedDecisionTree,
                      const HybridBayesTree::sharedNode& parentClique)
-        : prunedDiscreteFactor(prunedDiscreteFactor) {}
+        : prunedDecisionTree(prunedDecisionTree) {}
 
     /**
      * @brief A function used during tree traversal that operates on each node
@@ -178,19 +178,13 @@ void HybridBayesTree::prune(const size_t maxNrLeaves) {
       if (conditional->isHybrid()) {
         auto gaussianMixture = conditional->asMixture();
 
-        // Check if the number of discrete keys match,
-        // else we get an assignment error.
-        // TODO(Varun) Update prune method to handle assignment subset?
-        if (gaussianMixture->discreteKeys() ==
-            parentData.prunedDiscreteFactor.discreteKeys()) {
-          gaussianMixture->prune(parentData.prunedDiscreteFactor);
-        }
+        gaussianMixture->prune(parentData.prunedDecisionTree);
       }
       return parentData;
     }
   };
 
-  HybridPrunerData rootData(prunedDiscreteFactor, 0);
+  HybridPrunerData rootData(prunedDecisionTree, 0);
   {
     treeTraversal::no_op visitorPost;
     // Limits OpenMP threads since we're mixing TBB and OpenMP
diff --git a/gtsam/hybrid/tests/testHybridGaussianISAM.cpp b/gtsam/hybrid/tests/testHybridGaussianISAM.cpp
index a0a87933f4..a5e3903d94 100644
--- a/gtsam/hybrid/tests/testHybridGaussianISAM.cpp
+++ b/gtsam/hybrid/tests/testHybridGaussianISAM.cpp
@@ -337,7 +337,7 @@ TEST(HybridGaussianElimination, Incremental_approximate) {
   EXPECT_LONGS_EQUAL(
       2, incrementalHybrid[X(1)]->conditional()->asMixture()->nrComponents());
   EXPECT_LONGS_EQUAL(
-      4, incrementalHybrid[X(2)]->conditional()->asMixture()->nrComponents());
+      3, incrementalHybrid[X(2)]->conditional()->asMixture()->nrComponents());
   EXPECT_LONGS_EQUAL(
       5, incrementalHybrid[X(3)]->conditional()->asMixture()->nrComponents());
   EXPECT_LONGS_EQUAL(
diff --git a/gtsam/hybrid/tests/testHybridNonlinearISAM.cpp b/gtsam/hybrid/tests/testHybridNonlinearISAM.cpp
index 4e1710c424..93a8a1e005 100644
--- a/gtsam/hybrid/tests/testHybridNonlinearISAM.cpp
+++ b/gtsam/hybrid/tests/testHybridNonlinearISAM.cpp
@@ -363,7 +363,7 @@ TEST(HybridNonlinearISAM, Incremental_approximate) {
   EXPECT_LONGS_EQUAL(
       2, bayesTree[X(1)]->conditional()->asMixture()->nrComponents());
   EXPECT_LONGS_EQUAL(
-      4, bayesTree[X(2)]->conditional()->asMixture()->nrComponents());
+      3, bayesTree[X(2)]->conditional()->asMixture()->nrComponents());
   EXPECT_LONGS_EQUAL(
       5, bayesTree[X(3)]->conditional()->asMixture()->nrComponents());
   EXPECT_LONGS_EQUAL(

From c2377f3b34e68212a75e7dfb403f32c87a056e0c Mon Sep 17 00:00:00 2001
From: Varun Agrawal <varagrawal@gmail.com>
Date: Tue, 11 Oct 2022 13:15:50 -0400
Subject: [PATCH 384/433] minor fixes to unit test

---
 .../hybrid/tests/testHybridNonlinearISAM.cpp  | 21 +++++++++++++++++--
 1 file changed, 19 insertions(+), 2 deletions(-)

diff --git a/gtsam/hybrid/tests/testHybridNonlinearISAM.cpp b/gtsam/hybrid/tests/testHybridNonlinearISAM.cpp
index 93a8a1e005..cc83ccac6c 100644
--- a/gtsam/hybrid/tests/testHybridNonlinearISAM.cpp
+++ b/gtsam/hybrid/tests/testHybridNonlinearISAM.cpp
@@ -12,7 +12,7 @@
 /**
  * @file    testHybridNonlinearISAM.cpp
  * @brief   Unit tests for nonlinear incremental inference
- * @author  Fan Jiang, Varun Agrawal, Frank Dellaert
+ * @author  Varun Agrawal, Fan Jiang, Frank Dellaert
  * @date    Jan 2021
  */
 
@@ -391,6 +391,23 @@ TEST(HybridNonlinearISAM, Incremental_approximate) {
       5, bayesTree[X(5)]->conditional()->asMixture()->nrComponents());
 }
 
+void printConditionals(const HybridNonlinearISAM &inc, const KeyVector &keys) {
+  HybridGaussianISAM bayesTree = inc.bayesTree();
+  for (auto &&key : keys) {
+    std::cout << DefaultKeyFormatter(key) << std::endl;
+    auto conditional = bayesTree[key]->conditional();
+    conditional->printKeys();
+    if (conditional->isHybrid()) {
+      std::cout << conditional->asMixture()->nrComponents() << std::endl;
+    } else if (conditional->isDiscrete()) {
+      std::cout << conditional->asDiscreteConditional()->nrLeaves()
+                << std::endl;
+    } else {
+      // std::cout << conditional->asGaussian()->nrComponents() << std::endl;
+    }
+  }
+}
+
 /* ************************************************************************/
 // A GTSAM-only test for running inference on a single-legged robot.
 // The leg links are represented by the chain X-Y-Z-W, where X is the base and
@@ -432,9 +449,9 @@ TEST(HybridNonlinearISAM, NonTrivial) {
 
   // Don't run update now since we don't have discrete variables involved.
 
-  /*************** Run Round 2 ***************/
   using PlanarMotionModel = BetweenFactor<Pose2>;
 
+  /*************** Run Round 2 ***************/
   // Add odometry factor with discrete modes.
   Pose2 odometry(1.0, 0.0, 0.0);
   KeyVector contKeys = {W(0), W(1)};

From 80908126db77063ab390f6794f7b32ed0a399c12 Mon Sep 17 00:00:00 2001
From: Varun Agrawal <varagrawal@gmail.com>
Date: Tue, 11 Oct 2022 13:16:05 -0400
Subject: [PATCH 385/433] add assertions to remove warning

---
 gtsam/discrete/tests/testDiscreteBayesTree.cpp | 4 ++++
 1 file changed, 4 insertions(+)

diff --git a/gtsam/discrete/tests/testDiscreteBayesTree.cpp b/gtsam/discrete/tests/testDiscreteBayesTree.cpp
index 6635633a27..ab69e82d77 100644
--- a/gtsam/discrete/tests/testDiscreteBayesTree.cpp
+++ b/gtsam/discrete/tests/testDiscreteBayesTree.cpp
@@ -159,6 +159,10 @@ TEST(DiscreteBayesTree, ThinTree) {
       clique->separatorMarginal(EliminateDiscrete);
   DOUBLES_EQUAL(joint_8_12, separatorMarginal0(all1), 1e-9);
 
+  DOUBLES_EQUAL(joint_12_14, 0.1875, 1e-9);
+  DOUBLES_EQUAL(joint_8_12_14, 0.0375, 1e-9);
+  DOUBLES_EQUAL(joint_9_12_14, 0.15, 1e-9);
+
   // check separator marginal P(S9), should be P(14)
   clique = (*self.bayesTree)[9];
   DiscreteFactorGraph separatorMarginal9 =

From eacc888d2065491dbeed5f1dc59b1494534f63b0 Mon Sep 17 00:00:00 2001
From: Varun Agrawal <varagrawal@gmail.com>
Date: Tue, 11 Oct 2022 13:27:15 -0400
Subject: [PATCH 386/433] remove print function

---
 gtsam/hybrid/tests/testHybridNonlinearISAM.cpp | 17 -----------------
 1 file changed, 17 deletions(-)

diff --git a/gtsam/hybrid/tests/testHybridNonlinearISAM.cpp b/gtsam/hybrid/tests/testHybridNonlinearISAM.cpp
index cc83ccac6c..fbb114ef32 100644
--- a/gtsam/hybrid/tests/testHybridNonlinearISAM.cpp
+++ b/gtsam/hybrid/tests/testHybridNonlinearISAM.cpp
@@ -391,23 +391,6 @@ TEST(HybridNonlinearISAM, Incremental_approximate) {
       5, bayesTree[X(5)]->conditional()->asMixture()->nrComponents());
 }
 
-void printConditionals(const HybridNonlinearISAM &inc, const KeyVector &keys) {
-  HybridGaussianISAM bayesTree = inc.bayesTree();
-  for (auto &&key : keys) {
-    std::cout << DefaultKeyFormatter(key) << std::endl;
-    auto conditional = bayesTree[key]->conditional();
-    conditional->printKeys();
-    if (conditional->isHybrid()) {
-      std::cout << conditional->asMixture()->nrComponents() << std::endl;
-    } else if (conditional->isDiscrete()) {
-      std::cout << conditional->asDiscreteConditional()->nrLeaves()
-                << std::endl;
-    } else {
-      // std::cout << conditional->asGaussian()->nrComponents() << std::endl;
-    }
-  }
-}
-
 /* ************************************************************************/
 // A GTSAM-only test for running inference on a single-legged robot.
 // The leg links are represented by the chain X-Y-Z-W, where X is the base and

From 4f406650f73f90811f100c7e0b4f212d23836aad Mon Sep 17 00:00:00 2001
From: senselessdev1 <johnlambert@hayoungs-mbp.lan>
Date: Wed, 12 Oct 2022 21:29:18 -0400
Subject: [PATCH 387/433] rename KeypointsList -> KeypointsVector

---
 gtsam/sfm/DsfTrackGenerator.h                | 4 ++--
 gtsam/sfm/sfm.i                              | 8 ++++----
 python/CMakeLists.txt                        | 4 ++--
 python/gtsam/specializations/sfm.h           | 2 +-
 python/gtsam/tests/test_DsfTrackGenerator.py | 4 ++--
 5 files changed, 11 insertions(+), 11 deletions(-)

diff --git a/gtsam/sfm/DsfTrackGenerator.h b/gtsam/sfm/DsfTrackGenerator.h
index 05ad613906..a16ed3522e 100644
--- a/gtsam/sfm/DsfTrackGenerator.h
+++ b/gtsam/sfm/DsfTrackGenerator.h
@@ -57,7 +57,7 @@ struct Keypoints {
   Keypoints(const gtsam::KeypointCoordinates& coordinates): coordinates(coordinates) {}; // boost::none
 };
 
-using KeypointsList = std::vector<Keypoints>;
+using KeypointsVector = std::vector<Keypoints>;
 // Mapping from each image pair to (N,2) array representing indices of matching keypoints.
 using MatchIndicesMap = std::map<IndexPair, CorrespondenceIndices>;
 
@@ -143,7 +143,7 @@ class DsfTrackGenerator {
   // @param Length-N list of keypoints, for N images/cameras.
   std::vector<SfmTrack2d> generate_tracks_from_pairwise_matches(
     const MatchIndicesMap& matches_dict,
-    const KeypointsList& keypoints_list) {
+    const KeypointsVector& keypoints_list) {
     std::vector<SfmTrack2d> track_2d_list;
 
     std::cout << "[SfmTrack2d] Starting Union-Find..." << std::endl;
diff --git a/gtsam/sfm/sfm.i b/gtsam/sfm/sfm.i
index 6fd380b3c2..9613410a70 100644
--- a/gtsam/sfm/sfm.i
+++ b/gtsam/sfm/sfm.i
@@ -24,9 +24,9 @@ class Keypoints
 }; // check if this should be a method
 
 
-class KeypointsList {
-  KeypointsList();
-  KeypointsList(const gtsam::KeypointsList& other);
+class KeypointsVector {
+  KeypointsVector();
+  KeypointsVector(const gtsam::KeypointsVector& other);
   void push_back(const gtsam::Keypoints& keypoints);
   size_t size() const;
   bool empty() const;
@@ -78,7 +78,7 @@ class DsfTrackGenerator {
   DsfTrackGenerator();
   const gtsam::SfmTrack2dVector generate_tracks_from_pairwise_matches(
     const gtsam::MatchIndicesMap& matches_dict,
-    const gtsam::KeypointsList& keypoints_list);
+    const gtsam::KeypointsVector& keypoints_list);
 };
 
 
diff --git a/python/CMakeLists.txt b/python/CMakeLists.txt
index 21f9f951dd..600aeecc96 100644
--- a/python/CMakeLists.txt
+++ b/python/CMakeLists.txt
@@ -53,7 +53,7 @@ set(ignore
     gtsam::DiscreteKey
     gtsam::KeyPairDoubleMap
     gtsam::MatchIndicesMap
-    gtsam::KeypointsList
+    gtsam::KeypointsVector
     gtsam::SfmTrack2dVector
     gtsam::NamedSfmMeasurementVector)
 
@@ -154,7 +154,7 @@ if(GTSAM_UNSTABLE_BUILD_PYTHON)
             gtsam::CameraSetCal3Fisheye
             gtsam::KeyPairDoubleMap
             gtsam::MatchIndicesMap
-            gtsam::KeypointsList
+            gtsam::KeypointsVector
             gtsam::SfmTrack2dVector
             gtsam::NamedSfmMeasurementVector)
 
diff --git a/python/gtsam/specializations/sfm.h b/python/gtsam/specializations/sfm.h
index 1bbb935703..63f7f1a48f 100644
--- a/python/gtsam/specializations/sfm.h
+++ b/python/gtsam/specializations/sfm.h
@@ -22,7 +22,7 @@ py::bind_map<gtsam::MatchIndicesMap>(m_, "MatchIndicesMap");
 
 py::bind_vector<
     std::vector<gtsam::Keypoints> >(
-    m_, "KeypointsList");
+    m_, "KeypointsVector");
 
 
 py::bind_vector<
diff --git a/python/gtsam/tests/test_DsfTrackGenerator.py b/python/gtsam/tests/test_DsfTrackGenerator.py
index 3d4188284f..563a011653 100644
--- a/python/gtsam/tests/test_DsfTrackGenerator.py
+++ b/python/gtsam/tests/test_DsfTrackGenerator.py
@@ -12,7 +12,7 @@
     DsfTrackGenerator,
     IndexPair,
     Keypoints,
-    KeypointsList,
+    KeypointsVector,
     MatchIndicesMap,
     NamedSfmMeasurement,
     NamedSfmMeasurementVector,
@@ -30,7 +30,7 @@ def test_track_generation(self) -> None:
         kps_i1 = Keypoints(coordinates=np.array([[50.0, 60], [70, 80], [90, 100]]))
         kps_i2 = Keypoints(coordinates=np.array([[110.0, 120], [130, 140]]))
 
-        keypoints_list = KeypointsList()
+        keypoints_list = KeypointsVector()
         keypoints_list.append(kps_i0)
         keypoints_list.append(kps_i1)
         keypoints_list.append(kps_i2)

From 7dee1af5b4dec1ef1a558669e18e39d7ed638f5a Mon Sep 17 00:00:00 2001
From: senselessdev1 <johnlambert@hayoungs-mbp.lan>
Date: Wed, 12 Oct 2022 23:31:45 -0400
Subject: [PATCH 388/433] add verbose flag for logging messages during DSF
 track generation

---
 gtsam/sfm/DsfTrackGenerator.h                | 19 +++++++++++--------
 gtsam/sfm/sfm.i                              |  3 ++-
 python/gtsam/tests/test_DsfTrackGenerator.py |  4 +++-
 3 files changed, 16 insertions(+), 10 deletions(-)

diff --git a/gtsam/sfm/DsfTrackGenerator.h b/gtsam/sfm/DsfTrackGenerator.h
index a16ed3522e..960f1622c1 100644
--- a/gtsam/sfm/DsfTrackGenerator.h
+++ b/gtsam/sfm/DsfTrackGenerator.h
@@ -143,10 +143,11 @@ class DsfTrackGenerator {
   // @param Length-N list of keypoints, for N images/cameras.
   std::vector<SfmTrack2d> generate_tracks_from_pairwise_matches(
     const MatchIndicesMap& matches_dict,
-    const KeypointsVector& keypoints_list) {
+    const KeypointsVector& keypoints_list,
+    bool verbose = false) {
     std::vector<SfmTrack2d> track_2d_list;
 
-    std::cout << "[SfmTrack2d] Starting Union-Find..." << std::endl;
+    if (verbose) std::cout << "[SfmTrack2d] Starting Union-Find..." << std::endl;
     // Generate the DSF to form tracks.
     DSFMapIndexPair dsf;
 
@@ -167,7 +168,7 @@ class DsfTrackGenerator {
       }
     }
 
-    std::cout << "[SfmTrack2d] Union-Find Complete" << std::endl;
+    if (verbose) std::cout << "[SfmTrack2d] Union-Find Complete" << std::endl;
     const std::map<IndexPair, std::set<IndexPair> > key_sets = dsf.sets();
 
     // Return immediately if no sets were found.
@@ -202,12 +203,14 @@ class DsfTrackGenerator {
       }
     }
 
-    double erroneous_track_pct = static_cast<float>(erroneous_track_count)
-                                 / static_cast<float>(key_sets.size()) * 100;
-    // TODO(johnwlambert): restrict decimal places to 2 decimals.
-    std::cout << "DSF Union-Find: " << erroneous_track_pct;
-    std::cout << "% of tracks discarded from multiple obs. in a single image." << std::endl;
+    if (verbose) {
+      double erroneous_track_pct = static_cast<float>(erroneous_track_count)
+                                   / static_cast<float>(key_sets.size()) * 100;
 
+      // TODO(johnwlambert): restrict decimal places to 2 decimals.
+      std::cout << "DSF Union-Find: " << erroneous_track_pct;
+      std::cout << "% of tracks discarded from multiple obs. in a single image." << std::endl;
+    }
     // TODO(johnwlambert): return the Transitivity failure percentage here.
     return track_2d_list;
   }
diff --git a/gtsam/sfm/sfm.i b/gtsam/sfm/sfm.i
index 9613410a70..ce840a1a9a 100644
--- a/gtsam/sfm/sfm.i
+++ b/gtsam/sfm/sfm.i
@@ -78,7 +78,8 @@ class DsfTrackGenerator {
   DsfTrackGenerator();
   const gtsam::SfmTrack2dVector generate_tracks_from_pairwise_matches(
     const gtsam::MatchIndicesMap& matches_dict,
-    const gtsam::KeypointsVector& keypoints_list);
+    const gtsam::KeypointsVector& keypoints_list,
+    bool verbose = false);
 };
 
 
diff --git a/python/gtsam/tests/test_DsfTrackGenerator.py b/python/gtsam/tests/test_DsfTrackGenerator.py
index 563a011653..721584cffa 100644
--- a/python/gtsam/tests/test_DsfTrackGenerator.py
+++ b/python/gtsam/tests/test_DsfTrackGenerator.py
@@ -40,7 +40,9 @@ def test_track_generation(self) -> None:
         matches_dict[IndexPair(0, 1)] = np.array([[0, 0], [1, 1]])
         matches_dict[IndexPair(1, 2)] = np.array([[2, 0], [1, 1]])
 
-        tracks = DsfTrackGenerator().generate_tracks_from_pairwise_matches(matches_dict, keypoints_list)
+        tracks = DsfTrackGenerator().generate_tracks_from_pairwise_matches(matches_dict,
+                                                                           keypoints_list,
+                                                                           verbose=True)
         assert len(tracks) == 3
 
         # Verify track 0.

From f9971f504988f891f9ffae02ba9e94009d2ce2a6 Mon Sep 17 00:00:00 2001
From: senselessdev1 <johnlambert@hayoungs-mbp.lan>
Date: Thu, 13 Oct 2022 01:07:41 -0400
Subject: [PATCH 389/433] use gtsam.gtsfm namespace for new API

---
 gtsam/sfm/DsfTrackGenerator.h                |  8 +++-
 gtsam/sfm/sfm.i                              | 44 ++++++++++----------
 python/CMakeLists.txt                        | 16 +++----
 python/gtsam/preamble/sfm.h                  |  6 +--
 python/gtsam/specializations/sfm.h           | 20 ++++-----
 python/gtsam/tests/test_DsfTrackGenerator.py |  7 +---
 6 files changed, 50 insertions(+), 51 deletions(-)

diff --git a/gtsam/sfm/DsfTrackGenerator.h b/gtsam/sfm/DsfTrackGenerator.h
index 960f1622c1..47578d6eae 100644
--- a/gtsam/sfm/DsfTrackGenerator.h
+++ b/gtsam/sfm/DsfTrackGenerator.h
@@ -30,6 +30,8 @@
 
 namespace gtsam {
 
+namespace gtsfm {
+
 typedef DSFMap<IndexPair> DSFMapIndexPair;
 typedef Eigen::MatrixX2i CorrespondenceIndices; // N x 2 array
 
@@ -54,7 +56,7 @@ struct Keypoints {
   /// Optional confidences/responses for each detection, of shape N.
   boost::optional<gtsam::Vector> responses;
 
-  Keypoints(const gtsam::KeypointCoordinates& coordinates): coordinates(coordinates) {}; // boost::none
+  Keypoints(const gtsam::gtsfm::KeypointCoordinates& coordinates): coordinates(coordinates) {}; // boost::none
 };
 
 using KeypointsVector = std::vector<Keypoints>;
@@ -119,7 +121,7 @@ class SfmTrack2d {
   }
 };
 
-using SfmTrack2dVector = std::vector<gtsam::SfmTrack2d>;
+using SfmTrack2dVector = std::vector<gtsam::gtsfm::SfmTrack2d>;
 using NamedSfmMeasurementVector = std::vector<NamedSfmMeasurement>;
 
 
@@ -216,5 +218,7 @@ class DsfTrackGenerator {
   }
 };
 
+}///\namespace gtsfm
+
 } // namespace gtsam
 
diff --git a/gtsam/sfm/sfm.i b/gtsam/sfm/sfm.i
index ce840a1a9a..984955d237 100644
--- a/gtsam/sfm/sfm.i
+++ b/gtsam/sfm/sfm.i
@@ -4,34 +4,36 @@
 
 namespace gtsam {
 
+namespace gtsfm {
+
 #include <gtsam/sfm/DsfTrackGenerator.h>
 
 class MatchIndicesMap {
   MatchIndicesMap();
-  MatchIndicesMap(const gtsam::MatchIndicesMap& other);
+  MatchIndicesMap(const gtsam::gtsfm::MatchIndicesMap& other);
 
   size_t size() const;
   bool empty() const;
   void clear();
-  gtsam::CorrespondenceIndices at(const pair<size_t, size_t>& keypair) const;
+  gtsam::gtsfm::CorrespondenceIndices at(const pair<size_t, size_t>& keypair) const;
 };
 
 
 class Keypoints
 {
-  Keypoints(const gtsam::KeypointCoordinates& coordinates);
-  gtsam::KeypointCoordinates coordinates;
+  Keypoints(const gtsam::gtsfm::KeypointCoordinates& coordinates);
+  gtsam::gtsfm::KeypointCoordinates coordinates;
 }; // check if this should be a method
 
 
 class KeypointsVector {
   KeypointsVector();
-  KeypointsVector(const gtsam::KeypointsVector& other);
-  void push_back(const gtsam::Keypoints& keypoints);
+  KeypointsVector(const gtsam::gtsfm::KeypointsVector& other);
+  void push_back(const gtsam::gtsfm::Keypoints& keypoints);
   size_t size() const;
   bool empty() const;
   void clear();
-  gtsam::Keypoints at(const size_t& index) const;
+  gtsam::gtsfm::Keypoints at(const size_t& index) const;
 };
 
 
@@ -44,44 +46,44 @@ class NamedSfmMeasurement
 
 class NamedSfmMeasurementVector {
   NamedSfmMeasurementVector();
-  NamedSfmMeasurementVector(const gtsam::NamedSfmMeasurementVector& other);
-  void push_back(const gtsam::NamedSfmMeasurement& measurement);
+  NamedSfmMeasurementVector(const gtsam::gtsfm::NamedSfmMeasurementVector& other);
+  void push_back(const gtsam::gtsfm::NamedSfmMeasurement& measurement);
   size_t size() const;
   bool empty() const;
   void clear();
-  gtsam::NamedSfmMeasurement at(const size_t& index) const;
+  gtsam::gtsfm::NamedSfmMeasurement at(const size_t& index) const;
 };
 
 class SfmTrack2d
 {
   SfmTrack2d();
-  SfmTrack2d(std::vector<gtsam::NamedSfmMeasurement> &measurements);
+  SfmTrack2d(std::vector<gtsam::gtsfm::NamedSfmMeasurement> &measurements);
   size_t numberMeasurements() const;
-  void addMeasurement(const gtsam::NamedSfmMeasurement &m);
-  std::vector<gtsam::NamedSfmMeasurement> measurements();
-  gtsam::NamedSfmMeasurement measurement(size_t idx) const;
+  void addMeasurement(const gtsam::gtsfm::NamedSfmMeasurement &m);
+  std::vector<gtsam::gtsfm::NamedSfmMeasurement> measurements();
+  gtsam::gtsfm::NamedSfmMeasurement measurement(size_t idx) const;
   bool hasUniqueCameras();
 };
 
 class SfmTrack2dVector {
   SfmTrack2dVector();
-  SfmTrack2dVector(const gtsam::SfmTrack2dVector& other);
-  void push_back(const gtsam::SfmTrack2d& track);
+  SfmTrack2dVector(const gtsam::gtsfm::SfmTrack2dVector& other);
+  void push_back(const gtsam::gtsfm::SfmTrack2d& track);
   size_t size() const;
   bool empty() const;
   void clear();
-  gtsam::SfmTrack2d at(const size_t& index) const;
+  gtsam::gtsfm::SfmTrack2d at(const size_t& index) const;
 };
 
 
 class DsfTrackGenerator {
   DsfTrackGenerator();
-  const gtsam::SfmTrack2dVector generate_tracks_from_pairwise_matches(
-    const gtsam::MatchIndicesMap& matches_dict,
-    const gtsam::KeypointsVector& keypoints_list,
+  const gtsam::gtsfm::SfmTrack2dVector generate_tracks_from_pairwise_matches(
+    const gtsam::gtsfm::MatchIndicesMap& matches_dict,
+    const gtsam::gtsfm::KeypointsVector& keypoints_list,
     bool verbose = false);
 };
-
+}///\namespace gtsfm
 
 #include <gtsam/nonlinear/NonlinearFactorGraph.h>
 #include <gtsam/nonlinear/Values.h>
diff --git a/python/CMakeLists.txt b/python/CMakeLists.txt
index 600aeecc96..398ee27883 100644
--- a/python/CMakeLists.txt
+++ b/python/CMakeLists.txt
@@ -52,10 +52,10 @@ set(ignore
     gtsam::BinaryMeasurementsRot3
     gtsam::DiscreteKey
     gtsam::KeyPairDoubleMap
-    gtsam::MatchIndicesMap
-    gtsam::KeypointsVector
-    gtsam::SfmTrack2dVector
-    gtsam::NamedSfmMeasurementVector)
+    gtsam::gtsfm::MatchIndicesMap
+    gtsam::gtsfm::KeypointsVector
+    gtsam::gtsfm::SfmTrack2dVector
+    gtsam::gtsfm::NamedSfmMeasurementVector)
 
 set(interface_headers
     ${PROJECT_SOURCE_DIR}/gtsam/gtsam.i
@@ -153,10 +153,10 @@ if(GTSAM_UNSTABLE_BUILD_PYTHON)
             gtsam::CameraSetCal3Unified
             gtsam::CameraSetCal3Fisheye
             gtsam::KeyPairDoubleMap
-            gtsam::MatchIndicesMap
-            gtsam::KeypointsVector
-            gtsam::SfmTrack2dVector
-            gtsam::NamedSfmMeasurementVector)
+            gtsam::gtsfm::MatchIndicesMap
+            gtsam::gtsfm::KeypointsVector
+            gtsam::gtsfm::SfmTrack2dVector
+            gtsam::gtsfm::NamedSfmMeasurementVector)
 
 
     pybind_wrap(${GTSAM_PYTHON_UNSTABLE_TARGET} # target
diff --git a/python/gtsam/preamble/sfm.h b/python/gtsam/preamble/sfm.h
index 91c9fc418f..067dd88011 100644
--- a/python/gtsam/preamble/sfm.h
+++ b/python/gtsam/preamble/sfm.h
@@ -24,7 +24,7 @@ PYBIND11_MAKE_OPAQUE(
 PYBIND11_MAKE_OPAQUE(
     std::vector<gtsam::BinaryMeasurement<gtsam::Rot3>>);
 PYBIND11_MAKE_OPAQUE(
-    std::vector<gtsam::Keypoints>);
-PYBIND11_MAKE_OPAQUE(gtsam::MatchIndicesMap);
+    std::vector<gtsam::gtsfm::Keypoints>);
+PYBIND11_MAKE_OPAQUE(gtsam::gtsfm::MatchIndicesMap);
 PYBIND11_MAKE_OPAQUE(
-    std::vector<gtsam::NamedSfmMeasurement>);
\ No newline at end of file
+    std::vector<gtsam::gtsfm::NamedSfmMeasurement>);
\ No newline at end of file
diff --git a/python/gtsam/specializations/sfm.h b/python/gtsam/specializations/sfm.h
index 63f7f1a48f..10fb1a0ab5 100644
--- a/python/gtsam/specializations/sfm.h
+++ b/python/gtsam/specializations/sfm.h
@@ -18,29 +18,25 @@ py::bind_vector<std::vector<gtsam::BinaryMeasurement<gtsam::Unit3> > >(
 py::bind_vector<std::vector<gtsam::BinaryMeasurement<gtsam::Rot3> > >(
     m_, "BinaryMeasurementsRot3");
 py::bind_map<gtsam::KeyPairDoubleMap>(m_, "KeyPairDoubleMap");
-py::bind_map<gtsam::MatchIndicesMap>(m_, "MatchIndicesMap");
-
-py::bind_vector<
-    std::vector<gtsam::Keypoints> >(
-    m_, "KeypointsVector");
-
-
 py::bind_vector<
     std::vector<gtsam::SfmTrack> >(
     m_, "SfmTracks");
-
 py::bind_vector<
     std::vector<gtsam::SfmCamera> >(
     m_, "SfmCameras");
-
 py::bind_vector<
     std::vector<std::pair<size_t, gtsam::Point2>>>(
         m_, "SfmMeasurementVector"
     );
+
 py::bind_vector<
-    std::vector<gtsam::SfmTrack2d> >(
+    std::vector<gtsam::gtsfm::SfmTrack2d> >(
     m_, "SfmTrack2dVector");
-
 py::bind_vector<
-    std::vector<gtsam::NamedSfmMeasurement> >(
+    std::vector<gtsam::gtsfm::NamedSfmMeasurement> >(
     m_, "NamedSfmMeasurementVector");
+py::bind_map<gtsam::gtsfm::MatchIndicesMap>(m_, "MatchIndicesMap");
+
+py::bind_vector<
+    std::vector<gtsam::gtsfm::Keypoints> >(
+    m_, "KeypointsVector");
diff --git a/python/gtsam/tests/test_DsfTrackGenerator.py b/python/gtsam/tests/test_DsfTrackGenerator.py
index 721584cffa..f1851c2219 100644
--- a/python/gtsam/tests/test_DsfTrackGenerator.py
+++ b/python/gtsam/tests/test_DsfTrackGenerator.py
@@ -8,14 +8,11 @@
 import numpy as np
 
 import gtsam
-from gtsam import (
+from gtsam import IndexPair, KeypointsVector, MatchIndicesMap, NamedSfmMeasurementVector
+from gtsam.gtsam.gtsfm import (
     DsfTrackGenerator,
-    IndexPair,
     Keypoints,
-    KeypointsVector,
-    MatchIndicesMap,
     NamedSfmMeasurement,
-    NamedSfmMeasurementVector,
     SfmTrack2d,
 )
 from gtsam.utils.test_case import GtsamTestCase

From 73fd3f9dc2eb249397909a098247b0a66da709c6 Mon Sep 17 00:00:00 2001
From: senselessdev1 <johnlambert@hayoungs-mbp.lan>
Date: Thu, 13 Oct 2022 09:12:55 -0400
Subject: [PATCH 390/433] add namespace hack to prevent gtsam.gtsam.gtsfm

---
 python/gtsam/gtsfm.py                        | 4 ++++
 python/gtsam/tests/test_DsfTrackGenerator.py | 2 +-
 2 files changed, 5 insertions(+), 1 deletion(-)
 create mode 100644 python/gtsam/gtsfm.py

diff --git a/python/gtsam/gtsfm.py b/python/gtsam/gtsfm.py
new file mode 100644
index 0000000000..afa7090837
--- /dev/null
+++ b/python/gtsam/gtsfm.py
@@ -0,0 +1,4 @@
+# This trick is to allow direct import of sub-modules
+# without this, we can only do `from gtsam.gtsam.gtsfm import X`
+# with this trick, we can do `from gtsam.gtsfm import X`
+from .gtsam.gtsfm import *
\ No newline at end of file
diff --git a/python/gtsam/tests/test_DsfTrackGenerator.py b/python/gtsam/tests/test_DsfTrackGenerator.py
index f1851c2219..e63025cd34 100644
--- a/python/gtsam/tests/test_DsfTrackGenerator.py
+++ b/python/gtsam/tests/test_DsfTrackGenerator.py
@@ -9,7 +9,7 @@
 
 import gtsam
 from gtsam import IndexPair, KeypointsVector, MatchIndicesMap, NamedSfmMeasurementVector
-from gtsam.gtsam.gtsfm import (
+from gtsam.gtsfm import (
     DsfTrackGenerator,
     Keypoints,
     NamedSfmMeasurement,

From 8c19f499a3ff8d2f5fb7413aafa4ce03aeb722ea Mon Sep 17 00:00:00 2001
From: Varun Agrawal <varagrawal@gmail.com>
Date: Thu, 13 Oct 2022 10:13:43 -0400
Subject: [PATCH 391/433] add curlyy brackets to for loop

---
 gtsam/hybrid/HybridGaussianISAM.cpp | 5 +++--
 1 file changed, 3 insertions(+), 2 deletions(-)

diff --git a/gtsam/hybrid/HybridGaussianISAM.cpp b/gtsam/hybrid/HybridGaussianISAM.cpp
index 57e50104d7..de87dd92f1 100644
--- a/gtsam/hybrid/HybridGaussianISAM.cpp
+++ b/gtsam/hybrid/HybridGaussianISAM.cpp
@@ -59,8 +59,9 @@ void HybridGaussianISAM::updateInternal(
   factors += newFactors;
 
   // Add the orphaned subtrees
-  for (const sharedClique& orphan : *orphans)
-    factors += boost::make_shared<BayesTreeOrphanWrapper<Node> >(orphan);
+  for (const sharedClique& orphan : *orphans) {
+    factors += boost::make_shared<BayesTreeOrphanWrapper<Node>>(orphan);
+  }
 
   // Get all the discrete keys from the factors
   KeySet allDiscrete = factors.discreteKeys();

From 1d70d14c72b04e01e183d070ecfa71665b4123b5 Mon Sep 17 00:00:00 2001
From: Varun Agrawal <varagrawal@gmail.com>
Date: Thu, 13 Oct 2022 10:14:46 -0400
Subject: [PATCH 392/433] remove custom keyformatter

---
 gtsam/base/types.cpp | 46 --------------------------------------------
 gtsam/base/types.h   |  2 --
 2 files changed, 48 deletions(-)

diff --git a/gtsam/base/types.cpp b/gtsam/base/types.cpp
index f96e037c1b..edc449b12a 100644
--- a/gtsam/base/types.cpp
+++ b/gtsam/base/types.cpp
@@ -64,50 +64,4 @@ std::string demangle(const char* name) {
   return demangled_name;
 }
 
-std::string GTDKeyFormatter(const Key &key) {
-  constexpr size_t kMax_uchar_ = std::numeric_limits<uint8_t>::max();
-  constexpr size_t key_bits = sizeof(gtsam::Key) * 8;
-  constexpr size_t ch1_bits = sizeof(uint8_t) * 8;
-  constexpr size_t ch2_bits = sizeof(uint8_t) * 8;
-  constexpr size_t link_bits = sizeof(uint8_t) * 8;
-  constexpr size_t joint_bits = sizeof(uint8_t) * 8;
-  constexpr size_t time_bits =
-      key_bits - ch1_bits - ch2_bits - link_bits - joint_bits;
-
-  constexpr gtsam::Key ch1_mask = gtsam::Key(kMax_uchar_)
-                                  << (key_bits - ch1_bits);
-  constexpr gtsam::Key ch2_mask = gtsam::Key(kMax_uchar_)
-                                  << (key_bits - ch1_bits - ch2_bits);
-  constexpr gtsam::Key link_mask = gtsam::Key(kMax_uchar_)
-                                   << (time_bits + joint_bits);
-  constexpr gtsam::Key joint_mask = gtsam::Key(kMax_uchar_) << time_bits;
-  constexpr gtsam::Key time_mask =
-      ~(ch1_mask | ch2_mask | link_mask | joint_mask);
-
-  uint8_t c1_, c2_, link_idx_, joint_idx_;
-  uint64_t t_;
-
-  c1_ = (uint8_t)((key & ch1_mask) >> (key_bits - ch1_bits));
-  c2_ = (uint8_t)((key & ch2_mask) >> (key_bits - ch1_bits - ch2_bits));
-  link_idx_ = (uint8_t)((key & link_mask) >> (time_bits + joint_bits));
-  joint_idx_ = (uint8_t)((key & joint_mask) >> time_bits);
-  t_ = key & time_mask;
-
-  std::string s = "";
-  if (c1_ != 0) {
-    s += c1_;
-  }
-  if (c2_ != 0) {
-    s += c2_;
-  }
-  if (link_idx_ != kMax_uchar_) {
-    s += "[" + std::to_string((int)(link_idx_)) + "]";
-  }
-  if (joint_idx_ != kMax_uchar_) {
-    s += "(" + std::to_string((int)(joint_idx_)) + ")";
-  }
-  s += std::to_string(t_);
-  return s;
-}
-
 } /* namespace gtsam */
diff --git a/gtsam/base/types.h b/gtsam/base/types.h
index dcb389c9bb..a0d24f1a62 100644
--- a/gtsam/base/types.h
+++ b/gtsam/base/types.h
@@ -74,8 +74,6 @@ namespace gtsam {
   /// The index type for Eigen objects
   typedef ptrdiff_t DenseIndex;
 
-  std::string GTDKeyFormatter(const Key &key);
-
   /* ************************************************************************* */
   /**
    * Helper class that uses templates to select between two types based on

From 8f7473d0265e42227376b9555340f237768b45d4 Mon Sep 17 00:00:00 2001
From: Varun Agrawal <varagrawal@gmail.com>
Date: Thu, 13 Oct 2022 10:46:04 -0400
Subject: [PATCH 393/433] remove added test file

---
 gtsam/hybrid/tests/testHybridEstimation.cpp | 433 --------------------
 1 file changed, 433 deletions(-)
 delete mode 100644 gtsam/hybrid/tests/testHybridEstimation.cpp

diff --git a/gtsam/hybrid/tests/testHybridEstimation.cpp b/gtsam/hybrid/tests/testHybridEstimation.cpp
deleted file mode 100644
index 5d47a22dda..0000000000
--- a/gtsam/hybrid/tests/testHybridEstimation.cpp
+++ /dev/null
@@ -1,433 +0,0 @@
-/* ----------------------------------------------------------------------------
-
- * GTSAM Copyright 2010, Georgia Tech Research Corporation,
- * Atlanta, Georgia 30332-0415
- * All Rights Reserved
- * Authors: Frank Dellaert, et al. (see THANKS for the full author list)
-
- * See LICENSE for the license information
-
- * -------------------------------------------------------------------------- */
-
-/**
- * @file    testHybridEstimation.cpp
- * @brief   Unit tests for Hybrid Estimation
- * @author  Varun Agrawal
- */
-
-#include <gtsam/geometry/Pose2.h>
-#include <gtsam/hybrid/HybridBayesNet.h>
-#include <gtsam/hybrid/HybridBayesTree.h>
-#include <gtsam/hybrid/HybridNonlinearFactorGraph.h>
-#include <gtsam/hybrid/MixtureFactor.h>
-#include <gtsam/inference/Symbol.h>
-#include <gtsam/linear/GaussianBayesNet.h>
-#include <gtsam/linear/GaussianFactorGraph.h>
-#include <gtsam/linear/JacobianFactor.h>
-#include <gtsam/linear/NoiseModel.h>
-#include <gtsam/nonlinear/NonlinearFactorGraph.h>
-#include <gtsam/nonlinear/PriorFactor.h>
-#include <gtsam/slam/BetweenFactor.h>
-
-// Include for test suite
-#include <CppUnitLite/TestHarness.h>
-
-using namespace std;
-using namespace gtsam;
-
-using noiseModel::Isotropic;
-using symbol_shorthand::L;
-using symbol_shorthand::M;
-using symbol_shorthand::X;
-
-class Robot {
-  DiscreteKeys modes_;
-  HybridNonlinearFactorGraph nonlinearFactorGraph_;
-  HybridGaussianFactorGraph linearizedFactorGraph_;
-  Values linearizationPoint_;
-
- public:
-  Robot(size_t K, std::vector<double> measurements) {
-    // Create DiscreteKeys for binary K modes
-    for (size_t k = 0; k < K; k++) {
-      modes_.emplace_back(M(k), 2);
-    }
-
-    ////// Create hybrid factor graph.
-    // Add measurement factors
-    auto measurement_noise = noiseModel::Isotropic::Sigma(1, 1.0);
-    for (size_t k = 0; k < K; k++) {
-      nonlinearFactorGraph_.emplace_nonlinear<PriorFactor<double>>(
-          X(k), measurements.at(k), measurement_noise);
-    }
-
-    // 2 noise models where moving has a higher covariance.
-    auto still_noise_model = noiseModel::Isotropic::Sigma(1, 1e-2);
-    auto moving_noise_model = noiseModel::Isotropic::Sigma(1, 1e2);
-
-    // Add "motion models".
-    // The idea is that the robot has a higher "freedom" (aka higher covariance)
-    // for movement
-    using MotionModel = BetweenFactor<double>;
-
-    for (size_t k = 1; k < K; k++) {
-      KeyVector keys = {X(k - 1), X(k)};
-      DiscreteKeys dkeys{modes_[k - 1]};
-      auto still = boost::make_shared<MotionModel>(X(k - 1), X(k), 0.0,
-                                                   still_noise_model),
-           moving = boost::make_shared<MotionModel>(X(k - 1), X(k), 0.0,
-                                                    moving_noise_model);
-      std::vector<boost::shared_ptr<MotionModel>> components = {still, moving};
-      nonlinearFactorGraph_.emplace_hybrid<MixtureFactor>(keys, dkeys,
-                                                          components);
-    }
-
-    // Create the linearization point.
-    for (size_t k = 0; k < K; k++) {
-      linearizationPoint_.insert<double>(X(k), static_cast<double>(k + 1));
-    }
-
-    linearizedFactorGraph_ =
-        *nonlinearFactorGraph_.linearize(linearizationPoint_);
-  }
-
-  void print() const {
-    nonlinearFactorGraph_.print();
-    linearizationPoint_.print();
-    linearizedFactorGraph_.print();
-  }
-
-  HybridValues optimize() const {
-    Ordering hybridOrdering = linearizedFactorGraph_.getHybridOrdering();
-    HybridBayesNet::shared_ptr hybridBayesNet =
-        linearizedFactorGraph_.eliminateSequential(hybridOrdering);
-
-    HybridValues delta = hybridBayesNet->optimize();
-    return delta;
-  }
-};
-
-/* ****************************************************************************/
-/**
- * I am trying to test if setting the hybrid mixture components to just differ
- * in covariance makes sense. This is done by setting the "moving" covariance to
- * be 1e2 while the "still" covariance is 1e-2.
- */
-TEST(Estimation, StillRobot) {
-  size_t K = 2;
-  vector<double> measurements = {0, 0};
-
-  Robot robot(K, measurements);
-
-  HybridValues delta = robot.optimize();
-
-  delta.continuous().print("delta update:");
-  if (delta.discrete()[M(0)] == 0) {
-    std::cout << "The robot is stationary!" << std::endl;
-  } else {
-    std::cout << "The robot has moved!" << std::endl;
-  }
-  EXPECT_LONGS_EQUAL(0, delta.discrete()[M(0)]);
-}
-
-/* ****************************************************************************/
-TEST(Estimation, MovingRobot) {
-  size_t K = 2;
-  vector<double> measurements = {0, 2};
-
-  Robot robot(K, measurements);
-
-  HybridValues delta = robot.optimize();
-
-  delta.continuous().print("delta update:");
-  if (delta.discrete()[M(0)] == 0) {
-    std::cout << "The robot is stationary!" << std::endl;
-  } else {
-    std::cout << "The robot has moved!" << std::endl;
-  }
-  EXPECT_LONGS_EQUAL(1, delta.discrete()[M(0)]);
-}
-
-/// A robot with a single leg.
-class SingleLeg {
-  DiscreteKeys modes_;
-  HybridNonlinearFactorGraph nonlinearFactorGraph_;
-  HybridGaussianFactorGraph linearizedFactorGraph_;
-  Values linearizationPoint_;
-
- public:
-  /**
-   * @brief Construct a new Single Leg object.
-   *
-   * @param K The number of discrete timesteps
-   * @param pims std::vector of preintegrated IMU measurements.
-   * @param fk std::vector of forward kinematic measurements for the leg.
-   */
-  SingleLeg(size_t K, std::vector<Pose2> pims, std::vector<Pose2> fk) {
-    // Create DiscreteKeys for binary K modes
-    for (size_t k = 0; k < K; k++) {
-      modes_.emplace_back(M(k), 2);
-    }
-
-    ////// Create hybrid factor graph.
-
-    auto measurement_noise = noiseModel::Isotropic::Sigma(3, 1.0);
-
-    // Add prior on the first pose
-    nonlinearFactorGraph_.emplace_nonlinear<PriorFactor<Pose2>>(
-        X(0), Pose2(0, 2, 0), measurement_noise);
-
-    // Add measurement factors.
-    // These are the preintegrated IMU measurements of the base.
-    for (size_t k = 0; k < K - 1; k++) {
-      nonlinearFactorGraph_.emplace_nonlinear<BetweenFactor<Pose2>>(
-          X(k), X(k + 1), pims.at(k), measurement_noise);
-    }
-
-    // Forward kinematics from base X to foot L
-    auto fk_noise = noiseModel::Isotropic::Sigma(3, 1.0);
-    for (size_t k = 0; k < K; k++) {
-      nonlinearFactorGraph_.emplace_nonlinear<BetweenFactor<Pose2>>(
-          X(k), L(k), fk.at(k), fk_noise);
-    }
-
-    // 2 noise models where moving has a higher covariance.
-    auto stance_model = noiseModel::Isotropic::Sigma(3, 1e-2);
-    auto swing_model = noiseModel::Isotropic::Sigma(3, 1e2);
-
-    // Add "contact models" for the foot.
-    // The idea is that the robot's leg has a tight covariance for stance and
-    // loose covariance for swing.
-    using ContactFactor = BetweenFactor<Pose2>;
-
-    for (size_t k = 0; k < K - 1; k++) {
-      KeyVector keys = {L(k), L(k + 1)};
-      DiscreteKeys dkeys{modes_[k], modes_[k + 1]};
-      auto stance = boost::make_shared<ContactFactor>(
-               keys.at(0), keys.at(1), Pose2(0, 0, 0), stance_model),
-           lift = boost::make_shared<ContactFactor>(
-               keys.at(0), keys.at(1), Pose2(0, -1, 0), swing_model),
-           land = boost::make_shared<ContactFactor>(
-               keys.at(0), keys.at(1), Pose2(0, 1, 0), swing_model),
-           swing = boost::make_shared<ContactFactor>(
-               keys.at(0), keys.at(1), Pose2(1, 0, 0), swing_model);
-      // 00 - swing, 01 - land, 10 - toe-off, 11 - stance
-      std::vector<boost::shared_ptr<ContactFactor>> components = {swing, land,
-                                                                  lift, stance};
-      nonlinearFactorGraph_.emplace_hybrid<MixtureFactor>(keys, dkeys,
-                                                          components);
-    }
-
-    // Create the linearization point.
-    for (size_t k = 0; k < K; k++) {
-      linearizationPoint_.insert<Pose2>(X(k), Pose2(k, 2, 0));
-      linearizationPoint_.insert<Pose2>(L(k), Pose2(0, 0, 0));
-    }
-
-    linearizedFactorGraph_ =
-        *nonlinearFactorGraph_.linearize(linearizationPoint_);
-  }
-
-  void print() const {
-    nonlinearFactorGraph_.print();
-    linearizationPoint_.print();
-    linearizedFactorGraph_.print();
-  }
-
-  HybridValues optimize() const {
-    Ordering hybridOrdering = linearizedFactorGraph_.getHybridOrdering();
-    HybridBayesNet::shared_ptr hybridBayesNet =
-        linearizedFactorGraph_.eliminateSequential(hybridOrdering);
-
-    HybridValues delta = hybridBayesNet->optimize();
-    return delta;
-  }
-
-  Values linearizationPoint() const { return linearizationPoint_; }
-};
-
-/* ****************************************************************************/
-TEST(Estimation, LeggedRobot) {
-  std::vector<Pose2> pims = {Pose2(1, 0, 0)};
-  // Leg is in stance throughout
-  std::vector<Pose2> fk = {Pose2(0, -2, 0), Pose2(-1, -2, 0)};
-  SingleLeg robot(2, pims, fk);
-
-  std::cout << "\n\n\n" << std::endl;
-  // robot.print();
-  Values initial = robot.linearizationPoint();
-  // initial.print();
-
-  HybridValues delta = robot.optimize();
-  // delta.print();
-
-  initial.retract(delta.continuous()).print("\n\n=========");
-  std::cout << "\n\n\n" << std::endl;
-}
-
-/// A robot with a single leg - non-hybrid version.
-class SL {
-  NonlinearFactorGraph nonlinearFactorGraph_;
-  GaussianFactorGraph linearizedFactorGraph_;
-  GaussianBayesNet bayesNet_;
-  Values linearizationPoint_;
-
- public:
-  /**
-   * @brief Construct a new Single Leg object.
-   *
-   * @param K The number of discrete timesteps
-   * @param pims std::vector of preintegrated IMU measurements.
-   * @param fk std::vector of forward kinematic measurements for the leg.
-   */
-  SL(size_t K, const std::vector<Pose2>& pims, const std::vector<Pose2>& fk,
-     const std::vector<bool>& contacts) {
-    ////// Create hybrid factor graph.
-
-    auto measurement_noise = noiseModel::Isotropic::Sigma(3, 1.0);
-
-    // Add prior on the first pose
-    nonlinearFactorGraph_.emplace_shared<PriorFactor<Pose2>>(
-        X(0), Pose2(0, 2, 0), measurement_noise);
-
-    // Add measurement factors.
-    // These are the preintegrated IMU measurements of the base.
-    for (size_t k = 0; k < K - 1; k++) {
-      nonlinearFactorGraph_.emplace_shared<BetweenFactor<Pose2>>(
-          X(k), X(k + 1), pims.at(k), measurement_noise);
-    }
-
-    // Forward kinematics from base X to foot L
-    auto fk_noise = noiseModel::Isotropic::Sigma(3, 1.0);
-    for (size_t k = 0; k < K; k++) {
-      nonlinearFactorGraph_.emplace_shared<BetweenFactor<Pose2>>(
-          X(k), L(k), fk.at(k), fk_noise);
-    }
-
-    // 2 noise models where moving has a higher covariance.
-    auto stance_model = noiseModel::Isotropic::Sigma(3, 1e-4);
-    auto swing_model = noiseModel::Isotropic::Sigma(3, 1e8);
-
-    // Add "contact models" for the foot.
-    // The idea is that the robot's leg has a tight covariance for stance and
-    // loose covariance for swing.
-    using ContactFactor = BetweenFactor<Pose2>;
-
-    for (size_t k = 0; k < K - 1; k++) {
-      KeyVector keys = {L(k), L(k + 1)};
-      ContactFactor::shared_ptr factor;
-      if (contacts[k] && contacts[k + 1]) {
-        // stance
-        std::cout << "stance 11" << std::endl;
-        factor = boost::make_shared<ContactFactor>(
-            keys.at(0), keys.at(1), Pose2(0, 0, 0), stance_model);
-      } else if (contacts[k] && !contacts[k + 1]) {
-        // toe-off
-        std::cout << "toe-off 10" << std::endl;
-        factor = boost::make_shared<ContactFactor>(keys.at(0), keys.at(1),
-                                                   Pose2(0, 0, 0), swing_model);
-      } else if (!contacts[k] && contacts[k + 1]) {
-        // land
-        std::cout << "land 01" << std::endl;
-        factor = boost::make_shared<ContactFactor>(keys.at(0), keys.at(1),
-                                                   Pose2(0, 0, 0), swing_model);
-      } else if (!contacts[k] && !contacts[k + 1]) {
-        // swing
-        std::cout << "swing 00" << std::endl;
-        factor = boost::make_shared<ContactFactor>(keys.at(0), keys.at(1),
-                                                   Pose2(0, 0, 0), swing_model);
-      }
-
-      nonlinearFactorGraph_.push_back(factor);
-    }
-
-    // Create the linearization point.
-    for (size_t k = 0; k < K; k++) {
-      linearizationPoint_.insert<Pose2>(X(k), Pose2(k, 2, 0));
-      linearizationPoint_.insert<Pose2>(L(k), Pose2(0, 0, 0));
-    }
-
-    linearizedFactorGraph_ =
-        *nonlinearFactorGraph_.linearize(linearizationPoint_);
-  }
-
-  void print() const {
-    nonlinearFactorGraph_.print();
-    linearizationPoint_.print();
-    linearizedFactorGraph_.print();
-  }
-
-  VectorValues optimize() {
-    bayesNet_ = *linearizedFactorGraph_.eliminateSequential();
-
-    // bayesNet->print();
-    VectorValues delta = bayesNet_.optimize();
-    return delta;
-  }
-
-  Values linearizationPoint() const { return linearizationPoint_; }
-  NonlinearFactorGraph nonlinearFactorGraph() const {
-    return nonlinearFactorGraph_;
-  }
-  GaussianFactorGraph linearizedFactorGraph() const {
-    return linearizedFactorGraph_;
-  }
-  GaussianBayesNet bayesNet() const { return bayesNet_; }
-};
-
-/* ****************************************************************************/
-TEST(Estimation, LR) {
-  std::vector<Pose2> pims = {Pose2(1, 0, 0)};
-  // Leg is in stance throughout
-  // std::vector<Pose2> fk = {Pose2(0, -2, 0), Pose2(-1, -2, 0)};
-  // Leg is in swing
-  // std::vector<Pose2> fk = {Pose2(0, -1, 0), Pose2(0, -1, 0)};
-  // Leg is in toe-off
-  // std::vector<Pose2> fk = {Pose2(0, -2, 0), Pose2(0, -1, 0)};
-  // Leg is in land
-  std::vector<Pose2> fk = {Pose2(0, -1, 0), Pose2(0, -2, 0)};
-
-  vector<bool> contacts;
-  contacts = {1, 1};
-  SL robot11(2, pims, fk, contacts);
-  VectorValues delta = robot11.optimize();
-  // robot11.nonlinearFactorGraph().print();
-  std::cout << "Error with optimized delta: " << robot11.bayesNet().error(delta)
-            << std::endl;
-  robot11.linearizationPoint().retract(delta).print();
-  std::cout << "\n===========================\n\n" << std::endl;
-
-  contacts = {1, 0};
-  SL robot10(2, pims, fk, contacts);
-  delta = robot10.optimize();
-  // robot10.nonlinearFactorGraph().print();
-  std::cout << "Error with optimized delta: " << robot10.bayesNet().error(delta)
-            << std::endl;
-  robot10.linearizationPoint().retract(delta).print();
-  std::cout << "\n===========================\n\n" << std::endl;
-
-  contacts = {0, 1};
-  SL robot01(2, pims, fk, contacts);
-  delta = robot01.optimize();
-  // robot01.nonlinearFactorGraph().print();
-  std::cout << "Error with optimized delta: " << robot01.bayesNet().error(delta)
-            << std::endl;
-  robot01.linearizationPoint().retract(delta).print();
-  std::cout << "\n===========================\n\n" << std::endl;
-
-  contacts = {0, 0};
-  SL robot00(2, pims, fk, contacts);
-  delta = robot00.optimize();
-  // robot00.nonlinearFactorGraph().print();
-  std::cout << "Error with optimized delta: " << robot00.bayesNet().error(delta)
-            << std::endl;
-  robot00.linearizationPoint().retract(delta).print();
-  std::cout << "\n===========================\n\n" << std::endl;
-}
-
-/* ************************************************************************* */
-int main() {
-  TestResult tr;
-  return TestRegistry::runAllTests(tr);
-}
-/* ************************************************************************* */

From 0faf2226d46ff355e2bf5374d01131d595d3b39e Mon Sep 17 00:00:00 2001
From: Varun Agrawal <varagrawal@gmail.com>
Date: Thu, 13 Oct 2022 11:10:42 -0400
Subject: [PATCH 394/433] remove leftover comment

---
 gtsam/hybrid/GaussianMixture.cpp | 1 -
 1 file changed, 1 deletion(-)

diff --git a/gtsam/hybrid/GaussianMixture.cpp b/gtsam/hybrid/GaussianMixture.cpp
index 244d527388..5172a97983 100644
--- a/gtsam/hybrid/GaussianMixture.cpp
+++ b/gtsam/hybrid/GaussianMixture.cpp
@@ -122,7 +122,6 @@ void GaussianMixture::print(const std::string &s,
         if (gf && !gf->empty()) {
           gf->print("", formatter);
           return rd.str();
-          // return "Node()";
         } else {
           return "nullptr";
         }

From d387d2cf3f3476c755843afb0da155acecf0260c Mon Sep 17 00:00:00 2001
From: Varun Agrawal <varagrawal@gmail.com>
Date: Fri, 14 Oct 2022 16:44:06 -0400
Subject: [PATCH 395/433] update switching example to accept measurements in
 constructor

---
 gtsam/hybrid/tests/Switching.h | 14 +++++++++++---
 1 file changed, 11 insertions(+), 3 deletions(-)

diff --git a/gtsam/hybrid/tests/Switching.h b/gtsam/hybrid/tests/Switching.h
index 3ae8f0bb1c..a1bad79bc0 100644
--- a/gtsam/hybrid/tests/Switching.h
+++ b/gtsam/hybrid/tests/Switching.h
@@ -131,17 +131,25 @@ struct Switching {
    * @param between_sigma The stddev between poses.
    * @param prior_sigma The stddev on priors (also used for measurements).
    */
-  Switching(size_t K, double between_sigma = 1.0, double prior_sigma = 0.1)
+  Switching(size_t K, double between_sigma = 1.0, double prior_sigma = 0.1,
+            std::vector<double> measurements = {})
       : K(K) {
     // Create DiscreteKeys for binary K modes, modes[0] will not be used.
     for (size_t k = 0; k <= K; k++) {
       modes.emplace_back(M(k), 2);
     }
 
+    // If measurements are not provided, we just have the robot moving forward.
+    if (measurements.size() == 0) {
+      for (size_t k = 1; k <= K; k++) {
+        measurements.push_back(k - 1);
+      }
+    }
+
     // Create hybrid factor graph.
     // Add a prior on X(1).
     auto prior = boost::make_shared<PriorFactor<double>>(
-        X(1), 0, noiseModel::Isotropic::Sigma(1, prior_sigma));
+        X(1), measurements.at(0), noiseModel::Isotropic::Sigma(1, prior_sigma));
     nonlinearFactorGraph.push_nonlinear(prior);
 
     // Add "motion models".
@@ -160,7 +168,7 @@ struct Switching {
     auto measurement_noise = noiseModel::Isotropic::Sigma(1, prior_sigma);
     for (size_t k = 2; k <= K; k++) {
       nonlinearFactorGraph.emplace_nonlinear<PriorFactor<double>>(
-          X(k), 1.0 * (k - 1), measurement_noise);
+          X(k), measurements.at(k - 1), measurement_noise);
     }
 
     // Add "mode chain"

From 40d38651ccc3d93f59ed4406d3ff9cb304caa600 Mon Sep 17 00:00:00 2001
From: Varun Agrawal <varagrawal@gmail.com>
Date: Fri, 14 Oct 2022 16:44:38 -0400
Subject: [PATCH 396/433] rename discreteFactor to decisionTree

---
 gtsam/hybrid/HybridBayesNet.cpp | 6 +++---
 1 file changed, 3 insertions(+), 3 deletions(-)

diff --git a/gtsam/hybrid/HybridBayesNet.cpp b/gtsam/hybrid/HybridBayesNet.cpp
index cc27600f09..8bce45c518 100644
--- a/gtsam/hybrid/HybridBayesNet.cpp
+++ b/gtsam/hybrid/HybridBayesNet.cpp
@@ -45,7 +45,7 @@ DecisionTreeFactor::shared_ptr HybridBayesNet::discreteConditionals() const {
 HybridBayesNet HybridBayesNet::prune(size_t maxNrLeaves) const {
   // Get the decision tree of only the discrete keys
   auto discreteConditionals = this->discreteConditionals();
-  const DecisionTreeFactor::shared_ptr discreteFactor =
+  const DecisionTreeFactor::shared_ptr decisionTree =
       boost::make_shared<DecisionTreeFactor>(
           discreteConditionals->prune(maxNrLeaves));
 
@@ -59,7 +59,7 @@ HybridBayesNet HybridBayesNet::prune(size_t maxNrLeaves) const {
   HybridBayesNet prunedBayesNetFragment;
 
   // Go through all the conditionals in the
-  // Bayes Net and prune them as per discreteFactor.
+  // Bayes Net and prune them as per decisionTree.
   for (size_t i = 0; i < this->size(); i++) {
     HybridConditional::shared_ptr conditional = this->at(i);
 
@@ -69,7 +69,7 @@ HybridBayesNet HybridBayesNet::prune(size_t maxNrLeaves) const {
       // Make a copy of the gaussian mixture and prune it!
       auto prunedGaussianMixture =
           boost::make_shared<GaussianMixture>(*gaussianMixture);
-      prunedGaussianMixture->prune(*discreteFactor);
+      prunedGaussianMixture->prune(*decisionTree);
 
       // Type-erase and add to the pruned Bayes Net fragment.
       prunedBayesNetFragment.push_back(

From 82f328b80800cdd75f09aa514353d5c58b12759e Mon Sep 17 00:00:00 2001
From: Varun Agrawal <varagrawal@gmail.com>
Date: Thu, 20 Oct 2022 15:43:29 -0400
Subject: [PATCH 397/433] expose DiscreteKeysAsSet as a function

---
 gtsam/hybrid/GaussianMixture.cpp | 1 -
 gtsam/hybrid/GaussianMixture.h   | 3 +++
 2 files changed, 3 insertions(+), 1 deletion(-)

diff --git a/gtsam/hybrid/GaussianMixture.cpp b/gtsam/hybrid/GaussianMixture.cpp
index 5172a97983..fa0cc189b6 100644
--- a/gtsam/hybrid/GaussianMixture.cpp
+++ b/gtsam/hybrid/GaussianMixture.cpp
@@ -129,7 +129,6 @@ void GaussianMixture::print(const std::string &s,
 }
 
 /* ************************************************************************* */
-/// Return the DiscreteKey vector as a set.
 std::set<DiscreteKey> DiscreteKeysAsSet(const DiscreteKeys &dkeys) {
   std::set<DiscreteKey> s;
   s.insert(dkeys.begin(), dkeys.end());
diff --git a/gtsam/hybrid/GaussianMixture.h b/gtsam/hybrid/GaussianMixture.h
index 9792a85323..7c1cde4cf3 100644
--- a/gtsam/hybrid/GaussianMixture.h
+++ b/gtsam/hybrid/GaussianMixture.h
@@ -162,6 +162,9 @@ class GTSAM_EXPORT GaussianMixture
   Sum add(const Sum &sum) const;
 };
 
+/// Return the DiscreteKey vector as a set.
+std::set<DiscreteKey> DiscreteKeysAsSet(const DiscreteKeys &dkeys);
+
 // traits
 template <>
 struct traits<GaussianMixture> : public Testable<GaussianMixture> {};

From 949958dc6ec3226c830023a8ec026abf41add40b Mon Sep 17 00:00:00 2001
From: Varun Agrawal <varagrawal@gmail.com>
Date: Thu, 20 Oct 2022 16:35:14 -0400
Subject: [PATCH 398/433] new updateDiscreteConditionals method for after we
 prune

---
 gtsam/hybrid/HybridBayesNet.cpp           | 89 ++++++++++++++++++++++-
 gtsam/hybrid/HybridBayesNet.h             | 11 ++-
 gtsam/hybrid/tests/testHybridBayesNet.cpp | 49 +++++++++++++
 3 files changed, 146 insertions(+), 3 deletions(-)

diff --git a/gtsam/hybrid/HybridBayesNet.cpp b/gtsam/hybrid/HybridBayesNet.cpp
index 8bce45c518..a641363846 100644
--- a/gtsam/hybrid/HybridBayesNet.cpp
+++ b/gtsam/hybrid/HybridBayesNet.cpp
@@ -42,13 +42,100 @@ DecisionTreeFactor::shared_ptr HybridBayesNet::discreteConditionals() const {
 }
 
 /* ************************************************************************* */
-HybridBayesNet HybridBayesNet::prune(size_t maxNrLeaves) const {
+/**
+ * @brief Helper function to get the pruner functional.
+ *
+ * @param decisionTree The probability decision tree of only discrete keys.
+ * @return std::function<GaussianConditional::shared_ptr(
+ * const Assignment<Key> &, const GaussianConditional::shared_ptr &)>
+ */
+std::function<double(const Assignment<Key> &, double)> prunerFunc(
+    const DecisionTreeFactor &decisionTree,
+    const HybridConditional &conditional) {
+  // Get the discrete keys as sets for the decision tree
+  // and the gaussian mixture.
+  auto decisionTreeKeySet = DiscreteKeysAsSet(decisionTree.discreteKeys());
+  auto conditionalKeySet = DiscreteKeysAsSet(conditional.discreteKeys());
+
+  auto pruner = [decisionTree, decisionTreeKeySet, conditionalKeySet](
+                    const Assignment<Key> &choices,
+                    double probability) -> double {
+    // typecast so we can use this to get probability value
+    DiscreteValues values(choices);
+    // Case where the gaussian mixture has the same
+    // discrete keys as the decision tree.
+    if (conditionalKeySet == decisionTreeKeySet) {
+      if (decisionTree(values) == 0) {
+        return 0.0;
+      } else {
+        return probability;
+      }
+    } else {
+      std::vector<DiscreteKey> set_diff;
+      std::set_difference(decisionTreeKeySet.begin(), decisionTreeKeySet.end(),
+                          conditionalKeySet.begin(), conditionalKeySet.end(),
+                          std::back_inserter(set_diff));
+
+      const std::vector<DiscreteValues> assignments =
+          DiscreteValues::CartesianProduct(set_diff);
+      for (const DiscreteValues &assignment : assignments) {
+        DiscreteValues augmented_values(values);
+        augmented_values.insert(assignment.begin(), assignment.end());
+
+        // If any one of the sub-branches are non-zero,
+        // we need this probability.
+        if (decisionTree(augmented_values) > 0.0) {
+          return probability;
+        }
+      }
+      // If we are here, it means that all the sub-branches are 0,
+      // so we prune.
+      return 0.0;
+    }
+  };
+  return pruner;
+}
+
+/* ************************************************************************* */
+void HybridBayesNet::updateDiscreteConditionals(
+    const DecisionTreeFactor::shared_ptr &prunedDecisionTree) {
+  KeyVector prunedTreeKeys = prunedDecisionTree->keys();
+
+  for (size_t i = 0; i < this->size(); i++) {
+    HybridConditional::shared_ptr conditional = this->at(i);
+    if (conditional->isDiscrete()) {
+      // std::cout << demangle(typeid(conditional).name()) << std::endl;
+      auto discrete = conditional->asDiscreteConditional();
+      KeyVector frontals(discrete->frontals().begin(),
+                         discrete->frontals().end());
+
+      // Apply prunerFunc to the underlying AlgebraicDecisionTree
+      auto discreteTree =
+          boost::dynamic_pointer_cast<DecisionTreeFactor::ADT>(discrete);
+      DecisionTreeFactor::ADT prunedDiscreteTree =
+          discreteTree->apply(prunerFunc(*prunedDecisionTree, *conditional));
+
+      // Create the new (hybrid) conditional
+      auto prunedDiscrete = boost::make_shared<DiscreteLookupTable>(
+          frontals.size(), conditional->discreteKeys(), prunedDiscreteTree);
+      conditional = boost::make_shared<HybridConditional>(prunedDiscrete);
+
+      // Add it back to the BayesNet
+      this->at(i) = conditional;
+    }
+  }
+}
+
+/* ************************************************************************* */
+HybridBayesNet HybridBayesNet::prune(size_t maxNrLeaves) {
   // Get the decision tree of only the discrete keys
   auto discreteConditionals = this->discreteConditionals();
   const DecisionTreeFactor::shared_ptr decisionTree =
       boost::make_shared<DecisionTreeFactor>(
           discreteConditionals->prune(maxNrLeaves));
 
+  this->updateDiscreteConditionals(decisionTree);
+
   /* To Prune, we visitWith every leaf in the GaussianMixture.
    * For each leaf, using the assignment we can check the discrete decision tree
    * for 0.0 probability, then just set the leaf to a nullptr.
diff --git a/gtsam/hybrid/HybridBayesNet.h b/gtsam/hybrid/HybridBayesNet.h
index b8234d70ab..87e6c5db67 100644
--- a/gtsam/hybrid/HybridBayesNet.h
+++ b/gtsam/hybrid/HybridBayesNet.h
@@ -111,7 +111,6 @@ class GTSAM_EXPORT HybridBayesNet : public BayesNet<HybridConditional> {
    */
   VectorValues optimize(const DiscreteValues &assignment) const;
 
- protected:
   /**
    * @brief Get all the discrete conditionals as a decision tree factor.
    *
@@ -121,11 +120,19 @@ class GTSAM_EXPORT HybridBayesNet : public BayesNet<HybridConditional> {
 
  public:
   /// Prune the Hybrid Bayes Net such that we have at most maxNrLeaves leaves.
-  HybridBayesNet prune(size_t maxNrLeaves) const;
+  HybridBayesNet prune(size_t maxNrLeaves);
 
   /// @}
 
  private:
+  /**
+   * @brief Update the discrete conditionals with the pruned versions.
+   *
+   * @param prunedDecisionTree
+   */
+  void updateDiscreteConditionals(
+      const DecisionTreeFactor::shared_ptr &prunedDecisionTree);
+
   /** Serialization function */
   friend class boost::serialization::access;
   template <class ARCHIVE>
diff --git a/gtsam/hybrid/tests/testHybridBayesNet.cpp b/gtsam/hybrid/tests/testHybridBayesNet.cpp
index 5885fdcdcc..fc353f9c1f 100644
--- a/gtsam/hybrid/tests/testHybridBayesNet.cpp
+++ b/gtsam/hybrid/tests/testHybridBayesNet.cpp
@@ -201,6 +201,55 @@ TEST(HybridBayesNet, Prune) {
   EXPECT(assert_equal(delta.continuous(), pruned_delta.continuous()));
 }
 
+/* ****************************************************************************/
+// Test bayes net updateDiscreteConditionals
+TEST(HybridBayesNet, UpdateDiscreteConditionals) {
+  Switching s(4);
+
+  Ordering hybridOrdering = s.linearizedFactorGraph.getHybridOrdering();
+  HybridBayesNet::shared_ptr hybridBayesNet =
+      s.linearizedFactorGraph.eliminateSequential(hybridOrdering);
+
+  size_t maxNrLeaves = 3;
+  auto discreteConditionals = hybridBayesNet->discreteConditionals();
+  const DecisionTreeFactor::shared_ptr prunedDecisionTree =
+      boost::make_shared<DecisionTreeFactor>(
+          discreteConditionals->prune(maxNrLeaves));
+
+  EXPECT_LONGS_EQUAL(maxNrLeaves + 2 /*2 zero leaves*/,
+                     prunedDecisionTree->nrLeaves());
+
+  auto original_discrete_conditionals =
+      *(hybridBayesNet->at(4)->asDiscreteConditional());
+
+  // Prune!
+  hybridBayesNet->prune(maxNrLeaves);
+
+  // Functor to verify values against the original_discrete_conditionals
+  auto checker = [&](const Assignment<Key>& assignment,
+                     double probability) -> double {
+    // typecast so we can use this to get probability value
+    DiscreteValues choices(assignment);
+    if (prunedDecisionTree->operator()(choices) == 0) {
+      EXPECT_DOUBLES_EQUAL(0.0, probability, 1e-9);
+    } else {
+      EXPECT_DOUBLES_EQUAL(original_discrete_conditionals(choices), probability,
+                           1e-9);
+    }
+    return 0.0;
+  };
+
+  // Get the pruned discrete conditionals as an AlgebraicDecisionTree
+  auto pruned_discrete_conditionals =
+      hybridBayesNet->at(4)->asDiscreteConditional();
+  auto discrete_conditional_tree =
+      boost::dynamic_pointer_cast<DecisionTreeFactor::ADT>(
+          pruned_discrete_conditionals);
+
+  // The checker functor verifies the values for us.
+  discrete_conditional_tree->apply(checker);
+}
+
 /* ****************************************************************************/
 // Test HybridBayesNet serialization.
 TEST(HybridBayesNet, Serialization) {

From cc78a14a466e35e3e14dd32b02b605d5f9265e6f Mon Sep 17 00:00:00 2001
From: Varun Agrawal <varagrawal@gmail.com>
Date: Thu, 20 Oct 2022 16:47:45 -0400
Subject: [PATCH 399/433] HybridSmoother based on BayesNet

---
 gtsam/hybrid/HybridSmoother.cpp | 114 ++++++++++++++++++++++++++++++++
 gtsam/hybrid/HybridSmoother.h   |  73 ++++++++++++++++++++
 2 files changed, 187 insertions(+)
 create mode 100644 gtsam/hybrid/HybridSmoother.cpp
 create mode 100644 gtsam/hybrid/HybridSmoother.h

diff --git a/gtsam/hybrid/HybridSmoother.cpp b/gtsam/hybrid/HybridSmoother.cpp
new file mode 100644
index 0000000000..585ca53098
--- /dev/null
+++ b/gtsam/hybrid/HybridSmoother.cpp
@@ -0,0 +1,114 @@
+/* ----------------------------------------------------------------------------
+
+ * GTSAM Copyright 2010, Georgia Tech Research Corporation,
+ * Atlanta, Georgia 30332-0415
+ * All Rights Reserved
+ * Authors: Frank Dellaert, et al. (see THANKS for the full author list)
+
+ * See LICENSE for the license information
+
+ * -------------------------------------------------------------------------- */
+
+/**
+ * @file    HybridSmoother.cpp
+ * @brief   An incremental smoother for hybrid factor graphs
+ * @author  Varun Agrawal
+ * @date    October 2022
+ */
+
+#include <gtsam/hybrid/HybridSmoother.h>
+
+#include <algorithm>
+#include <unordered_set>
+
+namespace gtsam {
+
+/* ************************************************************************* */
+void HybridSmoother::update(HybridGaussianFactorGraph graph,
+                            const Ordering &ordering,
+                            boost::optional<size_t> maxNrLeaves) {
+  // Add the necessary conditionals from the previous timestep(s).
+  std::tie(graph, hybridBayesNet_) =
+      addConditionals(graph, hybridBayesNet_, ordering);
+
+  // Eliminate.
+  auto bayesNetFragment = graph.eliminateSequential(ordering);
+
+  /// Prune
+  if (maxNrLeaves) {
+    // `pruneBayesNet` sets the leaves with 0 in discreteFactor to nullptr in
+    // all the conditionals with the same keys in bayesNetFragment.
+    HybridBayesNet prunedBayesNetFragment =
+        bayesNetFragment->prune(*maxNrLeaves);
+    // Set the bayes net fragment to the pruned version
+    bayesNetFragment =
+        boost::make_shared<HybridBayesNet>(prunedBayesNetFragment);
+  }
+
+  // Add the partial bayes net to the posterior bayes net.
+  hybridBayesNet_.push_back<HybridBayesNet>(*bayesNetFragment);
+
+  tictoc_print_();
+}
+
+/* ************************************************************************* */
+std::pair<HybridGaussianFactorGraph, HybridBayesNet>
+HybridSmoother::addConditionals(const HybridGaussianFactorGraph &originalGraph,
+                                const HybridBayesNet &originalHybridBayesNet,
+                                const Ordering &ordering) const {
+  HybridGaussianFactorGraph graph(originalGraph);
+  HybridBayesNet hybridBayesNet(originalHybridBayesNet);
+
+  // If we are not at the first iteration, means we have conditionals to add.
+  if (!hybridBayesNet.empty()) {
+    // We add all relevant conditional mixtures on the last continuous variable
+    // in the previous `hybridBayesNet` to the graph
+
+    // Conditionals to remove from the bayes net
+    // since the conditional will be updated.
+    std::vector<HybridConditional::shared_ptr> conditionals_to_erase;
+
+    // New conditionals to add to the graph
+    gtsam::HybridBayesNet newConditionals;
+
+    // NOTE(Varun) Using a for-range loop doesn't work since some of the
+    // conditionals are invalid pointers
+    for (size_t i = 0; i < hybridBayesNet.size(); i++) {
+      auto conditional = hybridBayesNet.at(i);
+
+      for (auto &key : conditional->frontals()) {
+        if (std::find(ordering.begin(), ordering.end(), key) !=
+            ordering.end()) {
+          newConditionals.push_back(conditional);
+          conditionals_to_erase.push_back(conditional);
+
+          break;
+        }
+      }
+    }
+    // Remove conditionals at the end so we don't affect the order in the
+    // original bayes net.
+    for (auto &&conditional : conditionals_to_erase) {
+      auto it = find(hybridBayesNet.begin(), hybridBayesNet.end(), conditional);
+      hybridBayesNet.erase(it);
+    }
+
+    graph.push_back(newConditionals);
+    // newConditionals.print("\n\n\nNew Conditionals to add back");
+  }
+  return {graph, hybridBayesNet};
+}
+
+/* ************************************************************************* */
+GaussianMixture::shared_ptr HybridSmoother::gaussianMixture(
+    size_t index) const {
+  return boost::dynamic_pointer_cast<GaussianMixture>(
+      hybridBayesNet_.at(index));
+}
+
+/* ************************************************************************* */
+const HybridBayesNet &HybridSmoother::hybridBayesNet() const {
+  return hybridBayesNet_;
+}
+
+}  // namespace gtsam
diff --git a/gtsam/hybrid/HybridSmoother.h b/gtsam/hybrid/HybridSmoother.h
new file mode 100644
index 0000000000..7e90f9425d
--- /dev/null
+++ b/gtsam/hybrid/HybridSmoother.h
@@ -0,0 +1,73 @@
+/* ----------------------------------------------------------------------------
+
+ * GTSAM Copyright 2010, Georgia Tech Research Corporation,
+ * Atlanta, Georgia 30332-0415
+ * All Rights Reserved
+ * Authors: Frank Dellaert, et al. (see THANKS for the full author list)
+
+ * See LICENSE for the license information
+
+ * -------------------------------------------------------------------------- */
+
+/**
+ * @file    HybridSmoother.h
+ * @brief   An incremental smoother for hybrid factor graphs
+ * @author  Varun Agrawal
+ * @date    October 2022
+ */
+
+#include <gtsam/discrete/DiscreteFactorGraph.h>
+#include <gtsam/hybrid/HybridBayesNet.h>
+#include <gtsam/hybrid/HybridGaussianFactorGraph.h>
+
+namespace gtsam {
+
+class HybridSmoother {
+ private:
+  HybridBayesNet hybridBayesNet_;
+  HybridGaussianFactorGraph remainingFactorGraph_;
+
+ public:
+  /**
+   * Given new factors, perform an incremental update.
+   * The relevant densities in the `hybridBayesNet` will be added to the input
+   * graph (fragment), and then eliminated according to the `ordering`
+   * presented. The remaining factor graph contains Gaussian mixture factors
+   * that are not connected to the variables in the ordering, or a single
+   * discrete factor on all discrete keys, plus all discrete factors in the
+   * original graph.
+   *
+   * \note If maxComponents is given, we look at the discrete factor resulting
+   * from this elimination, and prune it and the Gaussian components
+   * corresponding to the pruned choices.
+   *
+   * @param graph The new factors, should be linear only
+   * @param ordering The ordering for elimination, only continuous vars are
+   * allowed
+   * @param maxNrLeaves The maximum number of leaves in the new discrete factor,
+   * if applicable
+   */
+  void update(HybridGaussianFactorGraph graph, const Ordering& ordering,
+              boost::optional<size_t> maxNrLeaves = boost::none);
+
+  /**
+   * @brief Add conditionals from previous timestep as part of liquefication.
+   *
+   * @param graph The new factor graph for the current time step.
+   * @param hybridBayesNet The hybrid bayes net containing all conditionals so
+   * far.
+   * @param ordering The elimination ordering.
+   * @return std::pair<HybridGaussianFactorGraph, HybridBayesNet>
+   */
+  std::pair<HybridGaussianFactorGraph, HybridBayesNet> addConditionals(
+      const HybridGaussianFactorGraph& graph,
+      const HybridBayesNet& hybridBayesNet, const Ordering& ordering) const;
+
+  /// Get the Gaussian Mixture from the Bayes Net posterior at `index`.
+  GaussianMixture::shared_ptr gaussianMixture(size_t index) const;
+
+  /// Return the Bayes Net posterior.
+  const HybridBayesNet& hybridBayesNet() const;
+};
+
+};  // namespace gtsam

From 453870e43e736a5ab9d978ed11e5122d44538472 Mon Sep 17 00:00:00 2001
From: Varun Agrawal <varagrawal@gmail.com>
Date: Thu, 20 Oct 2022 16:49:22 -0400
Subject: [PATCH 400/433] unit test for end-2-end hybrid estimation

---
 gtsam/hybrid/tests/testHybridEstimation.cpp | 123 ++++++++++++++++++++
 1 file changed, 123 insertions(+)
 create mode 100644 gtsam/hybrid/tests/testHybridEstimation.cpp

diff --git a/gtsam/hybrid/tests/testHybridEstimation.cpp b/gtsam/hybrid/tests/testHybridEstimation.cpp
new file mode 100644
index 0000000000..4ef245e223
--- /dev/null
+++ b/gtsam/hybrid/tests/testHybridEstimation.cpp
@@ -0,0 +1,123 @@
+/* ----------------------------------------------------------------------------
+
+ * GTSAM Copyright 2010, Georgia Tech Research Corporation,
+ * Atlanta, Georgia 30332-0415
+ * All Rights Reserved
+ * Authors: Frank Dellaert, et al. (see THANKS for the full author list)
+
+ * See LICENSE for the license information
+
+ * -------------------------------------------------------------------------- */
+
+/**
+ * @file    testHybridEstimation.cpp
+ * @brief   Unit tests for end-to-end Hybrid Estimation
+ * @author  Varun Agrawal
+ */
+
+#include <gtsam/geometry/Pose2.h>
+#include <gtsam/hybrid/HybridBayesNet.h>
+#include <gtsam/hybrid/HybridNonlinearFactorGraph.h>
+#include <gtsam/hybrid/HybridNonlinearISAM.h>
+#include <gtsam/hybrid/HybridSmoother.h>
+#include <gtsam/hybrid/MixtureFactor.h>
+#include <gtsam/inference/Symbol.h>
+#include <gtsam/linear/GaussianBayesNet.h>
+#include <gtsam/linear/GaussianFactorGraph.h>
+#include <gtsam/linear/JacobianFactor.h>
+#include <gtsam/linear/NoiseModel.h>
+#include <gtsam/nonlinear/NonlinearFactorGraph.h>
+#include <gtsam/nonlinear/PriorFactor.h>
+#include <gtsam/slam/BetweenFactor.h>
+
+// Include for test suite
+#include <CppUnitLite/TestHarness.h>
+
+#include "Switching.h"
+
+using namespace std;
+using namespace gtsam;
+
+using symbol_shorthand::X;
+
+Ordering getOrdering(HybridGaussianFactorGraph& factors,
+                     const HybridGaussianFactorGraph& newFactors) {
+  factors += newFactors;
+  // Get all the discrete keys from the factors
+  KeySet allDiscrete = factors.discreteKeys();
+
+  // Create KeyVector with continuous keys followed by discrete keys.
+  KeyVector newKeysDiscreteLast;
+  const KeySet newFactorKeys = newFactors.keys();
+  // Insert continuous keys first.
+  for (auto& k : newFactorKeys) {
+    if (!allDiscrete.exists(k)) {
+      newKeysDiscreteLast.push_back(k);
+    }
+  }
+
+  // Insert discrete keys at the end
+  std::copy(allDiscrete.begin(), allDiscrete.end(),
+            std::back_inserter(newKeysDiscreteLast));
+
+  const VariableIndex index(factors);
+
+  // Get an ordering where the new keys are eliminated last
+  Ordering ordering = Ordering::ColamdConstrainedLast(
+      index, KeyVector(newKeysDiscreteLast.begin(), newKeysDiscreteLast.end()),
+      true);
+  return ordering;
+}
+
+/****************************************************************************/
+// Test approximate inference with an additional pruning step.
+TEST(HybridNonlinearISAM, Incremental) {
+  size_t K = 10;
+  std::vector<double> measurements = {0, 1, 2, 2, 2, 2, 3, 4, 5, 6, 6};
+  // Ground truth discrete seq
+  std::vector<size_t> discrete_seq = {1, 1, 0, 0, 0, 1, 1, 1, 1, 0};
+  Switching switching(K, 1.0, 0.1, measurements);
+  // HybridNonlinearISAM smoother;
+  HybridSmoother smoother;
+  HybridNonlinearFactorGraph graph;
+  Values initial;
+
+  // switching.nonlinearFactorGraph.print();
+  // switching.linearizationPoint.print();
+  // Add the X(1) prior
+  graph.push_back(switching.nonlinearFactorGraph.at(0));
+  initial.insert(X(1), switching.linearizationPoint.at<double>(X(1)));
+
+  HybridGaussianFactorGraph linearized;
+  HybridGaussianFactorGraph bayesNet;
+
+  for (size_t k = 1; k < K; k++) {
+    // Motion Model
+    graph.push_back(switching.nonlinearFactorGraph.at(k));
+    // Measurement
+    graph.push_back(switching.nonlinearFactorGraph.at(k + K - 1));
+
+    initial.insert(X(k + 1), switching.linearizationPoint.at<double>(X(k + 1)));
+
+    // std::cout << "\n=============  " << k << std::endl;
+    // graph.print();
+
+    bayesNet = smoother.hybridBayesNet();
+    linearized = *graph.linearize(initial);
+    Ordering ordering = getOrdering(bayesNet, linearized);
+
+    ordering.print();
+    smoother.update(linearized, ordering, 3);
+    // if (k == 2) exit(0);
+    // smoother.hybridBayesNet().print();
+    graph.resize(0);
+    // initial.clear();
+  }
+}
+
+/* ************************************************************************* */
+int main() {
+  TestResult tr;
+  return TestRegistry::runAllTests(tr);
+}
+/* ************************************************************************* */

From 749907180274dda393e92a1b5019f43bcd49819e Mon Sep 17 00:00:00 2001
From: Maurice Fallon <mauricefallon@gmail.com>
Date: Sat, 22 Oct 2022 18:57:41 +0100
Subject: [PATCH 401/433] fix typo in g2o file format parsing

---
 gtsam/slam/dataset.cpp | 10 +++++-----
 1 file changed, 5 insertions(+), 5 deletions(-)

diff --git a/gtsam/slam/dataset.cpp b/gtsam/slam/dataset.cpp
index 71dd64dbb6..65bddccee6 100644
--- a/gtsam/slam/dataset.cpp
+++ b/gtsam/slam/dataset.cpp
@@ -853,12 +853,12 @@ template <> struct ParseMeasurement<Pose3> {
       if (sampler)
         T12 = T12.retract(sampler->sample());
 
-      // EDGE_SE3:QUAT stores covariance in t,R order, unlike GTSAM:
+      // EDGE_SE3:QUAT stores information/precision in t,R order, unlike GTSAM:
       Matrix6 mgtsam;
-      mgtsam.block<3, 3>(0, 0) = m.block<3, 3>(3, 3); // cov rotation
-      mgtsam.block<3, 3>(3, 3) = m.block<3, 3>(0, 0); // cov translation
-      mgtsam.block<3, 3>(0, 3) = m.block<3, 3>(0, 3); // off diagonal
-      mgtsam.block<3, 3>(3, 0) = m.block<3, 3>(3, 0); // off diagonal
+      mgtsam.block<3, 3>(0, 0) = m.block<3, 3>(3, 3); // info rotation
+      mgtsam.block<3, 3>(3, 3) = m.block<3, 3>(0, 0); // info translation
+      mgtsam.block<3, 3>(3, 0) = m.block<3, 3>(0, 3); // off diagonal swap
+      mgtsam.block<3, 3>(0, 3) = m.block<3, 3>(3, 0); // off diagonal swap
       SharedNoiseModel model = noiseModel::Gaussian::Information(mgtsam);
 
       return BinaryMeasurement<Pose3>(

From 58a15c3385bb7fa3b9b14f78a059d9e78c0a182b Mon Sep 17 00:00:00 2001
From: Varun Agrawal <varagrawal@gmail.com>
Date: Sat, 22 Oct 2022 18:29:05 -0400
Subject: [PATCH 402/433] remove extraneous tictoc print

---
 gtsam/hybrid/HybridSmoother.cpp | 2 --
 1 file changed, 2 deletions(-)

diff --git a/gtsam/hybrid/HybridSmoother.cpp b/gtsam/hybrid/HybridSmoother.cpp
index 585ca53098..07a7a4e77a 100644
--- a/gtsam/hybrid/HybridSmoother.cpp
+++ b/gtsam/hybrid/HybridSmoother.cpp
@@ -47,8 +47,6 @@ void HybridSmoother::update(HybridGaussianFactorGraph graph,
 
   // Add the partial bayes net to the posterior bayes net.
   hybridBayesNet_.push_back<HybridBayesNet>(*bayesNetFragment);
-
-  tictoc_print_();
 }
 
 /* ************************************************************************* */

From 74d6f0548d72c1b632a89ab29b66f82b78e54951 Mon Sep 17 00:00:00 2001
From: Varun Agrawal <varagrawal@gmail.com>
Date: Sat, 22 Oct 2022 18:29:28 -0400
Subject: [PATCH 403/433] add assertions for HybridEstimation example

---
 gtsam/hybrid/tests/testHybridEstimation.cpp | 25 +++++++++++++--------
 1 file changed, 16 insertions(+), 9 deletions(-)

diff --git a/gtsam/hybrid/tests/testHybridEstimation.cpp b/gtsam/hybrid/tests/testHybridEstimation.cpp
index 4ef245e223..de978360e4 100644
--- a/gtsam/hybrid/tests/testHybridEstimation.cpp
+++ b/gtsam/hybrid/tests/testHybridEstimation.cpp
@@ -82,8 +82,6 @@ TEST(HybridNonlinearISAM, Incremental) {
   HybridNonlinearFactorGraph graph;
   Values initial;
 
-  // switching.nonlinearFactorGraph.print();
-  // switching.linearizationPoint.print();
   // Add the X(1) prior
   graph.push_back(switching.nonlinearFactorGraph.at(0));
   initial.insert(X(1), switching.linearizationPoint.at<double>(X(1)));
@@ -92,6 +90,7 @@ TEST(HybridNonlinearISAM, Incremental) {
   HybridGaussianFactorGraph bayesNet;
 
   for (size_t k = 1; k < K; k++) {
+    std::cout << ">>>>>>>>>>>>>>>>>>> k=" << k << std::endl;
     // Motion Model
     graph.push_back(switching.nonlinearFactorGraph.at(k));
     // Measurement
@@ -99,20 +98,28 @@ TEST(HybridNonlinearISAM, Incremental) {
 
     initial.insert(X(k + 1), switching.linearizationPoint.at<double>(X(k + 1)));
 
-    // std::cout << "\n=============  " << k << std::endl;
-    // graph.print();
-
     bayesNet = smoother.hybridBayesNet();
     linearized = *graph.linearize(initial);
     Ordering ordering = getOrdering(bayesNet, linearized);
 
-    ordering.print();
     smoother.update(linearized, ordering, 3);
-    // if (k == 2) exit(0);
-    // smoother.hybridBayesNet().print();
     graph.resize(0);
-    // initial.clear();
   }
+  HybridValues delta = smoother.hybridBayesNet().optimize();
+
+  Values result = initial.retract(delta.continuous());
+
+  DiscreteValues expected_discrete;
+  for (size_t k = 0; k < K - 1; k++) {
+    expected_discrete[M(k + 1)] = discrete_seq[k];
+  }
+  EXPECT(assert_equal(expected_discrete, delta.discrete()));
+
+  Values expected_continuous;
+  for (size_t k = 0; k < K; k++) {
+    expected_continuous.insert(X(k + 1), measurements[k]);
+  }
+  EXPECT(assert_equal(expected_continuous, result));
 }
 
 /* ************************************************************************* */

From 0b793997aca34ee701046744d9c14fe2c72e5c63 Mon Sep 17 00:00:00 2001
From: Varun Agrawal <varagrawal@gmail.com>
Date: Sat, 22 Oct 2022 18:29:49 -0400
Subject: [PATCH 404/433] simplify conversion of root discrete conditional

---
 gtsam/hybrid/HybridBayesTree.cpp | 4 ++--
 1 file changed, 2 insertions(+), 2 deletions(-)

diff --git a/gtsam/hybrid/HybridBayesTree.cpp b/gtsam/hybrid/HybridBayesTree.cpp
index 266b295dd5..8fdedab44f 100644
--- a/gtsam/hybrid/HybridBayesTree.cpp
+++ b/gtsam/hybrid/HybridBayesTree.cpp
@@ -146,8 +146,8 @@ VectorValues HybridBayesTree::optimize(const DiscreteValues& assignment) const {
 
 /* ************************************************************************* */
 void HybridBayesTree::prune(const size_t maxNrLeaves) {
-  auto decisionTree = boost::dynamic_pointer_cast<DecisionTreeFactor>(
-      this->roots_.at(0)->conditional()->inner());
+  auto decisionTree =
+      this->roots_.at(0)->conditional()->asDiscreteConditional();
 
   DecisionTreeFactor prunedDecisionTree = decisionTree->prune(maxNrLeaves);
   decisionTree->root_ = prunedDecisionTree.root_;

From ebb29ef33d3551149f5fbe233caccf87639b20fe Mon Sep 17 00:00:00 2001
From: Varun Agrawal <varagrawal@gmail.com>
Date: Sat, 22 Oct 2022 19:52:44 -0400
Subject: [PATCH 405/433] Make Switching test fixture 0-indexed to match iMHS
 paper

---
 gtsam/hybrid/tests/Switching.h                |  42 ++--
 gtsam/hybrid/tests/testHybridBayesNet.cpp     |  32 +--
 gtsam/hybrid/tests/testHybridBayesTree.cpp    |   8 +-
 gtsam/hybrid/tests/testHybridEstimation.cpp   |  10 +-
 .../tests/testHybridGaussianFactorGraph.cpp   |  16 +-
 gtsam/hybrid/tests/testHybridGaussianISAM.cpp | 152 ++++++-------
 .../tests/testHybridNonlinearFactorGraph.cpp  | 210 +++++++++---------
 .../hybrid/tests/testHybridNonlinearISAM.cpp  | 174 +++++++--------
 8 files changed, 327 insertions(+), 317 deletions(-)

diff --git a/gtsam/hybrid/tests/Switching.h b/gtsam/hybrid/tests/Switching.h
index a1bad79bc0..f9e1916d07 100644
--- a/gtsam/hybrid/tests/Switching.h
+++ b/gtsam/hybrid/tests/Switching.h
@@ -134,26 +134,26 @@ struct Switching {
   Switching(size_t K, double between_sigma = 1.0, double prior_sigma = 0.1,
             std::vector<double> measurements = {})
       : K(K) {
-    // Create DiscreteKeys for binary K modes, modes[0] will not be used.
-    for (size_t k = 0; k <= K; k++) {
+    // Create DiscreteKeys for binary K modes.
+    for (size_t k = 0; k < K; k++) {
       modes.emplace_back(M(k), 2);
     }
 
     // If measurements are not provided, we just have the robot moving forward.
     if (measurements.size() == 0) {
-      for (size_t k = 1; k <= K; k++) {
-        measurements.push_back(k - 1);
+      for (size_t k = 0; k < K; k++) {
+        measurements.push_back(k);
       }
     }
 
     // Create hybrid factor graph.
     // Add a prior on X(1).
     auto prior = boost::make_shared<PriorFactor<double>>(
-        X(1), measurements.at(0), noiseModel::Isotropic::Sigma(1, prior_sigma));
+        X(0), measurements.at(0), noiseModel::Isotropic::Sigma(1, prior_sigma));
     nonlinearFactorGraph.push_nonlinear(prior);
 
     // Add "motion models".
-    for (size_t k = 1; k < K; k++) {
+    for (size_t k = 0; k < K - 1; k++) {
       KeyVector keys = {X(k), X(k + 1)};
       auto motion_models = motionModels(k, between_sigma);
       std::vector<NonlinearFactor::shared_ptr> components;
@@ -166,17 +166,17 @@ struct Switching {
 
     // Add measurement factors
     auto measurement_noise = noiseModel::Isotropic::Sigma(1, prior_sigma);
-    for (size_t k = 2; k <= K; k++) {
+    for (size_t k = 1; k < K; k++) {
       nonlinearFactorGraph.emplace_nonlinear<PriorFactor<double>>(
-          X(k), measurements.at(k - 1), measurement_noise);
+          X(k), measurements.at(k), measurement_noise);
     }
 
     // Add "mode chain"
     addModeChain(&nonlinearFactorGraph);
 
     // Create the linearization point.
-    for (size_t k = 1; k <= K; k++) {
-      linearizationPoint.insert<double>(X(k), static_cast<double>(k));
+    for (size_t k = 0; k < K; k++) {
+      linearizationPoint.insert<double>(X(k), static_cast<double>(k + 1));
     }
 
     // The ground truth is robot moving forward
@@ -195,11 +195,16 @@ struct Switching {
     return {still, moving};
   }
 
-  // Add "mode chain" to HybridNonlinearFactorGraph
+  /**
+   * @brief Add "mode chain" to HybridNonlinearFactorGraph from M(0) to M(K-2).
+   * E.g. if K=4, we want M0, M1 and M2.
+   *
+   * @param fg The nonlinear factor graph to which the mode chain is added.
+   */
   void addModeChain(HybridNonlinearFactorGraph *fg) {
-    auto prior = boost::make_shared<DiscreteDistribution>(modes[1], "1/1");
+    auto prior = boost::make_shared<DiscreteDistribution>(modes[0], "1/1");
     fg->push_discrete(prior);
-    for (size_t k = 1; k < K - 1; k++) {
+    for (size_t k = 0; k < K - 2; k++) {
       auto parents = {modes[k]};
       auto conditional = boost::make_shared<DiscreteConditional>(
           modes[k + 1], parents, "1/2 3/2");
@@ -207,11 +212,16 @@ struct Switching {
     }
   }
 
-  // Add "mode chain" to HybridGaussianFactorGraph
+  /**
+   * @brief Add "mode chain" to HybridGaussianFactorGraph from M(0) to M(K-2).
+   * E.g. if K=4, we want M0, M1 and M2.
+   *
+   * @param fg The gaussian factor graph to which the mode chain is added.
+   */
   void addModeChain(HybridGaussianFactorGraph *fg) {
-    auto prior = boost::make_shared<DiscreteDistribution>(modes[1], "1/1");
+    auto prior = boost::make_shared<DiscreteDistribution>(modes[0], "1/1");
     fg->push_discrete(prior);
-    for (size_t k = 1; k < K - 1; k++) {
+    for (size_t k = 0; k < K - 2; k++) {
       auto parents = {modes[k]};
       auto conditional = boost::make_shared<DiscreteConditional>(
           modes[k + 1], parents, "1/2 3/2");
diff --git a/gtsam/hybrid/tests/testHybridBayesNet.cpp b/gtsam/hybrid/tests/testHybridBayesNet.cpp
index fc353f9c1f..e1fe724695 100644
--- a/gtsam/hybrid/tests/testHybridBayesNet.cpp
+++ b/gtsam/hybrid/tests/testHybridBayesNet.cpp
@@ -82,9 +82,9 @@ TEST(HybridBayesNet, Choose) {
       s.linearizedFactorGraph.eliminatePartialSequential(ordering);
 
   DiscreteValues assignment;
+  assignment[M(0)] = 1;
   assignment[M(1)] = 1;
-  assignment[M(2)] = 1;
-  assignment[M(3)] = 0;
+  assignment[M(2)] = 0;
 
   GaussianBayesNet gbn = hybridBayesNet->choose(assignment);
 
@@ -120,20 +120,20 @@ TEST(HybridBayesNet, OptimizeAssignment) {
       s.linearizedFactorGraph.eliminatePartialSequential(ordering);
 
   DiscreteValues assignment;
+  assignment[M(0)] = 1;
   assignment[M(1)] = 1;
   assignment[M(2)] = 1;
-  assignment[M(3)] = 1;
 
   VectorValues delta = hybridBayesNet->optimize(assignment);
 
   // The linearization point has the same value as the key index,
-  // e.g. X(1) = 1, X(2) = 2,
+  // e.g. X(0) = 1, X(1) = 2,
   // but the factors specify X(k) = k-1, so delta should be -1.
   VectorValues expected_delta;
+  expected_delta.insert(make_pair(X(0), -Vector1::Ones()));
   expected_delta.insert(make_pair(X(1), -Vector1::Ones()));
   expected_delta.insert(make_pair(X(2), -Vector1::Ones()));
   expected_delta.insert(make_pair(X(3), -Vector1::Ones()));
-  expected_delta.insert(make_pair(X(4), -Vector1::Ones()));
 
   EXPECT(assert_equal(expected_delta, delta));
 }
@@ -150,16 +150,16 @@ TEST(HybridBayesNet, Optimize) {
   HybridValues delta = hybridBayesNet->optimize();
 
   DiscreteValues expectedAssignment;
-  expectedAssignment[M(1)] = 1;
-  expectedAssignment[M(2)] = 0;
-  expectedAssignment[M(3)] = 1;
+  expectedAssignment[M(0)] = 1;
+  expectedAssignment[M(1)] = 0;
+  expectedAssignment[M(2)] = 1;
   EXPECT(assert_equal(expectedAssignment, delta.discrete()));
 
   VectorValues expectedValues;
-  expectedValues.insert(X(1), -0.999904 * Vector1::Ones());
-  expectedValues.insert(X(2), -0.99029 * Vector1::Ones());
-  expectedValues.insert(X(3), -1.00971 * Vector1::Ones());
-  expectedValues.insert(X(4), -1.0001 * Vector1::Ones());
+  expectedValues.insert(X(0), -0.999904 * Vector1::Ones());
+  expectedValues.insert(X(1), -0.99029 * Vector1::Ones());
+  expectedValues.insert(X(2), -1.00971 * Vector1::Ones());
+  expectedValues.insert(X(3), -1.0001 * Vector1::Ones());
 
   EXPECT(assert_equal(expectedValues, delta.continuous(), 1e-5));
 }
@@ -175,10 +175,10 @@ TEST(HybridBayesNet, OptimizeMultifrontal) {
   HybridValues delta = hybridBayesTree->optimize();
 
   VectorValues expectedValues;
-  expectedValues.insert(X(1), -0.999904 * Vector1::Ones());
-  expectedValues.insert(X(2), -0.99029 * Vector1::Ones());
-  expectedValues.insert(X(3), -1.00971 * Vector1::Ones());
-  expectedValues.insert(X(4), -1.0001 * Vector1::Ones());
+  expectedValues.insert(X(0), -0.999904 * Vector1::Ones());
+  expectedValues.insert(X(1), -0.99029 * Vector1::Ones());
+  expectedValues.insert(X(2), -1.00971 * Vector1::Ones());
+  expectedValues.insert(X(3), -1.0001 * Vector1::Ones());
 
   EXPECT(assert_equal(expectedValues, delta.continuous(), 1e-5));
 }
diff --git a/gtsam/hybrid/tests/testHybridBayesTree.cpp b/gtsam/hybrid/tests/testHybridBayesTree.cpp
index 0908b8cb59..876c550cb0 100644
--- a/gtsam/hybrid/tests/testHybridBayesTree.cpp
+++ b/gtsam/hybrid/tests/testHybridBayesTree.cpp
@@ -60,9 +60,9 @@ TEST(HybridBayesTree, OptimizeAssignment) {
   isam.update(graph1);
 
   DiscreteValues assignment;
+  assignment[M(0)] = 1;
   assignment[M(1)] = 1;
   assignment[M(2)] = 1;
-  assignment[M(3)] = 1;
 
   VectorValues delta = isam.optimize(assignment);
 
@@ -70,16 +70,16 @@ TEST(HybridBayesTree, OptimizeAssignment) {
   // e.g. X(1) = 1, X(2) = 2,
   // but the factors specify X(k) = k-1, so delta should be -1.
   VectorValues expected_delta;
+  expected_delta.insert(make_pair(X(0), -Vector1::Ones()));
   expected_delta.insert(make_pair(X(1), -Vector1::Ones()));
   expected_delta.insert(make_pair(X(2), -Vector1::Ones()));
   expected_delta.insert(make_pair(X(3), -Vector1::Ones()));
-  expected_delta.insert(make_pair(X(4), -Vector1::Ones()));
 
   EXPECT(assert_equal(expected_delta, delta));
 
   // Create ordering.
   Ordering ordering;
-  for (size_t k = 1; k <= s.K; k++) ordering += X(k);
+  for (size_t k = 0; k < s.K; k++) ordering += X(k);
 
   HybridBayesNet::shared_ptr hybridBayesNet;
   HybridGaussianFactorGraph::shared_ptr remainingFactorGraph;
@@ -123,7 +123,7 @@ TEST(HybridBayesTree, Optimize) {
 
   // Create ordering.
   Ordering ordering;
-  for (size_t k = 1; k <= s.K; k++) ordering += X(k);
+  for (size_t k = 0; k < s.K; k++) ordering += X(k);
 
   HybridBayesNet::shared_ptr hybridBayesNet;
   HybridGaussianFactorGraph::shared_ptr remainingFactorGraph;
diff --git a/gtsam/hybrid/tests/testHybridEstimation.cpp b/gtsam/hybrid/tests/testHybridEstimation.cpp
index de978360e4..6be7566ae0 100644
--- a/gtsam/hybrid/tests/testHybridEstimation.cpp
+++ b/gtsam/hybrid/tests/testHybridEstimation.cpp
@@ -82,9 +82,9 @@ TEST(HybridNonlinearISAM, Incremental) {
   HybridNonlinearFactorGraph graph;
   Values initial;
 
-  // Add the X(1) prior
+  // Add the X(0) prior
   graph.push_back(switching.nonlinearFactorGraph.at(0));
-  initial.insert(X(1), switching.linearizationPoint.at<double>(X(1)));
+  initial.insert(X(0), switching.linearizationPoint.at<double>(X(0)));
 
   HybridGaussianFactorGraph linearized;
   HybridGaussianFactorGraph bayesNet;
@@ -96,7 +96,7 @@ TEST(HybridNonlinearISAM, Incremental) {
     // Measurement
     graph.push_back(switching.nonlinearFactorGraph.at(k + K - 1));
 
-    initial.insert(X(k + 1), switching.linearizationPoint.at<double>(X(k + 1)));
+    initial.insert(X(k), switching.linearizationPoint.at<double>(X(k)));
 
     bayesNet = smoother.hybridBayesNet();
     linearized = *graph.linearize(initial);
@@ -111,13 +111,13 @@ TEST(HybridNonlinearISAM, Incremental) {
 
   DiscreteValues expected_discrete;
   for (size_t k = 0; k < K - 1; k++) {
-    expected_discrete[M(k + 1)] = discrete_seq[k];
+    expected_discrete[M(k)] = discrete_seq[k];
   }
   EXPECT(assert_equal(expected_discrete, delta.discrete()));
 
   Values expected_continuous;
   for (size_t k = 0; k < K; k++) {
-    expected_continuous.insert(X(k + 1), measurements[k]);
+    expected_continuous.insert(X(k), measurements[k]);
   }
   EXPECT(assert_equal(expected_continuous, result));
 }
diff --git a/gtsam/hybrid/tests/testHybridGaussianFactorGraph.cpp b/gtsam/hybrid/tests/testHybridGaussianFactorGraph.cpp
index d199d76113..ed6b97ab04 100644
--- a/gtsam/hybrid/tests/testHybridGaussianFactorGraph.cpp
+++ b/gtsam/hybrid/tests/testHybridGaussianFactorGraph.cpp
@@ -531,34 +531,34 @@ TEST(HybridGaussianFactorGraph, Conditionals) {
 
   hfg.push_back(switching.linearizedFactorGraph.at(0));  // P(X1)
   Ordering ordering;
-  ordering.push_back(X(1));
+  ordering.push_back(X(0));
   HybridBayesNet::shared_ptr bayes_net = hfg.eliminateSequential(ordering);
 
   hfg.push_back(switching.linearizedFactorGraph.at(1));  // P(X1, X2 | M1)
   hfg.push_back(*bayes_net);
   hfg.push_back(switching.linearizedFactorGraph.at(2));  // P(X2, X3 | M2)
   hfg.push_back(switching.linearizedFactorGraph.at(5));  // P(M1)
+  ordering.push_back(X(1));
   ordering.push_back(X(2));
-  ordering.push_back(X(3));
+  ordering.push_back(M(0));
   ordering.push_back(M(1));
-  ordering.push_back(M(2));
 
   bayes_net = hfg.eliminateSequential(ordering);
 
   HybridValues result = bayes_net->optimize();
 
   Values expected_continuous;
-  expected_continuous.insert<double>(X(1), 0);
-  expected_continuous.insert<double>(X(2), 1);
-  expected_continuous.insert<double>(X(3), 2);
-  expected_continuous.insert<double>(X(4), 4);
+  expected_continuous.insert<double>(X(0), 0);
+  expected_continuous.insert<double>(X(1), 1);
+  expected_continuous.insert<double>(X(2), 2);
+  expected_continuous.insert<double>(X(3), 4);
   Values result_continuous =
       switching.linearizationPoint.retract(result.continuous());
   EXPECT(assert_equal(expected_continuous, result_continuous));
 
   DiscreteValues expected_discrete;
+  expected_discrete[M(0)] = 1;
   expected_discrete[M(1)] = 1;
-  expected_discrete[M(2)] = 1;
   EXPECT(assert_equal(expected_discrete, result.discrete()));
 }
 
diff --git a/gtsam/hybrid/tests/testHybridGaussianISAM.cpp b/gtsam/hybrid/tests/testHybridGaussianISAM.cpp
index a5e3903d94..18ce7f10ec 100644
--- a/gtsam/hybrid/tests/testHybridGaussianISAM.cpp
+++ b/gtsam/hybrid/tests/testHybridGaussianISAM.cpp
@@ -54,40 +54,40 @@ TEST(HybridGaussianElimination, IncrementalElimination) {
   // Create initial factor graph
   //  *        *      *
   //  |        |      |
-  //  X1  -*-  X2 -*- X3
-  //   \*-M1-*/
-  graph1.push_back(switching.linearizedFactorGraph.at(0));  // P(X1)
-  graph1.push_back(switching.linearizedFactorGraph.at(1));  // P(X1, X2 | M1)
-  graph1.push_back(switching.linearizedFactorGraph.at(2));  // P(X2, X3 | M2)
-  graph1.push_back(switching.linearizedFactorGraph.at(5));  // P(M1)
+  //  X0  -*-  X1 -*- X2
+  //   \*-M0-*/
+  graph1.push_back(switching.linearizedFactorGraph.at(0));  // P(X0)
+  graph1.push_back(switching.linearizedFactorGraph.at(1));  // P(X0, X1 | M0)
+  graph1.push_back(switching.linearizedFactorGraph.at(2));  // P(X1, X2 | M1)
+  graph1.push_back(switching.linearizedFactorGraph.at(5));  // P(M0)
 
   // Run update step
   isam.update(graph1);
 
-  // Check that after update we have 3 hybrid Bayes net nodes:
-  // P(X1 | X2, M1) and P(X2, X3 | M1, M2), P(M1, M2)
+  // Check that after update we have 2 hybrid Bayes net nodes:
+  // P(X0 | X1, M0) and P(X1, X2 | M0, M1), P(M0, M1)
   EXPECT_LONGS_EQUAL(3, isam.size());
-  EXPECT(isam[X(1)]->conditional()->frontals() == KeyVector{X(1)});
-  EXPECT(isam[X(1)]->conditional()->parents() == KeyVector({X(2), M(1)}));
-  EXPECT(isam[X(2)]->conditional()->frontals() == KeyVector({X(2), X(3)}));
-  EXPECT(isam[X(2)]->conditional()->parents() == KeyVector({M(1), M(2)}));
+  EXPECT(isam[X(0)]->conditional()->frontals() == KeyVector{X(0)});
+  EXPECT(isam[X(0)]->conditional()->parents() == KeyVector({X(1), M(0)}));
+  EXPECT(isam[X(1)]->conditional()->frontals() == KeyVector({X(1), X(2)}));
+  EXPECT(isam[X(1)]->conditional()->parents() == KeyVector({M(0), M(1)}));
 
   /********************************************************/
   // New factor graph for incremental update.
   HybridGaussianFactorGraph graph2;
 
-  graph1.push_back(switching.linearizedFactorGraph.at(3));  // P(X2)
-  graph2.push_back(switching.linearizedFactorGraph.at(4));  // P(X3)
-  graph2.push_back(switching.linearizedFactorGraph.at(6));  // P(M1, M2)
+  graph1.push_back(switching.linearizedFactorGraph.at(3));  // P(X1)
+  graph2.push_back(switching.linearizedFactorGraph.at(4));  // P(X2)
+  graph2.push_back(switching.linearizedFactorGraph.at(6));  // P(M0, M1)
 
   isam.update(graph2);
 
   // Check that after the second update we have
   // 1 additional hybrid Bayes net node:
-  // P(X2, X3 | M1, M2)
+  // P(X1, X2 | M0, M1)
   EXPECT_LONGS_EQUAL(3, isam.size());
-  EXPECT(isam[X(3)]->conditional()->frontals() == KeyVector({X(2), X(3)}));
-  EXPECT(isam[X(3)]->conditional()->parents() == KeyVector({M(1), M(2)}));
+  EXPECT(isam[X(2)]->conditional()->frontals() == KeyVector({X(1), X(2)}));
+  EXPECT(isam[X(2)]->conditional()->parents() == KeyVector({M(0), M(1)}));
 }
 
 /* ****************************************************************************/
@@ -100,104 +100,104 @@ TEST(HybridGaussianElimination, IncrementalInference) {
   // Create initial factor graph
   //    *        *        *
   //    |        |        |
-  //    X1  -*-  X2  -*-  X3
+  //    X0  -*-  X1  -*-  X2
   //         |        |
-  //      *-M1 - * - M2
-  graph1.push_back(switching.linearizedFactorGraph.at(0));  // P(X1)
-  graph1.push_back(switching.linearizedFactorGraph.at(1));  // P(X1, X2 | M1)
-  graph1.push_back(switching.linearizedFactorGraph.at(3));  // P(X2)
-  graph1.push_back(switching.linearizedFactorGraph.at(5));  // P(M1)
+  //      *-M0 - * - M1
+  graph1.push_back(switching.linearizedFactorGraph.at(0));  // P(X0)
+  graph1.push_back(switching.linearizedFactorGraph.at(1));  // P(X0, X1 | M0)
+  graph1.push_back(switching.linearizedFactorGraph.at(3));  // P(X1)
+  graph1.push_back(switching.linearizedFactorGraph.at(5));  // P(M0)
 
   // Run update step
   isam.update(graph1);
 
-  auto discreteConditional_m1 =
-      isam[M(1)]->conditional()->asDiscreteConditional();
-  EXPECT(discreteConditional_m1->keys() == KeyVector({M(1)}));
+  auto discreteConditional_m0 =
+      isam[M(0)]->conditional()->asDiscreteConditional();
+  EXPECT(discreteConditional_m0->keys() == KeyVector({M(0)}));
 
   /********************************************************/
   // New factor graph for incremental update.
   HybridGaussianFactorGraph graph2;
 
-  graph2.push_back(switching.linearizedFactorGraph.at(2));  // P(X2, X3 | M2)
-  graph2.push_back(switching.linearizedFactorGraph.at(4));  // P(X3)
-  graph2.push_back(switching.linearizedFactorGraph.at(6));  // P(M1, M2)
+  graph2.push_back(switching.linearizedFactorGraph.at(2));  // P(X1, X2 | M1)
+  graph2.push_back(switching.linearizedFactorGraph.at(4));  // P(X2)
+  graph2.push_back(switching.linearizedFactorGraph.at(6));  // P(M0, M1)
 
   isam.update(graph2);
 
   /********************************************************/
   // Run batch elimination so we can compare results.
   Ordering ordering;
+  ordering += X(0);
   ordering += X(1);
   ordering += X(2);
-  ordering += X(3);
 
-  // Now we calculate the actual factors using full elimination
+  // Now we calculate the expected factors using full elimination
   HybridBayesTree::shared_ptr expectedHybridBayesTree;
   HybridGaussianFactorGraph::shared_ptr expectedRemainingGraph;
   std::tie(expectedHybridBayesTree, expectedRemainingGraph) =
       switching.linearizedFactorGraph.eliminatePartialMultifrontal(ordering);
 
+  // The densities on X(0) should be the same
+  auto x0_conditional =
+      dynamic_pointer_cast<GaussianMixture>(isam[X(0)]->conditional()->inner());
+  auto expected_x0_conditional = dynamic_pointer_cast<GaussianMixture>(
+      (*expectedHybridBayesTree)[X(0)]->conditional()->inner());
+  EXPECT(assert_equal(*x0_conditional, *expected_x0_conditional));
+
   // The densities on X(1) should be the same
   auto x1_conditional =
       dynamic_pointer_cast<GaussianMixture>(isam[X(1)]->conditional()->inner());
-  auto actual_x1_conditional = dynamic_pointer_cast<GaussianMixture>(
+  auto expected_x1_conditional = dynamic_pointer_cast<GaussianMixture>(
       (*expectedHybridBayesTree)[X(1)]->conditional()->inner());
-  EXPECT(assert_equal(*x1_conditional, *actual_x1_conditional));
+  EXPECT(assert_equal(*x1_conditional, *expected_x1_conditional));
 
   // The densities on X(2) should be the same
   auto x2_conditional =
       dynamic_pointer_cast<GaussianMixture>(isam[X(2)]->conditional()->inner());
-  auto actual_x2_conditional = dynamic_pointer_cast<GaussianMixture>(
-      (*expectedHybridBayesTree)[X(2)]->conditional()->inner());
-  EXPECT(assert_equal(*x2_conditional, *actual_x2_conditional));
-
-  // The densities on X(3) should be the same
-  auto x3_conditional =
-      dynamic_pointer_cast<GaussianMixture>(isam[X(3)]->conditional()->inner());
-  auto actual_x3_conditional = dynamic_pointer_cast<GaussianMixture>(
+  auto expected_x2_conditional = dynamic_pointer_cast<GaussianMixture>(
       (*expectedHybridBayesTree)[X(2)]->conditional()->inner());
-  EXPECT(assert_equal(*x3_conditional, *actual_x3_conditional));
+  EXPECT(assert_equal(*x2_conditional, *expected_x2_conditional));
 
   // We only perform manual continuous elimination for 0,0.
   // The other discrete probabilities on M(2) are calculated the same way
   Ordering discrete_ordering;
+  discrete_ordering += M(0);
   discrete_ordering += M(1);
-  discrete_ordering += M(2);
   HybridBayesTree::shared_ptr discreteBayesTree =
       expectedRemainingGraph->eliminateMultifrontal(discrete_ordering);
 
   DiscreteValues m00;
-  m00[M(1)] = 0, m00[M(2)] = 0;
+  m00[M(0)] = 0, m00[M(1)] = 0;
   DiscreteConditional decisionTree =
-      *(*discreteBayesTree)[M(2)]->conditional()->asDiscreteConditional();
+      *(*discreteBayesTree)[M(1)]->conditional()->asDiscreteConditional();
   double m00_prob = decisionTree(m00);
 
-  auto discreteConditional = isam[M(2)]->conditional()->asDiscreteConditional();
+  auto discreteConditional = isam[M(1)]->conditional()->asDiscreteConditional();
 
   // Test if the probability values are as expected with regression tests.
   DiscreteValues assignment;
   EXPECT(assert_equal(m00_prob, 0.0619233, 1e-5));
+  assignment[M(0)] = 0;
   assignment[M(1)] = 0;
-  assignment[M(2)] = 0;
   EXPECT(assert_equal(m00_prob, (*discreteConditional)(assignment), 1e-5));
-  assignment[M(1)] = 1;
-  assignment[M(2)] = 0;
-  EXPECT(assert_equal(0.183743, (*discreteConditional)(assignment), 1e-5));
+  assignment[M(0)] = 1;
   assignment[M(1)] = 0;
-  assignment[M(2)] = 1;
+  EXPECT(assert_equal(0.183743, (*discreteConditional)(assignment), 1e-5));
+  assignment[M(0)] = 0;
+  assignment[M(1)] = 1;
   EXPECT(assert_equal(0.204159, (*discreteConditional)(assignment), 1e-5));
+  assignment[M(0)] = 1;
   assignment[M(1)] = 1;
-  assignment[M(2)] = 1;
   EXPECT(assert_equal(0.2, (*discreteConditional)(assignment), 1e-5));
 
   // Check if the clique conditional generated from incremental elimination
   // matches that of batch elimination.
   auto expectedChordal = expectedRemainingGraph->eliminateMultifrontal();
   auto expectedConditional = dynamic_pointer_cast<DecisionTreeFactor>(
-      (*expectedChordal)[M(2)]->conditional()->inner());
+      (*expectedChordal)[M(1)]->conditional()->inner());
   auto actualConditional = dynamic_pointer_cast<DecisionTreeFactor>(
-      isam[M(2)]->conditional()->inner());
+      isam[M(1)]->conditional()->inner());
   EXPECT(assert_equal(*actualConditional, *expectedConditional, 1e-6));
 }
 
@@ -208,13 +208,13 @@ TEST(HybridGaussianElimination, Approx_inference) {
   HybridGaussianISAM incrementalHybrid;
   HybridGaussianFactorGraph graph1;
 
-  // Add the 3 hybrid factors, x1-x2, x2-x3, x3-x4
+  // Add the 3 hybrid factors, x0-x1, x1-x2, x2-x3
   for (size_t i = 1; i < 4; i++) {
     graph1.push_back(switching.linearizedFactorGraph.at(i));
   }
 
-  // Add the Gaussian factors, 1 prior on X(1),
-  // 3 measurements on X(2), X(3), X(4)
+  // Add the Gaussian factors, 1 prior on X(0),
+  // 3 measurements on X(1), X(2), X(3)
   graph1.push_back(switching.linearizedFactorGraph.at(0));
   for (size_t i = 4; i <= 7; i++) {
     graph1.push_back(switching.linearizedFactorGraph.at(i));
@@ -222,7 +222,7 @@ TEST(HybridGaussianElimination, Approx_inference) {
 
   // Create ordering.
   Ordering ordering;
-  for (size_t j = 1; j <= 4; j++) {
+  for (size_t j = 0; j < 4; j++) {
     ordering += X(j);
   }
 
@@ -271,26 +271,26 @@ TEST(HybridGaussianElimination, Approx_inference) {
     1 1 1 Leaf  0.5
   */
 
-  auto discreteConditional_m1 = *dynamic_pointer_cast<DiscreteConditional>(
-      incrementalHybrid[M(1)]->conditional()->inner());
-  EXPECT(discreteConditional_m1.keys() == KeyVector({M(1), M(2), M(3)}));
+  auto discreteConditional_m0 = *dynamic_pointer_cast<DiscreteConditional>(
+      incrementalHybrid[M(0)]->conditional()->inner());
+  EXPECT(discreteConditional_m0.keys() == KeyVector({M(0), M(1), M(2)}));
 
   // Get the number of elements which are greater than 0.
   auto count = [](const double &value, int count) {
     return value > 0 ? count + 1 : count;
   };
   // Check that the number of leaves after pruning is 5.
-  EXPECT_LONGS_EQUAL(5, discreteConditional_m1.fold(count, 0));
+  EXPECT_LONGS_EQUAL(5, discreteConditional_m0.fold(count, 0));
 
   // Check that the hybrid nodes of the bayes net match those of the pre-pruning
   // bayes net, at the same positions.
   auto &unprunedLastDensity = *dynamic_pointer_cast<GaussianMixture>(
-      unprunedHybridBayesTree->clique(X(4))->conditional()->inner());
+      unprunedHybridBayesTree->clique(X(3))->conditional()->inner());
   auto &lastDensity = *dynamic_pointer_cast<GaussianMixture>(
-      incrementalHybrid[X(4)]->conditional()->inner());
+      incrementalHybrid[X(3)]->conditional()->inner());
 
   std::vector<std::pair<DiscreteValues, double>> assignments =
-      discreteConditional_m1.enumerate();
+      discreteConditional_m0.enumerate();
   // Loop over all assignments and check the pruned components
   for (auto &&av : assignments) {
     const DiscreteValues &assignment = av.first;
@@ -314,13 +314,13 @@ TEST(HybridGaussianElimination, Incremental_approximate) {
   HybridGaussianFactorGraph graph1;
 
   /***** Run Round 1 *****/
-  // Add the 3 hybrid factors, x1-x2, x2-x3, x3-x4
+  // Add the 3 hybrid factors, x0-x1, x1-x2, x2-x3
   for (size_t i = 1; i < 4; i++) {
     graph1.push_back(switching.linearizedFactorGraph.at(i));
   }
 
-  // Add the Gaussian factors, 1 prior on X(1),
-  // 3 measurements on X(2), X(3), X(4)
+  // Add the Gaussian factors, 1 prior on X(0),
+  // 3 measurements on X(1), X(2), X(3)
   graph1.push_back(switching.linearizedFactorGraph.at(0));
   for (size_t i = 5; i <= 7; i++) {
     graph1.push_back(switching.linearizedFactorGraph.at(i));
@@ -335,13 +335,13 @@ TEST(HybridGaussianElimination, Incremental_approximate) {
   // each with 2, 4, 8, and 5 (pruned) leaves respetively.
   EXPECT_LONGS_EQUAL(4, incrementalHybrid.size());
   EXPECT_LONGS_EQUAL(
-      2, incrementalHybrid[X(1)]->conditional()->asMixture()->nrComponents());
+      2, incrementalHybrid[X(0)]->conditional()->asMixture()->nrComponents());
   EXPECT_LONGS_EQUAL(
-      3, incrementalHybrid[X(2)]->conditional()->asMixture()->nrComponents());
+      3, incrementalHybrid[X(1)]->conditional()->asMixture()->nrComponents());
   EXPECT_LONGS_EQUAL(
-      5, incrementalHybrid[X(3)]->conditional()->asMixture()->nrComponents());
+      5, incrementalHybrid[X(2)]->conditional()->asMixture()->nrComponents());
   EXPECT_LONGS_EQUAL(
-      5, incrementalHybrid[X(4)]->conditional()->asMixture()->nrComponents());
+      5, incrementalHybrid[X(3)]->conditional()->asMixture()->nrComponents());
 
   /***** Run Round 2 *****/
   HybridGaussianFactorGraph graph2;
@@ -356,9 +356,9 @@ TEST(HybridGaussianElimination, Incremental_approximate) {
   // with 5 (pruned) leaves.
   CHECK_EQUAL(5, incrementalHybrid.size());
   EXPECT_LONGS_EQUAL(
-      5, incrementalHybrid[X(4)]->conditional()->asMixture()->nrComponents());
+      5, incrementalHybrid[X(3)]->conditional()->asMixture()->nrComponents());
   EXPECT_LONGS_EQUAL(
-      5, incrementalHybrid[X(5)]->conditional()->asMixture()->nrComponents());
+      5, incrementalHybrid[X(4)]->conditional()->asMixture()->nrComponents());
 }
 
 /* ************************************************************************/
@@ -370,7 +370,7 @@ TEST(HybridGaussianISAM, NonTrivial) {
   /*************** Run Round 1 ***************/
   HybridNonlinearFactorGraph fg;
 
-  // Add a prior on pose x1 at the origin.
+  // Add a prior on pose x0 at the origin.
   // A prior factor consists of a mean  and
   // a noise model (covariance matrix)
   Pose2 prior(0.0, 0.0, 0.0);  // prior mean is at origin
diff --git a/gtsam/hybrid/tests/testHybridNonlinearFactorGraph.cpp b/gtsam/hybrid/tests/testHybridNonlinearFactorGraph.cpp
index 9e93eaba33..f6889f132c 100644
--- a/gtsam/hybrid/tests/testHybridNonlinearFactorGraph.cpp
+++ b/gtsam/hybrid/tests/testHybridNonlinearFactorGraph.cpp
@@ -263,7 +263,7 @@ TEST(HybridFactorGraph, EliminationTree) {
 
   // Create ordering.
   Ordering ordering;
-  for (size_t k = 1; k <= self.K; k++) ordering += X(k);
+  for (size_t k = 0; k < self.K; k++) ordering += X(k);
 
   // Create elimination tree.
   HybridEliminationTree etree(self.linearizedFactorGraph, ordering);
@@ -271,9 +271,9 @@ TEST(HybridFactorGraph, EliminationTree) {
 }
 
 /****************************************************************************
- *Test elimination function by eliminating x1 in *-x1-*-x2 graph.
+ *Test elimination function by eliminating x0 in *-x0-*-x1 graph.
  */
-TEST(GaussianElimination, Eliminate_x1) {
+TEST(GaussianElimination, Eliminate_x0) {
   Switching self(3);
 
   // Gather factors on x1, has a simple Gaussian and a mixture factor.
@@ -283,9 +283,9 @@ TEST(GaussianElimination, Eliminate_x1) {
   // Add first hybrid factor
   factors.push_back(self.linearizedFactorGraph[1]);
 
-  // Eliminate x1
+  // Eliminate x0
   Ordering ordering;
-  ordering += X(1);
+  ordering += X(0);
 
   auto result = EliminateHybrid(factors, ordering);
   CHECK(result.first);
@@ -296,20 +296,20 @@ TEST(GaussianElimination, Eliminate_x1) {
 }
 
 /****************************************************************************
- * Test elimination function by eliminating x2 in x1-*-x2-*-x3 chain.
- *                                                m1/      \m2
+ * Test elimination function by eliminating x1 in x0-*-x1-*-x2 chain.
+ *                                                m0/      \m1
  */
-TEST(HybridsGaussianElimination, Eliminate_x2) {
+TEST(HybridsGaussianElimination, Eliminate_x1) {
   Switching self(3);
 
-  // Gather factors on x2, will be two mixture factors (with x1 and x3, resp.).
+  // Gather factors on x1, will be two mixture factors (with x0 and x2, resp.).
   HybridGaussianFactorGraph factors;
-  factors.push_back(self.linearizedFactorGraph[1]);  // involves m1
-  factors.push_back(self.linearizedFactorGraph[2]);  // involves m2
+  factors.push_back(self.linearizedFactorGraph[1]);  // involves m0
+  factors.push_back(self.linearizedFactorGraph[2]);  // involves m1
 
-  // Eliminate x2
+  // Eliminate x1
   Ordering ordering;
-  ordering += X(2);
+  ordering += X(1);
 
   std::pair<HybridConditional::shared_ptr, HybridFactor::shared_ptr> result =
       EliminateHybrid(factors, ordering);
@@ -326,28 +326,28 @@ TEST(HybridsGaussianElimination, Eliminate_x2) {
 GaussianFactorGraph::shared_ptr batchGFG(double between,
                                          Values linearizationPoint) {
   NonlinearFactorGraph graph;
-  graph.addPrior<double>(X(1), 0, Isotropic::Sigma(1, 0.1));
+  graph.addPrior<double>(X(0), 0, Isotropic::Sigma(1, 0.1));
 
-  auto between_x1_x2 = boost::make_shared<MotionModel>(
-      X(1), X(2), between, Isotropic::Sigma(1, 1.0));
+  auto between_x0_x1 = boost::make_shared<MotionModel>(
+      X(0), X(1), between, Isotropic::Sigma(1, 1.0));
 
-  graph.push_back(between_x1_x2);
+  graph.push_back(between_x0_x1);
 
   return graph.linearize(linearizationPoint);
 }
 
 /****************************************************************************
- * Test elimination function by eliminating x1 and x2 in graph.
+ * Test elimination function by eliminating x0 and x1 in graph.
  */
 TEST(HybridGaussianElimination, EliminateHybrid_2_Variable) {
   Switching self(2, 1.0, 0.1);
 
   auto factors = self.linearizedFactorGraph;
 
-  // Eliminate x1
+  // Eliminate x0
   Ordering ordering;
+  ordering += X(0);
   ordering += X(1);
-  ordering += X(2);
 
   HybridConditional::shared_ptr hybridConditionalMixture;
   HybridFactor::shared_ptr factorOnModes;
@@ -359,7 +359,7 @@ TEST(HybridGaussianElimination, EliminateHybrid_2_Variable) {
       dynamic_pointer_cast<GaussianMixture>(hybridConditionalMixture->inner());
 
   CHECK(gaussianConditionalMixture);
-  // Frontals = [x1, x2]
+  // Frontals = [x0, x1]
   EXPECT_LONGS_EQUAL(2, gaussianConditionalMixture->nrFrontals());
   // 1 parent, which is the mode
   EXPECT_LONGS_EQUAL(1, gaussianConditionalMixture->nrParents());
@@ -387,7 +387,7 @@ TEST(HybridFactorGraph, Partial_Elimination) {
 
   // Create ordering.
   Ordering ordering;
-  for (size_t k = 1; k <= self.K; k++) ordering += X(k);
+  for (size_t k = 0; k < self.K; k++) ordering += X(k);
 
   // Eliminate partially.
   HybridBayesNet::shared_ptr hybridBayesNet;
@@ -397,18 +397,18 @@ TEST(HybridFactorGraph, Partial_Elimination) {
 
   CHECK(hybridBayesNet);
   EXPECT_LONGS_EQUAL(3, hybridBayesNet->size());
-  EXPECT(hybridBayesNet->at(0)->frontals() == KeyVector{X(1)});
-  EXPECT(hybridBayesNet->at(0)->parents() == KeyVector({X(2), M(1)}));
-  EXPECT(hybridBayesNet->at(1)->frontals() == KeyVector{X(2)});
-  EXPECT(hybridBayesNet->at(1)->parents() == KeyVector({X(3), M(1), M(2)}));
-  EXPECT(hybridBayesNet->at(2)->frontals() == KeyVector{X(3)});
-  EXPECT(hybridBayesNet->at(2)->parents() == KeyVector({M(1), M(2)}));
+  EXPECT(hybridBayesNet->at(0)->frontals() == KeyVector{X(0)});
+  EXPECT(hybridBayesNet->at(0)->parents() == KeyVector({X(1), M(0)}));
+  EXPECT(hybridBayesNet->at(1)->frontals() == KeyVector{X(1)});
+  EXPECT(hybridBayesNet->at(1)->parents() == KeyVector({X(2), M(0), M(1)}));
+  EXPECT(hybridBayesNet->at(2)->frontals() == KeyVector{X(2)});
+  EXPECT(hybridBayesNet->at(2)->parents() == KeyVector({M(0), M(1)}));
 
   CHECK(remainingFactorGraph);
   EXPECT_LONGS_EQUAL(3, remainingFactorGraph->size());
-  EXPECT(remainingFactorGraph->at(0)->keys() == KeyVector({M(1)}));
-  EXPECT(remainingFactorGraph->at(1)->keys() == KeyVector({M(2), M(1)}));
-  EXPECT(remainingFactorGraph->at(2)->keys() == KeyVector({M(1), M(2)}));
+  EXPECT(remainingFactorGraph->at(0)->keys() == KeyVector({M(0)}));
+  EXPECT(remainingFactorGraph->at(1)->keys() == KeyVector({M(1), M(0)}));
+  EXPECT(remainingFactorGraph->at(2)->keys() == KeyVector({M(0), M(1)}));
 }
 
 /****************************************************************************
@@ -427,7 +427,7 @@ TEST(HybridFactorGraph, Full_Elimination) {
   {
     // Create ordering.
     Ordering ordering;
-    for (size_t k = 1; k <= self.K; k++) ordering += X(k);
+    for (size_t k = 0; k < self.K; k++) ordering += X(k);
 
     // Eliminate partially.
     std::tie(hybridBayesNet_partial, remainingFactorGraph_partial) =
@@ -440,15 +440,15 @@ TEST(HybridFactorGraph, Full_Elimination) {
       discrete_fg.push_back(df->inner());
     }
     ordering.clear();
-    for (size_t k = 1; k < self.K; k++) ordering += M(k);
+    for (size_t k = 0; k < self.K - 1; k++) ordering += M(k);
     discreteBayesNet =
         *discrete_fg.eliminateSequential(ordering, EliminateForMPE);
   }
 
   // Create ordering.
   Ordering ordering;
-  for (size_t k = 1; k <= self.K; k++) ordering += X(k);
-  for (size_t k = 1; k < self.K; k++) ordering += M(k);
+  for (size_t k = 0; k < self.K; k++) ordering += X(k);
+  for (size_t k = 0; k < self.K - 1; k++) ordering += M(k);
 
   // Eliminate partially.
   HybridBayesNet::shared_ptr hybridBayesNet =
@@ -456,23 +456,23 @@ TEST(HybridFactorGraph, Full_Elimination) {
 
   CHECK(hybridBayesNet);
   EXPECT_LONGS_EQUAL(5, hybridBayesNet->size());
-  // p(x1 | x2, m1)
-  EXPECT(hybridBayesNet->at(0)->frontals() == KeyVector{X(1)});
-  EXPECT(hybridBayesNet->at(0)->parents() == KeyVector({X(2), M(1)}));
-  // p(x2 | x3, m1, m2)
-  EXPECT(hybridBayesNet->at(1)->frontals() == KeyVector{X(2)});
-  EXPECT(hybridBayesNet->at(1)->parents() == KeyVector({X(3), M(1), M(2)}));
-  // p(x3 | m1, m2)
-  EXPECT(hybridBayesNet->at(2)->frontals() == KeyVector{X(3)});
-  EXPECT(hybridBayesNet->at(2)->parents() == KeyVector({M(1), M(2)}));
-  // P(m1 | m2)
-  EXPECT(hybridBayesNet->at(3)->frontals() == KeyVector{M(1)});
-  EXPECT(hybridBayesNet->at(3)->parents() == KeyVector({M(2)}));
+  // p(x0 | x1, m0)
+  EXPECT(hybridBayesNet->at(0)->frontals() == KeyVector{X(0)});
+  EXPECT(hybridBayesNet->at(0)->parents() == KeyVector({X(1), M(0)}));
+  // p(x1 | x2, m0, m1)
+  EXPECT(hybridBayesNet->at(1)->frontals() == KeyVector{X(1)});
+  EXPECT(hybridBayesNet->at(1)->parents() == KeyVector({X(2), M(0), M(1)}));
+  // p(x2 | m0, m1)
+  EXPECT(hybridBayesNet->at(2)->frontals() == KeyVector{X(2)});
+  EXPECT(hybridBayesNet->at(2)->parents() == KeyVector({M(0), M(1)}));
+  // P(m0 | m1)
+  EXPECT(hybridBayesNet->at(3)->frontals() == KeyVector{M(0)});
+  EXPECT(hybridBayesNet->at(3)->parents() == KeyVector({M(1)}));
   EXPECT(
       dynamic_pointer_cast<DiscreteConditional>(hybridBayesNet->at(3)->inner())
           ->equals(*discreteBayesNet.at(0)));
-  // P(m2)
-  EXPECT(hybridBayesNet->at(4)->frontals() == KeyVector{M(2)});
+  // P(m1)
+  EXPECT(hybridBayesNet->at(4)->frontals() == KeyVector{M(1)});
   EXPECT_LONGS_EQUAL(0, hybridBayesNet->at(4)->nrParents());
   EXPECT(
       dynamic_pointer_cast<DiscreteConditional>(hybridBayesNet->at(4)->inner())
@@ -489,7 +489,7 @@ TEST(HybridFactorGraph, Printing) {
 
   // Create ordering.
   Ordering ordering;
-  for (size_t k = 1; k <= self.K; k++) ordering += X(k);
+  for (size_t k = 0; k < self.K; k++) ordering += X(k);
 
   // Eliminate partially.
   HybridBayesNet::shared_ptr hybridBayesNet;
@@ -499,84 +499,84 @@ TEST(HybridFactorGraph, Printing) {
 
   string expected_hybridFactorGraph = R"(
 size: 7
-factor 0: Continuous [x1]
+factor 0: Continuous [x0]
 
-  A[x1] = [
+  A[x0] = [
 	10
 ]
   b = [ -10 ]
   No noise model
-factor 1: Hybrid [x1 x2; m1]{
- Choice(m1) 
+factor 1: Hybrid [x0 x1; m0]{
+ Choice(m0) 
  0 Leaf :
-  A[x1] = [
+  A[x0] = [
 	-1
 ]
-  A[x2] = [
+  A[x1] = [
 	1
 ]
   b = [ -1 ]
   No noise model
 
  1 Leaf :
-  A[x1] = [
+  A[x0] = [
 	-1
 ]
-  A[x2] = [
+  A[x1] = [
 	1
 ]
   b = [ -0 ]
   No noise model
 
 }
-factor 2: Hybrid [x2 x3; m2]{
- Choice(m2) 
+factor 2: Hybrid [x1 x2; m1]{
+ Choice(m1) 
  0 Leaf :
-  A[x2] = [
+  A[x1] = [
 	-1
 ]
-  A[x3] = [
+  A[x2] = [
 	1
 ]
   b = [ -1 ]
   No noise model
 
  1 Leaf :
-  A[x2] = [
+  A[x1] = [
 	-1
 ]
-  A[x3] = [
+  A[x2] = [
 	1
 ]
   b = [ -0 ]
   No noise model
 
 }
-factor 3: Continuous [x2]
+factor 3: Continuous [x1]
 
-  A[x2] = [
+  A[x1] = [
 	10
 ]
   b = [ -10 ]
   No noise model
-factor 4: Continuous [x3]
+factor 4: Continuous [x2]
 
-  A[x3] = [
+  A[x2] = [
 	10
 ]
   b = [ -10 ]
   No noise model
-factor 5: Discrete [m1]
- P( m1 ):
+factor 5: Discrete [m0]
+ P( m0 ):
  Leaf  0.5
 
-factor 6: Discrete [m2 m1]
- P( m2 | m1 ):
- Choice(m2) 
- 0 Choice(m1) 
+factor 6: Discrete [m1 m0]
+ P( m1 | m0 ):
+ Choice(m1) 
+ 0 Choice(m0) 
  0 0 Leaf 0.33333333
  0 1 Leaf  0.6
- 1 Choice(m1) 
+ 1 Choice(m0) 
  1 0 Leaf 0.66666667
  1 1 Leaf  0.4
 
@@ -586,71 +586,71 @@ factor 6: Discrete [m2 m1]
   // Expected output for hybridBayesNet.
   string expected_hybridBayesNet = R"(
 size: 3
-factor 0: Hybrid  P( x1 | x2 m1)
- Discrete Keys = (m1, 2), 
- Choice(m1) 
- 0 Leaf  p(x1 | x2)
+factor 0: Hybrid  P( x0 | x1 m0)
+ Discrete Keys = (m0, 2), 
+ Choice(m0) 
+ 0 Leaf  p(x0 | x1)
   R = [ 10.0499 ]
-  S[x2] = [ -0.0995037 ]
+  S[x1] = [ -0.0995037 ]
   d = [ -9.85087 ]
   No noise model
 
- 1 Leaf  p(x1 | x2)
+ 1 Leaf  p(x0 | x1)
   R = [ 10.0499 ]
-  S[x2] = [ -0.0995037 ]
+  S[x1] = [ -0.0995037 ]
   d = [ -9.95037 ]
   No noise model
 
-factor 1: Hybrid  P( x2 | x3 m1 m2)
- Discrete Keys = (m1, 2), (m2, 2), 
- Choice(m2) 
- 0 Choice(m1) 
- 0 0 Leaf  p(x2 | x3)
+factor 1: Hybrid  P( x1 | x2 m0 m1)
+ Discrete Keys = (m0, 2), (m1, 2), 
+ Choice(m1) 
+ 0 Choice(m0) 
+ 0 0 Leaf  p(x1 | x2)
   R = [ 10.099 ]
-  S[x3] = [ -0.0990196 ]
+  S[x2] = [ -0.0990196 ]
   d = [ -9.99901 ]
   No noise model
 
- 0 1 Leaf  p(x2 | x3)
+ 0 1 Leaf  p(x1 | x2)
   R = [ 10.099 ]
-  S[x3] = [ -0.0990196 ]
+  S[x2] = [ -0.0990196 ]
   d = [ -9.90098 ]
   No noise model
 
- 1 Choice(m1) 
- 1 0 Leaf  p(x2 | x3)
+ 1 Choice(m0) 
+ 1 0 Leaf  p(x1 | x2)
   R = [ 10.099 ]
-  S[x3] = [ -0.0990196 ]
+  S[x2] = [ -0.0990196 ]
   d = [ -10.098 ]
   No noise model
 
- 1 1 Leaf  p(x2 | x3)
+ 1 1 Leaf  p(x1 | x2)
   R = [ 10.099 ]
-  S[x3] = [ -0.0990196 ]
+  S[x2] = [ -0.0990196 ]
   d = [ -10 ]
   No noise model
 
-factor 2: Hybrid  P( x3 | m1 m2)
- Discrete Keys = (m1, 2), (m2, 2), 
- Choice(m2) 
- 0 Choice(m1) 
- 0 0 Leaf  p(x3)
+factor 2: Hybrid  P( x2 | m0 m1)
+ Discrete Keys = (m0, 2), (m1, 2), 
+ Choice(m1) 
+ 0 Choice(m0) 
+ 0 0 Leaf  p(x2)
   R = [ 10.0494 ]
   d = [ -10.1489 ]
   No noise model
 
- 0 1 Leaf  p(x3)
+ 0 1 Leaf  p(x2)
   R = [ 10.0494 ]
   d = [ -10.1479 ]
   No noise model
 
- 1 Choice(m1) 
- 1 0 Leaf  p(x3)
+ 1 Choice(m0) 
+ 1 0 Leaf  p(x2)
   R = [ 10.0494 ]
   d = [ -10.0504 ]
   No noise model
 
- 1 1 Leaf  p(x3)
+ 1 1 Leaf  p(x2)
   R = [ 10.0494 ]
   d = [ -10.0494 ]
   No noise model
@@ -669,7 +669,7 @@ factor 2: Hybrid  P( x3 | m1 m2)
 TEST(HybridFactorGraph, DefaultDecisionTree) {
   HybridNonlinearFactorGraph fg;
 
-  // Add a prior on pose x1 at the origin.
+  // Add a prior on pose x0 at the origin.
   // A prior factor consists of a mean and a noise model (covariance matrix)
   Pose2 prior(0.0, 0.0, 0.0);  // prior mean is at origin
   auto priorNoise = noiseModel::Diagonal::Sigmas(
diff --git a/gtsam/hybrid/tests/testHybridNonlinearISAM.cpp b/gtsam/hybrid/tests/testHybridNonlinearISAM.cpp
index fbb114ef32..3bdb5ed1e0 100644
--- a/gtsam/hybrid/tests/testHybridNonlinearISAM.cpp
+++ b/gtsam/hybrid/tests/testHybridNonlinearISAM.cpp
@@ -55,47 +55,47 @@ TEST(HybridNonlinearISAM, IncrementalElimination) {
   // Create initial factor graph
   //  *        *      *
   //  |        |      |
-  //  X1  -*-  X2 -*- X3
-  //   \*-M1-*/
-  graph1.push_back(switching.nonlinearFactorGraph.at(0));  // P(X1)
-  graph1.push_back(switching.nonlinearFactorGraph.at(1));  // P(X1, X2 | M1)
-  graph1.push_back(switching.nonlinearFactorGraph.at(2));  // P(X2, X3 | M2)
-  graph1.push_back(switching.nonlinearFactorGraph.at(5));  // P(M1)
+  //  X0  -*-  X1 -*- X2
+  //   \*-M0-*/
+  graph1.push_back(switching.nonlinearFactorGraph.at(0));  // P(X0)
+  graph1.push_back(switching.nonlinearFactorGraph.at(1));  // P(X0, X1 | M0)
+  graph1.push_back(switching.nonlinearFactorGraph.at(2));  // P(X1, X2 | M1)
+  graph1.push_back(switching.nonlinearFactorGraph.at(5));  // P(M0)
 
-  initial.insert<double>(X(1), 1);
-  initial.insert<double>(X(2), 2);
-  initial.insert<double>(X(3), 3);
+  initial.insert<double>(X(0), 1);
+  initial.insert<double>(X(1), 2);
+  initial.insert<double>(X(2), 3);
 
   // Run update step
   isam.update(graph1, initial);
 
   // Check that after update we have 3 hybrid Bayes net nodes:
-  // P(X1 | X2, M1) and P(X2, X3 | M1, M2), P(M1, M2)
+  // P(X0 | X1, M0) and P(X1, X2 | M0, M1), P(M0, M1)
   HybridGaussianISAM bayesTree = isam.bayesTree();
   EXPECT_LONGS_EQUAL(3, bayesTree.size());
-  EXPECT(bayesTree[X(1)]->conditional()->frontals() == KeyVector{X(1)});
-  EXPECT(bayesTree[X(1)]->conditional()->parents() == KeyVector({X(2), M(1)}));
-  EXPECT(bayesTree[X(2)]->conditional()->frontals() == KeyVector({X(2), X(3)}));
-  EXPECT(bayesTree[X(2)]->conditional()->parents() == KeyVector({M(1), M(2)}));
+  EXPECT(bayesTree[X(0)]->conditional()->frontals() == KeyVector{X(0)});
+  EXPECT(bayesTree[X(0)]->conditional()->parents() == KeyVector({X(1), M(0)}));
+  EXPECT(bayesTree[X(1)]->conditional()->frontals() == KeyVector({X(1), X(2)}));
+  EXPECT(bayesTree[X(1)]->conditional()->parents() == KeyVector({M(0), M(1)}));
 
   /********************************************************/
   // New factor graph for incremental update.
   HybridNonlinearFactorGraph graph2;
   initial = Values();
 
-  graph1.push_back(switching.nonlinearFactorGraph.at(3));  // P(X2)
-  graph2.push_back(switching.nonlinearFactorGraph.at(4));  // P(X3)
-  graph2.push_back(switching.nonlinearFactorGraph.at(6));  // P(M1, M2)
+  graph1.push_back(switching.nonlinearFactorGraph.at(3));  // P(X1)
+  graph2.push_back(switching.nonlinearFactorGraph.at(4));  // P(X2)
+  graph2.push_back(switching.nonlinearFactorGraph.at(6));  // P(M0, M1)
 
   isam.update(graph2, initial);
 
   bayesTree = isam.bayesTree();
   // Check that after the second update we have
   // 1 additional hybrid Bayes net node:
-  // P(X2, X3 | M1, M2)
+  // P(X1, X2 | M0, M1)
   EXPECT_LONGS_EQUAL(3, bayesTree.size());
-  EXPECT(bayesTree[X(3)]->conditional()->frontals() == KeyVector({X(2), X(3)}));
-  EXPECT(bayesTree[X(3)]->conditional()->parents() == KeyVector({M(1), M(2)}));
+  EXPECT(bayesTree[X(2)]->conditional()->frontals() == KeyVector({X(1), X(2)}));
+  EXPECT(bayesTree[X(2)]->conditional()->parents() == KeyVector({M(0), M(1)}));
 }
 
 /* ****************************************************************************/
@@ -109,35 +109,35 @@ TEST(HybridNonlinearISAM, IncrementalInference) {
   // Create initial factor graph
   //    *        *        *
   //    |        |        |
-  //    X1  -*-  X2  -*-  X3
+  //    X0  -*-  X1  -*-  X2
   //         |        |
-  //      *-M1 - * - M2
-  graph1.push_back(switching.nonlinearFactorGraph.at(0));  // P(X1)
-  graph1.push_back(switching.nonlinearFactorGraph.at(1));  // P(X1, X2 | M1)
-  graph1.push_back(switching.nonlinearFactorGraph.at(3));  // P(X2)
-  graph1.push_back(switching.nonlinearFactorGraph.at(5));  // P(M1)
+  //      *-M0 - * - M1
+  graph1.push_back(switching.nonlinearFactorGraph.at(0));  // P(X0)
+  graph1.push_back(switching.nonlinearFactorGraph.at(1));  // P(X0, X1 | M0)
+  graph1.push_back(switching.nonlinearFactorGraph.at(3));  // P(X1)
+  graph1.push_back(switching.nonlinearFactorGraph.at(5));  // P(M0)
 
-  initial.insert<double>(X(1), 1);
-  initial.insert<double>(X(2), 2);
+  initial.insert<double>(X(0), 1);
+  initial.insert<double>(X(1), 2);
 
   // Run update step
   isam.update(graph1, initial);
   HybridGaussianISAM bayesTree = isam.bayesTree();
 
-  auto discreteConditional_m1 =
-      bayesTree[M(1)]->conditional()->asDiscreteConditional();
-  EXPECT(discreteConditional_m1->keys() == KeyVector({M(1)}));
+  auto discreteConditional_m0 =
+      bayesTree[M(0)]->conditional()->asDiscreteConditional();
+  EXPECT(discreteConditional_m0->keys() == KeyVector({M(0)}));
 
   /********************************************************/
   // New factor graph for incremental update.
   HybridNonlinearFactorGraph graph2;
   initial = Values();
 
-  initial.insert<double>(X(3), 3);
+  initial.insert<double>(X(2), 3);
 
-  graph2.push_back(switching.nonlinearFactorGraph.at(2));  // P(X2, X3 | M2)
-  graph2.push_back(switching.nonlinearFactorGraph.at(4));  // P(X3)
-  graph2.push_back(switching.nonlinearFactorGraph.at(6));  // P(M1, M2)
+  graph2.push_back(switching.nonlinearFactorGraph.at(2));  // P(X1, X2 | M1)
+  graph2.push_back(switching.nonlinearFactorGraph.at(4));  // P(X2)
+  graph2.push_back(switching.nonlinearFactorGraph.at(6));  // P(M0, M1)
 
   isam.update(graph2, initial);
   bayesTree = isam.bayesTree();
@@ -145,9 +145,9 @@ TEST(HybridNonlinearISAM, IncrementalInference) {
   /********************************************************/
   // Run batch elimination so we can compare results.
   Ordering ordering;
+  ordering += X(0);
   ordering += X(1);
   ordering += X(2);
-  ordering += X(3);
 
   // Now we calculate the actual factors using full elimination
   HybridBayesTree::shared_ptr expectedHybridBayesTree;
@@ -155,67 +155,67 @@ TEST(HybridNonlinearISAM, IncrementalInference) {
   std::tie(expectedHybridBayesTree, expectedRemainingGraph) =
       switching.linearizedFactorGraph.eliminatePartialMultifrontal(ordering);
 
+  // The densities on X(1) should be the same
+  auto x0_conditional = dynamic_pointer_cast<GaussianMixture>(
+      bayesTree[X(0)]->conditional()->inner());
+  auto expected_x0_conditional = dynamic_pointer_cast<GaussianMixture>(
+      (*expectedHybridBayesTree)[X(0)]->conditional()->inner());
+  EXPECT(assert_equal(*x0_conditional, *expected_x0_conditional));
+
   // The densities on X(1) should be the same
   auto x1_conditional = dynamic_pointer_cast<GaussianMixture>(
       bayesTree[X(1)]->conditional()->inner());
-  auto actual_x1_conditional = dynamic_pointer_cast<GaussianMixture>(
+  auto expected_x1_conditional = dynamic_pointer_cast<GaussianMixture>(
       (*expectedHybridBayesTree)[X(1)]->conditional()->inner());
-  EXPECT(assert_equal(*x1_conditional, *actual_x1_conditional));
+  EXPECT(assert_equal(*x1_conditional, *expected_x1_conditional));
 
   // The densities on X(2) should be the same
   auto x2_conditional = dynamic_pointer_cast<GaussianMixture>(
       bayesTree[X(2)]->conditional()->inner());
-  auto actual_x2_conditional = dynamic_pointer_cast<GaussianMixture>(
-      (*expectedHybridBayesTree)[X(2)]->conditional()->inner());
-  EXPECT(assert_equal(*x2_conditional, *actual_x2_conditional));
-
-  // The densities on X(3) should be the same
-  auto x3_conditional = dynamic_pointer_cast<GaussianMixture>(
-      bayesTree[X(3)]->conditional()->inner());
-  auto actual_x3_conditional = dynamic_pointer_cast<GaussianMixture>(
+  auto expected_x2_conditional = dynamic_pointer_cast<GaussianMixture>(
       (*expectedHybridBayesTree)[X(2)]->conditional()->inner());
-  EXPECT(assert_equal(*x3_conditional, *actual_x3_conditional));
+  EXPECT(assert_equal(*x2_conditional, *expected_x2_conditional));
 
   // We only perform manual continuous elimination for 0,0.
-  // The other discrete probabilities on M(2) are calculated the same way
+  // The other discrete probabilities on M(1) are calculated the same way
   Ordering discrete_ordering;
+  discrete_ordering += M(0);
   discrete_ordering += M(1);
-  discrete_ordering += M(2);
   HybridBayesTree::shared_ptr discreteBayesTree =
       expectedRemainingGraph->eliminateMultifrontal(discrete_ordering);
 
   DiscreteValues m00;
-  m00[M(1)] = 0, m00[M(2)] = 0;
+  m00[M(0)] = 0, m00[M(1)] = 0;
   DiscreteConditional decisionTree =
-      *(*discreteBayesTree)[M(2)]->conditional()->asDiscreteConditional();
+      *(*discreteBayesTree)[M(1)]->conditional()->asDiscreteConditional();
   double m00_prob = decisionTree(m00);
 
   auto discreteConditional =
-      bayesTree[M(2)]->conditional()->asDiscreteConditional();
+      bayesTree[M(1)]->conditional()->asDiscreteConditional();
 
   // Test if the probability values are as expected with regression tests.
   DiscreteValues assignment;
   EXPECT(assert_equal(m00_prob, 0.0619233, 1e-5));
+  assignment[M(0)] = 0;
   assignment[M(1)] = 0;
-  assignment[M(2)] = 0;
   EXPECT(assert_equal(m00_prob, (*discreteConditional)(assignment), 1e-5));
-  assignment[M(1)] = 1;
-  assignment[M(2)] = 0;
-  EXPECT(assert_equal(0.183743, (*discreteConditional)(assignment), 1e-5));
+  assignment[M(0)] = 1;
   assignment[M(1)] = 0;
-  assignment[M(2)] = 1;
+  EXPECT(assert_equal(0.183743, (*discreteConditional)(assignment), 1e-5));
+  assignment[M(0)] = 0;
+  assignment[M(1)] = 1;
   EXPECT(assert_equal(0.204159, (*discreteConditional)(assignment), 1e-5));
+  assignment[M(0)] = 1;
   assignment[M(1)] = 1;
-  assignment[M(2)] = 1;
   EXPECT(assert_equal(0.2, (*discreteConditional)(assignment), 1e-5));
 
   // Check if the clique conditional generated from incremental elimination
   // matches that of batch elimination.
   auto expectedChordal = expectedRemainingGraph->eliminateMultifrontal();
   auto expectedConditional = dynamic_pointer_cast<DecisionTreeFactor>(
-      (*expectedChordal)[M(2)]->conditional()->inner());
+      (*expectedChordal)[M(1)]->conditional()->inner());
   auto actualConditional = dynamic_pointer_cast<DecisionTreeFactor>(
-      bayesTree[M(2)]->conditional()->inner());
+      bayesTree[M(1)]->conditional()->inner());
   EXPECT(assert_equal(*actualConditional, *expectedConditional, 1e-6));
 }
 
@@ -227,22 +227,22 @@ TEST(HybridNonlinearISAM, Approx_inference) {
   HybridNonlinearFactorGraph graph1;
   Values initial;
 
-  // Add the 3 hybrid factors, x1-x2, x2-x3, x3-x4
+  // Add the 3 hybrid factors, x0-x1, x1-x2, x2-x3
   for (size_t i = 1; i < 4; i++) {
     graph1.push_back(switching.nonlinearFactorGraph.at(i));
   }
 
-  // Add the Gaussian factors, 1 prior on X(1),
-  // 3 measurements on X(2), X(3), X(4)
+  // Add the Gaussian factors, 1 prior on X(0),
+  // 3 measurements on X(1), X(2), X(3)
   graph1.push_back(switching.nonlinearFactorGraph.at(0));
   for (size_t i = 4; i <= 7; i++) {
     graph1.push_back(switching.nonlinearFactorGraph.at(i));
-    initial.insert<double>(X(i - 3), i - 3);
+    initial.insert<double>(X(i - 4), i - 3);
   }
 
   // Create ordering.
   Ordering ordering;
-  for (size_t j = 1; j <= 4; j++) {
+  for (size_t j = 0; j < 4; j++) {
     ordering += X(j);
   }
 
@@ -292,26 +292,26 @@ TEST(HybridNonlinearISAM, Approx_inference) {
     1 1 1 Leaf  0.5
   */
 
-  auto discreteConditional_m1 = *dynamic_pointer_cast<DiscreteConditional>(
-      bayesTree[M(1)]->conditional()->inner());
-  EXPECT(discreteConditional_m1.keys() == KeyVector({M(1), M(2), M(3)}));
+  auto discreteConditional_m0 = *dynamic_pointer_cast<DiscreteConditional>(
+      bayesTree[M(0)]->conditional()->inner());
+  EXPECT(discreteConditional_m0.keys() == KeyVector({M(0), M(1), M(2)}));
 
   // Get the number of elements which are greater than 0.
   auto count = [](const double &value, int count) {
     return value > 0 ? count + 1 : count;
   };
   // Check that the number of leaves after pruning is 5.
-  EXPECT_LONGS_EQUAL(5, discreteConditional_m1.fold(count, 0));
+  EXPECT_LONGS_EQUAL(5, discreteConditional_m0.fold(count, 0));
 
   // Check that the hybrid nodes of the bayes net match those of the pre-pruning
   // bayes net, at the same positions.
   auto &unprunedLastDensity = *dynamic_pointer_cast<GaussianMixture>(
-      unprunedHybridBayesTree->clique(X(4))->conditional()->inner());
+      unprunedHybridBayesTree->clique(X(3))->conditional()->inner());
   auto &lastDensity = *dynamic_pointer_cast<GaussianMixture>(
-      bayesTree[X(4)]->conditional()->inner());
+      bayesTree[X(3)]->conditional()->inner());
 
   std::vector<std::pair<DiscreteValues, double>> assignments =
-      discreteConditional_m1.enumerate();
+      discreteConditional_m0.enumerate();
   // Loop over all assignments and check the pruned components
   for (auto &&av : assignments) {
     const DiscreteValues &assignment = av.first;
@@ -336,18 +336,18 @@ TEST(HybridNonlinearISAM, Incremental_approximate) {
   Values initial;
 
   /***** Run Round 1 *****/
-  // Add the 3 hybrid factors, x1-x2, x2-x3, x3-x4
+  // Add the 3 hybrid factors, x0-x1, x1-x2, x2-x3
   for (size_t i = 1; i < 4; i++) {
     graph1.push_back(switching.nonlinearFactorGraph.at(i));
   }
 
-  // Add the Gaussian factors, 1 prior on X(1),
-  // 3 measurements on X(2), X(3), X(4)
+  // Add the Gaussian factors, 1 prior on X(0),
+  // 3 measurements on X(1), X(2), X(3)
   graph1.push_back(switching.nonlinearFactorGraph.at(0));
-  initial.insert<double>(X(1), 1);
+  initial.insert<double>(X(0), 1);
   for (size_t i = 5; i <= 7; i++) {
     graph1.push_back(switching.nonlinearFactorGraph.at(i));
-    initial.insert<double>(X(i - 3), i - 3);
+    initial.insert<double>(X(i - 4), i - 3);
   }
 
   // Run update with pruning
@@ -361,20 +361,20 @@ TEST(HybridNonlinearISAM, Incremental_approximate) {
   // each with 2, 4, 8, and 5 (pruned) leaves respetively.
   EXPECT_LONGS_EQUAL(4, bayesTree.size());
   EXPECT_LONGS_EQUAL(
-      2, bayesTree[X(1)]->conditional()->asMixture()->nrComponents());
+      2, bayesTree[X(0)]->conditional()->asMixture()->nrComponents());
   EXPECT_LONGS_EQUAL(
-      3, bayesTree[X(2)]->conditional()->asMixture()->nrComponents());
+      3, bayesTree[X(1)]->conditional()->asMixture()->nrComponents());
   EXPECT_LONGS_EQUAL(
-      5, bayesTree[X(3)]->conditional()->asMixture()->nrComponents());
+      5, bayesTree[X(2)]->conditional()->asMixture()->nrComponents());
   EXPECT_LONGS_EQUAL(
-      5, bayesTree[X(4)]->conditional()->asMixture()->nrComponents());
+      5, bayesTree[X(3)]->conditional()->asMixture()->nrComponents());
 
   /***** Run Round 2 *****/
   HybridGaussianFactorGraph graph2;
-  graph2.push_back(switching.nonlinearFactorGraph.at(4));  // x4-x5
-  graph2.push_back(switching.nonlinearFactorGraph.at(8));  // x5 measurement
+  graph2.push_back(switching.nonlinearFactorGraph.at(4));  // x3-x4
+  graph2.push_back(switching.nonlinearFactorGraph.at(8));  // x4 measurement
   initial = Values();
-  initial.insert<double>(X(5), 5);
+  initial.insert<double>(X(4), 5);
 
   // Run update with pruning a second time.
   incrementalHybrid.update(graph2, initial);
@@ -386,9 +386,9 @@ TEST(HybridNonlinearISAM, Incremental_approximate) {
   // with 5 (pruned) leaves.
   CHECK_EQUAL(5, bayesTree.size());
   EXPECT_LONGS_EQUAL(
-      5, bayesTree[X(4)]->conditional()->asMixture()->nrComponents());
+      5, bayesTree[X(3)]->conditional()->asMixture()->nrComponents());
   EXPECT_LONGS_EQUAL(
-      5, bayesTree[X(5)]->conditional()->asMixture()->nrComponents());
+      5, bayesTree[X(4)]->conditional()->asMixture()->nrComponents());
 }
 
 /* ************************************************************************/
@@ -401,7 +401,7 @@ TEST(HybridNonlinearISAM, NonTrivial) {
   HybridNonlinearFactorGraph fg;
   HybridNonlinearISAM inc;
 
-  // Add a prior on pose x1 at the origin.
+  // Add a prior on pose x0 at the origin.
   // A prior factor consists of a mean  and
   // a noise model (covariance matrix)
   Pose2 prior(0.0, 0.0, 0.0);  // prior mean is at origin

From cafa3c556c23db08f6eb5242480b18be1cba5253 Mon Sep 17 00:00:00 2001
From: Frank Dellaert <dellaert@gmail.com>
Date: Sat, 22 Oct 2022 18:37:20 -0700
Subject: [PATCH 406/433] Split SfmTrack into 2 classes

---
 gtsam/sfm/SfmTrack.h             | 62 +++++++++++++++++++++++++-------
 gtsam/sfm/tests/testSfmTrack.cpp | 53 +++++++++++++++++++++++++++
 2 files changed, 103 insertions(+), 12 deletions(-)
 create mode 100644 gtsam/sfm/tests/testSfmTrack.cpp

diff --git a/gtsam/sfm/SfmTrack.h b/gtsam/sfm/SfmTrack.h
index 37731b32ae..471eff9940 100644
--- a/gtsam/sfm/SfmTrack.h
+++ b/gtsam/sfm/SfmTrack.h
@@ -35,28 +35,26 @@ typedef std::pair<size_t, Point2> SfmMeasurement;
 typedef std::pair<size_t, size_t> SiftIndex;
 
 /**
- * @brief An SfmTrack stores SfM measurements grouped in a track
- * @addtogroup sfm
+ * @brief Track containing 2D measurements associated with a single 3D point.
+ * Note: Equivalent to gtsam.SfmTrack, but without the 3d measurement.
+ * This class holds data temporarily before 3D point is initialized.
  */
-struct GTSAM_EXPORT SfmTrack {
-  Point3 p;       ///< 3D position of the point
-  float r, g, b;  ///< RGB color of the 3D point
-
+struct GTSAM_EXPORT SfmTrack2d {
   /// The 2D image projections (id,(u,v))
   std::vector<SfmMeasurement> measurements;
 
-  /// The feature descriptors
+  /// The feature descriptors (optional)
   std::vector<SiftIndex> siftIndices;
 
   /// @name Constructors
   /// @{
 
-  explicit SfmTrack(float r = 0, float g = 0, float b = 0)
-      : p(0, 0, 0), r(r), g(g), b(b) {}
+  // Default constructor.
+  SfmTrack2d() = default;
 
-  explicit SfmTrack(const gtsam::Point3& pt, float r = 0, float g = 0,
-                    float b = 0)
-      : p(pt), r(r), g(g), b(b) {}
+  // Constructor from measurements.
+  explicit SfmTrack2d(const std::vector<SfmMeasurement>& measurements)
+      : measurements(measurements) {}
 
   /// @}
   /// @name Standard Interface
@@ -78,6 +76,46 @@ struct GTSAM_EXPORT SfmTrack {
   /// Get the SIFT feature index corresponding to the measurement at `idx`
   const SiftIndex& siftIndex(size_t idx) const { return siftIndices[idx]; }
 
+  /**
+   * @brief Validates the track by checking that no two measurements are from
+   * @returns boolean result of the validation.
+   */
+  bool hasUniqueCameras() {
+    std::vector<int> track_cam_indices;
+    for (auto& measurement : measurements) {
+      track_cam_indices.emplace_back(measurement.first);
+    }
+    auto i =
+        std::adjacent_find(track_cam_indices.begin(), track_cam_indices.end());
+    bool all_cameras_unique = (i == track_cam_indices.end());
+    return all_cameras_unique;
+  }
+};
+
+using SfmTrack2dVector = std::vector<SfmTrack2d>;
+
+/**
+ * @brief An SfmTrack stores SfM measurements grouped in a track
+ * @addtogroup sfm
+ */
+struct GTSAM_EXPORT SfmTrack : SfmTrack2d {
+  Point3 p;       ///< 3D position of the point
+  float r, g, b;  ///< RGB color of the 3D point
+
+  /// @name Constructors
+  /// @{
+
+  explicit SfmTrack(float r = 0, float g = 0, float b = 0)
+      : p(0, 0, 0), r(r), g(g), b(b) {}
+
+  explicit SfmTrack(const gtsam::Point3& pt, float r = 0, float g = 0,
+                    float b = 0)
+      : p(pt), r(r), g(g), b(b) {}
+
+  /// @}
+  /// @name Standard Interface
+  /// @{
+
   /// Get 3D point
   const Point3& point3() const { return p; }
 
diff --git a/gtsam/sfm/tests/testSfmTrack.cpp b/gtsam/sfm/tests/testSfmTrack.cpp
new file mode 100644
index 0000000000..1b8c6bd9a8
--- /dev/null
+++ b/gtsam/sfm/tests/testSfmTrack.cpp
@@ -0,0 +1,53 @@
+/* ----------------------------------------------------------------------------
+
+ * GTSAM Copyright 2010, Georgia Tech Research Corporation,
+ * Atlanta, Georgia 30332-0415
+ * All Rights Reserved
+ * Authors: Frank Dellaert, et al. (see THANKS for the full author list)
+
+ * See LICENSE for the license information
+
+ * -------------------------------------------------------------------------- */
+
+/**
+ * @file TestSfmTrack.cpp
+ * @date October 2022
+ * @author Frank Dellaert
+ * @brief tests for SfmTrack class
+ */
+
+#include <CppUnitLite/TestHarness.h>
+#include <gtsam/inference/Symbol.h>
+#include <gtsam/nonlinear/NonlinearFactorGraph.h>
+#include <gtsam/sfm/SfmTrack.h>
+
+using namespace std;
+using namespace gtsam;
+
+/* ************************************************************************* */
+TEST(SfmTrack2d, defaultConstructor) {
+  SfmTrack2d track;
+  EXPECT_LONGS_EQUAL(0, track.measurements.size());
+  EXPECT_LONGS_EQUAL(0, track.siftIndices.size());
+}
+
+/* ************************************************************************* */
+TEST(SfmTrack2d, measurementConstructor) {
+  SfmTrack2d track({{0, Point2(1, 2)}, {1, Point2(3, 4)}});
+  EXPECT_LONGS_EQUAL(2, track.measurements.size());
+  EXPECT_LONGS_EQUAL(0, track.siftIndices.size());
+}
+
+/* ************************************************************************* */
+TEST(SfmTrack, construction) {
+  SfmTrack track(Point3(1, 2, 3), 4, 5, 6);
+  EXPECT(assert_equal(Point3(1, 2, 3), track.point3()));
+  EXPECT(assert_equal(Point3(4, 5, 6), track.rgb()));
+}
+
+/* ************************************************************************* */
+int main() {
+  TestResult tr;
+  return TestRegistry::runAllTests(tr);
+}
+/* ************************************************************************* */

From 38be12eaf46885d2ae257215582ba616472b5b7c Mon Sep 17 00:00:00 2001
From: Frank Dellaert <dellaert@gmail.com>
Date: Sat, 22 Oct 2022 18:37:44 -0700
Subject: [PATCH 407/433] Use SfmMeasurement and SfmTrack

---
 gtsam/sfm/DsfTrackGenerator.h                | 139 ++++++-------------
 gtsam/sfm/SfmTrack.h                         |   2 +-
 gtsam/sfm/sfm.i                              | 139 +++++++------------
 python/gtsam/preamble/sfm.h                  |  11 +-
 python/gtsam/specializations/sfm.h           |  26 +---
 python/gtsam/tests/test_DsfTrackGenerator.py |  77 +++++-----
 6 files changed, 144 insertions(+), 250 deletions(-)

diff --git a/gtsam/sfm/DsfTrackGenerator.h b/gtsam/sfm/DsfTrackGenerator.h
index 47578d6eae..0dae3d2167 100644
--- a/gtsam/sfm/DsfTrackGenerator.h
+++ b/gtsam/sfm/DsfTrackGenerator.h
@@ -17,11 +17,11 @@
  */
 
 #pragma once
-#include <Eigen/Core>
-
 #include <gtsam/base/DSFMap.h>
 #include <gtsam/geometry/Point2.h>
+#include <gtsam/sfm/SfmTrack.h>
 
+#include <Eigen/Core>
 #include <algorithm>
 #include <iostream>
 #include <map>
@@ -33,19 +33,18 @@ namespace gtsam {
 namespace gtsfm {
 
 typedef DSFMap<IndexPair> DSFMapIndexPair;
-typedef Eigen::MatrixX2i CorrespondenceIndices; // N x 2 array
+typedef Eigen::MatrixX2i CorrespondenceIndices;  // N x 2 array
 
-//struct Keypoints;
+// struct Keypoints;
 using KeypointCoordinates = Eigen::MatrixX2d;
 
-
 // Output of detections in an image.
 // Coordinate system convention:
-// 1. The x coordinate denotes the horizontal direction (+ve direction towards the right).
+// 1. The x coordinate denotes the horizontal direction (+ve direction towards
+// the right).
 // 2. The y coordinate denotes the vertical direction (+ve direction downwards).
 // 3. Origin is at the top left corner of the image.
 struct Keypoints {
-
   // The (x, y) coordinates of the features, of shape Nx2.
   KeypointCoordinates coordinates;
 
@@ -56,80 +55,20 @@ struct Keypoints {
   /// Optional confidences/responses for each detection, of shape N.
   boost::optional<gtsam::Vector> responses;
 
-  Keypoints(const gtsam::gtsfm::KeypointCoordinates& coordinates): coordinates(coordinates) {}; // boost::none
+  Keypoints(const KeypointCoordinates& coordinates)
+      : coordinates(coordinates){};  // boost::none
 };
 
 using KeypointsVector = std::vector<Keypoints>;
-// Mapping from each image pair to (N,2) array representing indices of matching keypoints.
+// Mapping from each image pair to (N,2) array representing indices of matching
+// keypoints.
 using MatchIndicesMap = std::map<IndexPair, CorrespondenceIndices>;
 
-
-// @param camera index
-// @param 2d measurement
-// Implemented as named tuple, instead of std::pair (like SfmMeasurement in SfmTrack.h)
-struct NamedSfmMeasurement {
-  size_t i;
-  gtsam::Point2 uv;
-
-  NamedSfmMeasurement(size_t i, gtsam::Point2 uv) : i(i), uv(uv) {}
-};
-
-
-/**
- * @brief Track containing 2D measurements associated with a single 3D point.
- * Note: Equivalent to gtsam.SfmTrack, but without the 3d measurement.
- * This class holds data temporarily before 3D point is initialized.
- */
-class SfmTrack2d {
- private:
-  std::vector<NamedSfmMeasurement> measurements_;
-
- public:
-  // Default constructor.
-  SfmTrack2d() = default;
-
-  // Constructor from measurements.
-  SfmTrack2d(std::vector<NamedSfmMeasurement> &measurements) : measurements_(measurements) {}
-
-  // Add a measurement to the track.
-  void addMeasurement(const NamedSfmMeasurement &m) {
-    measurements_.emplace_back(m);
-  }
-
-  /// The measurement at index `idx`
-  NamedSfmMeasurement measurement(size_t idx) const { return measurements_[idx]; }
-
-  // Return all measurements in the track.
-  std::vector<NamedSfmMeasurement> measurements() {return measurements_; }
-
-  /// Total number of measurements in this track.
-  size_t numberMeasurements() const { return measurements_.size(); }
-
-  // @brief Validates the track by checking that no two measurements are from the same camera.
-  //
-  // returns boolean result of the validation.
-  bool hasUniqueCameras()
-  {
-    std::vector<int> track_cam_idxs;
-    for (auto & measurement : measurements_)
-    {
-      track_cam_idxs.emplace_back(measurement.i);
-    }
-    auto i = std::adjacent_find(track_cam_idxs.begin(), track_cam_idxs.end());
-    bool all_cameras_unique = (i == track_cam_idxs.end());
-    return all_cameras_unique;
-  }
-};
-
-using SfmTrack2dVector = std::vector<gtsam::gtsfm::SfmTrack2d>;
-using NamedSfmMeasurementVector = std::vector<NamedSfmMeasurement>;
-
-
 /**
- * @brief Generates point tracks from connected components in the keypoint matches graph.
+ * @brief Generates point tracks from connected components in the keypoint
+ * matches graph.
  */
 class DsfTrackGenerator {
-
  public:
   /** Default constructor. */
   DsfTrackGenerator() {}
@@ -144,28 +83,28 @@ class DsfTrackGenerator {
   //        correspondence indices, from each image.
   // @param Length-N list of keypoints, for N images/cameras.
   std::vector<SfmTrack2d> generate_tracks_from_pairwise_matches(
-    const MatchIndicesMap& matches_dict,
-    const KeypointsVector& keypoints_list,
-    bool verbose = false) {
+      const MatchIndicesMap& matches_dict,
+      const KeypointsVector& keypoints_list, bool verbose = false) {
     std::vector<SfmTrack2d> track_2d_list;
 
-    if (verbose) std::cout << "[SfmTrack2d] Starting Union-Find..." << std::endl;
+    if (verbose)
+      std::cout << "[SfmTrack2d] Starting Union-Find..." << std::endl;
     // Generate the DSF to form tracks.
     DSFMapIndexPair dsf;
 
     for (const auto& kv : matches_dict) {
-      const auto pair_idxs = kv.first;
-      const auto corr_idxs = kv.second;
+      const auto pair_indices = kv.first;
+      const auto corr_indices = kv.second;
 
       // Image pair is (i1,i2).
-      size_t i1 = pair_idxs.first;
-      size_t i2 =  pair_idxs.second;
-      for (size_t k = 0; k < corr_idxs.rows(); k++)
-      {
+      size_t i1 = pair_indices.first;
+      size_t i2 = pair_indices.second;
+      for (size_t k = 0; k < corr_indices.rows(); k++) {
         // Measurement indices are found in a single matrix row, as (k1,k2).
-        size_t k1 = corr_idxs(k, 0);
-        size_t k2 = corr_idxs(k, 1);
-        // Unique keys for the DSF are (i,k), representing keypoint index in an image.
+        size_t k1 = corr_indices(k, 0);
+        size_t k2 = corr_indices(k, 1);
+        // Unique keys for the DSF are (i,k), representing keypoint index in an
+        // image.
         dsf.merge(IndexPair(i1, k1), IndexPair(i2, k2));
       }
     }
@@ -186,19 +125,19 @@ class DsfTrackGenerator {
       // Initialize track from measurements.
       SfmTrack2d track_2d;
 
-      for (const auto& index_pair : index_pair_set)
-      {
-        // Camera index is represented by i, and measurement index is represented by k.
+      for (const auto& index_pair : index_pair_set) {
+        // Camera index is represented by i, and measurement index is
+        // represented by k.
         size_t i = index_pair.i();
         size_t k = index_pair.j();
         // Add measurement to this track.
-        track_2d.addMeasurement(NamedSfmMeasurement(i, keypoints_list[i].coordinates.row(k)));
+        track_2d.addMeasurement(i, keypoints_list[i].coordinates.row(k));
       }
 
-      // Skip erroneous track that had repeated measurements within the same image.
-      // This is an expected result from an incorrect correspondence slipping through.
-      if (track_2d.hasUniqueCameras())
-      {
+      // Skip erroneous track that had repeated measurements within the same
+      // image. This is an expected result from an incorrect correspondence
+      // slipping through.
+      if (track_2d.hasUniqueCameras()) {
         track_2d_list.emplace_back(track_2d);
       } else {
         erroneous_track_count++;
@@ -206,19 +145,19 @@ class DsfTrackGenerator {
     }
 
     if (verbose) {
-      double erroneous_track_pct = static_cast<float>(erroneous_track_count)
-                                   / static_cast<float>(key_sets.size()) * 100;
+      double erroneous_track_pct = static_cast<float>(erroneous_track_count) /
+                                   static_cast<float>(key_sets.size()) * 100;
 
       // TODO(johnwlambert): restrict decimal places to 2 decimals.
       std::cout << "DSF Union-Find: " << erroneous_track_pct;
-      std::cout << "% of tracks discarded from multiple obs. in a single image." << std::endl;
+      std::cout << "% of tracks discarded from multiple obs. in a single image."
+                << std::endl;
     }
     // TODO(johnwlambert): return the Transitivity failure percentage here.
     return track_2d_list;
   }
 };
 
-}///\namespace gtsfm
-
-} // namespace gtsam
+}  // namespace gtsfm
 
+}  // namespace gtsam
diff --git a/gtsam/sfm/SfmTrack.h b/gtsam/sfm/SfmTrack.h
index 471eff9940..1fe5aedf49 100644
--- a/gtsam/sfm/SfmTrack.h
+++ b/gtsam/sfm/SfmTrack.h
@@ -80,7 +80,7 @@ struct GTSAM_EXPORT SfmTrack2d {
    * @brief Validates the track by checking that no two measurements are from
    * @returns boolean result of the validation.
    */
-  bool hasUniqueCameras() {
+  bool hasUniqueCameras() const {
     std::vector<int> track_cam_indices;
     for (auto& measurement : measurements) {
       track_cam_indices.emplace_back(measurement.first);
diff --git a/gtsam/sfm/sfm.i b/gtsam/sfm/sfm.i
index 984955d237..02d3b7b5b2 100644
--- a/gtsam/sfm/sfm.i
+++ b/gtsam/sfm/sfm.i
@@ -4,91 +4,22 @@
 
 namespace gtsam {
 
-namespace gtsfm {
-
-#include <gtsam/sfm/DsfTrackGenerator.h>
-
-class MatchIndicesMap {
-  MatchIndicesMap();
-  MatchIndicesMap(const gtsam::gtsfm::MatchIndicesMap& other);
-
-  size_t size() const;
-  bool empty() const;
-  void clear();
-  gtsam::gtsfm::CorrespondenceIndices at(const pair<size_t, size_t>& keypair) const;
-};
-
-
-class Keypoints
-{
-  Keypoints(const gtsam::gtsfm::KeypointCoordinates& coordinates);
-  gtsam::gtsfm::KeypointCoordinates coordinates;
-}; // check if this should be a method
-
-
-class KeypointsVector {
-  KeypointsVector();
-  KeypointsVector(const gtsam::gtsfm::KeypointsVector& other);
-  void push_back(const gtsam::gtsfm::Keypoints& keypoints);
-  size_t size() const;
-  bool empty() const;
-  void clear();
-  gtsam::gtsfm::Keypoints at(const size_t& index) const;
-};
-
-
-class NamedSfmMeasurement
-{
-  size_t i;
-  gtsam::Point2 uv;
-  NamedSfmMeasurement(size_t i, gtsam::Point2 uv);
-};
-
-class NamedSfmMeasurementVector {
-  NamedSfmMeasurementVector();
-  NamedSfmMeasurementVector(const gtsam::gtsfm::NamedSfmMeasurementVector& other);
-  void push_back(const gtsam::gtsfm::NamedSfmMeasurement& measurement);
-  size_t size() const;
-  bool empty() const;
-  void clear();
-  gtsam::gtsfm::NamedSfmMeasurement at(const size_t& index) const;
-};
-
+#include <gtsam/sfm/SfmTrack.h>
 class SfmTrack2d
 {
+  std::vector<pair<size_t, gtsam::Point2>> measurements;
+
   SfmTrack2d();
-  SfmTrack2d(std::vector<gtsam::gtsfm::NamedSfmMeasurement> &measurements);
+  SfmTrack2d(std::vector<gtsam::SfmMeasurement> &measurements);
   size_t numberMeasurements() const;
-  void addMeasurement(const gtsam::gtsfm::NamedSfmMeasurement &m);
-  std::vector<gtsam::gtsfm::NamedSfmMeasurement> measurements();
-  gtsam::gtsfm::NamedSfmMeasurement measurement(size_t idx) const;
+  pair<size_t, gtsam::Point2> measurement(size_t idx) const;
+  pair<size_t, size_t> siftIndex(size_t idx) const;
+  void addMeasurement(size_t idx, const gtsam::Point2& m);
+  gtsam::SfmMeasurement measurement(size_t idx) const;
   bool hasUniqueCameras();
 };
 
-class SfmTrack2dVector {
-  SfmTrack2dVector();
-  SfmTrack2dVector(const gtsam::gtsfm::SfmTrack2dVector& other);
-  void push_back(const gtsam::gtsfm::SfmTrack2d& track);
-  size_t size() const;
-  bool empty() const;
-  void clear();
-  gtsam::gtsfm::SfmTrack2d at(const size_t& index) const;
-};
-
-
-class DsfTrackGenerator {
-  DsfTrackGenerator();
-  const gtsam::gtsfm::SfmTrack2dVector generate_tracks_from_pairwise_matches(
-    const gtsam::gtsfm::MatchIndicesMap& matches_dict,
-    const gtsam::gtsfm::KeypointsVector& keypoints_list,
-    bool verbose = false);
-};
-}///\namespace gtsfm
-
-#include <gtsam/nonlinear/NonlinearFactorGraph.h>
-#include <gtsam/nonlinear/Values.h>
-#include <gtsam/sfm/SfmTrack.h>
-class SfmTrack {
+virtual class SfmTrack : gtsam::SfmTrack2d {
   SfmTrack();
   SfmTrack(const gtsam::Point3& pt);
   const Point3& point3() const;
@@ -99,13 +30,6 @@ class SfmTrack {
   double g;
   double b;
 
-  std::vector<pair<size_t, gtsam::Point2>> measurements;
-
-  size_t numberMeasurements() const;
-  pair<size_t, gtsam::Point2> measurement(size_t idx) const;
-  pair<size_t, size_t> siftIndex(size_t idx) const;
-  void addMeasurement(size_t idx, const gtsam::Point2& m);
-
   // enabling serialization functionality
   void serialize() const;
 
@@ -113,6 +37,8 @@ class SfmTrack {
   bool equals(const gtsam::SfmTrack& expected, double tol) const;
 };
 
+#include <gtsam/nonlinear/Values.h>
+#include <gtsam/nonlinear/NonlinearFactorGraph.h>
 #include <gtsam/sfm/SfmData.h>
 class SfmData {
   SfmData();
@@ -196,7 +122,7 @@ class BinaryMeasurementsRot3 {
 
 #include <gtsam/sfm/ShonanAveraging.h>
 
-// TODO(frank): copy/pasta below until we have integer template paremeters in
+// TODO(frank): copy/pasta below until we have integer template parameters in
 // wrap!
 
 class ShonanAveragingParameters2 {
@@ -391,4 +317,45 @@ class TranslationRecovery {
       const gtsam::BinaryMeasurementsUnit3& relativeTranslations) const;
 };
 
+namespace gtsfm {
+
+#include <gtsam/sfm/DsfTrackGenerator.h>
+
+class MatchIndicesMap {
+  MatchIndicesMap();
+  MatchIndicesMap(const gtsam::gtsfm::MatchIndicesMap& other);
+
+  size_t size() const;
+  bool empty() const;
+  void clear();
+  gtsam::gtsfm::CorrespondenceIndices at(const pair<size_t, size_t>& keypair) const;
+};
+
+
+class Keypoints
+{
+  Keypoints(const gtsam::gtsfm::KeypointCoordinates& coordinates);
+  gtsam::gtsfm::KeypointCoordinates coordinates;
+}; // check if this should be a method
+
+
+class KeypointsVector {
+  KeypointsVector();
+  KeypointsVector(const gtsam::gtsfm::KeypointsVector& other);
+  void push_back(const gtsam::gtsfm::Keypoints& keypoints);
+  size_t size() const;
+  bool empty() const;
+  void clear();
+  gtsam::gtsfm::Keypoints at(const size_t& index) const;
+};
+
+class DsfTrackGenerator {
+  DsfTrackGenerator();
+  const gtsam::SfmTrack2dVector generate_tracks_from_pairwise_matches(
+    const gtsam::gtsfm::MatchIndicesMap& matches_dict,
+    const gtsam::gtsfm::KeypointsVector& keypoints_list,
+    bool verbose = false);
+};
+}  // namespace gtsfm
+
 }  // namespace gtsam
diff --git a/python/gtsam/preamble/sfm.h b/python/gtsam/preamble/sfm.h
index 067dd88011..27a4e5de90 100644
--- a/python/gtsam/preamble/sfm.h
+++ b/python/gtsam/preamble/sfm.h
@@ -15,16 +15,13 @@
 // #include <pybind11/stl.h>
 #include <pybind11/stl_bind.h>
 
-PYBIND11_MAKE_OPAQUE(
-    std::vector<gtsam::SfmTrack>);
-PYBIND11_MAKE_OPAQUE(
-    std::vector<gtsam::SfmCamera>);
+PYBIND11_MAKE_OPAQUE(std::vector<gtsam::SfmMeasurement>);
+PYBIND11_MAKE_OPAQUE(std::vector<gtsam::SfmTrack>);
+PYBIND11_MAKE_OPAQUE(std::vector<gtsam::SfmCamera>);
 PYBIND11_MAKE_OPAQUE(
     std::vector<gtsam::BinaryMeasurement<gtsam::Unit3>>);
 PYBIND11_MAKE_OPAQUE(
     std::vector<gtsam::BinaryMeasurement<gtsam::Rot3>>);
 PYBIND11_MAKE_OPAQUE(
     std::vector<gtsam::gtsfm::Keypoints>);
-PYBIND11_MAKE_OPAQUE(gtsam::gtsfm::MatchIndicesMap);
-PYBIND11_MAKE_OPAQUE(
-    std::vector<gtsam::gtsfm::NamedSfmMeasurement>);
\ No newline at end of file
+PYBIND11_MAKE_OPAQUE(gtsam::gtsfm::MatchIndicesMap);
\ No newline at end of file
diff --git a/python/gtsam/specializations/sfm.h b/python/gtsam/specializations/sfm.h
index 10fb1a0ab5..c4817f5553 100644
--- a/python/gtsam/specializations/sfm.h
+++ b/python/gtsam/specializations/sfm.h
@@ -18,25 +18,11 @@ py::bind_vector<std::vector<gtsam::BinaryMeasurement<gtsam::Unit3> > >(
 py::bind_vector<std::vector<gtsam::BinaryMeasurement<gtsam::Rot3> > >(
     m_, "BinaryMeasurementsRot3");
 py::bind_map<gtsam::KeyPairDoubleMap>(m_, "KeyPairDoubleMap");
-py::bind_vector<
-    std::vector<gtsam::SfmTrack> >(
-    m_, "SfmTracks");
-py::bind_vector<
-    std::vector<gtsam::SfmCamera> >(
-    m_, "SfmCameras");
-py::bind_vector<
-    std::vector<std::pair<size_t, gtsam::Point2>>>(
-        m_, "SfmMeasurementVector"
-    );
+py::bind_vector<std::vector<gtsam::SfmTrack2d>>(m_, "SfmTrack2dVector");
+py::bind_vector<std::vector<gtsam::SfmTrack>>(m_, "SfmTracks");
+py::bind_vector<std::vector<gtsam::SfmCamera>>(m_, "SfmCameras");
+py::bind_vector<std::vector<std::pair<size_t, gtsam::Point2>>>(
+    m_, "SfmMeasurementVector");
 
-py::bind_vector<
-    std::vector<gtsam::gtsfm::SfmTrack2d> >(
-    m_, "SfmTrack2dVector");
-py::bind_vector<
-    std::vector<gtsam::gtsfm::NamedSfmMeasurement> >(
-    m_, "NamedSfmMeasurementVector");
 py::bind_map<gtsam::gtsfm::MatchIndicesMap>(m_, "MatchIndicesMap");
-
-py::bind_vector<
-    std::vector<gtsam::gtsfm::Keypoints> >(
-    m_, "KeypointsVector");
+py::bind_vector<std::vector<gtsam::gtsfm::Keypoints>>(m_, "KeypointsVector");
diff --git a/python/gtsam/tests/test_DsfTrackGenerator.py b/python/gtsam/tests/test_DsfTrackGenerator.py
index e63025cd34..3452c03e87 100644
--- a/python/gtsam/tests/test_DsfTrackGenerator.py
+++ b/python/gtsam/tests/test_DsfTrackGenerator.py
@@ -6,15 +6,9 @@
 import unittest
 
 import numpy as np
-
-import gtsam
-from gtsam import IndexPair, KeypointsVector, MatchIndicesMap, NamedSfmMeasurementVector
-from gtsam.gtsfm import (
-    DsfTrackGenerator,
-    Keypoints,
-    NamedSfmMeasurement,
-    SfmTrack2d,
-)
+from gtsam import (IndexPair, KeypointsVector, MatchIndicesMap, Point2,
+                   SfmMeasurementVector, SfmTrack2d)
+from gtsam.gtsfm import DsfTrackGenerator, Keypoints
 from gtsam.utils.test_case import GtsamTestCase
 
 
@@ -22,48 +16,55 @@ class TestDsfTrackGenerator(GtsamTestCase):
     """Tests for DsfTrackGenerator."""
 
     def test_track_generation(self) -> None:
-        """Ensures that DSF generates three tracks from measurements in 3 images (H=200,W=400)."""
-        kps_i0 = Keypoints(coordinates=np.array([[10.0, 20], [30, 40]]))
-        kps_i1 = Keypoints(coordinates=np.array([[50.0, 60], [70, 80], [90, 100]]))
-        kps_i2 = Keypoints(coordinates=np.array([[110.0, 120], [130, 140]]))
+        """Ensures that DSF generates three tracks from measurements
+        in 3 images (H=200,W=400)."""
+        kps_i0 = Keypoints(np.array([[10.0, 20], [30, 40]]))
+        kps_i1 = Keypoints(np.array([[50.0, 60], [70, 80], [90, 100]]))
+        kps_i2 = Keypoints(np.array([[110.0, 120], [130, 140]]))
 
         keypoints_list = KeypointsVector()
         keypoints_list.append(kps_i0)
         keypoints_list.append(kps_i1)
         keypoints_list.append(kps_i2)
 
-        # For each image pair (i1,i2), we provide a (K,2) matrix of corresponding image indices (k1,k2).
+        # For each image pair (i1,i2), we provide a (K,2) matrix
+        # of corresponding image indices (k1,k2).
         matches_dict = MatchIndicesMap()
         matches_dict[IndexPair(0, 1)] = np.array([[0, 0], [1, 1]])
         matches_dict[IndexPair(1, 2)] = np.array([[2, 0], [1, 1]])
 
-        tracks = DsfTrackGenerator().generate_tracks_from_pairwise_matches(matches_dict,
-                                                                           keypoints_list,
-                                                                           verbose=True)
+        tracks = DsfTrackGenerator().generate_tracks_from_pairwise_matches(
+            matches_dict,
+            keypoints_list,
+            verbose=False,
+        )
         assert len(tracks) == 3
 
         # Verify track 0.
-        assert np.allclose(tracks[0].measurements()[0].uv, np.array([10.0, 20.0]))
-        assert np.allclose(tracks[0].measurements()[1].uv, np.array([50.0, 60.0]))
-        assert tracks[0].measurements()[0].i == 0
-        assert tracks[0].measurements()[1].i == 1
-        assert tracks[0].numberMeasurements() == 2
+        track0 = tracks[0]
+        np.testing.assert_allclose(track0.measurements[0][1], Point2(10, 20))
+        np.testing.assert_allclose(track0.measurements[1][1], Point2(50, 60))
+        assert track0.measurements[0][0] == 0
+        assert track0.measurements[1][0] == 1
+        assert track0.numberMeasurements() == 2
 
         # Verify track 1.
-        assert np.allclose(tracks[1].measurements()[0].uv, np.array([30.0, 40.0]))
-        assert np.allclose(tracks[1].measurements()[1].uv, np.array([70.0, 80.0]))
-        assert np.allclose(tracks[1].measurements()[2].uv, np.array([130.0, 140.0]))
-        assert tracks[1].measurements()[0].i == 0
-        assert tracks[1].measurements()[1].i == 1
-        assert tracks[1].measurements()[2].i == 2
-        assert tracks[1].numberMeasurements() == 3
+        track1 = tracks[1]
+        np.testing.assert_allclose(track1.measurements[0][1], Point2(30, 40))
+        np.testing.assert_allclose(track1.measurements[1][1], Point2(70, 80))
+        np.testing.assert_allclose(track1.measurements[2][1], Point2(130, 140))
+        assert track1.measurements[0][0] == 0
+        assert track1.measurements[1][0] == 1
+        assert track1.measurements[2][0] == 2
+        assert track1.numberMeasurements() == 3
 
         # Verify track 2.
-        assert np.allclose(tracks[2].measurements()[0].uv, np.array([90.0, 100.0]))
-        assert np.allclose(tracks[2].measurements()[1].uv, np.array([110.0, 120.0]))
-        assert tracks[2].measurements()[0].i == 1
-        assert tracks[2].measurements()[1].i == 2
-        assert tracks[2].numberMeasurements() == 2
+        track2 = tracks[2]
+        np.testing.assert_allclose(track2.measurements[0][1], Point2(90, 100))
+        np.testing.assert_allclose(track2.measurements[1][1], Point2(110, 120))
+        assert track2.measurements[0][0] == 1
+        assert track2.measurements[1][0] == 2
+        assert track2.numberMeasurements() == 2
 
 
 class TestSfmTrack2d(GtsamTestCase):
@@ -71,8 +72,12 @@ class TestSfmTrack2d(GtsamTestCase):
 
     def test_sfm_track_2d_constructor(self) -> None:
         """ """
-        measurements = NamedSfmMeasurementVector()
-        measurements.append(NamedSfmMeasurement(i=0, uv=np.array([10.0, 20.0])))
+        measurements = SfmMeasurementVector()
+        measurements.append((0, Point2(10, 20)))
         track = SfmTrack2d(measurements=measurements)
         track.measurement(0)
         track.numberMeasurements() == 1
+
+
+if __name__ == "__main__":
+    unittest.main()

From 7e411fee514ea681f623ccb9a1ce740336704b2f Mon Sep 17 00:00:00 2001
From: Frank Dellaert <dellaert@gmail.com>
Date: Sat, 22 Oct 2022 19:18:37 -0700
Subject: [PATCH 408/433] Refactor into smaller functions

---
 gtsam/sfm/DsfTrackGenerator.h                | 128 +++++++++++--------
 gtsam/sfm/sfm.i                              |   2 +-
 python/gtsam/tests/test_DsfTrackGenerator.py |   2 +-
 3 files changed, 77 insertions(+), 55 deletions(-)

diff --git a/gtsam/sfm/DsfTrackGenerator.h b/gtsam/sfm/DsfTrackGenerator.h
index 0dae3d2167..86ae7131b5 100644
--- a/gtsam/sfm/DsfTrackGenerator.h
+++ b/gtsam/sfm/DsfTrackGenerator.h
@@ -71,28 +71,13 @@ using MatchIndicesMap = std::map<IndexPair, CorrespondenceIndices>;
 class DsfTrackGenerator {
  public:
   /** Default constructor. */
-  DsfTrackGenerator() {}
-
-  // Creates a list of tracks from 2d point correspondences.
-  //
-  // Creates a disjoint-set forest (DSF) and 2d tracks from pairwise matches.
-  // We create a singleton for union-find set elements from camera index of a
-  // detection and the index of that detection in that camera's keypoint list,
-  // i.e. (i,k).
-  // @param Map from (i1,i2) image pair indices to (K,2) matrix, for K
-  //        correspondence indices, from each image.
-  // @param Length-N list of keypoints, for N images/cameras.
-  std::vector<SfmTrack2d> generate_tracks_from_pairwise_matches(
-      const MatchIndicesMap& matches_dict,
-      const KeypointsVector& keypoints_list, bool verbose = false) {
-    std::vector<SfmTrack2d> track_2d_list;
+  DsfTrackGenerator() = default;
 
-    if (verbose)
-      std::cout << "[SfmTrack2d] Starting Union-Find..." << std::endl;
-    // Generate the DSF to form tracks.
+  /// Generate the DSF to form tracks.
+  static DSFMapIndexPair generateDSF(const MatchIndicesMap& matches) {
     DSFMapIndexPair dsf;
 
-    for (const auto& kv : matches_dict) {
+    for (const auto& kv : matches) {
       const auto pair_indices = kv.first;
       const auto corr_indices = kv.second;
 
@@ -101,60 +86,97 @@ class DsfTrackGenerator {
       size_t i2 = pair_indices.second;
       for (size_t k = 0; k < corr_indices.rows(); k++) {
         // Measurement indices are found in a single matrix row, as (k1,k2).
-        size_t k1 = corr_indices(k, 0);
-        size_t k2 = corr_indices(k, 1);
-        // Unique keys for the DSF are (i,k), representing keypoint index in an
-        // image.
-        dsf.merge(IndexPair(i1, k1), IndexPair(i2, k2));
+        size_t k1 = corr_indices(k, 0), k2 = corr_indices(k, 1);
+        // Unique key for DSF is (i,k), representing keypoint index in an image.
+        dsf.merge({i1, k1}, {i2, k2});
       }
     }
 
-    if (verbose) std::cout << "[SfmTrack2d] Union-Find Complete" << std::endl;
+    return dsf;
+  }
+
+  /// Generate a single track from a set of index pairs
+  static SfmTrack2d trackFromIndexPairs(
+      const std::set<IndexPair>& index_pair_set,
+      const KeypointsVector& keypoints) {
+    // Initialize track from measurements.
+    SfmTrack2d track2d;
+
+    for (const auto& index_pair : index_pair_set) {
+      // Camera index is represented by i, and measurement index is
+      // represented by k.
+      size_t i = index_pair.i();
+      size_t k = index_pair.j();
+      // Add measurement to this track.
+      track2d.addMeasurement(i, keypoints[i].coordinates.row(k));
+    }
+
+    return track2d;
+  }
+
+  /// Generate tracks from the DSF.
+  static std::vector<SfmTrack2d> tracksFromDSF(
+      const DSFMapIndexPair& dsf, const KeypointsVector& keypoints) {
     const std::map<IndexPair, std::set<IndexPair> > key_sets = dsf.sets();
 
     // Return immediately if no sets were found.
-    if (key_sets.empty()) return track_2d_list;
+    if (key_sets.empty()) return {};
 
-    size_t erroneous_track_count = 0;
     // Create a list of tracks.
     // Each track will be represented as a list of (camera_idx, measurements).
+    std::vector<SfmTrack2d> tracks2d;
     for (const auto& kv : key_sets) {
-      const auto set_id = kv.first;
-      const auto index_pair_set = kv.second;
-
       // Initialize track from measurements.
-      SfmTrack2d track_2d;
-
-      for (const auto& index_pair : index_pair_set) {
-        // Camera index is represented by i, and measurement index is
-        // represented by k.
-        size_t i = index_pair.i();
-        size_t k = index_pair.j();
-        // Add measurement to this track.
-        track_2d.addMeasurement(i, keypoints_list[i].coordinates.row(k));
-      }
-
-      // Skip erroneous track that had repeated measurements within the same
-      // image. This is an expected result from an incorrect correspondence
-      // slipping through.
-      if (track_2d.hasUniqueCameras()) {
-        track_2d_list.emplace_back(track_2d);
-      } else {
-        erroneous_track_count++;
-      }
+      SfmTrack2d track2d = trackFromIndexPairs(kv.second, keypoints);
+      tracks2d.emplace_back(track2d);
     }
+    return tracks2d;
+  }
+
+  /**
+   * @brief Creates a list of tracks from 2d point correspondences.
+   *
+   * Creates a disjoint-set forest (DSF) and 2d tracks from pairwise matches.
+   * We create a singleton for union-find set elements from camera index of a
+   * detection and the index of that detection in that camera's keypoint list,
+   * i.e. (i,k).
+   *
+   * @param Map from (i1,i2) image pair indices to (K,2) matrix, for K
+   *        correspondence indices, from each image.
+   * @param Length-N list of keypoints, for N images/cameras.
+   */
+  static std::vector<SfmTrack2d> tracksFromPairwiseMatches(
+      const MatchIndicesMap& matches, const KeypointsVector& keypoints,
+      bool verbose = false) {
+    // Generate the DSF to form tracks.
+    if (verbose)
+      std::cout << "[SfmTrack2d] Starting Union-Find..." << std::endl;
+    DSFMapIndexPair dsf = generateDSF(matches);
+    if (verbose) std::cout << "[SfmTrack2d] Union-Find Complete" << std::endl;
+
+    std::vector<SfmTrack2d> tracks2d = tracksFromDSF(dsf, keypoints);
+
+    // Filter out erroneous tracks that had repeated measurements within the
+    // same image. This is an expected result from an incorrect correspondence
+    // slipping through.
+    std::vector<SfmTrack2d> validTracks;
+    std::copy_if(
+        tracks2d.begin(), tracks2d.end(), std::back_inserter(validTracks),
+        [](const SfmTrack2d& track2d) { return track2d.hasUniqueCameras(); });
 
     if (verbose) {
-      double erroneous_track_pct = static_cast<float>(erroneous_track_count) /
-                                   static_cast<float>(key_sets.size()) * 100;
+      size_t erroneous_track_count = tracks2d.size() - validTracks.size();
+      double erroneous_percentage = static_cast<float>(erroneous_track_count) /
+                                    static_cast<float>(tracks2d.size()) * 100;
 
       // TODO(johnwlambert): restrict decimal places to 2 decimals.
-      std::cout << "DSF Union-Find: " << erroneous_track_pct;
+      std::cout << "DSF Union-Find: " << erroneous_percentage;
       std::cout << "% of tracks discarded from multiple obs. in a single image."
                 << std::endl;
     }
+
     // TODO(johnwlambert): return the Transitivity failure percentage here.
-    return track_2d_list;
+    return tracks2d;
   }
 };
 
diff --git a/gtsam/sfm/sfm.i b/gtsam/sfm/sfm.i
index 02d3b7b5b2..da054711e9 100644
--- a/gtsam/sfm/sfm.i
+++ b/gtsam/sfm/sfm.i
@@ -351,7 +351,7 @@ class KeypointsVector {
 
 class DsfTrackGenerator {
   DsfTrackGenerator();
-  const gtsam::SfmTrack2dVector generate_tracks_from_pairwise_matches(
+  const gtsam::SfmTrack2dVector tracksFromPairwiseMatches(
     const gtsam::gtsfm::MatchIndicesMap& matches_dict,
     const gtsam::gtsfm::KeypointsVector& keypoints_list,
     bool verbose = false);
diff --git a/python/gtsam/tests/test_DsfTrackGenerator.py b/python/gtsam/tests/test_DsfTrackGenerator.py
index 3452c03e87..df6e60c9f3 100644
--- a/python/gtsam/tests/test_DsfTrackGenerator.py
+++ b/python/gtsam/tests/test_DsfTrackGenerator.py
@@ -33,7 +33,7 @@ def test_track_generation(self) -> None:
         matches_dict[IndexPair(0, 1)] = np.array([[0, 0], [1, 1]])
         matches_dict[IndexPair(1, 2)] = np.array([[2, 0], [1, 1]])
 
-        tracks = DsfTrackGenerator().generate_tracks_from_pairwise_matches(
+        tracks = DsfTrackGenerator().tracksFromPairwiseMatches(
             matches_dict,
             keypoints_list,
             verbose=False,

From 466290cbdc5d06d1780fcaf72c52e32b6492a630 Mon Sep 17 00:00:00 2001
From: Frank Dellaert <dellaert@gmail.com>
Date: Sat, 22 Oct 2022 19:30:15 -0700
Subject: [PATCH 409/433] Moved code to cpp file

---
 gtsam/sfm/DsfTrackGenerator.cpp | 136 ++++++++++++++++++++++++++++++++
 gtsam/sfm/DsfTrackGenerator.h   |  96 +---------------------
 2 files changed, 137 insertions(+), 95 deletions(-)
 create mode 100644 gtsam/sfm/DsfTrackGenerator.cpp

diff --git a/gtsam/sfm/DsfTrackGenerator.cpp b/gtsam/sfm/DsfTrackGenerator.cpp
new file mode 100644
index 0000000000..5052bca74b
--- /dev/null
+++ b/gtsam/sfm/DsfTrackGenerator.cpp
@@ -0,0 +1,136 @@
+/* ----------------------------------------------------------------------------
+
+ * GTSAM Copyright 2010, Georgia Tech Research Corporation,
+ * Atlanta, Georgia 30332-0415
+ * All Rights Reserved
+ * Authors: Frank Dellaert, et al. (see THANKS for the full author list)
+
+ * See LICENSE for the license information
+
+ * -------------------------------------------------------------------------- */
+
+/**
+ * @file DsfTrackGenerator.cpp
+ * @date October 2022
+ * @author John Lambert
+ * @brief Identifies connected components in the keypoint matches graph.
+ */
+
+#include <gtsam/sfm/DsfTrackGenerator.h>
+
+#include <algorithm>
+#include <iostream>
+
+namespace gtsam {
+
+namespace gtsfm {
+
+typedef DSFMap<IndexPair> DSFMapIndexPair;
+
+/// Generate the DSF to form tracks.
+static DSFMapIndexPair generateDSF(const MatchIndicesMap& matches) {
+  DSFMapIndexPair dsf;
+
+  for (const auto& kv : matches) {
+    const auto pair_indices = kv.first;
+    const auto corr_indices = kv.second;
+
+    // Image pair is (i1,i2).
+    size_t i1 = pair_indices.first;
+    size_t i2 = pair_indices.second;
+    for (size_t k = 0; k < corr_indices.rows(); k++) {
+      // Measurement indices are found in a single matrix row, as (k1,k2).
+      size_t k1 = corr_indices(k, 0), k2 = corr_indices(k, 1);
+      // Unique key for DSF is (i,k), representing keypoint index in an image.
+      dsf.merge({i1, k1}, {i2, k2});
+    }
+  }
+
+  return dsf;
+}
+
+/// Generate a single track from a set of index pairs
+static SfmTrack2d trackFromIndexPairs(const std::set<IndexPair>& index_pair_set,
+                                      const KeypointsVector& keypoints) {
+  // Initialize track from measurements.
+  SfmTrack2d track2d;
+
+  for (const auto& index_pair : index_pair_set) {
+    // Camera index is represented by i, and measurement index is
+    // represented by k.
+    size_t i = index_pair.i();
+    size_t k = index_pair.j();
+    // Add measurement to this track.
+    track2d.addMeasurement(i, keypoints[i].coordinates.row(k));
+  }
+
+  return track2d;
+}
+
+/// Generate tracks from the DSF.
+static std::vector<SfmTrack2d> tracksFromDSF(const DSFMapIndexPair& dsf,
+                                             const KeypointsVector& keypoints) {
+  const std::map<IndexPair, std::set<IndexPair> > key_sets = dsf.sets();
+
+  // Return immediately if no sets were found.
+  if (key_sets.empty()) return {};
+
+  // Create a list of tracks.
+  // Each track will be represented as a list of (camera_idx, measurements).
+  std::vector<SfmTrack2d> tracks2d;
+  for (const auto& kv : key_sets) {
+    // Initialize track from measurements.
+    SfmTrack2d track2d = trackFromIndexPairs(kv.second, keypoints);
+    tracks2d.emplace_back(track2d);
+  }
+  return tracks2d;
+}
+
+/**
+ * @brief Creates a list of tracks from 2d point correspondences.
+ *
+ * Creates a disjoint-set forest (DSF) and 2d tracks from pairwise matches.
+ * We create a singleton for union-find set elements from camera index of a
+ * detection and the index of that detection in that camera's keypoint list,
+ * i.e. (i,k).
+ *
+ * @param Map from (i1,i2) image pair indices to (K,2) matrix, for K
+ *        correspondence indices, from each image.
+ * @param Length-N list of keypoints, for N images/cameras.
+ */
+std::vector<SfmTrack2d> DsfTrackGenerator::tracksFromPairwiseMatches(
+    const MatchIndicesMap& matches, const KeypointsVector& keypoints,
+    bool verbose) {
+  // Generate the DSF to form tracks.
+  if (verbose) std::cout << "[SfmTrack2d] Starting Union-Find..." << std::endl;
+  DSFMapIndexPair dsf = generateDSF(matches);
+  if (verbose) std::cout << "[SfmTrack2d] Union-Find Complete" << std::endl;
+
+  std::vector<SfmTrack2d> tracks2d = tracksFromDSF(dsf, keypoints);
+
+  // Filter out erroneous tracks that had repeated measurements within the
+  // same image. This is an expected result from an incorrect correspondence
+  // slipping through.
+  std::vector<SfmTrack2d> validTracks;
+  std::copy_if(
+      tracks2d.begin(), tracks2d.end(), std::back_inserter(validTracks),
+      [](const SfmTrack2d& track2d) { return track2d.hasUniqueCameras(); });
+
+  if (verbose) {
+    size_t erroneous_track_count = tracks2d.size() - validTracks.size();
+    double erroneous_percentage = static_cast<float>(erroneous_track_count) /
+                                  static_cast<float>(tracks2d.size()) * 100;
+
+    // TODO(johnwlambert): restrict decimal places to 2 decimals.
+    std::cout << "DSF Union-Find: " << erroneous_percentage;
+    std::cout << "% of tracks discarded from multiple obs. in a single image."
+              << std::endl;
+  }
+
+  // TODO(johnwlambert): return the Transitivity failure percentage here.
+  return tracks2d;
+}
+
+}  // namespace gtsfm
+
+}  // namespace gtsam
diff --git a/gtsam/sfm/DsfTrackGenerator.h b/gtsam/sfm/DsfTrackGenerator.h
index 86ae7131b5..dbf2e66800 100644
--- a/gtsam/sfm/DsfTrackGenerator.h
+++ b/gtsam/sfm/DsfTrackGenerator.h
@@ -18,12 +18,9 @@
 
 #pragma once
 #include <gtsam/base/DSFMap.h>
-#include <gtsam/geometry/Point2.h>
 #include <gtsam/sfm/SfmTrack.h>
 
 #include <Eigen/Core>
-#include <algorithm>
-#include <iostream>
 #include <map>
 #include <optional>
 #include <vector>
@@ -32,7 +29,6 @@ namespace gtsam {
 
 namespace gtsfm {
 
-typedef DSFMap<IndexPair> DSFMapIndexPair;
 typedef Eigen::MatrixX2i CorrespondenceIndices;  // N x 2 array
 
 // struct Keypoints;
@@ -73,66 +69,6 @@ class DsfTrackGenerator {
   /** Default constructor. */
   DsfTrackGenerator() = default;
 
-  /// Generate the DSF to form tracks.
-  static DSFMapIndexPair generateDSF(const MatchIndicesMap& matches) {
-    DSFMapIndexPair dsf;
-
-    for (const auto& kv : matches) {
-      const auto pair_indices = kv.first;
-      const auto corr_indices = kv.second;
-
-      // Image pair is (i1,i2).
-      size_t i1 = pair_indices.first;
-      size_t i2 = pair_indices.second;
-      for (size_t k = 0; k < corr_indices.rows(); k++) {
-        // Measurement indices are found in a single matrix row, as (k1,k2).
-        size_t k1 = corr_indices(k, 0), k2 = corr_indices(k, 1);
-        // Unique key for DSF is (i,k), representing keypoint index in an image.
-        dsf.merge({i1, k1}, {i2, k2});
-      }
-    }
-
-    return dsf;
-  }
-
-  /// Generate a single track from a set of index pairs
-  static SfmTrack2d trackFromIndexPairs(
-      const std::set<IndexPair>& index_pair_set,
-      const KeypointsVector& keypoints) {
-    // Initialize track from measurements.
-    SfmTrack2d track2d;
-
-    for (const auto& index_pair : index_pair_set) {
-      // Camera index is represented by i, and measurement index is
-      // represented by k.
-      size_t i = index_pair.i();
-      size_t k = index_pair.j();
-      // Add measurement to this track.
-      track2d.addMeasurement(i, keypoints[i].coordinates.row(k));
-    }
-
-    return track2d;
-  }
-
-  /// Generate tracks from the DSF.
-  static std::vector<SfmTrack2d> tracksFromDSF(
-      const DSFMapIndexPair& dsf, const KeypointsVector& keypoints) {
-    const std::map<IndexPair, std::set<IndexPair> > key_sets = dsf.sets();
-
-    // Return immediately if no sets were found.
-    if (key_sets.empty()) return {};
-
-    // Create a list of tracks.
-    // Each track will be represented as a list of (camera_idx, measurements).
-    std::vector<SfmTrack2d> tracks2d;
-    for (const auto& kv : key_sets) {
-      // Initialize track from measurements.
-      SfmTrack2d track2d = trackFromIndexPairs(kv.second, keypoints);
-      tracks2d.emplace_back(track2d);
-    }
-    return tracks2d;
-  }
-
   /**
    * @brief Creates a list of tracks from 2d point correspondences.
    *
@@ -147,37 +83,7 @@ class DsfTrackGenerator {
    */
   static std::vector<SfmTrack2d> tracksFromPairwiseMatches(
       const MatchIndicesMap& matches, const KeypointsVector& keypoints,
-      bool verbose = false) {
-    // Generate the DSF to form tracks.
-    if (verbose)
-      std::cout << "[SfmTrack2d] Starting Union-Find..." << std::endl;
-    DSFMapIndexPair dsf = generateDSF(matches);
-    if (verbose) std::cout << "[SfmTrack2d] Union-Find Complete" << std::endl;
-
-    std::vector<SfmTrack2d> tracks2d = tracksFromDSF(dsf, keypoints);
-
-    // Filter out erroneous tracks that had repeated measurements within the
-    // same image. This is an expected result from an incorrect correspondence
-    // slipping through.
-    std::vector<SfmTrack2d> validTracks;
-    std::copy_if(
-        tracks2d.begin(), tracks2d.end(), std::back_inserter(validTracks),
-        [](const SfmTrack2d& track2d) { return track2d.hasUniqueCameras(); });
-
-    if (verbose) {
-      size_t erroneous_track_count = tracks2d.size() - validTracks.size();
-      double erroneous_percentage = static_cast<float>(erroneous_track_count) /
-                                    static_cast<float>(tracks2d.size()) * 100;
-
-      // TODO(johnwlambert): restrict decimal places to 2 decimals.
-      std::cout << "DSF Union-Find: " << erroneous_percentage;
-      std::cout << "% of tracks discarded from multiple obs. in a single image."
-                << std::endl;
-    }
-
-    // TODO(johnwlambert): return the Transitivity failure percentage here.
-    return tracks2d;
-  }
+      bool verbose = false);
 };
 
 }  // namespace gtsfm

From ca451141c059387342a7c6ac9ec10b6d59a38732 Mon Sep 17 00:00:00 2001
From: Frank Dellaert <dellaert@gmail.com>
Date: Sat, 22 Oct 2022 19:48:48 -0700
Subject: [PATCH 410/433] removed NamedSfmMeasurementVector

---
 python/CMakeLists.txt | 6 ++----
 1 file changed, 2 insertions(+), 4 deletions(-)

diff --git a/python/CMakeLists.txt b/python/CMakeLists.txt
index 398ee27883..79a27f17ff 100644
--- a/python/CMakeLists.txt
+++ b/python/CMakeLists.txt
@@ -54,8 +54,7 @@ set(ignore
     gtsam::KeyPairDoubleMap
     gtsam::gtsfm::MatchIndicesMap
     gtsam::gtsfm::KeypointsVector
-    gtsam::gtsfm::SfmTrack2dVector
-    gtsam::gtsfm::NamedSfmMeasurementVector)
+    gtsam::gtsfm::SfmTrack2dVector)
 
 set(interface_headers
     ${PROJECT_SOURCE_DIR}/gtsam/gtsam.i
@@ -155,8 +154,7 @@ if(GTSAM_UNSTABLE_BUILD_PYTHON)
             gtsam::KeyPairDoubleMap
             gtsam::gtsfm::MatchIndicesMap
             gtsam::gtsfm::KeypointsVector
-            gtsam::gtsfm::SfmTrack2dVector
-            gtsam::gtsfm::NamedSfmMeasurementVector)
+            gtsam::gtsfm::SfmTrack2dVector)
 
 
     pybind_wrap(${GTSAM_PYTHON_UNSTABLE_TARGET} # target

From 3cb73ccf35ebc5e6ca8e93b41d6eb9ca37eb6072 Mon Sep 17 00:00:00 2001
From: Matias Mattamala <matias@robots.ox.ac.uk>
Date: Sun, 23 Oct 2022 16:57:06 +0100
Subject: [PATCH 411/433] Fix in writeG2o when writing Pose3 measurement

---
 gtsam/slam/dataset.cpp | 11 ++++++-----
 1 file changed, 6 insertions(+), 5 deletions(-)

diff --git a/gtsam/slam/dataset.cpp b/gtsam/slam/dataset.cpp
index 65bddccee6..511cbd8390 100644
--- a/gtsam/slam/dataset.cpp
+++ b/gtsam/slam/dataset.cpp
@@ -722,11 +722,12 @@ void writeG2o(const NonlinearFactorGraph &graph, const Values &estimate,
              << p.z() << " " << q.x() << " " << q.y() << " " << q.z() << " "
              << q.w();
 
+      // g2o's EDGE_SE3:QUAT stores information/precision of Pose3 in t,R order, unlike GTSAM:
       Matrix6 InfoG2o = I_6x6;
       InfoG2o.block<3, 3>(0, 0) = Info.block<3, 3>(3, 3); // cov translation
       InfoG2o.block<3, 3>(3, 3) = Info.block<3, 3>(0, 0); // cov rotation
-      InfoG2o.block<3, 3>(0, 3) = Info.block<3, 3>(0, 3); // off diagonal
-      InfoG2o.block<3, 3>(3, 0) = Info.block<3, 3>(3, 0); // off diagonal
+      InfoG2o.block<3, 3>(0, 3) = Info.block<3, 3>(3, 0); // off diagonal R,t -> t,R
+      InfoG2o.block<3, 3>(3, 0) = Info.block<3, 3>(0, 3); // off diagonal t,R -> R,t
 
       for (size_t i = 0; i < 6; i++) {
         for (size_t j = i; j < 6; j++) {
@@ -853,12 +854,12 @@ template <> struct ParseMeasurement<Pose3> {
       if (sampler)
         T12 = T12.retract(sampler->sample());
 
-      // EDGE_SE3:QUAT stores information/precision in t,R order, unlike GTSAM:
+      // g2o's EDGE_SE3:QUAT stores information/precision of Pose3 in t,R order, unlike GTSAM:
       Matrix6 mgtsam;
       mgtsam.block<3, 3>(0, 0) = m.block<3, 3>(3, 3); // info rotation
       mgtsam.block<3, 3>(3, 3) = m.block<3, 3>(0, 0); // info translation
-      mgtsam.block<3, 3>(3, 0) = m.block<3, 3>(0, 3); // off diagonal swap
-      mgtsam.block<3, 3>(0, 3) = m.block<3, 3>(3, 0); // off diagonal swap
+      mgtsam.block<3, 3>(3, 0) = m.block<3, 3>(0, 3); // off diagonal g2o t,R -> GTSAM R,t
+      mgtsam.block<3, 3>(0, 3) = m.block<3, 3>(3, 0); // off diagonal g2o R,t -> GTSAM t,R
       SharedNoiseModel model = noiseModel::Gaussian::Information(mgtsam);
 
       return BinaryMeasurement<Pose3>(

From f68f0dbe4142721121c0bacdfb5b8f7a082f6d60 Mon Sep 17 00:00:00 2001
From: Frank Dellaert <dellaert@gmail.com>
Date: Sun, 23 Oct 2022 11:37:37 -0700
Subject: [PATCH 412/433] Addressed review comments - removed class in favor of
 free function

---
 gtsam/sfm/DsfTrackGenerator.cpp              |  4 +--
 gtsam/sfm/DsfTrackGenerator.h                | 37 +++++++-------------
 gtsam/sfm/SfmTrack.h                         |  2 +-
 gtsam/sfm/sfm.i                              | 22 ++++--------
 python/gtsam/tests/test_DsfTrackGenerator.py |  5 +--
 5 files changed, 26 insertions(+), 44 deletions(-)

diff --git a/gtsam/sfm/DsfTrackGenerator.cpp b/gtsam/sfm/DsfTrackGenerator.cpp
index 5052bca74b..e828801938 100644
--- a/gtsam/sfm/DsfTrackGenerator.cpp
+++ b/gtsam/sfm/DsfTrackGenerator.cpp
@@ -98,7 +98,7 @@ static std::vector<SfmTrack2d> tracksFromDSF(const DSFMapIndexPair& dsf,
  *        correspondence indices, from each image.
  * @param Length-N list of keypoints, for N images/cameras.
  */
-std::vector<SfmTrack2d> DsfTrackGenerator::tracksFromPairwiseMatches(
+std::vector<SfmTrack2d> tracksFromPairwiseMatches(
     const MatchIndicesMap& matches, const KeypointsVector& keypoints,
     bool verbose) {
   // Generate the DSF to form tracks.
@@ -121,7 +121,7 @@ std::vector<SfmTrack2d> DsfTrackGenerator::tracksFromPairwiseMatches(
     double erroneous_percentage = static_cast<float>(erroneous_track_count) /
                                   static_cast<float>(tracks2d.size()) * 100;
 
-    // TODO(johnwlambert): restrict decimal places to 2 decimals.
+    std::cout << std::fixed << std::setprecision(2);
     std::cout << "DSF Union-Find: " << erroneous_percentage;
     std::cout << "% of tracks discarded from multiple obs. in a single image."
               << std::endl;
diff --git a/gtsam/sfm/DsfTrackGenerator.h b/gtsam/sfm/DsfTrackGenerator.h
index dbf2e66800..b02073d8b4 100644
--- a/gtsam/sfm/DsfTrackGenerator.h
+++ b/gtsam/sfm/DsfTrackGenerator.h
@@ -31,7 +31,6 @@ namespace gtsfm {
 
 typedef Eigen::MatrixX2i CorrespondenceIndices;  // N x 2 array
 
-// struct Keypoints;
 using KeypointCoordinates = Eigen::MatrixX2d;
 
 // Output of detections in an image.
@@ -61,30 +60,20 @@ using KeypointsVector = std::vector<Keypoints>;
 using MatchIndicesMap = std::map<IndexPair, CorrespondenceIndices>;
 
 /**
- * @brief Generates point tracks from connected components in the keypoint
- * matches graph.
+ * @brief Creates a list of tracks from 2d point correspondences.
+ *
+ * Creates a disjoint-set forest (DSF) and 2d tracks from pairwise matches.
+ * We create a singleton for union-find set elements from camera index of a
+ * detection and the index of that detection in that camera's keypoint list,
+ * i.e. (i,k).
+ *
+ * @param Map from (i1,i2) image pair indices to (K,2) matrix, for K
+ *        correspondence indices, from each image.
+ * @param Length-N list of keypoints, for N images/cameras.
  */
-class DsfTrackGenerator {
- public:
-  /** Default constructor. */
-  DsfTrackGenerator() = default;
-
-  /**
-   * @brief Creates a list of tracks from 2d point correspondences.
-   *
-   * Creates a disjoint-set forest (DSF) and 2d tracks from pairwise matches.
-   * We create a singleton for union-find set elements from camera index of a
-   * detection and the index of that detection in that camera's keypoint list,
-   * i.e. (i,k).
-   *
-   * @param Map from (i1,i2) image pair indices to (K,2) matrix, for K
-   *        correspondence indices, from each image.
-   * @param Length-N list of keypoints, for N images/cameras.
-   */
-  static std::vector<SfmTrack2d> tracksFromPairwiseMatches(
-      const MatchIndicesMap& matches, const KeypointsVector& keypoints,
-      bool verbose = false);
-};
+std::vector<SfmTrack2d> tracksFromPairwiseMatches(
+    const MatchIndicesMap& matches, const KeypointsVector& keypoints,
+    bool verbose = false);
 
 }  // namespace gtsfm
 
diff --git a/gtsam/sfm/SfmTrack.h b/gtsam/sfm/SfmTrack.h
index 1fe5aedf49..e5196e7507 100644
--- a/gtsam/sfm/SfmTrack.h
+++ b/gtsam/sfm/SfmTrack.h
@@ -77,7 +77,7 @@ struct GTSAM_EXPORT SfmTrack2d {
   const SiftIndex& siftIndex(size_t idx) const { return siftIndices[idx]; }
 
   /**
-   * @brief Validates the track by checking that no two measurements are from
+   * @brief Check that no two measurements are from the same camera.
    * @returns boolean result of the validation.
    */
   bool hasUniqueCameras() const {
diff --git a/gtsam/sfm/sfm.i b/gtsam/sfm/sfm.i
index da054711e9..cbcbb1191a 100644
--- a/gtsam/sfm/sfm.i
+++ b/gtsam/sfm/sfm.i
@@ -5,18 +5,17 @@
 namespace gtsam {
 
 #include <gtsam/sfm/SfmTrack.h>
-class SfmTrack2d
-{
+class SfmTrack2d {
   std::vector<pair<size_t, gtsam::Point2>> measurements;
 
   SfmTrack2d();
-  SfmTrack2d(std::vector<gtsam::SfmMeasurement> &measurements);
+  SfmTrack2d(const std::vector<gtsam::SfmMeasurement>& measurements);
   size_t numberMeasurements() const;
   pair<size_t, gtsam::Point2> measurement(size_t idx) const;
   pair<size_t, size_t> siftIndex(size_t idx) const;
   void addMeasurement(size_t idx, const gtsam::Point2& m);
   gtsam::SfmMeasurement measurement(size_t idx) const;
-  bool hasUniqueCameras();
+  bool hasUniqueCameras() const;
 };
 
 virtual class SfmTrack : gtsam::SfmTrack2d {
@@ -331,13 +330,10 @@ class MatchIndicesMap {
   gtsam::gtsfm::CorrespondenceIndices at(const pair<size_t, size_t>& keypair) const;
 };
 
-
-class Keypoints
-{
+class Keypoints {
   Keypoints(const gtsam::gtsfm::KeypointCoordinates& coordinates);
   gtsam::gtsfm::KeypointCoordinates coordinates;
-}; // check if this should be a method
-
+};
 
 class KeypointsVector {
   KeypointsVector();
@@ -349,13 +345,9 @@ class KeypointsVector {
   gtsam::gtsfm::Keypoints at(const size_t& index) const;
 };
 
-class DsfTrackGenerator {
-  DsfTrackGenerator();
-  const gtsam::SfmTrack2dVector tracksFromPairwiseMatches(
+gtsam::SfmTrack2dVector tracksFromPairwiseMatches(
     const gtsam::gtsfm::MatchIndicesMap& matches_dict,
-    const gtsam::gtsfm::KeypointsVector& keypoints_list,
-    bool verbose = false);
-};
+    const gtsam::gtsfm::KeypointsVector& keypoints_list, bool verbose = false);
 }  // namespace gtsfm
 
 }  // namespace gtsam
diff --git a/python/gtsam/tests/test_DsfTrackGenerator.py b/python/gtsam/tests/test_DsfTrackGenerator.py
index df6e60c9f3..690fa22e28 100644
--- a/python/gtsam/tests/test_DsfTrackGenerator.py
+++ b/python/gtsam/tests/test_DsfTrackGenerator.py
@@ -5,10 +5,11 @@
 
 import unittest
 
+import gtsam
 import numpy as np
 from gtsam import (IndexPair, KeypointsVector, MatchIndicesMap, Point2,
                    SfmMeasurementVector, SfmTrack2d)
-from gtsam.gtsfm import DsfTrackGenerator, Keypoints
+from gtsam.gtsfm import Keypoints
 from gtsam.utils.test_case import GtsamTestCase
 
 
@@ -33,7 +34,7 @@ def test_track_generation(self) -> None:
         matches_dict[IndexPair(0, 1)] = np.array([[0, 0], [1, 1]])
         matches_dict[IndexPair(1, 2)] = np.array([[2, 0], [1, 1]])
 
-        tracks = DsfTrackGenerator().tracksFromPairwiseMatches(
+        tracks = gtsam.gtsfm.tracksFromPairwiseMatches(
             matches_dict,
             keypoints_list,
             verbose=False,

From 90c990dc3323badb1d7d3cde73c7da3792a5c0da Mon Sep 17 00:00:00 2001
From: Frank Dellaert <dellaert@gmail.com>
Date: Sun, 23 Oct 2022 16:26:41 -0700
Subject: [PATCH 413/433] Rename of test

---
 .../gtsam/tests/{test_dsf_map.py => test_DSFMap.py} | 13 ++++++-------
 1 file changed, 6 insertions(+), 7 deletions(-)
 rename python/gtsam/tests/{test_dsf_map.py => test_DSFMap.py} (88%)

diff --git a/python/gtsam/tests/test_dsf_map.py b/python/gtsam/tests/test_DSFMap.py
similarity index 88%
rename from python/gtsam/tests/test_dsf_map.py
rename to python/gtsam/tests/test_DSFMap.py
index 6cae98ff56..f973f7c99a 100644
--- a/python/gtsam/tests/test_dsf_map.py
+++ b/python/gtsam/tests/test_DSFMap.py
@@ -15,8 +15,7 @@
 import unittest
 from typing import Tuple
 
-import gtsam
-from gtsam import IndexPair
+from gtsam import DSFMapIndexPair, IndexPair, IndexPairSetAsArray
 from gtsam.utils.test_case import GtsamTestCase
 
 
@@ -29,10 +28,10 @@ def test_all(self) -> None:
         def key(index_pair) -> Tuple[int, int]:
             return index_pair.i(), index_pair.j()
 
-        dsf = gtsam.DSFMapIndexPair()
-        pair1 = gtsam.IndexPair(1, 18)
+        dsf = DSFMapIndexPair()
+        pair1 = IndexPair(1, 18)
         self.assertEqual(key(dsf.find(pair1)), key(pair1))
-        pair2 = gtsam.IndexPair(2, 2)
+        pair2 = IndexPair(2, 2)
 
         # testing the merge feature of dsf
         dsf.merge(pair1, pair2)
@@ -45,7 +44,7 @@ def test_sets(self) -> None:
         k'th detected keypoint in image i. For the data below, merging such
         measurements into feature tracks across frames should create 2 distinct sets.
         """
-        dsf = gtsam.DSFMapIndexPair()
+        dsf = DSFMapIndexPair()
         dsf.merge(IndexPair(0, 1), IndexPair(1, 2))
         dsf.merge(IndexPair(0, 1), IndexPair(3, 4))
         dsf.merge(IndexPair(4, 5), IndexPair(6, 8))
@@ -56,7 +55,7 @@ def test_sets(self) -> None:
         for i in sets:
             set_keys = []
             s = sets[i]
-            for val in gtsam.IndexPairSetAsArray(s):
+            for val in IndexPairSetAsArray(s):
                 set_keys.append((val.i(), val.j()))
             merged_sets.add(tuple(set_keys))
 

From 32df824920145001ada8495677af43f43fccd6a7 Mon Sep 17 00:00:00 2001
From: Frank Dellaert <dellaert@gmail.com>
Date: Sun, 23 Oct 2022 16:27:01 -0700
Subject: [PATCH 414/433] Vectorized interface

---
 gtsam/sfm/DsfTrackGenerator.h                |  6 +--
 gtsam/sfm/SfmTrack.h                         | 25 ++++++++++++
 gtsam/sfm/sfm.i                              |  6 ++-
 python/gtsam/tests/test_DsfTrackGenerator.py | 42 +++++++++++++-------
 4 files changed, 58 insertions(+), 21 deletions(-)

diff --git a/gtsam/sfm/DsfTrackGenerator.h b/gtsam/sfm/DsfTrackGenerator.h
index b02073d8b4..14ec2302db 100644
--- a/gtsam/sfm/DsfTrackGenerator.h
+++ b/gtsam/sfm/DsfTrackGenerator.h
@@ -31,8 +31,6 @@ namespace gtsfm {
 
 typedef Eigen::MatrixX2i CorrespondenceIndices;  // N x 2 array
 
-using KeypointCoordinates = Eigen::MatrixX2d;
-
 // Output of detections in an image.
 // Coordinate system convention:
 // 1. The x coordinate denotes the horizontal direction (+ve direction towards
@@ -41,7 +39,7 @@ using KeypointCoordinates = Eigen::MatrixX2d;
 // 3. Origin is at the top left corner of the image.
 struct Keypoints {
   // The (x, y) coordinates of the features, of shape Nx2.
-  KeypointCoordinates coordinates;
+  Eigen::MatrixX2d coordinates;
 
   // Optional scale of the detections, of shape N.
   // Note: gtsam::Vector is typedef'd for Eigen::VectorXd.
@@ -50,7 +48,7 @@ struct Keypoints {
   /// Optional confidences/responses for each detection, of shape N.
   boost::optional<gtsam::Vector> responses;
 
-  Keypoints(const KeypointCoordinates& coordinates)
+  Keypoints(const Eigen::MatrixX2d& coordinates)
       : coordinates(coordinates){};  // boost::none
 };
 
diff --git a/gtsam/sfm/SfmTrack.h b/gtsam/sfm/SfmTrack.h
index e5196e7507..c75199374f 100644
--- a/gtsam/sfm/SfmTrack.h
+++ b/gtsam/sfm/SfmTrack.h
@@ -22,6 +22,7 @@
 #include <gtsam/geometry/Point2.h>
 #include <gtsam/geometry/Point3.h>
 
+#include <Eigen/Core>
 #include <string>
 #include <utility>
 #include <vector>
@@ -90,6 +91,30 @@ struct GTSAM_EXPORT SfmTrack2d {
     bool all_cameras_unique = (i == track_cam_indices.end());
     return all_cameras_unique;
   }
+
+  /// @}
+  /// @name Vectorized Interface
+  /// @{
+
+  /// @brief Return the measurements as a 2D matrix
+  Eigen::MatrixX2d measurementMatrix() const {
+    Eigen::MatrixX2d m(numberMeasurements(), 2);
+    for (size_t i = 0; i < numberMeasurements(); i++) {
+      m.row(i) = measurement(i).second;
+    }
+    return m;
+  }
+
+  /// @brief Return the camera indices of the measurements
+  Eigen::VectorXi indexVector() const {
+    Eigen::VectorXi v(numberMeasurements());
+    for (size_t i = 0; i < numberMeasurements(); i++) {
+      v(i) = measurement(i).first;
+    }
+    return v;
+  }
+
+  /// @}
 };
 
 using SfmTrack2dVector = std::vector<SfmTrack2d>;
diff --git a/gtsam/sfm/sfm.i b/gtsam/sfm/sfm.i
index cbcbb1191a..26dc20c3ef 100644
--- a/gtsam/sfm/sfm.i
+++ b/gtsam/sfm/sfm.i
@@ -16,6 +16,8 @@ class SfmTrack2d {
   void addMeasurement(size_t idx, const gtsam::Point2& m);
   gtsam::SfmMeasurement measurement(size_t idx) const;
   bool hasUniqueCameras() const;
+  Eigen::MatrixX2d measurementMatrix() const;
+  Eigen::VectorXi indexVector() const;
 };
 
 virtual class SfmTrack : gtsam::SfmTrack2d {
@@ -331,8 +333,8 @@ class MatchIndicesMap {
 };
 
 class Keypoints {
-  Keypoints(const gtsam::gtsfm::KeypointCoordinates& coordinates);
-  gtsam::gtsfm::KeypointCoordinates coordinates;
+  Keypoints(const Eigen::MatrixX2d& coordinates);
+  Eigen::MatrixX2d coordinates;
 };
 
 class KeypointsVector {
diff --git a/python/gtsam/tests/test_DsfTrackGenerator.py b/python/gtsam/tests/test_DsfTrackGenerator.py
index 690fa22e28..e600227c9f 100644
--- a/python/gtsam/tests/test_DsfTrackGenerator.py
+++ b/python/gtsam/tests/test_DsfTrackGenerator.py
@@ -7,8 +7,7 @@
 
 import gtsam
 import numpy as np
-from gtsam import (IndexPair, KeypointsVector, MatchIndicesMap, Point2,
-                   SfmMeasurementVector, SfmTrack2d)
+from gtsam import IndexPair, KeypointsVector, MatchIndicesMap, Point2, SfmMeasurementVector, SfmTrack2d
 from gtsam.gtsfm import Keypoints
 from gtsam.utils.test_case import GtsamTestCase
 
@@ -43,29 +42,42 @@ def test_track_generation(self) -> None:
 
         # Verify track 0.
         track0 = tracks[0]
+        assert track0.numberMeasurements() == 2
         np.testing.assert_allclose(track0.measurements[0][1], Point2(10, 20))
         np.testing.assert_allclose(track0.measurements[1][1], Point2(50, 60))
         assert track0.measurements[0][0] == 0
         assert track0.measurements[1][0] == 1
-        assert track0.numberMeasurements() == 2
+        np.testing.assert_allclose(
+            track0.measurementMatrix(),
+            [
+                [10, 20],
+                [50, 60],
+            ],
+        )
+        np.testing.assert_allclose(track0.indexVector(), [0, 1])
 
         # Verify track 1.
         track1 = tracks[1]
-        np.testing.assert_allclose(track1.measurements[0][1], Point2(30, 40))
-        np.testing.assert_allclose(track1.measurements[1][1], Point2(70, 80))
-        np.testing.assert_allclose(track1.measurements[2][1], Point2(130, 140))
-        assert track1.measurements[0][0] == 0
-        assert track1.measurements[1][0] == 1
-        assert track1.measurements[2][0] == 2
-        assert track1.numberMeasurements() == 3
+        np.testing.assert_allclose(
+            track1.measurementMatrix(),
+            [
+                [30, 40],
+                [70, 80],
+                [130, 140],
+            ],
+        )
+        np.testing.assert_allclose(track1.indexVector(), [0, 1, 2])
 
         # Verify track 2.
         track2 = tracks[2]
-        np.testing.assert_allclose(track2.measurements[0][1], Point2(90, 100))
-        np.testing.assert_allclose(track2.measurements[1][1], Point2(110, 120))
-        assert track2.measurements[0][0] == 1
-        assert track2.measurements[1][0] == 2
-        assert track2.numberMeasurements() == 2
+        np.testing.assert_allclose(
+            track2.measurementMatrix(),
+            [
+                [90, 100],
+                [110, 120],
+            ],
+        )
+        np.testing.assert_allclose(track2.indexVector(), [1, 2])
 
 
 class TestSfmTrack2d(GtsamTestCase):

From 1129c95dd5cd370a4084e8838f80c1d3d1591d29 Mon Sep 17 00:00:00 2001
From: Varun Agrawal <varagrawal@gmail.com>
Date: Tue, 25 Oct 2022 17:37:29 -0400
Subject: [PATCH 415/433] fix CMake so that Eigen discovery and linking is
 consistent

---
 cmake/HandleEigen.cmake | 10 +++-------
 gtsam/CMakeLists.txt    |  1 +
 2 files changed, 4 insertions(+), 7 deletions(-)

diff --git a/cmake/HandleEigen.cmake b/cmake/HandleEigen.cmake
index 48941b85bd..b3b4f66b61 100644
--- a/cmake/HandleEigen.cmake
+++ b/cmake/HandleEigen.cmake
@@ -1,10 +1,6 @@
 ###############################################################################
 # Option for using system Eigen or GTSAM-bundled Eigen
-# Default: Use system's Eigen if found automatically:
-find_package(Eigen3 CONFIG QUIET)
-set(USE_SYSTEM_EIGEN_INITIAL_VALUE ${Eigen3_FOUND})
-option(GTSAM_USE_SYSTEM_EIGEN "Find and use system-installed Eigen. If 'off', use the one bundled with GTSAM" ${USE_SYSTEM_EIGEN_INITIAL_VALUE})
-unset(USE_SYSTEM_EIGEN_INITIAL_VALUE)
+option(GTSAM_USE_SYSTEM_EIGEN "Find and use system-installed Eigen. If 'off', use the one bundled with GTSAM" OFF)
 
 if(NOT GTSAM_USE_SYSTEM_EIGEN)
   # This option only makes sense if using the embedded copy of Eigen, it is
@@ -46,7 +42,7 @@ else()
     set(GTSAM_EIGEN_INCLUDE_FOR_INSTALL "include/gtsam/3rdparty/Eigen/")
 
     # The actual include directory (for BUILD cmake target interface):
-    set(GTSAM_EIGEN_INCLUDE_FOR_BUILD "${GTSAM_SOURCE_DIR}/gtsam/3rdparty/Eigen/")
+    set(GTSAM_EIGEN_INCLUDE_FOR_BUILD "${GTSAM_SOURCE_DIR}/gtsam/3rdparty/Eigen")
 
     add_library(gtsam_eigen3 INTERFACE)
 
@@ -59,7 +55,7 @@ else()
     install(TARGETS gtsam_eigen3 EXPORT GTSAM-exports PUBLIC_HEADER DESTINATION ${CMAKE_INSTALL_INCLUDEDIR})
 
     list(APPEND GTSAM_EXPORTED_TARGETS gtsam_eigen3)
-    set(GTSAM_EXPORTED_TARGETS "${GTSAM_EXPORTED_TARGETS}" PARENT_SCOPE)
+    set(GTSAM_EXPORTED_TARGETS "${GTSAM_EXPORTED_TARGETS}")
 endif()
 
 # Detect Eigen version:
diff --git a/gtsam/CMakeLists.txt b/gtsam/CMakeLists.txt
index d3408ee7ff..03ffb54bca 100644
--- a/gtsam/CMakeLists.txt
+++ b/gtsam/CMakeLists.txt
@@ -117,6 +117,7 @@ set_target_properties(gtsam PROPERTIES
     VERSION             ${gtsam_version}
     SOVERSION           ${gtsam_soversion})
 
+# Append Eigen include path to either
 # system-eigen, or GTSAM eigen path
 target_link_libraries(gtsam PUBLIC Eigen3::Eigen)
 

From 6f89d457ca89494dcfba44b3fd7089d4e06ae730 Mon Sep 17 00:00:00 2001
From: Varun Agrawal <varagrawal@gmail.com>
Date: Tue, 25 Oct 2022 17:50:10 -0400
Subject: [PATCH 416/433] Add GetOrdering method that can be re-used

---
 gtsam/hybrid/HybridGaussianISAM.cpp | 53 +++++++++++++++++------------
 gtsam/hybrid/HybridGaussianISAM.h   | 11 ++++++
 2 files changed, 42 insertions(+), 22 deletions(-)

diff --git a/gtsam/hybrid/HybridGaussianISAM.cpp b/gtsam/hybrid/HybridGaussianISAM.cpp
index de87dd92f1..aa6b3f2664 100644
--- a/gtsam/hybrid/HybridGaussianISAM.cpp
+++ b/gtsam/hybrid/HybridGaussianISAM.cpp
@@ -38,6 +38,35 @@ HybridGaussianISAM::HybridGaussianISAM() {}
 HybridGaussianISAM::HybridGaussianISAM(const HybridBayesTree& bayesTree)
     : Base(bayesTree) {}
 
+/* ************************************************************************* */
+Ordering HybridGaussianISAM::GetOrdering(
+    HybridGaussianFactorGraph& factors,
+    const HybridGaussianFactorGraph& newFactors) {
+  // Get all the discrete keys from the factors
+  KeySet allDiscrete = factors.discreteKeys();
+
+  // Create KeyVector with continuous keys followed by discrete keys.
+  KeyVector newKeysDiscreteLast;
+  const KeySet newFactorKeys = newFactors.keys();
+  // Insert continuous keys first.
+  for (auto& k : newFactorKeys) {
+    if (!allDiscrete.exists(k)) {
+      newKeysDiscreteLast.push_back(k);
+    }
+  }
+  // Insert discrete keys at the end
+  std::copy(allDiscrete.begin(), allDiscrete.end(),
+            std::back_inserter(newKeysDiscreteLast));
+
+  const VariableIndex index(factors);
+
+  // Get an ordering where the new keys are eliminated last
+  Ordering ordering = Ordering::ColamdConstrainedLast(
+      index, KeyVector(newKeysDiscreteLast.begin(), newKeysDiscreteLast.end()),
+      true);
+  return ordering;
+}
+
 /* ************************************************************************* */
 void HybridGaussianISAM::updateInternal(
     const HybridGaussianFactorGraph& newFactors,
@@ -54,7 +83,7 @@ void HybridGaussianISAM::updateInternal(
   }
 
   // Add the removed top and the new factors
-  FactorGraphType factors;
+  HybridGaussianFactorGraph factors;
   factors += bn;
   factors += newFactors;
 
@@ -63,32 +92,12 @@ void HybridGaussianISAM::updateInternal(
     factors += boost::make_shared<BayesTreeOrphanWrapper<Node>>(orphan);
   }
 
-  // Get all the discrete keys from the factors
-  KeySet allDiscrete = factors.discreteKeys();
-
-  // Create KeyVector with continuous keys followed by discrete keys.
-  KeyVector newKeysDiscreteLast;
-  // Insert continuous keys first.
-  for (auto& k : newFactorKeys) {
-    if (!allDiscrete.exists(k)) {
-      newKeysDiscreteLast.push_back(k);
-    }
-  }
-  // Insert discrete keys at the end
-  std::copy(allDiscrete.begin(), allDiscrete.end(),
-            std::back_inserter(newKeysDiscreteLast));
-
-  // Get an ordering where the new keys are eliminated last
   const VariableIndex index(factors);
-
   Ordering elimination_ordering;
   if (ordering) {
     elimination_ordering = *ordering;
   } else {
-    elimination_ordering = Ordering::ColamdConstrainedLast(
-        index,
-        KeyVector(newKeysDiscreteLast.begin(), newKeysDiscreteLast.end()),
-        true);
+    elimination_ordering = GetOrdering(factors, newFactors);
   }
 
   // eliminate all factors (top, added, orphans) into a new Bayes tree
diff --git a/gtsam/hybrid/HybridGaussianISAM.h b/gtsam/hybrid/HybridGaussianISAM.h
index a6a82b3e89..bc5f04e0f2 100644
--- a/gtsam/hybrid/HybridGaussianISAM.h
+++ b/gtsam/hybrid/HybridGaussianISAM.h
@@ -67,6 +67,17 @@ class GTSAM_EXPORT HybridGaussianISAM : public ISAM<HybridBayesTree> {
               const boost::optional<Ordering>& ordering = boost::none,
               const HybridBayesTree::Eliminate& function =
                   HybridBayesTree::EliminationTraitsType::DefaultEliminate);
+
+  /**
+   * @brief Helper method to get an ordering given the existing factors and any
+   * new factors added.
+   *
+   * @param factors The existing factors in the BayesTree.
+   * @param newFactors New factors added during the update step.
+   * @return Ordering
+   */
+  static Ordering GetOrdering(HybridGaussianFactorGraph& factors,
+                              const HybridGaussianFactorGraph& newFactors);
 };
 
 /// traits

From 0ec8b617b8a82729e43db9777cf32da244d01f8d Mon Sep 17 00:00:00 2001
From: Akshay Krishnan <akshay.krishnan.30@gmail.com>
Date: Tue, 25 Oct 2022 23:28:01 -0400
Subject: [PATCH 417/433] fix wrapper argument

---
 gtsam/sfm/sfm.i | 3 ++-
 1 file changed, 2 insertions(+), 1 deletion(-)

diff --git a/gtsam/sfm/sfm.i b/gtsam/sfm/sfm.i
index 26dc20c3ef..922ba9efc5 100644
--- a/gtsam/sfm/sfm.i
+++ b/gtsam/sfm/sfm.i
@@ -329,7 +329,7 @@ class MatchIndicesMap {
   size_t size() const;
   bool empty() const;
   void clear();
-  gtsam::gtsfm::CorrespondenceIndices at(const pair<size_t, size_t>& keypair) const;
+  gtsam::gtsfm::CorrespondenceIndices at(const IndexPair& keypair) const;
 };
 
 class Keypoints {
@@ -350,6 +350,7 @@ class KeypointsVector {
 gtsam::SfmTrack2dVector tracksFromPairwiseMatches(
     const gtsam::gtsfm::MatchIndicesMap& matches_dict,
     const gtsam::gtsfm::KeypointsVector& keypoints_list, bool verbose = false);
+
 }  // namespace gtsfm
 
 }  // namespace gtsam

From b0533bb1984956ded7ca24bcafc3bcc204adc04e Mon Sep 17 00:00:00 2001
From: Akshay Krishnan <akshay.krishnan.30@gmail.com>
Date: Tue, 25 Oct 2022 23:50:47 -0400
Subject: [PATCH 418/433] add gtsam:: prefix

---
 gtsam/sfm/sfm.i | 2 +-
 1 file changed, 1 insertion(+), 1 deletion(-)

diff --git a/gtsam/sfm/sfm.i b/gtsam/sfm/sfm.i
index 922ba9efc5..c57e03174f 100644
--- a/gtsam/sfm/sfm.i
+++ b/gtsam/sfm/sfm.i
@@ -329,7 +329,7 @@ class MatchIndicesMap {
   size_t size() const;
   bool empty() const;
   void clear();
-  gtsam::gtsfm::CorrespondenceIndices at(const IndexPair& keypair) const;
+  gtsam::gtsfm::CorrespondenceIndices at(const gtsam::IndexPair& keypair) const;
 };
 
 class Keypoints {

From 3da27a5df7714338ef7a6790413ade12128a8ade Mon Sep 17 00:00:00 2001
From: Varun Agrawal <varagrawal@gmail.com>
Date: Wed, 26 Oct 2022 12:42:45 -0400
Subject: [PATCH 419/433] add docstring to test and fix assert

---
 python/gtsam/tests/test_DsfTrackGenerator.py | 7 ++++---
 1 file changed, 4 insertions(+), 3 deletions(-)

diff --git a/python/gtsam/tests/test_DsfTrackGenerator.py b/python/gtsam/tests/test_DsfTrackGenerator.py
index e600227c9f..284c3f5ccf 100644
--- a/python/gtsam/tests/test_DsfTrackGenerator.py
+++ b/python/gtsam/tests/test_DsfTrackGenerator.py
@@ -7,7 +7,8 @@
 
 import gtsam
 import numpy as np
-from gtsam import IndexPair, KeypointsVector, MatchIndicesMap, Point2, SfmMeasurementVector, SfmTrack2d
+from gtsam import (IndexPair, KeypointsVector, MatchIndicesMap, Point2,
+                   SfmMeasurementVector, SfmTrack2d)
 from gtsam.gtsfm import Keypoints
 from gtsam.utils.test_case import GtsamTestCase
 
@@ -84,12 +85,12 @@ class TestSfmTrack2d(GtsamTestCase):
     """Tests for SfmTrack2d."""
 
     def test_sfm_track_2d_constructor(self) -> None:
-        """ """
+        """Test construction of 2D SfM track."""
         measurements = SfmMeasurementVector()
         measurements.append((0, Point2(10, 20)))
         track = SfmTrack2d(measurements=measurements)
         track.measurement(0)
-        track.numberMeasurements() == 1
+        assert track.numberMeasurements() == 1
 
 
 if __name__ == "__main__":

From 41d0de3e9225f4ed2017ff556d3ee012a4a8dc65 Mon Sep 17 00:00:00 2001
From: Varun Agrawal <varagrawal@gmail.com>
Date: Fri, 28 Oct 2022 13:10:19 -0400
Subject: [PATCH 420/433] Squashed 'wrap/' changes from ca357ccdd..b37a1fec6

b37a1fec6 Merge pull request #154 from borglab/matlab/properties
93dec957a convert class properties to type parser.Variable so that the property collector functions are written correctly
d84e07f56 fix bug with proper closing of global functions
5a8505235 define setter and getter collector functions for cpp file
5067655e2 abstract out unwrap_argument and collector_return to their own functions
1ce29d71d add properties to properties block of .m file and add setters and getters
0c3e5573d write properties in class comment
9d85f7b6a disable superfluous pylint warnings
b45994d34 Merge pull request #152 from borglab/pybind-2.10
76ba199a2 upgrade pybind to 2.10
16e4e674b Merge pull request #150 from borglab/feature/parent_class_template
c7d1a466f Merge pull request #151 from borglab/fix/function_template_parameter_namespace
7278a309d retain namespace for template arguments
18ae5fb04 implement parent class allowed to have template parameters
fd4437899 unit tests for parent classes allowed to have template parameters

git-subtree-dir: wrap
git-subtree-split: b37a1fec689d6a42837a3bfb4dc947674e72be54
---
 gtwrap/interface_parser/classes.py            |    2 +-
 gtwrap/matlab_wrapper/wrapper.py              |  348 +++-
 gtwrap/template_instantiator/classes.py       |   33 +-
 gtwrap/template_instantiator/function.py      |    3 +-
 pybind11/.appveyor.yml                        |    6 +-
 pybind11/.clang-format                        |   19 +
 pybind11/.clang-tidy                          |  117 +-
 pybind11/.gitattributes                       |    1 +
 pybind11/.github/CONTRIBUTING.md              |   19 +-
 pybind11/.github/dependabot.yml               |    9 -
 pybind11/.github/matchers/pylint.json         |   32 +
 pybind11/.github/workflows/ci.yml             |  229 +--
 pybind11/.github/workflows/configure.yml      |   14 +-
 pybind11/.github/workflows/format.yml         |   19 +-
 pybind11/.github/workflows/pip.yml            |   26 +-
 pybind11/.github/workflows/upstream.yml       |    6 +-
 pybind11/.pre-commit-config.yaml              |   91 +-
 pybind11/MANIFEST.in                          |    1 -
 pybind11/README.rst                           |   16 +-
 pybind11/docs/Doxyfile                        |    3 +-
 pybind11/docs/_static/css/custom.css          |    3 +
 pybind11/docs/_static/theme_overrides.css     |   11 -
 pybind11/docs/advanced/cast/overview.rst      |    3 +-
 pybind11/docs/advanced/cast/stl.rst           |    2 -
 pybind11/docs/advanced/cast/strings.rst       |   19 +-
 pybind11/docs/advanced/classes.rst            |   40 +-
 pybind11/docs/advanced/exceptions.rst         |    6 +-
 pybind11/docs/advanced/functions.rst          |   21 +-
 pybind11/docs/advanced/pycpp/numpy.rst        |   12 +-
 pybind11/docs/basics.rst                      |    9 +-
 pybind11/docs/benchmark.py                    |   28 +-
 pybind11/docs/changelog.rst                   |  268 ++-
 pybind11/docs/classes.rst                     |   19 +-
 pybind11/docs/compiling.rst                   |   30 +-
 pybind11/docs/conf.py                         |   28 +-
 pybind11/docs/faq.rst                         |   42 +-
 pybind11/docs/pybind11-logo.png               |  Bin 58510 -> 61034 bytes
 pybind11/docs/requirements.txt                |   11 +-
 pybind11/docs/upgrade.rst                     |    2 +-
 pybind11/include/pybind11/attr.h              |  263 ++-
 pybind11/include/pybind11/buffer_info.h       |  123 +-
 pybind11/include/pybind11/cast.h              | 1029 ++++++----
 pybind11/include/pybind11/chrono.h            |  140 +-
 pybind11/include/pybind11/complex.h           |   29 +-
 pybind11/include/pybind11/detail/class.h      |  273 +--
 pybind11/include/pybind11/detail/common.h     |  894 +++++----
 pybind11/include/pybind11/detail/descr.h      |   81 +-
 pybind11/include/pybind11/detail/init.h       |  270 ++-
 pybind11/include/pybind11/detail/internals.h  |  159 +-
 .../pybind11/detail/type_caster_base.h        |  579 +++---
 pybind11/include/pybind11/detail/typeid.h     |   28 +-
 pybind11/include/pybind11/eigen.h             |  492 +++--
 pybind11/include/pybind11/embed.h             |  169 +-
 pybind11/include/pybind11/eval.h              |  103 +-
 pybind11/include/pybind11/functional.h        |   35 +-
 pybind11/include/pybind11/gil.h               |   69 +-
 pybind11/include/pybind11/iostream.h          |   68 +-
 pybind11/include/pybind11/numpy.h             | 1275 +++++++-----
 pybind11/include/pybind11/operators.h         |  236 ++-
 pybind11/include/pybind11/options.h           |   41 +-
 pybind11/include/pybind11/pybind11.h          | 1779 ++++++++++-------
 pybind11/include/pybind11/pytypes.h           | 1442 ++++++++-----
 pybind11/include/pybind11/stl.h               |  206 +-
 pybind11/include/pybind11/stl/filesystem.h    |   73 +-
 pybind11/include/pybind11/stl_bind.h          |  568 +++---
 pybind11/noxfile.py                           |   20 +-
 pybind11/pybind11/__init__.py                 |    7 +-
 pybind11/pybind11/__main__.py                 |    9 +-
 pybind11/pybind11/_version.py                 |    6 +-
 pybind11/pybind11/_version.pyi                |    6 -
 pybind11/pybind11/commands.py                 |   20 +-
 pybind11/pybind11/setup_helpers.py            |  226 ++-
 pybind11/pybind11/setup_helpers.pyi           |   63 -
 pybind11/pyproject.toml                       |   56 +-
 pybind11/setup.cfg                            |   25 +-
 pybind11/setup.py                             |  133 +-
 pybind11/tests/CMakeLists.txt                 |   19 +-
 pybind11/tests/conftest.py                    |   31 +-
 pybind11/tests/constructor_stats.h            |  143 +-
 pybind11/tests/cross_module_gil_utils.cpp     |   48 +-
 ...s_module_interleaved_error_already_set.cpp |   51 +
 pybind11/tests/env.py                         |    5 -
 .../tests/extra_python_package/test_files.py  |   47 +-
 .../extra_setuptools/test_setuphelper.py      |   14 +-
 pybind11/tests/local_bindings.h               |   41 +-
 pybind11/tests/object.h                       |  100 +-
 .../tests/pybind11_cross_module_tests.cpp     |   84 +-
 pybind11/tests/pybind11_tests.cpp             |   54 +-
 pybind11/tests/pybind11_tests.h               |   32 +-
 pybind11/tests/pytest.ini                     |    9 +-
 pybind11/tests/requirements.txt               |   17 +-
 pybind11/tests/test_async.cpp                 |    5 +-
 pybind11/tests/test_async.py                  |    1 -
 pybind11/tests/test_buffers.cpp               |   82 +-
 pybind11/tests/test_buffers.py                |   12 +-
 pybind11/tests/test_builtin_casters.cpp       |  314 +--
 pybind11/tests/test_builtin_casters.py        |  216 +-
 pybind11/tests/test_call_policies.cpp         |   46 +-
 pybind11/tests/test_call_policies.py          |    1 -
 pybind11/tests/test_callbacks.cpp             |   80 +-
 pybind11/tests/test_callbacks.py              |   13 +-
 pybind11/tests/test_chrono.cpp                |   33 +-
 pybind11/tests/test_chrono.py                 |    3 +-
 pybind11/tests/test_class.cpp                 |  327 +--
 pybind11/tests/test_class.py                  |   10 +-
 pybind11/tests/test_cmake_build/embed.cpp     |    8 +-
 pybind11/tests/test_cmake_build/test.py       |    6 +-
 pybind11/tests/test_const_name.cpp            |   85 +-
 pybind11/tests/test_const_name.py             |    4 +-
 .../tests/test_constants_and_functions.cpp    |   76 +-
 .../tests/test_constants_and_functions.py     |    1 -
 pybind11/tests/test_copy_move.cpp             |  185 +-
 pybind11/tests/test_copy_move.py              |    8 +-
 pybind11/tests/test_custom_type_casters.cpp   |  131 +-
 pybind11/tests/test_custom_type_casters.py    |   11 +-
 pybind11/tests/test_custom_type_setup.py      |    2 -
 pybind11/tests/test_docstring_options.cpp     |   55 +-
 pybind11/tests/test_docstring_options.py      |    1 -
 pybind11/tests/test_eigen.cpp                 |  211 +-
 pybind11/tests/test_eigen.py                  |   22 +-
 pybind11/tests/test_embed/CMakeLists.txt      |    2 +-
 pybind11/tests/test_embed/catch.cpp           |   11 +-
 pybind11/tests/test_embed/external_module.cpp |    9 +-
 .../tests/test_embed/test_interpreter.cpp     |   92 +-
 pybind11/tests/test_embed/test_interpreter.py |    3 +-
 pybind11/tests/test_embed/test_trampoline.py  |    2 -
 pybind11/tests/test_enum.cpp                  |   83 +-
 pybind11/tests/test_enum.py                   |   12 +-
 pybind11/tests/test_eval.cpp                  |   31 +-
 pybind11/tests/test_eval.py                   |    3 +-
 pybind11/tests/test_eval_call.py              |    1 -
 pybind11/tests/test_exceptions.cpp            |  170 +-
 pybind11/tests/test_exceptions.h              |    1 +
 pybind11/tests/test_exceptions.py             |  111 +-
 pybind11/tests/test_factory_constructors.cpp  |  109 +-
 pybind11/tests/test_factory_constructors.py   |   10 +-
 pybind11/tests/test_gil_scoped.cpp            |   44 +-
 pybind11/tests/test_gil_scoped.py             |    1 -
 pybind11/tests/test_iostream.cpp              |   33 +-
 pybind11/tests/test_iostream.py               |   40 +-
 pybind11/tests/test_kwargs_and_defaults.cpp   |  248 ++-
 pybind11/tests/test_kwargs_and_defaults.py    |   11 +-
 pybind11/tests/test_local_bindings.cpp        |   41 +-
 pybind11/tests/test_local_bindings.py         |    3 +-
 .../tests/test_methods_and_attributes.cpp     |  200 +-
 pybind11/tests/test_methods_and_attributes.py |   68 +-
 pybind11/tests/test_modules.cpp               |   67 +-
 pybind11/tests/test_modules.py                |   31 +-
 pybind11/tests/test_multiple_inheritance.cpp  |  137 +-
 pybind11/tests/test_multiple_inheritance.py   |   11 +-
 pybind11/tests/test_numpy_array.cpp           |  308 +--
 pybind11/tests/test_numpy_array.py            |   14 +-
 pybind11/tests/test_numpy_dtypes.cpp          |  372 ++--
 pybind11/tests/test_numpy_dtypes.py           |   55 +-
 pybind11/tests/test_numpy_vectorize.cpp       |   32 +-
 pybind11/tests/test_numpy_vectorize.py        |    1 -
 pybind11/tests/test_opaque_types.cpp          |   18 +-
 pybind11/tests/test_opaque_types.py           |    5 +-
 pybind11/tests/test_operator_overloading.cpp  |  176 +-
 pybind11/tests/test_operator_overloading.py   |    5 +-
 pybind11/tests/test_pickling.cpp              |   45 +-
 pybind11/tests/test_pickling.py               |   21 +-
 pybind11/tests/test_pytypes.cpp               |  407 +++-
 pybind11/tests/test_pytypes.py                |  298 ++-
 .../tests/test_sequences_and_iterators.cpp    |  270 ++-
 .../tests/test_sequences_and_iterators.py     |   22 +-
 pybind11/tests/test_smart_ptr.cpp             |  102 +-
 pybind11/tests/test_smart_ptr.py              |   13 +-
 pybind11/tests/test_stl.cpp                   |  268 +--
 pybind11/tests/test_stl.py                    |   25 +-
 pybind11/tests/test_stl_binders.cpp           |   93 +-
 pybind11/tests/test_stl_binders.py            |   17 +-
 pybind11/tests/test_tagbased_polymorphic.cpp  |   93 +-
 pybind11/tests/test_tagbased_polymorphic.py   |    1 -
 pybind11/tests/test_thread.cpp                |   10 +-
 pybind11/tests/test_thread.py                 |    6 +-
 pybind11/tests/test_union.py                  |    1 -
 pybind11/tests/test_virtual_functions.cpp     |  320 +--
 pybind11/tests/test_virtual_functions.py      |   25 +-
 pybind11/tools/FindCatch.cmake                |    2 +
 pybind11/tools/FindPythonLibsNew.cmake        |   56 +-
 pybind11/tools/libsize.py                     |    7 +-
 pybind11/tools/make_changelog.py              |    1 -
 pybind11/tools/pybind11Common.cmake           |   28 +-
 pybind11/tools/pybind11Config.cmake.in        |    6 +-
 pybind11/tools/pybind11NewTools.cmake         |   32 +-
 pybind11/tools/pybind11Tools.cmake            |   38 +-
 pybind11/tools/setup_global.py.in             |    8 +-
 pybind11/tools/setup_main.py.in               |    5 +-
 .../+gtsam/GeneralSFMFactorCal3Bundler.m      |    4 +-
 .../matlab/+gtsam/PinholeCameraCal3Bundler.m  |    4 +-
 tests/expected/matlab/+gtsam/SfmTrack.m       |   14 +
 tests/expected/matlab/+ns1/aGlobalFunction.m  |    1 +
 tests/expected/matlab/+ns2/aGlobalFunction.m  |    1 +
 .../matlab/+ns2/overloadedGlobalFunction.m    |    1 +
 tests/expected/matlab/DefaultFuncInt.m        |    1 +
 tests/expected/matlab/DefaultFuncObj.m        |    1 +
 tests/expected/matlab/DefaultFuncString.m     |    1 +
 tests/expected/matlab/DefaultFuncVector.m     |    1 +
 tests/expected/matlab/DefaultFuncZero.m       |    1 +
 tests/expected/matlab/ForwardKinematics.m     |    8 +-
 ...MultiTemplatedFunctionDoubleSize_tDouble.m |    1 +
 ...MultiTemplatedFunctionStringSize_tDouble.m |    1 +
 .../matlab/MultipleTemplatesIntDouble.m       |    4 +-
 .../matlab/MultipleTemplatesIntFloat.m        |    4 +-
 tests/expected/matlab/MyFactorPosePoint2.m    |   12 +-
 tests/expected/matlab/MyVector12.m            |    6 +-
 tests/expected/matlab/MyVector3.m             |    6 +-
 tests/expected/matlab/PrimitiveRefDouble.m    |    8 +-
 tests/expected/matlab/TemplatedFunctionRot3.m |    1 +
 tests/expected/matlab/Test.m                  |   14 +
 tests/expected/matlab/aGlobalFunction.m       |    1 +
 tests/expected/matlab/class_wrapper.cpp       |  135 +-
 tests/expected/matlab/inheritance_wrapper.cpp |   54 +
 tests/expected/matlab/load2D.m                |    1 +
 .../matlab/overloadedGlobalFunction.m         |    1 +
 tests/expected/matlab/setPose.m               |    1 +
 .../expected/matlab/special_cases_wrapper.cpp |   37 +-
 tests/expected/python/functions_pybind.cpp    |    2 +-
 tests/expected/python/inheritance_pybind.cpp  |    2 +
 tests/fixtures/inheritance.i                  |    3 +
 tests/test_interface_parser.py                |    3 +
 222 files changed, 12011 insertions(+), 8302 deletions(-)
 create mode 100644 pybind11/.gitattributes
 create mode 100644 pybind11/.github/matchers/pylint.json
 create mode 100644 pybind11/docs/_static/css/custom.css
 delete mode 100644 pybind11/docs/_static/theme_overrides.css
 delete mode 100644 pybind11/pybind11/_version.pyi
 delete mode 100644 pybind11/pybind11/setup_helpers.pyi
 create mode 100644 pybind11/tests/cross_module_interleaved_error_already_set.cpp

diff --git a/gtwrap/interface_parser/classes.py b/gtwrap/interface_parser/classes.py
index 54beb86c16..b63a0b5eb2 100644
--- a/gtwrap/interface_parser/classes.py
+++ b/gtwrap/interface_parser/classes.py
@@ -299,7 +299,7 @@ def __init__(
             # If the base class is a TemplatedType,
             # we want the instantiated Typename
             if isinstance(parent_class, TemplatedType):
-                parent_class = parent_class.typename  # type: ignore
+                pass  # Note: this must get handled in InstantiatedClass
 
             self.parent_class = parent_class
         else:
diff --git a/gtwrap/matlab_wrapper/wrapper.py b/gtwrap/matlab_wrapper/wrapper.py
index e690cd2131..c8aef43080 100755
--- a/gtwrap/matlab_wrapper/wrapper.py
+++ b/gtwrap/matlab_wrapper/wrapper.py
@@ -3,7 +3,7 @@
 that Matlab's MEX compiler can use.
 """
 
-# pylint: disable=too-many-lines, no-self-use, too-many-arguments, too-many-branches, too-many-statements
+# pylint: disable=too-many-lines, no-self-use, too-many-arguments, too-many-branches, too-many-statements, consider-using-f-string, unspecified-encoding
 
 import copy
 import os
@@ -17,6 +17,7 @@
 from gtwrap.interface_parser.function import ArgumentList
 from gtwrap.matlab_wrapper.mixins import CheckMixin, FormatMixin
 from gtwrap.matlab_wrapper.templates import WrapperTemplate
+from gtwrap.template_instantiator.classes import InstantiatedClass
 
 
 class MatlabWrapper(CheckMixin, FormatMixin):
@@ -28,6 +29,7 @@ class MatlabWrapper(CheckMixin, FormatMixin):
         top_module_namespace: C++ namespace for the top module (default '')
         ignore_classes: A list of classes to ignore (default [])
     """
+
     def __init__(self,
                  module_name,
                  top_module_namespace='',
@@ -94,16 +96,19 @@ def add_class(self, instantiated_class):
             self.classes_elems[instantiated_class] = 0
             self.classes.append(instantiated_class)
 
-    def _update_wrapper_id(self, collector_function=None, id_diff=0):
+    def _update_wrapper_id(self,
+                           collector_function=None,
+                           id_diff=0,
+                           function_name: str = None):
         """
         Get and define wrapper ids.
         Generates the map of id -> collector function.
 
         Args:
             collector_function: tuple storing info about the wrapper function
-                (namespace, class instance, function type, function name,
-                extra)
+                (namespace, class instance, function name, function object)
             id_diff: constant to add to the id in the map
+            function_name: Optional custom function_name.
 
         Returns:
             the current wrapper id
@@ -112,11 +117,12 @@ def _update_wrapper_id(self, collector_function=None, id_diff=0):
             is_instantiated_class = isinstance(collector_function[1],
                                                instantiator.InstantiatedClass)
 
-            if is_instantiated_class:
-                function_name = collector_function[0] + \
-                                collector_function[1].name + '_' + collector_function[2]
-            else:
-                function_name = collector_function[1].name
+            if function_name is None:
+                if is_instantiated_class:
+                    function_name = collector_function[0] + \
+                                    collector_function[1].name + '_' + collector_function[2]
+                else:
+                    function_name = collector_function[1].name
 
             self.wrapper_map[self.wrapper_id] = (
                 collector_function[0], collector_function[1],
@@ -145,6 +151,7 @@ def _expand_default_arguments(method, save_backup=True):
         We create "overload" functions with fewer arguments, but since we have to "remember" what
         the default arguments are for later, we make a backup.
         """
+
         def args_copy(args):
             return ArgumentList([copy.copy(arg) for arg in args.list()])
 
@@ -332,6 +339,38 @@ def _wrap_method_check_statement(self, args: parser.ArgumentList):
 
         return check_statement
 
+    def _unwrap_argument(self, arg, arg_id=0, constructor=False):
+        ctype_camel = self._format_type_name(arg.ctype.typename, separator='')
+        ctype_sep = self._format_type_name(arg.ctype.typename)
+
+        if self.is_ref(arg.ctype):  # and not constructor:
+            arg_type = "{ctype}&".format(ctype=ctype_sep)
+            unwrap = '*unwrap_shared_ptr< {ctype} >(in[{id}], "ptr_{ctype_camel}");'.format(
+                ctype=ctype_sep, ctype_camel=ctype_camel, id=arg_id)
+
+        elif self.is_ptr(arg.ctype) and \
+                arg.ctype.typename.name not in self.ignore_namespace:
+
+            arg_type = "{ctype_sep}*".format(ctype_sep=ctype_sep)
+            unwrap = 'unwrap_ptr< {ctype_sep} >(in[{id}], "ptr_{ctype}");'.format(
+                ctype_sep=ctype_sep, ctype=ctype_camel, id=arg_id)
+
+        elif (self.is_shared_ptr(arg.ctype) or self.can_be_pointer(arg.ctype)) and \
+                arg.ctype.typename.name not in self.ignore_namespace:
+
+            arg_type = "{std_boost}::shared_ptr<{ctype_sep}>".format(
+                std_boost='boost' if constructor else 'boost',
+                ctype_sep=ctype_sep)
+            unwrap = 'unwrap_shared_ptr< {ctype_sep} >(in[{id}], "ptr_{ctype}");'.format(
+                ctype_sep=ctype_sep, ctype=ctype_camel, id=arg_id)
+
+        else:
+            arg_type = "{ctype}".format(ctype=arg.ctype.typename.name)
+            unwrap = 'unwrap< {ctype} >(in[{id}]);'.format(
+                ctype=arg.ctype.typename.name, id=arg_id)
+
+        return arg_type, unwrap
+
     def _wrapper_unwrap_arguments(self, args, arg_id=0, constructor=False):
         """Format the interface_parser.Arguments.
 
@@ -343,36 +382,7 @@ def _wrapper_unwrap_arguments(self, args, arg_id=0, constructor=False):
         body_args = ''
 
         for arg in args.list():
-            ctype_camel = self._format_type_name(arg.ctype.typename,
-                                                 separator='')
-            ctype_sep = self._format_type_name(arg.ctype.typename)
-
-            if self.is_ref(arg.ctype):  # and not constructor:
-                arg_type = "{ctype}&".format(ctype=ctype_sep)
-                unwrap = '*unwrap_shared_ptr< {ctype} >(in[{id}], "ptr_{ctype_camel}");'.format(
-                    ctype=ctype_sep, ctype_camel=ctype_camel, id=arg_id)
-
-            elif self.is_ptr(arg.ctype) and \
-                    arg.ctype.typename.name not in self.ignore_namespace:
-
-                arg_type = "{ctype_sep}*".format(ctype_sep=ctype_sep)
-                unwrap = 'unwrap_ptr< {ctype_sep} >(in[{id}], "ptr_{ctype}");'.format(
-                    ctype_sep=ctype_sep, ctype=ctype_camel, id=arg_id)
-
-            elif (self.is_shared_ptr(arg.ctype) or self.can_be_pointer(arg.ctype)) and \
-                    arg.ctype.typename.name not in self.ignore_namespace:
-                call_type = arg.ctype.is_shared_ptr
-
-                arg_type = "{std_boost}::shared_ptr<{ctype_sep}>".format(
-                    std_boost='boost' if constructor else 'boost',
-                    ctype_sep=ctype_sep)
-                unwrap = 'unwrap_shared_ptr< {ctype_sep} >(in[{id}], "ptr_{ctype}");'.format(
-                    ctype_sep=ctype_sep, ctype=ctype_camel, id=arg_id)
-
-            else:
-                arg_type = "{ctype}".format(ctype=arg.ctype.typename.name)
-                unwrap = 'unwrap< {ctype} >(in[{id}]);'.format(
-                    ctype=arg.ctype.typename.name, id=arg_id)
+            arg_type, unwrap = self._unwrap_argument(arg, arg_id, constructor)
 
             body_args += textwrap.indent(textwrap.dedent('''\
                     {arg_type} {name} = {unwrap}
@@ -452,6 +462,7 @@ def class_comment(self, instantiated_class):
         """
         class_name = instantiated_class.name
         ctors = instantiated_class.ctors
+        properties = instantiated_class.properties
         methods = instantiated_class.methods
         static_methods = instantiated_class.static_methods
 
@@ -469,6 +480,12 @@ def class_comment(self, instantiated_class):
                                                        args=self._wrap_args(
                                                            ctor.args))
 
+        if len(properties) != 0:
+            comment += '%\n' \
+                       '%-------Properties-------\n'
+            for property in properties:
+                comment += '%{}\n'.format(property.name)
+
         if len(methods) != 0:
             comment += '%\n' \
                        '%-------Methods-------\n'
@@ -578,12 +595,13 @@ def wrap_global_function(self, function):
         param_wrap += textwrap.indent(textwrap.dedent('''\
             else
               error('Arguments do not match any overload of function {func_name}');
-        ''').format(func_name=function_name),
+            end''').format(func_name=function_name),
                                       prefix='      ')
 
         global_function = textwrap.indent(textwrap.dedent('''\
             function varargout = {m_method}(varargin)
-            {statements}      end
+            {statements}
+            end
         ''').format(m_method=function_name, statements=param_wrap),
                                           prefix='')
 
@@ -693,13 +711,82 @@ def wrap_class_constructors(self, namespace_name, inst_class, parent_name,
 
         return methods_wrap
 
-    def wrap_class_properties(self, class_name):
-        """Generate properties of class."""
-        return textwrap.dedent('''\
+    def wrap_properties_block(self, class_name, inst_class):
+        """Generate Matlab properties block of the class.
+
+        E.g.
+        ```
+        properties
+            ptr_gtsamISAM2Params = 0
+            relinearizeSkip
+        end
+        ```
+
+        Args:
+            class_name: Class name with namespace to assign unique pointer.
+            inst_class: The instantiated class whose properties we want to wrap.
+
+        Returns:
+            str: The `properties` block in a Matlab `classdef`.
+        """
+        # Get the property names and make into newline separated block
+        class_pointer = "  ptr_{class_name} = 0".format(class_name=class_name)
+
+        if len(inst_class.properties) > 0:
+            properties = '\n' + "".join(
+                ["  {}".format(p.name) for p in inst_class.properties])
+        else:
+            properties = ''
+
+        properties = class_pointer + properties
+        properties_block = textwrap.dedent('''\
             properties
-              ptr_{} = 0
+            {properties}
+            end
+        ''').format(properties=properties)
+        return properties_block
+
+    def wrap_class_properties(self, namespace_name: str,
+                              inst_class: InstantiatedClass):
+        """Generate wrappers for the setters & getters of class properties.
+
+        Args:
+            inst_class: The instantiated class whose properties we wish to wrap.
+        """
+        properties = []
+        for property in inst_class.properties:
+            # These are the setters and getters in the .m file
+            function_name = namespace_name + inst_class.name + '_get_' + property.name
+            getter = """
+            function varargout = get.{name}(this)
+                {varargout} = {wrapper}({num}, this);
+                this.{name} = {varargout};
+            end
+            """.format(
+                name=property.name,
+                varargout='varargout{1}',
+                wrapper=self._wrapper_name(),
+                num=self._update_wrapper_id(
+                    (namespace_name, inst_class, property.name, property),
+                    function_name=function_name))
+            properties.append(getter)
+
+            # Setter doesn't need varargin since it needs just one input.
+            function_name = namespace_name + inst_class.name + '_set_' + property.name
+            setter = """
+            function set.{name}(this, value)
+                obj.{name} = value;
+                {wrapper}({num}, this, value);
             end
-        ''').format(class_name)
+            """.format(
+                name=property.name,
+                wrapper=self._wrapper_name(),
+                num=self._update_wrapper_id(
+                    (namespace_name, inst_class, property.name, property),
+                    function_name=function_name))
+            properties.append(setter)
+
+        return properties
 
     def wrap_class_deconstructor(self, namespace_name, inst_class):
         """Generate the delete function for the Matlab class."""
@@ -921,7 +1008,9 @@ def wrap_static_methods(self, namespace_name, instantiated_class,
 
         return method_text
 
-    def wrap_instantiated_class(self, instantiated_class, namespace_name=''):
+    def wrap_instantiated_class(self,
+                                instantiated_class,
+                                namespace_name: str = ''):
         """Generate comments and code for given class.
 
         Args:
@@ -955,8 +1044,8 @@ def wrap_instantiated_class(self, instantiated_class, namespace_name=''):
         # Class properties
         content_text += '  ' + reduce(
             self._insert_spaces,
-            self.wrap_class_properties(
-                namespace_file_name).splitlines()) + '\n'
+            self.wrap_properties_block(namespace_file_name,
+                                       instantiated_class).splitlines()) + '\n'
 
         # Class constructor
         content_text += '  ' + reduce(
@@ -996,14 +1085,25 @@ def wrap_instantiated_class(self, instantiated_class, namespace_name=''):
                     lambda x, y: x + '\n' + ('' if y == '' else '    ') + y,
                     class_methods_wrapped) + '\n'
 
+        # Class properties
+        if len(instantiated_class.properties) != 0:
+            property_accessors = self.wrap_class_properties(
+                namespace_name, instantiated_class)
+            content_text += textwrap.indent(textwrap.dedent(
+                "".join(property_accessors)),
+                                            prefix='    ')
+
+        content_text += '  end'  # End the `methods` block
+
         # Static class methods
-        content_text += '  end\n\n  ' + reduce(
+        content_text += '\n\n  ' + reduce(
             self._insert_spaces,
             self.wrap_static_methods(namespace_name, instantiated_class,
-                                     serialize[0]).splitlines()) + '\n'
+                                     serialize[0]).splitlines()) + '\n' + \
+        '  end\n'
 
+        # Close the classdef
         content_text += textwrap.dedent('''\
-              end
             end
         ''')
 
@@ -1112,6 +1212,41 @@ def wrap_collector_function_return_types(self, return_type, func_id):
 
         return return_type_text
 
+    def _collector_return(self, obj: str, ctype: parser.Type):
+        """Helper method to get the final statement before the return in the collector function."""
+        expanded = ''
+        if self.is_shared_ptr(ctype) or self.is_ptr(ctype) or \
+            self.can_be_pointer(ctype):
+            sep_method_name = partial(self._format_type_name,
+                                      ctype.typename,
+                                      include_namespace=True)
+
+            if ctype.typename.name in self.ignore_namespace:
+                expanded += self.wrap_collector_function_shared_return(
+                    ctype.typename, obj, 0, new_line=False)
+
+            if ctype.is_shared_ptr or ctype.is_ptr:
+                shared_obj = '{obj},"{method_name_sep}"'.format(
+                    obj=obj, method_name_sep=sep_method_name('.'))
+            else:
+                method_name_sep_dot = sep_method_name('.')
+                shared_obj_template = 'boost::make_shared<{method_name_sep_col}>({obj}),' \
+                                        '"{method_name_sep_dot}"'
+                shared_obj = shared_obj_template \
+                    .format(method_name_sep_col=sep_method_name(),
+                            method_name_sep_dot=method_name_sep_dot,
+                            obj=obj)
+
+            if ctype.typename.name not in self.ignore_namespace:
+                expanded += textwrap.indent(
+                    'out[0] = wrap_shared_ptr({}, false);'.format(shared_obj),
+                    prefix='  ')
+        else:
+            expanded += '  out[0] = wrap< {} >({});'.format(
+                ctype.typename.name, obj)
+
+        return expanded
+
     def wrap_collector_function_return(self, method):
         """
         Wrap the complete return type of the function.
@@ -1154,36 +1289,8 @@ def wrap_collector_function_return(self, method):
 
         if return_1_name != 'void':
             if return_count == 1:
-                if self.is_shared_ptr(return_1) or self.is_ptr(return_1) or \
-                    self.can_be_pointer(return_1):
-                    sep_method_name = partial(self._format_type_name,
-                                              return_1.typename,
-                                              include_namespace=True)
-
-                    if return_1.typename.name in self.ignore_namespace:
-                        expanded += self.wrap_collector_function_shared_return(
-                            return_1.typename, obj, 0, new_line=False)
-
-                    if return_1.is_shared_ptr or return_1.is_ptr:
-                        shared_obj = '{obj},"{method_name_sep}"'.format(
-                            obj=obj, method_name_sep=sep_method_name('.'))
-                    else:
-                        method_name_sep_dot = sep_method_name('.')
-                        shared_obj_template = 'boost::make_shared<{method_name_sep_col}>({obj}),' \
-                                              '"{method_name_sep_dot}"'
-                        shared_obj = shared_obj_template \
-                            .format(method_name_sep_col=sep_method_name(),
-                                    method_name_sep_dot=method_name_sep_dot,
-                                    obj=obj)
-
-                    if return_1.typename.name not in self.ignore_namespace:
-                        expanded += textwrap.indent(
-                            'out[0] = wrap_shared_ptr({}, false);'.format(
-                                shared_obj),
-                            prefix='  ')
-                else:
-                    expanded += '  out[0] = wrap< {} >({});'.format(
-                        return_1.typename.name, obj)
+                expanded += self._collector_return(obj, return_1)
+
             elif return_count == 2:
                 return_2 = method.return_type.type2
 
@@ -1197,6 +1304,14 @@ def wrap_collector_function_return(self, method):
 
         return expanded
 
+    def wrap_collector_property_return(self, class_property: parser.Variable):
+        """Get the last collector function statement before return for a property."""
+        property_name = class_property.name
+        obj = 'obj->{}'.format(property_name)
+        property_type = class_property.ctype
+
+        return self._collector_return(obj, property_type)
+
     def wrap_collector_function_upcast_from_void(self, class_name, func_id,
                                                  cpp_name):
         """
@@ -1207,7 +1322,10 @@ def wrap_collector_function_upcast_from_void(self, class_name, func_id,
 
     def generate_collector_function(self, func_id):
         """
-        Generate the complete collector function.
+        Generate the complete collector function that goes into the wrapper.cpp file.
+
+        A collector function is the Mex function used to interact between
+        the C++ object and the Matlab .m files.
         """
         collector_func = self.wrapper_map.get(func_id)
 
@@ -1228,6 +1346,7 @@ def generate_collector_function(self, func_id):
             class_name_separated = collector_func[1].to_cpp()
             is_method = isinstance(extra, parser.Method)
             is_static_method = isinstance(extra, parser.StaticMethod)
+            is_property = isinstance(extra, parser.Variable)
 
             if collector_func[2] == 'collectorInsertAndMakeBase':
                 body += textwrap.indent(textwrap.dedent('''\
@@ -1246,6 +1365,7 @@ def generate_collector_function(self, func_id):
                         *reinterpret_cast<SharedBase**>(mxGetData(out[0])) = new SharedBase(*self);
                     ''').format(collector_func[1].parent_class),
                                             prefix='  ')
+
             elif collector_func[2] == 'constructor':
                 base = ''
                 params, body_args = self._wrapper_unwrap_arguments(
@@ -1271,6 +1391,7 @@ def generate_collector_function(self, func_id):
                                       params=params,
                                       class_name=class_name,
                                       base=base)
+
             elif collector_func[2] == 'deconstructor':
                 body += textwrap.indent(textwrap.dedent('''\
                     typedef boost::shared_ptr<{class_name_sep}> Shared;
@@ -1285,16 +1406,19 @@ def generate_collector_function(self, func_id):
                 ''').format(class_name_sep=class_name_separated,
                             class_name=class_name),
                                         prefix='  ')
+
             elif extra == 'serialize':
                 body += self.wrap_collector_function_serialize(
                     collector_func[1].name,
                     full_name=collector_func[1].to_cpp(),
                     namespace=collector_func[0])
+
             elif extra == 'deserialize':
                 body += self.wrap_collector_function_deserialize(
                     collector_func[1].name,
                     full_name=collector_func[1].to_cpp(),
                     namespace=collector_func[0])
+
             elif is_method or is_static_method:
                 method_name = ''
 
@@ -1303,12 +1427,9 @@ def generate_collector_function(self, func_id):
 
                 method_name += extra.name
 
-                # return_type = extra.return_type
-                # return_count = self._return_count(return_type)
-
-                return_body = self.wrap_collector_function_return(extra)
-                params, body_args = self._wrapper_unwrap_arguments(
+                _, body_args = self._wrapper_unwrap_arguments(
                     extra.args, arg_id=1 if is_method else 0)
+                return_body = self.wrap_collector_function_return(extra)
 
                 shared_obj = ''
 
@@ -1330,6 +1451,57 @@ def generate_collector_function(self, func_id):
                     body_args=body_args,
                     return_body=return_body)
 
+            elif is_property:
+                shared_obj = '  auto obj = unwrap_shared_ptr<{class_name_sep}>' \
+                            '(in[0], "ptr_{class_name}");\n'.format(
+                                class_name_sep=class_name_separated,
+                                class_name=class_name)
+
+                # Unpack the property from mxArray
+                property_type, unwrap = self._unwrap_argument(extra, arg_id=1)
+                unpack_property = textwrap.indent(textwrap.dedent('''\
+                    {arg_type} {name} = {unwrap}
+                    '''.format(arg_type=property_type,
+                               name=extra.name,
+                               unwrap=unwrap)),
+                                                  prefix='  ')
+
+                # Getter
+                if "_get_" in method_name:
+                    return_body = self.wrap_collector_property_return(extra)
+
+                    getter = '  checkArguments("{property_name}",nargout,nargin{min1},' \
+                            '{num_args});\n' \
+                            '{shared_obj}' \
+                            '{return_body}\n'.format(
+                        property_name=extra.name,
+                        min1='-1',
+                        num_args=0,
+                        shared_obj=shared_obj,
+                        return_body=return_body)
+
+                    body += getter
+
+                # Setter
+                if "_set_" in method_name:
+                    is_ptr_type = self.can_be_pointer(extra.ctype)
+                    return_body = '  obj->{0} = {1}{0};'.format(
+                        extra.name, '*' if is_ptr_type else '')
+
+                    setter = '  checkArguments("{property_name}",nargout,nargin{min1},' \
+                            '{num_args});\n' \
+                            '{shared_obj}' \
+                            '{unpack_property}' \
+                            '{return_body}\n'.format(
+                        property_name=extra.name,
+                        min1='-1',
+                        num_args=1,
+                        shared_obj=shared_obj,
+                        unpack_property=unpack_property,
+                        return_body=return_body)
+
+                    body += setter
+
             body += '}\n'
 
             if extra not in ['serialize', 'deserialize']:
diff --git a/gtwrap/template_instantiator/classes.py b/gtwrap/template_instantiator/classes.py
index af366f80f4..ce51d5b967 100644
--- a/gtwrap/template_instantiator/classes.py
+++ b/gtwrap/template_instantiator/classes.py
@@ -5,7 +5,8 @@
 from gtwrap.template_instantiator.helpers import (InstantiationHelper,
                                                   instantiate_args_list,
                                                   instantiate_name,
-                                                  instantiate_return_type)
+                                                  instantiate_return_type,
+                                                  instantiate_type)
 from gtwrap.template_instantiator.method import (InstantiatedMethod,
                                                  InstantiatedStaticMethod)
 
@@ -14,6 +15,7 @@ class InstantiatedClass(parser.Class):
     """
     Instantiate the class defined in the interface file.
     """
+
     def __init__(self, original: parser.Class, instantiations=(), new_name=''):
         """
         Template <T, U>
@@ -24,7 +26,6 @@ def __init__(self, original: parser.Class, instantiations=(), new_name=''):
 
         self.template = None
         self.is_virtual = original.is_virtual
-        self.parent_class = original.parent_class
         self.parent = original.parent
 
         # If the class is templated, check if the number of provided instantiations
@@ -42,7 +43,8 @@ def __init__(self, original: parser.Class, instantiations=(), new_name=''):
         # This will allow the `This` keyword to be used in both templated and non-templated classes.
         typenames = self.original.template.typenames if self.original.template else []
 
-        # Instantiate the constructors, static methods, properties, respectively.
+        # Instantiate the parent class, constructors, static methods, properties, respectively.
+        self.parent_class = self.instantiate_parent_class(typenames)
         self.ctors = self.instantiate_ctors(typenames)
         self.static_methods = self.instantiate_static_methods(typenames)
         self.properties = self.instantiate_properties(typenames)
@@ -83,6 +85,23 @@ def __repr__(self):
                operators="\n".join([repr(op) for op in self.operators])
             )
 
+    def instantiate_parent_class(self, typenames):
+        """
+        Instantiate the inherited parent names.
+
+        Args:
+            typenames: List of template types to instantiate.
+
+        Return: List of constructors instantiated with provided template args.
+        """
+
+        if isinstance(self.original.parent_class, parser.type.TemplatedType):
+            return instantiate_type(
+                self.original.parent_class, typenames, self.instantiations,
+                parser.Typename(self.namespaces())).typename
+        else:
+            return self.original.parent_class
+
     def instantiate_ctors(self, typenames):
         """
         Instantiate the class constructors.
@@ -178,12 +197,18 @@ def instantiate_properties(self, typenames):
 
         Return: List of properties instantiated with provided template args.
         """
-        instantiated_properties = instantiate_args_list(
+        instantiated_ = instantiate_args_list(
             self.original.properties,
             typenames,
             self.instantiations,
             self.cpp_typename(),
         )
+        # Convert to type Variable
+        instantiated_properties = [
+            parser.Variable(ctype=[arg.ctype],
+                            name=arg.name,
+                            default=arg.default) for arg in instantiated_
+        ]
         return instantiated_properties
 
     def cpp_typename(self):
diff --git a/gtwrap/template_instantiator/function.py b/gtwrap/template_instantiator/function.py
index 3ad5da3f49..37c91f1ab9 100644
--- a/gtwrap/template_instantiator/function.py
+++ b/gtwrap/template_instantiator/function.py
@@ -55,7 +55,8 @@ def to_cpp(self):
         """Generate the C++ code for wrapping."""
         if self.original.template:
             instantiated_names = [
-                inst.instantiated_name() for inst in self.instantiations
+                "::".join(inst.namespaces + [inst.instantiated_name()])
+                for inst in self.instantiations
             ]
             ret = "{}<{}>".format(self.original.name,
                                   ",".join(instantiated_names))
diff --git a/pybind11/.appveyor.yml b/pybind11/.appveyor.yml
index 85445d41a2..360760ac8d 100644
--- a/pybind11/.appveyor.yml
+++ b/pybind11/.appveyor.yml
@@ -1,6 +1,6 @@
 version: 1.0.{build}
 image:
-- Visual Studio 2015
+- Visual Studio 2017
 test: off
 skip_branch_with_pr: true
 build:
@@ -11,11 +11,9 @@ environment:
   matrix:
   - PYTHON: 36
     CONFIG: Debug
-  - PYTHON: 27
-    CONFIG: Debug
 install:
 - ps: |
-    $env:CMAKE_GENERATOR = "Visual Studio 14 2015"
+    $env:CMAKE_GENERATOR = "Visual Studio 15 2017"
     if ($env:PLATFORM -eq "x64") { $env:PYTHON = "$env:PYTHON-x64" }
     $env:PATH = "C:\Python$env:PYTHON\;C:\Python$env:PYTHON\Scripts\;$env:PATH"
     python -W ignore -m pip install --upgrade pip wheel
diff --git a/pybind11/.clang-format b/pybind11/.clang-format
index 8e0fd8b014..b477a16037 100644
--- a/pybind11/.clang-format
+++ b/pybind11/.clang-format
@@ -3,17 +3,36 @@
 # clang-format --style=llvm --dump-config
 BasedOnStyle: LLVM
 AccessModifierOffset: -4
+AllowShortLambdasOnASingleLine: true
 AlwaysBreakTemplateDeclarations: Yes
 BinPackArguments: false
 BinPackParameters: false
 BreakBeforeBinaryOperators: All
 BreakConstructorInitializers: BeforeColon
 ColumnLimit: 99
+CommentPragmas: 'NOLINT:.*|^ IWYU pragma:'
+IncludeBlocks: Regroup
 IndentCaseLabels: true
 IndentPPDirectives: AfterHash
 IndentWidth: 4
 Language: Cpp
 SpaceAfterCStyleCast: true
 Standard: Cpp11
+StatementMacros: ['PyObject_HEAD']
 TabWidth: 4
+IncludeCategories:
+  - Regex:           '<pybind11/.*'
+    Priority:        -1
+  - Regex:           'pybind11.h"$'
+    Priority:        1
+  - Regex:           '^".*/?detail/'
+    Priority:        1
+    SortPriority:    2
+  - Regex:           '^"'
+    Priority:        1
+    SortPriority:    3
+  - Regex:           '<[[:alnum:]._]+>'
+    Priority:        4
+  - Regex:           '.*'
+    Priority:        5
 ...
diff --git a/pybind11/.clang-tidy b/pybind11/.clang-tidy
index d853a703ce..d945a4a27d 100644
--- a/pybind11/.clang-tidy
+++ b/pybind11/.clang-tidy
@@ -1,66 +1,75 @@
 FormatStyle: file
 
-Checks: '
-*bugprone*,
-cppcoreguidelines-init-variables,
-cppcoreguidelines-slicing,
-clang-analyzer-optin.cplusplus.VirtualCall,
-google-explicit-constructor,
-llvm-namespace-comment,
-misc-misplaced-const,
-misc-non-copyable-objects,
-misc-static-assert,
-misc-throw-by-value-catch-by-reference,
-misc-uniqueptr-reset-release,
-misc-unused-parameters,
-modernize-avoid-bind,
-modernize-make-shared,
-modernize-redundant-void-arg,
-modernize-replace-auto-ptr,
-modernize-replace-disallow-copy-and-assign-macro,
-modernize-replace-random-shuffle,
-modernize-shrink-to-fit,
-modernize-use-auto,
-modernize-use-bool-literals,
-modernize-use-equals-default,
-modernize-use-equals-delete,
-modernize-use-default-member-init,
-modernize-use-noexcept,
-modernize-use-emplace,
-modernize-use-override,
-modernize-use-using,
-*performance*,
-readability-avoid-const-params-in-decls,
-readability-const-return-type,
-readability-container-size-empty,
-readability-delete-null-pointer,
-readability-else-after-return,
-readability-implicit-bool-conversion,
-readability-make-member-function-const,
-readability-misplaced-array-index,
-readability-non-const-parameter,
-readability-redundant-function-ptr-dereference,
-readability-redundant-smartptr-get,
-readability-redundant-string-cstr,
-readability-simplify-subscript-expr,
-readability-static-accessed-through-instance,
-readability-static-definition-in-anonymous-namespace,
-readability-string-compare,
-readability-suspicious-call-argument,
-readability-uniqueptr-delete-release,
--bugprone-exception-escape,
--bugprone-reserved-identifier,
--bugprone-unused-raii,
-'
+Checks: |
+  *bugprone*,
+  *performance*,
+  clang-analyzer-optin.cplusplus.VirtualCall,
+  clang-analyzer-optin.performance.Padding,
+  cppcoreguidelines-init-variables,
+  cppcoreguidelines-prefer-member-initializer,
+  cppcoreguidelines-pro-type-static-cast-downcast,
+  cppcoreguidelines-slicing,
+  google-explicit-constructor,
+  llvm-namespace-comment,
+  misc-definitions-in-headers,
+  misc-misplaced-const,
+  misc-non-copyable-objects,
+  misc-static-assert,
+  misc-throw-by-value-catch-by-reference,
+  misc-uniqueptr-reset-release,
+  misc-unused-parameters,
+  modernize-avoid-bind,
+  modernize-loop-convert,
+  modernize-make-shared,
+  modernize-redundant-void-arg,
+  modernize-replace-auto-ptr,
+  modernize-replace-disallow-copy-and-assign-macro,
+  modernize-replace-random-shuffle,
+  modernize-shrink-to-fit,
+  modernize-use-auto,
+  modernize-use-bool-literals,
+  modernize-use-default-member-init,
+  modernize-use-emplace,
+  modernize-use-equals-default,
+  modernize-use-equals-delete,
+  modernize-use-noexcept,
+  modernize-use-nullptr,
+  modernize-use-override,
+  modernize-use-using,
+  readability-avoid-const-params-in-decls,
+  readability-braces-around-statements,
+  readability-const-return-type,
+  readability-container-size-empty,
+  readability-delete-null-pointer,
+  readability-else-after-return,
+  readability-implicit-bool-conversion,
+  readability-inconsistent-declaration-parameter-name,
+  readability-make-member-function-const,
+  readability-misplaced-array-index,
+  readability-non-const-parameter,
+  readability-qualified-auto,
+  readability-redundant-function-ptr-dereference,
+  readability-redundant-smartptr-get,
+  readability-redundant-string-cstr,
+  readability-simplify-subscript-expr,
+  readability-static-accessed-through-instance,
+  readability-static-definition-in-anonymous-namespace,
+  readability-string-compare,
+  readability-suspicious-call-argument,
+  readability-uniqueptr-delete-release,
+  -bugprone-easily-swappable-parameters,
+  -bugprone-exception-escape,
+  -bugprone-reserved-identifier,
+  -bugprone-unused-raii,
 
 CheckOptions:
 - key:             performance-for-range-copy.WarnOnAllAutoCopies
   value:           true
+- key:             performance-inefficient-string-concatenation.StrictMode
+  value:           true
 - key:             performance-unnecessary-value-param.AllowedTypes
   value:           'exception_ptr$;'
 - key:             readability-implicit-bool-conversion.AllowPointerConditions
   value:           true
 
 HeaderFilterRegex: 'pybind11/.*h'
-
-WarningsAsErrors: '*'
diff --git a/pybind11/.gitattributes b/pybind11/.gitattributes
new file mode 100644
index 0000000000..d611e1496d
--- /dev/null
+++ b/pybind11/.gitattributes
@@ -0,0 +1 @@
+docs/*.svg binary
diff --git a/pybind11/.github/CONTRIBUTING.md b/pybind11/.github/CONTRIBUTING.md
index e8294c83c3..00b1fea4cf 100644
--- a/pybind11/.github/CONTRIBUTING.md
+++ b/pybind11/.github/CONTRIBUTING.md
@@ -93,11 +93,10 @@ cmake --build build -j4
 
 Tips:
 
-* You can use `virtualenv` (from PyPI) instead of `venv` (which is Python 3
-  only).
+* You can use `virtualenv` (faster, from PyPI) instead of `venv`.
 * You can select any name for your environment folder; if it contains "env" it
   will be ignored by git.
-* If you don’t have CMake 3.14+, just add “cmake” to the pip install command.
+* If you don't have CMake 3.14+, just add "cmake" to the pip install command.
 * You can use `-DPYBIND11_FINDPYTHON=ON` to use FindPython on CMake 3.12+
 * In classic mode, you may need to set `-DPYTHON_EXECUTABLE=/path/to/python`.
   FindPython uses `-DPython_ROOT_DIR=/path/to` or
@@ -105,7 +104,7 @@ Tips:
 
 ### Configuration options
 
-In CMake, configuration options are given with “-D”. Options are stored in the
+In CMake, configuration options are given with "-D". Options are stored in the
 build directory, in the `CMakeCache.txt` file, so they are remembered for each
 build directory. Two selections are special - the generator, given with `-G`,
 and the compiler, which is selected based on environment variables `CXX` and
@@ -115,7 +114,7 @@ after the initial run.
 The valid options are:
 
 * `-DCMAKE_BUILD_TYPE`: Release, Debug, MinSizeRel, RelWithDebInfo
-* `-DPYBIND11_FINDPYTHON=ON`: Use CMake 3.12+’s FindPython instead of the
+* `-DPYBIND11_FINDPYTHON=ON`: Use CMake 3.12+'s FindPython instead of the
   classic, deprecated, custom FindPythonLibs
 * `-DPYBIND11_NOPYTHON=ON`: Disable all Python searching (disables tests)
 * `-DBUILD_TESTING=ON`: Enable the tests
@@ -236,12 +235,14 @@ directory inside your pybind11 git clone. Files will be modified in place,
 so you can use git to monitor the changes.
 
 ```bash
-docker run --rm -v $PWD:/mounted_pybind11 -it silkeh/clang:12
+docker run --rm -v $PWD:/mounted_pybind11 -it silkeh/clang:13
 apt-get update && apt-get install -y python3-dev python3-pytest
-cmake -S /mounted_pybind11/ -B build -DCMAKE_CXX_CLANG_TIDY="$(which clang-tidy);-fix" -DDOWNLOAD_EIGEN=ON -DDOWNLOAD_CATCH=ON -DCMAKE_CXX_STANDARD=17
-cmake --build build -j 2 -- --keep-going
+cmake -S /mounted_pybind11/ -B build -DCMAKE_CXX_CLANG_TIDY="$(which clang-tidy);--use-color" -DDOWNLOAD_EIGEN=ON -DDOWNLOAD_CATCH=ON -DCMAKE_CXX_STANDARD=17
+cmake --build build -j 2
 ```
 
+You can add `--fix` to the options list if you want.
+
 ### Include what you use
 
 To run include what you use, install (`brew install include-what-you-use` on
@@ -257,7 +258,7 @@ The report is sent to stderr; you can pipe it into a file if you wish.
 ### Build recipes
 
 This builds with the Intel compiler (assuming it is in your path, along with a
-recent CMake and Python 3):
+recent CMake and Python):
 
 ```bash
 python3 -m venv venv
diff --git a/pybind11/.github/dependabot.yml b/pybind11/.github/dependabot.yml
index 73273365c0..2c7d170839 100644
--- a/pybind11/.github/dependabot.yml
+++ b/pybind11/.github/dependabot.yml
@@ -5,12 +5,3 @@ updates:
     directory: "/"
     schedule:
       interval: "daily"
-    ignore:
-      # Official actions have moving tags like v1
-      # that are used, so they don't need updates here
-      - dependency-name: "actions/checkout"
-      - dependency-name: "actions/setup-python"
-      - dependency-name: "actions/cache"
-      - dependency-name: "actions/upload-artifact"
-      - dependency-name: "actions/download-artifact"
-      - dependency-name: "actions/labeler"
diff --git a/pybind11/.github/matchers/pylint.json b/pybind11/.github/matchers/pylint.json
new file mode 100644
index 0000000000..e3a6bd16b0
--- /dev/null
+++ b/pybind11/.github/matchers/pylint.json
@@ -0,0 +1,32 @@
+{
+  "problemMatcher": [
+    {
+      "severity": "warning",
+      "pattern": [
+        {
+          "regexp": "^([^:]+):(\\d+):(\\d+): ([A-DF-Z]\\d+): \\033\\[[\\d;]+m([^\\033]+).*$",
+          "file": 1,
+          "line": 2,
+          "column": 3,
+          "code": 4,
+          "message": 5
+        }
+      ],
+      "owner": "pylint-warning"
+    },
+    {
+      "severity": "error",
+      "pattern": [
+        {
+          "regexp": "^([^:]+):(\\d+):(\\d+): (E\\d+): \\033\\[[\\d;]+m([^\\033]+).*$",
+          "file": 1,
+          "line": 2,
+          "column": 3,
+          "code": 4,
+          "message": 5
+        }
+      ],
+      "owner": "pylint-error"
+    }
+  ]
+}
diff --git a/pybind11/.github/workflows/ci.yml b/pybind11/.github/workflows/ci.yml
index 050c525cee..412282a4f2 100644
--- a/pybind11/.github/workflows/ci.yml
+++ b/pybind11/.github/workflows/ci.yml
@@ -15,6 +15,8 @@ concurrency:
 
 env:
   PIP_ONLY_BINARY: numpy
+  FORCE_COLOR: 3
+  PYTEST_TIMEOUT: 300
 
 jobs:
   # This is the "main" test suite, which tests a large number of different
@@ -25,13 +27,13 @@ jobs:
       matrix:
         runs-on: [ubuntu-latest, windows-2022, macos-latest]
         python:
-        - '2.7'
-        - '3.5'
         - '3.6'
         - '3.9'
         - '3.10'
-        - 'pypy-3.7-v7.3.7'
-        - 'pypy-3.8-v7.3.7'
+        - '3.11-dev'
+        - 'pypy-3.7'
+        - 'pypy-3.8'
+        - 'pypy-3.9'
 
         # Items in here will either be added to the build matrix (if not
         # present), or add new keys to an existing matrix element if all the
@@ -45,26 +47,26 @@ jobs:
             args: >
               -DPYBIND11_FINDPYTHON=ON
               -DCMAKE_CXX_FLAGS="-D_=1"
-          - runs-on: windows-latest
+          - runs-on: ubuntu-latest
+            python: 'pypy-3.8'
+            args: >
+              -DPYBIND11_FINDPYTHON=ON
+          - runs-on: windows-2019
             python: '3.6'
             args: >
               -DPYBIND11_FINDPYTHON=ON
-          - runs-on: macos-latest
-            python: 'pypy-2.7'
           # Inject a couple Windows 2019 runs
           - runs-on: windows-2019
             python: '3.9'
-          - runs-on: windows-2019
-            python: '2.7'
 
     name: "🐍 ${{ matrix.python }} • ${{ matrix.runs-on }} • x64 ${{ matrix.args }}"
     runs-on: ${{ matrix.runs-on }}
 
     steps:
-    - uses: actions/checkout@v2
+    - uses: actions/checkout@v3
 
     - name: Setup Python ${{ matrix.python }}
-      uses: actions/setup-python@v2
+      uses: actions/setup-python@v4
       with:
         python-version: ${{ matrix.python }}
 
@@ -82,7 +84,7 @@ jobs:
 
     - name: Cache wheels
       if: runner.os == 'macOS'
-      uses: actions/cache@v2
+      uses: actions/cache@v3
       with:
         # This path is specific to macOS - we really only need it for PyPy NumPy wheels
         # See https://github.com/actions/cache/blob/master/examples.md#python---pip
@@ -168,27 +170,11 @@ jobs:
     - name: Interface test
       run: cmake --build build2 --target test_cmake_build
 
-    # Eventually Microsoft might have an action for setting up
-    # MSVC, but for now, this action works:
-    - name: Prepare compiler environment for Windows 🐍 2.7
-      if: matrix.python == 2.7 && runner.os == 'Windows'
-      uses: ilammy/msvc-dev-cmd@v1.10.0
-      with:
-        arch: x64
-
-    # This makes two environment variables available in the following step(s)
-    - name: Set Windows 🐍 2.7 environment variables
-      if: matrix.python == 2.7 && runner.os == 'Windows'
-      shell: bash
-      run: |
-        echo "DISTUTILS_USE_SDK=1" >> $GITHUB_ENV
-        echo "MSSdk=1" >> $GITHUB_ENV
-
     # This makes sure the setup_helpers module can build packages using
     # setuptools
     - name: Setuptools helpers test
       run: pytest tests/extra_setuptools
-      if: "!(matrix.python == '3.5' && matrix.runs-on == 'windows-2022')"
+      if: "!(matrix.runs-on == 'windows-2022')"
 
 
   deadsnakes:
@@ -200,14 +186,14 @@ jobs:
         - python-version: "3.9"
           python-debug: true
           valgrind: true
-      # - python-version: "3.11-dev"
-      #   python-debug: false
+        - python-version: "3.11-dev"
+          python-debug: false
 
     name: "🐍 ${{ matrix.python-version }}${{ matrix.python-debug && '-dbg' || '' }} (deadsnakes)${{ matrix.valgrind && ' • Valgrind' || '' }} • x64"
     runs-on: ubuntu-latest
 
     steps:
-    - uses: actions/checkout@v2
+    - uses: actions/checkout@v3
 
     - name: Setup Python ${{ matrix.python-version }} (deadsnakes)
       uses: deadsnakes/action@v2.1.1
@@ -220,7 +206,7 @@ jobs:
 
     - name: Valgrind cache
       if: matrix.valgrind
-      uses: actions/cache@v2
+      uses: actions/cache@v3
       id: cache-valgrind
       with:
         path: valgrind
@@ -295,12 +281,14 @@ jobs:
             std: 20
           - clang: 10
             std: 17
+          - clang: 14
+            std: 20
 
     name: "🐍 3 • Clang ${{ matrix.clang }} • C++${{ matrix.std }} • x64"
     container: "silkeh/clang:${{ matrix.clang }}"
 
     steps:
-    - uses: actions/checkout@v2
+    - uses: actions/checkout@v3
 
     - name: Add wget and python3
       run: apt-get update && apt-get install -y python3-dev python3-numpy python3-pytest libeigen3-dev
@@ -330,11 +318,11 @@ jobs:
   # Testing NVCC; forces sources to behave like .cu files
   cuda:
     runs-on: ubuntu-latest
-    name: "🐍 3.8 • CUDA 11 • Ubuntu 20.04"
-    container: nvidia/cuda:11.0-devel-ubuntu20.04
+    name: "🐍 3.8 • CUDA 11.2 • Ubuntu 20.04"
+    container: nvidia/cuda:11.2.2-devel-ubuntu20.04
 
     steps:
-    - uses: actions/checkout@v2
+    - uses: actions/checkout@v3
 
     # tzdata will try to ask for the timezone, so set the DEBIAN_FRONTEND
     - name: Install 🐍 3
@@ -358,7 +346,7 @@ jobs:
 #    container: centos:8
 #
 #    steps:
-#    - uses: actions/checkout@v2
+#    - uses: actions/checkout@v3
 #
 #    - name: Add Python 3 and a few requirements
 #      run: yum update -y && yum install -y git python3-devel python3-numpy python3-pytest make environment-modules
@@ -397,17 +385,17 @@ jobs:
   # Testing on CentOS 7 + PGI compilers, which seems to require more workarounds
   centos-nvhpc7:
     runs-on: ubuntu-latest
-    name: "🐍 3 • CentOS7 / PGI 20.9 • x64"
+    name: "🐍 3 • CentOS7 / PGI 22.3 • x64"
     container: centos:7
 
     steps:
-    - uses: actions/checkout@v2
+    - uses: actions/checkout@v3
 
     - name: Add Python 3 and a few requirements
-      run: yum update -y && yum install -y epel-release && yum install -y git python3-devel make environment-modules cmake3
+      run: yum update -y && yum install -y epel-release && yum install -y git python3-devel make environment-modules cmake3 yum-utils
 
     - name: Install NVidia HPC SDK
-      run:  yum -y install https://developer.download.nvidia.com/hpc-sdk/20.9/nvhpc-20-9-20.9-1.x86_64.rpm https://developer.download.nvidia.com/hpc-sdk/20.9/nvhpc-2020-20.9-1.x86_64.rpm
+      run: yum-config-manager --add-repo https://developer.download.nvidia.com/hpc-sdk/rhel/nvhpc.repo && yum -y install nvhpc-22.3
 
     # On CentOS 7, we have to filter a few tests (compiler internal error)
     # and allow deeper template recursion (not needed on CentOS 8 with a newer
@@ -417,7 +405,7 @@ jobs:
       shell: bash
       run: |
         source /etc/profile.d/modules.sh
-        module load /opt/nvidia/hpc_sdk/modulefiles/nvhpc/20.9
+        module load /opt/nvidia/hpc_sdk/modulefiles/nvhpc/22.3
         cmake3 -S . -B build -DDOWNLOAD_CATCH=ON \
                             -DCMAKE_CXX_STANDARD=11 \
                             -DPYTHON_EXECUTABLE=$(python3 -c "import sys; print(sys.executable)") \
@@ -462,7 +450,7 @@ jobs:
     container: "gcc:${{ matrix.gcc }}"
 
     steps:
-    - uses: actions/checkout@v1
+    - uses: actions/checkout@v3
 
     - name: Add Python 3
       run: apt-get update; apt-get install -y python3-dev python3-numpy python3-pytest python3-pip libeigen3-dev
@@ -504,7 +492,7 @@ jobs:
     name: "🐍 3 • ICC latest • x64"
 
     steps:
-    - uses: actions/checkout@v2
+    - uses: actions/checkout@v3
 
     - name: Add apt repo
       run: |
@@ -599,19 +587,25 @@ jobs:
     strategy:
       fail-fast: false
       matrix:
-        centos:
-          - centos7  # GCC 4.8
-          - stream8
+        container:
+          - "centos:7"  # GCC 4.8
+          - "almalinux:8"
+          - "almalinux:9"
 
-    name: "🐍 3 • CentOS ${{ matrix.centos }} • x64"
-    container: "quay.io/centos/centos:${{ matrix.centos }}"
+    name: "🐍 3 • ${{ matrix.container }} • x64"
+    container: "${{ matrix.container }}"
 
     steps:
-    - uses: actions/checkout@v2
+    - uses: actions/checkout@v3
 
-    - name: Add Python 3
+    - name: Add Python 3 (RHEL 7)
+      if: matrix.container == 'centos:7'
       run: yum update -y && yum install -y python3-devel gcc-c++ make git
 
+    - name: Add Python 3 (RHEL 8+)
+      if: matrix.container != 'centos:7'
+      run: dnf update -y && dnf install -y python3-devel gcc-c++ make git
+
     - name: Update pip
       run: python3 -m pip install --upgrade pip
 
@@ -645,18 +639,18 @@ jobs:
 
   # This tests an "install" with the CMake tools
   install-classic:
-    name: "🐍 3.5 • Debian • x86 •  Install"
+    name: "🐍 3.7 • Debian • x86 •  Install"
     runs-on: ubuntu-latest
-    container: i386/debian:stretch
+    container: i386/debian:buster
 
     steps:
-    - uses: actions/checkout@v1
+    - uses: actions/checkout@v1  # Required to run inside docker
 
     - name: Install requirements
       run: |
         apt-get update
         apt-get install -y git make cmake g++ libeigen3-dev python3-dev python3-pip
-        pip3 install "pytest==3.1.*"
+        pip3 install "pytest==6.*"
 
     - name: Configure for install
       run: >
@@ -687,15 +681,17 @@ jobs:
 
 
   # This verifies that the documentation is not horribly broken, and does a
-  # basic sanity check on the SDist.
+  # basic validation check on the SDist.
   doxygen:
     name: "Documentation build test"
     runs-on: ubuntu-latest
 
     steps:
-    - uses: actions/checkout@v2
+    - uses: actions/checkout@v3
 
-    - uses: actions/setup-python@v2
+    - uses: actions/setup-python@v4
+      with:
+        python-version: "3.x"
 
     - name: Install Doxygen
       run: sudo apt-get install -y doxygen librsvg2-bin # Changed to rsvg-convert in 20.04
@@ -725,27 +721,25 @@ jobs:
       fail-fast: false
       matrix:
         python:
-        - 3.5
         - 3.6
         - 3.7
         - 3.8
         - 3.9
-        - pypy-3.6
 
         include:
           - python: 3.9
-            args: -DCMAKE_CXX_STANDARD=20 -DDOWNLOAD_EIGEN=OFF
+            args: -DCMAKE_CXX_STANDARD=20
           - python: 3.8
             args: -DCMAKE_CXX_STANDARD=17
 
     name: "🐍 ${{ matrix.python }} • MSVC 2019 • x86 ${{ matrix.args }}"
-    runs-on: windows-latest
+    runs-on: windows-2019
 
     steps:
-    - uses: actions/checkout@v2
+    - uses: actions/checkout@v3
 
     - name: Setup Python ${{ matrix.python }}
-      uses: actions/setup-python@v2
+      uses: actions/setup-python@v4
       with:
         python-version: ${{ matrix.python }}
         architecture: x86
@@ -777,25 +771,31 @@ jobs:
     - name: Python tests
       run: cmake --build build -t pytest
 
-  win32-msvc2015:
-    name: "🐍 ${{ matrix.python }} • MSVC 2015 • x64"
-    runs-on: windows-latest
+  win32-debug:
     strategy:
       fail-fast: false
       matrix:
         python:
-          - 2.7
-          - 3.6
-          - 3.7
-          # todo: check/cpptest does not support 3.8+ yet
+        - 3.8
+        - 3.9
+
+        include:
+          - python: 3.9
+            args: -DCMAKE_CXX_STANDARD=20
+          - python: 3.8
+            args: -DCMAKE_CXX_STANDARD=17
+
+    name: "🐍 ${{ matrix.python }} • MSVC 2019 (Debug) • x86 ${{ matrix.args }}"
+    runs-on: windows-2019
 
     steps:
-    - uses: actions/checkout@v2
+    - uses: actions/checkout@v3
 
-    - name: Setup 🐍 ${{ matrix.python }}
-      uses: actions/setup-python@v2
+    - name: Setup Python ${{ matrix.python }}
+      uses: actions/setup-python@v4
       with:
         python-version: ${{ matrix.python }}
+        architecture: x86
 
     - name: Update CMake
       uses: jwlawson/actions-setup-cmake@v1.12
@@ -803,82 +803,73 @@ jobs:
     - name: Prepare MSVC
       uses: ilammy/msvc-dev-cmd@v1.10.0
       with:
-        toolset: 14.0
+        arch: x86
 
     - name: Prepare env
       run: |
         python -m pip install -r tests/requirements.txt
 
     # First build - C++11 mode and inplace
-    - name: Configure
+    - name: Configure ${{ matrix.args }}
       run: >
         cmake -S . -B build
-        -G "Visual Studio 14 2015" -A x64
+        -G "Visual Studio 16 2019" -A Win32
+        -DCMAKE_BUILD_TYPE=Debug
         -DPYBIND11_WERROR=ON
         -DDOWNLOAD_CATCH=ON
         -DDOWNLOAD_EIGEN=ON
+        ${{ matrix.args }}
+    - name: Build C++11
+      run: cmake --build build --config Debug -j 2
 
-    - name: Build C++14
-      run: cmake --build build -j 2
-
-    - name: Run all checks
-      run: cmake --build build -t check
+    - name: Python tests
+      run: cmake --build build --config Debug -t pytest
 
 
-  win32-msvc2017:
-    name: "🐍 ${{ matrix.python }} • MSVC 2017 • x64"
-    runs-on: windows-2016
+  windows-2022:
     strategy:
       fail-fast: false
       matrix:
         python:
-          - 2.7
-          - 3.5
-          - 3.7
-        std:
-          - 14
+        - 3.9
 
-        include:
-          - python: 2.7
-            std: 17
-            args: >
-              -DCMAKE_CXX_FLAGS="/permissive- /EHsc /GR"
-          - python: 3.7
-            std: 17
-            args: >
-              -DCMAKE_CXX_FLAGS="/permissive- /EHsc /GR"
+    name: "🐍 ${{ matrix.python }} • MSVC 2022 C++20 • x64"
+    runs-on: windows-2022
 
     steps:
-    - uses: actions/checkout@v2
+    - uses: actions/checkout@v3
 
-    - name: Setup 🐍 ${{ matrix.python }}
-      uses: actions/setup-python@v2
+    - name: Setup Python ${{ matrix.python }}
+      uses: actions/setup-python@v4
       with:
         python-version: ${{ matrix.python }}
 
-    - name: Update CMake
-      uses: jwlawson/actions-setup-cmake@v1.12
-
     - name: Prepare env
       run: |
-        python -m pip install -r tests/requirements.txt
+        python3 -m pip install -r tests/requirements.txt
 
-    # First build - C++11 mode and inplace
-    - name: Configure
+    - name: Update CMake
+      uses: jwlawson/actions-setup-cmake@v1.12
+
+    - name: Configure C++20
       run: >
         cmake -S . -B build
-        -G "Visual Studio 15 2017" -A x64
         -DPYBIND11_WERROR=ON
         -DDOWNLOAD_CATCH=ON
         -DDOWNLOAD_EIGEN=ON
-        -DCMAKE_CXX_STANDARD=${{ matrix.std }}
-        ${{ matrix.args }}
+        -DCMAKE_CXX_STANDARD=20
 
-    - name: Build ${{ matrix.std }}
+    - name: Build C++20
       run: cmake --build build -j 2
 
-    - name: Run all checks
-      run: cmake --build build -t check
+    - name: Python tests
+      run: cmake --build build --target pytest
+
+    - name: C++20 tests
+      run: cmake --build build --target cpptest -j 2
+
+    - name: Interface test C++20
+      run: cmake --build build --target test_cmake_build
 
   mingw:
     name: "🐍 3 • windows-latest • ${{ matrix.sys }}"
@@ -909,12 +900,12 @@ jobs:
           mingw-w64-${{matrix.env}}-boost
           mingw-w64-${{matrix.env}}-catch
 
-    - uses: actions/checkout@v2
+    - uses: actions/checkout@v3
 
     - name: Configure C++11
       # LTO leads to many undefined reference like
       # `pybind11::detail::function_call::function_call(pybind11::detail::function_call&&)
-      run: cmake -G "MinGW Makefiles" -DCMAKE_CXX_STANDARD=11 -S . -B build
+      run: cmake -G "MinGW Makefiles" -DCMAKE_CXX_STANDARD=11 -DDOWNLOAD_CATCH=ON -S . -B build
 
     - name: Build C++11
       run: cmake --build build -j 2
@@ -932,7 +923,7 @@ jobs:
       run: git clean -fdx
 
     - name: Configure C++14
-      run: cmake -G "MinGW Makefiles" -DCMAKE_CXX_STANDARD=14 -S . -B build2
+      run: cmake -G "MinGW Makefiles" -DCMAKE_CXX_STANDARD=14 -DDOWNLOAD_CATCH=ON -S . -B build2
 
     - name: Build C++14
       run: cmake --build build2 -j 2
@@ -950,7 +941,7 @@ jobs:
       run: git clean -fdx
 
     - name: Configure C++17
-      run: cmake -G "MinGW Makefiles" -DCMAKE_CXX_STANDARD=17 -S . -B build3
+      run: cmake -G "MinGW Makefiles" -DCMAKE_CXX_STANDARD=17 -DDOWNLOAD_CATCH=ON -S . -B build3
 
     - name: Build C++17
       run: cmake --build build3 -j 2
diff --git a/pybind11/.github/workflows/configure.yml b/pybind11/.github/workflows/configure.yml
index 66ab0e3d78..edcad4198b 100644
--- a/pybind11/.github/workflows/configure.yml
+++ b/pybind11/.github/workflows/configure.yml
@@ -18,7 +18,7 @@ jobs:
       matrix:
         runs-on: [ubuntu-latest, macos-latest, windows-latest]
         arch: [x64]
-        cmake: ["3.21"]
+        cmake: ["3.23"]
 
         include:
         - runs-on: ubuntu-latest
@@ -29,22 +29,18 @@ jobs:
           arch: x64
           cmake: 3.7
 
-        - runs-on: windows-2016
-          arch: x86
-          cmake: 3.8
-
-        - runs-on: windows-2016
-          arch: x86
+        - runs-on: windows-2019
+          arch: x64 # x86 compilers seem to be missing on 2019 image
           cmake: 3.18
 
     name: 🐍 3.7 • CMake ${{ matrix.cmake }} • ${{ matrix.runs-on }}
     runs-on: ${{ matrix.runs-on }}
 
     steps:
-    - uses: actions/checkout@v2
+    - uses: actions/checkout@v3
 
     - name: Setup Python 3.7
-      uses: actions/setup-python@v2
+      uses: actions/setup-python@v4
       with:
         python-version: 3.7
         architecture: ${{ matrix.arch }}
diff --git a/pybind11/.github/workflows/format.yml b/pybind11/.github/workflows/format.yml
index ab7b40503a..31d893c479 100644
--- a/pybind11/.github/workflows/format.yml
+++ b/pybind11/.github/workflows/format.yml
@@ -12,14 +12,21 @@ on:
     - stable
     - "v*"
 
+env:
+  FORCE_COLOR: 3
+
 jobs:
   pre-commit:
     name: Format
     runs-on: ubuntu-latest
     steps:
-    - uses: actions/checkout@v2
-    - uses: actions/setup-python@v2
-    - uses: pre-commit/action@v2.0.3
+    - uses: actions/checkout@v3
+    - uses: actions/setup-python@v4
+      with:
+        python-version: "3.x"
+    - name: Add matchers
+      run: echo "::add-matcher::$GITHUB_WORKSPACE/.github/matchers/pylint.json"
+    - uses: pre-commit/action@v3.0.0
       with:
         # Slow hooks are marked with manual - slow is okay here, run them too
         extra_args: --hook-stage manual --all-files
@@ -29,9 +36,9 @@ jobs:
     # in .github/CONTRIBUTING.md and update as needed.
     name: Clang-Tidy
     runs-on: ubuntu-latest
-    container: silkeh/clang:12
+    container: silkeh/clang:13
     steps:
-    - uses: actions/checkout@v2
+    - uses: actions/checkout@v3
 
     - name: Install requirements
       run: apt-get update && apt-get install -y python3-dev python3-pytest
@@ -39,7 +46,7 @@ jobs:
     - name: Configure
       run: >
         cmake -S . -B build
-        -DCMAKE_CXX_CLANG_TIDY="$(which clang-tidy)"
+        -DCMAKE_CXX_CLANG_TIDY="$(which clang-tidy);--use-color;--warnings-as-errors=*"
         -DDOWNLOAD_EIGEN=ON
         -DDOWNLOAD_CATCH=ON
         -DCMAKE_CXX_STANDARD=17
diff --git a/pybind11/.github/workflows/pip.yml b/pybind11/.github/workflows/pip.yml
index f74b79f0ce..2c16735e1e 100644
--- a/pybind11/.github/workflows/pip.yml
+++ b/pybind11/.github/workflows/pip.yml
@@ -17,19 +17,19 @@ env:
 
 jobs:
   # This builds the sdists and wheels and makes sure the files are exactly as
-  # expected. Using Windows and Python 2.7, since that is often the most
+  # expected. Using Windows and Python 3.6, since that is often the most
   # challenging matrix element.
   test-packaging:
-    name: 🐍 2.7 • 📦 tests • windows-latest
+    name: 🐍 3.6 • 📦 tests • windows-latest
     runs-on: windows-latest
 
     steps:
-    - uses: actions/checkout@v2
+    - uses: actions/checkout@v3
 
-    - name: Setup 🐍 2.7
-      uses: actions/setup-python@v2
+    - name: Setup 🐍 3.6
+      uses: actions/setup-python@v4
       with:
-        python-version: 2.7
+        python-version: 3.6
 
     - name: Prepare env
       run: |
@@ -46,10 +46,10 @@ jobs:
     runs-on: ubuntu-latest
 
     steps:
-    - uses: actions/checkout@v2
+    - uses: actions/checkout@v3
 
     - name: Setup 🐍 3.8
-      uses: actions/setup-python@v2
+      uses: actions/setup-python@v4
       with:
         python-version: 3.8
 
@@ -69,13 +69,13 @@ jobs:
       run: twine check dist/*
 
     - name: Save standard package
-      uses: actions/upload-artifact@v2
+      uses: actions/upload-artifact@v3
       with:
         name: standard
         path: dist/pybind11-*
 
     - name: Save global package
-      uses: actions/upload-artifact@v2
+      uses: actions/upload-artifact@v3
       with:
         name: global
         path: dist/pybind11_global-*
@@ -90,10 +90,12 @@ jobs:
     needs: [packaging]
 
     steps:
-    - uses: actions/setup-python@v2
+    - uses: actions/setup-python@v4
+      with:
+        python-version: "3.x"
 
     # Downloads all to directories matching the artifact names
-    - uses: actions/download-artifact@v2
+    - uses: actions/download-artifact@v3
 
     - name: Publish standard package
       uses: pypa/gh-action-pypi-publish@v1.5.0
diff --git a/pybind11/.github/workflows/upstream.yml b/pybind11/.github/workflows/upstream.yml
index 138c9ad292..a40a6c7d78 100644
--- a/pybind11/.github/workflows/upstream.yml
+++ b/pybind11/.github/workflows/upstream.yml
@@ -14,15 +14,15 @@ env:
 
 jobs:
   standard:
-    name: "🐍 3.11 dev • ubuntu-latest • x64"
+    name: "🐍 3.11 latest internals • ubuntu-latest • x64"
     runs-on: ubuntu-latest
     if: "contains(github.event.pull_request.labels.*.name, 'python dev')"
 
     steps:
-    - uses: actions/checkout@v2
+    - uses: actions/checkout@v3
 
     - name: Setup Python 3.11
-      uses: actions/setup-python@v2
+      uses: actions/setup-python@v4
       with:
         python-version: "3.11-dev"
 
diff --git a/pybind11/.pre-commit-config.yaml b/pybind11/.pre-commit-config.yaml
index 2014cb2b42..ba9955a316 100644
--- a/pybind11/.pre-commit-config.yaml
+++ b/pybind11/.pre-commit-config.yaml
@@ -15,7 +15,7 @@
 repos:
 # Standard hooks
 - repo: https://github.com/pre-commit/pre-commit-hooks
-  rev: v4.1.0
+  rev: "v4.3.0"
   hooks:
   - id: check-added-large-files
   - id: check-case-conflict
@@ -29,73 +29,92 @@ repos:
   - id: mixed-line-ending
   - id: requirements-txt-fixer
   - id: trailing-whitespace
-  - id: fix-encoding-pragma
-    exclude: ^noxfile.py$
 
+# Upgrade old Python syntax
 - repo: https://github.com/asottile/pyupgrade
-  rev: v2.31.0
+  rev: "v2.37.1"
   hooks:
   - id: pyupgrade
+    args: [--py36-plus]
 
+# Nicely sort includes
 - repo: https://github.com/PyCQA/isort
-  rev: 5.10.1
+  rev: "5.10.1"
   hooks:
   - id: isort
 
 # Black, the code formatter, natively supports pre-commit
 - repo: https://github.com/psf/black
-  rev: 21.12b0 # Keep in sync with blacken-docs
+  rev: "22.6.0" # Keep in sync with blacken-docs
   hooks:
   - id: black
 
+# Also code format the docs
 - repo: https://github.com/asottile/blacken-docs
-  rev: v1.12.0
+  rev: "v1.12.1"
   hooks:
   - id: blacken-docs
     additional_dependencies:
-    - black==21.12b0 # keep in sync with black hook
+    - black==22.6.0 # keep in sync with black hook
 
 # Changes tabs to spaces
 - repo: https://github.com/Lucas-C/pre-commit-hooks
-  rev: v1.1.10
+  rev: "v1.3.0"
   hooks:
   - id: remove-tabs
 
+- repo: https://github.com/sirosen/texthooks
+  rev: "0.3.1"
+  hooks:
+  - id: fix-ligatures
+  - id: fix-smartquotes
+
 # Autoremoves unused imports
 - repo: https://github.com/hadialqattan/pycln
-  rev: v1.1.0
+  rev: "v2.0.1"
   hooks:
   - id: pycln
+    stages: [manual]
 
+# Checking for common mistakes
 - repo: https://github.com/pre-commit/pygrep-hooks
-  rev: v1.9.0
+  rev: "v1.9.0"
   hooks:
   - id: python-check-blanket-noqa
   - id: python-check-blanket-type-ignore
   - id: python-no-log-warn
+  - id: python-use-type-annotations
   - id: rst-backticks
   - id: rst-directive-colons
   - id: rst-inline-touching-normal
 
-# Flake8 also supports pre-commit natively (same author)
-- repo: https://github.com/PyCQA/flake8
-  rev: 4.0.1
+# Automatically remove noqa that are not used
+- repo: https://github.com/asottile/yesqa
+  rev: "v1.3.0"
   hooks:
-  - id: flake8
+  - id: yesqa
     additional_dependencies: &flake8_dependencies
       - flake8-bugbear
       - pep8-naming
-    exclude: ^(docs/.*|tools/.*)$
 
-- repo: https://github.com/asottile/yesqa
-  rev: v1.3.0
+# Flake8 also supports pre-commit natively (same author)
+- repo: https://github.com/PyCQA/flake8
+  rev: "4.0.1"
   hooks:
-  - id: yesqa
+  - id: flake8
+    exclude: ^(docs/.*|tools/.*)$
     additional_dependencies: *flake8_dependencies
 
+# PyLint has native support - not always usable, but works for us
+- repo: https://github.com/PyCQA/pylint
+  rev: "v2.14.4"
+  hooks:
+  - id: pylint
+    files: ^pybind11
+
 # CMake formatting
 - repo: https://github.com/cheshirekow/cmake-format-precommit
-  rev: v0.6.13
+  rev: "v0.6.13"
   hooks:
   - id: cmake-format
     additional_dependencies: [pyyaml]
@@ -104,48 +123,48 @@ repos:
 
 # Check static types with mypy
 - repo: https://github.com/pre-commit/mirrors-mypy
-  rev: v0.931
+  rev: "v0.961"
   hooks:
   - id: mypy
-    # Running per-file misbehaves a bit, so just run on all files, it's fast
-    pass_filenames: false
-    additional_dependencies: [typed_ast]
+    args: []
+    exclude: ^(tests|docs)/
+    additional_dependencies: [nox, rich]
 
 # Checks the manifest for missing files (native support)
 - repo: https://github.com/mgedmin/check-manifest
-  rev: "0.47"
+  rev: "0.48"
   hooks:
   - id: check-manifest
     # This is a slow hook, so only run this if --hook-stage manual is passed
     stages: [manual]
     additional_dependencies: [cmake, ninja]
 
+# Check for spelling
 - repo: https://github.com/codespell-project/codespell
-  rev: v2.1.0
+  rev: "v2.1.0"
   hooks:
   - id: codespell
     exclude: ".supp$"
     args: ["-L", "nd,ot,thist"]
 
+# Check for common shell mistakes
 - repo: https://github.com/shellcheck-py/shellcheck-py
-  rev: v0.8.0.3
+  rev: "v0.8.0.4"
   hooks:
   - id: shellcheck
 
-# The original pybind11 checks for a few C++ style items
+# Disallow some common capitalization mistakes
 - repo: local
   hooks:
   - id: disallow-caps
     name: Disallow improper capitalization
     language: pygrep
     entry: PyBind|Numpy|Cmake|CCache|PyTest
-    exclude: .pre-commit-config.yaml
+    exclude: ^\.pre-commit-config.yaml$
 
-- repo: local
+# Clang format the codebase automatically
+- repo: https://github.com/pre-commit/mirrors-clang-format
+  rev: "v14.0.6"
   hooks:
-  - id: check-style
-    name: Classic check-style
-    language: system
-    types:
-    - c++
-    entry: ./tools/check-style.sh
+  - id: clang-format
+    types_or: [c++, c, cuda]
diff --git a/pybind11/MANIFEST.in b/pybind11/MANIFEST.in
index aed183e874..033303a74a 100644
--- a/pybind11/MANIFEST.in
+++ b/pybind11/MANIFEST.in
@@ -1,6 +1,5 @@
 recursive-include pybind11/include/pybind11 *.h
 recursive-include pybind11 *.py
 recursive-include pybind11 py.typed
-recursive-include pybind11 *.pyi
 include pybind11/share/cmake/pybind11/*.cmake
 include LICENSE README.rst pyproject.toml setup.py setup.cfg
diff --git a/pybind11/README.rst b/pybind11/README.rst
index 45c4af5a60..3c75edb575 100644
--- a/pybind11/README.rst
+++ b/pybind11/README.rst
@@ -32,9 +32,9 @@ this heavy machinery has become an excessively large and unnecessary
 dependency.
 
 Think of this library as a tiny self-contained version of Boost.Python
-with everything stripped away that isn’t relevant for binding
+with everything stripped away that isn't relevant for binding
 generation. Without comments, the core header files only require ~4K
-lines of code and depend on Python (2.7 or 3.5+, or PyPy) and the C++
+lines of code and depend on Python (3.6+, or PyPy) and the C++
 standard library. This compact implementation was possible thanks to
 some of the new C++11 language features (specifically: tuples, lambda
 functions and variadic templates). Since its creation, this library has
@@ -78,8 +78,8 @@ Goodies
 In addition to the core functionality, pybind11 provides some extra
 goodies:
 
-- Python 2.7, 3.5+, and PyPy/PyPy3 7.3 are supported with an
-  implementation-agnostic interface.
+- Python 3.6+, and PyPy3 7.3 are supported with an implementation-agnostic
+  interface (pybind11 2.9 was the last version to support Python 2 and 3.5).
 
 - It is possible to bind C++11 lambda functions with captured
   variables. The lambda capture data is stored inside the resulting
@@ -88,8 +88,8 @@ goodies:
 - pybind11 uses C++11 move constructors and move assignment operators
   whenever possible to efficiently transfer custom data types.
 
-- It’s easy to expose the internal storage of custom data types through
-  Pythons’ buffer protocols. This is handy e.g. for fast conversion
+- It's easy to expose the internal storage of custom data types through
+  Pythons' buffer protocols. This is handy e.g. for fast conversion
   between C++ matrix classes like Eigen and NumPy without expensive
   copy operations.
 
@@ -119,10 +119,10 @@ goodies:
 Supported compilers
 -------------------
 
-1. Clang/LLVM 3.3 or newer (for Apple Xcode’s clang, this is 5.0.0 or
+1. Clang/LLVM 3.3 or newer (for Apple Xcode's clang, this is 5.0.0 or
    newer)
 2. GCC 4.8 or newer
-3. Microsoft Visual Studio 2015 Update 3 or newer
+3. Microsoft Visual Studio 2017 or newer
 4. Intel classic C++ compiler 18 or newer (ICC 20.2 tested in CI)
 5. Cygwin/GCC (previously tested on 2.5.1)
 6. NVCC (CUDA 11.0 tested in CI)
diff --git a/pybind11/docs/Doxyfile b/pybind11/docs/Doxyfile
index 62c2675563..09138db364 100644
--- a/pybind11/docs/Doxyfile
+++ b/pybind11/docs/Doxyfile
@@ -18,5 +18,4 @@ ALIASES               += "endrst=\endverbatim"
 QUIET                  = YES
 WARNINGS               = YES
 WARN_IF_UNDOCUMENTED   = NO
-PREDEFINED             = PY_MAJOR_VERSION=3 \
-                         PYBIND11_NOINLINE
+PREDEFINED             = PYBIND11_NOINLINE
diff --git a/pybind11/docs/_static/css/custom.css b/pybind11/docs/_static/css/custom.css
new file mode 100644
index 0000000000..7a49a6ac4f
--- /dev/null
+++ b/pybind11/docs/_static/css/custom.css
@@ -0,0 +1,3 @@
+.highlight .go {
+  color: #707070;
+}
diff --git a/pybind11/docs/_static/theme_overrides.css b/pybind11/docs/_static/theme_overrides.css
deleted file mode 100644
index 1071809fa0..0000000000
--- a/pybind11/docs/_static/theme_overrides.css
+++ /dev/null
@@ -1,11 +0,0 @@
-.wy-table-responsive table td,
-.wy-table-responsive table th {
-    white-space: initial !important;
-}
-.rst-content table.docutils td {
-    vertical-align: top !important;
-}
-div[class^='highlight'] pre {
-    white-space: pre;
-    white-space: pre-wrap;
-}
diff --git a/pybind11/docs/advanced/cast/overview.rst b/pybind11/docs/advanced/cast/overview.rst
index 6a834a3e51..011bd4c7a3 100644
--- a/pybind11/docs/advanced/cast/overview.rst
+++ b/pybind11/docs/advanced/cast/overview.rst
@@ -167,5 +167,4 @@ as arguments and return values, refer to the section on binding :ref:`classes`.
 +------------------------------------+---------------------------+-----------------------------------+
 
 .. [#] ``std::filesystem::path`` is converted to ``pathlib.Path`` and
-   ``os.PathLike`` is converted to ``std::filesystem::path``, but this requires
-   Python 3.6 (for ``__fspath__`` support).
+   ``os.PathLike`` is converted to ``std::filesystem::path``.
diff --git a/pybind11/docs/advanced/cast/stl.rst b/pybind11/docs/advanced/cast/stl.rst
index b8622ee095..109763f7aa 100644
--- a/pybind11/docs/advanced/cast/stl.rst
+++ b/pybind11/docs/advanced/cast/stl.rst
@@ -87,8 +87,6 @@ included to tell pybind11 how to visit the variant.
 
     pybind11 only supports the modern implementation of ``boost::variant``
     which makes use of variadic templates. This requires Boost 1.56 or newer.
-    Additionally, on Windows, MSVC 2017 is required because ``boost::variant``
-    falls back to the old non-variadic implementation on MSVC 2015.
 
 .. _opaque:
 
diff --git a/pybind11/docs/advanced/cast/strings.rst b/pybind11/docs/advanced/cast/strings.rst
index cfd7e7b7a5..e246c5219a 100644
--- a/pybind11/docs/advanced/cast/strings.rst
+++ b/pybind11/docs/advanced/cast/strings.rst
@@ -1,14 +1,6 @@
 Strings, bytes and Unicode conversions
 ######################################
 
-.. note::
-
-    This section discusses string handling in terms of Python 3 strings. For
-    Python 2.7, replace all occurrences of ``str`` with ``unicode`` and
-    ``bytes`` with ``str``.  Python 2.7 users may find it best to use ``from
-    __future__ import unicode_literals`` to avoid unintentionally using ``str``
-    instead of ``unicode``.
-
 Passing Python strings to C++
 =============================
 
@@ -58,9 +50,9 @@ Passing bytes to C++
 --------------------
 
 A Python ``bytes`` object will be passed to C++ functions that accept
-``std::string`` or ``char*`` *without* conversion.  On Python 3, in order to
-make a function *only* accept ``bytes`` (and not ``str``), declare it as taking
-a ``py::bytes`` argument.
+``std::string`` or ``char*`` *without* conversion.  In order to make a function
+*only* accept ``bytes`` (and not ``str``), declare it as taking a ``py::bytes``
+argument.
 
 
 Returning C++ strings to Python
@@ -204,11 +196,6 @@ decoded to Python ``str``.
         }
     );
 
-.. warning::
-
-    Wide character strings may not work as described on Python 2.7 or Python
-    3.3 compiled with ``--enable-unicode=ucs2``.
-
 Strings in multibyte encodings such as Shift-JIS must transcoded to a
 UTF-8/16/32 before being returned to Python.
 
diff --git a/pybind11/docs/advanced/classes.rst b/pybind11/docs/advanced/classes.rst
index f3339336dc..49ddf5c0b1 100644
--- a/pybind11/docs/advanced/classes.rst
+++ b/pybind11/docs/advanced/classes.rst
@@ -133,14 +133,14 @@ a virtual method call.
     >>> from example import *
     >>> d = Dog()
     >>> call_go(d)
-    u'woof! woof! woof! '
+    'woof! woof! woof! '
     >>> class Cat(Animal):
     ...     def go(self, n_times):
     ...         return "meow! " * n_times
     ...
     >>> c = Cat()
     >>> call_go(c)
-    u'meow! meow! meow! '
+    'meow! meow! meow! '
 
 If you are defining a custom constructor in a derived Python class, you *must*
 ensure that you explicitly call the bound C++ constructor using ``__init__``,
@@ -813,26 +813,21 @@ An instance can now be pickled as follows:
 
 .. code-block:: python
 
-    try:
-        import cPickle as pickle  # Use cPickle on Python 2.7
-    except ImportError:
-        import pickle
+    import pickle
 
     p = Pickleable("test_value")
     p.setExtra(15)
-    data = pickle.dumps(p, 2)
+    data = pickle.dumps(p)
 
 
 .. note::
-    Note that only the cPickle module is supported on Python 2.7.
-
-    The second argument to ``dumps`` is also crucial: it selects the pickle
-    protocol version 2, since the older version 1 is not supported. Newer
-    versions are also fine—for instance, specify ``-1`` to always use the
-    latest available version. Beware: failure to follow these instructions
-    will cause important pybind11 memory allocation routines to be skipped
-    during unpickling, which will likely lead to memory corruption and/or
-    segmentation faults.
+    If given, the second argument to ``dumps`` must be 2 or larger - 0 and 1 are
+    not supported. Newer versions are also fine; for instance, specify ``-1`` to
+    always use the latest available version. Beware: failure to follow these
+    instructions will cause important pybind11 memory allocation routines to be
+    skipped during unpickling, which will likely lead to memory corruption
+    and/or segmentation faults. Python defaults to version 3 (Python 3-3.7) and
+    version 4 for Python 3.8+.
 
 .. seealso::
 
@@ -849,11 +844,9 @@ Python normally uses references in assignments. Sometimes a real copy is needed
 to prevent changing all copies. The ``copy`` module [#f5]_ provides these
 capabilities.
 
-On Python 3, a class with pickle support is automatically also (deep)copy
+A class with pickle support is automatically also (deep)copy
 compatible. However, performance can be improved by adding custom
-``__copy__`` and ``__deepcopy__`` methods. With Python 2.7, these custom methods
-are mandatory for (deep)copy compatibility, because pybind11 only supports
-cPickle.
+``__copy__`` and ``__deepcopy__`` methods.
 
 For simple classes (deep)copy can be enabled by using the copy constructor,
 which should look as follows:
@@ -1125,13 +1118,6 @@ described trampoline:
     py::class_<A, Trampoline>(m, "A") // <-- `Trampoline` here
         .def("foo", &Publicist::foo); // <-- `Publicist` here, not `Trampoline`!
 
-.. note::
-
-    MSVC 2015 has a compiler bug (fixed in version 2017) which
-    requires a more explicit function binding in the form of
-    ``.def("foo", static_cast<int (A::*)() const>(&Publicist::foo));``
-    where ``int (A::*)() const`` is the type of ``A::foo``.
-
 Binding final classes
 =====================
 
diff --git a/pybind11/docs/advanced/exceptions.rst b/pybind11/docs/advanced/exceptions.rst
index 7cd8447b93..2211caf5d3 100644
--- a/pybind11/docs/advanced/exceptions.rst
+++ b/pybind11/docs/advanced/exceptions.rst
@@ -328,8 +328,8 @@ an invalid state.
 Chaining exceptions ('raise from')
 ==================================
 
-In Python 3.3 a mechanism for indicating that exceptions were caused by other
-exceptions was introduced:
+Python has a mechanism for indicating that exceptions were caused by other
+exceptions:
 
 .. code-block:: py
 
@@ -340,7 +340,7 @@ exceptions was introduced:
 
 To do a similar thing in pybind11, you can use the ``py::raise_from`` function. It
 sets the current python error indicator, so to continue propagating the exception
-you should ``throw py::error_already_set()`` (Python 3 only).
+you should ``throw py::error_already_set()``.
 
 .. code-block:: cpp
 
diff --git a/pybind11/docs/advanced/functions.rst b/pybind11/docs/advanced/functions.rst
index bf5b5fa00d..69e3d8a1df 100644
--- a/pybind11/docs/advanced/functions.rst
+++ b/pybind11/docs/advanced/functions.rst
@@ -372,7 +372,7 @@ like so:
 Keyword-only arguments
 ======================
 
-Python 3 introduced keyword-only arguments by specifying an unnamed ``*``
+Python implements keyword-only arguments by specifying an unnamed ``*``
 argument in a function definition:
 
 .. code-block:: python
@@ -395,19 +395,18 @@ argument annotations when registering the function:
     m.def("f", [](int a, int b) { /* ... */ },
           py::arg("a"), py::kw_only(), py::arg("b"));
 
-Note that you currently cannot combine this with a ``py::args`` argument.  This
-feature does *not* require Python 3 to work.
-
 .. versionadded:: 2.6
 
-As of pybind11 2.9, a ``py::args`` argument implies that any following arguments
-are keyword-only, as if ``py::kw_only()`` had been specified in the same
-relative location of the argument list as the ``py::args`` argument.  The
-``py::kw_only()`` may be included to be explicit about this, but is not
-required.  (Prior to 2.9 ``py::args`` may only occur at the end of the argument
-list, or immediately before a ``py::kwargs`` argument at the end).
+A ``py::args`` argument implies that any following arguments are keyword-only,
+as if ``py::kw_only()`` had been specified in the same relative location of the
+argument list as the ``py::args`` argument.  The ``py::kw_only()`` may be
+included to be explicit about this, but is not required.
+
+.. versionchanged:: 2.9
+   This can now be combined with ``py::args``. Before, ``py::args`` could only
+   occur at the end of the argument list, or immediately before a ``py::kwargs``
+   argument at the end.
 
-.. versionadded:: 2.9
 
 Positional-only arguments
 =========================
diff --git a/pybind11/docs/advanced/pycpp/numpy.rst b/pybind11/docs/advanced/pycpp/numpy.rst
index 30daeefff9..b6ef019ed0 100644
--- a/pybind11/docs/advanced/pycpp/numpy.rst
+++ b/pybind11/docs/advanced/pycpp/numpy.rst
@@ -87,7 +87,7 @@ buffer objects (e.g. a NumPy matrix).
             /* Request a buffer descriptor from Python */
             py::buffer_info info = b.request();
 
-            /* Some sanity checks ... */
+            /* Some basic validation checks ... */
             if (info.format != py::format_descriptor<Scalar>::format())
                 throw std::runtime_error("Incompatible format: expected a double array!");
 
@@ -395,11 +395,9 @@ uses of ``py::array``:
 Ellipsis
 ========
 
-Python 3 provides a convenient ``...`` ellipsis notation that is often used to
+Python provides a convenient ``...`` ellipsis notation that is often used to
 slice multidimensional arrays. For instance, the following snippet extracts the
 middle dimensions of a tensor with the first and last index set to zero.
-In Python 2, the syntactic sugar ``...`` is not available, but the singleton
-``Ellipsis`` (of type ``ellipsis``) can still be used directly.
 
 .. code-block:: python
 
@@ -414,8 +412,6 @@ operation on the C++ side:
    py::array a = /* A NumPy array */;
    py::array b = a[py::make_tuple(0, py::ellipsis(), 0)];
 
-.. versionchanged:: 2.6
-   ``py::ellipsis()`` is now also available in Python 2.
 
 Memory view
 ===========
@@ -455,9 +451,5 @@ We can also use ``memoryview::from_memory`` for a simple 1D contiguous buffer:
         );
     })
 
-.. note::
-
-    ``memoryview::from_memory`` is not available in Python 2.
-
 .. versionchanged:: 2.6
     ``memoryview::from_memory`` added.
diff --git a/pybind11/docs/basics.rst b/pybind11/docs/basics.rst
index e0479b298d..e9b24c7fa7 100644
--- a/pybind11/docs/basics.rst
+++ b/pybind11/docs/basics.rst
@@ -32,8 +32,7 @@ The last line will both compile and run the tests.
 Windows
 -------
 
-On Windows, only **Visual Studio 2015** and newer are supported since pybind11 relies
-on various C++11 language features that break older versions of Visual Studio.
+On Windows, only **Visual Studio 2017** and newer are supported.
 
 .. Note::
 
@@ -166,12 +165,12 @@ load and execute the example:
 .. code-block:: pycon
 
     $ python
-    Python 2.7.10 (default, Aug 22 2015, 20:33:39)
-    [GCC 4.2.1 Compatible Apple LLVM 7.0.0 (clang-700.0.59.1)] on darwin
+    Python 3.9.10 (main, Jan 15 2022, 11:48:04)
+    [Clang 13.0.0 (clang-1300.0.29.3)] on darwin
     Type "help", "copyright", "credits" or "license" for more information.
     >>> import example
     >>> example.add(1, 2)
-    3L
+    3
     >>>
 
 .. _keyword_args:
diff --git a/pybind11/docs/benchmark.py b/pybind11/docs/benchmark.py
index f190793671..2150b6ca78 100644
--- a/pybind11/docs/benchmark.py
+++ b/pybind11/docs/benchmark.py
@@ -1,4 +1,3 @@
-# -*- coding: utf-8 -*-
 import datetime as dt
 import os
 import random
@@ -12,20 +11,20 @@ def generate_dummy_code_pybind11(nclasses=10):
     bindings = ""
 
     for cl in range(nclasses):
-        decl += "class cl%03i;\n" % cl
+        decl += f"class cl{cl:03};\n"
     decl += "\n"
 
     for cl in range(nclasses):
-        decl += "class cl%03i {\n" % cl
+        decl += f"class {cl:03} {{\n"
         decl += "public:\n"
-        bindings += '    py::class_<cl%03i>(m, "cl%03i")\n' % (cl, cl)
+        bindings += f'    py::class_<cl{cl:03}>(m, "cl{cl:03}")\n'
         for fn in range(nfns):
             ret = random.randint(0, nclasses - 1)
             params = [random.randint(0, nclasses - 1) for i in range(nargs)]
-            decl += "    cl%03i *fn_%03i(" % (ret, fn)
-            decl += ", ".join("cl%03i *" % p for p in params)
+            decl += f"    cl{ret:03} *fn_{fn:03}("
+            decl += ", ".join(f"cl{p:03} *" for p in params)
             decl += ");\n"
-            bindings += '        .def("fn_%03i", &cl%03i::fn_%03i)\n' % (fn, cl, fn)
+            bindings += f'        .def("fn_{fn:03}", &cl{cl:03}::fn_{fn:03})\n'
         decl += "};\n\n"
         bindings += "        ;\n"
 
@@ -43,23 +42,20 @@ def generate_dummy_code_boost(nclasses=10):
     bindings = ""
 
     for cl in range(nclasses):
-        decl += "class cl%03i;\n" % cl
+        decl += f"class cl{cl:03};\n"
     decl += "\n"
 
     for cl in range(nclasses):
         decl += "class cl%03i {\n" % cl
         decl += "public:\n"
-        bindings += '    py::class_<cl%03i>("cl%03i")\n' % (cl, cl)
+        bindings += f'    py::class_<cl{cl:03}>("cl{cl:03}")\n'
         for fn in range(nfns):
             ret = random.randint(0, nclasses - 1)
             params = [random.randint(0, nclasses - 1) for i in range(nargs)]
-            decl += "    cl%03i *fn_%03i(" % (ret, fn)
-            decl += ", ".join("cl%03i *" % p for p in params)
+            decl += f"    cl{ret:03} *fn_{fn:03}("
+            decl += ", ".join(f"cl{p:03} *" for p in params)
             decl += ");\n"
-            bindings += (
-                '        .def("fn_%03i", &cl%03i::fn_%03i, py::return_value_policy<py::manage_new_object>())\n'
-                % (fn, cl, fn)
-            )
+            bindings += f'        .def("fn_{fn:03}", &cl{cl:03}::fn_{fn:03}, py::return_value_policy<py::manage_new_object>())\n'
         decl += "};\n\n"
         bindings += "        ;\n"
 
@@ -75,7 +71,7 @@ def generate_dummy_code_boost(nclasses=10):
 for codegen in [generate_dummy_code_pybind11, generate_dummy_code_boost]:
     print("{")
     for i in range(0, 10):
-        nclasses = 2 ** i
+        nclasses = 2**i
         with open("test.cpp", "w") as f:
             f.write(codegen(nclasses))
         n1 = dt.datetime.now()
diff --git a/pybind11/docs/changelog.rst b/pybind11/docs/changelog.rst
index 16bf3aa3f3..b926b27afa 100644
--- a/pybind11/docs/changelog.rst
+++ b/pybind11/docs/changelog.rst
@@ -6,6 +6,272 @@ Changelog
 Starting with version 1.8.0, pybind11 releases use a `semantic versioning
 <http://semver.org>`_ policy.
 
+Changes will be added here periodically from the "Suggested changelog entry"
+block in pull request descriptions.
+
+Version 2.10.0 (Jul 15, 2022)
+-----------------------------
+
+Removed support for Python 2.7, Python 3.5, and MSVC 2015. Support for MSVC
+2017 is limited due to availability of CI runners; we highly recommend MSVC
+2019 or 2022 be used. Initial support added for Python 3.11.
+
+New features:
+
+* ``py::anyset`` & ``py::frozenset`` were added, with copying (cast) to
+  ``std::set`` (similar to ``set``).
+  `#3901 <https://github.com/pybind/pybind11/pull/3901>`_
+
+* Support bytearray casting to string.
+  `#3707 <https://github.com/pybind/pybind11/pull/3707>`_
+
+* ``type_caster<std::monostate>`` was added. ``std::monostate`` is a tag type
+  that allows ``std::variant`` to act as an optional, or allows default
+  construction of a ``std::variant`` holding a non-default constructible type.
+  `#3818 <https://github.com/pybind/pybind11/pull/3818>`_
+
+* ``pybind11::capsule::set_name`` added to mutate the name of the capsule instance.
+  `#3866 <https://github.com/pybind/pybind11/pull/3866>`_
+
+* NumPy: dtype constructor from type number added, accessors corresponding to
+  Python API ``dtype.num``, ``dtype.byteorder``, ``dtype.flags`` and
+  ``dtype.alignment`` added.
+  `#3868 <https://github.com/pybind/pybind11/pull/3868>`_
+
+
+Changes:
+
+* Python 3.6 is now the minimum supported version.
+  `#3688 <https://github.com/pybind/pybind11/pull/3688>`_
+  `#3719 <https://github.com/pybind/pybind11/pull/3719>`_
+
+* The minimum version for MSVC is now 2017.
+  `#3722 <https://github.com/pybind/pybind11/pull/3722>`_
+
+* Fix issues with CPython 3.11 betas and add to supported test matrix.
+  `#3923 <https://github.com/pybind/pybind11/pull/3923>`_
+
+* ``error_already_set`` is now safer and more performant, especially for
+  exceptions with long tracebacks, by delaying computation.
+  `#1895 <https://github.com/pybind/pybind11/pull/1895>`_
+
+* Improve exception handling in python ``str`` bindings.
+  `#3826 <https://github.com/pybind/pybind11/pull/3826>`_
+
+* The bindings for capsules now have more consistent exception handling.
+  `#3825 <https://github.com/pybind/pybind11/pull/3825>`_
+
+* ``PYBIND11_OBJECT_CVT`` and ``PYBIND11_OBJECT_CVT_DEFAULT`` macro can now be
+  used to define classes in namespaces other than pybind11.
+  `#3797 <https://github.com/pybind/pybind11/pull/3797>`_
+
+* Error printing code now uses ``PYBIND11_DETAILED_ERROR_MESSAGES`` instead of
+  requiring ``NDEBUG``, allowing use with release builds if desired.
+  `#3913 <https://github.com/pybind/pybind11/pull/3913>`_
+
+* Implicit conversion of the literal ``0`` to ``pybind11::handle`` is now disabled.
+  `#4008 <https://github.com/pybind/pybind11/pull/4008>`_
+
+
+Bug fixes:
+
+* Fix exception handling when ``pybind11::weakref()`` fails.
+  `#3739 <https://github.com/pybind/pybind11/pull/3739>`_
+
+* ``module_::def_submodule`` was missing proper error handling. This is fixed now.
+  `#3973 <https://github.com/pybind/pybind11/pull/3973>`_
+
+* The behavior or ``error_already_set`` was made safer and the highly opaque
+  "Unknown internal error occurred" message was replaced with a more helpful
+  message.
+  `#3982 <https://github.com/pybind/pybind11/pull/3982>`_
+
+* ``error_already_set::what()`` now handles non-normalized exceptions correctly.
+  `#3971 <https://github.com/pybind/pybind11/pull/3971>`_
+
+* Support older C++ compilers where filesystem is not yet part of the standard
+  library and is instead included in ``std::experimental::filesystem``.
+  `#3840 <https://github.com/pybind/pybind11/pull/3840>`_
+
+* Fix ``-Wfree-nonheap-object`` warnings produced by GCC by avoiding returning
+  pointers to static objects with ``return_value_policy::take_ownership``.
+  `#3946 <https://github.com/pybind/pybind11/pull/3946>`_
+
+* Fix cast from pytype rvalue to another pytype.
+  `#3949 <https://github.com/pybind/pybind11/pull/3949>`_
+
+* Ensure proper behavior when garbage collecting classes with dynamic attributes in Python >=3.9.
+  `#4051 <https://github.com/pybind/pybind11/pull/4051>`_
+
+* A couple long-standing ``PYBIND11_NAMESPACE``
+  ``__attribute__((visibility("hidden")))`` inconsistencies are now fixed
+  (affects only unusual environments).
+  `#4043 <https://github.com/pybind/pybind11/pull/4043>`_
+
+* ``pybind11::detail::get_internals()`` is now resilient to in-flight Python
+  exceptions.
+  `#3981 <https://github.com/pybind/pybind11/pull/3981>`_
+
+* Arrays with a dimension of size 0 are now properly converted to dynamic Eigen
+  matrices (more common in NumPy 1.23).
+  `#4038 <https://github.com/pybind/pybind11/pull/4038>`_
+
+* Avoid catching unrelated errors when importing NumPy.
+  `#3974 <https://github.com/pybind/pybind11/pull/3974>`_
+
+Performance and style:
+
+* Added an accessor overload of ``(object &&key)`` to reference steal the
+  object when using python types as keys. This prevents unnecessary reference
+  count overhead for attr, dictionary, tuple, and sequence look ups. Added
+  additional regression tests. Fixed a performance bug the caused accessor
+  assignments to potentially perform unnecessary copies.
+  `#3970 <https://github.com/pybind/pybind11/pull/3970>`_
+
+* Perfect forward all args of ``make_iterator``.
+  `#3980 <https://github.com/pybind/pybind11/pull/3980>`_
+
+* Avoid potential bug in pycapsule destructor by adding an ``error_guard`` to
+  one of the dtors.
+  `#3958 <https://github.com/pybind/pybind11/pull/3958>`_
+
+* Optimize dictionary access in ``strip_padding`` for numpy.
+  `#3994 <https://github.com/pybind/pybind11/pull/3994>`_
+
+* ``stl_bind.h`` bindings now take slice args as a const-ref.
+  `#3852 <https://github.com/pybind/pybind11/pull/3852>`_
+
+* Made slice constructor more consistent, and improve performance of some
+  casters by allowing reference stealing.
+  `#3845 <https://github.com/pybind/pybind11/pull/3845>`_
+
+* Change numpy dtype from_args method to use const ref.
+  `#3878 <https://github.com/pybind/pybind11/pull/3878>`_
+
+* Follow rule of three to ensure ``PyErr_Restore`` is called only once.
+  `#3872 <https://github.com/pybind/pybind11/pull/3872>`_
+
+* Added missing perfect forwarding for ``make_iterator`` functions.
+  `#3860 <https://github.com/pybind/pybind11/pull/3860>`_
+
+* Optimize c++ to python function casting by using the rvalue caster.
+  `#3966 <https://github.com/pybind/pybind11/pull/3966>`_
+
+* Optimize Eigen sparse matrix casting by removing unnecessary temporary.
+  `#4064 <https://github.com/pybind/pybind11/pull/4064>`_
+
+* Avoid potential implicit copy/assignment constructors causing double free in
+  ``strdup_gaurd``.
+  `#3905 <https://github.com/pybind/pybind11/pull/3905>`_
+
+* Enable clang-tidy checks ``misc-definitions-in-headers``,
+  ``modernize-loop-convert``, and ``modernize-use-nullptr``.
+  `#3881 <https://github.com/pybind/pybind11/pull/3881>`_
+  `#3988 <https://github.com/pybind/pybind11/pull/3988>`_
+
+
+Build system improvements:
+
+* CMake: Fix file extension on Windows with cp36 and cp37 using FindPython.
+  `#3919 <https://github.com/pybind/pybind11/pull/3919>`_
+
+* CMake: Support multiple Python targets (such as on vcpkg).
+  `#3948 <https://github.com/pybind/pybind11/pull/3948>`_
+
+* CMake: Fix issue with NVCC on Windows.
+  `#3947 <https://github.com/pybind/pybind11/pull/3947>`_
+
+* CMake: Drop the bitness check on cross compiles (like targeting WebAssembly
+  via Emscripten).
+  `#3959 <https://github.com/pybind/pybind11/pull/3959>`_
+
+* Add MSVC builds in debug mode to CI.
+  `#3784 <https://github.com/pybind/pybind11/pull/3784>`_
+
+* MSVC 2022 C++20 coverage was added to GitHub Actions, including Eigen.
+  `#3732 <https://github.com/pybind/pybind11/pull/3732>`_,
+  `#3741 <https://github.com/pybind/pybind11/pull/3741>`_
+
+
+Backend and tidying up:
+
+* New theme for the documentation.
+  `#3109 <https://github.com/pybind/pybind11/pull/3109>`_
+
+* Remove idioms in code comments.  Use more inclusive language.
+  `#3809 <https://github.com/pybind/pybind11/pull/3809>`_
+
+* ``#include <iostream>`` was removed from the ``pybind11/stl.h`` header. Your
+  project may break if it has a transitive dependency on this include. The fix
+  is to "Include What You Use".
+  `#3928 <https://github.com/pybind/pybind11/pull/3928>`_
+
+* Avoid ``setup.py <command>`` usage in internal tests.
+  `#3734 <https://github.com/pybind/pybind11/pull/3734>`_
+
+
+Version 2.9.2 (Mar 29, 2022)
+----------------------------
+
+Changes:
+
+* Enum now has an ``__index__`` method on Python <3.8 too.
+  `#3700 <https://github.com/pybind/pybind11/pull/3700>`_
+
+* Local internals are now cleared after finalizing the interpreter.
+  `#3744 <https://github.com/pybind/pybind11/pull/3744>`_
+
+Bug fixes:
+
+* Better support for Python 3.11 alphas.
+  `#3694 <https://github.com/pybind/pybind11/pull/3694>`_
+
+* ``PYBIND11_TYPE_CASTER`` now uses fully qualified symbols, so it can be used
+  outside of ``pybind11::detail``.
+  `#3758 <https://github.com/pybind/pybind11/pull/3758>`_
+
+* Some fixes for PyPy 3.9.
+  `#3768 <https://github.com/pybind/pybind11/pull/3768>`_
+
+* Fixed a potential memleak in PyPy in ``get_type_override``.
+  `#3774 <https://github.com/pybind/pybind11/pull/3774>`_
+
+* Fix usage of ``VISIBILITY_INLINES_HIDDEN``.
+  `#3721 <https://github.com/pybind/pybind11/pull/3721>`_
+
+
+Build system improvements:
+
+* Uses ``sysconfig`` module to determine installation locations on Python >=
+  3.10, instead of ``distutils`` which has been deprecated.
+  `#3764 <https://github.com/pybind/pybind11/pull/3764>`_
+
+* Support Catch 2.13.5+ (supporting GLIBC 2.34+).
+  `#3679 <https://github.com/pybind/pybind11/pull/3679>`_
+
+* Fix test failures with numpy 1.22 by ignoring whitespace when comparing
+  ``str()`` of dtypes.
+  `#3682 <https://github.com/pybind/pybind11/pull/3682>`_
+
+
+Backend and tidying up:
+
+* clang-tidy: added ``readability-qualified-auto``,
+  ``readability-braces-around-statements``,
+  ``cppcoreguidelines-prefer-member-initializer``,
+  ``clang-analyzer-optin.performance.Padding``,
+  ``cppcoreguidelines-pro-type-static-cast-downcast``, and
+  ``readability-inconsistent-declaration-parameter-name``.
+  `#3702 <https://github.com/pybind/pybind11/pull/3702>`_,
+  `#3699 <https://github.com/pybind/pybind11/pull/3699>`_,
+  `#3716 <https://github.com/pybind/pybind11/pull/3716>`_,
+  `#3709 <https://github.com/pybind/pybind11/pull/3709>`_
+
+* clang-format was added to the pre-commit actions, and the entire code base
+  automatically reformatted (after several iterations preparing for this leap).
+  `#3713 <https://github.com/pybind/pybind11/pull/3713>`_
+
+
 Version 2.9.1 (Feb 2, 2022)
 ---------------------------
 
@@ -794,7 +1060,7 @@ Packaging / building improvements:
   `#2338 <https://github.com/pybind/pybind11/pull/2338>`_ and
   `#2370 <https://github.com/pybind/pybind11/pull/2370>`_
 
-  * Full integration with CMake’s C++ standard system and compile features
+  * Full integration with CMake's C++ standard system and compile features
     replaces ``PYBIND11_CPP_STANDARD``.
 
   * Generated config file is now portable to different Python/compiler/CMake
diff --git a/pybind11/docs/classes.rst b/pybind11/docs/classes.rst
index 13fa8b5387..c0c53135b8 100644
--- a/pybind11/docs/classes.rst
+++ b/pybind11/docs/classes.rst
@@ -48,10 +48,10 @@ interactive Python session demonstrating this example is shown below:
     >>> print(p)
     <example.Pet object at 0x10cd98060>
     >>> p.getName()
-    u'Molly'
+    'Molly'
     >>> p.setName("Charly")
     >>> p.getName()
-    u'Charly'
+    'Charly'
 
 .. seealso::
 
@@ -124,10 +124,10 @@ This makes it possible to write
 
     >>> p = example.Pet("Molly")
     >>> p.name
-    u'Molly'
+    'Molly'
     >>> p.name = "Charly"
     >>> p.name
-    u'Charly'
+    'Charly'
 
 Now suppose that ``Pet::name`` was a private internal variable
 that can only be accessed via setters and getters.
@@ -282,9 +282,9 @@ expose fields and methods of both types:
 
     >>> p = example.Dog("Molly")
     >>> p.name
-    u'Molly'
+    'Molly'
     >>> p.bark()
-    u'woof!'
+    'woof!'
 
 The C++ classes defined above are regular non-polymorphic types with an
 inheritance relationship. This is reflected in Python:
@@ -332,7 +332,7 @@ will automatically recognize this:
     >>> type(p)
     PolymorphicDog  # automatically downcast
     >>> p.bark()
-    u'woof!'
+    'woof!'
 
 Given a pointer to a polymorphic base, pybind11 performs automatic downcasting
 to the actual derived type. Note that this goes beyond the usual situation in
@@ -434,8 +434,7 @@ you can use ``py::detail::overload_cast_impl`` with an additional set of parenth
         .def("set", overload_cast_<int>()(&Pet::set), "Set the pet's age")
         .def("set", overload_cast_<const std::string &>()(&Pet::set), "Set the pet's name");
 
-.. [#cpp14] A compiler which supports the ``-std=c++14`` flag
-            or Visual Studio 2015 Update 2 and newer.
+.. [#cpp14] A compiler which supports the ``-std=c++14`` flag.
 
 .. note::
 
@@ -483,7 +482,7 @@ The binding code for this example looks as follows:
         .value("Cat", Pet::Kind::Cat)
         .export_values();
 
-    py::class_<Pet::Attributes> attributes(pet, "Attributes")
+    py::class_<Pet::Attributes>(pet, "Attributes")
         .def(py::init<>())
         .def_readwrite("age", &Pet::Attributes::age);
 
diff --git a/pybind11/docs/compiling.rst b/pybind11/docs/compiling.rst
index 75608bd576..2b543be0be 100644
--- a/pybind11/docs/compiling.rst
+++ b/pybind11/docs/compiling.rst
@@ -417,10 +417,10 @@ existing targets instead:
 
 .. code-block:: cmake
 
-    cmake_minimum_required(VERSION 3.15...3.19)
+    cmake_minimum_required(VERSION 3.15...3.22)
     project(example LANGUAGES CXX)
 
-    find_package(Python COMPONENTS Interpreter Development REQUIRED)
+    find_package(Python 3.6 COMPONENTS Interpreter Development REQUIRED)
     find_package(pybind11 CONFIG REQUIRED)
     # or add_subdirectory(pybind11)
 
@@ -433,9 +433,8 @@ algorithms from the CMake invocation, with ``-DPYBIND11_FINDPYTHON=ON``.
 
 .. warning::
 
-    If you use FindPython2 and FindPython3 to dual-target Python, use the
-    individual targets listed below, and avoid targets that directly include
-    Python parts.
+    If you use FindPython to multi-target Python versions, use the individual
+    targets listed below, and avoid targets that directly include Python parts.
 
 There are `many ways to hint or force a discovery of a specific Python
 installation <https://cmake.org/cmake/help/latest/module/FindPython.html>`_),
@@ -462,11 +461,8 @@ available in all modes. The targets provided are:
    ``pybind11::headers``
      Just the pybind11 headers and minimum compile requirements
 
-   ``pybind11::python2_no_register``
-     Quiets the warning/error when mixing C++14 or higher and Python 2
-
    ``pybind11::pybind11``
-     Python headers + ``pybind11::headers`` + ``pybind11::python2_no_register`` (Python 2 only)
+     Python headers + ``pybind11::headers``
 
    ``pybind11::python_link_helper``
      Just the "linking" part of pybind11:module
@@ -475,7 +471,7 @@ available in all modes. The targets provided are:
      Everything for extension modules - ``pybind11::pybind11`` + ``Python::Module`` (FindPython CMake 3.15+) or ``pybind11::python_link_helper``
 
    ``pybind11::embed``
-     Everything for embedding the Python interpreter - ``pybind11::pybind11`` + ``Python::Embed`` (FindPython) or Python libs
+     Everything for embedding the Python interpreter - ``pybind11::pybind11`` + ``Python::Python`` (FindPython) or Python libs
 
    ``pybind11::lto`` / ``pybind11::thin_lto``
      An alternative to `INTERPROCEDURAL_OPTIMIZATION` for adding link-time optimization.
@@ -509,7 +505,10 @@ You can use these targets to build complex applications. For example, the
     target_link_libraries(example PRIVATE pybind11::module pybind11::lto pybind11::windows_extras)
 
     pybind11_extension(example)
-    pybind11_strip(example)
+    if(NOT MSVC AND NOT ${CMAKE_BUILD_TYPE} MATCHES Debug|RelWithDebInfo)
+        # Strip unnecessary sections of the binary on Linux/macOS
+        pybind11_strip(example)
+    endif()
 
     set_target_properties(example PROPERTIES CXX_VISIBILITY_PRESET "hidden"
                                              CUDA_VISIBILITY_PRESET "hidden")
@@ -577,21 +576,12 @@ On Linux, you can compile an example such as the one given in
 
     $ c++ -O3 -Wall -shared -std=c++11 -fPIC $(python3 -m pybind11 --includes) example.cpp -o example$(python3-config --extension-suffix)
 
-The flags given here assume that you're using Python 3. For Python 2, just
-change the executable appropriately (to ``python`` or ``python2``).
-
 The ``python3 -m pybind11 --includes`` command fetches the include paths for
 both pybind11 and Python headers. This assumes that pybind11 has been installed
 using ``pip`` or ``conda``. If it hasn't, you can also manually specify
 ``-I <path-to-pybind11>/include`` together with the Python includes path
 ``python3-config --includes``.
 
-Note that Python 2.7 modules don't use a special suffix, so you should simply
-use ``example.so`` instead of ``example$(python3-config --extension-suffix)``.
-Besides, the ``--extension-suffix`` option may or may not be available, depending
-on the distribution; in the latter case, the module extension can be manually
-set to ``.so``.
-
 On macOS: the build command is almost the same but it also requires passing
 the ``-undefined dynamic_lookup`` flag so as to ignore missing symbols when
 building the module:
diff --git a/pybind11/docs/conf.py b/pybind11/docs/conf.py
index 092e274e09..2da6773f4f 100644
--- a/pybind11/docs/conf.py
+++ b/pybind11/docs/conf.py
@@ -1,5 +1,4 @@
 #!/usr/bin/env python3
-# -*- coding: utf-8 -*-
 #
 # pybind11 documentation build configuration file, created by
 # sphinx-quickstart on Sun Oct 11 19:23:48 2015.
@@ -36,6 +35,7 @@
 # ones.
 extensions = [
     "breathe",
+    "sphinx_copybutton",
     "sphinxcontrib.rsvgconverter",
     "sphinxcontrib.moderncmakedomain",
 ]
@@ -126,23 +126,7 @@
 # The theme to use for HTML and HTML Help pages.  See the documentation for
 # a list of builtin themes.
 
-on_rtd = os.environ.get("READTHEDOCS", None) == "True"
-
-if not on_rtd:  # only import and set the theme if we're building docs locally
-    import sphinx_rtd_theme
-
-    html_theme = "sphinx_rtd_theme"
-    html_theme_path = [sphinx_rtd_theme.get_html_theme_path()]
-
-    html_context = {"css_files": ["_static/theme_overrides.css"]}
-else:
-    html_context = {
-        "css_files": [
-            "//media.readthedocs.org/css/sphinx_rtd_theme.css",
-            "//media.readthedocs.org/css/readthedocs-doc-embed.css",
-            "_static/theme_overrides.css",
-        ]
-    }
+html_theme = "furo"
 
 # Theme options are theme-specific and customize the look and feel of a theme
 # further.  For a list of options available for each theme, see the
@@ -173,6 +157,10 @@
 # so a file named "default.css" will overwrite the builtin "default.css".
 html_static_path = ["_static"]
 
+html_css_files = [
+    "css/custom.css",
+]
+
 # Add any extra paths that contain custom files (such as robots.txt or
 # .htaccess) here, relative to this directory. These files are copied
 # directly to the root of the documentation.
@@ -345,9 +333,9 @@ def generate_doxygen_xml(app):
         subprocess.call(["doxygen", "--version"])
         retcode = subprocess.call(["doxygen"], cwd=app.confdir)
         if retcode < 0:
-            sys.stderr.write("doxygen error code: {}\n".format(-retcode))
+            sys.stderr.write(f"doxygen error code: {-retcode}\n")
     except OSError as e:
-        sys.stderr.write("doxygen execution failed: {}\n".format(e))
+        sys.stderr.write(f"doxygen execution failed: {e}\n")
 
 
 def prepare(app):
diff --git a/pybind11/docs/faq.rst b/pybind11/docs/faq.rst
index e2f477b1f5..28498e7dfc 100644
--- a/pybind11/docs/faq.rst
+++ b/pybind11/docs/faq.rst
@@ -8,9 +8,7 @@ Frequently asked questions
 filename of the extension library (without suffixes such as ``.so``).
 
 2. If the above did not fix the issue, you are likely using an incompatible
-version of Python (for instance, the extension library was compiled against
-Python 2, while the interpreter is running on top of some version of Python
-3, or vice versa).
+version of Python that does not match what you compiled with.
 
 "Symbol not found: ``__Py_ZeroStruct`` / ``_PyInstanceMethod_Type``"
 ========================================================================
@@ -147,7 +145,7 @@ using C++14 template metaprogramming.
 
 .. _`faq:hidden_visibility`:
 
-"‘SomeClass’ declared with greater visibility than the type of its field ‘SomeClass::member’ [-Wattributes]"
+"'SomeClass' declared with greater visibility than the type of its field 'SomeClass::member' [-Wattributes]"
 ============================================================================================================
 
 This error typically indicates that you are compiling without the required
@@ -222,20 +220,6 @@ In addition to decreasing binary size, ``-fvisibility=hidden`` also avoids
 potential serious issues when loading multiple modules and is required for
 proper pybind operation.  See the previous FAQ entry for more details.
 
-Working with ancient Visual Studio 2008 builds on Windows
-=========================================================
-
-The official Windows distributions of Python are compiled using truly
-ancient versions of Visual Studio that lack good C++11 support. Some users
-implicitly assume that it would be impossible to load a plugin built with
-Visual Studio 2015 into a Python distribution that was compiled using Visual
-Studio 2008. However, no such issue exists: it's perfectly legitimate to
-interface DLLs that are built with different compilers and/or C libraries.
-Common gotchas to watch out for involve not ``free()``-ing memory region
-that that were ``malloc()``-ed in another shared library, using data
-structures with incompatible ABIs, and so on. pybind11 is very careful not
-to make these types of mistakes.
-
 How can I properly handle Ctrl-C in long-running functions?
 ===========================================================
 
@@ -289,27 +273,7 @@ Conflicts can arise, however, when using pybind11 in a project that *also* uses
 the CMake Python detection in a system with several Python versions installed.
 
 This difference may cause inconsistencies and errors if *both* mechanisms are
-used in the same project. Consider the following CMake code executed in a
-system with Python 2.7 and 3.x installed:
-
-.. code-block:: cmake
-
-    find_package(PythonInterp)
-    find_package(PythonLibs)
-    find_package(pybind11)
-
-It will detect Python 2.7 and pybind11 will pick it as well.
-
-In contrast this code:
-
-.. code-block:: cmake
-
-    find_package(pybind11)
-    find_package(PythonInterp)
-    find_package(PythonLibs)
-
-will detect Python 3.x for pybind11 and may crash on
-``find_package(PythonLibs)`` afterwards.
+used in the same project.
 
 There are three possible solutions:
 
diff --git a/pybind11/docs/pybind11-logo.png b/pybind11/docs/pybind11-logo.png
index 4cbad54f797d3ced04d4048f282df5e4336d4af4..2d633a4d0c129d6bdd94b4134c9516fdc92bb192 100644
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diff --git a/pybind11/docs/requirements.txt b/pybind11/docs/requirements.txt
index b2801b1f0d..d2a9ae1645 100644
--- a/pybind11/docs/requirements.txt
+++ b/pybind11/docs/requirements.txt
@@ -1,5 +1,6 @@
-breathe==4.31.0
-sphinx==3.5.4
-sphinx_rtd_theme==1.0.0
-sphinxcontrib-moderncmakedomain==3.19
-sphinxcontrib-svg2pdfconverter==1.1.1
+breathe==4.34.0
+furo==2022.6.21
+sphinx==5.0.2
+sphinx-copybutton==0.5.0
+sphinxcontrib-moderncmakedomain==3.21.4
+sphinxcontrib-svg2pdfconverter==1.2.0
diff --git a/pybind11/docs/upgrade.rst b/pybind11/docs/upgrade.rst
index d91d51e6f2..6a9db2d08f 100644
--- a/pybind11/docs/upgrade.rst
+++ b/pybind11/docs/upgrade.rst
@@ -524,7 +524,7 @@ include a declaration of the form:
 
     PYBIND11_DECLARE_HOLDER_TYPE(T, std::shared_ptr<T>)
 
-Continuing to do so won’t cause an error or even a deprecation warning,
+Continuing to do so won't cause an error or even a deprecation warning,
 but it's completely redundant.
 
 
diff --git a/pybind11/include/pybind11/attr.h b/pybind11/include/pybind11/attr.h
index f1b66fb80c..db7cd8efff 100644
--- a/pybind11/include/pybind11/attr.h
+++ b/pybind11/include/pybind11/attr.h
@@ -10,6 +10,7 @@
 
 #pragma once
 
+#include "detail/common.h"
 #include "cast.h"
 
 #include <functional>
@@ -20,65 +21,72 @@ PYBIND11_NAMESPACE_BEGIN(PYBIND11_NAMESPACE)
 /// @{
 
 /// Annotation for methods
-struct is_method { handle class_;
+struct is_method {
+    handle class_;
     explicit is_method(const handle &c) : class_(c) {}
 };
 
 /// Annotation for operators
-struct is_operator { };
+struct is_operator {};
 
 /// Annotation for classes that cannot be subclassed
-struct is_final { };
+struct is_final {};
 
 /// Annotation for parent scope
-struct scope { handle value;
+struct scope {
+    handle value;
     explicit scope(const handle &s) : value(s) {}
 };
 
 /// Annotation for documentation
-struct doc { const char *value;
+struct doc {
+    const char *value;
     explicit doc(const char *value) : value(value) {}
 };
 
 /// Annotation for function names
-struct name { const char *value;
+struct name {
+    const char *value;
     explicit name(const char *value) : value(value) {}
 };
 
 /// Annotation indicating that a function is an overload associated with a given "sibling"
-struct sibling { handle value;
+struct sibling {
+    handle value;
     explicit sibling(const handle &value) : value(value.ptr()) {}
 };
 
 /// Annotation indicating that a class derives from another given type
-template <typename T> struct base {
+template <typename T>
+struct base {
 
-    PYBIND11_DEPRECATED("base<T>() was deprecated in favor of specifying 'T' as a template argument to class_")
-    base() { } // NOLINT(modernize-use-equals-default): breaks MSVC 2015 when adding an attribute
+    PYBIND11_DEPRECATED(
+        "base<T>() was deprecated in favor of specifying 'T' as a template argument to class_")
+    base() = default;
 };
 
 /// Keep patient alive while nurse lives
-template <size_t Nurse, size_t Patient> struct keep_alive { };
+template <size_t Nurse, size_t Patient>
+struct keep_alive {};
 
 /// Annotation indicating that a class is involved in a multiple inheritance relationship
-struct multiple_inheritance { };
+struct multiple_inheritance {};
 
 /// Annotation which enables dynamic attributes, i.e. adds `__dict__` to a class
-struct dynamic_attr { };
+struct dynamic_attr {};
 
 /// Annotation which enables the buffer protocol for a type
-struct buffer_protocol { };
+struct buffer_protocol {};
 
 /// Annotation which requests that a special metaclass is created for a type
 struct metaclass {
     handle value;
 
     PYBIND11_DEPRECATED("py::metaclass() is no longer required. It's turned on by default now.")
-    // NOLINTNEXTLINE(modernize-use-equals-default): breaks MSVC 2015 when adding an attribute
-    metaclass() {}
+    metaclass() = default;
 
     /// Override pybind11's default metaclass
-    explicit metaclass(handle value) : value(value) { }
+    explicit metaclass(handle value) : value(value) {}
 };
 
 /// Specifies a custom callback with signature `void (PyHeapTypeObject*)` that
@@ -99,15 +107,16 @@ struct custom_type_setup {
 };
 
 /// Annotation that marks a class as local to the module:
-struct module_local { const bool value;
+struct module_local {
+    const bool value;
     constexpr explicit module_local(bool v = true) : value(v) {}
 };
 
 /// Annotation to mark enums as an arithmetic type
-struct arithmetic { };
+struct arithmetic {};
 
 /// Mark a function for addition at the beginning of the existing overload chain instead of the end
-struct prepend { };
+struct prepend {};
 
 /** \rst
     A call policy which places one or more guard variables (``Ts...``) around the function call.
@@ -127,9 +136,13 @@ struct prepend { };
             return foo(args...); // forwarded arguments
         });
  \endrst */
-template <typename... Ts> struct call_guard;
+template <typename... Ts>
+struct call_guard;
 
-template <> struct call_guard<> { using type = detail::void_type; };
+template <>
+struct call_guard<> {
+    using type = detail::void_type;
+};
 
 template <typename T>
 struct call_guard<T> {
@@ -154,7 +167,8 @@ PYBIND11_NAMESPACE_BEGIN(detail)
 enum op_id : int;
 enum op_type : int;
 struct undefined_t;
-template <op_id id, op_type ot, typename L = undefined_t, typename R = undefined_t> struct op_;
+template <op_id id, op_type ot, typename L = undefined_t, typename R = undefined_t>
+struct op_;
 void keep_alive_impl(size_t Nurse, size_t Patient, function_call &call, handle ret);
 
 /// Internal data structure which holds metadata about a keyword argument
@@ -166,15 +180,16 @@ struct argument_record {
     bool none : 1;     ///< True if None is allowed when loading
 
     argument_record(const char *name, const char *descr, handle value, bool convert, bool none)
-        : name(name), descr(descr), value(value), convert(convert), none(none) { }
+        : name(name), descr(descr), value(value), convert(convert), none(none) {}
 };
 
-/// Internal data structure which holds metadata about a bound function (signature, overloads, etc.)
+/// Internal data structure which holds metadata about a bound function (signature, overloads,
+/// etc.)
 struct function_record {
     function_record()
         : is_constructor(false), is_new_style_constructor(false), is_stateless(false),
-          is_operator(false), is_method(false), has_args(false),
-          has_kwargs(false), prepend(false) { }
+          is_operator(false), is_method(false), has_args(false), has_kwargs(false),
+          prepend(false) {}
 
     /// Function name
     char *name = nullptr; /* why no C++ strings? They generate heavier code.. */
@@ -189,13 +204,13 @@ struct function_record {
     std::vector<argument_record> args;
 
     /// Pointer to lambda function which converts arguments and performs the actual call
-    handle (*impl) (function_call &) = nullptr;
+    handle (*impl)(function_call &) = nullptr;
 
     /// Storage for the wrapped function pointer and captured data, if any
-    void *data[3] = { };
+    void *data[3] = {};
 
     /// Pointer to custom destructor for 'data' (if needed)
-    void (*free_data) (function_record *ptr) = nullptr;
+    void (*free_data)(function_record *ptr) = nullptr;
 
     /// Return value policy associated with this function
     return_value_policy policy = return_value_policy::automatic;
@@ -251,7 +266,7 @@ struct function_record {
 struct type_record {
     PYBIND11_NOINLINE type_record()
         : multiple_inheritance(false), dynamic_attr(false), buffer_protocol(false),
-          default_holder(true), module_local(false), is_final(false) { }
+          default_holder(true), module_local(false), is_final(false) {}
 
     /// Handle to the parent scope
     handle scope;
@@ -310,42 +325,45 @@ struct type_record {
     /// Is the class inheritable from python classes?
     bool is_final : 1;
 
-    PYBIND11_NOINLINE void add_base(const std::type_info &base, void *(*caster)(void *)) {
-        auto base_info = detail::get_type_info(base, false);
+    PYBIND11_NOINLINE void add_base(const std::type_info &base, void *(*caster)(void *) ) {
+        auto *base_info = detail::get_type_info(base, false);
         if (!base_info) {
             std::string tname(base.name());
             detail::clean_type_id(tname);
-            pybind11_fail("generic_type: type \"" + std::string(name) +
-                          "\" referenced unknown base type \"" + tname + "\"");
+            pybind11_fail("generic_type: type \"" + std::string(name)
+                          + "\" referenced unknown base type \"" + tname + "\"");
         }
 
         if (default_holder != base_info->default_holder) {
             std::string tname(base.name());
             detail::clean_type_id(tname);
-            pybind11_fail("generic_type: type \"" + std::string(name) + "\" " +
-                    (default_holder ? "does not have" : "has") +
-                    " a non-default holder type while its base \"" + tname + "\" " +
-                    (base_info->default_holder ? "does not" : "does"));
+            pybind11_fail("generic_type: type \"" + std::string(name) + "\" "
+                          + (default_holder ? "does not have" : "has")
+                          + " a non-default holder type while its base \"" + tname + "\" "
+                          + (base_info->default_holder ? "does not" : "does"));
         }
 
         bases.append((PyObject *) base_info->type);
 
-        if (base_info->type->tp_dictoffset != 0)
-            dynamic_attr = true;
+#if PY_VERSION_HEX < 0x030B0000
+        dynamic_attr |= base_info->type->tp_dictoffset != 0;
+#else
+        dynamic_attr |= (base_info->type->tp_flags & Py_TPFLAGS_MANAGED_DICT) != 0;
+#endif
 
-        if (caster)
+        if (caster) {
             base_info->implicit_casts.emplace_back(type, caster);
+        }
     }
 };
 
-inline function_call::function_call(const function_record &f, handle p) :
-        func(f), parent(p) {
+inline function_call::function_call(const function_record &f, handle p) : func(f), parent(p) {
     args.reserve(f.nargs);
     args_convert.reserve(f.nargs);
 }
 
 /// Tag for a new-style `__init__` defined in `detail/init.h`
-struct is_new_style_constructor { };
+struct is_new_style_constructor {};
 
 /**
  * Partial template specializations to process custom attributes provided to
@@ -353,74 +371,97 @@ struct is_new_style_constructor { };
  * fields in the type_record and function_record data structures or executed at
  * runtime to deal with custom call policies (e.g. keep_alive).
  */
-template <typename T, typename SFINAE = void> struct process_attribute;
+template <typename T, typename SFINAE = void>
+struct process_attribute;
 
-template <typename T> struct process_attribute_default {
+template <typename T>
+struct process_attribute_default {
     /// Default implementation: do nothing
-    static void init(const T &, function_record *) { }
-    static void init(const T &, type_record *) { }
-    static void precall(function_call &) { }
-    static void postcall(function_call &, handle) { }
+    static void init(const T &, function_record *) {}
+    static void init(const T &, type_record *) {}
+    static void precall(function_call &) {}
+    static void postcall(function_call &, handle) {}
 };
 
 /// Process an attribute specifying the function's name
-template <> struct process_attribute<name> : process_attribute_default<name> {
+template <>
+struct process_attribute<name> : process_attribute_default<name> {
     static void init(const name &n, function_record *r) { r->name = const_cast<char *>(n.value); }
 };
 
 /// Process an attribute specifying the function's docstring
-template <> struct process_attribute<doc> : process_attribute_default<doc> {
+template <>
+struct process_attribute<doc> : process_attribute_default<doc> {
     static void init(const doc &n, function_record *r) { r->doc = const_cast<char *>(n.value); }
 };
 
 /// Process an attribute specifying the function's docstring (provided as a C-style string)
-template <> struct process_attribute<const char *> : process_attribute_default<const char *> {
+template <>
+struct process_attribute<const char *> : process_attribute_default<const char *> {
     static void init(const char *d, function_record *r) { r->doc = const_cast<char *>(d); }
     static void init(const char *d, type_record *r) { r->doc = const_cast<char *>(d); }
 };
-template <> struct process_attribute<char *> : process_attribute<const char *> { };
+template <>
+struct process_attribute<char *> : process_attribute<const char *> {};
 
 /// Process an attribute indicating the function's return value policy
-template <> struct process_attribute<return_value_policy> : process_attribute_default<return_value_policy> {
+template <>
+struct process_attribute<return_value_policy> : process_attribute_default<return_value_policy> {
     static void init(const return_value_policy &p, function_record *r) { r->policy = p; }
 };
 
-/// Process an attribute which indicates that this is an overloaded function associated with a given sibling
-template <> struct process_attribute<sibling> : process_attribute_default<sibling> {
+/// Process an attribute which indicates that this is an overloaded function associated with a
+/// given sibling
+template <>
+struct process_attribute<sibling> : process_attribute_default<sibling> {
     static void init(const sibling &s, function_record *r) { r->sibling = s.value; }
 };
 
 /// Process an attribute which indicates that this function is a method
-template <> struct process_attribute<is_method> : process_attribute_default<is_method> {
-    static void init(const is_method &s, function_record *r) { r->is_method = true; r->scope = s.class_; }
+template <>
+struct process_attribute<is_method> : process_attribute_default<is_method> {
+    static void init(const is_method &s, function_record *r) {
+        r->is_method = true;
+        r->scope = s.class_;
+    }
 };
 
 /// Process an attribute which indicates the parent scope of a method
-template <> struct process_attribute<scope> : process_attribute_default<scope> {
+template <>
+struct process_attribute<scope> : process_attribute_default<scope> {
     static void init(const scope &s, function_record *r) { r->scope = s.value; }
 };
 
 /// Process an attribute which indicates that this function is an operator
-template <> struct process_attribute<is_operator> : process_attribute_default<is_operator> {
+template <>
+struct process_attribute<is_operator> : process_attribute_default<is_operator> {
     static void init(const is_operator &, function_record *r) { r->is_operator = true; }
 };
 
-template <> struct process_attribute<is_new_style_constructor> : process_attribute_default<is_new_style_constructor> {
-    static void init(const is_new_style_constructor &, function_record *r) { r->is_new_style_constructor = true; }
+template <>
+struct process_attribute<is_new_style_constructor>
+    : process_attribute_default<is_new_style_constructor> {
+    static void init(const is_new_style_constructor &, function_record *r) {
+        r->is_new_style_constructor = true;
+    }
 };
 
 inline void check_kw_only_arg(const arg &a, function_record *r) {
-    if (r->args.size() > r->nargs_pos && (!a.name || a.name[0] == '\0'))
-        pybind11_fail("arg(): cannot specify an unnamed argument after a kw_only() annotation or args() argument");
+    if (r->args.size() > r->nargs_pos && (!a.name || a.name[0] == '\0')) {
+        pybind11_fail("arg(): cannot specify an unnamed argument after a kw_only() annotation or "
+                      "args() argument");
+    }
 }
 
 inline void append_self_arg_if_needed(function_record *r) {
-    if (r->is_method && r->args.empty())
-        r->args.emplace_back("self", nullptr, handle(), /*convert=*/ true, /*none=*/ false);
+    if (r->is_method && r->args.empty()) {
+        r->args.emplace_back("self", nullptr, handle(), /*convert=*/true, /*none=*/false);
+    }
 }
 
 /// Process a keyword argument attribute (*without* a default value)
-template <> struct process_attribute<arg> : process_attribute_default<arg> {
+template <>
+struct process_attribute<arg> : process_attribute_default<arg> {
     static void init(const arg &a, function_record *r) {
         append_self_arg_if_needed(r);
         r->args.emplace_back(a.name, nullptr, handle(), !a.flag_noconvert, a.flag_none);
@@ -430,30 +471,38 @@ template <> struct process_attribute<arg> : process_attribute_default<arg> {
 };
 
 /// Process a keyword argument attribute (*with* a default value)
-template <> struct process_attribute<arg_v> : process_attribute_default<arg_v> {
+template <>
+struct process_attribute<arg_v> : process_attribute_default<arg_v> {
     static void init(const arg_v &a, function_record *r) {
-        if (r->is_method && r->args.empty())
-            r->args.emplace_back("self", /*descr=*/ nullptr, /*parent=*/ handle(), /*convert=*/ true, /*none=*/ false);
+        if (r->is_method && r->args.empty()) {
+            r->args.emplace_back(
+                "self", /*descr=*/nullptr, /*parent=*/handle(), /*convert=*/true, /*none=*/false);
+        }
 
         if (!a.value) {
-#if !defined(NDEBUG)
+#if defined(PYBIND11_DETAILED_ERROR_MESSAGES)
             std::string descr("'");
-            if (a.name) descr += std::string(a.name) + ": ";
+            if (a.name) {
+                descr += std::string(a.name) + ": ";
+            }
             descr += a.type + "'";
             if (r->is_method) {
-                if (r->name)
-                    descr += " in method '" + (std::string) str(r->scope) + "." + (std::string) r->name + "'";
-                else
+                if (r->name) {
+                    descr += " in method '" + (std::string) str(r->scope) + "."
+                             + (std::string) r->name + "'";
+                } else {
                     descr += " in method of '" + (std::string) str(r->scope) + "'";
+                }
             } else if (r->name) {
                 descr += " in function '" + (std::string) r->name + "'";
             }
-            pybind11_fail("arg(): could not convert default argument "
-                          + descr + " into a Python object (type not registered yet?)");
+            pybind11_fail("arg(): could not convert default argument " + descr
+                          + " into a Python object (type not registered yet?)");
 #else
             pybind11_fail("arg(): could not convert default argument "
                           "into a Python object (type not registered yet?). "
-                          "Compile in debug mode for more information.");
+                          "#define PYBIND11_DETAILED_ERROR_MESSAGES or compile in debug mode for "
+                          "more information.");
 #endif
         }
         r->args.emplace_back(a.name, a.descr, a.value.inc_ref(), !a.flag_noconvert, a.flag_none);
@@ -463,29 +512,36 @@ template <> struct process_attribute<arg_v> : process_attribute_default<arg_v> {
 };
 
 /// Process a keyword-only-arguments-follow pseudo argument
-template <> struct process_attribute<kw_only> : process_attribute_default<kw_only> {
+template <>
+struct process_attribute<kw_only> : process_attribute_default<kw_only> {
     static void init(const kw_only &, function_record *r) {
         append_self_arg_if_needed(r);
-        if (r->has_args && r->nargs_pos != static_cast<std::uint16_t>(r->args.size()))
-            pybind11_fail("Mismatched args() and kw_only(): they must occur at the same relative argument location (or omit kw_only() entirely)");
+        if (r->has_args && r->nargs_pos != static_cast<std::uint16_t>(r->args.size())) {
+            pybind11_fail("Mismatched args() and kw_only(): they must occur at the same relative "
+                          "argument location (or omit kw_only() entirely)");
+        }
         r->nargs_pos = static_cast<std::uint16_t>(r->args.size());
     }
 };
 
 /// Process a positional-only-argument maker
-template <> struct process_attribute<pos_only> : process_attribute_default<pos_only> {
+template <>
+struct process_attribute<pos_only> : process_attribute_default<pos_only> {
     static void init(const pos_only &, function_record *r) {
         append_self_arg_if_needed(r);
         r->nargs_pos_only = static_cast<std::uint16_t>(r->args.size());
-        if (r->nargs_pos_only > r->nargs_pos)
+        if (r->nargs_pos_only > r->nargs_pos) {
             pybind11_fail("pos_only(): cannot follow a py::args() argument");
-            // It also can't follow a kw_only, but a static_assert in pybind11.h checks that
+        }
+        // It also can't follow a kw_only, but a static_assert in pybind11.h checks that
     }
 };
 
-/// Process a parent class attribute.  Single inheritance only (class_ itself already guarantees that)
+/// Process a parent class attribute.  Single inheritance only (class_ itself already guarantees
+/// that)
 template <typename T>
-struct process_attribute<T, enable_if_t<is_pyobject<T>::value>> : process_attribute_default<handle> {
+struct process_attribute<T, enable_if_t<is_pyobject<T>::value>>
+    : process_attribute_default<handle> {
     static void init(const handle &h, type_record *r) { r->bases.append(h); }
 };
 
@@ -498,7 +554,9 @@ struct process_attribute<base<T>> : process_attribute_default<base<T>> {
 /// Process a multiple inheritance attribute
 template <>
 struct process_attribute<multiple_inheritance> : process_attribute_default<multiple_inheritance> {
-    static void init(const multiple_inheritance &, type_record *r) { r->multiple_inheritance = true; }
+    static void init(const multiple_inheritance &, type_record *r) {
+        r->multiple_inheritance = true;
+    }
 };
 
 template <>
@@ -544,34 +602,41 @@ template <>
 struct process_attribute<arithmetic> : process_attribute_default<arithmetic> {};
 
 template <typename... Ts>
-struct process_attribute<call_guard<Ts...>> : process_attribute_default<call_guard<Ts...>> { };
+struct process_attribute<call_guard<Ts...>> : process_attribute_default<call_guard<Ts...>> {};
 
 /**
  * Process a keep_alive call policy -- invokes keep_alive_impl during the
  * pre-call handler if both Nurse, Patient != 0 and use the post-call handler
  * otherwise
  */
-template <size_t Nurse, size_t Patient> struct process_attribute<keep_alive<Nurse, Patient>> : public process_attribute_default<keep_alive<Nurse, Patient>> {
+template <size_t Nurse, size_t Patient>
+struct process_attribute<keep_alive<Nurse, Patient>>
+    : public process_attribute_default<keep_alive<Nurse, Patient>> {
     template <size_t N = Nurse, size_t P = Patient, enable_if_t<N != 0 && P != 0, int> = 0>
-    static void precall(function_call &call) { keep_alive_impl(Nurse, Patient, call, handle()); }
+    static void precall(function_call &call) {
+        keep_alive_impl(Nurse, Patient, call, handle());
+    }
     template <size_t N = Nurse, size_t P = Patient, enable_if_t<N != 0 && P != 0, int> = 0>
-    static void postcall(function_call &, handle) { }
+    static void postcall(function_call &, handle) {}
     template <size_t N = Nurse, size_t P = Patient, enable_if_t<N == 0 || P == 0, int> = 0>
-    static void precall(function_call &) { }
+    static void precall(function_call &) {}
     template <size_t N = Nurse, size_t P = Patient, enable_if_t<N == 0 || P == 0, int> = 0>
-    static void postcall(function_call &call, handle ret) { keep_alive_impl(Nurse, Patient, call, ret); }
+    static void postcall(function_call &call, handle ret) {
+        keep_alive_impl(Nurse, Patient, call, ret);
+    }
 };
 
 /// Recursively iterate over variadic template arguments
-template <typename... Args> struct process_attributes {
-    static void init(const Args&... args, function_record *r) {
+template <typename... Args>
+struct process_attributes {
+    static void init(const Args &...args, function_record *r) {
         PYBIND11_WORKAROUND_INCORRECT_MSVC_C4100(r);
         PYBIND11_WORKAROUND_INCORRECT_GCC_UNUSED_BUT_SET_PARAMETER(r);
         using expander = int[];
         (void) expander{
             0, ((void) process_attribute<typename std::decay<Args>::type>::init(args, r), 0)...};
     }
-    static void init(const Args&... args, type_record *r) {
+    static void init(const Args &...args, type_record *r) {
         PYBIND11_WORKAROUND_INCORRECT_MSVC_C4100(r);
         PYBIND11_WORKAROUND_INCORRECT_GCC_UNUSED_BUT_SET_PARAMETER(r);
         using expander = int[];
@@ -603,7 +668,7 @@ using extract_guard_t = typename exactly_one_t<is_call_guard, call_guard<>, Extr
 /// Check the number of named arguments at compile time
 template <typename... Extra,
           size_t named = constexpr_sum(std::is_base_of<arg, Extra>::value...),
-          size_t self  = constexpr_sum(std::is_same<is_method, Extra>::value...)>
+          size_t self = constexpr_sum(std::is_same<is_method, Extra>::value...)>
 constexpr bool expected_num_args(size_t nargs, bool has_args, bool has_kwargs) {
     PYBIND11_WORKAROUND_INCORRECT_MSVC_C4100(nargs, has_args, has_kwargs);
     return named == 0 || (self + named + size_t(has_args) + size_t(has_kwargs)) == nargs;
diff --git a/pybind11/include/pybind11/buffer_info.h b/pybind11/include/pybind11/buffer_info.h
index eba68d1aa1..06120d5563 100644
--- a/pybind11/include/pybind11/buffer_info.h
+++ b/pybind11/include/pybind11/buffer_info.h
@@ -19,9 +19,11 @@ PYBIND11_NAMESPACE_BEGIN(detail)
 inline std::vector<ssize_t> c_strides(const std::vector<ssize_t> &shape, ssize_t itemsize) {
     auto ndim = shape.size();
     std::vector<ssize_t> strides(ndim, itemsize);
-    if (ndim > 0)
-        for (size_t i = ndim - 1; i > 0; --i)
+    if (ndim > 0) {
+        for (size_t i = ndim - 1; i > 0; --i) {
             strides[i - 1] = strides[i] * shape[i];
+        }
+    }
     return strides;
 }
 
@@ -29,8 +31,9 @@ inline std::vector<ssize_t> c_strides(const std::vector<ssize_t> &shape, ssize_t
 inline std::vector<ssize_t> f_strides(const std::vector<ssize_t> &shape, ssize_t itemsize) {
     auto ndim = shape.size();
     std::vector<ssize_t> strides(ndim, itemsize);
-    for (size_t i = 1; i < ndim; ++i)
+    for (size_t i = 1; i < ndim; ++i) {
         strides[i] = strides[i - 1] * shape[i - 1];
+    }
     return strides;
 }
 
@@ -41,55 +44,85 @@ struct buffer_info {
     void *ptr = nullptr;          // Pointer to the underlying storage
     ssize_t itemsize = 0;         // Size of individual items in bytes
     ssize_t size = 0;             // Total number of entries
-    std::string format;           // For homogeneous buffers, this should be set to format_descriptor<T>::format()
+    std::string format;           // For homogeneous buffers, this should be set to
+                                  // format_descriptor<T>::format()
     ssize_t ndim = 0;             // Number of dimensions
     std::vector<ssize_t> shape;   // Shape of the tensor (1 entry per dimension)
-    std::vector<ssize_t> strides; // Number of bytes between adjacent entries (for each per dimension)
+    std::vector<ssize_t> strides; // Number of bytes between adjacent entries
+                                  // (for each per dimension)
     bool readonly = false;        // flag to indicate if the underlying storage may be written to
 
     buffer_info() = default;
 
-    buffer_info(void *ptr, ssize_t itemsize, const std::string &format, ssize_t ndim,
-                detail::any_container<ssize_t> shape_in, detail::any_container<ssize_t> strides_in, bool readonly=false)
-    : ptr(ptr), itemsize(itemsize), size(1), format(format), ndim(ndim),
-      shape(std::move(shape_in)), strides(std::move(strides_in)), readonly(readonly) {
-        if (ndim != (ssize_t) shape.size() || ndim != (ssize_t) strides.size())
+    buffer_info(void *ptr,
+                ssize_t itemsize,
+                const std::string &format,
+                ssize_t ndim,
+                detail::any_container<ssize_t> shape_in,
+                detail::any_container<ssize_t> strides_in,
+                bool readonly = false)
+        : ptr(ptr), itemsize(itemsize), size(1), format(format), ndim(ndim),
+          shape(std::move(shape_in)), strides(std::move(strides_in)), readonly(readonly) {
+        if (ndim != (ssize_t) shape.size() || ndim != (ssize_t) strides.size()) {
             pybind11_fail("buffer_info: ndim doesn't match shape and/or strides length");
-        for (size_t i = 0; i < (size_t) ndim; ++i)
+        }
+        for (size_t i = 0; i < (size_t) ndim; ++i) {
             size *= shape[i];
+        }
     }
 
     template <typename T>
-    buffer_info(T *ptr, detail::any_container<ssize_t> shape_in, detail::any_container<ssize_t> strides_in, bool readonly=false)
-    : buffer_info(private_ctr_tag(), ptr, sizeof(T), format_descriptor<T>::format(), static_cast<ssize_t>(shape_in->size()), std::move(shape_in), std::move(strides_in), readonly) { }
-
-    buffer_info(void *ptr, ssize_t itemsize, const std::string &format, ssize_t size, bool readonly=false)
-    : buffer_info(ptr, itemsize, format, 1, {size}, {itemsize}, readonly) { }
+    buffer_info(T *ptr,
+                detail::any_container<ssize_t> shape_in,
+                detail::any_container<ssize_t> strides_in,
+                bool readonly = false)
+        : buffer_info(private_ctr_tag(),
+                      ptr,
+                      sizeof(T),
+                      format_descriptor<T>::format(),
+                      static_cast<ssize_t>(shape_in->size()),
+                      std::move(shape_in),
+                      std::move(strides_in),
+                      readonly) {}
+
+    buffer_info(void *ptr,
+                ssize_t itemsize,
+                const std::string &format,
+                ssize_t size,
+                bool readonly = false)
+        : buffer_info(ptr, itemsize, format, 1, {size}, {itemsize}, readonly) {}
 
     template <typename T>
-    buffer_info(T *ptr, ssize_t size, bool readonly=false)
-    : buffer_info(ptr, sizeof(T), format_descriptor<T>::format(), size, readonly) { }
+    buffer_info(T *ptr, ssize_t size, bool readonly = false)
+        : buffer_info(ptr, sizeof(T), format_descriptor<T>::format(), size, readonly) {}
 
     template <typename T>
-    buffer_info(const T *ptr, ssize_t size, bool readonly=true)
-    : buffer_info(const_cast<T*>(ptr), sizeof(T), format_descriptor<T>::format(), size, readonly) { }
+    buffer_info(const T *ptr, ssize_t size, bool readonly = true)
+        : buffer_info(
+            const_cast<T *>(ptr), sizeof(T), format_descriptor<T>::format(), size, readonly) {}
 
     explicit buffer_info(Py_buffer *view, bool ownview = true)
-    : buffer_info(view->buf, view->itemsize, view->format, view->ndim,
+        : buffer_info(
+            view->buf,
+            view->itemsize,
+            view->format,
+            view->ndim,
             {view->shape, view->shape + view->ndim},
             /* Though buffer::request() requests PyBUF_STRIDES, ctypes objects
              * ignore this flag and return a view with NULL strides.
              * When strides are NULL, build them manually.  */
             view->strides
-            ? std::vector<ssize_t>(view->strides, view->strides + view->ndim)
-            : detail::c_strides({view->shape, view->shape + view->ndim}, view->itemsize),
+                ? std::vector<ssize_t>(view->strides, view->strides + view->ndim)
+                : detail::c_strides({view->shape, view->shape + view->ndim}, view->itemsize),
             (view->readonly != 0)) {
+        // NOLINTNEXTLINE(cppcoreguidelines-prefer-member-initializer)
         this->m_view = view;
+        // NOLINTNEXTLINE(cppcoreguidelines-prefer-member-initializer)
         this->ownview = ownview;
     }
 
     buffer_info(const buffer_info &) = delete;
-    buffer_info& operator=(const buffer_info &) = delete;
+    buffer_info &operator=(const buffer_info &) = delete;
 
     buffer_info(buffer_info &&other) noexcept { (*this) = std::move(other); }
 
@@ -108,17 +141,28 @@ struct buffer_info {
     }
 
     ~buffer_info() {
-        if (m_view && ownview) { PyBuffer_Release(m_view); delete m_view; }
+        if (m_view && ownview) {
+            PyBuffer_Release(m_view);
+            delete m_view;
+        }
     }
 
     Py_buffer *view() const { return m_view; }
     Py_buffer *&view() { return m_view; }
-private:
-    struct private_ctr_tag { };
 
-    buffer_info(private_ctr_tag, void *ptr, ssize_t itemsize, const std::string &format, ssize_t ndim,
-                detail::any_container<ssize_t> &&shape_in, detail::any_container<ssize_t> &&strides_in, bool readonly)
-    : buffer_info(ptr, itemsize, format, ndim, std::move(shape_in), std::move(strides_in), readonly) { }
+private:
+    struct private_ctr_tag {};
+
+    buffer_info(private_ctr_tag,
+                void *ptr,
+                ssize_t itemsize,
+                const std::string &format,
+                ssize_t ndim,
+                detail::any_container<ssize_t> &&shape_in,
+                detail::any_container<ssize_t> &&strides_in,
+                bool readonly)
+        : buffer_info(
+            ptr, itemsize, format, ndim, std::move(shape_in), std::move(strides_in), readonly) {}
 
     Py_buffer *m_view = nullptr;
     bool ownview = false;
@@ -126,17 +170,22 @@ struct buffer_info {
 
 PYBIND11_NAMESPACE_BEGIN(detail)
 
-template <typename T, typename SFINAE = void> struct compare_buffer_info {
-    static bool compare(const buffer_info& b) {
+template <typename T, typename SFINAE = void>
+struct compare_buffer_info {
+    static bool compare(const buffer_info &b) {
         return b.format == format_descriptor<T>::format() && b.itemsize == (ssize_t) sizeof(T);
     }
 };
 
-template <typename T> struct compare_buffer_info<T, detail::enable_if_t<std::is_integral<T>::value>> {
-    static bool compare(const buffer_info& b) {
-        return (size_t) b.itemsize == sizeof(T) && (b.format == format_descriptor<T>::value ||
-            ((sizeof(T) == sizeof(long)) && b.format == (std::is_unsigned<T>::value ? "L" : "l")) ||
-            ((sizeof(T) == sizeof(size_t)) && b.format == (std::is_unsigned<T>::value ? "N" : "n")));
+template <typename T>
+struct compare_buffer_info<T, detail::enable_if_t<std::is_integral<T>::value>> {
+    static bool compare(const buffer_info &b) {
+        return (size_t) b.itemsize == sizeof(T)
+               && (b.format == format_descriptor<T>::value
+                   || ((sizeof(T) == sizeof(long))
+                       && b.format == (std::is_unsigned<T>::value ? "L" : "l"))
+                   || ((sizeof(T) == sizeof(size_t))
+                       && b.format == (std::is_unsigned<T>::value ? "N" : "n")));
     }
 };
 
diff --git a/pybind11/include/pybind11/cast.h b/pybind11/include/pybind11/cast.h
index 165102443c..a0e32281bc 100644
--- a/pybind11/include/pybind11/cast.h
+++ b/pybind11/include/pybind11/cast.h
@@ -10,11 +10,12 @@
 
 #pragma once
 
-#include "pytypes.h"
 #include "detail/common.h"
 #include "detail/descr.h"
 #include "detail/type_caster_base.h"
 #include "detail/typeid.h"
+#include "pytypes.h"
+
 #include <array>
 #include <cstring>
 #include <functional>
@@ -30,41 +31,51 @@
 PYBIND11_NAMESPACE_BEGIN(PYBIND11_NAMESPACE)
 PYBIND11_NAMESPACE_BEGIN(detail)
 
-template <typename type, typename SFINAE = void> class type_caster : public type_caster_base<type> { };
-template <typename type> using make_caster = type_caster<intrinsic_t<type>>;
+template <typename type, typename SFINAE = void>
+class type_caster : public type_caster_base<type> {};
+template <typename type>
+using make_caster = type_caster<intrinsic_t<type>>;
 
 // Shortcut for calling a caster's `cast_op_type` cast operator for casting a type_caster to a T
-template <typename T> typename make_caster<T>::template cast_op_type<T> cast_op(make_caster<T> &caster) {
+template <typename T>
+typename make_caster<T>::template cast_op_type<T> cast_op(make_caster<T> &caster) {
     return caster.operator typename make_caster<T>::template cast_op_type<T>();
 }
-template <typename T> typename make_caster<T>::template cast_op_type<typename std::add_rvalue_reference<T>::type>
+template <typename T>
+typename make_caster<T>::template cast_op_type<typename std::add_rvalue_reference<T>::type>
 cast_op(make_caster<T> &&caster) {
-    return std::move(caster).operator
-        typename make_caster<T>::template cast_op_type<typename std::add_rvalue_reference<T>::type>();
+    return std::move(caster).operator typename make_caster<T>::
+        template cast_op_type<typename std::add_rvalue_reference<T>::type>();
 }
 
-template <typename type> class type_caster<std::reference_wrapper<type>> {
+template <typename type>
+class type_caster<std::reference_wrapper<type>> {
 private:
     using caster_t = make_caster<type>;
     caster_t subcaster;
-    using reference_t = type&;
-    using subcaster_cast_op_type =
-        typename caster_t::template cast_op_type<reference_t>;
-
-    static_assert(std::is_same<typename std::remove_const<type>::type &, subcaster_cast_op_type>::value ||
-                  std::is_same<reference_t, subcaster_cast_op_type>::value,
-                  "std::reference_wrapper<T> caster requires T to have a caster with an "
-                  "`operator T &()` or `operator const T &()`");
+    using reference_t = type &;
+    using subcaster_cast_op_type = typename caster_t::template cast_op_type<reference_t>;
+
+    static_assert(
+        std::is_same<typename std::remove_const<type>::type &, subcaster_cast_op_type>::value
+            || std::is_same<reference_t, subcaster_cast_op_type>::value,
+        "std::reference_wrapper<T> caster requires T to have a caster with an "
+        "`operator T &()` or `operator const T &()`");
+
 public:
     bool load(handle src, bool convert) { return subcaster.load(src, convert); }
     static constexpr auto name = caster_t::name;
-    static handle cast(const std::reference_wrapper<type> &src, return_value_policy policy, handle parent) {
+    static handle
+    cast(const std::reference_wrapper<type> &src, return_value_policy policy, handle parent) {
         // It is definitely wrong to take ownership of this pointer, so mask that rvp
-        if (policy == return_value_policy::take_ownership || policy == return_value_policy::automatic)
+        if (policy == return_value_policy::take_ownership
+            || policy == return_value_policy::automatic) {
             policy = return_value_policy::automatic_reference;
+        }
         return caster_t::cast(&src.get(), policy, parent);
     }
-    template <typename T> using cast_op_type = std::reference_wrapper<type>;
+    template <typename T>
+    using cast_op_type = std::reference_wrapper<type>;
     explicit operator std::reference_wrapper<type>() { return cast_op<type &>(subcaster); }
 };
 
@@ -74,11 +85,15 @@ protected:
                                                                                                   \
 public:                                                                                           \
     static constexpr auto name = py_name;                                                         \
-    template <typename T_, enable_if_t<std::is_same<type, remove_cv_t<T_>>::value, int> = 0>      \
-    static handle cast(T_ *src, return_value_policy policy, handle parent) {                      \
+    template <typename T_,                                                                        \
+              ::pybind11::detail::enable_if_t<                                                    \
+                  std::is_same<type, ::pybind11::detail::remove_cv_t<T_>>::value,                 \
+                  int> = 0>                                                                       \
+    static ::pybind11::handle cast(                                                               \
+        T_ *src, ::pybind11::return_value_policy policy, ::pybind11::handle parent) {             \
         if (!src)                                                                                 \
-            return none().release();                                                              \
-        if (policy == return_value_policy::take_ownership) {                                      \
+            return ::pybind11::none().release();                                                  \
+        if (policy == ::pybind11::return_value_policy::take_ownership) {                          \
             auto h = cast(std::move(*src), policy, parent);                                       \
             delete src;                                                                           \
             return h;                                                                             \
@@ -89,31 +104,33 @@ public:
     operator type &() { return value; }                /* NOLINT(bugprone-macro-parentheses) */   \
     operator type &&() && { return std::move(value); } /* NOLINT(bugprone-macro-parentheses) */   \
     template <typename T_>                                                                        \
-    using cast_op_type = pybind11::detail::movable_cast_op_type<T_>
+    using cast_op_type = ::pybind11::detail::movable_cast_op_type<T_>
 
-template <typename CharT> using is_std_char_type = any_of<
-    std::is_same<CharT, char>, /* std::string */
+template <typename CharT>
+using is_std_char_type = any_of<std::is_same<CharT, char>, /* std::string */
 #if defined(PYBIND11_HAS_U8STRING)
-    std::is_same<CharT, char8_t>, /* std::u8string */
+                                std::is_same<CharT, char8_t>, /* std::u8string */
 #endif
-    std::is_same<CharT, char16_t>, /* std::u16string */
-    std::is_same<CharT, char32_t>, /* std::u32string */
-    std::is_same<CharT, wchar_t> /* std::wstring */
->;
-
+                                std::is_same<CharT, char16_t>, /* std::u16string */
+                                std::is_same<CharT, char32_t>, /* std::u32string */
+                                std::is_same<CharT, wchar_t>   /* std::wstring */
+                                >;
 
 template <typename T>
 struct type_caster<T, enable_if_t<std::is_arithmetic<T>::value && !is_std_char_type<T>::value>> {
     using _py_type_0 = conditional_t<sizeof(T) <= sizeof(long), long, long long>;
-    using _py_type_1 = conditional_t<std::is_signed<T>::value, _py_type_0, typename std::make_unsigned<_py_type_0>::type>;
+    using _py_type_1 = conditional_t<std::is_signed<T>::value,
+                                     _py_type_0,
+                                     typename std::make_unsigned<_py_type_0>::type>;
     using py_type = conditional_t<std::is_floating_point<T>::value, double, _py_type_1>;
-public:
 
+public:
     bool load(handle src, bool convert) {
         py_type py_value;
 
-        if (!src)
+        if (!src) {
             return false;
+        }
 
 #if !defined(PYPY_VERSION)
         auto index_check = [](PyObject *o) { return PyIndex_Check(o); };
@@ -124,10 +141,11 @@ struct type_caster<T, enable_if_t<std::is_arithmetic<T>::value && !is_std_char_t
 #endif
 
         if (std::is_floating_point<T>::value) {
-            if (convert || PyFloat_Check(src.ptr()))
+            if (convert || PyFloat_Check(src.ptr())) {
                 py_value = (py_type) PyFloat_AsDouble(src.ptr());
-            else
+            } else {
                 return false;
+            }
         } else if (PyFloat_Check(src.ptr())
                    || (!convert && !PYBIND11_LONG_CHECK(src.ptr()) && !index_check(src.ptr()))) {
             return false;
@@ -136,14 +154,13 @@ struct type_caster<T, enable_if_t<std::is_arithmetic<T>::value && !is_std_char_t
             // PyPy: 7.3.7's 3.8 does not implement PyLong_*'s __index__ calls.
 #if PY_VERSION_HEX < 0x03080000 || defined(PYPY_VERSION)
             object index;
-            if (!PYBIND11_LONG_CHECK(src.ptr())) {  // So: index_check(src.ptr())
+            if (!PYBIND11_LONG_CHECK(src.ptr())) { // So: index_check(src.ptr())
                 index = reinterpret_steal<object>(PyNumber_Index(src.ptr()));
                 if (!index) {
                     PyErr_Clear();
                     if (!convert)
                         return false;
-                }
-                else {
+                } else {
                     src_or_index = index;
                 }
             }
@@ -152,8 +169,8 @@ struct type_caster<T, enable_if_t<std::is_arithmetic<T>::value && !is_std_char_t
                 py_value = as_unsigned<py_type>(src_or_index.ptr());
             } else { // signed integer:
                 py_value = sizeof(T) <= sizeof(long)
-                    ? (py_type) PyLong_AsLong(src_or_index.ptr())
-                    : (py_type) PYBIND11_LONG_AS_LONGLONG(src_or_index.ptr());
+                               ? (py_type) PyLong_AsLong(src_or_index.ptr())
+                               : (py_type) PYBIND11_LONG_AS_LONGLONG(src_or_index.ptr());
             }
         }
 
@@ -162,12 +179,14 @@ struct type_caster<T, enable_if_t<std::is_arithmetic<T>::value && !is_std_char_t
 
         // Check to see if the conversion is valid (integers should match exactly)
         // Signed/unsigned checks happen elsewhere
-        if (py_err || (std::is_integral<T>::value && sizeof(py_type) != sizeof(T) && py_value != (py_type) (T) py_value)) {
+        if (py_err
+            || (std::is_integral<T>::value && sizeof(py_type) != sizeof(T)
+                && py_value != (py_type) (T) py_value)) {
             PyErr_Clear();
             if (py_err && convert && (PyNumber_Check(src.ptr()) != 0)) {
                 auto tmp = reinterpret_steal<object>(std::is_floating_point<T>::value
-                                                     ? PyNumber_Float(src.ptr())
-                                                     : PyNumber_Long(src.ptr()));
+                                                         ? PyNumber_Float(src.ptr())
+                                                         : PyNumber_Long(src.ptr()));
                 PyErr_Clear();
                 return load(tmp, false);
             }
@@ -178,32 +197,40 @@ struct type_caster<T, enable_if_t<std::is_arithmetic<T>::value && !is_std_char_t
         return true;
     }
 
-    template<typename U = T>
+    template <typename U = T>
     static typename std::enable_if<std::is_floating_point<U>::value, handle>::type
     cast(U src, return_value_policy /* policy */, handle /* parent */) {
         return PyFloat_FromDouble((double) src);
     }
 
-    template<typename U = T>
-    static typename std::enable_if<!std::is_floating_point<U>::value && std::is_signed<U>::value && (sizeof(U) <= sizeof(long)), handle>::type
+    template <typename U = T>
+    static typename std::enable_if<!std::is_floating_point<U>::value && std::is_signed<U>::value
+                                       && (sizeof(U) <= sizeof(long)),
+                                   handle>::type
     cast(U src, return_value_policy /* policy */, handle /* parent */) {
         return PYBIND11_LONG_FROM_SIGNED((long) src);
     }
 
-    template<typename U = T>
-    static typename std::enable_if<!std::is_floating_point<U>::value && std::is_unsigned<U>::value && (sizeof(U) <= sizeof(unsigned long)), handle>::type
+    template <typename U = T>
+    static typename std::enable_if<!std::is_floating_point<U>::value && std::is_unsigned<U>::value
+                                       && (sizeof(U) <= sizeof(unsigned long)),
+                                   handle>::type
     cast(U src, return_value_policy /* policy */, handle /* parent */) {
         return PYBIND11_LONG_FROM_UNSIGNED((unsigned long) src);
     }
 
-    template<typename U = T>
-    static typename std::enable_if<!std::is_floating_point<U>::value && std::is_signed<U>::value && (sizeof(U) > sizeof(long)), handle>::type
+    template <typename U = T>
+    static typename std::enable_if<!std::is_floating_point<U>::value && std::is_signed<U>::value
+                                       && (sizeof(U) > sizeof(long)),
+                                   handle>::type
     cast(U src, return_value_policy /* policy */, handle /* parent */) {
         return PyLong_FromLongLong((long long) src);
     }
 
-    template<typename U = T>
-    static typename std::enable_if<!std::is_floating_point<U>::value && std::is_unsigned<U>::value && (sizeof(U) > sizeof(unsigned long)), handle>::type
+    template <typename U = T>
+    static typename std::enable_if<!std::is_floating_point<U>::value && std::is_unsigned<U>::value
+                                       && (sizeof(U) > sizeof(unsigned long)),
+                                   handle>::type
     cast(U src, return_value_policy /* policy */, handle /* parent */) {
         return PyLong_FromUnsignedLongLong((unsigned long long) src);
     }
@@ -211,11 +238,13 @@ struct type_caster<T, enable_if_t<std::is_arithmetic<T>::value && !is_std_char_t
     PYBIND11_TYPE_CASTER(T, const_name<std::is_integral<T>::value>("int", "float"));
 };
 
-template<typename T> struct void_caster {
+template <typename T>
+struct void_caster {
 public:
     bool load(handle src, bool) {
-        if (src && src.is_none())
+        if (src && src.is_none()) {
             return true;
+        }
         return false;
     }
     static handle cast(T, return_value_policy /* policy */, handle /* parent */) {
@@ -224,9 +253,11 @@ template<typename T> struct void_caster {
     PYBIND11_TYPE_CASTER(T, const_name("None"));
 };
 
-template <> class type_caster<void_type> : public void_caster<void_type> {};
+template <>
+class type_caster<void_type> : public void_caster<void_type> {};
 
-template <> class type_caster<void> : public type_caster<void_type> {
+template <>
+class type_caster<void> : public type_caster<void_type> {
 public:
     using type_caster<void_type>::cast;
 
@@ -246,7 +277,7 @@ template <> class type_caster<void> : public type_caster<void_type> {
         }
 
         /* Check if this is a C++ type */
-        auto &bases = all_type_info((PyTypeObject *) type::handle_of(h).ptr());
+        const auto &bases = all_type_info((PyTypeObject *) type::handle_of(h).ptr());
         if (bases.size() == 1) { // Only allowing loading from a single-value type
             value = values_and_holders(reinterpret_cast<instance *>(h.ptr())).begin()->value_ptr();
             return true;
@@ -257,24 +288,31 @@ template <> class type_caster<void> : public type_caster<void_type> {
     }
 
     static handle cast(const void *ptr, return_value_policy /* policy */, handle /* parent */) {
-        if (ptr)
+        if (ptr) {
             return capsule(ptr).release();
+        }
         return none().inc_ref();
     }
 
-    template <typename T> using cast_op_type = void*&;
+    template <typename T>
+    using cast_op_type = void *&;
     explicit operator void *&() { return value; }
     static constexpr auto name = const_name("capsule");
+
 private:
     void *value = nullptr;
 };
 
-template <> class type_caster<std::nullptr_t> : public void_caster<std::nullptr_t> { };
+template <>
+class type_caster<std::nullptr_t> : public void_caster<std::nullptr_t> {};
 
-template <> class type_caster<bool> {
+template <>
+class type_caster<bool> {
 public:
     bool load(handle src, bool convert) {
-        if (!src) return false;
+        if (!src) {
+            return false;
+        }
         if (src.ptr() == Py_True) {
             value = true;
             return true;
@@ -288,22 +326,22 @@ template <> class type_caster<bool> {
 
             Py_ssize_t res = -1;
             if (src.is_none()) {
-                res = 0;  // None is implicitly converted to False
+                res = 0; // None is implicitly converted to False
             }
-            #if defined(PYPY_VERSION)
-            // On PyPy, check that "__bool__" (or "__nonzero__" on Python 2.7) attr exists
+#if defined(PYPY_VERSION)
+            // On PyPy, check that "__bool__" attr exists
             else if (hasattr(src, PYBIND11_BOOL_ATTR)) {
                 res = PyObject_IsTrue(src.ptr());
             }
-            #else
+#else
             // Alternate approach for CPython: this does the same as the above, but optimized
             // using the CPython API so as to avoid an unneeded attribute lookup.
-            else if (auto tp_as_number = src.ptr()->ob_type->tp_as_number) {
+            else if (auto *tp_as_number = src.ptr()->ob_type->tp_as_number) {
                 if (PYBIND11_NB_BOOL(tp_as_number)) {
                     res = (*PYBIND11_NB_BOOL(tp_as_number))(src.ptr());
                 }
             }
-            #endif
+#endif
             if (res == 0 || res == 1) {
                 value = (res != 0);
                 return true;
@@ -319,51 +357,38 @@ template <> class type_caster<bool> {
 };
 
 // Helper class for UTF-{8,16,32} C++ stl strings:
-template <typename StringType, bool IsView = false> struct string_caster {
+template <typename StringType, bool IsView = false>
+struct string_caster {
     using CharT = typename StringType::value_type;
 
     // Simplify life by being able to assume standard char sizes (the standard only guarantees
     // minimums, but Python requires exact sizes)
-    static_assert(!std::is_same<CharT, char>::value || sizeof(CharT) == 1, "Unsupported char size != 1");
+    static_assert(!std::is_same<CharT, char>::value || sizeof(CharT) == 1,
+                  "Unsupported char size != 1");
 #if defined(PYBIND11_HAS_U8STRING)
-    static_assert(!std::is_same<CharT, char8_t>::value || sizeof(CharT) == 1, "Unsupported char8_t size != 1");
+    static_assert(!std::is_same<CharT, char8_t>::value || sizeof(CharT) == 1,
+                  "Unsupported char8_t size != 1");
 #endif
-    static_assert(!std::is_same<CharT, char16_t>::value || sizeof(CharT) == 2, "Unsupported char16_t size != 2");
-    static_assert(!std::is_same<CharT, char32_t>::value || sizeof(CharT) == 4, "Unsupported char32_t size != 4");
+    static_assert(!std::is_same<CharT, char16_t>::value || sizeof(CharT) == 2,
+                  "Unsupported char16_t size != 2");
+    static_assert(!std::is_same<CharT, char32_t>::value || sizeof(CharT) == 4,
+                  "Unsupported char32_t size != 4");
     // wchar_t can be either 16 bits (Windows) or 32 (everywhere else)
     static_assert(!std::is_same<CharT, wchar_t>::value || sizeof(CharT) == 2 || sizeof(CharT) == 4,
-            "Unsupported wchar_t size != 2/4");
+                  "Unsupported wchar_t size != 2/4");
     static constexpr size_t UTF_N = 8 * sizeof(CharT);
 
     bool load(handle src, bool) {
-#if PY_MAJOR_VERSION < 3
-        object temp;
-#endif
         handle load_src = src;
         if (!src) {
             return false;
         }
         if (!PyUnicode_Check(load_src.ptr())) {
-#if PY_MAJOR_VERSION >= 3
-            return load_bytes(load_src);
-#else
-            if (std::is_same<CharT, char>::value) {
-                return load_bytes(load_src);
-            }
-
-            // The below is a guaranteed failure in Python 3 when PyUnicode_Check returns false
-            if (!PYBIND11_BYTES_CHECK(load_src.ptr()))
-                return false;
-
-            temp = reinterpret_steal<object>(PyUnicode_FromObject(load_src.ptr()));
-            if (!temp) { PyErr_Clear(); return false; }
-            load_src = temp;
-#endif
+            return load_raw(load_src);
         }
 
-#if PY_VERSION_HEX >= 0x03030000
-        // On Python >= 3.3, for UTF-8 we avoid the need for a temporary `bytes`
-        // object by using `PyUnicode_AsUTF8AndSize`.
+        // For UTF-8 we avoid the need for a temporary `bytes` object by using
+        // `PyUnicode_AsUTF8AndSize`.
         if (PYBIND11_SILENCE_MSVC_C4127(UTF_N == 8)) {
             Py_ssize_t size = -1;
             const auto *buffer
@@ -375,13 +400,20 @@ template <typename StringType, bool IsView = false> struct string_caster {
             value = StringType(buffer, static_cast<size_t>(size));
             return true;
         }
-#endif
 
-        auto utfNbytes = reinterpret_steal<object>(PyUnicode_AsEncodedString(
-            load_src.ptr(), UTF_N == 8 ? "utf-8" : UTF_N == 16 ? "utf-16" : "utf-32", nullptr));
-        if (!utfNbytes) { PyErr_Clear(); return false; }
+        auto utfNbytes
+            = reinterpret_steal<object>(PyUnicode_AsEncodedString(load_src.ptr(),
+                                                                  UTF_N == 8    ? "utf-8"
+                                                                  : UTF_N == 16 ? "utf-16"
+                                                                                : "utf-32",
+                                                                  nullptr));
+        if (!utfNbytes) {
+            PyErr_Clear();
+            return false;
+        }
 
-        const auto *buffer = reinterpret_cast<const CharT *>(PYBIND11_BYTES_AS_STRING(utfNbytes.ptr()));
+        const auto *buffer
+            = reinterpret_cast<const CharT *>(PYBIND11_BYTES_AS_STRING(utfNbytes.ptr()));
         size_t length = (size_t) PYBIND11_BYTES_SIZE(utfNbytes.ptr()) / sizeof(CharT);
         // Skip BOM for UTF-16/32
         if (PYBIND11_SILENCE_MSVC_C4127(UTF_N > 8)) {
@@ -391,17 +423,21 @@ template <typename StringType, bool IsView = false> struct string_caster {
         value = StringType(buffer, length);
 
         // If we're loading a string_view we need to keep the encoded Python object alive:
-        if (IsView)
+        if (IsView) {
             loader_life_support::add_patient(utfNbytes);
+        }
 
         return true;
     }
 
-    static handle cast(const StringType &src, return_value_policy /* policy */, handle /* parent */) {
+    static handle
+    cast(const StringType &src, return_value_policy /* policy */, handle /* parent */) {
         const char *buffer = reinterpret_cast<const char *>(src.data());
         auto nbytes = ssize_t(src.size() * sizeof(CharT));
         handle s = decode_utfN(buffer, nbytes);
-        if (!s) throw error_already_set();
+        if (!s) {
+            throw error_already_set();
+        }
         return s;
     }
 
@@ -410,63 +446,89 @@ template <typename StringType, bool IsView = false> struct string_caster {
 private:
     static handle decode_utfN(const char *buffer, ssize_t nbytes) {
 #if !defined(PYPY_VERSION)
-        return
-            UTF_N == 8  ? PyUnicode_DecodeUTF8(buffer, nbytes, nullptr) :
-            UTF_N == 16 ? PyUnicode_DecodeUTF16(buffer, nbytes, nullptr, nullptr) :
-                          PyUnicode_DecodeUTF32(buffer, nbytes, nullptr, nullptr);
+        return UTF_N == 8    ? PyUnicode_DecodeUTF8(buffer, nbytes, nullptr)
+               : UTF_N == 16 ? PyUnicode_DecodeUTF16(buffer, nbytes, nullptr, nullptr)
+                             : PyUnicode_DecodeUTF32(buffer, nbytes, nullptr, nullptr);
 #else
-        // PyPy segfaults when on PyUnicode_DecodeUTF16 (and possibly on PyUnicode_DecodeUTF32 as well),
-        // so bypass the whole thing by just passing the encoding as a string value, which works properly:
-        return PyUnicode_Decode(buffer, nbytes, UTF_N == 8 ? "utf-8" : UTF_N == 16 ? "utf-16" : "utf-32", nullptr);
+        // PyPy segfaults when on PyUnicode_DecodeUTF16 (and possibly on PyUnicode_DecodeUTF32 as
+        // well), so bypass the whole thing by just passing the encoding as a string value, which
+        // works properly:
+        return PyUnicode_Decode(buffer,
+                                nbytes,
+                                UTF_N == 8    ? "utf-8"
+                                : UTF_N == 16 ? "utf-16"
+                                              : "utf-32",
+                                nullptr);
 #endif
     }
 
-    // When loading into a std::string or char*, accept a bytes object as-is (i.e.
+    // When loading into a std::string or char*, accept a bytes/bytearray object as-is (i.e.
     // without any encoding/decoding attempt).  For other C++ char sizes this is a no-op.
     // which supports loading a unicode from a str, doesn't take this path.
     template <typename C = CharT>
-    bool load_bytes(enable_if_t<std::is_same<C, char>::value, handle> src) {
+    bool load_raw(enable_if_t<std::is_same<C, char>::value, handle> src) {
         if (PYBIND11_BYTES_CHECK(src.ptr())) {
-            // We were passed a Python 3 raw bytes; accept it into a std::string or char*
+            // We were passed raw bytes; accept it into a std::string or char*
             // without any encoding attempt.
             const char *bytes = PYBIND11_BYTES_AS_STRING(src.ptr());
-            if (bytes) {
-                value = StringType(bytes, (size_t) PYBIND11_BYTES_SIZE(src.ptr()));
-                return true;
+            if (!bytes) {
+                pybind11_fail("Unexpected PYBIND11_BYTES_AS_STRING() failure.");
             }
+            value = StringType(bytes, (size_t) PYBIND11_BYTES_SIZE(src.ptr()));
+            return true;
+        }
+        if (PyByteArray_Check(src.ptr())) {
+            // We were passed a bytearray; accept it into a std::string or char*
+            // without any encoding attempt.
+            const char *bytearray = PyByteArray_AsString(src.ptr());
+            if (!bytearray) {
+                pybind11_fail("Unexpected PyByteArray_AsString() failure.");
+            }
+            value = StringType(bytearray, (size_t) PyByteArray_Size(src.ptr()));
+            return true;
         }
 
         return false;
     }
 
     template <typename C = CharT>
-    bool load_bytes(enable_if_t<!std::is_same<C, char>::value, handle>) { return false; }
+    bool load_raw(enable_if_t<!std::is_same<C, char>::value, handle>) {
+        return false;
+    }
 };
 
 template <typename CharT, class Traits, class Allocator>
-struct type_caster<std::basic_string<CharT, Traits, Allocator>, enable_if_t<is_std_char_type<CharT>::value>>
+struct type_caster<std::basic_string<CharT, Traits, Allocator>,
+                   enable_if_t<is_std_char_type<CharT>::value>>
     : string_caster<std::basic_string<CharT, Traits, Allocator>> {};
 
 #ifdef PYBIND11_HAS_STRING_VIEW
 template <typename CharT, class Traits>
-struct type_caster<std::basic_string_view<CharT, Traits>, enable_if_t<is_std_char_type<CharT>::value>>
+struct type_caster<std::basic_string_view<CharT, Traits>,
+                   enable_if_t<is_std_char_type<CharT>::value>>
     : string_caster<std::basic_string_view<CharT, Traits>, true> {};
 #endif
 
 // Type caster for C-style strings.  We basically use a std::string type caster, but also add the
 // ability to use None as a nullptr char* (which the string caster doesn't allow).
-template <typename CharT> struct type_caster<CharT, enable_if_t<is_std_char_type<CharT>::value>> {
+template <typename CharT>
+struct type_caster<CharT, enable_if_t<is_std_char_type<CharT>::value>> {
     using StringType = std::basic_string<CharT>;
-    using StringCaster = type_caster<StringType>;
+    using StringCaster = make_caster<StringType>;
     StringCaster str_caster;
     bool none = false;
     CharT one_char = 0;
+
 public:
     bool load(handle src, bool convert) {
-        if (!src) return false;
+        if (!src) {
+            return false;
+        }
         if (src.is_none()) {
             // Defer accepting None to other overloads (if we aren't in convert mode):
-            if (!convert) return false;
+            if (!convert) {
+                return false;
+            }
             none = true;
             return true;
         }
@@ -474,14 +536,18 @@ template <typename CharT> struct type_caster<CharT, enable_if_t<is_std_char_type
     }
 
     static handle cast(const CharT *src, return_value_policy policy, handle parent) {
-        if (src == nullptr) return pybind11::none().inc_ref();
+        if (src == nullptr) {
+            return pybind11::none().inc_ref();
+        }
         return StringCaster::cast(StringType(src), policy, parent);
     }
 
     static handle cast(CharT src, return_value_policy policy, handle parent) {
         if (std::is_same<char, CharT>::value) {
             handle s = PyUnicode_DecodeLatin1((const char *) &src, 1, nullptr);
-            if (!s) throw error_already_set();
+            if (!s) {
+                throw error_already_set();
+            }
             return s;
         }
         return StringCaster::cast(StringType(1, src), policy, parent);
@@ -491,19 +557,21 @@ template <typename CharT> struct type_caster<CharT, enable_if_t<is_std_char_type
         return none ? nullptr : const_cast<CharT *>(static_cast<StringType &>(str_caster).c_str());
     }
     explicit operator CharT &() {
-        if (none)
+        if (none) {
             throw value_error("Cannot convert None to a character");
+        }
 
         auto &value = static_cast<StringType &>(str_caster);
         size_t str_len = value.size();
-        if (str_len == 0)
+        if (str_len == 0) {
             throw value_error("Cannot convert empty string to a character");
+        }
 
         // If we're in UTF-8 mode, we have two possible failures: one for a unicode character that
-        // is too high, and one for multiple unicode characters (caught later), so we need to figure
-        // out how long the first encoded character is in bytes to distinguish between these two
-        // errors.  We also allow want to allow unicode characters U+0080 through U+00FF, as those
-        // can fit into a single char value.
+        // is too high, and one for multiple unicode characters (caught later), so we need to
+        // figure out how long the first encoded character is in bytes to distinguish between these
+        // two errors.  We also allow want to allow unicode characters U+0080 through U+00FF, as
+        // those can fit into a single char value.
         if (PYBIND11_SILENCE_MSVC_C4127(StringCaster::UTF_N == 8) && str_len > 1 && str_len <= 4) {
             auto v0 = static_cast<unsigned char>(value[0]);
             // low bits only: 0-127
@@ -518,7 +586,8 @@ template <typename CharT> struct type_caster<CharT, enable_if_t<is_std_char_type
             if (char0_bytes == str_len) {
                 // If we have a 128-255 value, we can decode it into a single char:
                 if (char0_bytes == 2 && (v0 & 0xFC) == 0xC0) { // 0x110000xx 0x10xxxxxx
-                    one_char = static_cast<CharT>(((v0 & 3) << 6) + (static_cast<unsigned char>(value[1]) & 0x3F));
+                    one_char = static_cast<CharT>(((v0 & 3) << 6)
+                                                  + (static_cast<unsigned char>(value[1]) & 0x3F));
                     return one_char;
                 }
                 // Otherwise we have a single character, but it's > U+00FF
@@ -531,34 +600,40 @@ template <typename CharT> struct type_caster<CharT, enable_if_t<is_std_char_type
         // string was too long" error).
         else if (PYBIND11_SILENCE_MSVC_C4127(StringCaster::UTF_N == 16) && str_len == 2) {
             one_char = static_cast<CharT>(value[0]);
-            if (one_char >= 0xD800 && one_char < 0xE000)
+            if (one_char >= 0xD800 && one_char < 0xE000) {
                 throw value_error("Character code point not in range(0x10000)");
+            }
         }
 
-        if (str_len != 1)
+        if (str_len != 1) {
             throw value_error("Expected a character, but multi-character string found");
+        }
 
         one_char = value[0];
         return one_char;
     }
 
     static constexpr auto name = const_name(PYBIND11_STRING_NAME);
-    template <typename _T> using cast_op_type = pybind11::detail::cast_op_type<_T>;
+    template <typename _T>
+    using cast_op_type = pybind11::detail::cast_op_type<_T>;
 };
 
 // Base implementation for std::tuple and std::pair
-template <template<typename...> class Tuple, typename... Ts> class tuple_caster {
+template <template <typename...> class Tuple, typename... Ts>
+class tuple_caster {
     using type = Tuple<Ts...>;
     static constexpr auto size = sizeof...(Ts);
     using indices = make_index_sequence<size>;
-public:
 
+public:
     bool load(handle src, bool convert) {
-        if (!isinstance<sequence>(src))
+        if (!isinstance<sequence>(src)) {
             return false;
+        }
         const auto seq = reinterpret_borrow<sequence>(src);
-        if (seq.size() != size)
+        if (seq.size() != size) {
             return false;
+        }
         return load_impl(seq, convert, indices{});
     }
 
@@ -570,7 +645,9 @@ template <template<typename...> class Tuple, typename... Ts> class tuple_caster
     // copied from the PYBIND11_TYPE_CASTER macro
     template <typename T>
     static handle cast(T *src, return_value_policy policy, handle parent) {
-        if (!src) return none().release();
+        if (!src) {
+            return none().release();
+        }
         if (policy == return_value_policy::take_ownership) {
             auto h = cast(std::move(*src), policy, parent);
             delete src;
@@ -579,60 +656,72 @@ template <template<typename...> class Tuple, typename... Ts> class tuple_caster
         return cast(*src, policy, parent);
     }
 
-    static constexpr auto name = const_name("Tuple[") + concat(make_caster<Ts>::name...) + const_name("]");
+    static constexpr auto name
+        = const_name("Tuple[") + concat(make_caster<Ts>::name...) + const_name("]");
 
-    template <typename T> using cast_op_type = type;
+    template <typename T>
+    using cast_op_type = type;
 
     explicit operator type() & { return implicit_cast(indices{}); }
     explicit operator type() && { return std::move(*this).implicit_cast(indices{}); }
 
 protected:
     template <size_t... Is>
-    type implicit_cast(index_sequence<Is...>) & { return type(cast_op<Ts>(std::get<Is>(subcasters))...); }
+    type implicit_cast(index_sequence<Is...>) & {
+        return type(cast_op<Ts>(std::get<Is>(subcasters))...);
+    }
     template <size_t... Is>
-    type implicit_cast(index_sequence<Is...>) && { return type(cast_op<Ts>(std::move(std::get<Is>(subcasters)))...); }
+    type implicit_cast(index_sequence<Is...>) && {
+        return type(cast_op<Ts>(std::move(std::get<Is>(subcasters)))...);
+    }
 
     static constexpr bool load_impl(const sequence &, bool, index_sequence<>) { return true; }
 
     template <size_t... Is>
     bool load_impl(const sequence &seq, bool convert, index_sequence<Is...>) {
 #ifdef __cpp_fold_expressions
-        if ((... || !std::get<Is>(subcasters).load(seq[Is], convert)))
+        if ((... || !std::get<Is>(subcasters).load(seq[Is], convert))) {
             return false;
+        }
 #else
-        for (bool r : {std::get<Is>(subcasters).load(seq[Is], convert)...})
-            if (!r)
+        for (bool r : {std::get<Is>(subcasters).load(seq[Is], convert)...}) {
+            if (!r) {
                 return false;
+            }
+        }
 #endif
         return true;
     }
 
     /* Implementation: Convert a C++ tuple into a Python tuple */
     template <typename T, size_t... Is>
-    static handle cast_impl(T &&src, return_value_policy policy, handle parent, index_sequence<Is...>) {
+    static handle
+    cast_impl(T &&src, return_value_policy policy, handle parent, index_sequence<Is...>) {
         PYBIND11_WORKAROUND_INCORRECT_MSVC_C4100(src, policy, parent);
         PYBIND11_WORKAROUND_INCORRECT_GCC_UNUSED_BUT_SET_PARAMETER(policy, parent);
-        std::array<object, size> entries{{
-            reinterpret_steal<object>(make_caster<Ts>::cast(std::get<Is>(std::forward<T>(src)), policy, parent))...
-        }};
-        for (const auto &entry: entries)
-            if (!entry)
+        std::array<object, size> entries{{reinterpret_steal<object>(
+            make_caster<Ts>::cast(std::get<Is>(std::forward<T>(src)), policy, parent))...}};
+        for (const auto &entry : entries) {
+            if (!entry) {
                 return handle();
+            }
+        }
         tuple result(size);
         int counter = 0;
-        for (auto & entry: entries)
+        for (auto &entry : entries) {
             PyTuple_SET_ITEM(result.ptr(), counter++, entry.release().ptr());
+        }
         return result.release();
     }
 
     Tuple<make_caster<Ts>...> subcasters;
 };
 
-template <typename T1, typename T2> class type_caster<std::pair<T1, T2>>
-    : public tuple_caster<std::pair, T1, T2> {};
+template <typename T1, typename T2>
+class type_caster<std::pair<T1, T2>> : public tuple_caster<std::pair, T1, T2> {};
 
-template <typename... Ts> class type_caster<std::tuple<Ts...>>
-    : public tuple_caster<std::tuple, Ts...> {};
+template <typename... Ts>
+class type_caster<std::tuple<Ts...>> : public tuple_caster<std::tuple, Ts...> {};
 
 /// Helper class which abstracts away certain actions. Users can provide specializations for
 /// custom holders, but it's only necessary if the type has a non-standard interface.
@@ -651,7 +740,7 @@ struct copyable_holder_caster : public type_caster_base<type> {
 public:
     using base = type_caster_base<type>;
     static_assert(std::is_base_of<base, type_caster<type>>::value,
-            "Holder classes are only supported for custom types");
+                  "Holder classes are only supported for custom types");
     using base::base;
     using base::cast;
     using base::typeinfo;
@@ -661,12 +750,12 @@ struct copyable_holder_caster : public type_caster_base<type> {
         return base::template load_impl<copyable_holder_caster<type, holder_type>>(src, convert);
     }
 
-    explicit operator type*() { return this->value; }
+    explicit operator type *() { return this->value; }
     // static_cast works around compiler error with MSVC 17 and CUDA 10.2
     // see issue #2180
-    explicit operator type&() { return *(static_cast<type *>(this->value)); }
-    explicit operator holder_type*() { return std::addressof(holder); }
-    explicit operator holder_type&() { return holder; }
+    explicit operator type &() { return *(static_cast<type *>(this->value)); }
+    explicit operator holder_type *() { return std::addressof(holder); }
+    explicit operator holder_type &() { return holder; }
 
     static handle cast(const holder_type &src, return_value_policy, handle) {
         const auto *ptr = holder_helper<holder_type>::get(src);
@@ -676,8 +765,9 @@ struct copyable_holder_caster : public type_caster_base<type> {
 protected:
     friend class type_caster_generic;
     void check_holder_compat() {
-        if (typeinfo->default_holder)
+        if (typeinfo->default_holder) {
             throw cast_error("Unable to load a custom holder type from a default-holder instance");
+        }
     }
 
     bool load_value(value_and_holder &&v_h) {
@@ -687,18 +777,23 @@ struct copyable_holder_caster : public type_caster_base<type> {
             return true;
         }
         throw cast_error("Unable to cast from non-held to held instance (T& to Holder<T>) "
-#if defined(NDEBUG)
-                         "(compile in debug mode for type information)");
+#if !defined(PYBIND11_DETAILED_ERROR_MESSAGES)
+                         "(#define PYBIND11_DETAILED_ERROR_MESSAGES or compile in debug mode for "
+                         "type information)");
 #else
                          "of type '"
                          + type_id<holder_type>() + "''");
 #endif
     }
 
-    template <typename T = holder_type, detail::enable_if_t<!std::is_constructible<T, const T &, type*>::value, int> = 0>
-    bool try_implicit_casts(handle, bool) { return false; }
+    template <typename T = holder_type,
+              detail::enable_if_t<!std::is_constructible<T, const T &, type *>::value, int> = 0>
+    bool try_implicit_casts(handle, bool) {
+        return false;
+    }
 
-    template <typename T = holder_type, detail::enable_if_t<std::is_constructible<T, const T &, type*>::value, int> = 0>
+    template <typename T = holder_type,
+              detail::enable_if_t<std::is_constructible<T, const T &, type *>::value, int> = 0>
     bool try_implicit_casts(handle src, bool convert) {
         for (auto &cast : typeinfo->implicit_casts) {
             copyable_holder_caster sub_caster(*cast.first);
@@ -713,13 +808,12 @@ struct copyable_holder_caster : public type_caster_base<type> {
 
     static bool try_direct_conversions(handle) { return false; }
 
-
     holder_type holder;
 };
 
 /// Specialize for the common std::shared_ptr, so users don't need to
 template <typename T>
-class type_caster<std::shared_ptr<T>> : public copyable_holder_caster<T, std::shared_ptr<T>> { };
+class type_caster<std::shared_ptr<T>> : public copyable_holder_caster<T, std::shared_ptr<T>> {};
 
 /// Type caster for holder types like std::unique_ptr.
 /// Please consider the SFINAE hook an implementation detail, as explained
@@ -727,7 +821,7 @@ class type_caster<std::shared_ptr<T>> : public copyable_holder_caster<T, std::sh
 template <typename type, typename holder_type, typename SFINAE = void>
 struct move_only_holder_caster {
     static_assert(std::is_base_of<type_caster_base<type>, type_caster<type>>::value,
-            "Holder classes are only supported for custom types");
+                  "Holder classes are only supported for custom types");
 
     static handle cast(holder_type &&src, return_value_policy, handle) {
         auto *ptr = holder_helper<holder_type>::get(src);
@@ -738,63 +832,101 @@ struct move_only_holder_caster {
 
 template <typename type, typename deleter>
 class type_caster<std::unique_ptr<type, deleter>>
-    : public move_only_holder_caster<type, std::unique_ptr<type, deleter>> { };
+    : public move_only_holder_caster<type, std::unique_ptr<type, deleter>> {};
 
 template <typename type, typename holder_type>
 using type_caster_holder = conditional_t<is_copy_constructible<holder_type>::value,
                                          copyable_holder_caster<type, holder_type>,
                                          move_only_holder_caster<type, holder_type>>;
 
-template <typename T, bool Value = false> struct always_construct_holder { static constexpr bool value = Value; };
+template <typename T, bool Value = false>
+struct always_construct_holder {
+    static constexpr bool value = Value;
+};
 
 /// Create a specialization for custom holder types (silently ignores std::shared_ptr)
-#define PYBIND11_DECLARE_HOLDER_TYPE(type, holder_type, ...) \
-    namespace pybind11 { namespace detail { \
-    template <typename type> \
-    struct always_construct_holder<holder_type> : always_construct_holder<void, ##__VA_ARGS__>  { }; \
-    template <typename type> \
-    class type_caster<holder_type, enable_if_t<!is_shared_ptr<holder_type>::value>> \
-        : public type_caster_holder<type, holder_type> { }; \
-    }}
+#define PYBIND11_DECLARE_HOLDER_TYPE(type, holder_type, ...)                                      \
+    PYBIND11_NAMESPACE_BEGIN(PYBIND11_NAMESPACE)                                                  \
+    namespace detail {                                                                            \
+    template <typename type>                                                                      \
+    struct always_construct_holder<holder_type> : always_construct_holder<void, ##__VA_ARGS__> {  \
+    };                                                                                            \
+    template <typename type>                                                                      \
+    class type_caster<holder_type, enable_if_t<!is_shared_ptr<holder_type>::value>>               \
+        : public type_caster_holder<type, holder_type> {};                                        \
+    }                                                                                             \
+    PYBIND11_NAMESPACE_END(PYBIND11_NAMESPACE)
 
 // PYBIND11_DECLARE_HOLDER_TYPE holder types:
-template <typename base, typename holder> struct is_holder_type :
-    std::is_base_of<detail::type_caster_holder<base, holder>, detail::type_caster<holder>> {};
+template <typename base, typename holder>
+struct is_holder_type
+    : std::is_base_of<detail::type_caster_holder<base, holder>, detail::type_caster<holder>> {};
 // Specialization for always-supported unique_ptr holders:
-template <typename base, typename deleter> struct is_holder_type<base, std::unique_ptr<base, deleter>> :
-    std::true_type {};
-
-template <typename T> struct handle_type_name { static constexpr auto name = const_name<T>(); };
-template <> struct handle_type_name<bool_> { static constexpr auto name = const_name("bool"); };
-template <> struct handle_type_name<bytes> { static constexpr auto name = const_name(PYBIND11_BYTES_NAME); };
-template <> struct handle_type_name<int_> { static constexpr auto name = const_name("int"); };
-template <> struct handle_type_name<iterable> { static constexpr auto name = const_name("Iterable"); };
-template <> struct handle_type_name<iterator> { static constexpr auto name = const_name("Iterator"); };
-template <> struct handle_type_name<float_> { static constexpr auto name = const_name("float"); };
-template <> struct handle_type_name<none> { static constexpr auto name = const_name("None"); };
-template <> struct handle_type_name<args> { static constexpr auto name = const_name("*args"); };
-template <> struct handle_type_name<kwargs> { static constexpr auto name = const_name("**kwargs"); };
+template <typename base, typename deleter>
+struct is_holder_type<base, std::unique_ptr<base, deleter>> : std::true_type {};
+
+template <typename T>
+struct handle_type_name {
+    static constexpr auto name = const_name<T>();
+};
+template <>
+struct handle_type_name<bool_> {
+    static constexpr auto name = const_name("bool");
+};
+template <>
+struct handle_type_name<bytes> {
+    static constexpr auto name = const_name(PYBIND11_BYTES_NAME);
+};
+template <>
+struct handle_type_name<int_> {
+    static constexpr auto name = const_name("int");
+};
+template <>
+struct handle_type_name<iterable> {
+    static constexpr auto name = const_name("Iterable");
+};
+template <>
+struct handle_type_name<iterator> {
+    static constexpr auto name = const_name("Iterator");
+};
+template <>
+struct handle_type_name<float_> {
+    static constexpr auto name = const_name("float");
+};
+template <>
+struct handle_type_name<none> {
+    static constexpr auto name = const_name("None");
+};
+template <>
+struct handle_type_name<args> {
+    static constexpr auto name = const_name("*args");
+};
+template <>
+struct handle_type_name<kwargs> {
+    static constexpr auto name = const_name("**kwargs");
+};
 
 template <typename type>
 struct pyobject_caster {
     template <typename T = type, enable_if_t<std::is_same<T, handle>::value, int> = 0>
-    bool load(handle src, bool /* convert */) { value = src; return static_cast<bool>(value); }
+    pyobject_caster() : value() {}
 
+    // `type` may not be default constructible (e.g. frozenset, anyset).  Initializing `value`
+    // to a nil handle is safe since it will only be accessed if `load` succeeds.
     template <typename T = type, enable_if_t<std::is_base_of<object, T>::value, int> = 0>
+    pyobject_caster() : value(reinterpret_steal<type>(handle())) {}
+
+    template <typename T = type, enable_if_t<std::is_same<T, handle>::value, int> = 0>
     bool load(handle src, bool /* convert */) {
-#if PY_MAJOR_VERSION < 3 && !defined(PYBIND11_STR_LEGACY_PERMISSIVE)
-        // For Python 2, without this implicit conversion, Python code would
-        // need to be cluttered with six.ensure_text() or similar, only to be
-        // un-cluttered later after Python 2 support is dropped.
-        if (PYBIND11_SILENCE_MSVC_C4127(std::is_same<T, str>::value) && isinstance<bytes>(src)) {
-            PyObject *str_from_bytes = PyUnicode_FromEncodedObject(src.ptr(), "utf-8", nullptr);
-            if (!str_from_bytes) throw error_already_set();
-            value = reinterpret_steal<type>(str_from_bytes);
-            return true;
-        }
-#endif
-        if (!isinstance<type>(src))
+        value = src;
+        return static_cast<bool>(value);
+    }
+
+    template <typename T = type, enable_if_t<std::is_base_of<object, T>::value, int> = 0>
+    bool load(handle src, bool /* convert */) {
+        if (!isinstance<type>(src)) {
             return false;
+        }
         value = reinterpret_borrow<type>(src);
         return true;
     }
@@ -806,7 +938,7 @@ struct pyobject_caster {
 };
 
 template <typename T>
-class type_caster<T, enable_if_t<is_pyobject<T>::value>> : public pyobject_caster<T> { };
+class type_caster<T, enable_if_t<is_pyobject<T>::value>> : public pyobject_caster<T> {};
 
 // Our conditions for enabling moving are quite restrictive:
 // At compile time:
@@ -817,65 +949,83 @@ class type_caster<T, enable_if_t<is_pyobject<T>::value>> : public pyobject_caste
 // - if the type is non-copy-constructible, the object must be the sole owner of the type (i.e. it
 //   must have ref_count() == 1)h
 // If any of the above are not satisfied, we fall back to copying.
-template <typename T> using move_is_plain_type = satisfies_none_of<T,
-    std::is_void, std::is_pointer, std::is_reference, std::is_const
->;
-template <typename T, typename SFINAE = void> struct move_always : std::false_type {};
-template <typename T> struct move_always<T, enable_if_t<all_of<
-    move_is_plain_type<T>,
-    negation<is_copy_constructible<T>>,
-    std::is_move_constructible<T>,
-    std::is_same<decltype(std::declval<make_caster<T>>().operator T&()), T&>
->::value>> : std::true_type {};
-template <typename T, typename SFINAE = void> struct move_if_unreferenced : std::false_type {};
-template <typename T> struct move_if_unreferenced<T, enable_if_t<all_of<
-    move_is_plain_type<T>,
-    negation<move_always<T>>,
-    std::is_move_constructible<T>,
-    std::is_same<decltype(std::declval<make_caster<T>>().operator T&()), T&>
->::value>> : std::true_type {};
-template <typename T> using move_never = none_of<move_always<T>, move_if_unreferenced<T>>;
+template <typename T>
+using move_is_plain_type
+    = satisfies_none_of<T, std::is_void, std::is_pointer, std::is_reference, std::is_const>;
+template <typename T, typename SFINAE = void>
+struct move_always : std::false_type {};
+template <typename T>
+struct move_always<
+    T,
+    enable_if_t<
+        all_of<move_is_plain_type<T>,
+               negation<is_copy_constructible<T>>,
+               std::is_move_constructible<T>,
+               std::is_same<decltype(std::declval<make_caster<T>>().operator T &()), T &>>::value>>
+    : std::true_type {};
+template <typename T, typename SFINAE = void>
+struct move_if_unreferenced : std::false_type {};
+template <typename T>
+struct move_if_unreferenced<
+    T,
+    enable_if_t<
+        all_of<move_is_plain_type<T>,
+               negation<move_always<T>>,
+               std::is_move_constructible<T>,
+               std::is_same<decltype(std::declval<make_caster<T>>().operator T &()), T &>>::value>>
+    : std::true_type {};
+template <typename T>
+using move_never = none_of<move_always<T>, move_if_unreferenced<T>>;
 
 // Detect whether returning a `type` from a cast on type's type_caster is going to result in a
 // reference or pointer to a local variable of the type_caster.  Basically, only
 // non-reference/pointer `type`s and reference/pointers from a type_caster_generic are safe;
 // everything else returns a reference/pointer to a local variable.
-template <typename type> using cast_is_temporary_value_reference = bool_constant<
-    (std::is_reference<type>::value || std::is_pointer<type>::value) &&
-    !std::is_base_of<type_caster_generic, make_caster<type>>::value &&
-    !std::is_same<intrinsic_t<type>, void>::value
->;
+template <typename type>
+using cast_is_temporary_value_reference
+    = bool_constant<(std::is_reference<type>::value || std::is_pointer<type>::value)
+                    && !std::is_base_of<type_caster_generic, make_caster<type>>::value
+                    && !std::is_same<intrinsic_t<type>, void>::value>;
 
 // When a value returned from a C++ function is being cast back to Python, we almost always want to
 // force `policy = move`, regardless of the return value policy the function/method was declared
 // with.
-template <typename Return, typename SFINAE = void> struct return_value_policy_override {
+template <typename Return, typename SFINAE = void>
+struct return_value_policy_override {
     static return_value_policy policy(return_value_policy p) { return p; }
 };
 
-template <typename Return> struct return_value_policy_override<Return,
-        detail::enable_if_t<std::is_base_of<type_caster_generic, make_caster<Return>>::value, void>> {
+template <typename Return>
+struct return_value_policy_override<
+    Return,
+    detail::enable_if_t<std::is_base_of<type_caster_generic, make_caster<Return>>::value, void>> {
     static return_value_policy policy(return_value_policy p) {
-        return !std::is_lvalue_reference<Return>::value &&
-               !std::is_pointer<Return>::value
-                   ? return_value_policy::move : p;
+        return !std::is_lvalue_reference<Return>::value && !std::is_pointer<Return>::value
+                   ? return_value_policy::move
+                   : p;
     }
 };
 
 // Basic python -> C++ casting; throws if casting fails
-template <typename T, typename SFINAE> type_caster<T, SFINAE> &load_type(type_caster<T, SFINAE> &conv, const handle &handle) {
+template <typename T, typename SFINAE>
+type_caster<T, SFINAE> &load_type(type_caster<T, SFINAE> &conv, const handle &handle) {
+    static_assert(!detail::is_pyobject<T>::value,
+                  "Internal error: type_caster should only be used for C++ types");
     if (!conv.load(handle, true)) {
-#if defined(NDEBUG)
-        throw cast_error("Unable to cast Python instance to C++ type (compile in debug mode for details)");
+#if !defined(PYBIND11_DETAILED_ERROR_MESSAGES)
+        throw cast_error("Unable to cast Python instance to C++ type (#define "
+                         "PYBIND11_DETAILED_ERROR_MESSAGES or compile in debug mode for details)");
 #else
-        throw cast_error("Unable to cast Python instance of type " +
-            (std::string) str(type::handle_of(handle)) + " to C++ type '" + type_id<T>() + "'");
+        throw cast_error("Unable to cast Python instance of type "
+                         + (std::string) str(type::handle_of(handle)) + " to C++ type '"
+                         + type_id<T>() + "'");
 #endif
     }
     return conv;
 }
 // Wrapper around the above that also constructs and returns a type_caster
-template <typename T> make_caster<T> load_type(const handle &handle) {
+template <typename T>
+make_caster<T> load_type(const handle &handle) {
     make_caster<T> conv;
     load_type(conv, handle);
     return conv;
@@ -888,44 +1038,60 @@ template <typename T, detail::enable_if_t<!detail::is_pyobject<T>::value, int> =
 T cast(const handle &handle) {
     using namespace detail;
     static_assert(!cast_is_temporary_value_reference<T>::value,
-            "Unable to cast type to reference: value is local to type caster");
+                  "Unable to cast type to reference: value is local to type caster");
     return cast_op<T>(load_type<T>(handle));
 }
 
 // pytype -> pytype (calls converting constructor)
 template <typename T, detail::enable_if_t<detail::is_pyobject<T>::value, int> = 0>
-T cast(const handle &handle) { return T(reinterpret_borrow<object>(handle)); }
+T cast(const handle &handle) {
+    return T(reinterpret_borrow<object>(handle));
+}
 
 // C++ type -> py::object
 template <typename T, detail::enable_if_t<!detail::is_pyobject<T>::value, int> = 0>
-object cast(T &&value, return_value_policy policy = return_value_policy::automatic_reference,
+object cast(T &&value,
+            return_value_policy policy = return_value_policy::automatic_reference,
             handle parent = handle()) {
     using no_ref_T = typename std::remove_reference<T>::type;
-    if (policy == return_value_policy::automatic)
-        policy = std::is_pointer<no_ref_T>::value ? return_value_policy::take_ownership :
-                 std::is_lvalue_reference<T>::value ? return_value_policy::copy : return_value_policy::move;
-    else if (policy == return_value_policy::automatic_reference)
-        policy = std::is_pointer<no_ref_T>::value ? return_value_policy::reference :
-                 std::is_lvalue_reference<T>::value ? return_value_policy::copy : return_value_policy::move;
-    return reinterpret_steal<object>(detail::make_caster<T>::cast(std::forward<T>(value), policy, parent));
+    if (policy == return_value_policy::automatic) {
+        policy = std::is_pointer<no_ref_T>::value     ? return_value_policy::take_ownership
+                 : std::is_lvalue_reference<T>::value ? return_value_policy::copy
+                                                      : return_value_policy::move;
+    } else if (policy == return_value_policy::automatic_reference) {
+        policy = std::is_pointer<no_ref_T>::value     ? return_value_policy::reference
+                 : std::is_lvalue_reference<T>::value ? return_value_policy::copy
+                                                      : return_value_policy::move;
+    }
+    return reinterpret_steal<object>(
+        detail::make_caster<T>::cast(std::forward<T>(value), policy, parent));
 }
 
-template <typename T> T handle::cast() const { return pybind11::cast<T>(*this); }
-template <> inline void handle::cast() const { return; }
+template <typename T>
+T handle::cast() const {
+    return pybind11::cast<T>(*this);
+}
+template <>
+inline void handle::cast() const {
+    return;
+}
 
 template <typename T>
 detail::enable_if_t<!detail::move_never<T>::value, T> move(object &&obj) {
-    if (obj.ref_count() > 1)
-#if defined(NDEBUG)
-        throw cast_error("Unable to cast Python instance to C++ rvalue: instance has multiple references"
-            " (compile in debug mode for details)");
+    if (obj.ref_count() > 1) {
+#if !defined(PYBIND11_DETAILED_ERROR_MESSAGES)
+        throw cast_error(
+            "Unable to cast Python instance to C++ rvalue: instance has multiple references"
+            " (#define PYBIND11_DETAILED_ERROR_MESSAGES or compile in debug mode for details)");
 #else
-        throw cast_error("Unable to move from Python " + (std::string) str(type::handle_of(obj)) +
-                " instance to C++ " + type_id<T>() + " instance: instance has multiple references");
+        throw cast_error("Unable to move from Python " + (std::string) str(type::handle_of(obj))
+                         + " instance to C++ " + type_id<T>()
+                         + " instance: instance has multiple references");
 #endif
+    }
 
     // Move into a temporary and return that, because the reference may be a local value of `conv`
-    T ret = std::move(detail::load_type<T>(obj).operator T&());
+    T ret = std::move(detail::load_type<T>(obj).operator T &());
     return ret;
 }
 
@@ -934,58 +1100,102 @@ detail::enable_if_t<!detail::move_never<T>::value, T> move(object &&obj) {
 //   object has multiple references, but trying to copy will fail to compile.
 // - If both movable and copyable, check ref count: if 1, move; otherwise copy
 // - Otherwise (not movable), copy.
-template <typename T> detail::enable_if_t<detail::move_always<T>::value, T> cast(object &&object) {
+template <typename T>
+detail::enable_if_t<!detail::is_pyobject<T>::value && detail::move_always<T>::value, T>
+cast(object &&object) {
     return move<T>(std::move(object));
 }
-template <typename T> detail::enable_if_t<detail::move_if_unreferenced<T>::value, T> cast(object &&object) {
-    if (object.ref_count() > 1)
+template <typename T>
+detail::enable_if_t<!detail::is_pyobject<T>::value && detail::move_if_unreferenced<T>::value, T>
+cast(object &&object) {
+    if (object.ref_count() > 1) {
         return cast<T>(object);
+    }
     return move<T>(std::move(object));
 }
-template <typename T> detail::enable_if_t<detail::move_never<T>::value, T> cast(object &&object) {
+template <typename T>
+detail::enable_if_t<!detail::is_pyobject<T>::value && detail::move_never<T>::value, T>
+cast(object &&object) {
     return cast<T>(object);
 }
 
-template <typename T> T object::cast() const & { return pybind11::cast<T>(*this); }
-template <typename T> T object::cast() && { return pybind11::cast<T>(std::move(*this)); }
-template <> inline void object::cast() const & { return; }
-template <> inline void object::cast() && { return; }
+// pytype rvalue -> pytype (calls converting constructor)
+template <typename T>
+detail::enable_if_t<detail::is_pyobject<T>::value, T> cast(object &&object) {
+    return T(std::move(object));
+}
+
+template <typename T>
+T object::cast() const & {
+    return pybind11::cast<T>(*this);
+}
+template <typename T>
+T object::cast() && {
+    return pybind11::cast<T>(std::move(*this));
+}
+template <>
+inline void object::cast() const & {
+    return;
+}
+template <>
+inline void object::cast() && {
+    return;
+}
 
 PYBIND11_NAMESPACE_BEGIN(detail)
 
 // Declared in pytypes.h:
 template <typename T, enable_if_t<!is_pyobject<T>::value, int>>
-object object_or_cast(T &&o) { return pybind11::cast(std::forward<T>(o)); }
+object object_or_cast(T &&o) {
+    return pybind11::cast(std::forward<T>(o));
+}
 
-struct override_unused {}; // Placeholder type for the unneeded (and dead code) static variable in the PYBIND11_OVERRIDE_OVERRIDE macro
-template <typename ret_type> using override_caster_t = conditional_t<
-    cast_is_temporary_value_reference<ret_type>::value, make_caster<ret_type>, override_unused>;
+// Placeholder type for the unneeded (and dead code) static variable in the
+// PYBIND11_OVERRIDE_OVERRIDE macro
+struct override_unused {};
+template <typename ret_type>
+using override_caster_t = conditional_t<cast_is_temporary_value_reference<ret_type>::value,
+                                        make_caster<ret_type>,
+                                        override_unused>;
 
 // Trampoline use: for reference/pointer types to value-converted values, we do a value cast, then
 // store the result in the given variable.  For other types, this is a no-op.
-template <typename T> enable_if_t<cast_is_temporary_value_reference<T>::value, T> cast_ref(object &&o, make_caster<T> &caster) {
+template <typename T>
+enable_if_t<cast_is_temporary_value_reference<T>::value, T> cast_ref(object &&o,
+                                                                     make_caster<T> &caster) {
     return cast_op<T>(load_type(caster, o));
 }
-template <typename T> enable_if_t<!cast_is_temporary_value_reference<T>::value, T> cast_ref(object &&, override_unused &) {
-    pybind11_fail("Internal error: cast_ref fallback invoked"); }
-
-// Trampoline use: Having a pybind11::cast with an invalid reference type is going to static_assert, even
-// though if it's in dead code, so we provide a "trampoline" to pybind11::cast that only does anything in
-// cases where pybind11::cast is valid.
-template <typename T> enable_if_t<!cast_is_temporary_value_reference<T>::value, T> cast_safe(object &&o) {
-    return pybind11::cast<T>(std::move(o)); }
-template <typename T> enable_if_t<cast_is_temporary_value_reference<T>::value, T> cast_safe(object &&) {
-    pybind11_fail("Internal error: cast_safe fallback invoked"); }
-template <> inline void cast_safe<void>(object &&) {}
+template <typename T>
+enable_if_t<!cast_is_temporary_value_reference<T>::value, T> cast_ref(object &&,
+                                                                      override_unused &) {
+    pybind11_fail("Internal error: cast_ref fallback invoked");
+}
+
+// Trampoline use: Having a pybind11::cast with an invalid reference type is going to
+// static_assert, even though if it's in dead code, so we provide a "trampoline" to pybind11::cast
+// that only does anything in cases where pybind11::cast is valid.
+template <typename T>
+enable_if_t<cast_is_temporary_value_reference<T>::value, T> cast_safe(object &&) {
+    pybind11_fail("Internal error: cast_safe fallback invoked");
+}
+template <typename T>
+enable_if_t<std::is_same<void, intrinsic_t<T>>::value, void> cast_safe(object &&) {}
+template <typename T>
+enable_if_t<detail::none_of<cast_is_temporary_value_reference<T>,
+                            std::is_same<void, intrinsic_t<T>>>::value,
+            T>
+cast_safe(object &&o) {
+    return pybind11::cast<T>(std::move(o));
+}
 
 PYBIND11_NAMESPACE_END(detail)
 
 // The overloads could coexist, i.e. the #if is not strictly speaking needed,
 // but it is an easy minor optimization.
-#if defined(NDEBUG)
+#if !defined(PYBIND11_DETAILED_ERROR_MESSAGES)
 inline cast_error cast_error_unable_to_convert_call_arg() {
-    return cast_error(
-        "Unable to convert call argument to Python object (compile in debug mode for details)");
+    return cast_error("Unable to convert call argument to Python object (#define "
+                      "PYBIND11_DETAILED_ERROR_MESSAGES or compile in debug mode for details)");
 }
 #else
 inline cast_error cast_error_unable_to_convert_call_arg(const std::string &name,
@@ -996,47 +1206,58 @@ inline cast_error cast_error_unable_to_convert_call_arg(const std::string &name,
 #endif
 
 template <return_value_policy policy = return_value_policy::automatic_reference>
-tuple make_tuple() { return tuple(0); }
+tuple make_tuple() {
+    return tuple(0);
+}
 
-template <return_value_policy policy = return_value_policy::automatic_reference,
-          typename... Args> tuple make_tuple(Args&&... args_) {
+template <return_value_policy policy = return_value_policy::automatic_reference, typename... Args>
+tuple make_tuple(Args &&...args_) {
     constexpr size_t size = sizeof...(Args);
-    std::array<object, size> args {
-        { reinterpret_steal<object>(detail::make_caster<Args>::cast(
-            std::forward<Args>(args_), policy, nullptr))... }
-    };
+    std::array<object, size> args{{reinterpret_steal<object>(
+        detail::make_caster<Args>::cast(std::forward<Args>(args_), policy, nullptr))...}};
     for (size_t i = 0; i < args.size(); i++) {
         if (!args[i]) {
-#if defined(NDEBUG)
+#if !defined(PYBIND11_DETAILED_ERROR_MESSAGES)
             throw cast_error_unable_to_convert_call_arg();
 #else
-            std::array<std::string, size> argtypes { {type_id<Args>()...} };
+            std::array<std::string, size> argtypes{{type_id<Args>()...}};
             throw cast_error_unable_to_convert_call_arg(std::to_string(i), argtypes[i]);
 #endif
         }
     }
     tuple result(size);
     int counter = 0;
-    for (auto &arg_value : args)
+    for (auto &arg_value : args) {
         PyTuple_SET_ITEM(result.ptr(), counter++, arg_value.release().ptr());
+    }
     return result;
 }
 
 /// \ingroup annotations
 /// Annotation for arguments
 struct arg {
-    /// Constructs an argument with the name of the argument; if null or omitted, this is a positional argument.
-    constexpr explicit arg(const char *name = nullptr) : name(name), flag_noconvert(false), flag_none(true) { }
+    /// Constructs an argument with the name of the argument; if null or omitted, this is a
+    /// positional argument.
+    constexpr explicit arg(const char *name = nullptr)
+        : name(name), flag_noconvert(false), flag_none(true) {}
     /// Assign a value to this argument
-    template <typename T> arg_v operator=(T &&value) const;
+    template <typename T>
+    arg_v operator=(T &&value) const;
     /// Indicate that the type should not be converted in the type caster
-    arg &noconvert(bool flag = true) { flag_noconvert = flag; return *this; }
+    arg &noconvert(bool flag = true) {
+        flag_noconvert = flag;
+        return *this;
+    }
     /// Indicates that the argument should/shouldn't allow None (e.g. for nullable pointer args)
-    arg &none(bool flag = true) { flag_none = flag; return *this; }
+    arg &none(bool flag = true) {
+        flag_none = flag;
+        return *this;
+    }
 
-    const char *name; ///< If non-null, this is a named kwargs argument
-    bool flag_noconvert : 1; ///< If set, do not allow conversion (requires a supporting type caster!)
-    bool flag_none : 1; ///< If set (the default), allow None to be passed to this argument
+    const char *name;        ///< If non-null, this is a named kwargs argument
+    bool flag_noconvert : 1; ///< If set, do not allow conversion (requires a supporting type
+                             ///< caster!)
+    bool flag_none : 1;      ///< If set (the default), allow None to be passed to this argument
 };
 
 /// \ingroup annotations
@@ -1045,13 +1266,12 @@ struct arg_v : arg {
 private:
     template <typename T>
     arg_v(arg &&base, T &&x, const char *descr = nullptr)
-        : arg(base),
-          value(reinterpret_steal<object>(
-              detail::make_caster<T>::cast(x, return_value_policy::automatic, {})
-          )),
+        : arg(base), value(reinterpret_steal<object>(detail::make_caster<T>::cast(
+                         std::forward<T>(x), return_value_policy::automatic, {}))),
           descr(descr)
-#if !defined(NDEBUG)
-        , type(type_id<T>())
+#if defined(PYBIND11_DETAILED_ERROR_MESSAGES)
+          ,
+          type(type_id<T>())
 #endif
     {
         // Workaround! See:
@@ -1066,37 +1286,43 @@ struct arg_v : arg {
     /// Direct construction with name, default, and description
     template <typename T>
     arg_v(const char *name, T &&x, const char *descr = nullptr)
-        : arg_v(arg(name), std::forward<T>(x), descr) { }
+        : arg_v(arg(name), std::forward<T>(x), descr) {}
 
     /// Called internally when invoking `py::arg("a") = value`
     template <typename T>
     arg_v(const arg &base, T &&x, const char *descr = nullptr)
-        : arg_v(arg(base), std::forward<T>(x), descr) { }
+        : arg_v(arg(base), std::forward<T>(x), descr) {}
 
     /// Same as `arg::noconvert()`, but returns *this as arg_v&, not arg&
-    arg_v &noconvert(bool flag = true) { arg::noconvert(flag); return *this; }
+    arg_v &noconvert(bool flag = true) {
+        arg::noconvert(flag);
+        return *this;
+    }
 
     /// Same as `arg::nonone()`, but returns *this as arg_v&, not arg&
-    arg_v &none(bool flag = true) { arg::none(flag); return *this; }
+    arg_v &none(bool flag = true) {
+        arg::none(flag);
+        return *this;
+    }
 
     /// The default value
     object value;
     /// The (optional) description of the default value
     const char *descr;
-#if !defined(NDEBUG)
+#if defined(PYBIND11_DETAILED_ERROR_MESSAGES)
     /// The C++ type name of the default value (only available when compiled in debug mode)
     std::string type;
 #endif
 };
 
 /// \ingroup annotations
-/// Annotation indicating that all following arguments are keyword-only; the is the equivalent of an
-/// unnamed '*' argument (in Python 3)
+/// Annotation indicating that all following arguments are keyword-only; the is the equivalent of
+/// an unnamed '*' argument
 struct kw_only {};
 
 /// \ingroup annotations
-/// Annotation indicating that all previous arguments are positional-only; the is the equivalent of an
-/// unnamed '/' argument (in Python 3.8)
+/// Annotation indicating that all previous arguments are positional-only; the is the equivalent of
+/// an unnamed '/' argument (in Python 3.8)
 struct pos_only {};
 
 template <typename T>
@@ -1105,7 +1331,8 @@ arg_v arg::operator=(T &&value) const {
 }
 
 /// Alias for backward compatibility -- to be removed in version 2.0
-template <typename /*unused*/> using arg_t = arg_v;
+template <typename /*unused*/>
+using arg_t = arg_v;
 
 inline namespace literals {
 /** \rst
@@ -1116,8 +1343,10 @@ constexpr arg operator"" _a(const char *name, size_t) { return arg(name); }
 
 PYBIND11_NAMESPACE_BEGIN(detail)
 
-template <typename T> using is_kw_only = std::is_same<intrinsic_t<T>, kw_only>;
-template <typename T> using is_pos_only = std::is_same<intrinsic_t<T>, pos_only>;
+template <typename T>
+using is_kw_only = std::is_same<intrinsic_t<T>, kw_only>;
+template <typename T>
+using is_pos_only = std::is_same<intrinsic_t<T>, pos_only>;
 
 // forward declaration (definition in attr.h)
 struct function_record;
@@ -1146,18 +1375,20 @@ struct function_call {
     handle init_self;
 };
 
-
 /// Helper class which loads arguments for C++ functions called from Python
 template <typename... Args>
 class argument_loader {
     using indices = make_index_sequence<sizeof...(Args)>;
 
-    template <typename Arg> using argument_is_args   = std::is_same<intrinsic_t<Arg>, args>;
-    template <typename Arg> using argument_is_kwargs = std::is_same<intrinsic_t<Arg>, kwargs>;
+    template <typename Arg>
+    using argument_is_args = std::is_same<intrinsic_t<Arg>, args>;
+    template <typename Arg>
+    using argument_is_kwargs = std::is_same<intrinsic_t<Arg>, kwargs>;
     // Get kwargs argument position, or -1 if not present:
     static constexpr auto kwargs_pos = constexpr_last<argument_is_kwargs, Args...>();
 
-    static_assert(kwargs_pos == -1 || kwargs_pos == (int) sizeof...(Args) - 1, "py::kwargs is only permitted as the last argument of a function");
+    static_assert(kwargs_pos == -1 || kwargs_pos == (int) sizeof...(Args) - 1,
+                  "py::kwargs is only permitted as the last argument of a function");
 
 public:
     static constexpr bool has_kwargs = kwargs_pos != -1;
@@ -1165,39 +1396,42 @@ class argument_loader {
     // py::args argument position; -1 if not present.
     static constexpr int args_pos = constexpr_last<argument_is_args, Args...>();
 
-    static_assert(args_pos == -1 || args_pos == constexpr_first<argument_is_args, Args...>(), "py::args cannot be specified more than once");
+    static_assert(args_pos == -1 || args_pos == constexpr_first<argument_is_args, Args...>(),
+                  "py::args cannot be specified more than once");
 
     static constexpr auto arg_names = concat(type_descr(make_caster<Args>::name)...);
 
-    bool load_args(function_call &call) {
-        return load_impl_sequence(call, indices{});
-    }
+    bool load_args(function_call &call) { return load_impl_sequence(call, indices{}); }
 
     template <typename Return, typename Guard, typename Func>
     // NOLINTNEXTLINE(readability-const-return-type)
     enable_if_t<!std::is_void<Return>::value, Return> call(Func &&f) && {
-        return std::move(*this).template call_impl<remove_cv_t<Return>>(std::forward<Func>(f), indices{}, Guard{});
+        return std::move(*this).template call_impl<remove_cv_t<Return>>(
+            std::forward<Func>(f), indices{}, Guard{});
     }
 
     template <typename Return, typename Guard, typename Func>
     enable_if_t<std::is_void<Return>::value, void_type> call(Func &&f) && {
-        std::move(*this).template call_impl<remove_cv_t<Return>>(std::forward<Func>(f), indices{}, Guard{});
+        std::move(*this).template call_impl<remove_cv_t<Return>>(
+            std::forward<Func>(f), indices{}, Guard{});
         return void_type();
     }
 
 private:
-
     static bool load_impl_sequence(function_call &, index_sequence<>) { return true; }
 
     template <size_t... Is>
     bool load_impl_sequence(function_call &call, index_sequence<Is...>) {
 #ifdef __cpp_fold_expressions
-        if ((... || !std::get<Is>(argcasters).load(call.args[Is], call.args_convert[Is])))
+        if ((... || !std::get<Is>(argcasters).load(call.args[Is], call.args_convert[Is]))) {
             return false;
+        }
 #else
-        for (bool r : {std::get<Is>(argcasters).load(call.args[Is], call.args_convert[Is])...})
-            if (!r)
+        for (bool r : {std::get<Is>(argcasters).load(call.args[Is], call.args_convert[Is])...}) {
+            if (!r) {
                 return false;
+            }
+        }
 #endif
         return true;
     }
@@ -1217,7 +1451,7 @@ class simple_collector {
 public:
     template <typename... Ts>
     explicit simple_collector(Ts &&...values)
-        : m_args(pybind11::make_tuple<policy>(std::forward<Ts>(values)...)) { }
+        : m_args(pybind11::make_tuple<policy>(std::forward<Ts>(values)...)) {}
 
     const tuple &args() const & { return m_args; }
     dict kwargs() const { return {}; }
@@ -1227,8 +1461,9 @@ class simple_collector {
     /// Call a Python function and pass the collected arguments
     object call(PyObject *ptr) const {
         PyObject *result = PyObject_CallObject(ptr, m_args.ptr());
-        if (!result)
+        if (!result) {
             throw error_already_set();
+        }
         return reinterpret_steal<object>(result);
     }
 
@@ -1260,48 +1495,51 @@ class unpacking_collector {
     /// Call a Python function and pass the collected arguments
     object call(PyObject *ptr) const {
         PyObject *result = PyObject_Call(ptr, m_args.ptr(), m_kwargs.ptr());
-        if (!result)
+        if (!result) {
             throw error_already_set();
+        }
         return reinterpret_steal<object>(result);
     }
 
 private:
     template <typename T>
     void process(list &args_list, T &&x) {
-        auto o = reinterpret_steal<object>(detail::make_caster<T>::cast(std::forward<T>(x), policy, {}));
+        auto o = reinterpret_steal<object>(
+            detail::make_caster<T>::cast(std::forward<T>(x), policy, {}));
         if (!o) {
-#if defined(NDEBUG)
+#if !defined(PYBIND11_DETAILED_ERROR_MESSAGES)
             throw cast_error_unable_to_convert_call_arg();
 #else
-            throw cast_error_unable_to_convert_call_arg(
-                std::to_string(args_list.size()), type_id<T>());
+            throw cast_error_unable_to_convert_call_arg(std::to_string(args_list.size()),
+                                                        type_id<T>());
 #endif
         }
-        args_list.append(o);
+        args_list.append(std::move(o));
     }
 
     void process(list &args_list, detail::args_proxy ap) {
-        for (auto a : ap)
+        for (auto a : ap) {
             args_list.append(a);
+        }
     }
 
-    void process(list &/*args_list*/, arg_v a) {
-        if (!a.name)
-#if defined(NDEBUG)
+    void process(list & /*args_list*/, arg_v a) {
+        if (!a.name) {
+#if !defined(PYBIND11_DETAILED_ERROR_MESSAGES)
             nameless_argument_error();
 #else
             nameless_argument_error(a.type);
 #endif
-
+        }
         if (m_kwargs.contains(a.name)) {
-#if defined(NDEBUG)
+#if !defined(PYBIND11_DETAILED_ERROR_MESSAGES)
             multiple_values_error();
 #else
             multiple_values_error(a.name);
 #endif
         }
         if (!a.value) {
-#if defined(NDEBUG)
+#if !defined(PYBIND11_DETAILED_ERROR_MESSAGES)
             throw cast_error_unable_to_convert_call_arg();
 #else
             throw cast_error_unable_to_convert_call_arg(a.name, a.type);
@@ -1310,12 +1548,13 @@ class unpacking_collector {
         m_kwargs[a.name] = a.value;
     }
 
-    void process(list &/*args_list*/, detail::kwargs_proxy kp) {
-        if (!kp)
+    void process(list & /*args_list*/, detail::kwargs_proxy kp) {
+        if (!kp) {
             return;
+        }
         for (auto k : reinterpret_borrow<dict>(kp)) {
             if (m_kwargs.contains(k.first)) {
-#if defined(NDEBUG)
+#if !defined(PYBIND11_DETAILED_ERROR_MESSAGES)
                 multiple_values_error();
 #else
                 multiple_values_error(str(k.first));
@@ -1326,17 +1565,20 @@ class unpacking_collector {
     }
 
     [[noreturn]] static void nameless_argument_error() {
-        throw type_error("Got kwargs without a name; only named arguments "
-                         "may be passed via py::arg() to a python function call. "
-                         "(compile in debug mode for details)");
+        throw type_error(
+            "Got kwargs without a name; only named arguments "
+            "may be passed via py::arg() to a python function call. "
+            "(#define PYBIND11_DETAILED_ERROR_MESSAGES or compile in debug mode for details)");
     }
     [[noreturn]] static void nameless_argument_error(const std::string &type) {
-        throw type_error("Got kwargs without a name of type '" + type + "'; only named "
-                         "arguments may be passed via py::arg() to a python function call. ");
+        throw type_error("Got kwargs without a name of type '" + type
+                         + "'; only named "
+                           "arguments may be passed via py::arg() to a python function call. ");
     }
     [[noreturn]] static void multiple_values_error() {
-        throw type_error("Got multiple values for keyword argument "
-                         "(compile in debug mode for details)");
+        throw type_error(
+            "Got multiple values for keyword argument "
+            "(#define PYBIND11_DETAILED_ERROR_MESSAGES or compile in debug mode for details)");
     }
 
     [[noreturn]] static void multiple_values_error(const std::string &name) {
@@ -1353,36 +1595,37 @@ class unpacking_collector {
 // fails to compile enable_if_t<!all_of<is_positional<Args>...>::value>
 // (tested with ICC 2021.1 Beta 20200827).
 template <typename... Args>
-constexpr bool args_are_all_positional()
-{
-  return all_of<is_positional<Args>...>::value;
+constexpr bool args_are_all_positional() {
+    return all_of<is_positional<Args>...>::value;
 }
 
 /// Collect only positional arguments for a Python function call
-template <return_value_policy policy, typename... Args,
+template <return_value_policy policy,
+          typename... Args,
           typename = enable_if_t<args_are_all_positional<Args...>()>>
 simple_collector<policy> collect_arguments(Args &&...args) {
     return simple_collector<policy>(std::forward<Args>(args)...);
 }
 
 /// Collect all arguments, including keywords and unpacking (only instantiated when needed)
-template <return_value_policy policy, typename... Args,
+template <return_value_policy policy,
+          typename... Args,
           typename = enable_if_t<!args_are_all_positional<Args...>()>>
 unpacking_collector<policy> collect_arguments(Args &&...args) {
     // Following argument order rules for generalized unpacking according to PEP 448
-    static_assert(
-        constexpr_last<is_positional, Args...>() < constexpr_first<is_keyword_or_ds, Args...>()
-        && constexpr_last<is_s_unpacking, Args...>() < constexpr_first<is_ds_unpacking, Args...>(),
-        "Invalid function call: positional args must precede keywords and ** unpacking; "
-        "* unpacking must precede ** unpacking"
-    );
+    static_assert(constexpr_last<is_positional, Args...>()
+                          < constexpr_first<is_keyword_or_ds, Args...>()
+                      && constexpr_last<is_s_unpacking, Args...>()
+                             < constexpr_first<is_ds_unpacking, Args...>(),
+                  "Invalid function call: positional args must precede keywords and ** unpacking; "
+                  "* unpacking must precede ** unpacking");
     return unpacking_collector<policy>(std::forward<Args>(args)...);
 }
 
 template <typename Derived>
 template <return_value_policy policy, typename... Args>
 object object_api<Derived>::operator()(Args &&...args) const {
-#if !defined(NDEBUG) && PY_VERSION_HEX >= 0x03060000
+#ifndef NDEBUG
     if (!PyGILState_Check()) {
         pybind11_fail("pybind11::object_api<>::operator() PyGILState_Check() failure.");
     }
@@ -1398,25 +1641,25 @@ object object_api<Derived>::call(Args &&...args) const {
 
 PYBIND11_NAMESPACE_END(detail)
 
-
-template<typename T>
+template <typename T>
 handle type::handle_of() {
-   static_assert(
-      std::is_base_of<detail::type_caster_generic, detail::make_caster<T>>::value,
-      "py::type::of<T> only supports the case where T is a registered C++ types."
-    );
+    static_assert(std::is_base_of<detail::type_caster_generic, detail::make_caster<T>>::value,
+                  "py::type::of<T> only supports the case where T is a registered C++ types.");
 
     return detail::get_type_handle(typeid(T), true);
 }
 
-
-#define PYBIND11_MAKE_OPAQUE(...) \
-    namespace pybind11 { namespace detail { \
-        template<> class type_caster<__VA_ARGS__> : public type_caster_base<__VA_ARGS__> { }; \
-    }}
+#define PYBIND11_MAKE_OPAQUE(...)                                                                 \
+    PYBIND11_NAMESPACE_BEGIN(PYBIND11_NAMESPACE)                                                  \
+    namespace detail {                                                                            \
+    template <>                                                                                   \
+    class type_caster<__VA_ARGS__> : public type_caster_base<__VA_ARGS__> {};                     \
+    }                                                                                             \
+    PYBIND11_NAMESPACE_END(PYBIND11_NAMESPACE)
 
 /// Lets you pass a type containing a `,` through a macro parameter without needing a separate
-/// typedef, e.g.: `PYBIND11_OVERRIDE(PYBIND11_TYPE(ReturnType<A, B>), PYBIND11_TYPE(Parent<C, D>), f, arg)`
+/// typedef, e.g.:
+/// `PYBIND11_OVERRIDE(PYBIND11_TYPE(ReturnType<A, B>), PYBIND11_TYPE(Parent<C, D>), f, arg)`
 #define PYBIND11_TYPE(...) __VA_ARGS__
 
 PYBIND11_NAMESPACE_END(PYBIND11_NAMESPACE)
diff --git a/pybind11/include/pybind11/chrono.h b/pybind11/include/pybind11/chrono.h
index 460a28fa5d..167ea0e3d1 100644
--- a/pybind11/include/pybind11/chrono.h
+++ b/pybind11/include/pybind11/chrono.h
@@ -15,61 +15,59 @@
 #include <chrono>
 #include <cmath>
 #include <ctime>
-#include <mutex>
-
 #include <datetime.h>
-
-// Backport the PyDateTime_DELTA functions from Python3.3 if required
-#ifndef PyDateTime_DELTA_GET_DAYS
-#define PyDateTime_DELTA_GET_DAYS(o)         (((PyDateTime_Delta*)o)->days)
-#endif
-#ifndef PyDateTime_DELTA_GET_SECONDS
-#define PyDateTime_DELTA_GET_SECONDS(o)      (((PyDateTime_Delta*)o)->seconds)
-#endif
-#ifndef PyDateTime_DELTA_GET_MICROSECONDS
-#define PyDateTime_DELTA_GET_MICROSECONDS(o) (((PyDateTime_Delta*)o)->microseconds)
-#endif
+#include <mutex>
 
 PYBIND11_NAMESPACE_BEGIN(PYBIND11_NAMESPACE)
 PYBIND11_NAMESPACE_BEGIN(detail)
 
-template <typename type> class duration_caster {
+template <typename type>
+class duration_caster {
 public:
     using rep = typename type::rep;
     using period = typename type::period;
 
-    using days = std::chrono::duration<int_least32_t, std::ratio<86400>>; // signed 25 bits required by the standard.
+    // signed 25 bits required by the standard.
+    using days = std::chrono::duration<int_least32_t, std::ratio<86400>>;
 
     bool load(handle src, bool) {
         using namespace std::chrono;
 
         // Lazy initialise the PyDateTime import
-        if (!PyDateTimeAPI) { PyDateTime_IMPORT; }
+        if (!PyDateTimeAPI) {
+            PyDateTime_IMPORT;
+        }
 
-        if (!src) return false;
+        if (!src) {
+            return false;
+        }
         // If invoked with datetime.delta object
         if (PyDelta_Check(src.ptr())) {
             value = type(duration_cast<duration<rep, period>>(
-                  days(PyDateTime_DELTA_GET_DAYS(src.ptr()))
+                days(PyDateTime_DELTA_GET_DAYS(src.ptr()))
                 + seconds(PyDateTime_DELTA_GET_SECONDS(src.ptr()))
                 + microseconds(PyDateTime_DELTA_GET_MICROSECONDS(src.ptr()))));
             return true;
         }
         // If invoked with a float we assume it is seconds and convert
         if (PyFloat_Check(src.ptr())) {
-            value = type(duration_cast<duration<rep, period>>(duration<double>(PyFloat_AsDouble(src.ptr()))));
+            value = type(duration_cast<duration<rep, period>>(
+                duration<double>(PyFloat_AsDouble(src.ptr()))));
             return true;
         }
         return false;
     }
 
     // If this is a duration just return it back
-    static const std::chrono::duration<rep, period>& get_duration(const std::chrono::duration<rep, period> &src) {
+    static const std::chrono::duration<rep, period> &
+    get_duration(const std::chrono::duration<rep, period> &src) {
         return src;
     }
 
     // If this is a time_point get the time_since_epoch
-    template <typename Clock> static std::chrono::duration<rep, period> get_duration(const std::chrono::time_point<Clock, std::chrono::duration<rep, period>> &src) {
+    template <typename Clock>
+    static std::chrono::duration<rep, period>
+    get_duration(const std::chrono::time_point<Clock, std::chrono::duration<rep, period>> &src) {
         return src.time_since_epoch();
     }
 
@@ -81,9 +79,12 @@ template <typename type> class duration_caster {
         auto d = get_duration(src);
 
         // Lazy initialise the PyDateTime import
-        if (!PyDateTimeAPI) { PyDateTime_IMPORT; }
+        if (!PyDateTimeAPI) {
+            PyDateTime_IMPORT;
+        }
 
-        // Declare these special duration types so the conversions happen with the correct primitive types (int)
+        // Declare these special duration types so the conversions happen with the correct
+        // primitive types (int)
         using dd_t = duration<int, std::ratio<86400>>;
         using ss_t = duration<int, std::ratio<1>>;
         using us_t = duration<int, std::micro>;
@@ -115,76 +116,89 @@ inline std::tm *localtime_thread_safe(const std::time_t *time, std::tm *buf) {
 }
 
 // This is for casting times on the system clock into datetime.datetime instances
-template <typename Duration> class type_caster<std::chrono::time_point<std::chrono::system_clock, Duration>> {
+template <typename Duration>
+class type_caster<std::chrono::time_point<std::chrono::system_clock, Duration>> {
 public:
     using type = std::chrono::time_point<std::chrono::system_clock, Duration>;
     bool load(handle src, bool) {
         using namespace std::chrono;
 
         // Lazy initialise the PyDateTime import
-        if (!PyDateTimeAPI) { PyDateTime_IMPORT; }
+        if (!PyDateTimeAPI) {
+            PyDateTime_IMPORT;
+        }
 
-        if (!src) return false;
+        if (!src) {
+            return false;
+        }
 
         std::tm cal;
         microseconds msecs;
 
         if (PyDateTime_Check(src.ptr())) {
-            cal.tm_sec   = PyDateTime_DATE_GET_SECOND(src.ptr());
-            cal.tm_min   = PyDateTime_DATE_GET_MINUTE(src.ptr());
-            cal.tm_hour  = PyDateTime_DATE_GET_HOUR(src.ptr());
-            cal.tm_mday  = PyDateTime_GET_DAY(src.ptr());
-            cal.tm_mon   = PyDateTime_GET_MONTH(src.ptr()) - 1;
-            cal.tm_year  = PyDateTime_GET_YEAR(src.ptr()) - 1900;
+            cal.tm_sec = PyDateTime_DATE_GET_SECOND(src.ptr());
+            cal.tm_min = PyDateTime_DATE_GET_MINUTE(src.ptr());
+            cal.tm_hour = PyDateTime_DATE_GET_HOUR(src.ptr());
+            cal.tm_mday = PyDateTime_GET_DAY(src.ptr());
+            cal.tm_mon = PyDateTime_GET_MONTH(src.ptr()) - 1;
+            cal.tm_year = PyDateTime_GET_YEAR(src.ptr()) - 1900;
             cal.tm_isdst = -1;
-            msecs        = microseconds(PyDateTime_DATE_GET_MICROSECOND(src.ptr()));
+            msecs = microseconds(PyDateTime_DATE_GET_MICROSECOND(src.ptr()));
         } else if (PyDate_Check(src.ptr())) {
-            cal.tm_sec   = 0;
-            cal.tm_min   = 0;
-            cal.tm_hour  = 0;
-            cal.tm_mday  = PyDateTime_GET_DAY(src.ptr());
-            cal.tm_mon   = PyDateTime_GET_MONTH(src.ptr()) - 1;
-            cal.tm_year  = PyDateTime_GET_YEAR(src.ptr()) - 1900;
+            cal.tm_sec = 0;
+            cal.tm_min = 0;
+            cal.tm_hour = 0;
+            cal.tm_mday = PyDateTime_GET_DAY(src.ptr());
+            cal.tm_mon = PyDateTime_GET_MONTH(src.ptr()) - 1;
+            cal.tm_year = PyDateTime_GET_YEAR(src.ptr()) - 1900;
             cal.tm_isdst = -1;
-            msecs        = microseconds(0);
+            msecs = microseconds(0);
         } else if (PyTime_Check(src.ptr())) {
-            cal.tm_sec   = PyDateTime_TIME_GET_SECOND(src.ptr());
-            cal.tm_min   = PyDateTime_TIME_GET_MINUTE(src.ptr());
-            cal.tm_hour  = PyDateTime_TIME_GET_HOUR(src.ptr());
-            cal.tm_mday  = 1;   // This date (day, month, year) = (1, 0, 70)
-            cal.tm_mon   = 0;   // represents 1-Jan-1970, which is the first
-            cal.tm_year  = 70;  // earliest available date for Python's datetime
+            cal.tm_sec = PyDateTime_TIME_GET_SECOND(src.ptr());
+            cal.tm_min = PyDateTime_TIME_GET_MINUTE(src.ptr());
+            cal.tm_hour = PyDateTime_TIME_GET_HOUR(src.ptr());
+            cal.tm_mday = 1;  // This date (day, month, year) = (1, 0, 70)
+            cal.tm_mon = 0;   // represents 1-Jan-1970, which is the first
+            cal.tm_year = 70; // earliest available date for Python's datetime
             cal.tm_isdst = -1;
-            msecs        = microseconds(PyDateTime_TIME_GET_MICROSECOND(src.ptr()));
+            msecs = microseconds(PyDateTime_TIME_GET_MICROSECOND(src.ptr()));
+        } else {
+            return false;
         }
-        else return false;
 
         value = time_point_cast<Duration>(system_clock::from_time_t(std::mktime(&cal)) + msecs);
         return true;
     }
 
-    static handle cast(const std::chrono::time_point<std::chrono::system_clock, Duration> &src, return_value_policy /* policy */, handle /* parent */) {
+    static handle cast(const std::chrono::time_point<std::chrono::system_clock, Duration> &src,
+                       return_value_policy /* policy */,
+                       handle /* parent */) {
         using namespace std::chrono;
 
         // Lazy initialise the PyDateTime import
-        if (!PyDateTimeAPI) { PyDateTime_IMPORT; }
+        if (!PyDateTimeAPI) {
+            PyDateTime_IMPORT;
+        }
 
-        // Get out microseconds, and make sure they are positive, to avoid bug in eastern hemisphere time zones
-        // (cfr. https://github.com/pybind/pybind11/issues/2417)
+        // Get out microseconds, and make sure they are positive, to avoid bug in eastern
+        // hemisphere time zones (cfr. https://github.com/pybind/pybind11/issues/2417)
         using us_t = duration<int, std::micro>;
         auto us = duration_cast<us_t>(src.time_since_epoch() % seconds(1));
-        if (us.count() < 0)
+        if (us.count() < 0) {
             us += seconds(1);
+        }
 
         // Subtract microseconds BEFORE `system_clock::to_time_t`, because:
-        // > If std::time_t has lower precision, it is implementation-defined whether the value is rounded or truncated.
-        // (https://en.cppreference.com/w/cpp/chrono/system_clock/to_time_t)
-        std::time_t tt = system_clock::to_time_t(time_point_cast<system_clock::duration>(src - us));
+        // > If std::time_t has lower precision, it is implementation-defined whether the value is
+        // rounded or truncated. (https://en.cppreference.com/w/cpp/chrono/system_clock/to_time_t)
+        std::time_t tt
+            = system_clock::to_time_t(time_point_cast<system_clock::duration>(src - us));
 
         std::tm localtime;
         std::tm *localtime_ptr = localtime_thread_safe(&tt, &localtime);
-        if (!localtime_ptr)
+        if (!localtime_ptr) {
             throw cast_error("Unable to represent system_clock in local time");
+        }
         return PyDateTime_FromDateAndTime(localtime.tm_year + 1900,
                                           localtime.tm_mon + 1,
                                           localtime.tm_mday,
@@ -199,13 +213,13 @@ template <typename Duration> class type_caster<std::chrono::time_point<std::chro
 // Other clocks that are not the system clock are not measured as datetime.datetime objects
 // since they are not measured on calendar time. So instead we just make them timedeltas
 // Or if they have passed us a time as a float we convert that
-template <typename Clock, typename Duration> class type_caster<std::chrono::time_point<Clock, Duration>>
-: public duration_caster<std::chrono::time_point<Clock, Duration>> {
-};
+template <typename Clock, typename Duration>
+class type_caster<std::chrono::time_point<Clock, Duration>>
+    : public duration_caster<std::chrono::time_point<Clock, Duration>> {};
 
-template <typename Rep, typename Period> class type_caster<std::chrono::duration<Rep, Period>>
-: public duration_caster<std::chrono::duration<Rep, Period>> {
-};
+template <typename Rep, typename Period>
+class type_caster<std::chrono::duration<Rep, Period>>
+    : public duration_caster<std::chrono::duration<Rep, Period>> {};
 
 PYBIND11_NAMESPACE_END(detail)
 PYBIND11_NAMESPACE_END(PYBIND11_NAMESPACE)
diff --git a/pybind11/include/pybind11/complex.h b/pybind11/include/pybind11/complex.h
index e1ecf43585..8a831c12ce 100644
--- a/pybind11/include/pybind11/complex.h
+++ b/pybind11/include/pybind11/complex.h
@@ -10,42 +10,50 @@
 #pragma once
 
 #include "pybind11.h"
+
 #include <complex>
 
 /// glibc defines I as a macro which breaks things, e.g., boost template names
 #ifdef I
-#  undef I
+#    undef I
 #endif
 
 PYBIND11_NAMESPACE_BEGIN(PYBIND11_NAMESPACE)
 
-template <typename T> struct format_descriptor<std::complex<T>, detail::enable_if_t<std::is_floating_point<T>::value>> {
+template <typename T>
+struct format_descriptor<std::complex<T>, detail::enable_if_t<std::is_floating_point<T>::value>> {
     static constexpr const char c = format_descriptor<T>::c;
-    static constexpr const char value[3] = { 'Z', c, '\0' };
+    static constexpr const char value[3] = {'Z', c, '\0'};
     static std::string format() { return std::string(value); }
 };
 
 #ifndef PYBIND11_CPP17
 
-template <typename T> constexpr const char format_descriptor<
-    std::complex<T>, detail::enable_if_t<std::is_floating_point<T>::value>>::value[3];
+template <typename T>
+constexpr const char
+    format_descriptor<std::complex<T>,
+                      detail::enable_if_t<std::is_floating_point<T>::value>>::value[3];
 
 #endif
 
 PYBIND11_NAMESPACE_BEGIN(detail)
 
-template <typename T> struct is_fmt_numeric<std::complex<T>, detail::enable_if_t<std::is_floating_point<T>::value>> {
+template <typename T>
+struct is_fmt_numeric<std::complex<T>, detail::enable_if_t<std::is_floating_point<T>::value>> {
     static constexpr bool value = true;
     static constexpr int index = is_fmt_numeric<T>::index + 3;
 };
 
-template <typename T> class type_caster<std::complex<T>> {
+template <typename T>
+class type_caster<std::complex<T>> {
 public:
     bool load(handle src, bool convert) {
-        if (!src)
+        if (!src) {
             return false;
-        if (!convert && !PyComplex_Check(src.ptr()))
+        }
+        if (!convert && !PyComplex_Check(src.ptr())) {
             return false;
+        }
         Py_complex result = PyComplex_AsCComplex(src.ptr());
         if (result.real == -1.0 && PyErr_Occurred()) {
             PyErr_Clear();
@@ -55,7 +63,8 @@ template <typename T> class type_caster<std::complex<T>> {
         return true;
     }
 
-    static handle cast(const std::complex<T> &src, return_value_policy /* policy */, handle /* parent */) {
+    static handle
+    cast(const std::complex<T> &src, return_value_policy /* policy */, handle /* parent */) {
         return PyComplex_FromDoubles((double) src.real(), (double) src.imag());
     }
 
diff --git a/pybind11/include/pybind11/detail/class.h b/pybind11/include/pybind11/detail/class.h
index cc1e40ce7a..42720f844d 100644
--- a/pybind11/include/pybind11/detail/class.h
+++ b/pybind11/include/pybind11/detail/class.h
@@ -15,13 +15,14 @@
 PYBIND11_NAMESPACE_BEGIN(PYBIND11_NAMESPACE)
 PYBIND11_NAMESPACE_BEGIN(detail)
 
-#if PY_VERSION_HEX >= 0x03030000 && !defined(PYPY_VERSION)
-#  define PYBIND11_BUILTIN_QUALNAME
-#  define PYBIND11_SET_OLDPY_QUALNAME(obj, nameobj)
+#if !defined(PYPY_VERSION)
+#    define PYBIND11_BUILTIN_QUALNAME
+#    define PYBIND11_SET_OLDPY_QUALNAME(obj, nameobj)
 #else
-// In pre-3.3 Python, we still set __qualname__ so that we can produce reliable function type
-// signatures; in 3.3+ this macro expands to nothing:
-#  define PYBIND11_SET_OLDPY_QUALNAME(obj, nameobj) setattr((PyObject *) obj, "__qualname__", nameobj)
+// In PyPy, we still set __qualname__ so that we can produce reliable function type
+// signatures; in CPython this macro expands to nothing:
+#    define PYBIND11_SET_OLDPY_QUALNAME(obj, nameobj)                                             \
+        setattr((PyObject *) obj, "__qualname__", nameobj)
 #endif
 
 inline std::string get_fully_qualified_tp_name(PyTypeObject *type) {
@@ -65,24 +66,26 @@ inline PyTypeObject *make_static_property_type() {
        issue no Python C API calls which could potentially invoke the
        garbage collector (the GC will call type_traverse(), which will in
        turn find the newly constructed type in an invalid state) */
-    auto heap_type = (PyHeapTypeObject *) PyType_Type.tp_alloc(&PyType_Type, 0);
-    if (!heap_type)
+    auto *heap_type = (PyHeapTypeObject *) PyType_Type.tp_alloc(&PyType_Type, 0);
+    if (!heap_type) {
         pybind11_fail("make_static_property_type(): error allocating type!");
+    }
 
     heap_type->ht_name = name_obj.inc_ref().ptr();
-#ifdef PYBIND11_BUILTIN_QUALNAME
+#    ifdef PYBIND11_BUILTIN_QUALNAME
     heap_type->ht_qualname = name_obj.inc_ref().ptr();
-#endif
+#    endif
 
-    auto type = &heap_type->ht_type;
+    auto *type = &heap_type->ht_type;
     type->tp_name = name;
     type->tp_base = type_incref(&PyProperty_Type);
     type->tp_flags = Py_TPFLAGS_DEFAULT | Py_TPFLAGS_BASETYPE | Py_TPFLAGS_HEAPTYPE;
     type->tp_descr_get = pybind11_static_get;
     type->tp_descr_set = pybind11_static_set;
 
-    if (PyType_Ready(type) < 0)
+    if (PyType_Ready(type) < 0) {
         pybind11_fail("make_static_property_type(): failure in PyType_Ready()!");
+    }
 
     setattr((PyObject *) type, "__module__", str("pybind11_builtins"));
     PYBIND11_SET_OLDPY_QUALNAME(type, name_obj);
@@ -98,15 +101,17 @@ inline PyTypeObject *make_static_property_type() {
 inline PyTypeObject *make_static_property_type() {
     auto d = dict();
     PyObject *result = PyRun_String(R"(\
-        class pybind11_static_property(property):
-            def __get__(self, obj, cls):
-                return property.__get__(self, cls, cls)
-
-            def __set__(self, obj, value):
-                cls = obj if isinstance(obj, type) else type(obj)
-                property.__set__(self, cls, value)
-        )", Py_file_input, d.ptr(), d.ptr()
-    );
+class pybind11_static_property(property):
+    def __get__(self, obj, cls):
+        return property.__get__(self, cls, cls)
+
+    def __set__(self, obj, value):
+        cls = obj if isinstance(obj, type) else type(obj)
+        property.__set__(self, cls, value)
+)",
+                                    Py_file_input,
+                                    d.ptr(),
+                                    d.ptr());
     if (result == nullptr)
         throw error_already_set();
     Py_DECREF(result);
@@ -119,7 +124,7 @@ inline PyTypeObject *make_static_property_type() {
     By default, Python replaces the `static_property` itself, but for wrapped C++ types
     we need to call `static_property.__set__()` in order to propagate the new value to
     the underlying C++ data structure. */
-extern "C" inline int pybind11_meta_setattro(PyObject* obj, PyObject* name, PyObject* value) {
+extern "C" inline int pybind11_meta_setattro(PyObject *obj, PyObject *name, PyObject *value) {
     // Use `_PyType_Lookup()` instead of `PyObject_GetAttr()` in order to get the raw
     // descriptor (`property`) instead of calling `tp_descr_get` (`property.__get__()`).
     PyObject *descr = _PyType_Lookup((PyTypeObject *) obj, name);
@@ -128,7 +133,7 @@ extern "C" inline int pybind11_meta_setattro(PyObject* obj, PyObject* name, PyOb
     //   1. `Type.static_prop = value`             --> descr_set: `Type.static_prop.__set__(value)`
     //   2. `Type.static_prop = other_static_prop` --> setattro:  replace existing `static_prop`
     //   3. `Type.regular_attribute = value`       --> setattro:  regular attribute assignment
-    const auto static_prop = (PyObject *) get_internals().static_property_type;
+    auto *const static_prop = (PyObject *) get_internals().static_property_type;
     const auto call_descr_set = (descr != nullptr) && (value != nullptr)
                                 && (PyObject_IsInstance(descr, static_prop) != 0)
                                 && (PyObject_IsInstance(value, static_prop) == 0);
@@ -150,7 +155,6 @@ extern "C" inline int pybind11_meta_setattro(PyObject* obj, PyObject* name, PyOb
     }
 }
 
-#if PY_MAJOR_VERSION >= 3
 /**
  * Python 3's PyInstanceMethod_Type hides itself via its tp_descr_get, which prevents aliasing
  * methods via cls.attr("m2") = cls.attr("m1"): instead the tp_descr_get returns a plain function,
@@ -165,7 +169,6 @@ extern "C" inline PyObject *pybind11_meta_getattro(PyObject *obj, PyObject *name
     }
     return PyType_Type.tp_getattro(obj, name);
 }
-#endif
 
 /// metaclass `__call__` function that is used to create all pybind11 objects.
 extern "C" inline PyObject *pybind11_meta_call(PyObject *type, PyObject *args, PyObject *kwargs) {
@@ -177,12 +180,13 @@ extern "C" inline PyObject *pybind11_meta_call(PyObject *type, PyObject *args, P
     }
 
     // This must be a pybind11 instance
-    auto instance = reinterpret_cast<detail::instance *>(self);
+    auto *instance = reinterpret_cast<detail::instance *>(self);
 
     // Ensure that the base __init__ function(s) were called
     for (const auto &vh : values_and_holders(instance)) {
         if (!vh.holder_constructed()) {
-            PyErr_Format(PyExc_TypeError, "%.200s.__init__() must be called when overriding __init__",
+            PyErr_Format(PyExc_TypeError,
+                         "%.200s.__init__() must be called when overriding __init__",
                          get_fully_qualified_tp_name(vh.type->type).c_str());
             Py_DECREF(self);
             return nullptr;
@@ -201,27 +205,28 @@ extern "C" inline void pybind11_meta_dealloc(PyObject *obj) {
     // 1) be found in internals.registered_types_py
     // 2) have exactly one associated `detail::type_info`
     auto found_type = internals.registered_types_py.find(type);
-    if (found_type != internals.registered_types_py.end() &&
-        found_type->second.size() == 1 &&
-        found_type->second[0]->type == type) {
+    if (found_type != internals.registered_types_py.end() && found_type->second.size() == 1
+        && found_type->second[0]->type == type) {
 
         auto *tinfo = found_type->second[0];
         auto tindex = std::type_index(*tinfo->cpptype);
         internals.direct_conversions.erase(tindex);
 
-        if (tinfo->module_local)
+        if (tinfo->module_local) {
             get_local_internals().registered_types_cpp.erase(tindex);
-        else
+        } else {
             internals.registered_types_cpp.erase(tindex);
+        }
         internals.registered_types_py.erase(tinfo->type);
 
         // Actually just `std::erase_if`, but that's only available in C++20
         auto &cache = internals.inactive_override_cache;
-        for (auto it = cache.begin(), last = cache.end(); it != last; ) {
-            if (it->first == (PyObject *) tinfo->type)
+        for (auto it = cache.begin(), last = cache.end(); it != last;) {
+            if (it->first == (PyObject *) tinfo->type) {
                 it = cache.erase(it);
-            else
+            } else {
                 ++it;
+            }
         }
 
         delete tinfo;
@@ -233,7 +238,7 @@ extern "C" inline void pybind11_meta_dealloc(PyObject *obj) {
 /** This metaclass is assigned by default to all pybind11 types and is required in order
     for static properties to function correctly. Users may override this using `py::metaclass`.
     Return value: New reference. */
-inline PyTypeObject* make_default_metaclass() {
+inline PyTypeObject *make_default_metaclass() {
     constexpr auto *name = "pybind11_type";
     auto name_obj = reinterpret_steal<object>(PYBIND11_FROM_STRING(name));
 
@@ -241,16 +246,17 @@ inline PyTypeObject* make_default_metaclass() {
        issue no Python C API calls which could potentially invoke the
        garbage collector (the GC will call type_traverse(), which will in
        turn find the newly constructed type in an invalid state) */
-    auto heap_type = (PyHeapTypeObject *) PyType_Type.tp_alloc(&PyType_Type, 0);
-    if (!heap_type)
+    auto *heap_type = (PyHeapTypeObject *) PyType_Type.tp_alloc(&PyType_Type, 0);
+    if (!heap_type) {
         pybind11_fail("make_default_metaclass(): error allocating metaclass!");
+    }
 
     heap_type->ht_name = name_obj.inc_ref().ptr();
 #ifdef PYBIND11_BUILTIN_QUALNAME
     heap_type->ht_qualname = name_obj.inc_ref().ptr();
 #endif
 
-    auto type = &heap_type->ht_type;
+    auto *type = &heap_type->ht_type;
     type->tp_name = name;
     type->tp_base = type_incref(&PyType_Type);
     type->tp_flags = Py_TPFLAGS_DEFAULT | Py_TPFLAGS_BASETYPE | Py_TPFLAGS_HEAPTYPE;
@@ -258,14 +264,13 @@ inline PyTypeObject* make_default_metaclass() {
     type->tp_call = pybind11_meta_call;
 
     type->tp_setattro = pybind11_meta_setattro;
-#if PY_MAJOR_VERSION >= 3
     type->tp_getattro = pybind11_meta_getattro;
-#endif
 
     type->tp_dealloc = pybind11_meta_dealloc;
 
-    if (PyType_Ready(type) < 0)
+    if (PyType_Ready(type) < 0) {
         pybind11_fail("make_default_metaclass(): failure in PyType_Ready()!");
+    }
 
     setattr((PyObject *) type, "__module__", str("pybind11_builtins"));
     PYBIND11_SET_OLDPY_QUALNAME(type, name_obj);
@@ -275,16 +280,20 @@ inline PyTypeObject* make_default_metaclass() {
 
 /// For multiple inheritance types we need to recursively register/deregister base pointers for any
 /// base classes with pointers that are difference from the instance value pointer so that we can
-/// correctly recognize an offset base class pointer. This calls a function with any offset base ptrs.
-inline void traverse_offset_bases(void *valueptr, const detail::type_info *tinfo, instance *self,
-        bool (*f)(void * /*parentptr*/, instance * /*self*/)) {
+/// correctly recognize an offset base class pointer. This calls a function with any offset base
+/// ptrs.
+inline void traverse_offset_bases(void *valueptr,
+                                  const detail::type_info *tinfo,
+                                  instance *self,
+                                  bool (*f)(void * /*parentptr*/, instance * /*self*/)) {
     for (handle h : reinterpret_borrow<tuple>(tinfo->type->tp_bases)) {
-        if (auto parent_tinfo = get_type_info((PyTypeObject *) h.ptr())) {
+        if (auto *parent_tinfo = get_type_info((PyTypeObject *) h.ptr())) {
             for (auto &c : parent_tinfo->implicit_casts) {
                 if (c.first == tinfo->cpptype) {
                     auto *parentptr = c.second(valueptr);
-                    if (parentptr != valueptr)
+                    if (parentptr != valueptr) {
                         f(parentptr, self);
+                    }
                     traverse_offset_bases(parentptr, parent_tinfo, self, f);
                     break;
                 }
@@ -311,31 +320,33 @@ inline bool deregister_instance_impl(void *ptr, instance *self) {
 
 inline void register_instance(instance *self, void *valptr, const type_info *tinfo) {
     register_instance_impl(valptr, self);
-    if (!tinfo->simple_ancestors)
+    if (!tinfo->simple_ancestors) {
         traverse_offset_bases(valptr, tinfo, self, register_instance_impl);
+    }
 }
 
 inline bool deregister_instance(instance *self, void *valptr, const type_info *tinfo) {
     bool ret = deregister_instance_impl(valptr, self);
-    if (!tinfo->simple_ancestors)
+    if (!tinfo->simple_ancestors) {
         traverse_offset_bases(valptr, tinfo, self, deregister_instance_impl);
+    }
     return ret;
 }
 
-/// Instance creation function for all pybind11 types. It allocates the internal instance layout for
-/// holding C++ objects and holders.  Allocation is done lazily (the first time the instance is cast
-/// to a reference or pointer), and initialization is done by an `__init__` function.
+/// Instance creation function for all pybind11 types. It allocates the internal instance layout
+/// for holding C++ objects and holders.  Allocation is done lazily (the first time the instance is
+/// cast to a reference or pointer), and initialization is done by an `__init__` function.
 inline PyObject *make_new_instance(PyTypeObject *type) {
 #if defined(PYPY_VERSION)
-    // PyPy gets tp_basicsize wrong (issue 2482) under multiple inheritance when the first inherited
-    // object is a plain Python type (i.e. not derived from an extension type).  Fix it.
+    // PyPy gets tp_basicsize wrong (issue 2482) under multiple inheritance when the first
+    // inherited object is a plain Python type (i.e. not derived from an extension type).  Fix it.
     ssize_t instance_size = static_cast<ssize_t>(sizeof(instance));
     if (type->tp_basicsize < instance_size) {
         type->tp_basicsize = instance_size;
     }
 #endif
     PyObject *self = type->tp_alloc(type, 0);
-    auto inst = reinterpret_cast<instance *>(self);
+    auto *inst = reinterpret_cast<instance *>(self);
     // Allocate the value/holder internals:
     inst->allocate_layout();
 
@@ -360,14 +371,14 @@ extern "C" inline int pybind11_object_init(PyObject *self, PyObject *, PyObject
 
 inline void add_patient(PyObject *nurse, PyObject *patient) {
     auto &internals = get_internals();
-    auto instance = reinterpret_cast<detail::instance *>(nurse);
+    auto *instance = reinterpret_cast<detail::instance *>(nurse);
     instance->has_patients = true;
     Py_INCREF(patient);
     internals.patients[nurse].push_back(patient);
 }
 
 inline void clear_patients(PyObject *self) {
-    auto instance = reinterpret_cast<detail::instance *>(self);
+    auto *instance = reinterpret_cast<detail::instance *>(self);
     auto &internals = get_internals();
     auto pos = internals.patients.find(self);
     assert(pos != internals.patients.end());
@@ -377,14 +388,15 @@ inline void clear_patients(PyObject *self) {
     auto patients = std::move(pos->second);
     internals.patients.erase(pos);
     instance->has_patients = false;
-    for (PyObject *&patient : patients)
+    for (PyObject *&patient : patients) {
         Py_CLEAR(patient);
+    }
 }
 
 /// Clears all internal data from the instance and removes it from registered instances in
 /// preparation for deallocation.
 inline void clear_instance(PyObject *self) {
-    auto instance = reinterpret_cast<detail::instance *>(self);
+    auto *instance = reinterpret_cast<detail::instance *>(self);
 
     // Deallocate any values/holders, if present:
     for (auto &v_h : values_and_holders(instance)) {
@@ -392,25 +404,32 @@ inline void clear_instance(PyObject *self) {
 
             // We have to deregister before we call dealloc because, for virtual MI types, we still
             // need to be able to get the parent pointers.
-            if (v_h.instance_registered() && !deregister_instance(instance, v_h.value_ptr(), v_h.type))
-                pybind11_fail("pybind11_object_dealloc(): Tried to deallocate unregistered instance!");
+            if (v_h.instance_registered()
+                && !deregister_instance(instance, v_h.value_ptr(), v_h.type)) {
+                pybind11_fail(
+                    "pybind11_object_dealloc(): Tried to deallocate unregistered instance!");
+            }
 
-            if (instance->owned || v_h.holder_constructed())
+            if (instance->owned || v_h.holder_constructed()) {
                 v_h.type->dealloc(v_h);
+            }
         }
     }
     // Deallocate the value/holder layout internals:
     instance->deallocate_layout();
 
-    if (instance->weakrefs)
+    if (instance->weakrefs) {
         PyObject_ClearWeakRefs(self);
+    }
 
     PyObject **dict_ptr = _PyObject_GetDictPtr(self);
-    if (dict_ptr)
+    if (dict_ptr) {
         Py_CLEAR(*dict_ptr);
+    }
 
-    if (instance->has_patients)
+    if (instance->has_patients) {
         clear_patients(self);
+    }
 }
 
 /// Instance destructor function for all pybind11 types. It calls `type_info.dealloc`
@@ -418,7 +437,7 @@ inline void clear_instance(PyObject *self) {
 extern "C" inline void pybind11_object_dealloc(PyObject *self) {
     clear_instance(self);
 
-    auto type = Py_TYPE(self);
+    auto *type = Py_TYPE(self);
     type->tp_free(self);
 
 #if PY_VERSION_HEX < 0x03080000
@@ -436,6 +455,8 @@ extern "C" inline void pybind11_object_dealloc(PyObject *self) {
 #endif
 }
 
+std::string error_string();
+
 /** Create the type which can be used as a common base for all classes.  This is
     needed in order to satisfy Python's requirements for multiple inheritance.
     Return value: New reference. */
@@ -447,16 +468,17 @@ inline PyObject *make_object_base_type(PyTypeObject *metaclass) {
        issue no Python C API calls which could potentially invoke the
        garbage collector (the GC will call type_traverse(), which will in
        turn find the newly constructed type in an invalid state) */
-    auto heap_type = (PyHeapTypeObject *) metaclass->tp_alloc(metaclass, 0);
-    if (!heap_type)
+    auto *heap_type = (PyHeapTypeObject *) metaclass->tp_alloc(metaclass, 0);
+    if (!heap_type) {
         pybind11_fail("make_object_base_type(): error allocating type!");
+    }
 
     heap_type->ht_name = name_obj.inc_ref().ptr();
 #ifdef PYBIND11_BUILTIN_QUALNAME
     heap_type->ht_qualname = name_obj.inc_ref().ptr();
 #endif
 
-    auto type = &heap_type->ht_type;
+    auto *type = &heap_type->ht_type;
     type->tp_name = name;
     type->tp_base = type_incref(&PyBaseObject_Type);
     type->tp_basicsize = static_cast<ssize_t>(sizeof(instance));
@@ -469,8 +491,9 @@ inline PyObject *make_object_base_type(PyTypeObject *metaclass) {
     /* Support weak references (needed for the keep_alive feature) */
     type->tp_weaklistoffset = offsetof(instance, weakrefs);
 
-    if (PyType_Ready(type) < 0)
-        pybind11_fail("PyType_Ready failed in make_object_base_type():" + error_string());
+    if (PyType_Ready(type) < 0) {
+        pybind11_fail("PyType_Ready failed in make_object_base_type(): " + error_string());
+    }
 
     setattr((PyObject *) type, "__module__", str("pybind11_builtins"));
     PYBIND11_SET_OLDPY_QUALNAME(type, name_obj);
@@ -482,8 +505,9 @@ inline PyObject *make_object_base_type(PyTypeObject *metaclass) {
 /// dynamic_attr: Support for `d = instance.__dict__`.
 extern "C" inline PyObject *pybind11_get_dict(PyObject *self, void *) {
     PyObject *&dict = *_PyObject_GetDictPtr(self);
-    if (!dict)
+    if (!dict) {
         dict = PyDict_New();
+    }
     Py_XINCREF(dict);
     return dict;
 }
@@ -491,7 +515,8 @@ extern "C" inline PyObject *pybind11_get_dict(PyObject *self, void *) {
 /// dynamic_attr: Support for `instance.__dict__ = dict()`.
 extern "C" inline int pybind11_set_dict(PyObject *self, PyObject *new_dict, void *) {
     if (!PyDict_Check(new_dict)) {
-        PyErr_Format(PyExc_TypeError, "__dict__ must be set to a dictionary, not a '%.200s'",
+        PyErr_Format(PyExc_TypeError,
+                     "__dict__ must be set to a dictionary, not a '%.200s'",
                      get_fully_qualified_tp_name(Py_TYPE(new_dict)).c_str());
         return -1;
     }
@@ -506,6 +531,10 @@ extern "C" inline int pybind11_set_dict(PyObject *self, PyObject *new_dict, void
 extern "C" inline int pybind11_traverse(PyObject *self, visitproc visit, void *arg) {
     PyObject *&dict = *_PyObject_GetDictPtr(self);
     Py_VISIT(dict);
+// https://docs.python.org/3/c-api/typeobj.html#c.PyTypeObject.tp_traverse
+#if PY_VERSION_HEX >= 0x03090000
+    Py_VISIT(Py_TYPE(self));
+#endif
     return 0;
 }
 
@@ -518,17 +547,20 @@ extern "C" inline int pybind11_clear(PyObject *self) {
 
 /// Give instances of this type a `__dict__` and opt into garbage collection.
 inline void enable_dynamic_attributes(PyHeapTypeObject *heap_type) {
-    auto type = &heap_type->ht_type;
+    auto *type = &heap_type->ht_type;
     type->tp_flags |= Py_TPFLAGS_HAVE_GC;
-    type->tp_dictoffset = type->tp_basicsize; // place dict at the end
-    type->tp_basicsize += (ssize_t)sizeof(PyObject *); // and allocate enough space for it
+#if PY_VERSION_HEX < 0x030B0000
+    type->tp_dictoffset = type->tp_basicsize;           // place dict at the end
+    type->tp_basicsize += (ssize_t) sizeof(PyObject *); // and allocate enough space for it
+#else
+    type->tp_flags |= Py_TPFLAGS_MANAGED_DICT;
+#endif
     type->tp_traverse = pybind11_traverse;
     type->tp_clear = pybind11_clear;
 
     static PyGetSetDef getset[] = {
-        {const_cast<char*>("__dict__"), pybind11_get_dict, pybind11_set_dict, nullptr, nullptr},
-        {nullptr, nullptr, nullptr, nullptr, nullptr}
-    };
+        {const_cast<char *>("__dict__"), pybind11_get_dict, pybind11_set_dict, nullptr, nullptr},
+        {nullptr, nullptr, nullptr, nullptr, nullptr}};
     type->tp_getset = getset;
 }
 
@@ -538,12 +570,14 @@ extern "C" inline int pybind11_getbuffer(PyObject *obj, Py_buffer *view, int fla
     type_info *tinfo = nullptr;
     for (auto type : reinterpret_borrow<tuple>(Py_TYPE(obj)->tp_mro)) {
         tinfo = get_type_info((PyTypeObject *) type.ptr());
-        if (tinfo && tinfo->get_buffer)
+        if (tinfo && tinfo->get_buffer) {
             break;
+        }
     }
     if (view == nullptr || !tinfo || !tinfo->get_buffer) {
-        if (view)
+        if (view) {
             view->obj = nullptr;
+        }
         PyErr_SetString(PyExc_BufferError, "pybind11_getbuffer(): Internal error");
         return -1;
     }
@@ -561,15 +595,17 @@ extern "C" inline int pybind11_getbuffer(PyObject *obj, Py_buffer *view, int fla
     view->buf = info->ptr;
     view->itemsize = info->itemsize;
     view->len = view->itemsize;
-    for (auto s : info->shape)
+    for (auto s : info->shape) {
         view->len *= s;
+    }
     view->readonly = static_cast<int>(info->readonly);
-    if ((flags & PyBUF_FORMAT) == PyBUF_FORMAT)
+    if ((flags & PyBUF_FORMAT) == PyBUF_FORMAT) {
         view->format = const_cast<char *>(info->format.c_str());
+    }
     if ((flags & PyBUF_STRIDES) == PyBUF_STRIDES) {
         view->ndim = (int) info->ndim;
-        view->strides = &info->strides[0];
-        view->shape = &info->shape[0];
+        view->strides = info->strides.data();
+        view->shape = info->shape.data();
     }
     Py_INCREF(view->obj);
     return 0;
@@ -583,9 +619,6 @@ extern "C" inline void pybind11_releasebuffer(PyObject *, Py_buffer *view) {
 /// Give this type a buffer interface.
 inline void enable_buffer_protocol(PyHeapTypeObject *heap_type) {
     heap_type->ht_type.tp_as_buffer = &heap_type->as_buffer;
-#if PY_MAJOR_VERSION < 3
-    heap_type->ht_type.tp_flags |= Py_TPFLAGS_HAVE_NEWBUFFER;
-#endif
 
     heap_type->as_buffer.bf_getbuffer = pybind11_getbuffer;
     heap_type->as_buffer.bf_releasebuffer = pybind11_releasebuffer;
@@ -593,32 +626,29 @@ inline void enable_buffer_protocol(PyHeapTypeObject *heap_type) {
 
 /** Create a brand new Python type according to the `type_record` specification.
     Return value: New reference. */
-inline PyObject* make_new_python_type(const type_record &rec) {
+inline PyObject *make_new_python_type(const type_record &rec) {
     auto name = reinterpret_steal<object>(PYBIND11_FROM_STRING(rec.name));
 
     auto qualname = name;
     if (rec.scope && !PyModule_Check(rec.scope.ptr()) && hasattr(rec.scope, "__qualname__")) {
-#if PY_MAJOR_VERSION >= 3
         qualname = reinterpret_steal<object>(
             PyUnicode_FromFormat("%U.%U", rec.scope.attr("__qualname__").ptr(), name.ptr()));
-#else
-        qualname = str(rec.scope.attr("__qualname__").cast<std::string>() + "." + rec.name);
-#endif
     }
 
     object module_;
     if (rec.scope) {
-        if (hasattr(rec.scope, "__module__"))
+        if (hasattr(rec.scope, "__module__")) {
             module_ = rec.scope.attr("__module__");
-        else if (hasattr(rec.scope, "__name__"))
+        } else if (hasattr(rec.scope, "__name__")) {
             module_ = rec.scope.attr("__name__");
+        }
     }
 
-    auto full_name = c_str(
+    const auto *full_name = c_str(
 #if !defined(PYPY_VERSION)
         module_ ? str(module_).cast<std::string>() + "." + rec.name :
 #endif
-        rec.name);
+                rec.name);
 
     char *tp_doc = nullptr;
     if (rec.doc && options::show_user_defined_docstrings()) {
@@ -631,32 +661,33 @@ inline PyObject* make_new_python_type(const type_record &rec) {
 
     auto &internals = get_internals();
     auto bases = tuple(rec.bases);
-    auto base = (bases.empty()) ? internals.instance_base
-                                    : bases[0].ptr();
+    auto *base = (bases.empty()) ? internals.instance_base : bases[0].ptr();
 
     /* Danger zone: from now (and until PyType_Ready), make sure to
        issue no Python C API calls which could potentially invoke the
        garbage collector (the GC will call type_traverse(), which will in
        turn find the newly constructed type in an invalid state) */
-    auto metaclass = rec.metaclass.ptr() ? (PyTypeObject *) rec.metaclass.ptr()
-                                         : internals.default_metaclass;
+    auto *metaclass
+        = rec.metaclass.ptr() ? (PyTypeObject *) rec.metaclass.ptr() : internals.default_metaclass;
 
-    auto heap_type = (PyHeapTypeObject *) metaclass->tp_alloc(metaclass, 0);
-    if (!heap_type)
+    auto *heap_type = (PyHeapTypeObject *) metaclass->tp_alloc(metaclass, 0);
+    if (!heap_type) {
         pybind11_fail(std::string(rec.name) + ": Unable to create type object!");
+    }
 
     heap_type->ht_name = name.release().ptr();
 #ifdef PYBIND11_BUILTIN_QUALNAME
     heap_type->ht_qualname = qualname.inc_ref().ptr();
 #endif
 
-    auto type = &heap_type->ht_type;
+    auto *type = &heap_type->ht_type;
     type->tp_name = full_name;
     type->tp_doc = tp_doc;
-    type->tp_base = type_incref((PyTypeObject *)base);
+    type->tp_base = type_incref((PyTypeObject *) base);
     type->tp_basicsize = static_cast<ssize_t>(sizeof(instance));
-    if (!bases.empty())
+    if (!bases.empty()) {
         type->tp_bases = bases.release().ptr();
+    }
 
     /* Don't inherit base __init__ */
     type->tp_init = pybind11_object_init;
@@ -665,40 +696,42 @@ inline PyObject* make_new_python_type(const type_record &rec) {
     type->tp_as_number = &heap_type->as_number;
     type->tp_as_sequence = &heap_type->as_sequence;
     type->tp_as_mapping = &heap_type->as_mapping;
-#if PY_VERSION_HEX >= 0x03050000
     type->tp_as_async = &heap_type->as_async;
-#endif
 
     /* Flags */
     type->tp_flags |= Py_TPFLAGS_DEFAULT | Py_TPFLAGS_HEAPTYPE;
-#if PY_MAJOR_VERSION < 3
-    type->tp_flags |= Py_TPFLAGS_CHECKTYPES;
-#endif
-    if (!rec.is_final)
+    if (!rec.is_final) {
         type->tp_flags |= Py_TPFLAGS_BASETYPE;
+    }
 
-    if (rec.dynamic_attr)
+    if (rec.dynamic_attr) {
         enable_dynamic_attributes(heap_type);
+    }
 
-    if (rec.buffer_protocol)
+    if (rec.buffer_protocol) {
         enable_buffer_protocol(heap_type);
+    }
 
-    if (rec.custom_type_setup_callback)
+    if (rec.custom_type_setup_callback) {
         rec.custom_type_setup_callback(heap_type);
+    }
 
-    if (PyType_Ready(type) < 0)
-        pybind11_fail(std::string(rec.name) + ": PyType_Ready failed (" + error_string() + ")!");
+    if (PyType_Ready(type) < 0) {
+        pybind11_fail(std::string(rec.name) + ": PyType_Ready failed: " + error_string());
+    }
 
     assert(!rec.dynamic_attr || PyType_HasFeature(type, Py_TPFLAGS_HAVE_GC));
 
     /* Register type with the parent scope */
-    if (rec.scope)
+    if (rec.scope) {
         setattr(rec.scope, rec.name, (PyObject *) type);
-    else
+    } else {
         Py_INCREF(type); // Keep it alive forever (reference leak)
+    }
 
-    if (module_) // Needed by pydoc
+    if (module_) { // Needed by pydoc
         setattr((PyObject *) type, "__module__", module_);
+    }
 
     PYBIND11_SET_OLDPY_QUALNAME(type, qualname);
 
diff --git a/pybind11/include/pybind11/detail/common.h b/pybind11/include/pybind11/detail/common.h
index 5c59b41417..1da323f317 100644
--- a/pybind11/include/pybind11/detail/common.h
+++ b/pybind11/include/pybind11/detail/common.h
@@ -10,99 +10,100 @@
 #pragma once
 
 #define PYBIND11_VERSION_MAJOR 2
-#define PYBIND11_VERSION_MINOR 9
-#define PYBIND11_VERSION_PATCH 1
+#define PYBIND11_VERSION_MINOR 10
+#define PYBIND11_VERSION_PATCH 0
 
 // Similar to Python's convention: https://docs.python.org/3/c-api/apiabiversion.html
 // Additional convention: 0xD = dev
-#define PYBIND11_VERSION_HEX 0x02090100
+#define PYBIND11_VERSION_HEX 0x020A0000
 
 #define PYBIND11_NAMESPACE_BEGIN(name) namespace name {
 #define PYBIND11_NAMESPACE_END(name) }
 
 // Robust support for some features and loading modules compiled against different pybind versions
-// requires forcing hidden visibility on pybind code, so we enforce this by setting the attribute on
-// the main `pybind11` namespace.
+// requires forcing hidden visibility on pybind code, so we enforce this by setting the attribute
+// on the main `pybind11` namespace.
 #if !defined(PYBIND11_NAMESPACE)
-#  ifdef __GNUG__
-#    define PYBIND11_NAMESPACE pybind11 __attribute__((visibility("hidden")))
-#  else
-#    define PYBIND11_NAMESPACE pybind11
-#  endif
+#    ifdef __GNUG__
+#        define PYBIND11_NAMESPACE pybind11 __attribute__((visibility("hidden")))
+#    else
+#        define PYBIND11_NAMESPACE pybind11
+#    endif
 #endif
 
 #if !(defined(_MSC_VER) && __cplusplus == 199711L)
-#  if __cplusplus >= 201402L
-#    define PYBIND11_CPP14
-#    if __cplusplus >= 201703L
-#      define PYBIND11_CPP17
-#      if __cplusplus >= 202002L
-#        define PYBIND11_CPP20
-#      endif
+#    if __cplusplus >= 201402L
+#        define PYBIND11_CPP14
+#        if __cplusplus >= 201703L
+#            define PYBIND11_CPP17
+#            if __cplusplus >= 202002L
+#                define PYBIND11_CPP20
+// Please update tests/pybind11_tests.cpp `cpp_std()` when adding a macro here.
+#            endif
+#        endif
 #    endif
-#  endif
 #elif defined(_MSC_VER) && __cplusplus == 199711L
-// MSVC sets _MSVC_LANG rather than __cplusplus (supposedly until the standard is fully implemented)
-// Unless you use the /Zc:__cplusplus flag on Visual Studio 2017 15.7 Preview 3 or newer
-#  if _MSVC_LANG >= 201402L
-#    define PYBIND11_CPP14
-#    if _MSVC_LANG > 201402L && _MSC_VER >= 1910
-#      define PYBIND11_CPP17
-#      if _MSVC_LANG >= 202002L
-#        define PYBIND11_CPP20
-#      endif
+// MSVC sets _MSVC_LANG rather than __cplusplus (supposedly until the standard is fully
+// implemented). Unless you use the /Zc:__cplusplus flag on Visual Studio 2017 15.7 Preview 3
+// or newer.
+#    if _MSVC_LANG >= 201402L
+#        define PYBIND11_CPP14
+#        if _MSVC_LANG > 201402L
+#            define PYBIND11_CPP17
+#            if _MSVC_LANG >= 202002L
+#                define PYBIND11_CPP20
+#            endif
+#        endif
 #    endif
-#  endif
 #endif
 
 // Compiler version assertions
 #if defined(__INTEL_COMPILER)
-#  if __INTEL_COMPILER < 1800
-#    error pybind11 requires Intel C++ compiler v18 or newer
-#  elif __INTEL_COMPILER < 1900 && defined(PYBIND11_CPP14)
-#    error pybind11 supports only C++11 with Intel C++ compiler v18. Use v19 or newer for C++14.
-#  endif
+#    if __INTEL_COMPILER < 1800
+#        error pybind11 requires Intel C++ compiler v18 or newer
+#    elif __INTEL_COMPILER < 1900 && defined(PYBIND11_CPP14)
+#        error pybind11 supports only C++11 with Intel C++ compiler v18. Use v19 or newer for C++14.
+#    endif
 /* The following pragma cannot be pop'ed:
    https://community.intel.com/t5/Intel-C-Compiler/Inline-and-no-inline-warning/td-p/1216764 */
-#  pragma warning disable 2196 // warning #2196: routine is both "inline" and "noinline"
+#    pragma warning disable 2196 // warning #2196: routine is both "inline" and "noinline"
 #elif defined(__clang__) && !defined(__apple_build_version__)
-#  if __clang_major__ < 3 || (__clang_major__ == 3 && __clang_minor__ < 3)
-#    error pybind11 requires clang 3.3 or newer
-#  endif
+#    if __clang_major__ < 3 || (__clang_major__ == 3 && __clang_minor__ < 3)
+#        error pybind11 requires clang 3.3 or newer
+#    endif
 #elif defined(__clang__)
 // Apple changes clang version macros to its Xcode version; the first Xcode release based on
 // (upstream) clang 3.3 was Xcode 5:
-#  if __clang_major__ < 5
-#    error pybind11 requires Xcode/clang 5.0 or newer
-#  endif
+#    if __clang_major__ < 5
+#        error pybind11 requires Xcode/clang 5.0 or newer
+#    endif
 #elif defined(__GNUG__)
-#  if __GNUC__ < 4 || (__GNUC__ == 4 && __GNUC_MINOR__ < 8)
-#    error pybind11 requires gcc 4.8 or newer
-#  endif
+#    if __GNUC__ < 4 || (__GNUC__ == 4 && __GNUC_MINOR__ < 8)
+#        error pybind11 requires gcc 4.8 or newer
+#    endif
 #elif defined(_MSC_VER)
-// Pybind hits various compiler bugs in 2015u2 and earlier, and also makes use of some stl features
-// (e.g. std::negation) added in 2015u3:
-#  if _MSC_FULL_VER < 190024210
-#    error pybind11 requires MSVC 2015 update 3 or newer
-#  endif
+#    if _MSC_VER < 1910
+#        error pybind11 2.10+ requires MSVC 2017 or newer
+#    endif
 #endif
 
 #if !defined(PYBIND11_EXPORT)
-#  if defined(WIN32) || defined(_WIN32)
-#    define PYBIND11_EXPORT __declspec(dllexport)
-#  else
-#    define PYBIND11_EXPORT __attribute__ ((visibility("default")))
-#  endif
+#    if defined(WIN32) || defined(_WIN32)
+#        define PYBIND11_EXPORT __declspec(dllexport)
+#    else
+#        define PYBIND11_EXPORT __attribute__((visibility("default")))
+#    endif
 #endif
 
 #if !defined(PYBIND11_EXPORT_EXCEPTION)
-#  ifdef __MINGW32__
+#    ifdef __MINGW32__
 // workaround for:
-// error: 'dllexport' implies default visibility, but xxx has already been declared with a different visibility
-#    define PYBIND11_EXPORT_EXCEPTION
-#  else
-#    define PYBIND11_EXPORT_EXCEPTION PYBIND11_EXPORT
-#  endif
+// error: 'dllexport' implies default visibility, but xxx has already been declared with a
+// different visibility
+#        define PYBIND11_EXPORT_EXCEPTION
+#    else
+#        define PYBIND11_EXPORT_EXCEPTION PYBIND11_EXPORT
+#    endif
 #endif
 
 // For CUDA, GCC7, GCC8:
@@ -111,108 +112,107 @@
 // However, the measured shared-library size saving when using noinline are only
 // 1.7% for CUDA, -0.2% for GCC7, and 0.0% for GCC8 (using -DCMAKE_BUILD_TYPE=MinSizeRel,
 // the default under pybind11/tests).
-#if !defined(PYBIND11_NOINLINE_FORCED) && \
-    (defined(__CUDACC__) || (defined(__GNUC__) && (__GNUC__ == 7 || __GNUC__ == 8)))
-#  define PYBIND11_NOINLINE_DISABLED
+#if !defined(PYBIND11_NOINLINE_FORCED)                                                            \
+    && (defined(__CUDACC__) || (defined(__GNUC__) && (__GNUC__ == 7 || __GNUC__ == 8)))
+#    define PYBIND11_NOINLINE_DISABLED
 #endif
 
 // The PYBIND11_NOINLINE macro is for function DEFINITIONS.
 // In contrast, FORWARD DECLARATIONS should never use this macro:
 // https://stackoverflow.com/questions/9317473/forward-declaration-of-inline-functions
 #if defined(PYBIND11_NOINLINE_DISABLED) // Option for maximum portability and experimentation.
-#  define PYBIND11_NOINLINE inline
+#    define PYBIND11_NOINLINE inline
 #elif defined(_MSC_VER)
-#  define PYBIND11_NOINLINE __declspec(noinline) inline
+#    define PYBIND11_NOINLINE __declspec(noinline) inline
 #else
-#  define PYBIND11_NOINLINE __attribute__ ((noinline)) inline
+#    define PYBIND11_NOINLINE __attribute__((noinline)) inline
 #endif
 
 #if defined(__MINGW32__)
 // For unknown reasons all PYBIND11_DEPRECATED member trigger a warning when declared
 // whether it is used or not
-#  define PYBIND11_DEPRECATED(reason)
+#    define PYBIND11_DEPRECATED(reason)
 #elif defined(PYBIND11_CPP14)
-#  define PYBIND11_DEPRECATED(reason) [[deprecated(reason)]]
+#    define PYBIND11_DEPRECATED(reason) [[deprecated(reason)]]
 #else
-#  define PYBIND11_DEPRECATED(reason) __attribute__((deprecated(reason)))
+#    define PYBIND11_DEPRECATED(reason) __attribute__((deprecated(reason)))
 #endif
 
 #if defined(PYBIND11_CPP17)
-#  define PYBIND11_MAYBE_UNUSED [[maybe_unused]]
+#    define PYBIND11_MAYBE_UNUSED [[maybe_unused]]
 #elif defined(_MSC_VER) && !defined(__clang__)
-#  define PYBIND11_MAYBE_UNUSED
+#    define PYBIND11_MAYBE_UNUSED
 #else
-#  define PYBIND11_MAYBE_UNUSED __attribute__ ((__unused__))
+#    define PYBIND11_MAYBE_UNUSED __attribute__((__unused__))
 #endif
 
 /* Don't let Python.h #define (v)snprintf as macro because they are implemented
    properly in Visual Studio since 2015. */
-#if defined(_MSC_VER) && _MSC_VER >= 1900
-#  define HAVE_SNPRINTF 1
+#if defined(_MSC_VER)
+#    define HAVE_SNPRINTF 1
 #endif
 
 /// Include Python header, disable linking to pythonX_d.lib on Windows in debug mode
 #if defined(_MSC_VER)
-#  if (PY_MAJOR_VERSION == 3 && PY_MINOR_VERSION < 4)
-#    define HAVE_ROUND 1
-#  endif
-#  pragma warning(push)
+#    pragma warning(push)
 // C4505: 'PySlice_GetIndicesEx': unreferenced local function has been removed (PyPy only)
-#  pragma warning(disable: 4505)
-#  if defined(_DEBUG) && !defined(Py_DEBUG)
+#    pragma warning(disable : 4505)
+#    if defined(_DEBUG) && !defined(Py_DEBUG)
 // Workaround for a VS 2022 issue.
 // NOTE: This workaround knowingly violates the Python.h include order requirement:
 // https://docs.python.org/3/c-api/intro.html#include-files
 // See https://github.com/pybind/pybind11/pull/3497 for full context.
-#    include <yvals.h>
-#    if _MSVC_STL_VERSION >= 143
-#      include <crtdefs.h>
+#        include <yvals.h>
+#        if _MSVC_STL_VERSION >= 143
+#            include <crtdefs.h>
+#        endif
+#        define PYBIND11_DEBUG_MARKER
+#        undef _DEBUG
 #    endif
-#    define PYBIND11_DEBUG_MARKER
-#    undef _DEBUG
-#  endif
 #endif
 
 // https://en.cppreference.com/w/c/chrono/localtime
 #if defined(__STDC_LIB_EXT1__) && !defined(__STDC_WANT_LIB_EXT1__)
-#  define __STDC_WANT_LIB_EXT1__
+#    define __STDC_WANT_LIB_EXT1__
 #endif
 
 #ifdef __has_include
 // std::optional (but including it in c++14 mode isn't allowed)
-#  if defined(PYBIND11_CPP17) && __has_include(<optional>)
-#    define PYBIND11_HAS_OPTIONAL 1
-#  endif
+#    if defined(PYBIND11_CPP17) && __has_include(<optional>)
+#        define PYBIND11_HAS_OPTIONAL 1
+#    endif
 // std::experimental::optional (but not allowed in c++11 mode)
-#  if defined(PYBIND11_CPP14) && (__has_include(<experimental/optional>) && \
+#    if defined(PYBIND11_CPP14) && (__has_include(<experimental/optional>) && \
                                  !__has_include(<optional>))
-#    define PYBIND11_HAS_EXP_OPTIONAL 1
-#  endif
+#        define PYBIND11_HAS_EXP_OPTIONAL 1
+#    endif
 // std::variant
-#  if defined(PYBIND11_CPP17) && __has_include(<variant>)
-#    define PYBIND11_HAS_VARIANT 1
-#  endif
+#    if defined(PYBIND11_CPP17) && __has_include(<variant>)
+#        define PYBIND11_HAS_VARIANT 1
+#    endif
 #elif defined(_MSC_VER) && defined(PYBIND11_CPP17)
-#  define PYBIND11_HAS_OPTIONAL 1
-#  define PYBIND11_HAS_VARIANT 1
+#    define PYBIND11_HAS_OPTIONAL 1
+#    define PYBIND11_HAS_VARIANT 1
 #endif
 
 #if defined(PYBIND11_CPP17)
-#  if defined(__has_include)
-#    if __has_include(<string_view>)
-#      define PYBIND11_HAS_STRING_VIEW
+#    if defined(__has_include)
+#        if __has_include(<string_view>)
+#            define PYBIND11_HAS_STRING_VIEW
+#        endif
+#    elif defined(_MSC_VER)
+#        define PYBIND11_HAS_STRING_VIEW
 #    endif
-#  elif defined(_MSC_VER)
-#    define PYBIND11_HAS_STRING_VIEW
-#  endif
 #endif
 
 #if defined(__cpp_lib_char8_t) && __cpp_lib_char8_t >= 201811L
-#  define PYBIND11_HAS_U8STRING
+#    define PYBIND11_HAS_U8STRING
 #endif
 
-
 #include <Python.h>
+#if PY_VERSION_HEX < 0x03060000
+#    error "PYTHON < 3.6 IS UNSUPPORTED. pybind11 v2.9 was the last to support Python 2 and 3.5."
+#endif
 #include <frameobject.h>
 #include <pythread.h>
 
@@ -220,43 +220,43 @@
    tends to weak havok in C++ codebases that expect these to work
    like regular functions (potentially with several overloads) */
 #if defined(isalnum)
-#  undef isalnum
-#  undef isalpha
-#  undef islower
-#  undef isspace
-#  undef isupper
-#  undef tolower
-#  undef toupper
+#    undef isalnum
+#    undef isalpha
+#    undef islower
+#    undef isspace
+#    undef isupper
+#    undef tolower
+#    undef toupper
 #endif
 
 #if defined(copysign)
-#  undef copysign
+#    undef copysign
 #endif
 
 #if defined(_MSC_VER)
-#  if defined(PYBIND11_DEBUG_MARKER)
-#    define _DEBUG
-#    undef PYBIND11_DEBUG_MARKER
-#  endif
-#  pragma warning(pop)
+#    if defined(PYBIND11_DEBUG_MARKER)
+#        define _DEBUG
+#        undef PYBIND11_DEBUG_MARKER
+#    endif
+#    pragma warning(pop)
 #endif
 
 #include <cstddef>
 #include <cstring>
-#include <forward_list>
-#include <vector>
-#include <string>
-#include <stdexcept>
 #include <exception>
-#include <unordered_set>
-#include <unordered_map>
+#include <forward_list>
 #include <memory>
-#include <typeindex>
+#include <stdexcept>
+#include <string>
 #include <type_traits>
+#include <typeindex>
+#include <unordered_map>
+#include <unordered_set>
+#include <vector>
 #if defined(__has_include)
-#  if __has_include(<version>)
-#    include <version>
-#  endif
+#    if __has_include(<version>)
+#        include <version>
+#    endif
 #endif
 
 // #define PYBIND11_STR_LEGACY_PERMISSIVE
@@ -268,11 +268,11 @@
 // If UNDEFINED, pybind11::str can only hold PyUnicodeObject, and
 //               pybind11::isinstance<str>() is true only for pybind11::str.
 //               However, for Python 2 only (!), the pybind11::str caster
-//               implicitly decodes bytes to PyUnicodeObject. This is to ease
+//               implicitly decoded bytes to PyUnicodeObject. This was to ease
 //               the transition from the legacy behavior to the non-permissive
 //               behavior.
 
-#if PY_MAJOR_VERSION >= 3 /// Compatibility macros for various Python versions
+/// Compatibility macros for Python 2 / Python 3 versions TODO: remove
 #define PYBIND11_INSTANCE_METHOD_NEW(ptr, class_) PyInstanceMethod_New(ptr)
 #define PYBIND11_INSTANCE_METHOD_CHECK PyInstanceMethod_Check
 #define PYBIND11_INSTANCE_METHOD_GET_FUNCTION PyInstanceMethod_GET_FUNCTION
@@ -296,96 +296,42 @@
 #define PYBIND11_BUILTINS_MODULE "builtins"
 // Providing a separate declaration to make Clang's -Wmissing-prototypes happy.
 // See comment for PYBIND11_MODULE below for why this is marked "maybe unused".
-#define PYBIND11_PLUGIN_IMPL(name) \
-    extern "C" PYBIND11_MAYBE_UNUSED PYBIND11_EXPORT PyObject *PyInit_##name(); \
+#define PYBIND11_PLUGIN_IMPL(name)                                                                \
+    extern "C" PYBIND11_MAYBE_UNUSED PYBIND11_EXPORT PyObject *PyInit_##name();                   \
     extern "C" PYBIND11_EXPORT PyObject *PyInit_##name()
 
-#else
-#define PYBIND11_INSTANCE_METHOD_NEW(ptr, class_) PyMethod_New(ptr, nullptr, class_)
-#define PYBIND11_INSTANCE_METHOD_CHECK PyMethod_Check
-#define PYBIND11_INSTANCE_METHOD_GET_FUNCTION PyMethod_GET_FUNCTION
-#define PYBIND11_BYTES_CHECK PyString_Check
-#define PYBIND11_BYTES_FROM_STRING PyString_FromString
-#define PYBIND11_BYTES_FROM_STRING_AND_SIZE PyString_FromStringAndSize
-#define PYBIND11_BYTES_AS_STRING_AND_SIZE PyString_AsStringAndSize
-#define PYBIND11_BYTES_AS_STRING PyString_AsString
-#define PYBIND11_BYTES_SIZE PyString_Size
-#define PYBIND11_LONG_CHECK(o) (PyInt_Check(o) || PyLong_Check(o))
-#define PYBIND11_LONG_AS_LONGLONG(o) (PyInt_Check(o) ? (long long) PyLong_AsLong(o) : PyLong_AsLongLong(o))
-#define PYBIND11_LONG_FROM_SIGNED(o) PyInt_FromSsize_t((ssize_t) o) // Returns long if needed.
-#define PYBIND11_LONG_FROM_UNSIGNED(o) PyInt_FromSize_t((size_t) o) // Returns long if needed.
-#define PYBIND11_BYTES_NAME "str"
-#define PYBIND11_STRING_NAME "unicode"
-#define PYBIND11_SLICE_OBJECT PySliceObject
-#define PYBIND11_FROM_STRING PyString_FromString
-#define PYBIND11_STR_TYPE ::pybind11::bytes
-#define PYBIND11_BOOL_ATTR "__nonzero__"
-#define PYBIND11_NB_BOOL(ptr) ((ptr)->nb_nonzero)
-#define PYBIND11_BUILTINS_MODULE "__builtin__"
-// Providing a separate PyInit decl to make Clang's -Wmissing-prototypes happy.
-// See comment for PYBIND11_MODULE below for why this is marked "maybe unused".
-#define PYBIND11_PLUGIN_IMPL(name) \
-    static PyObject *pybind11_init_wrapper();                           \
-    extern "C" PYBIND11_MAYBE_UNUSED PYBIND11_EXPORT void init##name(); \
-    extern "C" PYBIND11_EXPORT void init##name() {                      \
-        (void)pybind11_init_wrapper();                                  \
-    }                                                                   \
-    PyObject *pybind11_init_wrapper()
-#endif
-
-#if PY_VERSION_HEX >= 0x03050000 && PY_VERSION_HEX < 0x03050200
-extern "C" {
-    struct _Py_atomic_address { void *value; };
-    PyAPI_DATA(_Py_atomic_address) _PyThreadState_Current;
-}
-#endif
-
 #define PYBIND11_TRY_NEXT_OVERLOAD ((PyObject *) 1) // special failure return code
 #define PYBIND11_STRINGIFY(x) #x
 #define PYBIND11_TOSTRING(x) PYBIND11_STRINGIFY(x)
 #define PYBIND11_CONCAT(first, second) first##second
-#define PYBIND11_ENSURE_INTERNALS_READY \
-    pybind11::detail::get_internals();
-
-#define PYBIND11_CHECK_PYTHON_VERSION \
-    {                                                                          \
-        const char *compiled_ver = PYBIND11_TOSTRING(PY_MAJOR_VERSION)         \
-            "." PYBIND11_TOSTRING(PY_MINOR_VERSION);                           \
-        const char *runtime_ver = Py_GetVersion();                             \
-        size_t len = std::strlen(compiled_ver);                                \
-        if (std::strncmp(runtime_ver, compiled_ver, len) != 0                  \
-                || (runtime_ver[len] >= '0' && runtime_ver[len] <= '9')) {     \
-            PyErr_Format(PyExc_ImportError,                                    \
-                "Python version mismatch: module was compiled for Python %s, " \
-                "but the interpreter version is incompatible: %s.",            \
-                compiled_ver, runtime_ver);                                    \
-            return nullptr;                                                    \
-        }                                                                      \
+#define PYBIND11_ENSURE_INTERNALS_READY pybind11::detail::get_internals();
+
+#define PYBIND11_CHECK_PYTHON_VERSION                                                             \
+    {                                                                                             \
+        const char *compiled_ver                                                                  \
+            = PYBIND11_TOSTRING(PY_MAJOR_VERSION) "." PYBIND11_TOSTRING(PY_MINOR_VERSION);        \
+        const char *runtime_ver = Py_GetVersion();                                                \
+        size_t len = std::strlen(compiled_ver);                                                   \
+        if (std::strncmp(runtime_ver, compiled_ver, len) != 0                                     \
+            || (runtime_ver[len] >= '0' && runtime_ver[len] <= '9')) {                            \
+            PyErr_Format(PyExc_ImportError,                                                       \
+                         "Python version mismatch: module was compiled for Python %s, "           \
+                         "but the interpreter version is incompatible: %s.",                      \
+                         compiled_ver,                                                            \
+                         runtime_ver);                                                            \
+            return nullptr;                                                                       \
+        }                                                                                         \
     }
 
-#if PY_VERSION_HEX >= 0x03030000
-
-#define PYBIND11_CATCH_INIT_EXCEPTIONS \
-        catch (pybind11::error_already_set &e) {                                 \
-            pybind11::raise_from(e, PyExc_ImportError, "initialization failed"); \
-            return nullptr;                                                      \
-        } catch (const std::exception &e) {                                      \
-            PyErr_SetString(PyExc_ImportError, e.what());                        \
-            return nullptr;                                                      \
-        }                                                                        \
-
-#else
-
-#define PYBIND11_CATCH_INIT_EXCEPTIONS \
-        catch (pybind11::error_already_set &e) {                               \
-            PyErr_SetString(PyExc_ImportError, e.what());                      \
-            return nullptr;                                                    \
-        } catch (const std::exception &e) {                                    \
-            PyErr_SetString(PyExc_ImportError, e.what());                      \
-            return nullptr;                                                    \
-        }                                                                      \
-
-#endif
+#define PYBIND11_CATCH_INIT_EXCEPTIONS                                                            \
+    catch (pybind11::error_already_set & e) {                                                     \
+        pybind11::raise_from(e, PyExc_ImportError, "initialization failed");                      \
+        return nullptr;                                                                           \
+    }                                                                                             \
+    catch (const std::exception &e) {                                                             \
+        PyErr_SetString(PyExc_ImportError, e.what());                                             \
+        return nullptr;                                                                           \
+    }
 
 /** \rst
     ***Deprecated in favor of PYBIND11_MODULE***
@@ -402,16 +348,17 @@ extern "C" {
             return m.ptr();
         }
 \endrst */
-#define PYBIND11_PLUGIN(name)                                                  \
-    PYBIND11_DEPRECATED("PYBIND11_PLUGIN is deprecated, use PYBIND11_MODULE")  \
-    static PyObject *pybind11_init();                                          \
-    PYBIND11_PLUGIN_IMPL(name) {                                               \
-        PYBIND11_CHECK_PYTHON_VERSION                                          \
-        PYBIND11_ENSURE_INTERNALS_READY                                        \
-        try {                                                                  \
-            return pybind11_init();                                            \
-        } PYBIND11_CATCH_INIT_EXCEPTIONS                                       \
-    }                                                                          \
+#define PYBIND11_PLUGIN(name)                                                                     \
+    PYBIND11_DEPRECATED("PYBIND11_PLUGIN is deprecated, use PYBIND11_MODULE")                     \
+    static PyObject *pybind11_init();                                                             \
+    PYBIND11_PLUGIN_IMPL(name) {                                                                  \
+        PYBIND11_CHECK_PYTHON_VERSION                                                             \
+        PYBIND11_ENSURE_INTERNALS_READY                                                           \
+        try {                                                                                     \
+            return pybind11_init();                                                               \
+        }                                                                                         \
+        PYBIND11_CATCH_INIT_EXCEPTIONS                                                            \
+    }                                                                                             \
     PyObject *pybind11_init()
 
 /** \rst
@@ -456,7 +403,7 @@ extern "C" {
 PYBIND11_NAMESPACE_BEGIN(PYBIND11_NAMESPACE)
 
 using ssize_t = Py_ssize_t;
-using size_t  = std::size_t;
+using size_t = std::size_t;
 
 template <typename IntType>
 inline ssize_t ssize_t_cast(const IntType &val) {
@@ -481,7 +428,7 @@ enum class return_value_policy : uint8_t {
 
     /** Reference an existing object (i.e. do not create a new copy) and take
         ownership. Python will call the destructor and delete operator when the
-        object’s reference count reaches zero. Undefined behavior ensues when
+        object's reference count reaches zero. Undefined behavior ensues when
         the C++ side does the same.. */
     take_ownership,
 
@@ -497,7 +444,7 @@ enum class return_value_policy : uint8_t {
     move,
 
     /** Reference an existing object, but do not take ownership. The C++ side
-        is responsible for managing the object’s lifetime and deallocating it
+        is responsible for managing the object's lifetime and deallocating it
         when it is no longer used. Warning: undefined behavior will ensue when
         the C++ side deletes an object that is still referenced and used by
         Python. */
@@ -506,7 +453,7 @@ enum class return_value_policy : uint8_t {
     /** This policy only applies to methods and properties. It references the
         object without taking ownership similar to the above
         return_value_policy::reference policy. In contrast to that policy, the
-        function or property’s implicit this argument (called the parent) is
+        function or property's implicit this argument (called the parent) is
         considered to be the the owner of the return value (the child).
         pybind11 then couples the lifetime of the parent to the child via a
         reference relationship that ensures that the parent cannot be garbage
@@ -518,10 +465,14 @@ enum class return_value_policy : uint8_t {
 
 PYBIND11_NAMESPACE_BEGIN(detail)
 
-inline static constexpr int log2(size_t n, int k = 0) { return (n <= 1) ? k : log2(n >> 1, k + 1); }
+inline static constexpr int log2(size_t n, int k = 0) {
+    return (n <= 1) ? k : log2(n >> 1, k + 1);
+}
 
 // Returns the size as a multiple of sizeof(void *), rounded up.
-inline static constexpr size_t size_in_ptrs(size_t s) { return 1 + ((s - 1) >> log2(sizeof(void *))); }
+inline static constexpr size_t size_in_ptrs(size_t s) {
+    return 1 + ((s - 1) >> log2(sizeof(void *)));
+}
 
 /**
  * The space to allocate for simple layout instance holders (see below) in multiple of the size of
@@ -531,7 +482,7 @@ inline static constexpr size_t size_in_ptrs(size_t s) { return 1 + ((s - 1) >> l
  */
 constexpr size_t instance_simple_holder_in_ptrs() {
     static_assert(sizeof(std::shared_ptr<int>) >= sizeof(std::unique_ptr<int>),
-            "pybind assumes std::shared_ptrs are at least as big as std::unique_ptrs");
+                  "pybind assumes std::shared_ptrs are at least as big as std::unique_ptrs");
     return size_in_ptrs(sizeof(std::shared_ptr<int>));
 }
 
@@ -559,21 +510,21 @@ struct instance {
     /**
      * An instance has two possible value/holder layouts.
      *
-     * Simple layout (when this flag is true), means the `simple_value_holder` is set with a pointer
-     * and the holder object governing that pointer, i.e. [val1*][holder].  This layout is applied
-     * whenever there is no python-side multiple inheritance of bound C++ types *and* the type's
-     * holder will fit in the default space (which is large enough to hold either a std::unique_ptr
-     * or std::shared_ptr).
+     * Simple layout (when this flag is true), means the `simple_value_holder` is set with a
+     * pointer and the holder object governing that pointer, i.e. [val1*][holder].  This layout is
+     * applied whenever there is no python-side multiple inheritance of bound C++ types *and* the
+     * type's holder will fit in the default space (which is large enough to hold either a
+     * std::unique_ptr or std::shared_ptr).
      *
-     * Non-simple layout applies when using custom holders that require more space than `shared_ptr`
-     * (which is typically the size of two pointers), or when multiple inheritance is used on the
-     * python side.  Non-simple layout allocates the required amount of memory to have multiple
-     * bound C++ classes as parents.  Under this layout, `nonsimple.values_and_holders` is set to a
-     * pointer to allocated space of the required space to hold a sequence of value pointers and
-     * holders followed `status`, a set of bit flags (1 byte each), i.e.
-     * [val1*][holder1][val2*][holder2]...[bb...]  where each [block] is rounded up to a multiple of
-     * `sizeof(void *)`.  `nonsimple.status` is, for convenience, a pointer to the
-     * beginning of the [bb...] block (but not independently allocated).
+     * Non-simple layout applies when using custom holders that require more space than
+     * `shared_ptr` (which is typically the size of two pointers), or when multiple inheritance is
+     * used on the python side.  Non-simple layout allocates the required amount of memory to have
+     * multiple bound C++ classes as parents.  Under this layout, `nonsimple.values_and_holders` is
+     * set to a pointer to allocated space of the required space to hold a sequence of value
+     * pointers and holders followed `status`, a set of bit flags (1 byte each), i.e.
+     * [val1*][holder1][val2*][holder2]...[bb...]  where each [block] is rounded up to a multiple
+     * of `sizeof(void *)`.  `nonsimple.status` is, for convenience, a pointer to the beginning of
+     * the [bb...] block (but not independently allocated).
      *
      * Status bits indicate whether the associated holder is constructed (&
      * status_holder_constructed) and whether the value pointer is registered (&
@@ -587,7 +538,8 @@ struct instance {
     /// If true, get_internals().patients has an entry for this object
     bool has_patients : 1;
 
-    /// Initializes all of the above type/values/holders data (but not the instance values themselves)
+    /// Initializes all of the above type/values/holders data (but not the instance values
+    /// themselves)
     void allocate_layout();
 
     /// Destroys/deallocates all of the above
@@ -596,26 +548,32 @@ struct instance {
     /// Returns the value_and_holder wrapper for the given type (or the first, if `find_type`
     /// omitted).  Returns a default-constructed (with `.inst = nullptr`) object on failure if
     /// `throw_if_missing` is false.
-    value_and_holder get_value_and_holder(const type_info *find_type = nullptr, bool throw_if_missing = true);
+    value_and_holder get_value_and_holder(const type_info *find_type = nullptr,
+                                          bool throw_if_missing = true);
 
     /// Bit values for the non-simple status flags
-    static constexpr uint8_t status_holder_constructed  = 1;
+    static constexpr uint8_t status_holder_constructed = 1;
     static constexpr uint8_t status_instance_registered = 2;
 };
 
-static_assert(std::is_standard_layout<instance>::value, "Internal error: `pybind11::detail::instance` is not standard layout!");
+static_assert(std::is_standard_layout<instance>::value,
+              "Internal error: `pybind11::detail::instance` is not standard layout!");
 
 /// from __cpp_future__ import (convenient aliases from C++14/17)
-#if defined(PYBIND11_CPP14) && (!defined(_MSC_VER) || _MSC_VER >= 1910)
-using std::enable_if_t;
+#if defined(PYBIND11_CPP14)
 using std::conditional_t;
+using std::enable_if_t;
 using std::remove_cv_t;
 using std::remove_reference_t;
 #else
-template <bool B, typename T = void> using enable_if_t = typename std::enable_if<B, T>::type;
-template <bool B, typename T, typename F> using conditional_t = typename std::conditional<B, T, F>::type;
-template <typename T> using remove_cv_t = typename std::remove_cv<T>::type;
-template <typename T> using remove_reference_t = typename std::remove_reference<T>::type;
+template <bool B, typename T = void>
+using enable_if_t = typename std::enable_if<B, T>::type;
+template <bool B, typename T, typename F>
+using conditional_t = typename std::conditional<B, T, F>::type;
+template <typename T>
+using remove_cv_t = typename std::remove_cv<T>::type;
+template <typename T>
+using remove_reference_t = typename std::remove_reference<T>::type;
 #endif
 
 #if defined(PYBIND11_CPP20)
@@ -635,114 +593,189 @@ using remove_cvref_t = typename remove_cvref<T>::type;
 using std::index_sequence;
 using std::make_index_sequence;
 #else
-template<size_t ...> struct index_sequence  { };
-template<size_t N, size_t ...S> struct make_index_sequence_impl : make_index_sequence_impl <N - 1, N - 1, S...> { };
-template<size_t ...S> struct make_index_sequence_impl <0, S...> { using type = index_sequence<S...>; };
-template<size_t N> using make_index_sequence = typename make_index_sequence_impl<N>::type;
+template <size_t...>
+struct index_sequence {};
+template <size_t N, size_t... S>
+struct make_index_sequence_impl : make_index_sequence_impl<N - 1, N - 1, S...> {};
+template <size_t... S>
+struct make_index_sequence_impl<0, S...> {
+    using type = index_sequence<S...>;
+};
+template <size_t N>
+using make_index_sequence = typename make_index_sequence_impl<N>::type;
 #endif
 
 /// Make an index sequence of the indices of true arguments
-template <typename ISeq, size_t, bool...> struct select_indices_impl { using type = ISeq; };
-template <size_t... IPrev, size_t I, bool B, bool... Bs> struct select_indices_impl<index_sequence<IPrev...>, I, B, Bs...>
-    : select_indices_impl<conditional_t<B, index_sequence<IPrev..., I>, index_sequence<IPrev...>>, I + 1, Bs...> {};
-template <bool... Bs> using select_indices = typename select_indices_impl<index_sequence<>, 0, Bs...>::type;
+template <typename ISeq, size_t, bool...>
+struct select_indices_impl {
+    using type = ISeq;
+};
+template <size_t... IPrev, size_t I, bool B, bool... Bs>
+struct select_indices_impl<index_sequence<IPrev...>, I, B, Bs...>
+    : select_indices_impl<conditional_t<B, index_sequence<IPrev..., I>, index_sequence<IPrev...>>,
+                          I + 1,
+                          Bs...> {};
+template <bool... Bs>
+using select_indices = typename select_indices_impl<index_sequence<>, 0, Bs...>::type;
 
 /// Backports of std::bool_constant and std::negation to accommodate older compilers
-template <bool B> using bool_constant = std::integral_constant<bool, B>;
-template <typename T> struct negation : bool_constant<!T::value> { };
+template <bool B>
+using bool_constant = std::integral_constant<bool, B>;
+template <typename T>
+struct negation : bool_constant<!T::value> {};
 
 // PGI/Intel cannot detect operator delete with the "compatible" void_t impl, so
 // using the new one (C++14 defect, so generally works on newer compilers, even
 // if not in C++17 mode)
 #if defined(__PGIC__) || defined(__INTEL_COMPILER)
-template<typename... > using void_t = void;
+template <typename...>
+using void_t = void;
 #else
-template <typename...> struct void_t_impl { using type = void; };
-template <typename... Ts> using void_t = typename void_t_impl<Ts...>::type;
+template <typename...>
+struct void_t_impl {
+    using type = void;
+};
+template <typename... Ts>
+using void_t = typename void_t_impl<Ts...>::type;
 #endif
 
-
 /// Compile-time all/any/none of that check the boolean value of all template types
 #if defined(__cpp_fold_expressions) && !(defined(_MSC_VER) && (_MSC_VER < 1916))
-template <class... Ts> using all_of = bool_constant<(Ts::value && ...)>;
-template <class... Ts> using any_of = bool_constant<(Ts::value || ...)>;
+template <class... Ts>
+using all_of = bool_constant<(Ts::value && ...)>;
+template <class... Ts>
+using any_of = bool_constant<(Ts::value || ...)>;
 #elif !defined(_MSC_VER)
-template <bool...> struct bools {};
-template <class... Ts> using all_of = std::is_same<
-    bools<Ts::value..., true>,
-    bools<true, Ts::value...>>;
-template <class... Ts> using any_of = negation<all_of<negation<Ts>...>>;
+template <bool...>
+struct bools {};
+template <class... Ts>
+using all_of = std::is_same<bools<Ts::value..., true>, bools<true, Ts::value...>>;
+template <class... Ts>
+using any_of = negation<all_of<negation<Ts>...>>;
 #else
 // MSVC has trouble with the above, but supports std::conjunction, which we can use instead (albeit
 // at a slight loss of compilation efficiency).
-template <class... Ts> using all_of = std::conjunction<Ts...>;
-template <class... Ts> using any_of = std::disjunction<Ts...>;
+template <class... Ts>
+using all_of = std::conjunction<Ts...>;
+template <class... Ts>
+using any_of = std::disjunction<Ts...>;
 #endif
-template <class... Ts> using none_of = negation<any_of<Ts...>>;
+template <class... Ts>
+using none_of = negation<any_of<Ts...>>;
 
-template <class T, template<class> class... Predicates> using satisfies_all_of = all_of<Predicates<T>...>;
-template <class T, template<class> class... Predicates> using satisfies_any_of = any_of<Predicates<T>...>;
-template <class T, template<class> class... Predicates> using satisfies_none_of = none_of<Predicates<T>...>;
+template <class T, template <class> class... Predicates>
+using satisfies_all_of = all_of<Predicates<T>...>;
+template <class T, template <class> class... Predicates>
+using satisfies_any_of = any_of<Predicates<T>...>;
+template <class T, template <class> class... Predicates>
+using satisfies_none_of = none_of<Predicates<T>...>;
 
 /// Strip the class from a method type
-template <typename T> struct remove_class { };
-template <typename C, typename R, typename... A> struct remove_class<R (C::*)(A...)> { using type = R (A...); };
-template <typename C, typename R, typename... A> struct remove_class<R (C::*)(A...) const> { using type = R (A...); };
+template <typename T>
+struct remove_class {};
+template <typename C, typename R, typename... A>
+struct remove_class<R (C::*)(A...)> {
+    using type = R(A...);
+};
+template <typename C, typename R, typename... A>
+struct remove_class<R (C::*)(A...) const> {
+    using type = R(A...);
+};
 
 /// Helper template to strip away type modifiers
-template <typename T> struct intrinsic_type                       { using type = T; };
-template <typename T> struct intrinsic_type<const T>              { using type = typename intrinsic_type<T>::type; };
-template <typename T> struct intrinsic_type<T*>                   { using type = typename intrinsic_type<T>::type; };
-template <typename T> struct intrinsic_type<T&>                   { using type = typename intrinsic_type<T>::type; };
-template <typename T> struct intrinsic_type<T&&>                  { using type = typename intrinsic_type<T>::type; };
-template <typename T, size_t N> struct intrinsic_type<const T[N]> { using type = typename intrinsic_type<T>::type; };
-template <typename T, size_t N> struct intrinsic_type<T[N]>       { using type = typename intrinsic_type<T>::type; };
-template <typename T> using intrinsic_t = typename intrinsic_type<T>::type;
+template <typename T>
+struct intrinsic_type {
+    using type = T;
+};
+template <typename T>
+struct intrinsic_type<const T> {
+    using type = typename intrinsic_type<T>::type;
+};
+template <typename T>
+struct intrinsic_type<T *> {
+    using type = typename intrinsic_type<T>::type;
+};
+template <typename T>
+struct intrinsic_type<T &> {
+    using type = typename intrinsic_type<T>::type;
+};
+template <typename T>
+struct intrinsic_type<T &&> {
+    using type = typename intrinsic_type<T>::type;
+};
+template <typename T, size_t N>
+struct intrinsic_type<const T[N]> {
+    using type = typename intrinsic_type<T>::type;
+};
+template <typename T, size_t N>
+struct intrinsic_type<T[N]> {
+    using type = typename intrinsic_type<T>::type;
+};
+template <typename T>
+using intrinsic_t = typename intrinsic_type<T>::type;
 
 /// Helper type to replace 'void' in some expressions
-struct void_type { };
+struct void_type {};
 
 /// Helper template which holds a list of types
-template <typename...> struct type_list { };
+template <typename...>
+struct type_list {};
 
 /// Compile-time integer sum
 #ifdef __cpp_fold_expressions
-template <typename... Ts> constexpr size_t constexpr_sum(Ts... ns) { return (0 + ... + size_t{ns}); }
+template <typename... Ts>
+constexpr size_t constexpr_sum(Ts... ns) {
+    return (0 + ... + size_t{ns});
+}
 #else
 constexpr size_t constexpr_sum() { return 0; }
 template <typename T, typename... Ts>
-constexpr size_t constexpr_sum(T n, Ts... ns) { return size_t{n} + constexpr_sum(ns...); }
+constexpr size_t constexpr_sum(T n, Ts... ns) {
+    return size_t{n} + constexpr_sum(ns...);
+}
 #endif
 
 PYBIND11_NAMESPACE_BEGIN(constexpr_impl)
 /// Implementation details for constexpr functions
 constexpr int first(int i) { return i; }
 template <typename T, typename... Ts>
-constexpr int first(int i, T v, Ts... vs) { return v ? i : first(i + 1, vs...); }
+constexpr int first(int i, T v, Ts... vs) {
+    return v ? i : first(i + 1, vs...);
+}
 
 constexpr int last(int /*i*/, int result) { return result; }
 template <typename T, typename... Ts>
-constexpr int last(int i, int result, T v, Ts... vs) { return last(i + 1, v ? i : result, vs...); }
+constexpr int last(int i, int result, T v, Ts... vs) {
+    return last(i + 1, v ? i : result, vs...);
+}
 PYBIND11_NAMESPACE_END(constexpr_impl)
 
-/// Return the index of the first type in Ts which satisfies Predicate<T>.  Returns sizeof...(Ts) if
-/// none match.
-template <template<typename> class Predicate, typename... Ts>
-constexpr int constexpr_first() { return constexpr_impl::first(0, Predicate<Ts>::value...); }
+/// Return the index of the first type in Ts which satisfies Predicate<T>.
+/// Returns sizeof...(Ts) if none match.
+template <template <typename> class Predicate, typename... Ts>
+constexpr int constexpr_first() {
+    return constexpr_impl::first(0, Predicate<Ts>::value...);
+}
 
 /// Return the index of the last type in Ts which satisfies Predicate<T>, or -1 if none match.
-template <template<typename> class Predicate, typename... Ts>
-constexpr int constexpr_last() { return constexpr_impl::last(0, -1, Predicate<Ts>::value...); }
+template <template <typename> class Predicate, typename... Ts>
+constexpr int constexpr_last() {
+    return constexpr_impl::last(0, -1, Predicate<Ts>::value...);
+}
 
 /// Return the Nth element from the parameter pack
 template <size_t N, typename T, typename... Ts>
-struct pack_element { using type = typename pack_element<N - 1, Ts...>::type; };
+struct pack_element {
+    using type = typename pack_element<N - 1, Ts...>::type;
+};
 template <typename T, typename... Ts>
-struct pack_element<0, T, Ts...> { using type = T; };
+struct pack_element<0, T, Ts...> {
+    using type = T;
+};
 
 /// Return the one and only type which matches the predicate, or Default if none match.
 /// If more than one type matches the predicate, fail at compile-time.
-template <template<typename> class Predicate, typename Default, typename... Ts>
+template <template <typename> class Predicate, typename Default, typename... Ts>
 struct exactly_one {
     static constexpr auto found = constexpr_sum(Predicate<Ts>::value...);
     static_assert(found <= 1, "Found more than one type matching the predicate");
@@ -750,62 +783,83 @@ struct exactly_one {
     static constexpr auto index = found ? constexpr_first<Predicate, Ts...>() : 0;
     using type = conditional_t<found, typename pack_element<index, Ts...>::type, Default>;
 };
-template <template<typename> class P, typename Default>
-struct exactly_one<P, Default> { using type = Default; };
+template <template <typename> class P, typename Default>
+struct exactly_one<P, Default> {
+    using type = Default;
+};
 
-template <template<typename> class Predicate, typename Default, typename... Ts>
+template <template <typename> class Predicate, typename Default, typename... Ts>
 using exactly_one_t = typename exactly_one<Predicate, Default, Ts...>::type;
 
 /// Defer the evaluation of type T until types Us are instantiated
-template <typename T, typename... /*Us*/> struct deferred_type { using type = T; };
-template <typename T, typename... Us> using deferred_t = typename deferred_type<T, Us...>::type;
+template <typename T, typename... /*Us*/>
+struct deferred_type {
+    using type = T;
+};
+template <typename T, typename... Us>
+using deferred_t = typename deferred_type<T, Us...>::type;
 
 /// Like is_base_of, but requires a strict base (i.e. `is_strict_base_of<T, T>::value == false`,
 /// unlike `std::is_base_of`)
-template <typename Base, typename Derived> using is_strict_base_of = bool_constant<
-    std::is_base_of<Base, Derived>::value && !std::is_same<Base, Derived>::value>;
-
-/// Like is_base_of, but also requires that the base type is accessible (i.e. that a Derived pointer
-/// can be converted to a Base pointer)
-/// For unions, `is_base_of<T, T>::value` is False, so we need to check `is_same` as well.
-template <typename Base, typename Derived> using is_accessible_base_of = bool_constant<
-    (std::is_same<Base, Derived>::value || std::is_base_of<Base, Derived>::value) && std::is_convertible<Derived *, Base *>::value>;
-
-template <template<typename...> class Base>
+template <typename Base, typename Derived>
+using is_strict_base_of
+    = bool_constant<std::is_base_of<Base, Derived>::value && !std::is_same<Base, Derived>::value>;
+
+/// Like is_base_of, but also requires that the base type is accessible (i.e. that a Derived
+/// pointer can be converted to a Base pointer) For unions, `is_base_of<T, T>::value` is False, so
+/// we need to check `is_same` as well.
+template <typename Base, typename Derived>
+using is_accessible_base_of
+    = bool_constant<(std::is_same<Base, Derived>::value || std::is_base_of<Base, Derived>::value)
+                    && std::is_convertible<Derived *, Base *>::value>;
+
+template <template <typename...> class Base>
 struct is_template_base_of_impl {
-    template <typename... Us> static std::true_type check(Base<Us...> *);
+    template <typename... Us>
+    static std::true_type check(Base<Us...> *);
     static std::false_type check(...);
 };
 
 /// Check if a template is the base of a type. For example:
 /// `is_template_base_of<Base, T>` is true if `struct T : Base<U> {}` where U can be anything
-template <template<typename...> class Base, typename T>
+template <template <typename...> class Base, typename T>
+// Sadly, all MSVC versions incl. 2022 need the workaround, even in C++20 mode.
+// See also: https://github.com/pybind/pybind11/pull/3741
 #if !defined(_MSC_VER)
-using is_template_base_of = decltype(is_template_base_of_impl<Base>::check((intrinsic_t<T>*)nullptr));
-#else // MSVC2015 has trouble with decltype in template aliases
-struct is_template_base_of : decltype(is_template_base_of_impl<Base>::check((intrinsic_t<T>*)nullptr)) { };
+using is_template_base_of
+    = decltype(is_template_base_of_impl<Base>::check((intrinsic_t<T> *) nullptr));
+#else
+struct is_template_base_of
+    : decltype(is_template_base_of_impl<Base>::check((intrinsic_t<T> *) nullptr)) {
+};
 #endif
 
 /// Check if T is an instantiation of the template `Class`. For example:
 /// `is_instantiation<shared_ptr, T>` is true if `T == shared_ptr<U>` where U can be anything.
-template <template<typename...> class Class, typename T>
-struct is_instantiation : std::false_type { };
-template <template<typename...> class Class, typename... Us>
-struct is_instantiation<Class, Class<Us...>> : std::true_type { };
+template <template <typename...> class Class, typename T>
+struct is_instantiation : std::false_type {};
+template <template <typename...> class Class, typename... Us>
+struct is_instantiation<Class, Class<Us...>> : std::true_type {};
 
 /// Check if T is std::shared_ptr<U> where U can be anything
-template <typename T> using is_shared_ptr = is_instantiation<std::shared_ptr, T>;
+template <typename T>
+using is_shared_ptr = is_instantiation<std::shared_ptr, T>;
 
 /// Check if T looks like an input iterator
-template <typename T, typename = void> struct is_input_iterator : std::false_type {};
+template <typename T, typename = void>
+struct is_input_iterator : std::false_type {};
 template <typename T>
-struct is_input_iterator<T, void_t<decltype(*std::declval<T &>()), decltype(++std::declval<T &>())>>
+struct is_input_iterator<T,
+                         void_t<decltype(*std::declval<T &>()), decltype(++std::declval<T &>())>>
     : std::true_type {};
 
-template <typename T> using is_function_pointer = bool_constant<
-    std::is_pointer<T>::value && std::is_function<typename std::remove_pointer<T>::type>::value>;
+template <typename T>
+using is_function_pointer
+    = bool_constant<std::is_pointer<T>::value
+                    && std::is_function<typename std::remove_pointer<T>::type>::value>;
 
-template <typename F> struct strip_function_object {
+template <typename F>
+struct strip_function_object {
     // If you are encountering an
     // 'error: name followed by "::" must be a class or namespace name'
     // with the Intel compiler and a noexcept function here,
@@ -818,34 +872,37 @@ template <typename Function, typename F = remove_reference_t<Function>>
 using function_signature_t = conditional_t<
     std::is_function<F>::value,
     F,
-    typename conditional_t<
-        std::is_pointer<F>::value || std::is_member_pointer<F>::value,
-        std::remove_pointer<F>,
-        strip_function_object<F>
-    >::type
->;
+    typename conditional_t<std::is_pointer<F>::value || std::is_member_pointer<F>::value,
+                           std::remove_pointer<F>,
+                           strip_function_object<F>>::type>;
 
 /// Returns true if the type looks like a lambda: that is, isn't a function, pointer or member
 /// pointer.  Note that this can catch all sorts of other things, too; this is intended to be used
 /// in a place where passing a lambda makes sense.
-template <typename T> using is_lambda = satisfies_none_of<remove_reference_t<T>,
-        std::is_function, std::is_pointer, std::is_member_pointer>;
+template <typename T>
+using is_lambda = satisfies_none_of<remove_reference_t<T>,
+                                    std::is_function,
+                                    std::is_pointer,
+                                    std::is_member_pointer>;
 
 // [workaround(intel)] Internal error on fold expression
 /// Apply a function over each element of a parameter pack
 #if defined(__cpp_fold_expressions) && !defined(__INTEL_COMPILER)
 // Intel compiler produces an internal error on this fold expression (tested with ICC 19.0.2)
-#define PYBIND11_EXPAND_SIDE_EFFECTS(PATTERN) (((PATTERN), void()), ...)
+#    define PYBIND11_EXPAND_SIDE_EFFECTS(PATTERN) (((PATTERN), void()), ...)
 #else
 using expand_side_effects = bool[];
-#define PYBIND11_EXPAND_SIDE_EFFECTS(PATTERN) (void)pybind11::detail::expand_side_effects{ ((PATTERN), void(), false)..., false }
+#    define PYBIND11_EXPAND_SIDE_EFFECTS(PATTERN)                                                 \
+        (void) pybind11::detail::expand_side_effects { ((PATTERN), void(), false)..., false }
 #endif
 
 PYBIND11_NAMESPACE_END(detail)
 
 #if defined(_MSC_VER)
-#  pragma warning(push)
-#  pragma warning(disable: 4275) // warning C4275: An exported class was derived from a class that wasn't exported. Can be ignored when derived from a STL class.
+#    pragma warning(push)
+#    pragma warning(disable : 4275)
+//     warning C4275: An exported class was derived from a class that wasn't exported.
+//     Can be ignored when derived from a STL class.
 #endif
 /// C++ bindings of builtin Python exceptions
 class PYBIND11_EXPORT_EXCEPTION builtin_exception : public std::runtime_error {
@@ -855,14 +912,15 @@ class PYBIND11_EXPORT_EXCEPTION builtin_exception : public std::runtime_error {
     virtual void set_error() const = 0;
 };
 #if defined(_MSC_VER)
-#  pragma warning(pop)
+#    pragma warning(pop)
 #endif
 
-#define PYBIND11_RUNTIME_EXCEPTION(name, type) \
-    class PYBIND11_EXPORT_EXCEPTION name : public builtin_exception { public: \
-        using builtin_exception::builtin_exception; \
-        name() : name("") { } \
-        void set_error() const override { PyErr_SetString(type, what()); } \
+#define PYBIND11_RUNTIME_EXCEPTION(name, type)                                                    \
+    class PYBIND11_EXPORT_EXCEPTION name : public builtin_exception {                             \
+    public:                                                                                       \
+        using builtin_exception::builtin_exception;                                               \
+        name() : name("") {}                                                                      \
+        void set_error() const override { PyErr_SetString(type, what()); }                        \
     };
 
 PYBIND11_RUNTIME_EXCEPTION(stop_iteration, PyExc_StopIteration)
@@ -873,13 +931,22 @@ PYBIND11_RUNTIME_EXCEPTION(type_error, PyExc_TypeError)
 PYBIND11_RUNTIME_EXCEPTION(buffer_error, PyExc_BufferError)
 PYBIND11_RUNTIME_EXCEPTION(import_error, PyExc_ImportError)
 PYBIND11_RUNTIME_EXCEPTION(attribute_error, PyExc_AttributeError)
-PYBIND11_RUNTIME_EXCEPTION(cast_error, PyExc_RuntimeError) /// Thrown when pybind11::cast or handle::call fail due to a type casting error
+PYBIND11_RUNTIME_EXCEPTION(cast_error, PyExc_RuntimeError) /// Thrown when pybind11::cast or
+                                                           /// handle::call fail due to a type
+                                                           /// casting error
 PYBIND11_RUNTIME_EXCEPTION(reference_cast_error, PyExc_RuntimeError) /// Used internally
 
-[[noreturn]] PYBIND11_NOINLINE void pybind11_fail(const char *reason) { throw std::runtime_error(reason); }
-[[noreturn]] PYBIND11_NOINLINE void pybind11_fail(const std::string &reason) { throw std::runtime_error(reason); }
+[[noreturn]] PYBIND11_NOINLINE void pybind11_fail(const char *reason) {
+    assert(!PyErr_Occurred());
+    throw std::runtime_error(reason);
+}
+[[noreturn]] PYBIND11_NOINLINE void pybind11_fail(const std::string &reason) {
+    assert(!PyErr_Occurred());
+    throw std::runtime_error(reason);
+}
 
-template <typename T, typename SFINAE = void> struct format_descriptor { };
+template <typename T, typename SFINAE = void>
+struct format_descriptor {};
 
 PYBIND11_NAMESPACE_BEGIN(detail)
 // Returns the index of the given type in the type char array below, and in the list in numpy.h
@@ -887,25 +954,38 @@ PYBIND11_NAMESPACE_BEGIN(detail)
 // complex float,double,long double.  Note that the long double types only participate when long
 // double is actually longer than double (it isn't under MSVC).
 // NB: not only the string below but also complex.h and numpy.h rely on this order.
-template <typename T, typename SFINAE = void> struct is_fmt_numeric { static constexpr bool value = false; };
-template <typename T> struct is_fmt_numeric<T, enable_if_t<std::is_arithmetic<T>::value>> {
+template <typename T, typename SFINAE = void>
+struct is_fmt_numeric {
+    static constexpr bool value = false;
+};
+template <typename T>
+struct is_fmt_numeric<T, enable_if_t<std::is_arithmetic<T>::value>> {
     static constexpr bool value = true;
-    static constexpr int index = std::is_same<T, bool>::value ? 0 : 1 + (
-        std::is_integral<T>::value ? detail::log2(sizeof(T))*2 + std::is_unsigned<T>::value : 8 + (
-        std::is_same<T, double>::value ? 1 : std::is_same<T, long double>::value ? 2 : 0));
+    static constexpr int index
+        = std::is_same<T, bool>::value
+              ? 0
+              : 1
+                    + (std::is_integral<T>::value
+                           ? detail::log2(sizeof(T)) * 2 + std::is_unsigned<T>::value
+                           : 8
+                                 + (std::is_same<T, double>::value        ? 1
+                                    : std::is_same<T, long double>::value ? 2
+                                                                          : 0));
 };
 PYBIND11_NAMESPACE_END(detail)
 
-template <typename T> struct format_descriptor<T, detail::enable_if_t<std::is_arithmetic<T>::value>> {
+template <typename T>
+struct format_descriptor<T, detail::enable_if_t<std::is_arithmetic<T>::value>> {
     static constexpr const char c = "?bBhHiIqQfdg"[detail::is_fmt_numeric<T>::index];
-    static constexpr const char value[2] = { c, '\0' };
+    static constexpr const char value[2] = {c, '\0'};
     static std::string format() { return std::string(1, c); }
 };
 
 #if !defined(PYBIND11_CPP17)
 
-template <typename T> constexpr const char format_descriptor<
-    T, detail::enable_if_t<std::is_arithmetic<T>::value>>::value[2];
+template <typename T>
+constexpr const char
+    format_descriptor<T, detail::enable_if_t<std::is_arithmetic<T>::value>>::value[2];
 
 #endif
 
@@ -913,41 +993,52 @@ template <typename T> constexpr const char format_descriptor<
 struct error_scope {
     PyObject *type, *value, *trace;
     error_scope() { PyErr_Fetch(&type, &value, &trace); }
+    error_scope(const error_scope &) = delete;
+    error_scope &operator=(const error_scope &) = delete;
     ~error_scope() { PyErr_Restore(type, value, trace); }
 };
 
 /// Dummy destructor wrapper that can be used to expose classes with a private destructor
-struct nodelete { template <typename T> void operator()(T*) { } };
+struct nodelete {
+    template <typename T>
+    void operator()(T *) {}
+};
 
 PYBIND11_NAMESPACE_BEGIN(detail)
 template <typename... Args>
 struct overload_cast_impl {
-    // NOLINTNEXTLINE(modernize-use-equals-default):  MSVC 2015 needs this
-    constexpr overload_cast_impl() {}
-
     template <typename Return>
-    constexpr auto operator()(Return (*pf)(Args...)) const noexcept
-                              -> decltype(pf) { return pf; }
+    constexpr auto operator()(Return (*pf)(Args...)) const noexcept -> decltype(pf) {
+        return pf;
+    }
 
     template <typename Return, typename Class>
     constexpr auto operator()(Return (Class::*pmf)(Args...), std::false_type = {}) const noexcept
-                              -> decltype(pmf) { return pmf; }
+        -> decltype(pmf) {
+        return pmf;
+    }
 
     template <typename Return, typename Class>
     constexpr auto operator()(Return (Class::*pmf)(Args...) const, std::true_type) const noexcept
-                              -> decltype(pmf) { return pmf; }
+        -> decltype(pmf) {
+        return pmf;
+    }
 };
 PYBIND11_NAMESPACE_END(detail)
 
 // overload_cast requires variable templates: C++14
 #if defined(PYBIND11_CPP14)
-#define PYBIND11_OVERLOAD_CAST 1
+#    define PYBIND11_OVERLOAD_CAST 1
 /// Syntax sugar for resolving overloaded function pointers:
 ///  - regular: static_cast<Return (Class::*)(Arg0, Arg1, Arg2)>(&Class::func)
 ///  - sweet:   overload_cast<Arg0, Arg1, Arg2>(&Class::func)
 template <typename... Args>
+#    if (defined(_MSC_VER) && _MSC_VER < 1920) /* MSVC 2017 */                                    \
+        || (defined(__clang__) && __clang_major__ == 5)
 static constexpr detail::overload_cast_impl<Args...> overload_cast = {};
-// MSVC 2015 only accepts this particular initialization syntax for this variable template.
+#    else
+static constexpr detail::overload_cast_impl<Args...> overload_cast;
+#    endif
 #endif
 
 /// Const member function selector for overload_cast
@@ -956,7 +1047,8 @@ static constexpr detail::overload_cast_impl<Args...> overload_cast = {};
 static constexpr auto const_ = std::true_type{};
 
 #if !defined(PYBIND11_CPP14) // no overload_cast: providing something that static_assert-fails:
-template <typename... Args> struct overload_cast {
+template <typename... Args>
+struct overload_cast {
     static_assert(detail::deferred_t<std::false_type, Args...>::value,
                   "pybind11::overload_cast<...> requires compiling in C++14 mode");
 };
@@ -970,26 +1062,31 @@ PYBIND11_NAMESPACE_BEGIN(detail)
 template <typename T>
 class any_container {
     std::vector<T> v;
+
 public:
     any_container() = default;
 
     // Can construct from a pair of iterators
     template <typename It, typename = enable_if_t<is_input_iterator<It>::value>>
-    any_container(It first, It last) : v(first, last) { }
-
-    // Implicit conversion constructor from any arbitrary container type with values convertible to T
-    template <typename Container, typename = enable_if_t<std::is_convertible<decltype(*std::begin(std::declval<const Container &>())), T>::value>>
+    any_container(It first, It last) : v(first, last) {}
+
+    // Implicit conversion constructor from any arbitrary container type
+    // with values convertible to T
+    template <typename Container,
+              typename = enable_if_t<
+                  std::is_convertible<decltype(*std::begin(std::declval<const Container &>())),
+                                      T>::value>>
     // NOLINTNEXTLINE(google-explicit-constructor)
-    any_container(const Container &c) : any_container(std::begin(c), std::end(c)) { }
+    any_container(const Container &c) : any_container(std::begin(c), std::end(c)) {}
 
-    // initializer_list's aren't deducible, so don't get matched by the above template; we need this
-    // to explicitly allow implicit conversion from one:
+    // initializer_list's aren't deducible, so don't get matched by the above template;
+    // we need this to explicitly allow implicit conversion from one:
     template <typename TIn, typename = enable_if_t<std::is_convertible<TIn, T>::value>>
-    any_container(const std::initializer_list<TIn> &c) : any_container(c.begin(), c.end()) { }
+    any_container(const std::initializer_list<TIn> &c) : any_container(c.begin(), c.end()) {}
 
     // Avoid copying if given an rvalue vector of the correct type.
     // NOLINTNEXTLINE(google-explicit-constructor)
-    any_container(std::vector<T> &&v) : v(std::move(v)) { }
+    any_container(std::vector<T> &&v) : v(std::move(v)) {}
 
     // Moves the vector out of an rvalue any_container
     // NOLINTNEXTLINE(google-explicit-constructor)
@@ -1005,10 +1102,11 @@ class any_container {
 };
 
 // Forward-declaration; see detail/class.h
-std::string get_fully_qualified_tp_name(PyTypeObject*);
+std::string get_fully_qualified_tp_name(PyTypeObject *);
 
 template <typename T>
-inline static std::shared_ptr<T> try_get_shared_from_this(std::enable_shared_from_this<T> *holder_value_ptr) {
+inline static std::shared_ptr<T>
+try_get_shared_from_this(std::enable_shared_from_this<T> *holder_value_ptr) {
 // Pre C++17, this code path exploits undefined behavior, but is known to work on many platforms.
 // Use at your own risk!
 // See also https://en.cppreference.com/w/cpp/memory/enable_shared_from_this, and in particular
@@ -1018,8 +1116,7 @@ inline static std::shared_ptr<T> try_get_shared_from_this(std::enable_shared_fro
 #else
     try {
         return holder_value_ptr->shared_from_this();
-    }
-    catch (const std::bad_weak_ptr &) {
+    } catch (const std::bad_weak_ptr &) {
         return nullptr;
     }
 #endif
@@ -1027,10 +1124,12 @@ inline static std::shared_ptr<T> try_get_shared_from_this(std::enable_shared_fro
 
 // For silencing "unused" compiler warnings in special situations.
 template <typename... Args>
-#if defined(_MSC_VER) && _MSC_VER >= 1910 && _MSC_VER < 1920 // MSVC 2017
+#if defined(_MSC_VER) && _MSC_VER < 1920 // MSVC 2017
 constexpr
 #endif
-inline void silence_unused_warnings(Args &&...) {}
+    inline void
+    silence_unused_warnings(Args &&...) {
+}
 
 // MSVC warning C4100: Unreferenced formal parameter
 #if defined(_MSC_VER) && _MSC_VER <= 1916
@@ -1042,7 +1141,7 @@ inline void silence_unused_warnings(Args &&...) {}
 
 // GCC -Wunused-but-set-parameter  All GCC versions (as of July 2021).
 #if defined(__GNUG__) && !defined(__clang__) && !defined(__INTEL_COMPILER)
-#    define PYBIND11_WORKAROUND_INCORRECT_GCC_UNUSED_BUT_SET_PARAMETER(...)                   \
+#    define PYBIND11_WORKAROUND_INCORRECT_GCC_UNUSED_BUT_SET_PARAMETER(...)                       \
         detail::silence_unused_warnings(__VA_ARGS__)
 #else
 #    define PYBIND11_WORKAROUND_INCORRECT_GCC_UNUSED_BUT_SET_PARAMETER(...)
@@ -1059,5 +1158,12 @@ constexpr inline bool silence_msvc_c4127(bool cond) { return cond; }
 #    define PYBIND11_SILENCE_MSVC_C4127(...) __VA_ARGS__
 #endif
 
+// Pybind offers detailed error messages by default for all builts that are debug (through the
+// negation of ndebug). This can also be manually enabled by users, for any builds, through
+// defining PYBIND11_DETAILED_ERROR_MESSAGES.
+#if !defined(PYBIND11_DETAILED_ERROR_MESSAGES) && !defined(NDEBUG)
+#    define PYBIND11_DETAILED_ERROR_MESSAGES
+#endif
+
 PYBIND11_NAMESPACE_END(detail)
 PYBIND11_NAMESPACE_END(PYBIND11_NAMESPACE)
diff --git a/pybind11/include/pybind11/detail/descr.h b/pybind11/include/pybind11/detail/descr.h
index 0f93e06b21..e7a5e2c145 100644
--- a/pybind11/include/pybind11/detail/descr.h
+++ b/pybind11/include/pybind11/detail/descr.h
@@ -15,9 +15,9 @@ PYBIND11_NAMESPACE_BEGIN(PYBIND11_NAMESPACE)
 PYBIND11_NAMESPACE_BEGIN(detail)
 
 #if !defined(_MSC_VER)
-#  define PYBIND11_DESCR_CONSTEXPR static constexpr
+#    define PYBIND11_DESCR_CONSTEXPR static constexpr
 #else
-#  define PYBIND11_DESCR_CONSTEXPR const
+#    define PYBIND11_DESCR_CONSTEXPR const
 #endif
 
 /* Concatenate type signatures at compile time */
@@ -27,14 +27,14 @@ struct descr {
 
     constexpr descr() = default;
     // NOLINTNEXTLINE(google-explicit-constructor)
-    constexpr descr(char const (&s)[N+1]) : descr(s, make_index_sequence<N>()) { }
+    constexpr descr(char const (&s)[N + 1]) : descr(s, make_index_sequence<N>()) {}
 
     template <size_t... Is>
-    constexpr descr(char const (&s)[N+1], index_sequence<Is...>) : text{s[Is]..., '\0'} { }
+    constexpr descr(char const (&s)[N + 1], index_sequence<Is...>) : text{s[Is]..., '\0'} {}
 
     template <typename... Chars>
     // NOLINTNEXTLINE(google-explicit-constructor)
-    constexpr descr(char c, Chars... cs) : text{c, static_cast<char>(cs)..., '\0'} { }
+    constexpr descr(char c, Chars... cs) : text{c, static_cast<char>(cs)..., '\0'} {}
 
     static constexpr std::array<const std::type_info *, sizeof...(Ts) + 1> types() {
         return {{&typeid(Ts)..., nullptr}};
@@ -42,81 +42,106 @@ struct descr {
 };
 
 template <size_t N1, size_t N2, typename... Ts1, typename... Ts2, size_t... Is1, size_t... Is2>
-constexpr descr<N1 + N2, Ts1..., Ts2...> plus_impl(const descr<N1, Ts1...> &a, const descr<N2, Ts2...> &b,
-                                                   index_sequence<Is1...>, index_sequence<Is2...>) {
+constexpr descr<N1 + N2, Ts1..., Ts2...> plus_impl(const descr<N1, Ts1...> &a,
+                                                   const descr<N2, Ts2...> &b,
+                                                   index_sequence<Is1...>,
+                                                   index_sequence<Is2...>) {
     PYBIND11_WORKAROUND_INCORRECT_MSVC_C4100(b);
     return {a.text[Is1]..., b.text[Is2]...};
 }
 
 template <size_t N1, size_t N2, typename... Ts1, typename... Ts2>
-constexpr descr<N1 + N2, Ts1..., Ts2...> operator+(const descr<N1, Ts1...> &a, const descr<N2, Ts2...> &b) {
+constexpr descr<N1 + N2, Ts1..., Ts2...> operator+(const descr<N1, Ts1...> &a,
+                                                   const descr<N2, Ts2...> &b) {
     return plus_impl(a, b, make_index_sequence<N1>(), make_index_sequence<N2>());
 }
 
 template <size_t N>
-constexpr descr<N - 1> const_name(char const(&text)[N]) { return descr<N - 1>(text); }
-constexpr descr<0> const_name(char const(&)[1]) { return {}; }
+constexpr descr<N - 1> const_name(char const (&text)[N]) {
+    return descr<N - 1>(text);
+}
+constexpr descr<0> const_name(char const (&)[1]) { return {}; }
 
-template <size_t Rem, size_t... Digits> struct int_to_str : int_to_str<Rem/10, Rem%10, Digits...> { };
-template <size_t...Digits> struct int_to_str<0, Digits...> {
+template <size_t Rem, size_t... Digits>
+struct int_to_str : int_to_str<Rem / 10, Rem % 10, Digits...> {};
+template <size_t... Digits>
+struct int_to_str<0, Digits...> {
     // WARNING: This only works with C++17 or higher.
     static constexpr auto digits = descr<sizeof...(Digits)>(('0' + Digits)...);
 };
 
 // Ternary description (like std::conditional)
 template <bool B, size_t N1, size_t N2>
-constexpr enable_if_t<B, descr<N1 - 1>> const_name(char const(&text1)[N1], char const(&)[N2]) {
+constexpr enable_if_t<B, descr<N1 - 1>> const_name(char const (&text1)[N1], char const (&)[N2]) {
     return const_name(text1);
 }
 template <bool B, size_t N1, size_t N2>
-constexpr enable_if_t<!B, descr<N2 - 1>> const_name(char const(&)[N1], char const(&text2)[N2]) {
+constexpr enable_if_t<!B, descr<N2 - 1>> const_name(char const (&)[N1], char const (&text2)[N2]) {
     return const_name(text2);
 }
 
 template <bool B, typename T1, typename T2>
-constexpr enable_if_t<B, T1> const_name(const T1 &d, const T2 &) { return d; }
+constexpr enable_if_t<B, T1> const_name(const T1 &d, const T2 &) {
+    return d;
+}
 template <bool B, typename T1, typename T2>
-constexpr enable_if_t<!B, T2> const_name(const T1 &, const T2 &d) { return d; }
+constexpr enable_if_t<!B, T2> const_name(const T1 &, const T2 &d) {
+    return d;
+}
 
 template <size_t Size>
 auto constexpr const_name() -> remove_cv_t<decltype(int_to_str<Size / 10, Size % 10>::digits)> {
     return int_to_str<Size / 10, Size % 10>::digits;
 }
 
-template <typename Type> constexpr descr<1, Type> const_name() { return {'%'}; }
+template <typename Type>
+constexpr descr<1, Type> const_name() {
+    return {'%'};
+}
 
 // If "_" is defined as a macro, py::detail::_ cannot be provided.
 // It is therefore best to use py::detail::const_name universally.
 // This block is for backward compatibility only.
 // (The const_name code is repeated to avoid introducing a "_" #define ourselves.)
 #ifndef _
-#define PYBIND11_DETAIL_UNDERSCORE_BACKWARD_COMPATIBILITY
+#    define PYBIND11_DETAIL_UNDERSCORE_BACKWARD_COMPATIBILITY
 template <size_t N>
-constexpr descr<N-1> _(char const(&text)[N]) { return const_name<N>(text); }
+constexpr descr<N - 1> _(char const (&text)[N]) {
+    return const_name<N>(text);
+}
 template <bool B, size_t N1, size_t N2>
-constexpr enable_if_t<B, descr<N1 - 1>> _(char const(&text1)[N1], char const(&text2)[N2]) {
-    return const_name<B,N1,N2>(text1, text2);
+constexpr enable_if_t<B, descr<N1 - 1>> _(char const (&text1)[N1], char const (&text2)[N2]) {
+    return const_name<B, N1, N2>(text1, text2);
 }
 template <bool B, size_t N1, size_t N2>
-constexpr enable_if_t<!B, descr<N2 - 1>> _(char const(&text1)[N1], char const(&text2)[N2]) {
-    return const_name<B,N1,N2>(text1, text2);
+constexpr enable_if_t<!B, descr<N2 - 1>> _(char const (&text1)[N1], char const (&text2)[N2]) {
+    return const_name<B, N1, N2>(text1, text2);
 }
 template <bool B, typename T1, typename T2>
-constexpr enable_if_t<B, T1> _(const T1 &d1, const T2 &d2) { return const_name<B,T1,T2>(d1, d2); }
+constexpr enable_if_t<B, T1> _(const T1 &d1, const T2 &d2) {
+    return const_name<B, T1, T2>(d1, d2);
+}
 template <bool B, typename T1, typename T2>
-constexpr enable_if_t<!B, T2> _(const T1 &d1, const T2 &d2) { return const_name<B,T1,T2>(d1, d2); }
+constexpr enable_if_t<!B, T2> _(const T1 &d1, const T2 &d2) {
+    return const_name<B, T1, T2>(d1, d2);
+}
 
 template <size_t Size>
 auto constexpr _() -> remove_cv_t<decltype(int_to_str<Size / 10, Size % 10>::digits)> {
     return const_name<Size>();
 }
-template <typename Type> constexpr descr<1, Type> _() { return const_name<Type>(); }
-#endif  // #ifndef _
+template <typename Type>
+constexpr descr<1, Type> _() {
+    return const_name<Type>();
+}
+#endif // #ifndef _
 
 constexpr descr<0> concat() { return {}; }
 
 template <size_t N, typename... Ts>
-constexpr descr<N, Ts...> concat(const descr<N, Ts...> &descr) { return descr; }
+constexpr descr<N, Ts...> concat(const descr<N, Ts...> &descr) {
+    return descr;
+}
 
 template <size_t N, typename... Ts, typename... Args>
 constexpr auto concat(const descr<N, Ts...> &d, const Args &...args)
diff --git a/pybind11/include/pybind11/detail/init.h b/pybind11/include/pybind11/detail/init.h
index eaaad5a07a..05f4fe54aa 100644
--- a/pybind11/include/pybind11/detail/init.h
+++ b/pybind11/include/pybind11/detail/init.h
@@ -22,7 +22,8 @@ class type_caster<value_and_holder> {
         return true;
     }
 
-    template <typename> using cast_op_type = value_and_holder &;
+    template <typename>
+    using cast_op_type = value_and_holder &;
     explicit operator value_and_holder &() { return *value; }
     static constexpr auto name = const_name<value_and_holder>();
 
@@ -33,15 +34,21 @@ class type_caster<value_and_holder> {
 PYBIND11_NAMESPACE_BEGIN(initimpl)
 
 inline void no_nullptr(void *ptr) {
-    if (!ptr) throw type_error("pybind11::init(): factory function returned nullptr");
+    if (!ptr) {
+        throw type_error("pybind11::init(): factory function returned nullptr");
+    }
 }
 
 // Implementing functions for all forms of py::init<...> and py::init(...)
-template <typename Class> using Cpp = typename Class::type;
-template <typename Class> using Alias = typename Class::type_alias;
-template <typename Class> using Holder = typename Class::holder_type;
+template <typename Class>
+using Cpp = typename Class::type;
+template <typename Class>
+using Alias = typename Class::type_alias;
+template <typename Class>
+using Holder = typename Class::holder_type;
 
-template <typename Class> using is_alias_constructible = std::is_constructible<Alias<Class>, Cpp<Class> &&>;
+template <typename Class>
+using is_alias_constructible = std::is_constructible<Alias<Class>, Cpp<Class> &&>;
 
 // Takes a Cpp pointer and returns true if it actually is a polymorphic Alias instance.
 template <typename Class, enable_if_t<Class::has_alias, int> = 0>
@@ -50,17 +57,27 @@ bool is_alias(Cpp<Class> *ptr) {
 }
 // Failing fallback version of the above for a no-alias class (always returns false)
 template <typename /*Class*/>
-constexpr bool is_alias(void *) { return false; }
+constexpr bool is_alias(void *) {
+    return false;
+}
 
 // Constructs and returns a new object; if the given arguments don't map to a constructor, we fall
 // back to brace aggregate initiailization so that for aggregate initialization can be used with
 // py::init, e.g.  `py::init<int, int>` to initialize a `struct T { int a; int b; }`.  For
 // non-aggregate types, we need to use an ordinary T(...) constructor (invoking as `T{...}` usually
 // works, but will not do the expected thing when `T` has an `initializer_list<T>` constructor).
-template <typename Class, typename... Args, detail::enable_if_t<std::is_constructible<Class, Args...>::value, int> = 0>
-inline Class *construct_or_initialize(Args &&...args) { return new Class(std::forward<Args>(args)...); }
-template <typename Class, typename... Args, detail::enable_if_t<!std::is_constructible<Class, Args...>::value, int> = 0>
-inline Class *construct_or_initialize(Args &&...args) { return new Class{std::forward<Args>(args)...}; }
+template <typename Class,
+          typename... Args,
+          detail::enable_if_t<std::is_constructible<Class, Args...>::value, int> = 0>
+inline Class *construct_or_initialize(Args &&...args) {
+    return new Class(std::forward<Args>(args)...);
+}
+template <typename Class,
+          typename... Args,
+          detail::enable_if_t<!std::is_constructible<Class, Args...>::value, int> = 0>
+inline Class *construct_or_initialize(Args &&...args) {
+    return new Class{std::forward<Args>(args)...};
+}
 
 // Attempts to constructs an alias using a `Alias(Cpp &&)` constructor.  This allows types with
 // an alias to provide only a single Cpp factory function as long as the Alias can be
@@ -69,12 +86,14 @@ inline Class *construct_or_initialize(Args &&...args) { return new Class{std::fo
 // inherit all the base class constructors.
 template <typename Class>
 void construct_alias_from_cpp(std::true_type /*is_alias_constructible*/,
-                              value_and_holder &v_h, Cpp<Class> &&base) {
+                              value_and_holder &v_h,
+                              Cpp<Class> &&base) {
     v_h.value_ptr() = new Alias<Class>(std::move(base));
 }
 template <typename Class>
 [[noreturn]] void construct_alias_from_cpp(std::false_type /*!is_alias_constructible*/,
-                                           value_and_holder &, Cpp<Class> &&) {
+                                           value_and_holder &,
+                                           Cpp<Class> &&) {
     throw type_error("pybind11::init(): unable to convert returned instance to required "
                      "alias class: no `Alias<Class>(Class &&)` constructor available");
 }
@@ -84,8 +103,8 @@ template <typename Class>
 template <typename Class>
 void construct(...) {
     static_assert(!std::is_same<Class, Class>::value /* always false */,
-            "pybind11::init(): init function must return a compatible pointer, "
-            "holder, or value");
+                  "pybind11::init(): init function must return a compatible pointer, "
+                  "holder, or value");
 }
 
 // Pointer return v1: the factory function returns a class pointer for a registered class.
@@ -106,7 +125,7 @@ void construct(value_and_holder &v_h, Cpp<Class> *ptr, bool need_alias) {
         // the holder and destruction happens when we leave the C++ scope, and the holder
         // class gets to handle the destruction however it likes.
         v_h.value_ptr() = ptr;
-        v_h.set_instance_registered(true); // To prevent init_instance from registering it
+        v_h.set_instance_registered(true);          // To prevent init_instance from registering it
         v_h.type->init_instance(v_h.inst, nullptr); // Set up the holder
         Holder<Class> temp_holder(std::move(v_h.holder<Holder<Class>>())); // Steal the holder
         v_h.type->dealloc(v_h); // Destroys the moved-out holder remains, resets value ptr to null
@@ -129,16 +148,18 @@ void construct(value_and_holder &v_h, Alias<Class> *alias_ptr, bool) {
 
 // Holder return: copy its pointer, and move or copy the returned holder into the new instance's
 // holder.  This also handles types like std::shared_ptr<T> and std::unique_ptr<T> where T is a
-// derived type (through those holder's implicit conversion from derived class holder constructors).
+// derived type (through those holder's implicit conversion from derived class holder
+// constructors).
 template <typename Class>
 void construct(value_and_holder &v_h, Holder<Class> holder, bool need_alias) {
     PYBIND11_WORKAROUND_INCORRECT_MSVC_C4100(need_alias);
     auto *ptr = holder_helper<Holder<Class>>::get(holder);
     no_nullptr(ptr);
     // If we need an alias, check that the held pointer is actually an alias instance
-    if (PYBIND11_SILENCE_MSVC_C4127(Class::has_alias) && need_alias && !is_alias<Class>(ptr))
+    if (PYBIND11_SILENCE_MSVC_C4127(Class::has_alias) && need_alias && !is_alias<Class>(ptr)) {
         throw type_error("pybind11::init(): construction failed: returned holder-wrapped instance "
                          "is not an alias instance");
+    }
 
     v_h.value_ptr() = ptr;
     v_h.type->init_instance(v_h.inst, &holder);
@@ -152,11 +173,12 @@ template <typename Class>
 void construct(value_and_holder &v_h, Cpp<Class> &&result, bool need_alias) {
     PYBIND11_WORKAROUND_INCORRECT_MSVC_C4100(need_alias);
     static_assert(std::is_move_constructible<Cpp<Class>>::value,
-        "pybind11::init() return-by-value factory function requires a movable class");
-    if (PYBIND11_SILENCE_MSVC_C4127(Class::has_alias) && need_alias)
+                  "pybind11::init() return-by-value factory function requires a movable class");
+    if (PYBIND11_SILENCE_MSVC_C4127(Class::has_alias) && need_alias) {
         construct_alias_from_cpp<Class>(is_alias_constructible<Class>{}, v_h, std::move(result));
-    else
+    } else {
         v_h.value_ptr() = new Cpp<Class>(std::move(result));
+    }
 }
 
 // return-by-value version 2: returning a value of the alias type itself.  We move-construct an
@@ -164,7 +186,8 @@ void construct(value_and_holder &v_h, Cpp<Class> &&result, bool need_alias) {
 // cases where Alias initialization is always desired.
 template <typename Class>
 void construct(value_and_holder &v_h, Alias<Class> &&result, bool) {
-    static_assert(std::is_move_constructible<Alias<Class>>::value,
+    static_assert(
+        std::is_move_constructible<Alias<Class>>::value,
         "pybind11::init() return-by-alias-value factory function requires a movable alias class");
     v_h.value_ptr() = new Alias<Class>(std::move(result));
 }
@@ -173,48 +196,76 @@ void construct(value_and_holder &v_h, Alias<Class> &&result, bool) {
 template <typename... Args>
 struct constructor {
     template <typename Class, typename... Extra, enable_if_t<!Class::has_alias, int> = 0>
-    static void execute(Class &cl, const Extra&... extra) {
-        cl.def("__init__", [](value_and_holder &v_h, Args... args) {
-            v_h.value_ptr() = construct_or_initialize<Cpp<Class>>(std::forward<Args>(args)...);
-        }, is_new_style_constructor(), extra...);
+    static void execute(Class &cl, const Extra &...extra) {
+        cl.def(
+            "__init__",
+            [](value_and_holder &v_h, Args... args) {
+                v_h.value_ptr() = construct_or_initialize<Cpp<Class>>(std::forward<Args>(args)...);
+            },
+            is_new_style_constructor(),
+            extra...);
     }
 
-    template <typename Class, typename... Extra,
-              enable_if_t<Class::has_alias &&
-                          std::is_constructible<Cpp<Class>, Args...>::value, int> = 0>
-    static void execute(Class &cl, const Extra&... extra) {
-        cl.def("__init__", [](value_and_holder &v_h, Args... args) {
-            if (Py_TYPE(v_h.inst) == v_h.type->type)
-                v_h.value_ptr() = construct_or_initialize<Cpp<Class>>(std::forward<Args>(args)...);
-            else
-                v_h.value_ptr() = construct_or_initialize<Alias<Class>>(std::forward<Args>(args)...);
-        }, is_new_style_constructor(), extra...);
+    template <typename Class,
+              typename... Extra,
+              enable_if_t<Class::has_alias && std::is_constructible<Cpp<Class>, Args...>::value,
+                          int> = 0>
+    static void execute(Class &cl, const Extra &...extra) {
+        cl.def(
+            "__init__",
+            [](value_and_holder &v_h, Args... args) {
+                if (Py_TYPE(v_h.inst) == v_h.type->type) {
+                    v_h.value_ptr()
+                        = construct_or_initialize<Cpp<Class>>(std::forward<Args>(args)...);
+                } else {
+                    v_h.value_ptr()
+                        = construct_or_initialize<Alias<Class>>(std::forward<Args>(args)...);
+                }
+            },
+            is_new_style_constructor(),
+            extra...);
     }
 
-    template <typename Class, typename... Extra,
-              enable_if_t<Class::has_alias &&
-                          !std::is_constructible<Cpp<Class>, Args...>::value, int> = 0>
-    static void execute(Class &cl, const Extra&... extra) {
-        cl.def("__init__", [](value_and_holder &v_h, Args... args) {
-            v_h.value_ptr() = construct_or_initialize<Alias<Class>>(std::forward<Args>(args)...);
-        }, is_new_style_constructor(), extra...);
+    template <typename Class,
+              typename... Extra,
+              enable_if_t<Class::has_alias && !std::is_constructible<Cpp<Class>, Args...>::value,
+                          int> = 0>
+    static void execute(Class &cl, const Extra &...extra) {
+        cl.def(
+            "__init__",
+            [](value_and_holder &v_h, Args... args) {
+                v_h.value_ptr()
+                    = construct_or_initialize<Alias<Class>>(std::forward<Args>(args)...);
+            },
+            is_new_style_constructor(),
+            extra...);
     }
 };
 
 // Implementing class for py::init_alias<...>()
-template <typename... Args> struct alias_constructor {
-    template <typename Class, typename... Extra,
-              enable_if_t<Class::has_alias && std::is_constructible<Alias<Class>, Args...>::value, int> = 0>
-    static void execute(Class &cl, const Extra&... extra) {
-        cl.def("__init__", [](value_and_holder &v_h, Args... args) {
-            v_h.value_ptr() = construct_or_initialize<Alias<Class>>(std::forward<Args>(args)...);
-        }, is_new_style_constructor(), extra...);
+template <typename... Args>
+struct alias_constructor {
+    template <typename Class,
+              typename... Extra,
+              enable_if_t<Class::has_alias && std::is_constructible<Alias<Class>, Args...>::value,
+                          int> = 0>
+    static void execute(Class &cl, const Extra &...extra) {
+        cl.def(
+            "__init__",
+            [](value_and_holder &v_h, Args... args) {
+                v_h.value_ptr()
+                    = construct_or_initialize<Alias<Class>>(std::forward<Args>(args)...);
+            },
+            is_new_style_constructor(),
+            extra...);
     }
 };
 
 // Implementation class for py::init(Func) and py::init(Func, AliasFunc)
-template <typename CFunc, typename AFunc = void_type (*)(),
-          typename = function_signature_t<CFunc>, typename = function_signature_t<AFunc>>
+template <typename CFunc,
+          typename AFunc = void_type (*)(),
+          typename = function_signature_t<CFunc>,
+          typename = function_signature_t<AFunc>>
 struct factory;
 
 // Specialization for py::init(Func)
@@ -232,22 +283,32 @@ struct factory<Func, void_type (*)(), Return(Args...)> {
     // instance, or the alias needs to be constructible from a `Class &&` argument.
     template <typename Class, typename... Extra>
     void execute(Class &cl, const Extra &...extra) && {
-        #if defined(PYBIND11_CPP14)
-        cl.def("__init__", [func = std::move(class_factory)]
-        #else
+#if defined(PYBIND11_CPP14)
+        cl.def(
+            "__init__",
+            [func = std::move(class_factory)]
+#else
         auto &func = class_factory;
-        cl.def("__init__", [func]
-        #endif
-        (value_and_holder &v_h, Args... args) {
-            construct<Class>(v_h, func(std::forward<Args>(args)...),
-                             Py_TYPE(v_h.inst) != v_h.type->type);
-        }, is_new_style_constructor(), extra...);
+        cl.def(
+            "__init__",
+            [func]
+#endif
+            (value_and_holder &v_h, Args... args) {
+                construct<Class>(
+                    v_h, func(std::forward<Args>(args)...), Py_TYPE(v_h.inst) != v_h.type->type);
+            },
+            is_new_style_constructor(),
+            extra...);
     }
 };
 
 // Specialization for py::init(Func, AliasFunc)
-template <typename CFunc, typename AFunc,
-          typename CReturn, typename... CArgs, typename AReturn, typename... AArgs>
+template <typename CFunc,
+          typename AFunc,
+          typename CReturn,
+          typename... CArgs,
+          typename AReturn,
+          typename... AArgs>
 struct factory<CFunc, AFunc, CReturn(CArgs...), AReturn(AArgs...)> {
     static_assert(sizeof...(CArgs) == sizeof...(AArgs),
                   "pybind11::init(class_factory, alias_factory): class and alias factories "
@@ -260,29 +321,37 @@ struct factory<CFunc, AFunc, CReturn(CArgs...), AReturn(AArgs...)> {
     remove_reference_t<AFunc> alias_factory;
 
     factory(CFunc &&c, AFunc &&a)
-        : class_factory(std::forward<CFunc>(c)), alias_factory(std::forward<AFunc>(a)) { }
+        : class_factory(std::forward<CFunc>(c)), alias_factory(std::forward<AFunc>(a)) {}
 
     // The class factory is called when the `self` type passed to `__init__` is the direct
     // class (i.e. not inherited), the alias factory when `self` is a Python-side subtype.
     template <typename Class, typename... Extra>
-    void execute(Class &cl, const Extra&... extra) && {
-        static_assert(Class::has_alias, "The two-argument version of `py::init()` can "
-                                        "only be used if the class has an alias");
-        #if defined(PYBIND11_CPP14)
-        cl.def("__init__", [class_func = std::move(class_factory), alias_func = std::move(alias_factory)]
-        #else
+    void execute(Class &cl, const Extra &...extra) && {
+        static_assert(Class::has_alias,
+                      "The two-argument version of `py::init()` can "
+                      "only be used if the class has an alias");
+#if defined(PYBIND11_CPP14)
+        cl.def(
+            "__init__",
+            [class_func = std::move(class_factory), alias_func = std::move(alias_factory)]
+#else
         auto &class_func = class_factory;
         auto &alias_func = alias_factory;
-        cl.def("__init__", [class_func, alias_func]
-        #endif
-        (value_and_holder &v_h, CArgs... args) {
-            if (Py_TYPE(v_h.inst) == v_h.type->type)
-                // If the instance type equals the registered type we don't have inheritance, so
-                // don't need the alias and can construct using the class function:
-                construct<Class>(v_h, class_func(std::forward<CArgs>(args)...), false);
-            else
-                construct<Class>(v_h, alias_func(std::forward<CArgs>(args)...), true);
-        }, is_new_style_constructor(), extra...);
+        cl.def(
+            "__init__",
+            [class_func, alias_func]
+#endif
+            (value_and_holder &v_h, CArgs... args) {
+                if (Py_TYPE(v_h.inst) == v_h.type->type) {
+                    // If the instance type equals the registered type we don't have inheritance,
+                    // so don't need the alias and can construct using the class function:
+                    construct<Class>(v_h, class_func(std::forward<CArgs>(args)...), false);
+                } else {
+                    construct<Class>(v_h, alias_func(std::forward<CArgs>(args)...), true);
+                }
+            },
+            is_new_style_constructor(),
+            extra...);
     }
 };
 
@@ -293,7 +362,9 @@ void setstate(value_and_holder &v_h, T &&result, bool need_alias) {
 }
 
 /// Set both the C++ and Python states
-template <typename Class, typename T, typename O,
+template <typename Class,
+          typename T,
+          typename O,
           enable_if_t<std::is_convertible<O, handle>::value, int> = 0>
 void setstate(value_and_holder &v_h, std::pair<T, O> &&result, bool need_alias) {
     construct<Class>(v_h, std::move(result.first), need_alias);
@@ -307,12 +378,18 @@ void setstate(value_and_holder &v_h, std::pair<T, O> &&result, bool need_alias)
 }
 
 /// Implementation for py::pickle(GetState, SetState)
-template <typename Get, typename Set,
-          typename = function_signature_t<Get>, typename = function_signature_t<Set>>
+template <typename Get,
+          typename Set,
+          typename = function_signature_t<Get>,
+          typename = function_signature_t<Set>>
 struct pickle_factory;
 
-template <typename Get, typename Set,
-          typename RetState, typename Self, typename NewInstance, typename ArgState>
+template <typename Get,
+          typename Set,
+          typename RetState,
+          typename Self,
+          typename NewInstance,
+          typename ArgState>
 struct pickle_factory<Get, Set, RetState(Self), NewInstance(ArgState)> {
     static_assert(std::is_same<intrinsic_t<RetState>, intrinsic_t<ArgState>>::value,
                   "The type returned by `__getstate__` must be the same "
@@ -321,26 +398,31 @@ struct pickle_factory<Get, Set, RetState(Self), NewInstance(ArgState)> {
     remove_reference_t<Get> get;
     remove_reference_t<Set> set;
 
-    pickle_factory(Get get, Set set)
-        : get(std::forward<Get>(get)), set(std::forward<Set>(set)) { }
+    pickle_factory(Get get, Set set) : get(std::forward<Get>(get)), set(std::forward<Set>(set)) {}
 
     template <typename Class, typename... Extra>
     void execute(Class &cl, const Extra &...extra) && {
         cl.def("__getstate__", std::move(get));
 
 #if defined(PYBIND11_CPP14)
-        cl.def("__setstate__", [func = std::move(set)]
+        cl.def(
+            "__setstate__",
+            [func = std::move(set)]
 #else
         auto &func = set;
-        cl.def("__setstate__", [func]
+        cl.def(
+            "__setstate__",
+            [func]
 #endif
-        (value_and_holder &v_h, ArgState state) {
-            setstate<Class>(v_h, func(std::forward<ArgState>(state)),
-                            Py_TYPE(v_h.inst) != v_h.type->type);
-        }, is_new_style_constructor(), extra...);
+            (value_and_holder &v_h, ArgState state) {
+                setstate<Class>(
+                    v_h, func(std::forward<ArgState>(state)), Py_TYPE(v_h.inst) != v_h.type->type);
+            },
+            is_new_style_constructor(),
+            extra...);
     }
 };
 
 PYBIND11_NAMESPACE_END(initimpl)
 PYBIND11_NAMESPACE_END(detail)
-PYBIND11_NAMESPACE_END(pybind11)
+PYBIND11_NAMESPACE_END(PYBIND11_NAMESPACE)
diff --git a/pybind11/include/pybind11/detail/internals.h b/pybind11/include/pybind11/detail/internals.h
index 9edb9492e2..6ca5e1482f 100644
--- a/pybind11/include/pybind11/detail/internals.h
+++ b/pybind11/include/pybind11/detail/internals.h
@@ -10,6 +10,7 @@
 #pragma once
 
 #include "../pytypes.h"
+
 #include <exception>
 
 /// Tracks the `internals` and `type_info` ABI version independent of the main library version.
@@ -81,7 +82,7 @@ inline PyObject *make_object_base_type(PyTypeObject *metaclass);
 #    define PYBIND11_TLS_KEY_INIT(var) PYBIND11_TLS_KEY_REF var = 0;
 #    define PYBIND11_TLS_KEY_CREATE(var) (((var) = PyThread_create_key()) != -1)
 #    define PYBIND11_TLS_GET_VALUE(key) PyThread_get_key_value((key))
-#    if PY_MAJOR_VERSION < 3 || defined(PYPY_VERSION)
+#    if defined(PYPY_VERSION)
 // On CPython < 3.4 and on PyPy, `PyThread_set_key_value` strangely does not set
 // the value if it has already been set.  Instead, it must first be deleted and
 // then set again.
@@ -118,8 +119,9 @@ struct type_hash {
     size_t operator()(const std::type_index &t) const {
         size_t hash = 5381;
         const char *ptr = t.name();
-        while (auto c = static_cast<unsigned char>(*ptr++))
+        while (auto c = static_cast<unsigned char>(*ptr++)) {
             hash = (hash * 33) ^ c;
+        }
         return hash;
     }
 };
@@ -135,9 +137,9 @@ template <typename value_type>
 using type_map = std::unordered_map<std::type_index, value_type, type_hash, type_equal_to>;
 
 struct override_hash {
-    inline size_t operator()(const std::pair<const PyObject *, const char *>& v) const {
+    inline size_t operator()(const std::pair<const PyObject *, const char *> &v) const {
         size_t value = std::hash<const void *>()(v.first);
-        value ^= std::hash<const void *>()(v.second) + 0x9e3779b9 + (value<<6) + (value>>2);
+        value ^= std::hash<const void *>()(v.second) + 0x9e3779b9 + (value << 6) + (value >> 2);
         return value;
     }
 };
@@ -146,18 +148,23 @@ struct override_hash {
 /// Whenever binary incompatible changes are made to this structure,
 /// `PYBIND11_INTERNALS_VERSION` must be incremented.
 struct internals {
-    type_map<type_info *> registered_types_cpp; // std::type_index -> pybind11's type information
-    std::unordered_map<PyTypeObject *, std::vector<type_info *>> registered_types_py; // PyTypeObject* -> base type_info(s)
-    std::unordered_multimap<const void *, instance*> registered_instances; // void * -> instance*
-    std::unordered_set<std::pair<const PyObject *, const char *>, override_hash> inactive_override_cache;
+    // std::type_index -> pybind11's type information
+    type_map<type_info *> registered_types_cpp;
+    // PyTypeObject* -> base type_info(s)
+    std::unordered_map<PyTypeObject *, std::vector<type_info *>> registered_types_py;
+    std::unordered_multimap<const void *, instance *> registered_instances; // void * -> instance*
+    std::unordered_set<std::pair<const PyObject *, const char *>, override_hash>
+        inactive_override_cache;
     type_map<std::vector<bool (*)(PyObject *, void *&)>> direct_conversions;
     std::unordered_map<const PyObject *, std::vector<PyObject *>> patients;
     std::forward_list<ExceptionTranslator> registered_exception_translators;
-    std::unordered_map<std::string, void *> shared_data; // Custom data to be shared across extensions
+    std::unordered_map<std::string, void *> shared_data; // Custom data to be shared across
+                                                         // extensions
 #if PYBIND11_INTERNALS_VERSION == 4
     std::vector<PyObject *> unused_loader_patient_stack_remove_at_v5;
 #endif
-    std::forward_list<std::string> static_strings; // Stores the std::strings backing detail::c_str()
+    std::forward_list<std::string> static_strings; // Stores the std::strings backing
+                                                   // detail::c_str()
     PyTypeObject *static_property_type;
     PyTypeObject *default_metaclass;
     PyObject *instance_base;
@@ -193,8 +200,8 @@ struct type_info {
     void *(*operator_new)(size_t);
     void (*init_instance)(instance *, const void *);
     void (*dealloc)(value_and_holder &v_h);
-    std::vector<PyObject *(*)(PyObject *, PyTypeObject *)> implicit_conversions;
-    std::vector<std::pair<const std::type_info *, void *(*)(void *)>> implicit_casts;
+    std::vector<PyObject *(*) (PyObject *, PyTypeObject *)> implicit_conversions;
+    std::vector<std::pair<const std::type_info *, void *(*) (void *)>> implicit_casts;
     std::vector<bool (*)(PyObject *, void *&)> *direct_conversions;
     buffer_info *(*get_buffer)(PyObject *, void *) = nullptr;
     void *get_buffer_data = nullptr;
@@ -214,67 +221,71 @@ struct type_info {
 
 /// On MSVC, debug and release builds are not ABI-compatible!
 #if defined(_MSC_VER) && defined(_DEBUG)
-#  define PYBIND11_BUILD_TYPE "_debug"
+#    define PYBIND11_BUILD_TYPE "_debug"
 #else
-#  define PYBIND11_BUILD_TYPE ""
+#    define PYBIND11_BUILD_TYPE ""
 #endif
 
 /// Let's assume that different compilers are ABI-incompatible.
 /// A user can manually set this string if they know their
 /// compiler is compatible.
 #ifndef PYBIND11_COMPILER_TYPE
-#  if defined(_MSC_VER)
-#    define PYBIND11_COMPILER_TYPE "_msvc"
-#  elif defined(__INTEL_COMPILER)
-#    define PYBIND11_COMPILER_TYPE "_icc"
-#  elif defined(__clang__)
-#    define PYBIND11_COMPILER_TYPE "_clang"
-#  elif defined(__PGI)
-#    define PYBIND11_COMPILER_TYPE "_pgi"
-#  elif defined(__MINGW32__)
-#    define PYBIND11_COMPILER_TYPE "_mingw"
-#  elif defined(__CYGWIN__)
-#    define PYBIND11_COMPILER_TYPE "_gcc_cygwin"
-#  elif defined(__GNUC__)
-#    define PYBIND11_COMPILER_TYPE "_gcc"
-#  else
-#    define PYBIND11_COMPILER_TYPE "_unknown"
-#  endif
+#    if defined(_MSC_VER)
+#        define PYBIND11_COMPILER_TYPE "_msvc"
+#    elif defined(__INTEL_COMPILER)
+#        define PYBIND11_COMPILER_TYPE "_icc"
+#    elif defined(__clang__)
+#        define PYBIND11_COMPILER_TYPE "_clang"
+#    elif defined(__PGI)
+#        define PYBIND11_COMPILER_TYPE "_pgi"
+#    elif defined(__MINGW32__)
+#        define PYBIND11_COMPILER_TYPE "_mingw"
+#    elif defined(__CYGWIN__)
+#        define PYBIND11_COMPILER_TYPE "_gcc_cygwin"
+#    elif defined(__GNUC__)
+#        define PYBIND11_COMPILER_TYPE "_gcc"
+#    else
+#        define PYBIND11_COMPILER_TYPE "_unknown"
+#    endif
 #endif
 
 /// Also standard libs
 #ifndef PYBIND11_STDLIB
-#  if defined(_LIBCPP_VERSION)
-#    define PYBIND11_STDLIB "_libcpp"
-#  elif defined(__GLIBCXX__) || defined(__GLIBCPP__)
-#    define PYBIND11_STDLIB "_libstdcpp"
-#  else
-#    define PYBIND11_STDLIB ""
-#  endif
+#    if defined(_LIBCPP_VERSION)
+#        define PYBIND11_STDLIB "_libcpp"
+#    elif defined(__GLIBCXX__) || defined(__GLIBCPP__)
+#        define PYBIND11_STDLIB "_libstdcpp"
+#    else
+#        define PYBIND11_STDLIB ""
+#    endif
 #endif
 
 /// On Linux/OSX, changes in __GXX_ABI_VERSION__ indicate ABI incompatibility.
 #ifndef PYBIND11_BUILD_ABI
-#  if defined(__GXX_ABI_VERSION)
-#    define PYBIND11_BUILD_ABI "_cxxabi" PYBIND11_TOSTRING(__GXX_ABI_VERSION)
-#  else
-#    define PYBIND11_BUILD_ABI ""
-#  endif
+#    if defined(__GXX_ABI_VERSION)
+#        define PYBIND11_BUILD_ABI "_cxxabi" PYBIND11_TOSTRING(__GXX_ABI_VERSION)
+#    else
+#        define PYBIND11_BUILD_ABI ""
+#    endif
 #endif
 
 #ifndef PYBIND11_INTERNALS_KIND
-#  if defined(WITH_THREAD)
-#    define PYBIND11_INTERNALS_KIND ""
-#  else
-#    define PYBIND11_INTERNALS_KIND "_without_thread"
-#  endif
+#    if defined(WITH_THREAD)
+#        define PYBIND11_INTERNALS_KIND ""
+#    else
+#        define PYBIND11_INTERNALS_KIND "_without_thread"
+#    endif
 #endif
 
-#define PYBIND11_INTERNALS_ID "__pybind11_internals_v" \
-    PYBIND11_TOSTRING(PYBIND11_INTERNALS_VERSION) PYBIND11_INTERNALS_KIND PYBIND11_COMPILER_TYPE PYBIND11_STDLIB PYBIND11_BUILD_ABI PYBIND11_BUILD_TYPE "__"
+#define PYBIND11_INTERNALS_ID                                                                     \
+    "__pybind11_internals_v" PYBIND11_TOSTRING(PYBIND11_INTERNALS_VERSION)                        \
+        PYBIND11_INTERNALS_KIND PYBIND11_COMPILER_TYPE PYBIND11_STDLIB PYBIND11_BUILD_ABI         \
+            PYBIND11_BUILD_TYPE "__"
 
-#define PYBIND11_MODULE_LOCAL_ID "__pybind11_module_local_v" \
-    PYBIND11_TOSTRING(PYBIND11_INTERNALS_VERSION) PYBIND11_INTERNALS_KIND PYBIND11_COMPILER_TYPE PYBIND11_STDLIB PYBIND11_BUILD_ABI PYBIND11_BUILD_TYPE "__"
+#define PYBIND11_MODULE_LOCAL_ID                                                                  \
+    "__pybind11_module_local_v" PYBIND11_TOSTRING(PYBIND11_INTERNALS_VERSION)                     \
+        PYBIND11_INTERNALS_KIND PYBIND11_COMPILER_TYPE PYBIND11_STDLIB PYBIND11_BUILD_ABI         \
+            PYBIND11_BUILD_TYPE "__"
 
 /// Each module locally stores a pointer to the `internals` data. The data
 /// itself is shared among modules with the same `PYBIND11_INTERNALS_ID`.
@@ -283,7 +294,6 @@ inline internals **&get_internals_pp() {
     return internals_pp;
 }
 
-#if PY_VERSION_HEX >= 0x03030000
 // forward decl
 inline void translate_exception(std::exception_ptr);
 
@@ -301,27 +311,17 @@ bool handle_nested_exception(const T &exc, const std::exception_ptr &p) {
 template <class T,
           enable_if_t<!std::is_same<std::nested_exception, remove_cvref_t<T>>::value, int> = 0>
 bool handle_nested_exception(const T &exc, const std::exception_ptr &p) {
-    if (auto *nep = dynamic_cast<const std::nested_exception *>(std::addressof(exc))) {
+    if (const auto *nep = dynamic_cast<const std::nested_exception *>(std::addressof(exc))) {
         return handle_nested_exception(*nep, p);
     }
     return false;
 }
 
-#else
-
-template <class T>
-bool handle_nested_exception(const T &, std::exception_ptr &) {
-    return false;
-}
-#endif
-
 inline bool raise_err(PyObject *exc_type, const char *msg) {
-#if PY_VERSION_HEX >= 0x03030000
     if (PyErr_Occurred()) {
         raise_from(exc_type, msg);
         return true;
     }
-#endif
     PyErr_SetString(exc_type, msg);
     return false;
 }
@@ -338,7 +338,7 @@ inline void translate_exception(std::exception_ptr p) {
         return;
     } catch (const builtin_exception &e) {
         // Could not use template since it's an abstract class.
-        if (auto *nep = dynamic_cast<const std::nested_exception *>(std::addressof(e))) {
+        if (const auto *nep = dynamic_cast<const std::nested_exception *>(std::addressof(e))) {
             handle_nested_exception(*nep, p);
         }
         e.set_error();
@@ -388,9 +388,15 @@ inline void translate_exception(std::exception_ptr p) {
 #if !defined(__GLIBCXX__)
 inline void translate_local_exception(std::exception_ptr p) {
     try {
-        if (p) std::rethrow_exception(p);
-    } catch (error_already_set &e)       { e.restore();   return;
-    } catch (const builtin_exception &e) { e.set_error(); return;
+        if (p) {
+            std::rethrow_exception(p);
+        }
+    } catch (error_already_set &e) {
+        e.restore();
+        return;
+    } catch (const builtin_exception &e) {
+        e.set_error();
+        return;
     }
 }
 #endif
@@ -398,16 +404,18 @@ inline void translate_local_exception(std::exception_ptr p) {
 /// Return a reference to the current `internals` data
 PYBIND11_NOINLINE internals &get_internals() {
     auto **&internals_pp = get_internals_pp();
-    if (internals_pp && *internals_pp)
+    if (internals_pp && *internals_pp) {
         return **internals_pp;
+    }
 
     // Ensure that the GIL is held since we will need to make Python calls.
     // Cannot use py::gil_scoped_acquire here since that constructor calls get_internals.
     struct gil_scoped_acquire_local {
-        gil_scoped_acquire_local() : state (PyGILState_Ensure()) {}
+        gil_scoped_acquire_local() : state(PyGILState_Ensure()) {}
         ~gil_scoped_acquire_local() { PyGILState_Release(state); }
         const PyGILState_STATE state;
     } gil;
+    error_scope err_scope;
 
     PYBIND11_STR_TYPE id(PYBIND11_INTERNALS_ID);
     auto builtins = handle(PyEval_GetBuiltins());
@@ -425,7 +433,9 @@ PYBIND11_NOINLINE internals &get_internals() {
         (*internals_pp)->registered_exception_translators.push_front(&translate_local_exception);
 #endif
     } else {
-        if (!internals_pp) internals_pp = new internals*();
+        if (!internals_pp) {
+            internals_pp = new internals *();
+        }
         auto *&internals_ptr = *internals_pp;
         internals_ptr = new internals();
 #if defined(WITH_THREAD)
@@ -502,11 +512,10 @@ struct local_internals {
 
 /// Works like `get_internals`, but for things which are locally registered.
 inline local_internals &get_local_internals() {
-  static local_internals locals;
-  return locals;
+    static local_internals locals;
+    return locals;
 }
 
-
 /// Constructs a std::string with the given arguments, stores it in `internals`, and returns its
 /// `c_str()`.  Such strings objects have a long storage duration -- the internal strings are only
 /// cleared when the program exits or after interpreter shutdown (when embedding), and so are
@@ -538,7 +547,7 @@ PYBIND11_NOINLINE void *set_shared_data(const std::string &name, void *data) {
 /// Returns a typed reference to a shared data entry (by using `get_shared_data()`) if
 /// such entry exists. Otherwise, a new object of default-constructible type `T` is
 /// added to the shared data under the given name and a reference to it is returned.
-template<typename T>
+template <typename T>
 T &get_or_create_shared_data(const std::string &name) {
     auto &internals = detail::get_internals();
     auto it = internals.shared_data.find(name);
diff --git a/pybind11/include/pybind11/detail/type_caster_base.h b/pybind11/include/pybind11/detail/type_caster_base.h
index 48e218b2f3..21f69c289f 100644
--- a/pybind11/include/pybind11/detail/type_caster_base.h
+++ b/pybind11/include/pybind11/detail/type_caster_base.h
@@ -14,6 +14,7 @@
 #include "descr.h"
 #include "internals.h"
 #include "typeid.h"
+
 #include <cstdint>
 #include <iterator>
 #include <new>
@@ -32,7 +33,7 @@ PYBIND11_NAMESPACE_BEGIN(detail)
 /// Adding a patient will keep it alive up until the enclosing function returns.
 class loader_life_support {
 private:
-    loader_life_support* parent = nullptr;
+    loader_life_support *parent = nullptr;
     std::unordered_set<PyObject *> keep_alive;
 
 #if defined(WITH_THREAD)
@@ -62,18 +63,17 @@ class loader_life_support {
 
 public:
     /// A new patient frame is created when a function is entered
-    loader_life_support() {
-        parent = get_stack_top();
-        set_stack_top(this);
-    }
+    loader_life_support() : parent{get_stack_top()} { set_stack_top(this); }
 
     /// ... and destroyed after it returns
     ~loader_life_support() {
-        if (get_stack_top() != this)
+        if (get_stack_top() != this) {
             pybind11_fail("loader_life_support: internal error");
+        }
         set_stack_top(parent);
-        for (auto* item : keep_alive)
+        for (auto *item : keep_alive) {
             Py_DECREF(item);
+        }
     }
 
     /// This can only be used inside a pybind11-bound function, either by `argument_loader`
@@ -90,47 +90,56 @@ class loader_life_support {
                              "of temporary values");
         }
 
-        if (frame->keep_alive.insert(h.ptr()).second)
+        if (frame->keep_alive.insert(h.ptr()).second) {
             Py_INCREF(h.ptr());
+        }
     }
 };
 
 // Gets the cache entry for the given type, creating it if necessary.  The return value is the pair
 // returned by emplace, i.e. an iterator for the entry and a bool set to `true` if the entry was
 // just created.
-inline std::pair<decltype(internals::registered_types_py)::iterator, bool> all_type_info_get_cache(PyTypeObject *type);
+inline std::pair<decltype(internals::registered_types_py)::iterator, bool>
+all_type_info_get_cache(PyTypeObject *type);
 
 // Populates a just-created cache entry.
 PYBIND11_NOINLINE void all_type_info_populate(PyTypeObject *t, std::vector<type_info *> &bases) {
     std::vector<PyTypeObject *> check;
-    for (handle parent : reinterpret_borrow<tuple>(t->tp_bases))
+    for (handle parent : reinterpret_borrow<tuple>(t->tp_bases)) {
         check.push_back((PyTypeObject *) parent.ptr());
+    }
 
     auto const &type_dict = get_internals().registered_types_py;
     for (size_t i = 0; i < check.size(); i++) {
-        auto type = check[i];
+        auto *type = check[i];
         // Ignore Python2 old-style class super type:
-        if (!PyType_Check((PyObject *) type)) continue;
+        if (!PyType_Check((PyObject *) type)) {
+            continue;
+        }
 
         // Check `type` in the current set of registered python types:
         auto it = type_dict.find(type);
         if (it != type_dict.end()) {
             // We found a cache entry for it, so it's either pybind-registered or has pre-computed
-            // pybind bases, but we have to make sure we haven't already seen the type(s) before: we
-            // want to follow Python/virtual C++ rules that there should only be one instance of a
-            // common base.
+            // pybind bases, but we have to make sure we haven't already seen the type(s) before:
+            // we want to follow Python/virtual C++ rules that there should only be one instance of
+            // a common base.
             for (auto *tinfo : it->second) {
                 // NB: Could use a second set here, rather than doing a linear search, but since
                 // having a large number of immediate pybind11-registered types seems fairly
                 // unlikely, that probably isn't worthwhile.
                 bool found = false;
                 for (auto *known : bases) {
-                    if (known == tinfo) { found = true; break; }
+                    if (known == tinfo) {
+                        found = true;
+                        break;
+                    }
+                }
+                if (!found) {
+                    bases.push_back(tinfo);
                 }
-                if (!found) bases.push_back(tinfo);
             }
-        }
-        else if (type->tp_bases) {
+        } else if (type->tp_bases) {
             // It's some python type, so keep follow its bases classes to look for one or more
             // registered types
             if (i + 1 == check.size()) {
@@ -140,8 +149,9 @@ PYBIND11_NOINLINE void all_type_info_populate(PyTypeObject *t, std::vector<type_
                 check.pop_back();
                 i--;
             }
-            for (handle parent : reinterpret_borrow<tuple>(type->tp_bases))
+            for (handle parent : reinterpret_borrow<tuple>(type->tp_bases)) {
                 check.push_back((PyTypeObject *) parent.ptr());
+            }
         }
     }
 }
@@ -158,9 +168,10 @@ PYBIND11_NOINLINE void all_type_info_populate(PyTypeObject *t, std::vector<type_
  */
 inline const std::vector<detail::type_info *> &all_type_info(PyTypeObject *type) {
     auto ins = all_type_info_get_cache(type);
-    if (ins.second)
+    if (ins.second) {
         // New cache entry: populate it
         all_type_info_populate(type, ins.first->second);
+    }
 
     return ins.first->second;
 }
@@ -170,43 +181,52 @@ inline const std::vector<detail::type_info *> &all_type_info(PyTypeObject *type)
  * ancestors are pybind11-registered.  Throws an exception if there are multiple bases--use
  * `all_type_info` instead if you want to support multiple bases.
  */
-PYBIND11_NOINLINE detail::type_info* get_type_info(PyTypeObject *type) {
-    auto &bases = all_type_info(type);
-    if (bases.empty())
+PYBIND11_NOINLINE detail::type_info *get_type_info(PyTypeObject *type) {
+    const auto &bases = all_type_info(type);
+    if (bases.empty()) {
         return nullptr;
-    if (bases.size() > 1)
-        pybind11_fail("pybind11::detail::get_type_info: type has multiple pybind11-registered bases");
+    }
+    if (bases.size() > 1) {
+        pybind11_fail(
+            "pybind11::detail::get_type_info: type has multiple pybind11-registered bases");
+    }
     return bases.front();
 }
 
 inline detail::type_info *get_local_type_info(const std::type_index &tp) {
     auto &locals = get_local_internals().registered_types_cpp;
     auto it = locals.find(tp);
-    if (it != locals.end())
+    if (it != locals.end()) {
         return it->second;
+    }
     return nullptr;
 }
 
 inline detail::type_info *get_global_type_info(const std::type_index &tp) {
     auto &types = get_internals().registered_types_cpp;
     auto it = types.find(tp);
-    if (it != types.end())
+    if (it != types.end()) {
         return it->second;
+    }
     return nullptr;
 }
 
-/// Return the type info for a given C++ type; on lookup failure can either throw or return nullptr.
+/// Return the type info for a given C++ type; on lookup failure can either throw or return
+/// nullptr.
 PYBIND11_NOINLINE detail::type_info *get_type_info(const std::type_index &tp,
-                                                          bool throw_if_missing = false) {
-    if (auto ltype = get_local_type_info(tp))
+                                                   bool throw_if_missing = false) {
+    if (auto *ltype = get_local_type_info(tp)) {
         return ltype;
-    if (auto gtype = get_global_type_info(tp))
+    }
+    if (auto *gtype = get_global_type_info(tp)) {
         return gtype;
+    }
 
     if (throw_if_missing) {
         std::string tname = tp.name();
         detail::clean_type_id(tname);
-        pybind11_fail("pybind11::detail::get_type_info: unable to find type info for \"" + tname + "\"");
+        pybind11_fail("pybind11::detail::get_type_info: unable to find type info for \""
+                      + std::move(tname) + '"');
     }
     return nullptr;
 }
@@ -218,12 +238,13 @@ PYBIND11_NOINLINE handle get_type_handle(const std::type_info &tp, bool throw_if
 
 // Searches the inheritance graph for a registered Python instance, using all_type_info().
 PYBIND11_NOINLINE handle find_registered_python_instance(void *src,
-                                                                const detail::type_info *tinfo) {
+                                                         const detail::type_info *tinfo) {
     auto it_instances = get_internals().registered_instances.equal_range(src);
     for (auto it_i = it_instances.first; it_i != it_instances.second; ++it_i) {
-        for (auto instance_type : detail::all_type_info(Py_TYPE(it_i->second))) {
-            if (instance_type && same_type(*instance_type->cpptype, *tinfo->cpptype))
+        for (auto *instance_type : detail::all_type_info(Py_TYPE(it_i->second))) {
+            if (instance_type && same_type(*instance_type->cpptype, *tinfo->cpptype)) {
                 return handle((PyObject *) it_i->second).inc_ref();
+            }
         }
     }
     return handle();
@@ -236,10 +257,10 @@ struct value_and_holder {
     void **vh = nullptr;
 
     // Main constructor for a found value/holder:
-    value_and_holder(instance *i, const detail::type_info *type, size_t vpos, size_t index) :
-        inst{i}, index{index}, type{type},
-        vh{inst->simple_layout ? inst->simple_value_holder : &inst->nonsimple.values_and_holders[vpos]}
-    {}
+    value_and_holder(instance *i, const detail::type_info *type, size_t vpos, size_t index)
+        : inst{i}, index{index}, type{type}, vh{inst->simple_layout
+                                                    ? inst->simple_value_holder
+                                                    : &inst->nonsimple.values_and_holders[vpos]} {}
 
     // Default constructor (used to signal a value-and-holder not found by get_value_and_holder())
     value_and_holder() = default;
@@ -247,13 +268,15 @@ struct value_and_holder {
     // Used for past-the-end iterator
     explicit value_and_holder(size_t index) : index{index} {}
 
-    template <typename V = void> V *&value_ptr() const {
+    template <typename V = void>
+    V *&value_ptr() const {
         return reinterpret_cast<V *&>(vh[0]);
     }
     // True if this `value_and_holder` has a non-null value pointer
     explicit operator bool() const { return value_ptr() != nullptr; }
 
-    template <typename H> H &holder() const {
+    template <typename H>
+    H &holder() const {
         return reinterpret_cast<H &>(vh[1]);
     }
     bool holder_constructed() const {
@@ -263,26 +286,28 @@ struct value_and_holder {
     }
     // NOLINTNEXTLINE(readability-make-member-function-const)
     void set_holder_constructed(bool v = true) {
-        if (inst->simple_layout)
+        if (inst->simple_layout) {
             inst->simple_holder_constructed = v;
-        else if (v)
+        } else if (v) {
             inst->nonsimple.status[index] |= instance::status_holder_constructed;
-        else
+        } else {
             inst->nonsimple.status[index] &= (std::uint8_t) ~instance::status_holder_constructed;
+        }
     }
     bool instance_registered() const {
         return inst->simple_layout
-            ? inst->simple_instance_registered
-            : ((inst->nonsimple.status[index] & instance::status_instance_registered) != 0);
+                   ? inst->simple_instance_registered
+                   : ((inst->nonsimple.status[index] & instance::status_instance_registered) != 0);
     }
     // NOLINTNEXTLINE(readability-make-member-function-const)
     void set_instance_registered(bool v = true) {
-        if (inst->simple_layout)
+        if (inst->simple_layout) {
             inst->simple_instance_registered = v;
-        else if (v)
+        } else if (v) {
             inst->nonsimple.status[index] |= instance::status_instance_registered;
-        else
+        } else {
             inst->nonsimple.status[index] &= (std::uint8_t) ~instance::status_instance_registered;
+        }
     }
 };
 
@@ -305,11 +330,10 @@ struct values_and_holders {
         friend struct values_and_holders;
         iterator(instance *inst, const type_vec *tinfo)
             : inst{inst}, types{tinfo},
-            curr(inst /* instance */,
-                 types->empty() ? nullptr : (*types)[0] /* type info */,
-                 0, /* vpos: (non-simple types only): the first vptr comes first */
-                 0 /* index */)
-        {}
+              curr(inst /* instance */,
+                   types->empty() ? nullptr : (*types)[0] /* type info */,
+                   0, /* vpos: (non-simple types only): the first vptr comes first */
+                   0 /* index */) {}
         // Past-the-end iterator:
         explicit iterator(size_t end) : curr(end) {}
 
@@ -317,8 +341,9 @@ struct values_and_holders {
         bool operator==(const iterator &other) const { return curr.index == other.curr.index; }
         bool operator!=(const iterator &other) const { return curr.index != other.curr.index; }
         iterator &operator++() {
-            if (!inst->simple_layout)
+            if (!inst->simple_layout) {
                 curr.vh += 1 + (*types)[curr.index]->holder_size_in_ptrs;
+            }
             ++curr.index;
             curr.type = curr.index < types->size() ? (*types)[curr.index] : nullptr;
             return *this;
@@ -332,7 +357,9 @@ struct values_and_holders {
 
     iterator find(const type_info *find_type) {
         auto it = begin(), endit = end();
-        while (it != endit && it->type != find_type) ++it;
+        while (it != endit && it->type != find_type) {
+            ++it;
+        }
         return it;
     }
 
@@ -349,152 +376,108 @@ struct values_and_holders {
  * The returned object should be short-lived: in particular, it must not outlive the called-upon
  * instance.
  */
-PYBIND11_NOINLINE value_and_holder instance::get_value_and_holder(const type_info *find_type /*= nullptr default in common.h*/, bool throw_if_missing /*= true in common.h*/) {
+PYBIND11_NOINLINE value_and_holder
+instance::get_value_and_holder(const type_info *find_type /*= nullptr default in common.h*/,
+                               bool throw_if_missing /*= true in common.h*/) {
     // Optimize common case:
-    if (!find_type || Py_TYPE(this) == find_type->type)
+    if (!find_type || Py_TYPE(this) == find_type->type) {
         return value_and_holder(this, find_type, 0, 0);
+    }
 
     detail::values_and_holders vhs(this);
     auto it = vhs.find(find_type);
-    if (it != vhs.end())
+    if (it != vhs.end()) {
         return *it;
+    }
 
-    if (!throw_if_missing)
+    if (!throw_if_missing) {
         return value_and_holder();
+    }
 
-#if defined(NDEBUG)
-    pybind11_fail("pybind11::detail::instance::get_value_and_holder: "
-            "type is not a pybind11 base of the given instance "
-            "(compile in debug mode for type details)");
+#if defined(PYBIND11_DETAILED_ERROR_MESSAGES)
+    pybind11_fail("pybind11::detail::instance::get_value_and_holder: `"
+                  + get_fully_qualified_tp_name(find_type->type)
+                  + "' is not a pybind11 base of the given `"
+                  + get_fully_qualified_tp_name(Py_TYPE(this)) + "' instance");
 #else
-    pybind11_fail("pybind11::detail::instance::get_value_and_holder: `" +
-            get_fully_qualified_tp_name(find_type->type) + "' is not a pybind11 base of the given `" +
-            get_fully_qualified_tp_name(Py_TYPE(this)) + "' instance");
+    pybind11_fail(
+        "pybind11::detail::instance::get_value_and_holder: "
+        "type is not a pybind11 base of the given instance "
+        "(#define PYBIND11_DETAILED_ERROR_MESSAGES or compile in debug mode for type details)");
 #endif
 }
 
 PYBIND11_NOINLINE void instance::allocate_layout() {
-    auto &tinfo = all_type_info(Py_TYPE(this));
+    const auto &tinfo = all_type_info(Py_TYPE(this));
 
     const size_t n_types = tinfo.size();
 
-    if (n_types == 0)
-        pybind11_fail("instance allocation failed: new instance has no pybind11-registered base types");
+    if (n_types == 0) {
+        pybind11_fail(
+            "instance allocation failed: new instance has no pybind11-registered base types");
+    }
 
-    simple_layout =
-        n_types == 1 && tinfo.front()->holder_size_in_ptrs <= instance_simple_holder_in_ptrs();
+    simple_layout
+        = n_types == 1 && tinfo.front()->holder_size_in_ptrs <= instance_simple_holder_in_ptrs();
 
     // Simple path: no python-side multiple inheritance, and a small-enough holder
     if (simple_layout) {
         simple_value_holder[0] = nullptr;
         simple_holder_constructed = false;
         simple_instance_registered = false;
-    }
-    else { // multiple base types or a too-large holder
+    } else { // multiple base types or a too-large holder
         // Allocate space to hold: [v1*][h1][v2*][h2]...[bb...] where [vN*] is a value pointer,
         // [hN] is the (uninitialized) holder instance for value N, and [bb...] is a set of bool
         // values that tracks whether each associated holder has been initialized.  Each [block] is
         // padded, if necessary, to an integer multiple of sizeof(void *).
         size_t space = 0;
-        for (auto t : tinfo) {
-            space += 1; // value pointer
+        for (auto *t : tinfo) {
+            space += 1;                      // value pointer
             space += t->holder_size_in_ptrs; // holder instance
         }
         size_t flags_at = space;
-        space += size_in_ptrs(n_types); // status bytes (holder_constructed and instance_registered)
+        space += size_in_ptrs(n_types); // status bytes (holder_constructed and
+                                        // instance_registered)
 
         // Allocate space for flags, values, and holders, and initialize it to 0 (flags and values,
-        // in particular, need to be 0).  Use Python's memory allocation functions: in Python 3.6
-        // they default to using pymalloc, which is designed to be efficient for small allocations
-        // like the one we're doing here; in earlier versions (and for larger allocations) they are
-        // just wrappers around malloc.
-#if PY_VERSION_HEX >= 0x03050000
+        // in particular, need to be 0).  Use Python's memory allocation
+        // functions: Python is using pymalloc, which is designed to be
+        // efficient for small allocations like the one we're doing here;
+        // for larger allocations they are just wrappers around malloc.
+        // TODO: is this still true for pure Python 3.6?
         nonsimple.values_and_holders = (void **) PyMem_Calloc(space, sizeof(void *));
-        if (!nonsimple.values_and_holders) throw std::bad_alloc();
-#else
-        nonsimple.values_and_holders = (void **) PyMem_New(void *, space);
-        if (!nonsimple.values_and_holders) throw std::bad_alloc();
-        std::memset(nonsimple.values_and_holders, 0, space * sizeof(void *));
-#endif
-        nonsimple.status = reinterpret_cast<std::uint8_t *>(&nonsimple.values_and_holders[flags_at]);
+        if (!nonsimple.values_and_holders) {
+            throw std::bad_alloc();
+        }
+        nonsimple.status
+            = reinterpret_cast<std::uint8_t *>(&nonsimple.values_and_holders[flags_at]);
     }
     owned = true;
 }
 
 // NOLINTNEXTLINE(readability-make-member-function-const)
 PYBIND11_NOINLINE void instance::deallocate_layout() {
-    if (!simple_layout)
+    if (!simple_layout) {
         PyMem_Free(nonsimple.values_and_holders);
+    }
 }
 
 PYBIND11_NOINLINE bool isinstance_generic(handle obj, const std::type_info &tp) {
     handle type = detail::get_type_handle(tp, false);
-    if (!type)
+    if (!type) {
         return false;
-    return isinstance(obj, type);
-}
-
-PYBIND11_NOINLINE std::string error_string() {
-    if (!PyErr_Occurred()) {
-        PyErr_SetString(PyExc_RuntimeError, "Unknown internal error occurred");
-        return "Unknown internal error occurred";
-    }
-
-    error_scope scope; // Preserve error state
-
-    std::string errorString;
-    if (scope.type) {
-        errorString += handle(scope.type).attr("__name__").cast<std::string>();
-        errorString += ": ";
     }
-    if (scope.value)
-        errorString += (std::string) str(scope.value);
-
-    PyErr_NormalizeException(&scope.type, &scope.value, &scope.trace);
-
-#if PY_MAJOR_VERSION >= 3
-    if (scope.trace != nullptr)
-        PyException_SetTraceback(scope.value, scope.trace);
-#endif
-
-#if !defined(PYPY_VERSION)
-    if (scope.trace) {
-        auto *trace = (PyTracebackObject *) scope.trace;
-
-        /* Get the deepest trace possible */
-        while (trace->tb_next)
-            trace = trace->tb_next;
-
-        PyFrameObject *frame = trace->tb_frame;
-        errorString += "\n\nAt:\n";
-        while (frame) {
-#if PY_VERSION_HEX >= 0x03090000
-            PyCodeObject *f_code = PyFrame_GetCode(frame);
-#else
-            PyCodeObject *f_code = frame->f_code;
-            Py_INCREF(f_code);
-#endif
-            int lineno = PyFrame_GetLineNumber(frame);
-            errorString +=
-                "  " + handle(f_code->co_filename).cast<std::string>() +
-                "(" + std::to_string(lineno) + "): " +
-                handle(f_code->co_name).cast<std::string>() + "\n";
-            frame = frame->f_back;
-            Py_DECREF(f_code);
-        }
-    }
-#endif
-
-    return errorString;
+    return isinstance(obj, type);
 }
 
-PYBIND11_NOINLINE handle get_object_handle(const void *ptr, const detail::type_info *type ) {
+PYBIND11_NOINLINE handle get_object_handle(const void *ptr, const detail::type_info *type) {
     auto &instances = get_internals().registered_instances;
     auto range = instances.equal_range(ptr);
     for (auto it = range.first; it != range.second; ++it) {
         for (const auto &vh : values_and_holders(it->second)) {
-            if (vh.type == type)
+            if (vh.type == type) {
                 return handle((PyObject *) it->second);
+            }
         }
     }
     return handle();
@@ -503,12 +486,6 @@ PYBIND11_NOINLINE handle get_object_handle(const void *ptr, const detail::type_i
 inline PyThreadState *get_thread_state_unchecked() {
 #if defined(PYPY_VERSION)
     return PyThreadState_GET();
-#elif PY_VERSION_HEX < 0x03000000
-    return _PyThreadState_Current;
-#elif PY_VERSION_HEX < 0x03050000
-    return (PyThreadState*) _Py_atomic_load_relaxed(&_PyThreadState_Current);
-#elif PY_VERSION_HEX < 0x03050200
-    return (PyThreadState*) _PyThreadState_Current.value;
 #else
     return _PyThreadState_UncheckedGet();
 #endif
@@ -526,27 +503,30 @@ class type_caster_generic {
     explicit type_caster_generic(const type_info *typeinfo)
         : typeinfo(typeinfo), cpptype(typeinfo ? typeinfo->cpptype : nullptr) {}
 
-    bool load(handle src, bool convert) {
-        return load_impl<type_caster_generic>(src, convert);
-    }
+    bool load(handle src, bool convert) { return load_impl<type_caster_generic>(src, convert); }
 
-    PYBIND11_NOINLINE static handle cast(const void *_src, return_value_policy policy, handle parent,
+    PYBIND11_NOINLINE static handle cast(const void *_src,
+                                         return_value_policy policy,
+                                         handle parent,
                                          const detail::type_info *tinfo,
                                          void *(*copy_constructor)(const void *),
                                          void *(*move_constructor)(const void *),
                                          const void *existing_holder = nullptr) {
-        if (!tinfo) // no type info: error will be set already
+        if (!tinfo) { // no type info: error will be set already
             return handle();
+        }
 
         void *src = const_cast<void *>(_src);
-        if (src == nullptr)
+        if (src == nullptr) {
             return none().release();
+        }
 
-        if (handle registered_inst = find_registered_python_instance(src, tinfo))
+        if (handle registered_inst = find_registered_python_instance(src, tinfo)) {
             return registered_inst;
+        }
 
         auto inst = reinterpret_steal<object>(make_new_instance(tinfo->type));
-        auto wrapper = reinterpret_cast<instance *>(inst.ptr());
+        auto *wrapper = reinterpret_cast<instance *>(inst.ptr());
         wrapper->owned = false;
         void *&valueptr = values_and_holders(wrapper).begin()->value_ptr();
 
@@ -564,37 +544,39 @@ class type_caster_generic {
                 break;
 
             case return_value_policy::copy:
-                if (copy_constructor)
+                if (copy_constructor) {
                     valueptr = copy_constructor(src);
-                else {
-#if defined(NDEBUG)
-                    throw cast_error("return_value_policy = copy, but type is "
-                                     "non-copyable! (compile in debug mode for details)");
-#else
+                } else {
+#if defined(PYBIND11_DETAILED_ERROR_MESSAGES)
                     std::string type_name(tinfo->cpptype->name());
                     detail::clean_type_id(type_name);
-                    throw cast_error("return_value_policy = copy, but type " +
-                                     type_name + " is non-copyable!");
+                    throw cast_error("return_value_policy = copy, but type " + type_name
+                                     + " is non-copyable!");
+#else
+                    throw cast_error("return_value_policy = copy, but type is "
+                                     "non-copyable! (#define PYBIND11_DETAILED_ERROR_MESSAGES or "
+                                     "compile in debug mode for details)");
 #endif
                 }
                 wrapper->owned = true;
                 break;
 
             case return_value_policy::move:
-                if (move_constructor)
+                if (move_constructor) {
                     valueptr = move_constructor(src);
-                else if (copy_constructor)
+                } else if (copy_constructor) {
                     valueptr = copy_constructor(src);
-                else {
-#if defined(NDEBUG)
-                    throw cast_error("return_value_policy = move, but type is neither "
-                                     "movable nor copyable! "
-                                     "(compile in debug mode for details)");
-#else
+                } else {
+#if defined(PYBIND11_DETAILED_ERROR_MESSAGES)
                     std::string type_name(tinfo->cpptype->name());
                     detail::clean_type_id(type_name);
-                    throw cast_error("return_value_policy = move, but type " +
-                                     type_name + " is neither movable nor copyable!");
+                    throw cast_error("return_value_policy = move, but type " + type_name
+                                     + " is neither movable nor copyable!");
+#else
+                    throw cast_error("return_value_policy = move, but type is neither "
+                                     "movable nor copyable! "
+                                     "(#define PYBIND11_DETAILED_ERROR_MESSAGES or compile in "
+                                     "debug mode for details)");
 #endif
                 }
                 wrapper->owned = true;
@@ -620,23 +602,25 @@ class type_caster_generic {
         auto *&vptr = v_h.value_ptr();
         // Lazy allocation for unallocated values:
         if (vptr == nullptr) {
-            auto *type = v_h.type ? v_h.type : typeinfo;
+            const auto *type = v_h.type ? v_h.type : typeinfo;
             if (type->operator_new) {
                 vptr = type->operator_new(type->type_size);
             } else {
-                #if defined(__cpp_aligned_new) && (!defined(_MSC_VER) || _MSC_VER >= 1912)
-                    if (type->type_align > __STDCPP_DEFAULT_NEW_ALIGNMENT__)
-                        vptr = ::operator new(type->type_size,
-                                              std::align_val_t(type->type_align));
-                    else
-                #endif
+#if defined(__cpp_aligned_new) && (!defined(_MSC_VER) || _MSC_VER >= 1912)
+                if (type->type_align > __STDCPP_DEFAULT_NEW_ALIGNMENT__) {
+                    vptr = ::operator new(type->type_size, std::align_val_t(type->type_align));
+                } else {
+                    vptr = ::operator new(type->type_size);
+                }
+#else
                 vptr = ::operator new(type->type_size);
+#endif
             }
         }
         value = vptr;
     }
     bool try_implicit_casts(handle src, bool convert) {
-        for (auto &cast : typeinfo->implicit_casts) {
+        for (const auto &cast : typeinfo->implicit_casts) {
             type_caster_generic sub_caster(*cast.first);
             if (sub_caster.load(src, convert)) {
                 value = cast.second(sub_caster.value);
@@ -647,8 +631,9 @@ class type_caster_generic {
     }
     bool try_direct_conversions(handle src) {
         for (auto &converter : *typeinfo->direct_conversions) {
-            if (converter(src.ptr(), value))
+            if (converter(src.ptr(), value)) {
                 return true;
+            }
         }
         return false;
     }
@@ -656,8 +641,9 @@ class type_caster_generic {
 
     PYBIND11_NOINLINE static void *local_load(PyObject *src, const type_info *ti) {
         auto caster = type_caster_generic(ti);
-        if (caster.load(src, false))
+        if (caster.load(src, false)) {
             return caster.value;
+        }
         return nullptr;
     }
 
@@ -666,16 +652,19 @@ class type_caster_generic {
     PYBIND11_NOINLINE bool try_load_foreign_module_local(handle src) {
         constexpr auto *local_key = PYBIND11_MODULE_LOCAL_ID;
         const auto pytype = type::handle_of(src);
-        if (!hasattr(pytype, local_key))
+        if (!hasattr(pytype, local_key)) {
             return false;
+        }
 
         type_info *foreign_typeinfo = reinterpret_borrow<capsule>(getattr(pytype, local_key));
-        // Only consider this foreign loader if actually foreign and is a loader of the correct cpp type
+        // Only consider this foreign loader if actually foreign and is a loader of the correct cpp
+        // type
         if (foreign_typeinfo->module_local_load == &local_load
-            || (cpptype && !same_type(*cpptype, *foreign_typeinfo->cpptype)))
+            || (cpptype && !same_type(*cpptype, *foreign_typeinfo->cpptype))) {
             return false;
+        }
 
-        if (auto result = foreign_typeinfo->module_local_load(src.ptr(), foreign_typeinfo)) {
+        if (auto *result = foreign_typeinfo->module_local_load(src.ptr(), foreign_typeinfo)) {
             value = result;
             return true;
         }
@@ -687,8 +676,12 @@ class type_caster_generic {
     // logic (without having to resort to virtual inheritance).
     template <typename ThisT>
     PYBIND11_NOINLINE bool load_impl(handle src, bool convert) {
-        if (!src) return false;
-        if (!typeinfo) return try_load_foreign_module_local(src);
+        if (!src) {
+            return false;
+        }
+        if (!typeinfo) {
+            return try_load_foreign_module_local(src);
+        }
 
         auto &this_ = static_cast<ThisT &>(*this);
         this_.check_holder_compat();
@@ -703,7 +696,7 @@ class type_caster_generic {
         }
         // Case 2: We have a derived class
         if (PyType_IsSubtype(srctype, typeinfo->type)) {
-            auto &bases = all_type_info(srctype);
+            const auto &bases = all_type_info(srctype);
             bool no_cpp_mi = typeinfo->simple_type;
 
             // Case 2a: the python type is a Python-inherited derived class that inherits from just
@@ -716,41 +709,45 @@ class type_caster_generic {
                 this_.load_value(reinterpret_cast<instance *>(src.ptr())->get_value_and_holder());
                 return true;
             }
-            // Case 2b: the python type inherits from multiple C++ bases.  Check the bases to see if
-            // we can find an exact match (or, for a simple C++ type, an inherited match); if so, we
-            // can safely reinterpret_cast to the relevant pointer.
+            // Case 2b: the python type inherits from multiple C++ bases.  Check the bases to see
+            // if we can find an exact match (or, for a simple C++ type, an inherited match); if
+            // so, we can safely reinterpret_cast to the relevant pointer.
             if (bases.size() > 1) {
-                for (auto base : bases) {
-                    if (no_cpp_mi ? PyType_IsSubtype(base->type, typeinfo->type) : base->type == typeinfo->type) {
-                        this_.load_value(reinterpret_cast<instance *>(src.ptr())->get_value_and_holder(base));
+                for (auto *base : bases) {
+                    if (no_cpp_mi ? PyType_IsSubtype(base->type, typeinfo->type)
+                                  : base->type == typeinfo->type) {
+                        this_.load_value(
+                            reinterpret_cast<instance *>(src.ptr())->get_value_and_holder(base));
                         return true;
                     }
                 }
             }
 
-            // Case 2c: C++ multiple inheritance is involved and we couldn't find an exact type match
-            // in the registered bases, above, so try implicit casting (needed for proper C++ casting
-            // when MI is involved).
-            if (this_.try_implicit_casts(src, convert))
+            // Case 2c: C++ multiple inheritance is involved and we couldn't find an exact type
+            // match in the registered bases, above, so try implicit casting (needed for proper C++
+            // casting when MI is involved).
+            if (this_.try_implicit_casts(src, convert)) {
                 return true;
+            }
         }
 
         // Perform an implicit conversion
         if (convert) {
-            for (auto &converter : typeinfo->implicit_conversions) {
+            for (const auto &converter : typeinfo->implicit_conversions) {
                 auto temp = reinterpret_steal<object>(converter(src.ptr(), typeinfo->type));
                 if (load_impl<ThisT>(temp, false)) {
                     loader_life_support::add_patient(temp);
                     return true;
                 }
             }
-            if (this_.try_direct_conversions(src))
+            if (this_.try_direct_conversions(src)) {
                 return true;
+            }
         }
 
         // Failed to match local typeinfo. Try again with global.
         if (typeinfo->module_local) {
-            if (auto gtype = get_global_type_info(*typeinfo->cpptype)) {
+            if (auto *gtype = get_global_type_info(*typeinfo->cpptype)) {
                 typeinfo = gtype;
                 return load(src, false);
             }
@@ -758,28 +755,32 @@ class type_caster_generic {
 
         // Global typeinfo has precedence over foreign module_local
         if (try_load_foreign_module_local(src)) {
-           return true;
+            return true;
         }
 
         // Custom converters didn't take None, now we convert None to nullptr.
         if (src.is_none()) {
-           // Defer accepting None to other overloads (if we aren't in convert mode):
-           if (!convert) return false;
-           value = nullptr;
-           return true;
+            // Defer accepting None to other overloads (if we aren't in convert mode):
+            if (!convert) {
+                return false;
+            }
+            value = nullptr;
+            return true;
         }
 
         return false;
     }
 
-
     // Called to do type lookup and wrap the pointer and type in a pair when a dynamic_cast
     // isn't needed or can't be used.  If the type is unknown, sets the error and returns a pair
     // with .second = nullptr.  (p.first = nullptr is not an error: it becomes None).
-    PYBIND11_NOINLINE static std::pair<const void *, const type_info *> src_and_type(
-            const void *src, const std::type_info &cast_type, const std::type_info *rtti_type = nullptr) {
-        if (auto *tpi = get_type_info(cast_type))
+    PYBIND11_NOINLINE static std::pair<const void *, const type_info *>
+    src_and_type(const void *src,
+                 const std::type_info &cast_type,
+                 const std::type_info *rtti_type = nullptr) {
+        if (auto *tpi = get_type_info(cast_type)) {
             return {src, const_cast<const type_info *>(tpi)};
+        }
 
         // Not found, set error:
         std::string tname = rtti_type ? rtti_type->name() : cast_type.name();
@@ -802,10 +803,9 @@ class type_caster_generic {
  * `movable_cast_op_type` instead.
  */
 template <typename T>
-using cast_op_type =
-    conditional_t<std::is_pointer<remove_reference_t<T>>::value,
-        typename std::add_pointer<intrinsic_t<T>>::type,
-        typename std::add_lvalue_reference<intrinsic_t<T>>::type>;
+using cast_op_type = conditional_t<std::is_pointer<remove_reference_t<T>>::value,
+                                   typename std::add_pointer<intrinsic_t<T>>::type,
+                                   typename std::add_lvalue_reference<intrinsic_t<T>>::type>;
 
 /**
  * Determine suitable casting operator for a type caster with a movable value.  Such a type caster
@@ -815,40 +815,50 @@ using cast_op_type =
  * These operator are automatically provided when using the PYBIND11_TYPE_CASTER macro.
  */
 template <typename T>
-using movable_cast_op_type =
-    conditional_t<std::is_pointer<typename std::remove_reference<T>::type>::value,
-        typename std::add_pointer<intrinsic_t<T>>::type,
-    conditional_t<std::is_rvalue_reference<T>::value,
-        typename std::add_rvalue_reference<intrinsic_t<T>>::type,
-        typename std::add_lvalue_reference<intrinsic_t<T>>::type>>;
+using movable_cast_op_type
+    = conditional_t<std::is_pointer<typename std::remove_reference<T>::type>::value,
+                    typename std::add_pointer<intrinsic_t<T>>::type,
+                    conditional_t<std::is_rvalue_reference<T>::value,
+                                  typename std::add_rvalue_reference<intrinsic_t<T>>::type,
+                                  typename std::add_lvalue_reference<intrinsic_t<T>>::type>>;
 
 // std::is_copy_constructible isn't quite enough: it lets std::vector<T> (and similar) through when
 // T is non-copyable, but code containing such a copy constructor fails to actually compile.
-template <typename T, typename SFINAE = void> struct is_copy_constructible : std::is_copy_constructible<T> {};
+template <typename T, typename SFINAE = void>
+struct is_copy_constructible : std::is_copy_constructible<T> {};
 
 // Specialization for types that appear to be copy constructible but also look like stl containers
 // (we specifically check for: has `value_type` and `reference` with `reference = value_type&`): if
 // so, copy constructability depends on whether the value_type is copy constructible.
-template <typename Container> struct is_copy_constructible<Container, enable_if_t<all_of<
-        std::is_copy_constructible<Container>,
-        std::is_same<typename Container::value_type &, typename Container::reference>,
-        // Avoid infinite recursion
-        negation<std::is_same<Container, typename Container::value_type>>
-    >::value>> : is_copy_constructible<typename Container::value_type> {};
+template <typename Container>
+struct is_copy_constructible<
+    Container,
+    enable_if_t<
+        all_of<std::is_copy_constructible<Container>,
+               std::is_same<typename Container::value_type &, typename Container::reference>,
+               // Avoid infinite recursion
+               negation<std::is_same<Container, typename Container::value_type>>>::value>>
+    : is_copy_constructible<typename Container::value_type> {};
 
 // Likewise for std::pair
-// (after C++17 it is mandatory that the copy constructor not exist when the two types aren't themselves
-// copy constructible, but this can not be relied upon when T1 or T2 are themselves containers).
-template <typename T1, typename T2> struct is_copy_constructible<std::pair<T1, T2>>
+// (after C++17 it is mandatory that the copy constructor not exist when the two types aren't
+// themselves copy constructible, but this can not be relied upon when T1 or T2 are themselves
+// containers).
+template <typename T1, typename T2>
+struct is_copy_constructible<std::pair<T1, T2>>
     : all_of<is_copy_constructible<T1>, is_copy_constructible<T2>> {};
 
 // The same problems arise with std::is_copy_assignable, so we use the same workaround.
-template <typename T, typename SFINAE = void> struct is_copy_assignable : std::is_copy_assignable<T> {};
-template <typename Container> struct is_copy_assignable<Container, enable_if_t<all_of<
-        std::is_copy_assignable<Container>,
-        std::is_same<typename Container::value_type &, typename Container::reference>
-    >::value>> : is_copy_assignable<typename Container::value_type> {};
-template <typename T1, typename T2> struct is_copy_assignable<std::pair<T1, T2>>
+template <typename T, typename SFINAE = void>
+struct is_copy_assignable : std::is_copy_assignable<T> {};
+template <typename Container>
+struct is_copy_assignable<Container,
+                          enable_if_t<all_of<std::is_copy_assignable<Container>,
+                                             std::is_same<typename Container::value_type &,
+                                                          typename Container::reference>>::value>>
+    : is_copy_assignable<typename Container::value_type> {};
+template <typename T1, typename T2>
+struct is_copy_assignable<std::pair<T1, T2>>
     : all_of<is_copy_assignable<T1>, is_copy_assignable<T2>> {};
 
 PYBIND11_NAMESPACE_END(detail)
@@ -875,16 +885,14 @@ PYBIND11_NAMESPACE_END(detail)
 // std::enable_if. User provided specializations will always have higher priority than
 // the default implementation and specialization provided in polymorphic_type_hook_base.
 template <typename itype, typename SFINAE = void>
-struct polymorphic_type_hook_base
-{
-    static const void *get(const itype *src, const std::type_info*&) { return src; }
+struct polymorphic_type_hook_base {
+    static const void *get(const itype *src, const std::type_info *&) { return src; }
 };
 template <typename itype>
-struct polymorphic_type_hook_base<itype, detail::enable_if_t<std::is_polymorphic<itype>::value>>
-{
-    static const void *get(const itype *src, const std::type_info*& type) {
+struct polymorphic_type_hook_base<itype, detail::enable_if_t<std::is_polymorphic<itype>::value>> {
+    static const void *get(const itype *src, const std::type_info *&type) {
         type = src ? &typeid(*src) : nullptr;
-        return dynamic_cast<const void*>(src);
+        return dynamic_cast<const void *>(src);
     }
 };
 template <typename itype, typename SFINAE = void>
@@ -893,18 +901,21 @@ struct polymorphic_type_hook : public polymorphic_type_hook_base<itype> {};
 PYBIND11_NAMESPACE_BEGIN(detail)
 
 /// Generic type caster for objects stored on the heap
-template <typename type> class type_caster_base : public type_caster_generic {
+template <typename type>
+class type_caster_base : public type_caster_generic {
     using itype = intrinsic_t<type>;
 
 public:
     static constexpr auto name = const_name<type>();
 
-    type_caster_base() : type_caster_base(typeid(type)) { }
-    explicit type_caster_base(const std::type_info &info) : type_caster_generic(info) { }
+    type_caster_base() : type_caster_base(typeid(type)) {}
+    explicit type_caster_base(const std::type_info &info) : type_caster_generic(info) {}
 
     static handle cast(const itype &src, return_value_policy policy, handle parent) {
-        if (policy == return_value_policy::automatic || policy == return_value_policy::automatic_reference)
+        if (policy == return_value_policy::automatic
+            || policy == return_value_policy::automatic_reference) {
             policy = return_value_policy::copy;
+        }
         return cast(&src, policy, parent);
     }
 
@@ -916,7 +927,7 @@ template <typename type> class type_caster_base : public type_caster_generic {
     // polymorphic type (using RTTI by default, but can be overridden by specializing
     // polymorphic_type_hook). If the instance isn't derived, returns the base version.
     static std::pair<const void *, const type_info *> src_and_type(const itype *src) {
-        auto &cast_type = typeid(itype);
+        const auto &cast_type = typeid(itype);
         const std::type_info *instance_type = nullptr;
         const void *vsrc = polymorphic_type_hook<itype>::get(src, instance_type);
         if (instance_type && !same_type(cast_type, *instance_type)) {
@@ -928,50 +939,64 @@ template <typename type> class type_caster_base : public type_caster_generic {
             // except via a user-provided specialization of polymorphic_type_hook,
             // and the user has promised that no this-pointer adjustment is
             // required in that case, so it's OK to use static_cast.
-            if (const auto *tpi = get_type_info(*instance_type))
+            if (const auto *tpi = get_type_info(*instance_type)) {
                 return {vsrc, tpi};
+            }
         }
-        // Otherwise we have either a nullptr, an `itype` pointer, or an unknown derived pointer, so
-        // don't do a cast
+        // Otherwise we have either a nullptr, an `itype` pointer, or an unknown derived pointer,
+        // so don't do a cast
         return type_caster_generic::src_and_type(src, cast_type, instance_type);
     }
 
     static handle cast(const itype *src, return_value_policy policy, handle parent) {
         auto st = src_and_type(src);
-        return type_caster_generic::cast(
-            st.first, policy, parent, st.second,
-            make_copy_constructor(src), make_move_constructor(src));
+        return type_caster_generic::cast(st.first,
+                                         policy,
+                                         parent,
+                                         st.second,
+                                         make_copy_constructor(src),
+                                         make_move_constructor(src));
     }
 
     static handle cast_holder(const itype *src, const void *holder) {
         auto st = src_and_type(src);
-        return type_caster_generic::cast(
-            st.first, return_value_policy::take_ownership, {}, st.second,
-            nullptr, nullptr, holder);
+        return type_caster_generic::cast(st.first,
+                                         return_value_policy::take_ownership,
+                                         {},
+                                         st.second,
+                                         nullptr,
+                                         nullptr,
+                                         holder);
     }
 
-    template <typename T> using cast_op_type = detail::cast_op_type<T>;
+    template <typename T>
+    using cast_op_type = detail::cast_op_type<T>;
 
     // NOLINTNEXTLINE(google-explicit-constructor)
-    operator itype*() { return (type *) value; }
+    operator itype *() { return (type *) value; }
     // NOLINTNEXTLINE(google-explicit-constructor)
-    operator itype&() { if (!value) throw reference_cast_error(); return *((itype *) value); }
+    operator itype &() {
+        if (!value) {
+            throw reference_cast_error();
+        }
+        return *((itype *) value);
+    }
 
 protected:
-    using Constructor = void *(*)(const void *);
+    using Constructor = void *(*) (const void *);
 
     /* Only enabled when the types are {copy,move}-constructible *and* when the type
-       does not have a private operator new implementation. A comma operator is used in the decltype
-       argument to apply SFINAE to the public copy/move constructors.*/
+       does not have a private operator new implementation. A comma operator is used in the
+       decltype argument to apply SFINAE to the public copy/move constructors.*/
     template <typename T, typename = enable_if_t<is_copy_constructible<T>::value>>
-    static auto make_copy_constructor(const T *) -> decltype(new T(std::declval<const T>()), Constructor{}) {
-        return [](const void *arg) -> void * {
-            return new T(*reinterpret_cast<const T *>(arg));
-        };
+    static auto make_copy_constructor(const T *)
+        -> decltype(new T(std::declval<const T>()), Constructor{}) {
+        return [](const void *arg) -> void * { return new T(*reinterpret_cast<const T *>(arg)); };
     }
 
     template <typename T, typename = enable_if_t<std::is_move_constructible<T>::value>>
-    static auto make_move_constructor(const T *) -> decltype(new T(std::declval<T&&>()), Constructor{}) {
+    static auto make_move_constructor(const T *)
+        -> decltype(new T(std::declval<T &&>()), Constructor{}) {
         return [](const void *arg) -> void * {
             return new T(std::move(*const_cast<T *>(reinterpret_cast<const T *>(arg))));
         };
diff --git a/pybind11/include/pybind11/detail/typeid.h b/pybind11/include/pybind11/detail/typeid.h
index 39ba8ce0f7..a67b52135b 100644
--- a/pybind11/include/pybind11/detail/typeid.h
+++ b/pybind11/include/pybind11/detail/typeid.h
@@ -13,18 +13,21 @@
 #include <cstdlib>
 
 #if defined(__GNUG__)
-#include <cxxabi.h>
+#    include <cxxabi.h>
 #endif
 
 #include "common.h"
 
 PYBIND11_NAMESPACE_BEGIN(PYBIND11_NAMESPACE)
 PYBIND11_NAMESPACE_BEGIN(detail)
+
 /// Erase all occurrences of a substring
 inline void erase_all(std::string &string, const std::string &search) {
     for (size_t pos = 0;;) {
         pos = string.find(search, pos);
-        if (pos == std::string::npos) break;
+        if (pos == std::string::npos) {
+            break;
+        }
         string.erase(pos, search.length());
     }
 }
@@ -32,10 +35,11 @@ inline void erase_all(std::string &string, const std::string &search) {
 PYBIND11_NOINLINE void clean_type_id(std::string &name) {
 #if defined(__GNUG__)
     int status = 0;
-    std::unique_ptr<char, void (*)(void *)> res {
-        abi::__cxa_demangle(name.c_str(), nullptr, nullptr, &status), std::free };
-    if (status == 0)
+    std::unique_ptr<char, void (*)(void *)> res{
+        abi::__cxa_demangle(name.c_str(), nullptr, nullptr, &status), std::free};
+    if (status == 0) {
         name = res.get();
+    }
 #else
     detail::erase_all(name, "class ");
     detail::erase_all(name, "struct ");
@@ -43,13 +47,19 @@ PYBIND11_NOINLINE void clean_type_id(std::string &name) {
 #endif
     detail::erase_all(name, "pybind11::");
 }
-PYBIND11_NAMESPACE_END(detail)
 
-/// Return a string representation of a C++ type
-template <typename T> static std::string type_id() {
-    std::string name(typeid(T).name());
+inline std::string clean_type_id(const char *typeid_name) {
+    std::string name(typeid_name);
     detail::clean_type_id(name);
     return name;
 }
 
+PYBIND11_NAMESPACE_END(detail)
+
+/// Return a string representation of a C++ type
+template <typename T>
+static std::string type_id() {
+    return detail::clean_type_id(typeid(T).name());
+}
+
 PYBIND11_NAMESPACE_END(PYBIND11_NAMESPACE)
diff --git a/pybind11/include/pybind11/eigen.h b/pybind11/include/pybind11/eigen.h
index 696099fa65..4d221b3d75 100644
--- a/pybind11/include/pybind11/eigen.h
+++ b/pybind11/include/pybind11/eigen.h
@@ -21,155 +21,187 @@
 // make it version specific, or even remove it later, but considering that
 // 1. C4127 is generally far more distracting than useful for modern template code, and
 // 2. we definitely want to ignore any MSVC warnings originating from Eigen code,
-// it is probably best to keep this around indefinitely.
+//    it is probably best to keep this around indefinitely.
 #if defined(_MSC_VER)
-#  pragma warning(push)
-#  pragma warning(disable: 4127) // C4127: conditional expression is constant
+#    pragma warning(push)
+#    pragma warning(disable : 4127) // C4127: conditional expression is constant
+#    pragma warning(disable : 5054) // https://github.com/pybind/pybind11/pull/3741
+//       C5054: operator '&': deprecated between enumerations of different types
 #endif
 
 #include <Eigen/Core>
 #include <Eigen/SparseCore>
 
 #if defined(_MSC_VER)
-#  pragma warning(pop)
+#    pragma warning(pop)
 #endif
 
 // Eigen prior to 3.2.7 doesn't have proper move constructors--but worse, some classes get implicit
 // move constructors that break things.  We could detect this an explicitly copy, but an extra copy
 // of matrices seems highly undesirable.
-static_assert(EIGEN_VERSION_AT_LEAST(3,2,7), "Eigen support in pybind11 requires Eigen >= 3.2.7");
+static_assert(EIGEN_VERSION_AT_LEAST(3, 2, 7),
+              "Eigen support in pybind11 requires Eigen >= 3.2.7");
 
 PYBIND11_NAMESPACE_BEGIN(PYBIND11_NAMESPACE)
 
 // Provide a convenience alias for easier pass-by-ref usage with fully dynamic strides:
 using EigenDStride = Eigen::Stride<Eigen::Dynamic, Eigen::Dynamic>;
-template <typename MatrixType> using EigenDRef = Eigen::Ref<MatrixType, 0, EigenDStride>;
-template <typename MatrixType> using EigenDMap = Eigen::Map<MatrixType, 0, EigenDStride>;
+template <typename MatrixType>
+using EigenDRef = Eigen::Ref<MatrixType, 0, EigenDStride>;
+template <typename MatrixType>
+using EigenDMap = Eigen::Map<MatrixType, 0, EigenDStride>;
 
 PYBIND11_NAMESPACE_BEGIN(detail)
 
-#if EIGEN_VERSION_AT_LEAST(3,3,0)
+#if EIGEN_VERSION_AT_LEAST(3, 3, 0)
 using EigenIndex = Eigen::Index;
-template<typename Scalar, int Flags, typename StorageIndex>
+template <typename Scalar, int Flags, typename StorageIndex>
 using EigenMapSparseMatrix = Eigen::Map<Eigen::SparseMatrix<Scalar, Flags, StorageIndex>>;
 #else
 using EigenIndex = EIGEN_DEFAULT_DENSE_INDEX_TYPE;
-template<typename Scalar, int Flags, typename StorageIndex>
+template <typename Scalar, int Flags, typename StorageIndex>
 using EigenMapSparseMatrix = Eigen::MappedSparseMatrix<Scalar, Flags, StorageIndex>;
 #endif
 
 // Matches Eigen::Map, Eigen::Ref, blocks, etc:
-template <typename T> using is_eigen_dense_map = all_of<is_template_base_of<Eigen::DenseBase, T>, std::is_base_of<Eigen::MapBase<T, Eigen::ReadOnlyAccessors>, T>>;
-template <typename T> using is_eigen_mutable_map = std::is_base_of<Eigen::MapBase<T, Eigen::WriteAccessors>, T>;
-template <typename T> using is_eigen_dense_plain = all_of<negation<is_eigen_dense_map<T>>, is_template_base_of<Eigen::PlainObjectBase, T>>;
-template <typename T> using is_eigen_sparse = is_template_base_of<Eigen::SparseMatrixBase, T>;
+template <typename T>
+using is_eigen_dense_map = all_of<is_template_base_of<Eigen::DenseBase, T>,
+                                  std::is_base_of<Eigen::MapBase<T, Eigen::ReadOnlyAccessors>, T>>;
+template <typename T>
+using is_eigen_mutable_map = std::is_base_of<Eigen::MapBase<T, Eigen::WriteAccessors>, T>;
+template <typename T>
+using is_eigen_dense_plain
+    = all_of<negation<is_eigen_dense_map<T>>, is_template_base_of<Eigen::PlainObjectBase, T>>;
+template <typename T>
+using is_eigen_sparse = is_template_base_of<Eigen::SparseMatrixBase, T>;
 // Test for objects inheriting from EigenBase<Derived> that aren't captured by the above.  This
 // basically covers anything that can be assigned to a dense matrix but that don't have a typical
 // matrix data layout that can be copied from their .data().  For example, DiagonalMatrix and
 // SelfAdjointView fall into this category.
-template <typename T> using is_eigen_other = all_of<
-    is_template_base_of<Eigen::EigenBase, T>,
-    negation<any_of<is_eigen_dense_map<T>, is_eigen_dense_plain<T>, is_eigen_sparse<T>>>
->;
+template <typename T>
+using is_eigen_other
+    = all_of<is_template_base_of<Eigen::EigenBase, T>,
+             negation<any_of<is_eigen_dense_map<T>, is_eigen_dense_plain<T>, is_eigen_sparse<T>>>>;
 
 // Captures numpy/eigen conformability status (returned by EigenProps::conformable()):
-template <bool EigenRowMajor> struct EigenConformable {
+template <bool EigenRowMajor>
+struct EigenConformable {
     bool conformable = false;
     EigenIndex rows = 0, cols = 0;
-    EigenDStride stride{0, 0};      // Only valid if negativestrides is false!
-    bool negativestrides = false;   // If true, do not use stride!
+    EigenDStride stride{0, 0};    // Only valid if negativestrides is false!
+    bool negativestrides = false; // If true, do not use stride!
 
     // NOLINTNEXTLINE(google-explicit-constructor)
     EigenConformable(bool fits = false) : conformable{fits} {}
     // Matrix type:
-    EigenConformable(EigenIndex r, EigenIndex c,
-            EigenIndex rstride, EigenIndex cstride) :
-        conformable{true}, rows{r}, cols{c},
-        //TODO: when Eigen bug #747 is fixed, remove the tests for non-negativity. http://eigen.tuxfamily.org/bz/show_bug.cgi?id=747
-        stride{EigenRowMajor ? (rstride > 0 ? rstride : 0) : (cstride > 0 ? cstride : 0) /* outer stride */,
-               EigenRowMajor ? (cstride > 0 ? cstride : 0) : (rstride > 0 ? rstride : 0) /* inner stride */ },
-        negativestrides{rstride < 0 || cstride < 0} {
-
-    }
+    EigenConformable(EigenIndex r, EigenIndex c, EigenIndex rstride, EigenIndex cstride)
+        : conformable{true}, rows{r}, cols{c},
+          // TODO: when Eigen bug #747 is fixed, remove the tests for non-negativity.
+          // http://eigen.tuxfamily.org/bz/show_bug.cgi?id=747
+          stride{EigenRowMajor ? (rstride > 0 ? rstride : 0)
+                               : (cstride > 0 ? cstride : 0) /* outer stride */,
+                 EigenRowMajor ? (cstride > 0 ? cstride : 0)
+                               : (rstride > 0 ? rstride : 0) /* inner stride */},
+          negativestrides{rstride < 0 || cstride < 0} {}
     // Vector type:
     EigenConformable(EigenIndex r, EigenIndex c, EigenIndex stride)
-        : EigenConformable(r, c, r == 1 ? c*stride : stride, c == 1 ? r : r*stride) {}
+        : EigenConformable(r, c, r == 1 ? c * stride : stride, c == 1 ? r : r * stride) {}
 
-    template <typename props> bool stride_compatible() const {
+    template <typename props>
+    bool stride_compatible() const {
         // To have compatible strides, we need (on both dimensions) one of fully dynamic strides,
-        // matching strides, or a dimension size of 1 (in which case the stride value is irrelevant)
-        return
-            !negativestrides &&
-            (props::inner_stride == Eigen::Dynamic || props::inner_stride == stride.inner() ||
-                (EigenRowMajor ? cols : rows) == 1) &&
-            (props::outer_stride == Eigen::Dynamic || props::outer_stride == stride.outer() ||
-                (EigenRowMajor ? rows : cols) == 1);
+        // matching strides, or a dimension size of 1 (in which case the stride value is
+        // irrelevant). Alternatively, if any dimension size is 0, the strides are not relevant
+        // (and numpy ≥ 1.23 sets the strides to 0 in that case, so we need to check explicitly).
+        if (negativestrides) {
+            return false;
+        }
+        if (rows == 0 || cols == 0) {
+            return true;
+        }
+        return (props::inner_stride == Eigen::Dynamic || props::inner_stride == stride.inner()
+                || (EigenRowMajor ? cols : rows) == 1)
+               && (props::outer_stride == Eigen::Dynamic || props::outer_stride == stride.outer()
+                   || (EigenRowMajor ? rows : cols) == 1);
     }
     // NOLINTNEXTLINE(google-explicit-constructor)
     operator bool() const { return conformable; }
 };
 
-template <typename Type> struct eigen_extract_stride { using type = Type; };
+template <typename Type>
+struct eigen_extract_stride {
+    using type = Type;
+};
 template <typename PlainObjectType, int MapOptions, typename StrideType>
-struct eigen_extract_stride<Eigen::Map<PlainObjectType, MapOptions, StrideType>> { using type = StrideType; };
+struct eigen_extract_stride<Eigen::Map<PlainObjectType, MapOptions, StrideType>> {
+    using type = StrideType;
+};
 template <typename PlainObjectType, int Options, typename StrideType>
-struct eigen_extract_stride<Eigen::Ref<PlainObjectType, Options, StrideType>> { using type = StrideType; };
+struct eigen_extract_stride<Eigen::Ref<PlainObjectType, Options, StrideType>> {
+    using type = StrideType;
+};
 
 // Helper struct for extracting information from an Eigen type
-template <typename Type_> struct EigenProps {
+template <typename Type_>
+struct EigenProps {
     using Type = Type_;
     using Scalar = typename Type::Scalar;
     using StrideType = typename eigen_extract_stride<Type>::type;
-    static constexpr EigenIndex
-        rows = Type::RowsAtCompileTime,
-        cols = Type::ColsAtCompileTime,
-        size = Type::SizeAtCompileTime;
-    static constexpr bool
-        row_major = Type::IsRowMajor,
-        vector = Type::IsVectorAtCompileTime, // At least one dimension has fixed size 1
-        fixed_rows = rows != Eigen::Dynamic,
-        fixed_cols = cols != Eigen::Dynamic,
-        fixed = size != Eigen::Dynamic, // Fully-fixed size
-        dynamic = !fixed_rows && !fixed_cols; // Fully-dynamic size
-
-    template <EigenIndex i, EigenIndex ifzero> using if_zero = std::integral_constant<EigenIndex, i == 0 ? ifzero : i>;
-    static constexpr EigenIndex inner_stride = if_zero<StrideType::InnerStrideAtCompileTime, 1>::value,
-                                outer_stride = if_zero<StrideType::OuterStrideAtCompileTime,
-                                                       vector ? size : row_major ? cols : rows>::value;
-    static constexpr bool dynamic_stride = inner_stride == Eigen::Dynamic && outer_stride == Eigen::Dynamic;
-    static constexpr bool requires_row_major = !dynamic_stride && !vector && (row_major ? inner_stride : outer_stride) == 1;
-    static constexpr bool requires_col_major = !dynamic_stride && !vector && (row_major ? outer_stride : inner_stride) == 1;
+    static constexpr EigenIndex rows = Type::RowsAtCompileTime, cols = Type::ColsAtCompileTime,
+                                size = Type::SizeAtCompileTime;
+    static constexpr bool row_major = Type::IsRowMajor,
+                          vector
+                          = Type::IsVectorAtCompileTime, // At least one dimension has fixed size 1
+        fixed_rows = rows != Eigen::Dynamic, fixed_cols = cols != Eigen::Dynamic,
+                          fixed = size != Eigen::Dynamic, // Fully-fixed size
+        dynamic = !fixed_rows && !fixed_cols;             // Fully-dynamic size
+
+    template <EigenIndex i, EigenIndex ifzero>
+    using if_zero = std::integral_constant<EigenIndex, i == 0 ? ifzero : i>;
+    static constexpr EigenIndex inner_stride
+        = if_zero<StrideType::InnerStrideAtCompileTime, 1>::value,
+        outer_stride = if_zero < StrideType::OuterStrideAtCompileTime,
+        vector      ? size
+        : row_major ? cols
+                    : rows > ::value;
+    static constexpr bool dynamic_stride
+        = inner_stride == Eigen::Dynamic && outer_stride == Eigen::Dynamic;
+    static constexpr bool requires_row_major
+        = !dynamic_stride && !vector && (row_major ? inner_stride : outer_stride) == 1;
+    static constexpr bool requires_col_major
+        = !dynamic_stride && !vector && (row_major ? outer_stride : inner_stride) == 1;
 
     // Takes an input array and determines whether we can make it fit into the Eigen type.  If
     // the array is a vector, we attempt to fit it into either an Eigen 1xN or Nx1 vector
     // (preferring the latter if it will fit in either, i.e. for a fully dynamic matrix type).
     static EigenConformable<row_major> conformable(const array &a) {
         const auto dims = a.ndim();
-        if (dims < 1 || dims > 2)
+        if (dims < 1 || dims > 2) {
             return false;
+        }
 
         if (dims == 2) { // Matrix type: require exact match (or dynamic)
 
-            EigenIndex
-                np_rows = a.shape(0),
-                np_cols = a.shape(1),
-                np_rstride = a.strides(0) / static_cast<ssize_t>(sizeof(Scalar)),
-                np_cstride = a.strides(1) / static_cast<ssize_t>(sizeof(Scalar));
-            if ((PYBIND11_SILENCE_MSVC_C4127(fixed_rows) && np_rows != rows) ||
-                (PYBIND11_SILENCE_MSVC_C4127(fixed_cols) && np_cols != cols))
+            EigenIndex np_rows = a.shape(0), np_cols = a.shape(1),
+                       np_rstride = a.strides(0) / static_cast<ssize_t>(sizeof(Scalar)),
+                       np_cstride = a.strides(1) / static_cast<ssize_t>(sizeof(Scalar));
+            if ((PYBIND11_SILENCE_MSVC_C4127(fixed_rows) && np_rows != rows)
+                || (PYBIND11_SILENCE_MSVC_C4127(fixed_cols) && np_cols != cols)) {
                 return false;
+            }
 
             return {np_rows, np_cols, np_rstride, np_cstride};
         }
 
-        // Otherwise we're storing an n-vector.  Only one of the strides will be used, but whichever
-        // is used, we want the (single) numpy stride value.
+        // Otherwise we're storing an n-vector.  Only one of the strides will be used, but
+        // whichever is used, we want the (single) numpy stride value.
         const EigenIndex n = a.shape(0),
-              stride = a.strides(0) / static_cast<ssize_t>(sizeof(Scalar));
+                         stride = a.strides(0) / static_cast<ssize_t>(sizeof(Scalar));
 
         if (vector) { // Eigen type is a compile-time vector
-            if (PYBIND11_SILENCE_MSVC_C4127(fixed) && size != n)
+            if (PYBIND11_SILENCE_MSVC_C4127(fixed) && size != n) {
                 return false; // Vector size mismatch
+            }
             return {rows == 1 ? 1 : n, cols == 1 ? 1 : n, stride};
         }
         if (fixed) {
@@ -179,48 +211,59 @@ template <typename Type_> struct EigenProps {
         if (fixed_cols) {
             // Since this isn't a vector, cols must be != 1.  We allow this only if it exactly
             // equals the number of elements (rows is Dynamic, and so 1 row is allowed).
-            if (cols != n) return false;
+            if (cols != n) {
+                return false;
+            }
             return {1, n, stride};
         } // Otherwise it's either fully dynamic, or column dynamic; both become a column vector
-            if (PYBIND11_SILENCE_MSVC_C4127(fixed_rows) && rows != n) return false;
-            return {n, 1, stride};
+        if (PYBIND11_SILENCE_MSVC_C4127(fixed_rows) && rows != n) {
+            return false;
+        }
+        return {n, 1, stride};
     }
 
-    static constexpr bool show_writeable = is_eigen_dense_map<Type>::value && is_eigen_mutable_map<Type>::value;
+    static constexpr bool show_writeable
+        = is_eigen_dense_map<Type>::value && is_eigen_mutable_map<Type>::value;
     static constexpr bool show_order = is_eigen_dense_map<Type>::value;
     static constexpr bool show_c_contiguous = show_order && requires_row_major;
-    static constexpr bool show_f_contiguous = !show_c_contiguous && show_order && requires_col_major;
-
-    static constexpr auto descriptor =
-        const_name("numpy.ndarray[") + npy_format_descriptor<Scalar>::name +
-        const_name("[")  + const_name<fixed_rows>(const_name<(size_t) rows>(), const_name("m")) +
-        const_name(", ") + const_name<fixed_cols>(const_name<(size_t) cols>(), const_name("n")) +
-        const_name("]") +
-        // For a reference type (e.g. Ref<MatrixXd>) we have other constraints that might need to be
-        // satisfied: writeable=True (for a mutable reference), and, depending on the map's stride
-        // options, possibly f_contiguous or c_contiguous.  We include them in the descriptor output
-        // to provide some hint as to why a TypeError is occurring (otherwise it can be confusing to
-        // see that a function accepts a 'numpy.ndarray[float64[3,2]]' and an error message that you
-        // *gave* a numpy.ndarray of the right type and dimensions.
-        const_name<show_writeable>(", flags.writeable", "") +
-        const_name<show_c_contiguous>(", flags.c_contiguous", "") +
-        const_name<show_f_contiguous>(", flags.f_contiguous", "") +
-        const_name("]");
+    static constexpr bool show_f_contiguous
+        = !show_c_contiguous && show_order && requires_col_major;
+
+    static constexpr auto descriptor
+        = const_name("numpy.ndarray[") + npy_format_descriptor<Scalar>::name + const_name("[")
+          + const_name<fixed_rows>(const_name<(size_t) rows>(), const_name("m")) + const_name(", ")
+          + const_name<fixed_cols>(const_name<(size_t) cols>(), const_name("n")) + const_name("]")
+          +
+          // For a reference type (e.g. Ref<MatrixXd>) we have other constraints that might need to
+          // be satisfied: writeable=True (for a mutable reference), and, depending on the map's
+          // stride options, possibly f_contiguous or c_contiguous.  We include them in the
+          // descriptor output to provide some hint as to why a TypeError is occurring (otherwise
+          // it can be confusing to see that a function accepts a 'numpy.ndarray[float64[3,2]]' and
+          // an error message that you *gave* a numpy.ndarray of the right type and dimensions.
+          const_name<show_writeable>(", flags.writeable", "")
+          + const_name<show_c_contiguous>(", flags.c_contiguous", "")
+          + const_name<show_f_contiguous>(", flags.f_contiguous", "") + const_name("]");
 };
 
 // Casts an Eigen type to numpy array.  If given a base, the numpy array references the src data,
 // otherwise it'll make a copy.  writeable lets you turn off the writeable flag for the array.
-template <typename props> handle eigen_array_cast(typename props::Type const &src, handle base = handle(), bool writeable = true) {
+template <typename props>
+handle
+eigen_array_cast(typename props::Type const &src, handle base = handle(), bool writeable = true) {
     constexpr ssize_t elem_size = sizeof(typename props::Scalar);
     array a;
-    if (props::vector)
-        a = array({ src.size() }, { elem_size * src.innerStride() }, src.data(), base);
-    else
-        a = array({ src.rows(), src.cols() }, { elem_size * src.rowStride(), elem_size * src.colStride() },
-                  src.data(), base);
+    if (props::vector) {
+        a = array({src.size()}, {elem_size * src.innerStride()}, src.data(), base);
+    } else {
+        a = array({src.rows(), src.cols()},
+                  {elem_size * src.rowStride(), elem_size * src.colStride()},
+                  src.data(),
+                  base);
+    }
 
-    if (!writeable)
+    if (!writeable) {
         array_proxy(a.ptr())->flags &= ~detail::npy_api::NPY_ARRAY_WRITEABLE_;
+    }
 
     return a.release();
 }
@@ -236,10 +279,10 @@ handle eigen_ref_array(Type &src, handle parent = none()) {
     return eigen_array_cast<props>(src, parent, !std::is_const<Type>::value);
 }
 
-// Takes a pointer to some dense, plain Eigen type, builds a capsule around it, then returns a numpy
-// array that references the encapsulated data with a python-side reference to the capsule to tie
-// its destruction to that of any dependent python objects.  Const-ness is determined by whether or
-// not the Type of the pointer given is const.
+// Takes a pointer to some dense, plain Eigen type, builds a capsule around it, then returns a
+// numpy array that references the encapsulated data with a python-side reference to the capsule to
+// tie its destruction to that of any dependent python objects.  Const-ness is determined by
+// whether or not the Type of the pointer given is const.
 template <typename props, typename Type, typename = enable_if_t<is_eigen_dense_plain<Type>::value>>
 handle eigen_encapsulate(Type *src) {
     capsule base(src, [](void *o) { delete static_cast<Type *>(o); });
@@ -248,35 +291,42 @@ handle eigen_encapsulate(Type *src) {
 
 // Type caster for regular, dense matrix types (e.g. MatrixXd), but not maps/refs/etc. of dense
 // types.
-template<typename Type>
+template <typename Type>
 struct type_caster<Type, enable_if_t<is_eigen_dense_plain<Type>::value>> {
     using Scalar = typename Type::Scalar;
     using props = EigenProps<Type>;
 
     bool load(handle src, bool convert) {
         // If we're in no-convert mode, only load if given an array of the correct type
-        if (!convert && !isinstance<array_t<Scalar>>(src))
+        if (!convert && !isinstance<array_t<Scalar>>(src)) {
             return false;
+        }
 
         // Coerce into an array, but don't do type conversion yet; the copy below handles it.
         auto buf = array::ensure(src);
 
-        if (!buf)
+        if (!buf) {
             return false;
+        }
 
         auto dims = buf.ndim();
-        if (dims < 1 || dims > 2)
+        if (dims < 1 || dims > 2) {
             return false;
+        }
 
         auto fits = props::conformable(buf);
-        if (!fits)
+        if (!fits) {
             return false;
+        }
 
         // Allocate the new type, then build a numpy reference into it
         value = Type(fits.rows, fits.cols);
         auto ref = reinterpret_steal<array>(eigen_ref_array<props>(value));
-        if (dims == 1) ref = ref.squeeze();
-        else if (ref.ndim() == 1) buf = buf.squeeze();
+        if (dims == 1) {
+            ref = ref.squeeze();
+        } else if (ref.ndim() == 1) {
+            buf = buf.squeeze();
+        }
 
         int result = detail::npy_api::get().PyArray_CopyInto_(ref.ptr(), buf.ptr());
 
@@ -289,7 +339,6 @@ struct type_caster<Type, enable_if_t<is_eigen_dense_plain<Type>::value>> {
     }
 
 private:
-
     // Cast implementation
     template <typename CType>
     static handle cast_impl(CType *src, return_value_policy policy, handle parent) {
@@ -312,7 +361,6 @@ struct type_caster<Type, enable_if_t<is_eigen_dense_plain<Type>::value>> {
     }
 
 public:
-
     // Normal returned non-reference, non-const value:
     static handle cast(Type &&src, return_value_policy /* policy */, handle parent) {
         return cast_impl(&src, return_value_policy::move, parent);
@@ -323,14 +371,18 @@ struct type_caster<Type, enable_if_t<is_eigen_dense_plain<Type>::value>> {
     }
     // lvalue reference return; default (automatic) becomes copy
     static handle cast(Type &src, return_value_policy policy, handle parent) {
-        if (policy == return_value_policy::automatic || policy == return_value_policy::automatic_reference)
+        if (policy == return_value_policy::automatic
+            || policy == return_value_policy::automatic_reference) {
             policy = return_value_policy::copy;
+        }
         return cast_impl(&src, policy, parent);
     }
     // const lvalue reference return; default (automatic) becomes copy
     static handle cast(const Type &src, return_value_policy policy, handle parent) {
-        if (policy == return_value_policy::automatic || policy == return_value_policy::automatic_reference)
+        if (policy == return_value_policy::automatic
+            || policy == return_value_policy::automatic_reference) {
             policy = return_value_policy::copy;
+        }
         return cast(&src, policy, parent);
     }
     // non-const pointer return
@@ -345,30 +397,31 @@ struct type_caster<Type, enable_if_t<is_eigen_dense_plain<Type>::value>> {
     static constexpr auto name = props::descriptor;
 
     // NOLINTNEXTLINE(google-explicit-constructor)
-    operator Type*() { return &value; }
+    operator Type *() { return &value; }
     // NOLINTNEXTLINE(google-explicit-constructor)
-    operator Type&() { return value; }
+    operator Type &() { return value; }
     // NOLINTNEXTLINE(google-explicit-constructor)
-    operator Type&&() && { return std::move(value); }
-    template <typename T> using cast_op_type = movable_cast_op_type<T>;
+    operator Type &&() && { return std::move(value); }
+    template <typename T>
+    using cast_op_type = movable_cast_op_type<T>;
 
 private:
     Type value;
 };
 
 // Base class for casting reference/map/block/etc. objects back to python.
-template <typename MapType> struct eigen_map_caster {
+template <typename MapType>
+struct eigen_map_caster {
 private:
     using props = EigenProps<MapType>;
 
 public:
-
     // Directly referencing a ref/map's data is a bit dangerous (whatever the map/ref points to has
-    // to stay around), but we'll allow it under the assumption that you know what you're doing (and
-    // have an appropriate keep_alive in place).  We return a numpy array pointing directly at the
-    // ref's data (The numpy array ends up read-only if the ref was to a const matrix type.) Note
-    // that this means you need to ensure you don't destroy the object in some other way (e.g. with
-    // an appropriate keep_alive, or with a reference to a statically allocated matrix).
+    // to stay around), but we'll allow it under the assumption that you know what you're doing
+    // (and have an appropriate keep_alive in place).  We return a numpy array pointing directly at
+    // the ref's data (The numpy array ends up read-only if the ref was to a const matrix type.)
+    // Note that this means you need to ensure you don't destroy the object in some other way (e.g.
+    // with an appropriate keep_alive, or with a reference to a statically allocated matrix).
     static handle cast(const MapType &src, return_value_policy policy, handle parent) {
         switch (policy) {
             case return_value_policy::copy:
@@ -392,43 +445,50 @@ template <typename MapType> struct eigen_map_caster {
     // you end up here if you try anyway.
     bool load(handle, bool) = delete;
     operator MapType() = delete;
-    template <typename> using cast_op_type = MapType;
+    template <typename>
+    using cast_op_type = MapType;
 };
 
 // We can return any map-like object (but can only load Refs, specialized next):
-template <typename Type> struct type_caster<Type, enable_if_t<is_eigen_dense_map<Type>::value>>
-    : eigen_map_caster<Type> {};
+template <typename Type>
+struct type_caster<Type, enable_if_t<is_eigen_dense_map<Type>::value>> : eigen_map_caster<Type> {};
 
 // Loader for Ref<...> arguments.  See the documentation for info on how to make this work without
 // copying (it requires some extra effort in many cases).
 template <typename PlainObjectType, typename StrideType>
 struct type_caster<
     Eigen::Ref<PlainObjectType, 0, StrideType>,
-    enable_if_t<is_eigen_dense_map<Eigen::Ref<PlainObjectType, 0, StrideType>>::value>
-> : public eigen_map_caster<Eigen::Ref<PlainObjectType, 0, StrideType>> {
+    enable_if_t<is_eigen_dense_map<Eigen::Ref<PlainObjectType, 0, StrideType>>::value>>
+    : public eigen_map_caster<Eigen::Ref<PlainObjectType, 0, StrideType>> {
 private:
     using Type = Eigen::Ref<PlainObjectType, 0, StrideType>;
     using props = EigenProps<Type>;
     using Scalar = typename props::Scalar;
     using MapType = Eigen::Map<PlainObjectType, 0, StrideType>;
-    using Array = array_t<Scalar, array::forcecast |
-                ((props::row_major ? props::inner_stride : props::outer_stride) == 1 ? array::c_style :
-                 (props::row_major ? props::outer_stride : props::inner_stride) == 1 ? array::f_style : 0)>;
+    using Array
+        = array_t<Scalar,
+                  array::forcecast
+                      | ((props::row_major ? props::inner_stride : props::outer_stride) == 1
+                             ? array::c_style
+                         : (props::row_major ? props::outer_stride : props::inner_stride) == 1
+                             ? array::f_style
+                             : 0)>;
     static constexpr bool need_writeable = is_eigen_mutable_map<Type>::value;
     // Delay construction (these have no default constructor)
     std::unique_ptr<MapType> map;
     std::unique_ptr<Type> ref;
     // Our array.  When possible, this is just a numpy array pointing to the source data, but
-    // sometimes we can't avoid copying (e.g. input is not a numpy array at all, has an incompatible
-    // layout, or is an array of a type that needs to be converted).  Using a numpy temporary
-    // (rather than an Eigen temporary) saves an extra copy when we need both type conversion and
-    // storage order conversion.  (Note that we refuse to use this temporary copy when loading an
-    // argument for a Ref<M> with M non-const, i.e. a read-write reference).
+    // sometimes we can't avoid copying (e.g. input is not a numpy array at all, has an
+    // incompatible layout, or is an array of a type that needs to be converted).  Using a numpy
+    // temporary (rather than an Eigen temporary) saves an extra copy when we need both type
+    // conversion and storage order conversion.  (Note that we refuse to use this temporary copy
+    // when loading an argument for a Ref<M> with M non-const, i.e. a read-write reference).
     Array copy_or_ref;
+
 public:
     bool load(handle src, bool convert) {
-        // First check whether what we have is already an array of the right type.  If not, we can't
-        // avoid a copy (because the copy is also going to do type conversion).
+        // First check whether what we have is already an array of the right type.  If not, we
+        // can't avoid a copy (because the copy is also going to do type conversion).
         bool need_copy = !isinstance<Array>(src);
 
         EigenConformable<props::row_major> fits;
@@ -439,13 +499,15 @@ struct type_caster<
 
             if (aref && (!need_writeable || aref.writeable())) {
                 fits = props::conformable(aref);
-                if (!fits) return false; // Incompatible dimensions
-                if (!fits.template stride_compatible<props>())
+                if (!fits) {
+                    return false; // Incompatible dimensions
+                }
+                if (!fits.template stride_compatible<props>()) {
                     need_copy = true;
-                else
+                } else {
                     copy_or_ref = std::move(aref);
-            }
-            else {
+                }
+            } else {
                 need_copy = true;
             }
         }
@@ -454,66 +516,93 @@ struct type_caster<
             // We need to copy: If we need a mutable reference, or we're not supposed to convert
             // (either because we're in the no-convert overload pass, or because we're explicitly
             // instructed not to copy (via `py::arg().noconvert()`) we have to fail loading.
-            if (!convert || need_writeable) return false;
+            if (!convert || need_writeable) {
+                return false;
+            }
 
             Array copy = Array::ensure(src);
-            if (!copy) return false;
+            if (!copy) {
+                return false;
+            }
             fits = props::conformable(copy);
-            if (!fits || !fits.template stride_compatible<props>())
+            if (!fits || !fits.template stride_compatible<props>()) {
                 return false;
+            }
             copy_or_ref = std::move(copy);
             loader_life_support::add_patient(copy_or_ref);
         }
 
         ref.reset();
-        map.reset(new MapType(data(copy_or_ref), fits.rows, fits.cols, make_stride(fits.stride.outer(), fits.stride.inner())));
+        map.reset(new MapType(data(copy_or_ref),
+                              fits.rows,
+                              fits.cols,
+                              make_stride(fits.stride.outer(), fits.stride.inner())));
         ref.reset(new Type(*map));
 
         return true;
     }
 
     // NOLINTNEXTLINE(google-explicit-constructor)
-    operator Type*() { return ref.get(); }
+    operator Type *() { return ref.get(); }
     // NOLINTNEXTLINE(google-explicit-constructor)
-    operator Type&() { return *ref; }
-    template <typename _T> using cast_op_type = pybind11::detail::cast_op_type<_T>;
+    operator Type &() { return *ref; }
+    template <typename _T>
+    using cast_op_type = pybind11::detail::cast_op_type<_T>;
 
 private:
     template <typename T = Type, enable_if_t<is_eigen_mutable_map<T>::value, int> = 0>
-    Scalar *data(Array &a) { return a.mutable_data(); }
+    Scalar *data(Array &a) {
+        return a.mutable_data();
+    }
 
     template <typename T = Type, enable_if_t<!is_eigen_mutable_map<T>::value, int> = 0>
-    const Scalar *data(Array &a) { return a.data(); }
+    const Scalar *data(Array &a) {
+        return a.data();
+    }
 
     // Attempt to figure out a constructor of `Stride` that will work.
     // If both strides are fixed, use a default constructor:
-    template <typename S> using stride_ctor_default = bool_constant<
-        S::InnerStrideAtCompileTime != Eigen::Dynamic && S::OuterStrideAtCompileTime != Eigen::Dynamic &&
-        std::is_default_constructible<S>::value>;
+    template <typename S>
+    using stride_ctor_default = bool_constant<S::InnerStrideAtCompileTime != Eigen::Dynamic
+                                              && S::OuterStrideAtCompileTime != Eigen::Dynamic
+                                              && std::is_default_constructible<S>::value>;
     // Otherwise, if there is a two-index constructor, assume it is (outer,inner) like
     // Eigen::Stride, and use it:
-    template <typename S> using stride_ctor_dual = bool_constant<
-        !stride_ctor_default<S>::value && std::is_constructible<S, EigenIndex, EigenIndex>::value>;
+    template <typename S>
+    using stride_ctor_dual
+        = bool_constant<!stride_ctor_default<S>::value
+                        && std::is_constructible<S, EigenIndex, EigenIndex>::value>;
     // Otherwise, if there is a one-index constructor, and just one of the strides is dynamic, use
     // it (passing whichever stride is dynamic).
-    template <typename S> using stride_ctor_outer = bool_constant<
-        !any_of<stride_ctor_default<S>, stride_ctor_dual<S>>::value &&
-        S::OuterStrideAtCompileTime == Eigen::Dynamic && S::InnerStrideAtCompileTime != Eigen::Dynamic &&
-        std::is_constructible<S, EigenIndex>::value>;
-    template <typename S> using stride_ctor_inner = bool_constant<
-        !any_of<stride_ctor_default<S>, stride_ctor_dual<S>>::value &&
-        S::InnerStrideAtCompileTime == Eigen::Dynamic && S::OuterStrideAtCompileTime != Eigen::Dynamic &&
-        std::is_constructible<S, EigenIndex>::value>;
+    template <typename S>
+    using stride_ctor_outer
+        = bool_constant<!any_of<stride_ctor_default<S>, stride_ctor_dual<S>>::value
+                        && S::OuterStrideAtCompileTime == Eigen::Dynamic
+                        && S::InnerStrideAtCompileTime != Eigen::Dynamic
+                        && std::is_constructible<S, EigenIndex>::value>;
+    template <typename S>
+    using stride_ctor_inner
+        = bool_constant<!any_of<stride_ctor_default<S>, stride_ctor_dual<S>>::value
+                        && S::InnerStrideAtCompileTime == Eigen::Dynamic
+                        && S::OuterStrideAtCompileTime != Eigen::Dynamic
+                        && std::is_constructible<S, EigenIndex>::value>;
 
     template <typename S = StrideType, enable_if_t<stride_ctor_default<S>::value, int> = 0>
-    static S make_stride(EigenIndex, EigenIndex) { return S(); }
+    static S make_stride(EigenIndex, EigenIndex) {
+        return S();
+    }
     template <typename S = StrideType, enable_if_t<stride_ctor_dual<S>::value, int> = 0>
-    static S make_stride(EigenIndex outer, EigenIndex inner) { return S(outer, inner); }
+    static S make_stride(EigenIndex outer, EigenIndex inner) {
+        return S(outer, inner);
+    }
     template <typename S = StrideType, enable_if_t<stride_ctor_outer<S>::value, int> = 0>
-    static S make_stride(EigenIndex outer, EigenIndex) { return S(outer); }
+    static S make_stride(EigenIndex outer, EigenIndex) {
+        return S(outer);
+    }
     template <typename S = StrideType, enable_if_t<stride_ctor_inner<S>::value, int> = 0>
-    static S make_stride(EigenIndex, EigenIndex inner) { return S(inner); }
-
+    static S make_stride(EigenIndex, EigenIndex inner) {
+        return S(inner);
+    }
 };
 
 // type_caster for special matrix types (e.g. DiagonalMatrix), which are EigenBase, but not
@@ -523,14 +612,18 @@ struct type_caster<
 template <typename Type>
 struct type_caster<Type, enable_if_t<is_eigen_other<Type>::value>> {
 protected:
-    using Matrix = Eigen::Matrix<typename Type::Scalar, Type::RowsAtCompileTime, Type::ColsAtCompileTime>;
+    using Matrix
+        = Eigen::Matrix<typename Type::Scalar, Type::RowsAtCompileTime, Type::ColsAtCompileTime>;
     using props = EigenProps<Matrix>;
+
 public:
     static handle cast(const Type &src, return_value_policy /* policy */, handle /* parent */) {
         handle h = eigen_encapsulate<props>(new Matrix(src));
         return h;
     }
-    static handle cast(const Type *src, return_value_policy policy, handle parent) { return cast(*src, policy, parent); }
+    static handle cast(const Type *src, return_value_policy policy, handle parent) {
+        return cast(*src, policy, parent);
+    }
 
     static constexpr auto name = props::descriptor;
 
@@ -539,10 +632,11 @@ struct type_caster<Type, enable_if_t<is_eigen_other<Type>::value>> {
     // you end up here if you try anyway.
     bool load(handle, bool) = delete;
     operator Type() = delete;
-    template <typename> using cast_op_type = Type;
+    template <typename>
+    using cast_op_type = Type;
 };
 
-template<typename Type>
+template <typename Type>
 struct type_caster<Type, enable_if_t<is_eigen_sparse<Type>::value>> {
     using Scalar = typename Type::Scalar;
     using StorageIndex = remove_reference_t<decltype(*std::declval<Type>().outerIndexPtr())>;
@@ -550,13 +644,13 @@ struct type_caster<Type, enable_if_t<is_eigen_sparse<Type>::value>> {
     static constexpr bool rowMajor = Type::IsRowMajor;
 
     bool load(handle src, bool) {
-        if (!src)
+        if (!src) {
             return false;
+        }
 
         auto obj = reinterpret_borrow<object>(src);
         object sparse_module = module_::import("scipy.sparse");
-        object matrix_type = sparse_module.attr(
-            rowMajor ? "csr_matrix" : "csc_matrix");
+        object matrix_type = sparse_module.attr(rowMajor ? "csr_matrix" : "csc_matrix");
 
         if (!type::handle_of(obj).is(matrix_type)) {
             try {
@@ -572,36 +666,42 @@ struct type_caster<Type, enable_if_t<is_eigen_sparse<Type>::value>> {
         auto shape = pybind11::tuple((pybind11::object) obj.attr("shape"));
         auto nnz = obj.attr("nnz").cast<Index>();
 
-        if (!values || !innerIndices || !outerIndices)
+        if (!values || !innerIndices || !outerIndices) {
             return false;
+        }
 
         value = EigenMapSparseMatrix<Scalar,
-                                     Type::Flags & (Eigen::RowMajor | Eigen::ColMajor),
-                                     StorageIndex>(
-            shape[0].cast<Index>(), shape[1].cast<Index>(), nnz,
-            outerIndices.mutable_data(), innerIndices.mutable_data(), values.mutable_data());
+                                     Type::Flags &(Eigen::RowMajor | Eigen::ColMajor),
+                                     StorageIndex>(shape[0].cast<Index>(),
+                                                   shape[1].cast<Index>(),
+                                                   std::move(nnz),
+                                                   outerIndices.mutable_data(),
+                                                   innerIndices.mutable_data(),
+                                                   values.mutable_data());
 
         return true;
     }
 
     static handle cast(const Type &src, return_value_policy /* policy */, handle /* parent */) {
-        const_cast<Type&>(src).makeCompressed();
+        const_cast<Type &>(src).makeCompressed();
 
-        object matrix_type = module_::import("scipy.sparse").attr(
-            rowMajor ? "csr_matrix" : "csc_matrix");
+        object matrix_type
+            = module_::import("scipy.sparse").attr(rowMajor ? "csr_matrix" : "csc_matrix");
 
         array data(src.nonZeros(), src.valuePtr());
         array outerIndices((rowMajor ? src.rows() : src.cols()) + 1, src.outerIndexPtr());
         array innerIndices(src.nonZeros(), src.innerIndexPtr());
 
-        return matrix_type(
-            std::make_tuple(data, innerIndices, outerIndices),
-            std::make_pair(src.rows(), src.cols())
-        ).release();
+        return matrix_type(pybind11::make_tuple(
+                               std::move(data), std::move(innerIndices), std::move(outerIndices)),
+                           pybind11::make_tuple(src.rows(), src.cols()))
+            .release();
     }
 
-    PYBIND11_TYPE_CASTER(Type, const_name<(Type::IsRowMajor) != 0>("scipy.sparse.csr_matrix[", "scipy.sparse.csc_matrix[")
-            + npy_format_descriptor<Scalar>::name + const_name("]"));
+    PYBIND11_TYPE_CASTER(Type,
+                         const_name<(Type::IsRowMajor) != 0>("scipy.sparse.csr_matrix[",
+                                                             "scipy.sparse.csc_matrix[")
+                             + npy_format_descriptor<Scalar>::name + const_name("]"));
 };
 
 PYBIND11_NAMESPACE_END(detail)
diff --git a/pybind11/include/pybind11/embed.h b/pybind11/include/pybind11/embed.h
index 9ab1ce9c0a..d6999cd779 100644
--- a/pybind11/include/pybind11/embed.h
+++ b/pybind11/include/pybind11/embed.h
@@ -16,22 +16,12 @@
 #include <vector>
 
 #if defined(PYPY_VERSION)
-#  error Embedding the interpreter is not supported with PyPy
+#    error Embedding the interpreter is not supported with PyPy
 #endif
 
-#if PY_MAJOR_VERSION >= 3
-#  define PYBIND11_EMBEDDED_MODULE_IMPL(name)            \
-      extern "C" PyObject *pybind11_init_impl_##name();  \
-      extern "C" PyObject *pybind11_init_impl_##name() { \
-          return pybind11_init_wrapper_##name();         \
-      }
-#else
-#  define PYBIND11_EMBEDDED_MODULE_IMPL(name)            \
-      extern "C" void pybind11_init_impl_##name();       \
-      extern "C" void pybind11_init_impl_##name() {      \
-          pybind11_init_wrapper_##name();                \
-      }
-#endif
+#define PYBIND11_EMBEDDED_MODULE_IMPL(name)                                                       \
+    extern "C" PyObject *pybind11_init_impl_##name();                                             \
+    extern "C" PyObject *pybind11_init_impl_##name() { return pybind11_init_wrapper_##name(); }
 
 /** \rst
     Add a new module to the table of builtins for the interpreter. Must be
@@ -71,102 +61,31 @@ PYBIND11_NAMESPACE_BEGIN(detail)
 
 /// Python 2.7/3.x compatible version of `PyImport_AppendInittab` and error checks.
 struct embedded_module {
-#if PY_MAJOR_VERSION >= 3
-    using init_t = PyObject *(*)();
-#else
-    using init_t = void (*)();
-#endif
+    using init_t = PyObject *(*) ();
     embedded_module(const char *name, init_t init) {
-        if (Py_IsInitialized() != 0)
+        if (Py_IsInitialized() != 0) {
             pybind11_fail("Can't add new modules after the interpreter has been initialized");
+        }
 
         auto result = PyImport_AppendInittab(name, init);
-        if (result == -1)
+        if (result == -1) {
             pybind11_fail("Insufficient memory to add a new module");
+        }
     }
 };
 
 struct wide_char_arg_deleter {
     void operator()(wchar_t *ptr) const {
-#if PY_VERSION_HEX >= 0x030500f0
         // API docs: https://docs.python.org/3/c-api/sys.html#c.Py_DecodeLocale
         PyMem_RawFree(ptr);
-#else
-        delete[] ptr;
-#endif
     }
 };
 
 inline wchar_t *widen_chars(const char *safe_arg) {
-#if PY_VERSION_HEX >= 0x030500f0
     wchar_t *widened_arg = Py_DecodeLocale(safe_arg, nullptr);
-#else
-    wchar_t *widened_arg = nullptr;
-
-// warning C4996: 'mbstowcs': This function or variable may be unsafe.
-#if defined(_MSC_VER)
-#pragma warning(push)
-#pragma warning(disable:4996)
-#endif
-
-#    if defined(HAVE_BROKEN_MBSTOWCS) && HAVE_BROKEN_MBSTOWCS
-    size_t count = std::strlen(safe_arg);
-#    else
-    size_t count = std::mbstowcs(nullptr, safe_arg, 0);
-#    endif
-    if (count != static_cast<size_t>(-1)) {
-        widened_arg = new wchar_t[count + 1];
-        std::mbstowcs(widened_arg, safe_arg, count + 1);
-    }
-
-#if defined(_MSC_VER)
-#pragma warning(pop)
-#endif
-
-#endif
     return widened_arg;
 }
 
-/// Python 2.x/3.x-compatible version of `PySys_SetArgv`
-inline void set_interpreter_argv(int argc, const char *const *argv, bool add_program_dir_to_path) {
-    // Before it was special-cased in python 3.8, passing an empty or null argv
-    // caused a segfault, so we have to reimplement the special case ourselves.
-    bool special_case = (argv == nullptr || argc <= 0);
-
-    const char *const empty_argv[]{"\0"};
-    const char *const *safe_argv = special_case ? empty_argv : argv;
-    if (special_case)
-        argc = 1;
-
-    auto argv_size = static_cast<size_t>(argc);
-#if PY_MAJOR_VERSION >= 3
-    // SetArgv* on python 3 takes wchar_t, so we have to convert.
-    std::unique_ptr<wchar_t *[]> widened_argv(new wchar_t *[argv_size]);
-    std::vector<std::unique_ptr<wchar_t[], wide_char_arg_deleter>> widened_argv_entries;
-    widened_argv_entries.reserve(argv_size);
-    for (size_t ii = 0; ii < argv_size; ++ii) {
-        widened_argv_entries.emplace_back(widen_chars(safe_argv[ii]));
-        if (!widened_argv_entries.back()) {
-            // A null here indicates a character-encoding failure or the python
-            // interpreter out of memory. Give up.
-            return;
-        }
-        widened_argv[ii] = widened_argv_entries.back().get();
-    }
-
-    auto pysys_argv = widened_argv.get();
-#else
-    // python 2.x
-    std::vector<std::string> strings{safe_argv, safe_argv + argv_size};
-    std::vector<char *> char_strings{argv_size};
-    for (std::size_t i = 0; i < argv_size; ++i)
-        char_strings[i] = &strings[i][0];
-    char **pysys_argv = char_strings.data();
-#endif
-
-    PySys_SetArgvEx(argc, pysys_argv, static_cast<int>(add_program_dir_to_path));
-}
-
 PYBIND11_NAMESPACE_END(detail)
 
 /** \rst
@@ -192,12 +111,68 @@ inline void initialize_interpreter(bool init_signal_handlers = true,
                                    int argc = 0,
                                    const char *const *argv = nullptr,
                                    bool add_program_dir_to_path = true) {
-    if (Py_IsInitialized() != 0)
+    if (Py_IsInitialized() != 0) {
         pybind11_fail("The interpreter is already running");
+    }
+
+#if PY_VERSION_HEX < 0x030B0000
 
     Py_InitializeEx(init_signal_handlers ? 1 : 0);
 
-    detail::set_interpreter_argv(argc, argv, add_program_dir_to_path);
+    // Before it was special-cased in python 3.8, passing an empty or null argv
+    // caused a segfault, so we have to reimplement the special case ourselves.
+    bool special_case = (argv == nullptr || argc <= 0);
+
+    const char *const empty_argv[]{"\0"};
+    const char *const *safe_argv = special_case ? empty_argv : argv;
+    if (special_case) {
+        argc = 1;
+    }
+
+    auto argv_size = static_cast<size_t>(argc);
+    // SetArgv* on python 3 takes wchar_t, so we have to convert.
+    std::unique_ptr<wchar_t *[]> widened_argv(new wchar_t *[argv_size]);
+    std::vector<std::unique_ptr<wchar_t[], detail::wide_char_arg_deleter>> widened_argv_entries;
+    widened_argv_entries.reserve(argv_size);
+    for (size_t ii = 0; ii < argv_size; ++ii) {
+        widened_argv_entries.emplace_back(detail::widen_chars(safe_argv[ii]));
+        if (!widened_argv_entries.back()) {
+            // A null here indicates a character-encoding failure or the python
+            // interpreter out of memory. Give up.
+            return;
+        }
+        widened_argv[ii] = widened_argv_entries.back().get();
+    }
+
+    auto *pysys_argv = widened_argv.get();
+
+    PySys_SetArgvEx(argc, pysys_argv, static_cast<int>(add_program_dir_to_path));
+#else
+    PyConfig config;
+    PyConfig_InitIsolatedConfig(&config);
+    config.install_signal_handlers = init_signal_handlers ? 1 : 0;
+
+    PyStatus status = PyConfig_SetBytesArgv(&config, argc, const_cast<char *const *>(argv));
+    if (PyStatus_Exception(status)) {
+        // A failure here indicates a character-encoding failure or the python
+        // interpreter out of memory. Give up.
+        PyConfig_Clear(&config);
+        throw std::runtime_error(PyStatus_IsError(status) ? status.err_msg
+                                                          : "Failed to prepare CPython");
+    }
+    status = Py_InitializeFromConfig(&config);
+    PyConfig_Clear(&config);
+    if (PyStatus_Exception(status)) {
+        throw std::runtime_error(PyStatus_IsError(status) ? status.err_msg
+                                                          : "Failed to init CPython");
+    }
+    if (add_program_dir_to_path) {
+        PyRun_SimpleString("import sys, os.path; "
+                           "sys.path.insert(0, "
+                           "os.path.abspath(os.path.dirname(sys.argv[0])) "
+                           "if sys.argv and os.path.exists(sys.argv[0]) else '')");
+    }
+#endif
 }
 
 /** \rst
@@ -244,8 +219,13 @@ inline void finalize_interpreter() {
     // during destruction), so we get the pointer-pointer here and check it after Py_Finalize().
     detail::internals **internals_ptr_ptr = detail::get_internals_pp();
     // It could also be stashed in builtins, so look there too:
-    if (builtins.contains(id) && isinstance<capsule>(builtins[id]))
+    if (builtins.contains(id) && isinstance<capsule>(builtins[id])) {
         internals_ptr_ptr = capsule(builtins[id]);
+    }
+    // Local internals contains data managed by the current interpreter, so we must clear them to
+    // avoid undefined behaviors when initializing another interpreter
+    detail::get_local_internals().registered_types_cpp.clear();
+    detail::get_local_internals().registered_exception_translators.clear();
 
     Py_Finalize();
 
@@ -285,8 +265,9 @@ class scoped_interpreter {
     scoped_interpreter &operator=(scoped_interpreter &&) = delete;
 
     ~scoped_interpreter() {
-        if (is_valid)
+        if (is_valid) {
             finalize_interpreter();
+        }
     }
 
 private:
diff --git a/pybind11/include/pybind11/eval.h b/pybind11/include/pybind11/eval.h
index 4248551e9b..bd5f981f53 100644
--- a/pybind11/include/pybind11/eval.h
+++ b/pybind11/include/pybind11/eval.h
@@ -11,24 +11,24 @@
 
 #pragma once
 
-#include <utility>
-
 #include "pybind11.h"
 
+#include <utility>
+
 PYBIND11_NAMESPACE_BEGIN(PYBIND11_NAMESPACE)
 PYBIND11_NAMESPACE_BEGIN(detail)
 
 inline void ensure_builtins_in_globals(object &global) {
-    #if defined(PYPY_VERSION) || PY_VERSION_HEX < 0x03080000
-        // Running exec and eval on Python 2 and 3 adds `builtins` module under
-        // `__builtins__` key to globals if not yet present.
-        // Python 3.8 made PyRun_String behave similarly. Let's also do that for
-        // older versions, for consistency. This was missing from PyPy3.8 7.3.7.
-        if (!global.contains("__builtins__"))
-            global["__builtins__"] = module_::import(PYBIND11_BUILTINS_MODULE);
-    #else
-        (void) global;
-    #endif
+#if defined(PYPY_VERSION) || PY_VERSION_HEX < 0x03080000
+    // Running exec and eval adds `builtins` module under `__builtins__` key to
+    // globals if not yet present.  Python 3.8 made PyRun_String behave
+    // similarly. Let's also do that for older versions, for consistency. This
+    // was missing from PyPy3.8 7.3.7.
+    if (!global.contains("__builtins__"))
+        global["__builtins__"] = module_::import(PYBIND11_BUILTINS_MODULE);
+#else
+    (void) global;
+#endif
 }
 
 PYBIND11_NAMESPACE_END(detail)
@@ -46,8 +46,9 @@ enum eval_mode {
 
 template <eval_mode mode = eval_expr>
 object eval(const str &expr, object global = globals(), object local = object()) {
-    if (!local)
+    if (!local) {
         local = global;
+    }
 
     detail::ensure_builtins_in_globals(global);
 
@@ -57,24 +58,31 @@ object eval(const str &expr, object global = globals(), object local = object())
 
     int start = 0;
     switch (mode) {
-        case eval_expr:             start = Py_eval_input;   break;
-        case eval_single_statement: start = Py_single_input; break;
-        case eval_statements:       start = Py_file_input;   break;
-        default: pybind11_fail("invalid evaluation mode");
+        case eval_expr:
+            start = Py_eval_input;
+            break;
+        case eval_single_statement:
+            start = Py_single_input;
+            break;
+        case eval_statements:
+            start = Py_file_input;
+            break;
+        default:
+            pybind11_fail("invalid evaluation mode");
     }
 
     PyObject *result = PyRun_String(buffer.c_str(), start, global.ptr(), local.ptr());
-    if (!result)
+    if (!result) {
         throw error_already_set();
+    }
     return reinterpret_steal<object>(result);
 }
 
 template <eval_mode mode = eval_expr, size_t N>
 object eval(const char (&s)[N], object global = globals(), object local = object()) {
     /* Support raw string literals by removing common leading whitespace */
-    auto expr = (s[0] == '\n') ? str(module_::import("textwrap").attr("dedent")(s))
-                               : str(s);
-    return eval<mode>(expr, global, local);
+    auto expr = (s[0] == '\n') ? str(module_::import("textwrap").attr("dedent")(s)) : str(s);
+    return eval<mode>(expr, std::move(global), std::move(local));
 }
 
 inline void exec(const str &expr, object global = globals(), object local = object()) {
@@ -83,10 +91,10 @@ inline void exec(const str &expr, object global = globals(), object local = obje
 
 template <size_t N>
 void exec(const char (&s)[N], object global = globals(), object local = object()) {
-    eval<eval_statements>(s, global, local);
+    eval<eval_statements>(s, std::move(global), std::move(local));
 }
 
-#if defined(PYPY_VERSION) && PY_VERSION_HEX >= 0x03000000
+#if defined(PYPY_VERSION)
 template <eval_mode mode = eval_statements>
 object eval_file(str, object, object) {
     pybind11_fail("eval_file not supported in PyPy3. Use eval");
@@ -102,60 +110,45 @@ object eval_file(str) {
 #else
 template <eval_mode mode = eval_statements>
 object eval_file(str fname, object global = globals(), object local = object()) {
-    if (!local)
+    if (!local) {
         local = global;
+    }
 
     detail::ensure_builtins_in_globals(global);
 
     int start = 0;
     switch (mode) {
-        case eval_expr:             start = Py_eval_input;   break;
-        case eval_single_statement: start = Py_single_input; break;
-        case eval_statements:       start = Py_file_input;   break;
-        default: pybind11_fail("invalid evaluation mode");
+        case eval_expr:
+            start = Py_eval_input;
+            break;
+        case eval_single_statement:
+            start = Py_single_input;
+            break;
+        case eval_statements:
+            start = Py_file_input;
+            break;
+        default:
+            pybind11_fail("invalid evaluation mode");
     }
 
     int closeFile = 1;
     std::string fname_str = (std::string) fname;
-#if PY_VERSION_HEX >= 0x03040000
     FILE *f = _Py_fopen_obj(fname.ptr(), "r");
-#elif PY_VERSION_HEX >= 0x03000000
-    FILE *f = _Py_fopen(fname.ptr(), "r");
-#else
-    /* No unicode support in open() :( */
-    auto fobj = reinterpret_steal<object>(PyFile_FromString(
-        const_cast<char *>(fname_str.c_str()),
-        const_cast<char*>("r")));
-    FILE *f = nullptr;
-    if (fobj)
-        f = PyFile_AsFile(fobj.ptr());
-    closeFile = 0;
-#endif
     if (!f) {
         PyErr_Clear();
         pybind11_fail("File \"" + fname_str + "\" could not be opened!");
     }
 
-    // In Python2, this should be encoded by getfilesystemencoding.
-    // We don't boher setting it since Python2 is past EOL anyway.
-    // See PR#3233
-#if PY_VERSION_HEX >= 0x03000000
     if (!global.contains("__file__")) {
         global["__file__"] = std::move(fname);
     }
-#endif
 
-#if PY_VERSION_HEX < 0x03000000 && defined(PYPY_VERSION)
-    PyObject *result = PyRun_File(f, fname_str.c_str(), start, global.ptr(),
-                                  local.ptr());
-    (void) closeFile;
-#else
-    PyObject *result = PyRun_FileEx(f, fname_str.c_str(), start, global.ptr(),
-                                    local.ptr(), closeFile);
-#endif
+    PyObject *result
+        = PyRun_FileEx(f, fname_str.c_str(), start, global.ptr(), local.ptr(), closeFile);
 
-    if (!result)
+    if (!result) {
         throw error_already_set();
+    }
     return reinterpret_steal<object>(result);
 }
 #endif
diff --git a/pybind11/include/pybind11/functional.h b/pybind11/include/pybind11/functional.h
index 7912aef175..4034990d89 100644
--- a/pybind11/include/pybind11/functional.h
+++ b/pybind11/include/pybind11/functional.h
@@ -10,6 +10,7 @@
 #pragma once
 
 #include "pybind11.h"
+
 #include <functional>
 
 PYBIND11_NAMESPACE_BEGIN(PYBIND11_NAMESPACE)
@@ -19,18 +20,21 @@ template <typename Return, typename... Args>
 struct type_caster<std::function<Return(Args...)>> {
     using type = std::function<Return(Args...)>;
     using retval_type = conditional_t<std::is_same<Return, void>::value, void_type, Return>;
-    using function_type = Return (*) (Args...);
+    using function_type = Return (*)(Args...);
 
 public:
     bool load(handle src, bool convert) {
         if (src.is_none()) {
             // Defer accepting None to other overloads (if we aren't in convert mode):
-            if (!convert) return false;
+            if (!convert) {
+                return false;
+            }
             return true;
         }
 
-        if (!isinstance<function>(src))
+        if (!isinstance<function>(src)) {
             return false;
+        }
 
         auto func = reinterpret_borrow<function>(src);
 
@@ -43,10 +47,10 @@ struct type_caster<std::function<Return(Args...)>> {
            captured variables), in which case the roundtrip can be avoided.
          */
         if (auto cfunc = func.cpp_function()) {
-            auto cfunc_self = PyCFunction_GET_SELF(cfunc.ptr());
+            auto *cfunc_self = PyCFunction_GET_SELF(cfunc.ptr());
             if (isinstance<capsule>(cfunc_self)) {
                 auto c = reinterpret_borrow<capsule>(cfunc_self);
-                auto rec = (function_record *) c;
+                auto *rec = (function_record *) c;
 
                 while (rec != nullptr) {
                     if (rec->is_stateless
@@ -73,7 +77,9 @@ struct type_caster<std::function<Return(Args...)>> {
             // This triggers a syntax error under very special conditions (very weird indeed).
             explicit
 #endif
-            func_handle(function &&f_) noexcept : f(std::move(f_)) {}
+                func_handle(function &&f_) noexcept
+                : f(std::move(f_)) {
+            }
             func_handle(const func_handle &f_) { operator=(f_); }
             func_handle &operator=(const func_handle &f_) {
                 gil_scoped_acquire acq;
@@ -92,9 +98,8 @@ struct type_caster<std::function<Return(Args...)>> {
             explicit func_wrapper(func_handle &&hf) noexcept : hfunc(std::move(hf)) {}
             Return operator()(Args... args) const {
                 gil_scoped_acquire acq;
-                object retval(hfunc.f(std::forward<Args>(args)...));
-                /* Visual studio 2015 parser issue: need parentheses around this expression */
-                return (retval.template cast<Return>());
+                // casts the returned object as a rvalue to the return type
+                return hfunc.f(std::forward<Args>(args)...).template cast<Return>();
             }
         };
 
@@ -104,17 +109,21 @@ struct type_caster<std::function<Return(Args...)>> {
 
     template <typename Func>
     static handle cast(Func &&f_, return_value_policy policy, handle /* parent */) {
-        if (!f_)
+        if (!f_) {
             return none().inc_ref();
+        }
 
         auto result = f_.template target<function_type>();
-        if (result)
+        if (result) {
             return cpp_function(*result, policy).release();
+        }
         return cpp_function(std::forward<Func>(f_), policy).release();
     }
 
-    PYBIND11_TYPE_CASTER(type, const_name("Callable[[") + concat(make_caster<Args>::name...) + const_name("], ")
-                               + make_caster<retval_type>::name + const_name("]"));
+    PYBIND11_TYPE_CASTER(type,
+                         const_name("Callable[[") + concat(make_caster<Args>::name...)
+                             + const_name("], ") + make_caster<retval_type>::name
+                             + const_name("]"));
 };
 
 PYBIND11_NAMESPACE_END(detail)
diff --git a/pybind11/include/pybind11/gil.h b/pybind11/include/pybind11/gil.h
index b73aaa3f54..a0b5de1514 100644
--- a/pybind11/include/pybind11/gil.h
+++ b/pybind11/include/pybind11/gil.h
@@ -14,7 +14,6 @@
 
 PYBIND11_NAMESPACE_BEGIN(PYBIND11_NAMESPACE)
 
-
 PYBIND11_NAMESPACE_BEGIN(detail)
 
 // forward declarations
@@ -22,7 +21,6 @@ PyThreadState *get_thread_state_unchecked();
 
 PYBIND11_NAMESPACE_END(detail)
 
-
 #if defined(WITH_THREAD) && !defined(PYPY_VERSION)
 
 /* The functions below essentially reproduce the PyGILState_* API using a RAII
@@ -64,10 +62,11 @@ class gil_scoped_acquire {
 
         if (!tstate) {
             tstate = PyThreadState_New(internals.istate);
-            #if !defined(NDEBUG)
-                if (!tstate)
-                    pybind11_fail("scoped_acquire: could not create thread state!");
-            #endif
+#    if defined(PYBIND11_DETAILED_ERROR_MESSAGES)
+            if (!tstate) {
+                pybind11_fail("scoped_acquire: could not create thread state!");
+            }
+#    endif
             tstate->gilstate_counter = 0;
             PYBIND11_TLS_REPLACE_VALUE(internals.tstate, tstate);
         } else {
@@ -81,26 +80,28 @@ class gil_scoped_acquire {
         inc_ref();
     }
 
-    void inc_ref() {
-        ++tstate->gilstate_counter;
-    }
+    void inc_ref() { ++tstate->gilstate_counter; }
 
     PYBIND11_NOINLINE void dec_ref() {
         --tstate->gilstate_counter;
-        #if !defined(NDEBUG)
-            if (detail::get_thread_state_unchecked() != tstate)
-                pybind11_fail("scoped_acquire::dec_ref(): thread state must be current!");
-            if (tstate->gilstate_counter < 0)
-                pybind11_fail("scoped_acquire::dec_ref(): reference count underflow!");
-        #endif
+#    if defined(PYBIND11_DETAILED_ERROR_MESSAGES)
+        if (detail::get_thread_state_unchecked() != tstate) {
+            pybind11_fail("scoped_acquire::dec_ref(): thread state must be current!");
+        }
+        if (tstate->gilstate_counter < 0) {
+            pybind11_fail("scoped_acquire::dec_ref(): reference count underflow!");
+        }
+#    endif
         if (tstate->gilstate_counter == 0) {
-            #if !defined(NDEBUG)
-                if (!release)
-                    pybind11_fail("scoped_acquire::dec_ref(): internal error!");
-            #endif
+#    if defined(PYBIND11_DETAILED_ERROR_MESSAGES)
+            if (!release) {
+                pybind11_fail("scoped_acquire::dec_ref(): internal error!");
+            }
+#    endif
             PyThreadState_Clear(tstate);
-            if (active)
+            if (active) {
                 PyThreadState_DeleteCurrent();
+            }
             PYBIND11_TLS_DELETE_VALUE(detail::get_internals().tstate);
             release = false;
         }
@@ -111,15 +112,15 @@ class gil_scoped_acquire {
     /// could be shutting down when this is called, as thread deletion is not
     /// allowed during shutdown. Check _Py_IsFinalizing() on Python 3.7+, and
     /// protect subsequent code.
-    PYBIND11_NOINLINE void disarm() {
-        active = false;
-    }
+    PYBIND11_NOINLINE void disarm() { active = false; }
 
     PYBIND11_NOINLINE ~gil_scoped_acquire() {
         dec_ref();
-        if (release)
-           PyEval_SaveThread();
+        if (release) {
+            PyEval_SaveThread();
+        }
     }
+
 private:
     PyThreadState *tstate = nullptr;
     bool release = true;
@@ -133,8 +134,11 @@ class gil_scoped_release {
         // `internals.tstate` for subsequent `gil_scoped_acquire` calls. Otherwise, an
         // initialization race could occur as multiple threads try `gil_scoped_acquire`.
         auto &internals = detail::get_internals();
+        // NOLINTNEXTLINE(cppcoreguidelines-prefer-member-initializer)
         tstate = PyEval_SaveThread();
         if (disassoc) {
+            // Python >= 3.7 can remove this, it's an int before 3.7
+            // NOLINTNEXTLINE(readability-qualified-auto)
             auto key = internals.tstate;
             PYBIND11_TLS_DELETE_VALUE(key);
         }
@@ -145,21 +149,24 @@ class gil_scoped_release {
     /// could be shutting down when this is called, as thread deletion is not
     /// allowed during shutdown. Check _Py_IsFinalizing() on Python 3.7+, and
     /// protect subsequent code.
-    PYBIND11_NOINLINE void disarm() {
-        active = false;
-    }
+    PYBIND11_NOINLINE void disarm() { active = false; }
 
     ~gil_scoped_release() {
-        if (!tstate)
+        if (!tstate) {
             return;
+        }
         // `PyEval_RestoreThread()` should not be called if runtime is finalizing
-        if (active)
+        if (active) {
             PyEval_RestoreThread(tstate);
+        }
         if (disassoc) {
+            // Python >= 3.7 can remove this, it's an int before 3.7
+            // NOLINTNEXTLINE(readability-qualified-auto)
             auto key = detail::get_internals().tstate;
             PYBIND11_TLS_REPLACE_VALUE(key, tstate);
         }
     }
+
 private:
     PyThreadState *tstate;
     bool disassoc;
@@ -168,6 +175,7 @@ class gil_scoped_release {
 #elif defined(PYPY_VERSION)
 class gil_scoped_acquire {
     PyGILState_STATE state;
+
 public:
     gil_scoped_acquire() { state = PyGILState_Ensure(); }
     ~gil_scoped_acquire() { PyGILState_Release(state); }
@@ -176,6 +184,7 @@ class gil_scoped_acquire {
 
 class gil_scoped_release {
     PyThreadState *state;
+
 public:
     gil_scoped_release() { state = PyEval_SaveThread(); }
     ~gil_scoped_release() { PyEval_RestoreThread(state); }
diff --git a/pybind11/include/pybind11/iostream.h b/pybind11/include/pybind11/iostream.h
index 95449a07ba..1878089e31 100644
--- a/pybind11/include/pybind11/iostream.h
+++ b/pybind11/include/pybind11/iostream.h
@@ -58,36 +58,31 @@ class pythonbuf : public std::streambuf {
     size_t utf8_remainder() const {
         const auto rbase = std::reverse_iterator<char *>(pbase());
         const auto rpptr = std::reverse_iterator<char *>(pptr());
-        auto is_ascii = [](char c) {
-            return (static_cast<unsigned char>(c) & 0x80) == 0x00;
-        };
-        auto is_leading = [](char c) {
-            return (static_cast<unsigned char>(c) & 0xC0) == 0xC0;
-        };
-        auto is_leading_2b = [](char c) {
-            return static_cast<unsigned char>(c) <= 0xDF;
-        };
-        auto is_leading_3b = [](char c) {
-            return static_cast<unsigned char>(c) <= 0xEF;
-        };
+        auto is_ascii = [](char c) { return (static_cast<unsigned char>(c) & 0x80) == 0x00; };
+        auto is_leading = [](char c) { return (static_cast<unsigned char>(c) & 0xC0) == 0xC0; };
+        auto is_leading_2b = [](char c) { return static_cast<unsigned char>(c) <= 0xDF; };
+        auto is_leading_3b = [](char c) { return static_cast<unsigned char>(c) <= 0xEF; };
         // If the last character is ASCII, there are no incomplete code points
-        if (is_ascii(*rpptr))
+        if (is_ascii(*rpptr)) {
             return 0;
+        }
         // Otherwise, work back from the end of the buffer and find the first
         // UTF-8 leading byte
-        const auto rpend   = rbase - rpptr >= 3 ? rpptr + 3 : rbase;
+        const auto rpend = rbase - rpptr >= 3 ? rpptr + 3 : rbase;
         const auto leading = std::find_if(rpptr, rpend, is_leading);
-        if (leading == rbase)
+        if (leading == rbase) {
             return 0;
-        const auto dist    = static_cast<size_t>(leading - rpptr);
-        size_t remainder   = 0;
+        }
+        const auto dist = static_cast<size_t>(leading - rpptr);
+        size_t remainder = 0;
 
-        if (dist == 0)
+        if (dist == 0) {
             remainder = 1; // 1-byte code point is impossible
-        else if (dist == 1)
+        } else if (dist == 1) {
             remainder = is_leading_2b(*leading) ? 0 : dist + 1;
-        else if (dist == 2)
+        } else if (dist == 2) {
             remainder = is_leading_3b(*leading) ? 0 : dist + 1;
+        }
         // else if (dist >= 3), at least 4 bytes before encountering an UTF-8
         // leading byte, either no remainder or invalid UTF-8.
         // Invalid UTF-8 will cause an exception later when converting
@@ -100,27 +95,26 @@ class pythonbuf : public std::streambuf {
         if (pbase() != pptr()) { // If buffer is not empty
             gil_scoped_acquire tmp;
             // This subtraction cannot be negative, so dropping the sign.
-            auto size        = static_cast<size_t>(pptr() - pbase());
+            auto size = static_cast<size_t>(pptr() - pbase());
             size_t remainder = utf8_remainder();
 
             if (size > remainder) {
                 str line(pbase(), size - remainder);
-                pywrite(line);
+                pywrite(std::move(line));
                 pyflush();
             }
 
             // Copy the remainder at the end of the buffer to the beginning:
-            if (remainder > 0)
+            if (remainder > 0) {
                 std::memmove(pbase(), pptr() - remainder, remainder);
+            }
             setp(pbase(), epptr());
             pbump(static_cast<int>(remainder));
         }
         return 0;
     }
 
-    int sync() override {
-        return _sync();
-    }
+    int sync() override { return _sync(); }
 
 public:
     explicit pythonbuf(const object &pyostream, size_t buffer_size = 1024)
@@ -129,17 +123,14 @@ class pythonbuf : public std::streambuf {
         setp(d_buffer.get(), d_buffer.get() + buf_size - 1);
     }
 
-    pythonbuf(pythonbuf&&) = default;
+    pythonbuf(pythonbuf &&) = default;
 
     /// Sync before destroy
-    ~pythonbuf() override {
-        _sync();
-    }
+    ~pythonbuf() override { _sync(); }
 };
 
 PYBIND11_NAMESPACE_END(detail)
 
-
 /** \rst
     This a move-only guard that redirects output.
 
@@ -160,7 +151,8 @@ PYBIND11_NAMESPACE_END(detail)
     .. code-block:: cpp
 
         {
-            py::scoped_ostream_redirect output{std::cerr, py::module::import("sys").attr("stderr")};
+            py::scoped_ostream_redirect output{
+                std::cerr, py::module::import("sys").attr("stderr")};
             std::cout << "Hello, World!";
         }
  \endrst */
@@ -178,9 +170,7 @@ class scoped_ostream_redirect {
         old = costream.rdbuf(&buffer);
     }
 
-    ~scoped_ostream_redirect() {
-        costream.rdbuf(old);
-    }
+    ~scoped_ostream_redirect() { costream.rdbuf(old); }
 
     scoped_ostream_redirect(const scoped_ostream_redirect &) = delete;
     scoped_ostream_redirect(scoped_ostream_redirect &&other) = default;
@@ -188,7 +178,6 @@ class scoped_ostream_redirect {
     scoped_ostream_redirect &operator=(scoped_ostream_redirect &&) = delete;
 };
 
-
 /** \rst
     Like `scoped_ostream_redirect`, but redirects cerr by default. This class
     is provided primary to make ``py::call_guard`` easier to make.
@@ -208,7 +197,6 @@ class scoped_estream_redirect : public scoped_ostream_redirect {
         : scoped_ostream_redirect(costream, pyostream) {}
 };
 
-
 PYBIND11_NAMESPACE_BEGIN(detail)
 
 // Class to redirect output as a context manager. C++ backend.
@@ -223,10 +211,12 @@ class OstreamRedirect {
         : do_stdout_(do_stdout), do_stderr_(do_stderr) {}
 
     void enter() {
-        if (do_stdout_)
+        if (do_stdout_) {
             redirect_stdout.reset(new scoped_ostream_redirect());
-        if (do_stderr_)
+        }
+        if (do_stderr_) {
             redirect_stderr.reset(new scoped_estream_redirect());
+        }
     }
 
     void exit() {
diff --git a/pybind11/include/pybind11/numpy.h b/pybind11/include/pybind11/numpy.h
index 95a743acec..0291b02d0b 100644
--- a/pybind11/include/pybind11/numpy.h
+++ b/pybind11/include/pybind11/numpy.h
@@ -11,19 +11,20 @@
 
 #include "pybind11.h"
 #include "complex.h"
-#include <numeric>
+
 #include <algorithm>
 #include <array>
 #include <cstdint>
 #include <cstdlib>
 #include <cstring>
+#include <functional>
+#include <numeric>
 #include <sstream>
 #include <string>
-#include <functional>
 #include <type_traits>
+#include <typeindex>
 #include <utility>
 #include <vector>
-#include <typeindex>
 
 /* This will be true on all flat address space platforms and allows us to reduce the
    whole npy_intp / ssize_t / Py_intptr_t business down to just ssize_t for all size
@@ -39,9 +40,13 @@ class array; // Forward declaration
 
 PYBIND11_NAMESPACE_BEGIN(detail)
 
-template <> struct handle_type_name<array> { static constexpr auto name = const_name("numpy.ndarray"); };
+template <>
+struct handle_type_name<array> {
+    static constexpr auto name = const_name("numpy.ndarray");
+};
 
-template <typename type, typename SFINAE = void> struct npy_format_descriptor;
+template <typename type, typename SFINAE = void>
+struct npy_format_descriptor;
 
 struct PyArrayDescr_Proxy {
     PyObject_HEAD
@@ -70,51 +75,59 @@ struct PyArray_Proxy {
 };
 
 struct PyVoidScalarObject_Proxy {
-    PyObject_VAR_HEAD
-    char *obval;
+    PyObject_VAR_HEAD char *obval;
     PyArrayDescr_Proxy *descr;
     int flags;
     PyObject *base;
 };
 
 struct numpy_type_info {
-    PyObject* dtype_ptr;
+    PyObject *dtype_ptr;
     std::string format_str;
 };
 
 struct numpy_internals {
     std::unordered_map<std::type_index, numpy_type_info> registered_dtypes;
 
-    numpy_type_info *get_type_info(const std::type_info& tinfo, bool throw_if_missing = true) {
+    numpy_type_info *get_type_info(const std::type_info &tinfo, bool throw_if_missing = true) {
         auto it = registered_dtypes.find(std::type_index(tinfo));
-        if (it != registered_dtypes.end())
+        if (it != registered_dtypes.end()) {
             return &(it->second);
-        if (throw_if_missing)
+        }
+        if (throw_if_missing) {
             pybind11_fail(std::string("NumPy type info missing for ") + tinfo.name());
+        }
         return nullptr;
     }
 
-    template<typename T> numpy_type_info *get_type_info(bool throw_if_missing = true) {
+    template <typename T>
+    numpy_type_info *get_type_info(bool throw_if_missing = true) {
         return get_type_info(typeid(typename std::remove_cv<T>::type), throw_if_missing);
     }
 };
 
-PYBIND11_NOINLINE void load_numpy_internals(numpy_internals* &ptr) {
+PYBIND11_NOINLINE void load_numpy_internals(numpy_internals *&ptr) {
     ptr = &get_or_create_shared_data<numpy_internals>("_numpy_internals");
 }
 
-inline numpy_internals& get_numpy_internals() {
-    static numpy_internals* ptr = nullptr;
-    if (!ptr)
+inline numpy_internals &get_numpy_internals() {
+    static numpy_internals *ptr = nullptr;
+    if (!ptr) {
         load_numpy_internals(ptr);
+    }
     return *ptr;
 }
 
-template <typename T> struct same_size {
-    template <typename U> using as = bool_constant<sizeof(T) == sizeof(U)>;
+template <typename T>
+struct same_size {
+    template <typename U>
+    using as = bool_constant<sizeof(T) == sizeof(U)>;
 };
 
-template <typename Concrete> constexpr int platform_lookup() { return -1; }
+template <typename Concrete>
+constexpr int platform_lookup() {
+    return -1;
+}
 
 // Lookup a type according to its size, and return a value corresponding to the NumPy typenum.
 template <typename Concrete, typename T, typename... Ts, typename... Ints>
@@ -132,15 +145,26 @@ struct npy_api {
         NPY_ARRAY_ALIGNED_ = 0x0100,
         NPY_ARRAY_WRITEABLE_ = 0x0400,
         NPY_BOOL_ = 0,
-        NPY_BYTE_, NPY_UBYTE_,
-        NPY_SHORT_, NPY_USHORT_,
-        NPY_INT_, NPY_UINT_,
-        NPY_LONG_, NPY_ULONG_,
-        NPY_LONGLONG_, NPY_ULONGLONG_,
-        NPY_FLOAT_, NPY_DOUBLE_, NPY_LONGDOUBLE_,
-        NPY_CFLOAT_, NPY_CDOUBLE_, NPY_CLONGDOUBLE_,
+        NPY_BYTE_,
+        NPY_UBYTE_,
+        NPY_SHORT_,
+        NPY_USHORT_,
+        NPY_INT_,
+        NPY_UINT_,
+        NPY_LONG_,
+        NPY_ULONG_,
+        NPY_LONGLONG_,
+        NPY_ULONGLONG_,
+        NPY_FLOAT_,
+        NPY_DOUBLE_,
+        NPY_LONGDOUBLE_,
+        NPY_CFLOAT_,
+        NPY_CDOUBLE_,
+        NPY_CLONGDOUBLE_,
         NPY_OBJECT_ = 17,
-        NPY_STRING_, NPY_UNICODE_, NPY_VOID_,
+        NPY_STRING_,
+        NPY_UNICODE_,
+        NPY_VOID_,
         // Platform-dependent normalization
         NPY_INT8_ = NPY_BYTE_,
         NPY_UINT8_ = NPY_UBYTE_,
@@ -149,13 +173,14 @@ struct npy_api {
         // `npy_common.h` defines the integer aliases. In order, it checks:
         // NPY_BITSOF_LONG, NPY_BITSOF_LONGLONG, NPY_BITSOF_INT, NPY_BITSOF_SHORT, NPY_BITSOF_CHAR
         // and assigns the alias to the first matching size, so we should check in this order.
-        NPY_INT32_ = platform_lookup<std::int32_t, long, int, short>(
-            NPY_LONG_, NPY_INT_, NPY_SHORT_),
+        NPY_INT32_
+        = platform_lookup<std::int32_t, long, int, short>(NPY_LONG_, NPY_INT_, NPY_SHORT_),
         NPY_UINT32_ = platform_lookup<std::uint32_t, unsigned long, unsigned int, unsigned short>(
             NPY_ULONG_, NPY_UINT_, NPY_USHORT_),
-        NPY_INT64_ = platform_lookup<std::int64_t, long, long long, int>(
-            NPY_LONG_, NPY_LONGLONG_, NPY_INT_),
-        NPY_UINT64_ = platform_lookup<std::uint64_t, unsigned long, unsigned long long, unsigned int>(
+        NPY_INT64_
+        = platform_lookup<std::int64_t, long, long long, int>(NPY_LONG_, NPY_LONGLONG_, NPY_INT_),
+        NPY_UINT64_
+        = platform_lookup<std::uint64_t, unsigned long, unsigned long long, unsigned int>(
             NPY_ULONG_, NPY_ULONGLONG_, NPY_UINT_),
     };
 
@@ -164,7 +189,7 @@ struct npy_api {
         int len;
     };
 
-    static npy_api& get() {
+    static npy_api &get() {
         static npy_api api = lookup();
         return api;
     }
@@ -178,9 +203,14 @@ struct npy_api {
 
     unsigned int (*PyArray_GetNDArrayCFeatureVersion_)();
     PyObject *(*PyArray_DescrFromType_)(int);
-    PyObject *(*PyArray_NewFromDescr_)
-        (PyTypeObject *, PyObject *, int, Py_intptr_t const *,
-         Py_intptr_t const *, void *, int, PyObject *);
+    PyObject *(*PyArray_NewFromDescr_)(PyTypeObject *,
+                                       PyObject *,
+                                       int,
+                                       Py_intptr_t const *,
+                                       Py_intptr_t const *,
+                                       void *,
+                                       int,
+                                       PyObject *);
     // Unused. Not removed because that affects ABI of the class.
     PyObject *(*PyArray_DescrNewFromType_)(int);
     int (*PyArray_CopyInto_)(PyObject *, PyObject *);
@@ -189,17 +219,23 @@ struct npy_api {
     PyTypeObject *PyVoidArrType_Type_;
     PyTypeObject *PyArrayDescr_Type_;
     PyObject *(*PyArray_DescrFromScalar_)(PyObject *);
-    PyObject *(*PyArray_FromAny_) (PyObject *, PyObject *, int, int, int, PyObject *);
-    int (*PyArray_DescrConverter_) (PyObject *, PyObject **);
-    bool (*PyArray_EquivTypes_) (PyObject *, PyObject *);
-    int (*PyArray_GetArrayParamsFromObject_)(PyObject *, PyObject *, unsigned char, PyObject **, int *,
-                                             Py_intptr_t *, PyObject **, PyObject *);
+    PyObject *(*PyArray_FromAny_)(PyObject *, PyObject *, int, int, int, PyObject *);
+    int (*PyArray_DescrConverter_)(PyObject *, PyObject **);
+    bool (*PyArray_EquivTypes_)(PyObject *, PyObject *);
+    int (*PyArray_GetArrayParamsFromObject_)(PyObject *,
+                                             PyObject *,
+                                             unsigned char,
+                                             PyObject **,
+                                             int *,
+                                             Py_intptr_t *,
+                                             PyObject **,
+                                             PyObject *);
     PyObject *(*PyArray_Squeeze_)(PyObject *);
     // Unused. Not removed because that affects ABI of the class.
     int (*PyArray_SetBaseObject_)(PyObject *, PyObject *);
-    PyObject* (*PyArray_Resize_)(PyObject*, PyArray_Dims*, int, int);
-    PyObject* (*PyArray_Newshape_)(PyObject*, PyArray_Dims*, int);
-    PyObject* (*PyArray_View_)(PyObject*, PyObject*, PyObject*);
+    PyObject *(*PyArray_Resize_)(PyObject *, PyArray_Dims *, int, int);
+    PyObject *(*PyArray_Newshape_)(PyObject *, PyArray_Dims *, int);
+    PyObject *(*PyArray_View_)(PyObject *, PyObject *, PyObject *);
 
 private:
     enum functions {
@@ -227,16 +263,13 @@ struct npy_api {
     static npy_api lookup() {
         module_ m = module_::import("numpy.core.multiarray");
         auto c = m.attr("_ARRAY_API");
-#if PY_MAJOR_VERSION >= 3
-        void **api_ptr = (void **) PyCapsule_GetPointer(c.ptr(), NULL);
-#else
-        void **api_ptr = (void **) PyCObject_AsVoidPtr(c.ptr());
-#endif
+        void **api_ptr = (void **) PyCapsule_GetPointer(c.ptr(), nullptr);
         npy_api api;
 #define DECL_NPY_API(Func) api.Func##_ = (decltype(api.Func##_)) api_ptr[API_##Func];
         DECL_NPY_API(PyArray_GetNDArrayCFeatureVersion);
-        if (api.PyArray_GetNDArrayCFeatureVersion_() < 0x7)
+        if (api.PyArray_GetNDArrayCFeatureVersion_() < 0x7) {
             pybind11_fail("pybind11 numpy support requires numpy >= 1.7.0");
+        }
         DECL_NPY_API(PyArray_Type);
         DECL_NPY_API(PyVoidArrType_Type);
         DECL_NPY_API(PyArrayDescr_Type);
@@ -261,85 +294,103 @@ struct npy_api {
     }
 };
 
-inline PyArray_Proxy* array_proxy(void* ptr) {
-    return reinterpret_cast<PyArray_Proxy*>(ptr);
-}
+inline PyArray_Proxy *array_proxy(void *ptr) { return reinterpret_cast<PyArray_Proxy *>(ptr); }
 
-inline const PyArray_Proxy* array_proxy(const void* ptr) {
-    return reinterpret_cast<const PyArray_Proxy*>(ptr);
+inline const PyArray_Proxy *array_proxy(const void *ptr) {
+    return reinterpret_cast<const PyArray_Proxy *>(ptr);
 }
 
-inline PyArrayDescr_Proxy* array_descriptor_proxy(PyObject* ptr) {
-   return reinterpret_cast<PyArrayDescr_Proxy*>(ptr);
+inline PyArrayDescr_Proxy *array_descriptor_proxy(PyObject *ptr) {
+    return reinterpret_cast<PyArrayDescr_Proxy *>(ptr);
 }
 
-inline const PyArrayDescr_Proxy* array_descriptor_proxy(const PyObject* ptr) {
-   return reinterpret_cast<const PyArrayDescr_Proxy*>(ptr);
+inline const PyArrayDescr_Proxy *array_descriptor_proxy(const PyObject *ptr) {
+    return reinterpret_cast<const PyArrayDescr_Proxy *>(ptr);
 }
 
-inline bool check_flags(const void* ptr, int flag) {
+inline bool check_flags(const void *ptr, int flag) {
     return (flag == (array_proxy(ptr)->flags & flag));
 }
 
-template <typename T> struct is_std_array : std::false_type { };
-template <typename T, size_t N> struct is_std_array<std::array<T, N>> : std::true_type { };
-template <typename T> struct is_complex : std::false_type { };
-template <typename T> struct is_complex<std::complex<T>> : std::true_type { };
+template <typename T>
+struct is_std_array : std::false_type {};
+template <typename T, size_t N>
+struct is_std_array<std::array<T, N>> : std::true_type {};
+template <typename T>
+struct is_complex : std::false_type {};
+template <typename T>
+struct is_complex<std::complex<T>> : std::true_type {};
 
-template <typename T> struct array_info_scalar {
+template <typename T>
+struct array_info_scalar {
     using type = T;
     static constexpr bool is_array = false;
     static constexpr bool is_empty = false;
     static constexpr auto extents = const_name("");
-    static void append_extents(list& /* shape */) { }
+    static void append_extents(list & /* shape */) {}
 };
 // Computes underlying type and a comma-separated list of extents for array
 // types (any mix of std::array and built-in arrays). An array of char is
 // treated as scalar because it gets special handling.
-template <typename T> struct array_info : array_info_scalar<T> { };
-template <typename T, size_t N> struct array_info<std::array<T, N>> {
+template <typename T>
+struct array_info : array_info_scalar<T> {};
+template <typename T, size_t N>
+struct array_info<std::array<T, N>> {
     using type = typename array_info<T>::type;
     static constexpr bool is_array = true;
     static constexpr bool is_empty = (N == 0) || array_info<T>::is_empty;
     static constexpr size_t extent = N;
 
     // appends the extents to shape
-    static void append_extents(list& shape) {
+    static void append_extents(list &shape) {
         shape.append(N);
         array_info<T>::append_extents(shape);
     }
 
     static constexpr auto extents = const_name<array_info<T>::is_array>(
-        concat(const_name<N>(), array_info<T>::extents), const_name<N>()
-    );
+        concat(const_name<N>(), array_info<T>::extents), const_name<N>());
 };
 // For numpy we have special handling for arrays of characters, so we don't include
 // the size in the array extents.
-template <size_t N> struct array_info<char[N]> : array_info_scalar<char[N]> { };
-template <size_t N> struct array_info<std::array<char, N>> : array_info_scalar<std::array<char, N>> { };
-template <typename T, size_t N> struct array_info<T[N]> : array_info<std::array<T, N>> { };
-template <typename T> using remove_all_extents_t = typename array_info<T>::type;
-
-template <typename T> using is_pod_struct = all_of<
-    std::is_standard_layout<T>,     // since we're accessing directly in memory we need a standard layout type
-#if defined(__GLIBCXX__) && (__GLIBCXX__ < 20150422 || __GLIBCXX__ == 20150426 || __GLIBCXX__ == 20150623 || __GLIBCXX__ == 20150626 || __GLIBCXX__ == 20160803)
-    // libstdc++ < 5 (including versions 4.8.5, 4.9.3 and 4.9.4 which were released after 5)
-    // don't implement is_trivially_copyable, so approximate it
-    std::is_trivially_destructible<T>,
-    satisfies_any_of<T, std::has_trivial_copy_constructor, std::has_trivial_copy_assign>,
+template <size_t N>
+struct array_info<char[N]> : array_info_scalar<char[N]> {};
+template <size_t N>
+struct array_info<std::array<char, N>> : array_info_scalar<std::array<char, N>> {};
+template <typename T, size_t N>
+struct array_info<T[N]> : array_info<std::array<T, N>> {};
+template <typename T>
+using remove_all_extents_t = typename array_info<T>::type;
+
+template <typename T>
+using is_pod_struct
+    = all_of<std::is_standard_layout<T>, // since we're accessing directly in memory
+                                         // we need a standard layout type
+#if defined(__GLIBCXX__)                                                                          \
+    && (__GLIBCXX__ < 20150422 || __GLIBCXX__ == 20150426 || __GLIBCXX__ == 20150623              \
+        || __GLIBCXX__ == 20150626 || __GLIBCXX__ == 20160803)
+             // libstdc++ < 5 (including versions 4.8.5, 4.9.3 and 4.9.4 which were released after
+             // 5) don't implement is_trivially_copyable, so approximate it
+             std::is_trivially_destructible<T>,
+             satisfies_any_of<T, std::has_trivial_copy_constructor, std::has_trivial_copy_assign>,
 #else
-    std::is_trivially_copyable<T>,
+             std::is_trivially_copyable<T>,
 #endif
-    satisfies_none_of<T, std::is_reference, std::is_array, is_std_array, std::is_arithmetic, is_complex, std::is_enum>
->;
+             satisfies_none_of<T,
+                               std::is_reference,
+                               std::is_array,
+                               is_std_array,
+                               std::is_arithmetic,
+                               is_complex,
+                               std::is_enum>>;
 
 // Replacement for std::is_pod (deprecated in C++20)
-template <typename T> using is_pod = all_of<
-    std::is_standard_layout<T>,
-    std::is_trivial<T>
->;
+template <typename T>
+using is_pod = all_of<std::is_standard_layout<T>, std::is_trivial<T>>;
 
-template <ssize_t Dim = 0, typename Strides> ssize_t byte_offset_unsafe(const Strides &) { return 0; }
+template <ssize_t Dim = 0, typename Strides>
+ssize_t byte_offset_unsafe(const Strides &) {
+    return 0;
+}
 template <ssize_t Dim = 0, typename Strides, typename... Ix>
 ssize_t byte_offset_unsafe(const Strides &strides, ssize_t i, Ix... index) {
     return i * strides[Dim] + byte_offset_unsafe<Dim + 1>(strides, index...);
@@ -347,7 +398,7 @@ ssize_t byte_offset_unsafe(const Strides &strides, ssize_t i, Ix... index) {
 
 /**
  * Proxy class providing unsafe, unchecked const access to array data.  This is constructed through
- * the `unchecked<T, N>()` method of `array` or the `unchecked<N>()` method of `array_t<T>`.  `Dims`
+ * the `unchecked<T, N>()` method of `array` or the `unchecked<N>()` method of `array_t<T>`. `Dims`
  * will be -1 for dimensions determined at runtime.
  */
 template <typename T, ssize_t Dims>
@@ -357,15 +408,17 @@ class unchecked_reference {
     const unsigned char *data_;
     // Storing the shape & strides in local variables (i.e. these arrays) allows the compiler to
     // make large performance gains on big, nested loops, but requires compile-time dimensions
-    conditional_t<Dynamic, const ssize_t *, std::array<ssize_t, (size_t) Dims>>
-            shape_, strides_;
+    conditional_t<Dynamic, const ssize_t *, std::array<ssize_t, (size_t) Dims>> shape_, strides_;
     const ssize_t dims_;
 
     friend class pybind11::array;
     // Constructor for compile-time dimensions:
     template <bool Dyn = Dynamic>
-    unchecked_reference(const void *data, const ssize_t *shape, const ssize_t *strides, enable_if_t<!Dyn, ssize_t>)
-    : data_{reinterpret_cast<const unsigned char *>(data)}, dims_{Dims} {
+    unchecked_reference(const void *data,
+                        const ssize_t *shape,
+                        const ssize_t *strides,
+                        enable_if_t<!Dyn, ssize_t>)
+        : data_{reinterpret_cast<const unsigned char *>(data)}, dims_{Dims} {
         for (size_t i = 0; i < (size_t) dims_; i++) {
             shape_[i] = shape[i];
             strides_[i] = strides[i];
@@ -373,8 +426,12 @@ class unchecked_reference {
     }
     // Constructor for runtime dimensions:
     template <bool Dyn = Dynamic>
-    unchecked_reference(const void *data, const ssize_t *shape, const ssize_t *strides, enable_if_t<Dyn, ssize_t> dims)
-    : data_{reinterpret_cast<const unsigned char *>(data)}, shape_{shape}, strides_{strides}, dims_{dims} {}
+    unchecked_reference(const void *data,
+                        const ssize_t *shape,
+                        const ssize_t *strides,
+                        enable_if_t<Dyn, ssize_t> dims)
+        : data_{reinterpret_cast<const unsigned char *>(data)}, shape_{shape}, strides_{strides},
+          dims_{dims} {}
 
 public:
     /**
@@ -382,20 +439,27 @@ class unchecked_reference {
      * number of dimensions, this requires the correct number of arguments; for run-time
      * dimensionality, this is not checked (and so is up to the caller to use safely).
      */
-    template <typename... Ix> const T &operator()(Ix... index) const {
+    template <typename... Ix>
+    const T &operator()(Ix... index) const {
         static_assert(ssize_t{sizeof...(Ix)} == Dims || Dynamic,
-                "Invalid number of indices for unchecked array reference");
-        return *reinterpret_cast<const T *>(data_ + byte_offset_unsafe(strides_, ssize_t(index)...));
+                      "Invalid number of indices for unchecked array reference");
+        return *reinterpret_cast<const T *>(data_
+                                            + byte_offset_unsafe(strides_, ssize_t(index)...));
     }
     /**
      * Unchecked const reference access to data; this operator only participates if the reference
      * is to a 1-dimensional array.  When present, this is exactly equivalent to `obj(index)`.
      */
     template <ssize_t D = Dims, typename = enable_if_t<D == 1 || Dynamic>>
-    const T &operator[](ssize_t index) const { return operator()(index); }
+    const T &operator[](ssize_t index) const {
+        return operator()(index);
+    }
 
     /// Pointer access to the data at the given indices.
-    template <typename... Ix> const T *data(Ix... ix) const { return &operator()(ssize_t(ix)...); }
+    template <typename... Ix>
+    const T *data(Ix... ix) const {
+        return &operator()(ssize_t(ix)...);
+    }
 
     /// Returns the item size, i.e. sizeof(T)
     constexpr static ssize_t itemsize() { return sizeof(T); }
@@ -406,21 +470,22 @@ class unchecked_reference {
     /// Returns the number of dimensions of the array
     ssize_t ndim() const { return dims_; }
 
-    /// Returns the total number of elements in the referenced array, i.e. the product of the shapes
+    /// Returns the total number of elements in the referenced array, i.e. the product of the
+    /// shapes
     template <bool Dyn = Dynamic>
     enable_if_t<!Dyn, ssize_t> size() const {
-        return std::accumulate(shape_.begin(), shape_.end(), (ssize_t) 1, std::multiplies<ssize_t>());
+        return std::accumulate(
+            shape_.begin(), shape_.end(), (ssize_t) 1, std::multiplies<ssize_t>());
     }
     template <bool Dyn = Dynamic>
     enable_if_t<Dyn, ssize_t> size() const {
         return std::accumulate(shape_, shape_ + ndim(), (ssize_t) 1, std::multiplies<ssize_t>());
     }
 
-    /// Returns the total number of bytes used by the referenced data.  Note that the actual span in
-    /// memory may be larger if the referenced array has non-contiguous strides (e.g. for a slice).
-    ssize_t nbytes() const {
-        return size() * itemsize();
-    }
+    /// Returns the total number of bytes used by the referenced data.  Note that the actual span
+    /// in memory may be larger if the referenced array has non-contiguous strides (e.g. for a
+    /// slice).
+    ssize_t nbytes() const { return size() * itemsize(); }
 };
 
 template <typename T, ssize_t Dims>
@@ -429,15 +494,17 @@ class unchecked_mutable_reference : public unchecked_reference<T, Dims> {
     using ConstBase = unchecked_reference<T, Dims>;
     using ConstBase::ConstBase;
     using ConstBase::Dynamic;
+
 public:
     // Bring in const-qualified versions from base class
     using ConstBase::operator();
     using ConstBase::operator[];
 
     /// Mutable, unchecked access to data at the given indices.
-    template <typename... Ix> T& operator()(Ix... index) {
+    template <typename... Ix>
+    T &operator()(Ix... index) {
         static_assert(ssize_t{sizeof...(Ix)} == Dims || Dynamic,
-                "Invalid number of indices for unchecked array reference");
+                      "Invalid number of indices for unchecked array reference");
         return const_cast<T &>(ConstBase::operator()(index...));
     }
     /**
@@ -446,18 +513,25 @@ class unchecked_mutable_reference : public unchecked_reference<T, Dims> {
      * exactly equivalent to `obj(index)`.
      */
     template <ssize_t D = Dims, typename = enable_if_t<D == 1 || Dynamic>>
-    T &operator[](ssize_t index) { return operator()(index); }
+    T &operator[](ssize_t index) {
+        return operator()(index);
+    }
 
     /// Mutable pointer access to the data at the given indices.
-    template <typename... Ix> T *mutable_data(Ix... ix) { return &operator()(ssize_t(ix)...); }
+    template <typename... Ix>
+    T *mutable_data(Ix... ix) {
+        return &operator()(ssize_t(ix)...);
+    }
 };
 
 template <typename T, ssize_t Dim>
 struct type_caster<unchecked_reference<T, Dim>> {
-    static_assert(Dim == 0 && Dim > 0 /* always fail */, "unchecked array proxy object is not castable");
+    static_assert(Dim == 0 && Dim > 0 /* always fail */,
+                  "unchecked array proxy object is not castable");
 };
 template <typename T, ssize_t Dim>
-struct type_caster<unchecked_mutable_reference<T, Dim>> : type_caster<unchecked_reference<T, Dim>> {};
+struct type_caster<unchecked_mutable_reference<T, Dim>>
+    : type_caster<unchecked_reference<T, Dim>> {};
 
 PYBIND11_NAMESPACE_END(detail)
 
@@ -466,18 +540,18 @@ class dtype : public object {
     PYBIND11_OBJECT_DEFAULT(dtype, object, detail::npy_api::get().PyArrayDescr_Check_);
 
     explicit dtype(const buffer_info &info) {
-        dtype descr(_dtype_from_pep3118()(PYBIND11_STR_TYPE(info.format)));
+        dtype descr(_dtype_from_pep3118()(pybind11::str(info.format)));
         // If info.itemsize == 0, use the value calculated from the format string
         m_ptr = descr.strip_padding(info.itemsize != 0 ? info.itemsize : descr.itemsize())
                     .release()
                     .ptr();
     }
 
-    explicit dtype(const std::string &format) {
-        m_ptr = from_args(pybind11::str(format)).release().ptr();
-    }
+    explicit dtype(const pybind11::str &format) : dtype(from_args(format)) {}
 
-    explicit dtype(const char *format) : dtype(std::string(format)) {}
+    explicit dtype(const std::string &format) : dtype(pybind11::str(format)) {}
+
+    explicit dtype(const char *format) : dtype(pybind11::str(format)) {}
 
     dtype(list names, list formats, list offsets, ssize_t itemsize) {
         dict args;
@@ -485,37 +559,40 @@ class dtype : public object {
         args["formats"] = std::move(formats);
         args["offsets"] = std::move(offsets);
         args["itemsize"] = pybind11::int_(itemsize);
-        m_ptr = from_args(std::move(args)).release().ptr();
+        m_ptr = from_args(args).release().ptr();
+    }
+
+    explicit dtype(int typenum)
+        : object(detail::npy_api::get().PyArray_DescrFromType_(typenum), stolen_t{}) {
+        if (m_ptr == nullptr) {
+            throw error_already_set();
+        }
     }
 
     /// This is essentially the same as calling numpy.dtype(args) in Python.
-    static dtype from_args(object args) {
+    static dtype from_args(const object &args) {
         PyObject *ptr = nullptr;
-        if ((detail::npy_api::get().PyArray_DescrConverter_(args.ptr(), &ptr) == 0) || !ptr)
+        if ((detail::npy_api::get().PyArray_DescrConverter_(args.ptr(), &ptr) == 0) || !ptr) {
             throw error_already_set();
+        }
         return reinterpret_steal<dtype>(ptr);
     }
 
     /// Return dtype associated with a C++ type.
-    template <typename T> static dtype of() {
+    template <typename T>
+    static dtype of() {
         return detail::npy_format_descriptor<typename std::remove_cv<T>::type>::dtype();
     }
 
     /// Size of the data type in bytes.
-    ssize_t itemsize() const {
-        return detail::array_descriptor_proxy(m_ptr)->elsize;
-    }
+    ssize_t itemsize() const { return detail::array_descriptor_proxy(m_ptr)->elsize; }
 
     /// Returns true for structured data types.
-    bool has_fields() const {
-        return detail::array_descriptor_proxy(m_ptr)->names != nullptr;
-    }
+    bool has_fields() const { return detail::array_descriptor_proxy(m_ptr)->names != nullptr; }
 
     /// Single-character code for dtype's kind.
     /// For example, floating point types are 'f' and integral types are 'i'.
-    char kind() const {
-        return detail::array_descriptor_proxy(m_ptr)->kind;
-    }
+    char kind() const { return detail::array_descriptor_proxy(m_ptr)->kind; }
 
     /// Single-character for dtype's type.
     /// For example, ``float`` is 'f', ``double`` 'd', ``int`` 'i', and ``long`` 'l'.
@@ -526,42 +603,75 @@ class dtype : public object {
         return detail::array_descriptor_proxy(m_ptr)->type;
     }
 
+    /// type number of dtype.
+    int num() const {
+        // Note: The signature, `dtype::num` follows the naming of NumPy's public
+        // Python API (i.e., ``dtype.num``), rather than its internal
+        // C API (``PyArray_Descr::type_num``).
+        return detail::array_descriptor_proxy(m_ptr)->type_num;
+    }
+
+    /// Single character for byteorder
+    char byteorder() const { return detail::array_descriptor_proxy(m_ptr)->byteorder; }
+
+    /// Alignment of the data type
+    int alignment() const { return detail::array_descriptor_proxy(m_ptr)->alignment; }
+
+    /// Flags for the array descriptor
+    char flags() const { return detail::array_descriptor_proxy(m_ptr)->flags; }
+
 private:
     static object _dtype_from_pep3118() {
         static PyObject *obj = module_::import("numpy.core._internal")
-            .attr("_dtype_from_pep3118").cast<object>().release().ptr();
+                                   .attr("_dtype_from_pep3118")
+                                   .cast<object>()
+                                   .release()
+                                   .ptr();
         return reinterpret_borrow<object>(obj);
     }
 
     dtype strip_padding(ssize_t itemsize) {
         // Recursively strip all void fields with empty names that are generated for
         // padding fields (as of NumPy v1.11).
-        if (!has_fields())
+        if (!has_fields()) {
             return *this;
+        }
 
-        struct field_descr { PYBIND11_STR_TYPE name; object format; pybind11::int_ offset; };
+        struct field_descr {
+            pybind11::str name;
+            object format;
+            pybind11::int_ offset;
+            field_descr(pybind11::str &&name, object &&format, pybind11::int_ &&offset)
+                : name{std::move(name)}, format{std::move(format)}, offset{std::move(offset)} {};
+        };
+        auto field_dict = attr("fields").cast<dict>();
         std::vector<field_descr> field_descriptors;
+        field_descriptors.reserve(field_dict.size());
 
-        for (auto field : attr("fields").attr("items")()) {
+        for (auto field : field_dict.attr("items")()) {
             auto spec = field.cast<tuple>();
             auto name = spec[0].cast<pybind11::str>();
-            auto format = spec[1].cast<tuple>()[0].cast<dtype>();
-            auto offset = spec[1].cast<tuple>()[1].cast<pybind11::int_>();
-            if ((len(name) == 0u) && format.kind() == 'V')
+            auto spec_fo = spec[1].cast<tuple>();
+            auto format = spec_fo[0].cast<dtype>();
+            auto offset = spec_fo[1].cast<pybind11::int_>();
+            if ((len(name) == 0u) && format.kind() == 'V') {
                 continue;
-            field_descriptors.push_back({(PYBIND11_STR_TYPE) name, format.strip_padding(format.itemsize()), offset});
+            }
+            field_descriptors.emplace_back(
+                std::move(name), format.strip_padding(format.itemsize()), std::move(offset));
         }
 
-        std::sort(field_descriptors.begin(), field_descriptors.end(),
-                  [](const field_descr& a, const field_descr& b) {
+        std::sort(field_descriptors.begin(),
+                  field_descriptors.end(),
+                  [](const field_descr &a, const field_descr &b) {
                       return a.offset.cast<int>() < b.offset.cast<int>();
                   });
 
         list names, formats, offsets;
-        for (auto& descr : field_descriptors) {
-            names.append(descr.name);
-            formats.append(descr.format);
-            offsets.append(descr.offset);
+        for (auto &descr : field_descriptors) {
+            names.append(std::move(descr.name));
+            formats.append(std::move(descr.format));
+            offsets.append(std::move(descr.offset));
         }
         return dtype(std::move(names), std::move(formats), std::move(offsets), itemsize);
     }
@@ -583,66 +693,85 @@ class array : public buffer {
     using StridesContainer = detail::any_container<ssize_t>;
 
     // Constructs an array taking shape/strides from arbitrary container types
-    array(const pybind11::dtype &dt, ShapeContainer shape, StridesContainer strides,
-          const void *ptr = nullptr, handle base = handle()) {
+    array(const pybind11::dtype &dt,
+          ShapeContainer shape,
+          StridesContainer strides,
+          const void *ptr = nullptr,
+          handle base = handle()) {
 
-        if (strides->empty())
+        if (strides->empty()) {
             *strides = detail::c_strides(*shape, dt.itemsize());
+        }
 
         auto ndim = shape->size();
-        if (ndim != strides->size())
+        if (ndim != strides->size()) {
             pybind11_fail("NumPy: shape ndim doesn't match strides ndim");
+        }
         auto descr = dt;
 
         int flags = 0;
         if (base && ptr) {
-            if (isinstance<array>(base))
+            if (isinstance<array>(base)) {
                 /* Copy flags from base (except ownership bit) */
-                flags = reinterpret_borrow<array>(base).flags() & ~detail::npy_api::NPY_ARRAY_OWNDATA_;
-            else
+                flags = reinterpret_borrow<array>(base).flags()
+                        & ~detail::npy_api::NPY_ARRAY_OWNDATA_;
+            } else {
                 /* Writable by default, easy to downgrade later on if needed */
                 flags = detail::npy_api::NPY_ARRAY_WRITEABLE_;
+            }
         }
 
         auto &api = detail::npy_api::get();
         auto tmp = reinterpret_steal<object>(api.PyArray_NewFromDescr_(
-            api.PyArray_Type_, descr.release().ptr(), (int) ndim,
+            api.PyArray_Type_,
+            descr.release().ptr(),
+            (int) ndim,
             // Use reinterpret_cast for PyPy on Windows (remove if fixed, checked on 7.3.1)
-            reinterpret_cast<Py_intptr_t*>(shape->data()),
-            reinterpret_cast<Py_intptr_t*>(strides->data()),
-            const_cast<void *>(ptr), flags, nullptr));
-        if (!tmp)
+            reinterpret_cast<Py_intptr_t *>(shape->data()),
+            reinterpret_cast<Py_intptr_t *>(strides->data()),
+            const_cast<void *>(ptr),
+            flags,
+            nullptr));
+        if (!tmp) {
             throw error_already_set();
+        }
         if (ptr) {
             if (base) {
                 api.PyArray_SetBaseObject_(tmp.ptr(), base.inc_ref().ptr());
             } else {
-                tmp = reinterpret_steal<object>(api.PyArray_NewCopy_(tmp.ptr(), -1 /* any order */));
+                tmp = reinterpret_steal<object>(
+                    api.PyArray_NewCopy_(tmp.ptr(), -1 /* any order */));
             }
         }
         m_ptr = tmp.release().ptr();
     }
 
-    array(const pybind11::dtype &dt, ShapeContainer shape, const void *ptr = nullptr, handle base = handle())
-        : array(dt, std::move(shape), {}, ptr, base) { }
+    array(const pybind11::dtype &dt,
+          ShapeContainer shape,
+          const void *ptr = nullptr,
+          handle base = handle())
+        : array(dt, std::move(shape), {}, ptr, base) {}
 
-    template <typename T, typename = detail::enable_if_t<std::is_integral<T>::value && !std::is_same<bool, T>::value>>
+    template <typename T,
+              typename
+              = detail::enable_if_t<std::is_integral<T>::value && !std::is_same<bool, T>::value>>
     array(const pybind11::dtype &dt, T count, const void *ptr = nullptr, handle base = handle())
-        : array(dt, {{count}}, ptr, base) { }
+        : array(dt, {{count}}, ptr, base) {}
 
     template <typename T>
     array(ShapeContainer shape, StridesContainer strides, const T *ptr, handle base = handle())
-        : array(pybind11::dtype::of<T>(), std::move(shape), std::move(strides), ptr, base) { }
+        : array(pybind11::dtype::of<T>(), std::move(shape), std::move(strides), ptr, base) {}
 
     template <typename T>
     array(ShapeContainer shape, const T *ptr, handle base = handle())
-        : array(std::move(shape), {}, ptr, base) { }
+        : array(std::move(shape), {}, ptr, base) {}
 
     template <typename T>
-    explicit array(ssize_t count, const T *ptr, handle base = handle()) : array({count}, {}, ptr, base) { }
+    explicit array(ssize_t count, const T *ptr, handle base = handle())
+        : array({count}, {}, ptr, base) {}
 
     explicit array(const buffer_info &info, handle base = handle())
-    : array(pybind11::dtype(info), info.shape, info.strides, info.ptr, base) { }
+        : array(pybind11::dtype(info), info.shape, info.strides, info.ptr, base) {}
 
     /// Array descriptor (dtype)
     pybind11::dtype dtype() const {
@@ -660,48 +789,38 @@ class array : public buffer {
     }
 
     /// Total number of bytes
-    ssize_t nbytes() const {
-        return size() * itemsize();
-    }
+    ssize_t nbytes() const { return size() * itemsize(); }
 
     /// Number of dimensions
-    ssize_t ndim() const {
-        return detail::array_proxy(m_ptr)->nd;
-    }
+    ssize_t ndim() const { return detail::array_proxy(m_ptr)->nd; }
 
     /// Base object
-    object base() const {
-        return reinterpret_borrow<object>(detail::array_proxy(m_ptr)->base);
-    }
+    object base() const { return reinterpret_borrow<object>(detail::array_proxy(m_ptr)->base); }
 
     /// Dimensions of the array
-    const ssize_t* shape() const {
-        return detail::array_proxy(m_ptr)->dimensions;
-    }
+    const ssize_t *shape() const { return detail::array_proxy(m_ptr)->dimensions; }
 
     /// Dimension along a given axis
     ssize_t shape(ssize_t dim) const {
-        if (dim >= ndim())
+        if (dim >= ndim()) {
             fail_dim_check(dim, "invalid axis");
+        }
         return shape()[dim];
     }
 
     /// Strides of the array
-    const ssize_t* strides() const {
-        return detail::array_proxy(m_ptr)->strides;
-    }
+    const ssize_t *strides() const { return detail::array_proxy(m_ptr)->strides; }
 
     /// Stride along a given axis
     ssize_t strides(ssize_t dim) const {
-        if (dim >= ndim())
+        if (dim >= ndim()) {
             fail_dim_check(dim, "invalid axis");
+        }
         return strides()[dim];
     }
 
     /// Return the NumPy array flags
-    int flags() const {
-        return detail::array_proxy(m_ptr)->flags;
-    }
+    int flags() const { return detail::array_proxy(m_ptr)->flags; }
 
     /// If set, the array is writeable (otherwise the buffer is read-only)
     bool writeable() const {
@@ -715,23 +834,27 @@ class array : public buffer {
 
     /// Pointer to the contained data. If index is not provided, points to the
     /// beginning of the buffer. May throw if the index would lead to out of bounds access.
-    template<typename... Ix> const void* data(Ix... index) const {
+    template <typename... Ix>
+    const void *data(Ix... index) const {
         return static_cast<const void *>(detail::array_proxy(m_ptr)->data + offset_at(index...));
     }
 
     /// Mutable pointer to the contained data. If index is not provided, points to the
     /// beginning of the buffer. May throw if the index would lead to out of bounds access.
     /// May throw if the array is not writeable.
-    template<typename... Ix> void* mutable_data(Ix... index) {
+    template <typename... Ix>
+    void *mutable_data(Ix... index) {
         check_writeable();
         return static_cast<void *>(detail::array_proxy(m_ptr)->data + offset_at(index...));
     }
 
     /// Byte offset from beginning of the array to a given index (full or partial).
     /// May throw if the index would lead to out of bounds access.
-    template<typename... Ix> ssize_t offset_at(Ix... index) const {
-        if ((ssize_t) sizeof...(index) > ndim())
+    template <typename... Ix>
+    ssize_t offset_at(Ix... index) const {
+        if ((ssize_t) sizeof...(index) > ndim()) {
             fail_dim_check(sizeof...(index), "too many indices for an array");
+        }
         return byte_offset(ssize_t(index)...);
     }
 
@@ -739,7 +862,8 @@ class array : public buffer {
 
     /// Item count from beginning of the array to a given index (full or partial).
     /// May throw if the index would lead to out of bounds access.
-    template<typename... Ix> ssize_t index_at(Ix... index) const {
+    template <typename... Ix>
+    ssize_t index_at(Ix... index) const {
         return offset_at(index...) / itemsize();
     }
 
@@ -749,30 +873,37 @@ class array : public buffer {
      * care: the array must not be destroyed or reshaped for the duration of the returned object,
      * and the caller must take care not to access invalid dimensions or dimension indices.
      */
-    template <typename T, ssize_t Dims = -1> detail::unchecked_mutable_reference<T, Dims> mutable_unchecked() & {
-        if (PYBIND11_SILENCE_MSVC_C4127(Dims >= 0) && ndim() != Dims)
-            throw std::domain_error("array has incorrect number of dimensions: " + std::to_string(ndim()) +
-                    "; expected " + std::to_string(Dims));
-        return detail::unchecked_mutable_reference<T, Dims>(mutable_data(), shape(), strides(), ndim());
+    template <typename T, ssize_t Dims = -1>
+    detail::unchecked_mutable_reference<T, Dims> mutable_unchecked() & {
+        if (PYBIND11_SILENCE_MSVC_C4127(Dims >= 0) && ndim() != Dims) {
+            throw std::domain_error("array has incorrect number of dimensions: "
+                                    + std::to_string(ndim()) + "; expected "
+                                    + std::to_string(Dims));
+        }
+        return detail::unchecked_mutable_reference<T, Dims>(
+            mutable_data(), shape(), strides(), ndim());
     }
 
     /**
      * Returns a proxy object that provides const access to the array's data without bounds or
      * dimensionality checking.  Unlike `mutable_unchecked()`, this does not require that the
-     * underlying array have the `writable` flag.  Use with care: the array must not be destroyed or
-     * reshaped for the duration of the returned object, and the caller must take care not to access
-     * invalid dimensions or dimension indices.
+     * underlying array have the `writable` flag.  Use with care: the array must not be destroyed
+     * or reshaped for the duration of the returned object, and the caller must take care not to
+     * access invalid dimensions or dimension indices.
      */
-    template <typename T, ssize_t Dims = -1> detail::unchecked_reference<T, Dims> unchecked() const & {
-        if (PYBIND11_SILENCE_MSVC_C4127(Dims >= 0) && ndim() != Dims)
-            throw std::domain_error("array has incorrect number of dimensions: " + std::to_string(ndim()) +
-                    "; expected " + std::to_string(Dims));
+    template <typename T, ssize_t Dims = -1>
+    detail::unchecked_reference<T, Dims> unchecked() const & {
+        if (PYBIND11_SILENCE_MSVC_C4127(Dims >= 0) && ndim() != Dims) {
+            throw std::domain_error("array has incorrect number of dimensions: "
+                                    + std::to_string(ndim()) + "; expected "
+                                    + std::to_string(Dims));
+        }
         return detail::unchecked_reference<T, Dims>(data(), shape(), strides(), ndim());
     }
 
     /// Return a new view with all of the dimensions of length 1 removed
     array squeeze() {
-        auto& api = detail::npy_api::get();
+        auto &api = detail::npy_api::get();
         return reinterpret_steal<array>(api.PyArray_Squeeze_(m_ptr));
     }
 
@@ -780,17 +911,19 @@ class array : public buffer {
     /// If refcheck is true and more that one reference exist to this array
     /// then resize will succeed only if it makes a reshape, i.e. original size doesn't change
     void resize(ShapeContainer new_shape, bool refcheck = true) {
-        detail::npy_api::PyArray_Dims d = {
-            // Use reinterpret_cast for PyPy on Windows (remove if fixed, checked on 7.3.1)
-            reinterpret_cast<Py_intptr_t*>(new_shape->data()),
-            int(new_shape->size())
-        };
+        detail::npy_api::PyArray_Dims d
+            = {// Use reinterpret_cast for PyPy on Windows (remove if fixed, checked on 7.3.1)
+               reinterpret_cast<Py_intptr_t *>(new_shape->data()),
+               int(new_shape->size())};
         // try to resize, set ordering param to -1 cause it's not used anyway
         auto new_array = reinterpret_steal<object>(
-            detail::npy_api::get().PyArray_Resize_(m_ptr, &d, int(refcheck), -1)
-        );
-        if (!new_array) throw error_already_set();
-        if (isinstance<array>(new_array)) { *this = std::move(new_array); }
+            detail::npy_api::get().PyArray_Resize_(m_ptr, &d, int(refcheck), -1));
+        if (!new_array) {
+            throw error_already_set();
+        }
+        if (isinstance<array>(new_array)) {
+            *this = std::move(new_array);
+        }
     }
 
     /// Optional `order` parameter omitted, to be added as needed.
@@ -824,40 +957,46 @@ class array : public buffer {
     /// In case of an error, nullptr is returned and the Python error is cleared.
     static array ensure(handle h, int ExtraFlags = 0) {
         auto result = reinterpret_steal<array>(raw_array(h.ptr(), ExtraFlags));
-        if (!result)
+        if (!result) {
             PyErr_Clear();
+        }
         return result;
     }
 
 protected:
-    template<typename, typename> friend struct detail::npy_format_descriptor;
+    template <typename, typename>
+    friend struct detail::npy_format_descriptor;
 
-    void fail_dim_check(ssize_t dim, const std::string& msg) const {
-        throw index_error(msg + ": " + std::to_string(dim) +
-                          " (ndim = " + std::to_string(ndim()) + ")");
+    void fail_dim_check(ssize_t dim, const std::string &msg) const {
+        throw index_error(msg + ": " + std::to_string(dim) + " (ndim = " + std::to_string(ndim())
+                          + ')');
     }
 
-    template<typename... Ix> ssize_t byte_offset(Ix... index) const {
+    template <typename... Ix>
+    ssize_t byte_offset(Ix... index) const {
         check_dimensions(index...);
         return detail::byte_offset_unsafe(strides(), ssize_t(index)...);
     }
 
     void check_writeable() const {
-        if (!writeable())
+        if (!writeable()) {
             throw std::domain_error("array is not writeable");
+        }
     }
 
-    template<typename... Ix> void check_dimensions(Ix... index) const {
+    template <typename... Ix>
+    void check_dimensions(Ix... index) const {
         check_dimensions_impl(ssize_t(0), shape(), ssize_t(index)...);
     }
 
-    void check_dimensions_impl(ssize_t, const ssize_t*) const { }
+    void check_dimensions_impl(ssize_t, const ssize_t *) const {}
 
-    template<typename... Ix> void check_dimensions_impl(ssize_t axis, const ssize_t* shape, ssize_t i, Ix... index) const {
+    template <typename... Ix>
+    void check_dimensions_impl(ssize_t axis, const ssize_t *shape, ssize_t i, Ix... index) const {
         if (i >= *shape) {
-            throw index_error(std::string("index ") + std::to_string(i) +
-                              " is out of bounds for axis " + std::to_string(axis) +
-                              " with size " + std::to_string(*shape));
+            throw index_error(std::string("index ") + std::to_string(i)
+                              + " is out of bounds for axis " + std::to_string(axis)
+                              + " with size " + std::to_string(*shape));
         }
         check_dimensions_impl(axis + 1, shape + 1, index...);
     }
@@ -873,36 +1012,51 @@ class array : public buffer {
     }
 };
 
-template <typename T, int ExtraFlags = array::forcecast> class array_t : public array {
+template <typename T, int ExtraFlags = array::forcecast>
+class array_t : public array {
 private:
     struct private_ctor {};
     // Delegating constructor needed when both moving and accessing in the same constructor
-    array_t(private_ctor, ShapeContainer &&shape, StridesContainer &&strides, const T *ptr, handle base)
+    array_t(private_ctor,
+            ShapeContainer &&shape,
+            StridesContainer &&strides,
+            const T *ptr,
+            handle base)
         : array(std::move(shape), std::move(strides), ptr, base) {}
+
 public:
     static_assert(!detail::array_info<T>::is_array, "Array types cannot be used with array_t");
 
     using value_type = T;
 
     array_t() : array(0, static_cast<const T *>(nullptr)) {}
-    array_t(handle h, borrowed_t) : array(h, borrowed_t{}) { }
-    array_t(handle h, stolen_t) : array(h, stolen_t{}) { }
+    array_t(handle h, borrowed_t) : array(h, borrowed_t{}) {}
+    array_t(handle h, stolen_t) : array(h, stolen_t{}) {}
 
     PYBIND11_DEPRECATED("Use array_t<T>::ensure() instead")
     array_t(handle h, bool is_borrowed) : array(raw_array_t(h.ptr()), stolen_t{}) {
-        if (!m_ptr) PyErr_Clear();
-        if (!is_borrowed) Py_XDECREF(h.ptr());
+        if (!m_ptr) {
+            PyErr_Clear();
+        }
+        if (!is_borrowed) {
+            Py_XDECREF(h.ptr());
+        }
     }
 
     // NOLINTNEXTLINE(google-explicit-constructor)
     array_t(const object &o) : array(raw_array_t(o.ptr()), stolen_t{}) {
-        if (!m_ptr) throw error_already_set();
+        if (!m_ptr) {
+            throw error_already_set();
+        }
     }
 
-    explicit array_t(const buffer_info& info, handle base = handle()) : array(info, base) { }
+    explicit array_t(const buffer_info &info, handle base = handle()) : array(info, base) {}
 
-    array_t(ShapeContainer shape, StridesContainer strides, const T *ptr = nullptr, handle base = handle())
-        : array(std::move(shape), std::move(strides), ptr, base) { }
+    array_t(ShapeContainer shape,
+            StridesContainer strides,
+            const T *ptr = nullptr,
+            handle base = handle())
+        : array(std::move(shape), std::move(strides), ptr, base) {}
 
     explicit array_t(ShapeContainer shape, const T *ptr = nullptr, handle base = handle())
         : array_t(private_ctor{},
@@ -913,36 +1067,43 @@ template <typename T, int ExtraFlags = array::forcecast> class array_t : public
                   base) {}
 
     explicit array_t(ssize_t count, const T *ptr = nullptr, handle base = handle())
-        : array({count}, {}, ptr, base) { }
+        : array({count}, {}, ptr, base) {}
 
-    constexpr ssize_t itemsize() const {
-        return sizeof(T);
-    }
+    constexpr ssize_t itemsize() const { return sizeof(T); }
 
-    template<typename... Ix> ssize_t index_at(Ix... index) const {
+    template <typename... Ix>
+    ssize_t index_at(Ix... index) const {
         return offset_at(index...) / itemsize();
     }
 
-    template<typename... Ix> const T* data(Ix... index) const {
-        return static_cast<const T*>(array::data(index...));
+    template <typename... Ix>
+    const T *data(Ix... index) const {
+        return static_cast<const T *>(array::data(index...));
     }
 
-    template<typename... Ix> T* mutable_data(Ix... index) {
-        return static_cast<T*>(array::mutable_data(index...));
+    template <typename... Ix>
+    T *mutable_data(Ix... index) {
+        return static_cast<T *>(array::mutable_data(index...));
     }
 
     // Reference to element at a given index
-    template<typename... Ix> const T& at(Ix... index) const {
-        if ((ssize_t) sizeof...(index) != ndim())
+    template <typename... Ix>
+    const T &at(Ix... index) const {
+        if ((ssize_t) sizeof...(index) != ndim()) {
             fail_dim_check(sizeof...(index), "index dimension mismatch");
-        return *(static_cast<const T*>(array::data()) + byte_offset(ssize_t(index)...) / itemsize());
+        }
+        return *(static_cast<const T *>(array::data())
+                 + byte_offset(ssize_t(index)...) / itemsize());
     }
 
     // Mutable reference to element at a given index
-    template<typename... Ix> T& mutable_at(Ix... index) {
-        if ((ssize_t) sizeof...(index) != ndim())
+    template <typename... Ix>
+    T &mutable_at(Ix... index) {
+        if ((ssize_t) sizeof...(index) != ndim()) {
             fail_dim_check(sizeof...(index), "index dimension mismatch");
-        return *(static_cast<T*>(array::mutable_data()) + byte_offset(ssize_t(index)...) / itemsize());
+        }
+        return *(static_cast<T *>(array::mutable_data())
+                 + byte_offset(ssize_t(index)...) / itemsize());
     }
 
     /**
@@ -951,7 +1112,8 @@ template <typename T, int ExtraFlags = array::forcecast> class array_t : public
      * care: the array must not be destroyed or reshaped for the duration of the returned object,
      * and the caller must take care not to access invalid dimensions or dimension indices.
      */
-    template <ssize_t Dims = -1> detail::unchecked_mutable_reference<T, Dims> mutable_unchecked() & {
+    template <ssize_t Dims = -1>
+    detail::unchecked_mutable_reference<T, Dims> mutable_unchecked() & {
         return array::mutable_unchecked<T, Dims>();
     }
 
@@ -962,7 +1124,8 @@ template <typename T, int ExtraFlags = array::forcecast> class array_t : public
      * for the duration of the returned object, and the caller must take care not to access invalid
      * dimensions or dimension indices.
      */
-    template <ssize_t Dims = -1> detail::unchecked_reference<T, Dims> unchecked() const & {
+    template <ssize_t Dims = -1>
+    detail::unchecked_reference<T, Dims> unchecked() const & {
         return array::unchecked<T, Dims>();
     }
 
@@ -970,15 +1133,17 @@ template <typename T, int ExtraFlags = array::forcecast> class array_t : public
     /// it).  In case of an error, nullptr is returned and the Python error is cleared.
     static array_t ensure(handle h) {
         auto result = reinterpret_steal<array_t>(raw_array_t(h.ptr()));
-        if (!result)
+        if (!result) {
             PyErr_Clear();
+        }
         return result;
     }
 
     static bool check_(handle h) {
         const auto &api = detail::npy_api::get();
         return api.PyArray_Check_(h.ptr())
-               && api.PyArray_EquivTypes_(detail::array_proxy(h.ptr())->descr, dtype::of<T>().ptr())
+               && api.PyArray_EquivTypes_(detail::array_proxy(h.ptr())->descr,
+                                          dtype::of<T>().ptr())
                && detail::check_flags(h.ptr(), ExtraFlags & (array::c_style | array::f_style));
     }
 
@@ -989,9 +1154,13 @@ template <typename T, int ExtraFlags = array::forcecast> class array_t : public
             PyErr_SetString(PyExc_ValueError, "cannot create a pybind11::array_t from a nullptr");
             return nullptr;
         }
-        return detail::npy_api::get().PyArray_FromAny_(
-            ptr, dtype::of<T>().release().ptr(), 0, 0,
-            detail::npy_api::NPY_ARRAY_ENSUREARRAY_ | ExtraFlags, nullptr);
+        return detail::npy_api::get().PyArray_FromAny_(ptr,
+                                                       dtype::of<T>().release().ptr(),
+                                                       0,
+                                                       0,
+                                                       detail::npy_api::NPY_ARRAY_ENSUREARRAY_
+                                                           | ExtraFlags,
+                                                       nullptr);
     }
 };
 
@@ -1002,11 +1171,13 @@ struct format_descriptor<T, detail::enable_if_t<detail::is_pod_struct<T>::value>
     }
 };
 
-template <size_t N> struct format_descriptor<char[N]> {
-    static std::string format() { return std::to_string(N) + "s"; }
+template <size_t N>
+struct format_descriptor<char[N]> {
+    static std::string format() { return std::to_string(N) + 's'; }
 };
-template <size_t N> struct format_descriptor<std::array<char, N>> {
-    static std::string format() { return std::to_string(N) + "s"; }
+template <size_t N>
+struct format_descriptor<std::array<char, N>> {
+    static std::string format() { return std::to_string(N) + 's'; }
 };
 
 template <typename T>
@@ -1032,8 +1203,9 @@ struct pyobject_caster<array_t<T, ExtraFlags>> {
     using type = array_t<T, ExtraFlags>;
 
     bool load(handle src, bool convert) {
-        if (!convert && !type::check_(src))
+        if (!convert && !type::check_(src)) {
             return false;
+        }
         value = type::ensure(src);
         return static_cast<bool>(value);
     }
@@ -1046,7 +1218,7 @@ struct pyobject_caster<array_t<T, ExtraFlags>> {
 
 template <typename T>
 struct compare_buffer_info<T, detail::enable_if_t<detail::is_pod_struct<T>::value>> {
-    static bool compare(const buffer_info& b) {
+    static bool compare(const buffer_info &b) {
         return npy_api::get().PyArray_EquivTypes_(dtype::of<T>().ptr(), dtype(b).ptr());
     }
 };
@@ -1057,77 +1229,104 @@ struct npy_format_descriptor_name;
 template <typename T>
 struct npy_format_descriptor_name<T, enable_if_t<std::is_integral<T>::value>> {
     static constexpr auto name = const_name<std::is_same<T, bool>::value>(
-        const_name("bool"), const_name<std::is_signed<T>::value>("numpy.int", "numpy.uint") + const_name<sizeof(T)*8>()
-    );
+        const_name("bool"),
+        const_name<std::is_signed<T>::value>("numpy.int", "numpy.uint")
+            + const_name<sizeof(T) * 8>());
 };
 
 template <typename T>
 struct npy_format_descriptor_name<T, enable_if_t<std::is_floating_point<T>::value>> {
-    static constexpr auto name = const_name<std::is_same<T, float>::value
-                                   || std::is_same<T, const float>::value
-                                   || std::is_same<T, double>::value
-                                   || std::is_same<T, const double>::value>(
-        const_name("numpy.float") + const_name<sizeof(T)*8>(), const_name("numpy.longdouble")
-    );
+    static constexpr auto name = const_name < std::is_same<T, float>::value
+                                 || std::is_same<T, const float>::value
+                                 || std::is_same<T, double>::value
+                                 || std::is_same<T, const double>::value
+                                        > (const_name("numpy.float") + const_name<sizeof(T) * 8>(),
+                                           const_name("numpy.longdouble"));
 };
 
 template <typename T>
 struct npy_format_descriptor_name<T, enable_if_t<is_complex<T>::value>> {
-    static constexpr auto name = const_name<std::is_same<typename T::value_type, float>::value
-                                   || std::is_same<typename T::value_type, const float>::value
-                                   || std::is_same<typename T::value_type, double>::value
-                                   || std::is_same<typename T::value_type, const double>::value>(
-        const_name("numpy.complex") + const_name<sizeof(typename T::value_type)*16>(), const_name("numpy.longcomplex")
-    );
+    static constexpr auto name = const_name < std::is_same<typename T::value_type, float>::value
+                                 || std::is_same<typename T::value_type, const float>::value
+                                 || std::is_same<typename T::value_type, double>::value
+                                 || std::is_same<typename T::value_type, const double>::value
+                                        > (const_name("numpy.complex")
+                                               + const_name<sizeof(typename T::value_type) * 16>(),
+                                           const_name("numpy.longcomplex"));
 };
 
 template <typename T>
-struct npy_format_descriptor<T, enable_if_t<satisfies_any_of<T, std::is_arithmetic, is_complex>::value>>
+struct npy_format_descriptor<
+    T,
+    enable_if_t<satisfies_any_of<T, std::is_arithmetic, is_complex>::value>>
     : npy_format_descriptor_name<T> {
 private:
     // NB: the order here must match the one in common.h
-    constexpr static const int values[15] = {
-        npy_api::NPY_BOOL_,
-        npy_api::NPY_BYTE_,   npy_api::NPY_UBYTE_,   npy_api::NPY_INT16_,    npy_api::NPY_UINT16_,
-        npy_api::NPY_INT32_,  npy_api::NPY_UINT32_,  npy_api::NPY_INT64_,    npy_api::NPY_UINT64_,
-        npy_api::NPY_FLOAT_,  npy_api::NPY_DOUBLE_,  npy_api::NPY_LONGDOUBLE_,
-        npy_api::NPY_CFLOAT_, npy_api::NPY_CDOUBLE_, npy_api::NPY_CLONGDOUBLE_
-    };
+    constexpr static const int values[15] = {npy_api::NPY_BOOL_,
+                                             npy_api::NPY_BYTE_,
+                                             npy_api::NPY_UBYTE_,
+                                             npy_api::NPY_INT16_,
+                                             npy_api::NPY_UINT16_,
+                                             npy_api::NPY_INT32_,
+                                             npy_api::NPY_UINT32_,
+                                             npy_api::NPY_INT64_,
+                                             npy_api::NPY_UINT64_,
+                                             npy_api::NPY_FLOAT_,
+                                             npy_api::NPY_DOUBLE_,
+                                             npy_api::NPY_LONGDOUBLE_,
+                                             npy_api::NPY_CFLOAT_,
+                                             npy_api::NPY_CDOUBLE_,
+                                             npy_api::NPY_CLONGDOUBLE_};
 
 public:
     static constexpr int value = values[detail::is_fmt_numeric<T>::index];
 
     static pybind11::dtype dtype() {
-        if (auto ptr = npy_api::get().PyArray_DescrFromType_(value))
+        if (auto *ptr = npy_api::get().PyArray_DescrFromType_(value)) {
             return reinterpret_steal<pybind11::dtype>(ptr);
+        }
         pybind11_fail("Unsupported buffer format!");
     }
 };
 
-#define PYBIND11_DECL_CHAR_FMT \
-    static constexpr auto name = const_name("S") + const_name<N>(); \
-    static pybind11::dtype dtype() { return pybind11::dtype(std::string("S") + std::to_string(N)); }
-template <size_t N> struct npy_format_descriptor<char[N]> { PYBIND11_DECL_CHAR_FMT };
-template <size_t N> struct npy_format_descriptor<std::array<char, N>> { PYBIND11_DECL_CHAR_FMT };
+#define PYBIND11_DECL_CHAR_FMT                                                                    \
+    static constexpr auto name = const_name("S") + const_name<N>();                               \
+    static pybind11::dtype dtype() {                                                              \
+        return pybind11::dtype(std::string("S") + std::to_string(N));                             \
+    }
+template <size_t N>
+struct npy_format_descriptor<char[N]> {
+    PYBIND11_DECL_CHAR_FMT
+};
+template <size_t N>
+struct npy_format_descriptor<std::array<char, N>> {
+    PYBIND11_DECL_CHAR_FMT
+};
 #undef PYBIND11_DECL_CHAR_FMT
 
-template<typename T> struct npy_format_descriptor<T, enable_if_t<array_info<T>::is_array>> {
+template <typename T>
+struct npy_format_descriptor<T, enable_if_t<array_info<T>::is_array>> {
 private:
     using base_descr = npy_format_descriptor<typename array_info<T>::type>;
+
 public:
     static_assert(!array_info<T>::is_empty, "Zero-sized arrays are not supported");
 
-    static constexpr auto name = const_name("(") + array_info<T>::extents + const_name(")") + base_descr::name;
+    static constexpr auto name
+        = const_name("(") + array_info<T>::extents + const_name(")") + base_descr::name;
     static pybind11::dtype dtype() {
         list shape;
         array_info<T>::append_extents(shape);
-        return pybind11::dtype::from_args(pybind11::make_tuple(base_descr::dtype(), shape));
+        return pybind11::dtype::from_args(
+            pybind11::make_tuple(base_descr::dtype(), std::move(shape)));
     }
 };
 
-template<typename T> struct npy_format_descriptor<T, enable_if_t<std::is_enum<T>::value>> {
+template <typename T>
+struct npy_format_descriptor<T, enable_if_t<std::is_enum<T>::value>> {
 private:
     using base_descr = npy_format_descriptor<typename std::underlying_type<T>::type>;
+
 public:
     static constexpr auto name = base_descr::name;
     static pybind11::dtype dtype() { return base_descr::dtype(); }
@@ -1141,31 +1340,35 @@ struct field_descriptor {
     dtype descr;
 };
 
-PYBIND11_NOINLINE void register_structured_dtype(
-    any_container<field_descriptor> fields,
-    const std::type_info& tinfo, ssize_t itemsize,
-    bool (*direct_converter)(PyObject *, void *&)) {
+PYBIND11_NOINLINE void register_structured_dtype(any_container<field_descriptor> fields,
+                                                 const std::type_info &tinfo,
+                                                 ssize_t itemsize,
+                                                 bool (*direct_converter)(PyObject *, void *&)) {
 
-    auto& numpy_internals = get_numpy_internals();
-    if (numpy_internals.get_type_info(tinfo, false))
+    auto &numpy_internals = get_numpy_internals();
+    if (numpy_internals.get_type_info(tinfo, false)) {
         pybind11_fail("NumPy: dtype is already registered");
+    }
 
     // Use ordered fields because order matters as of NumPy 1.14:
     // https://docs.scipy.org/doc/numpy/release.html#multiple-field-indexing-assignment-of-structured-arrays
     std::vector<field_descriptor> ordered_fields(std::move(fields));
-    std::sort(ordered_fields.begin(), ordered_fields.end(),
+    std::sort(
+        ordered_fields.begin(),
+        ordered_fields.end(),
         [](const field_descriptor &a, const field_descriptor &b) { return a.offset < b.offset; });
 
     list names, formats, offsets;
-    for (auto& field : ordered_fields) {
-        if (!field.descr)
-            pybind11_fail(std::string("NumPy: unsupported field dtype: `") +
-                            field.name + "` @ " + tinfo.name());
-        names.append(PYBIND11_STR_TYPE(field.name));
+    for (auto &field : ordered_fields) {
+        if (!field.descr) {
+            pybind11_fail(std::string("NumPy: unsupported field dtype: `") + field.name + "` @ "
+                          + tinfo.name());
+        }
+        names.append(pybind11::str(field.name));
         formats.append(field.descr);
         offsets.append(pybind11::int_(field.offset));
     }
-    auto dtype_ptr
+    auto *dtype_ptr
         = pybind11::dtype(std::move(names), std::move(formats), std::move(offsets), itemsize)
               .release()
               .ptr();
@@ -1185,36 +1388,39 @@ PYBIND11_NOINLINE void register_structured_dtype(
     // overriding the endianness. Putting the ^ in front of individual fields
     // isn't guaranteed to work due to https://github.com/numpy/numpy/issues/9049
     oss << "^T{";
-    for (auto& field : ordered_fields) {
-        if (field.offset > offset)
+    for (auto &field : ordered_fields) {
+        if (field.offset > offset) {
             oss << (field.offset - offset) << 'x';
+        }
         oss << field.format << ':' << field.name << ':';
         offset = field.offset + field.size;
     }
-    if (itemsize > offset)
+    if (itemsize > offset) {
         oss << (itemsize - offset) << 'x';
+    }
     oss << '}';
     auto format_str = oss.str();
 
     // Sanity check: verify that NumPy properly parses our buffer format string
-    auto& api = npy_api::get();
-    auto arr =  array(buffer_info(nullptr, itemsize, format_str, 1));
-    if (!api.PyArray_EquivTypes_(dtype_ptr, arr.dtype().ptr()))
+    auto &api = npy_api::get();
+    auto arr = array(buffer_info(nullptr, itemsize, format_str, 1));
+    if (!api.PyArray_EquivTypes_(dtype_ptr, arr.dtype().ptr())) {
         pybind11_fail("NumPy: invalid buffer descriptor!");
+    }
 
     auto tindex = std::type_index(tinfo);
-    numpy_internals.registered_dtypes[tindex] = { dtype_ptr, format_str };
+    numpy_internals.registered_dtypes[tindex] = {dtype_ptr, std::move(format_str)};
     get_internals().direct_conversions[tindex].push_back(direct_converter);
 }
 
-template <typename T, typename SFINAE> struct npy_format_descriptor {
-    static_assert(is_pod_struct<T>::value, "Attempt to use a non-POD or unimplemented POD type as a numpy dtype");
+template <typename T, typename SFINAE>
+struct npy_format_descriptor {
+    static_assert(is_pod_struct<T>::value,
+                  "Attempt to use a non-POD or unimplemented POD type as a numpy dtype");
 
     static constexpr auto name = make_caster<T>::name;
 
-    static pybind11::dtype dtype() {
-        return reinterpret_borrow<pybind11::dtype>(dtype_ptr());
-    }
+    static pybind11::dtype dtype() { return reinterpret_borrow<pybind11::dtype>(dtype_ptr()); }
 
     static std::string format() {
         static auto format_str = get_numpy_internals().get_type_info<T>(true)->format_str;
@@ -1222,20 +1428,23 @@ template <typename T, typename SFINAE> struct npy_format_descriptor {
     }
 
     static void register_dtype(any_container<field_descriptor> fields) {
-        register_structured_dtype(std::move(fields), typeid(typename std::remove_cv<T>::type),
-                                  sizeof(T), &direct_converter);
+        register_structured_dtype(std::move(fields),
+                                  typeid(typename std::remove_cv<T>::type),
+                                  sizeof(T),
+                                  &direct_converter);
     }
 
 private:
-    static PyObject* dtype_ptr() {
-        static PyObject* ptr = get_numpy_internals().get_type_info<T>(true)->dtype_ptr;
+    static PyObject *dtype_ptr() {
+        static PyObject *ptr = get_numpy_internals().get_type_info<T>(true)->dtype_ptr;
         return ptr;
     }
 
-    static bool direct_converter(PyObject *obj, void*& value) {
-        auto& api = npy_api::get();
-        if (!PyObject_TypeCheck(obj, api.PyVoidArrType_Type_))
+    static bool direct_converter(PyObject *obj, void *&value) {
+        auto &api = npy_api::get();
+        if (!PyObject_TypeCheck(obj, api.PyVoidArrType_Type_)) {
             return false;
+        }
         if (auto descr = reinterpret_steal<object>(api.PyArray_DescrFromScalar_(obj))) {
             if (api.PyArray_EquivTypes_(dtype_ptr(), descr.ptr())) {
                 value = ((PyVoidScalarObject_Proxy *) obj)->obval;
@@ -1247,78 +1456,80 @@ template <typename T, typename SFINAE> struct npy_format_descriptor {
 };
 
 #ifdef __CLION_IDE__ // replace heavy macro with dummy code for the IDE (doesn't affect code)
-# define PYBIND11_NUMPY_DTYPE(Type, ...) ((void)0)
-# define PYBIND11_NUMPY_DTYPE_EX(Type, ...) ((void)0)
+#    define PYBIND11_NUMPY_DTYPE(Type, ...) ((void) 0)
+#    define PYBIND11_NUMPY_DTYPE_EX(Type, ...) ((void) 0)
 #else
 
-#define PYBIND11_FIELD_DESCRIPTOR_EX(T, Field, Name)                                          \
-    ::pybind11::detail::field_descriptor {                                                    \
-        Name, offsetof(T, Field), sizeof(decltype(std::declval<T>().Field)),                  \
-        ::pybind11::format_descriptor<decltype(std::declval<T>().Field)>::format(),           \
-        ::pybind11::detail::npy_format_descriptor<decltype(std::declval<T>().Field)>::dtype() \
-    }
+#    define PYBIND11_FIELD_DESCRIPTOR_EX(T, Field, Name)                                          \
+        ::pybind11::detail::field_descriptor {                                                    \
+            Name, offsetof(T, Field), sizeof(decltype(std::declval<T>().Field)),                  \
+                ::pybind11::format_descriptor<decltype(std::declval<T>().Field)>::format(),       \
+                ::pybind11::detail::npy_format_descriptor<                                        \
+                    decltype(std::declval<T>().Field)>::dtype()                                   \
+        }
 
 // Extract name, offset and format descriptor for a struct field
-#define PYBIND11_FIELD_DESCRIPTOR(T, Field) PYBIND11_FIELD_DESCRIPTOR_EX(T, Field, #Field)
+#    define PYBIND11_FIELD_DESCRIPTOR(T, Field) PYBIND11_FIELD_DESCRIPTOR_EX(T, Field, #    Field)
 
 // The main idea of this macro is borrowed from https://github.com/swansontec/map-macro
 // (C) William Swanson, Paul Fultz
-#define PYBIND11_EVAL0(...) __VA_ARGS__
-#define PYBIND11_EVAL1(...) PYBIND11_EVAL0 (PYBIND11_EVAL0 (PYBIND11_EVAL0 (__VA_ARGS__)))
-#define PYBIND11_EVAL2(...) PYBIND11_EVAL1 (PYBIND11_EVAL1 (PYBIND11_EVAL1 (__VA_ARGS__)))
-#define PYBIND11_EVAL3(...) PYBIND11_EVAL2 (PYBIND11_EVAL2 (PYBIND11_EVAL2 (__VA_ARGS__)))
-#define PYBIND11_EVAL4(...) PYBIND11_EVAL3 (PYBIND11_EVAL3 (PYBIND11_EVAL3 (__VA_ARGS__)))
-#define PYBIND11_EVAL(...)  PYBIND11_EVAL4 (PYBIND11_EVAL4 (PYBIND11_EVAL4 (__VA_ARGS__)))
-#define PYBIND11_MAP_END(...)
-#define PYBIND11_MAP_OUT
-#define PYBIND11_MAP_COMMA ,
-#define PYBIND11_MAP_GET_END() 0, PYBIND11_MAP_END
-#define PYBIND11_MAP_NEXT0(test, next, ...) next PYBIND11_MAP_OUT
-#define PYBIND11_MAP_NEXT1(test, next) PYBIND11_MAP_NEXT0 (test, next, 0)
-#define PYBIND11_MAP_NEXT(test, next)  PYBIND11_MAP_NEXT1 (PYBIND11_MAP_GET_END test, next)
-#if defined(_MSC_VER) && !defined(__clang__) // MSVC is not as eager to expand macros, hence this workaround
-#define PYBIND11_MAP_LIST_NEXT1(test, next) \
-    PYBIND11_EVAL0 (PYBIND11_MAP_NEXT0 (test, PYBIND11_MAP_COMMA next, 0))
-#else
-#define PYBIND11_MAP_LIST_NEXT1(test, next) \
-    PYBIND11_MAP_NEXT0 (test, PYBIND11_MAP_COMMA next, 0)
-#endif
-#define PYBIND11_MAP_LIST_NEXT(test, next) \
-    PYBIND11_MAP_LIST_NEXT1 (PYBIND11_MAP_GET_END test, next)
-#define PYBIND11_MAP_LIST0(f, t, x, peek, ...) \
-    f(t, x) PYBIND11_MAP_LIST_NEXT (peek, PYBIND11_MAP_LIST1) (f, t, peek, __VA_ARGS__)
-#define PYBIND11_MAP_LIST1(f, t, x, peek, ...) \
-    f(t, x) PYBIND11_MAP_LIST_NEXT (peek, PYBIND11_MAP_LIST0) (f, t, peek, __VA_ARGS__)
+#    define PYBIND11_EVAL0(...) __VA_ARGS__
+#    define PYBIND11_EVAL1(...) PYBIND11_EVAL0(PYBIND11_EVAL0(PYBIND11_EVAL0(__VA_ARGS__)))
+#    define PYBIND11_EVAL2(...) PYBIND11_EVAL1(PYBIND11_EVAL1(PYBIND11_EVAL1(__VA_ARGS__)))
+#    define PYBIND11_EVAL3(...) PYBIND11_EVAL2(PYBIND11_EVAL2(PYBIND11_EVAL2(__VA_ARGS__)))
+#    define PYBIND11_EVAL4(...) PYBIND11_EVAL3(PYBIND11_EVAL3(PYBIND11_EVAL3(__VA_ARGS__)))
+#    define PYBIND11_EVAL(...) PYBIND11_EVAL4(PYBIND11_EVAL4(PYBIND11_EVAL4(__VA_ARGS__)))
+#    define PYBIND11_MAP_END(...)
+#    define PYBIND11_MAP_OUT
+#    define PYBIND11_MAP_COMMA ,
+#    define PYBIND11_MAP_GET_END() 0, PYBIND11_MAP_END
+#    define PYBIND11_MAP_NEXT0(test, next, ...) next PYBIND11_MAP_OUT
+#    define PYBIND11_MAP_NEXT1(test, next) PYBIND11_MAP_NEXT0(test, next, 0)
+#    define PYBIND11_MAP_NEXT(test, next) PYBIND11_MAP_NEXT1(PYBIND11_MAP_GET_END test, next)
+#    if defined(_MSC_VER)                                                                         \
+        && !defined(__clang__) // MSVC is not as eager to expand macros, hence this workaround
+#        define PYBIND11_MAP_LIST_NEXT1(test, next)                                               \
+            PYBIND11_EVAL0(PYBIND11_MAP_NEXT0(test, PYBIND11_MAP_COMMA next, 0))
+#    else
+#        define PYBIND11_MAP_LIST_NEXT1(test, next)                                               \
+            PYBIND11_MAP_NEXT0(test, PYBIND11_MAP_COMMA next, 0)
+#    endif
+#    define PYBIND11_MAP_LIST_NEXT(test, next)                                                    \
+        PYBIND11_MAP_LIST_NEXT1(PYBIND11_MAP_GET_END test, next)
+#    define PYBIND11_MAP_LIST0(f, t, x, peek, ...)                                                \
+        f(t, x) PYBIND11_MAP_LIST_NEXT(peek, PYBIND11_MAP_LIST1)(f, t, peek, __VA_ARGS__)
+#    define PYBIND11_MAP_LIST1(f, t, x, peek, ...)                                                \
+        f(t, x) PYBIND11_MAP_LIST_NEXT(peek, PYBIND11_MAP_LIST0)(f, t, peek, __VA_ARGS__)
 // PYBIND11_MAP_LIST(f, t, a1, a2, ...) expands to f(t, a1), f(t, a2), ...
-#define PYBIND11_MAP_LIST(f, t, ...) \
-    PYBIND11_EVAL (PYBIND11_MAP_LIST1 (f, t, __VA_ARGS__, (), 0))
-
-#define PYBIND11_NUMPY_DTYPE(Type, ...) \
-    ::pybind11::detail::npy_format_descriptor<Type>::register_dtype \
-        (::std::vector<::pybind11::detail::field_descriptor> \
-         {PYBIND11_MAP_LIST (PYBIND11_FIELD_DESCRIPTOR, Type, __VA_ARGS__)})
-
-#if defined(_MSC_VER) && !defined(__clang__)
-#define PYBIND11_MAP2_LIST_NEXT1(test, next) \
-    PYBIND11_EVAL0 (PYBIND11_MAP_NEXT0 (test, PYBIND11_MAP_COMMA next, 0))
-#else
-#define PYBIND11_MAP2_LIST_NEXT1(test, next) \
-    PYBIND11_MAP_NEXT0 (test, PYBIND11_MAP_COMMA next, 0)
-#endif
-#define PYBIND11_MAP2_LIST_NEXT(test, next) \
-    PYBIND11_MAP2_LIST_NEXT1 (PYBIND11_MAP_GET_END test, next)
-#define PYBIND11_MAP2_LIST0(f, t, x1, x2, peek, ...) \
-    f(t, x1, x2) PYBIND11_MAP2_LIST_NEXT (peek, PYBIND11_MAP2_LIST1) (f, t, peek, __VA_ARGS__)
-#define PYBIND11_MAP2_LIST1(f, t, x1, x2, peek, ...) \
-    f(t, x1, x2) PYBIND11_MAP2_LIST_NEXT (peek, PYBIND11_MAP2_LIST0) (f, t, peek, __VA_ARGS__)
+#    define PYBIND11_MAP_LIST(f, t, ...)                                                          \
+        PYBIND11_EVAL(PYBIND11_MAP_LIST1(f, t, __VA_ARGS__, (), 0))
+
+#    define PYBIND11_NUMPY_DTYPE(Type, ...)                                                       \
+        ::pybind11::detail::npy_format_descriptor<Type>::register_dtype(                          \
+            ::std::vector<::pybind11::detail::field_descriptor>{                                  \
+                PYBIND11_MAP_LIST(PYBIND11_FIELD_DESCRIPTOR, Type, __VA_ARGS__)})
+
+#    if defined(_MSC_VER) && !defined(__clang__)
+#        define PYBIND11_MAP2_LIST_NEXT1(test, next)                                              \
+            PYBIND11_EVAL0(PYBIND11_MAP_NEXT0(test, PYBIND11_MAP_COMMA next, 0))
+#    else
+#        define PYBIND11_MAP2_LIST_NEXT1(test, next)                                              \
+            PYBIND11_MAP_NEXT0(test, PYBIND11_MAP_COMMA next, 0)
+#    endif
+#    define PYBIND11_MAP2_LIST_NEXT(test, next)                                                   \
+        PYBIND11_MAP2_LIST_NEXT1(PYBIND11_MAP_GET_END test, next)
+#    define PYBIND11_MAP2_LIST0(f, t, x1, x2, peek, ...)                                          \
+        f(t, x1, x2) PYBIND11_MAP2_LIST_NEXT(peek, PYBIND11_MAP2_LIST1)(f, t, peek, __VA_ARGS__)
+#    define PYBIND11_MAP2_LIST1(f, t, x1, x2, peek, ...)                                          \
+        f(t, x1, x2) PYBIND11_MAP2_LIST_NEXT(peek, PYBIND11_MAP2_LIST0)(f, t, peek, __VA_ARGS__)
 // PYBIND11_MAP2_LIST(f, t, a1, a2, ...) expands to f(t, a1, a2), f(t, a3, a4), ...
-#define PYBIND11_MAP2_LIST(f, t, ...) \
-    PYBIND11_EVAL (PYBIND11_MAP2_LIST1 (f, t, __VA_ARGS__, (), 0))
+#    define PYBIND11_MAP2_LIST(f, t, ...)                                                         \
+        PYBIND11_EVAL(PYBIND11_MAP2_LIST1(f, t, __VA_ARGS__, (), 0))
 
-#define PYBIND11_NUMPY_DTYPE_EX(Type, ...) \
-    ::pybind11::detail::npy_format_descriptor<Type>::register_dtype \
-        (::std::vector<::pybind11::detail::field_descriptor> \
-         {PYBIND11_MAP2_LIST (PYBIND11_FIELD_DESCRIPTOR_EX, Type, __VA_ARGS__)})
+#    define PYBIND11_NUMPY_DTYPE_EX(Type, ...)                                                    \
+        ::pybind11::detail::npy_format_descriptor<Type>::register_dtype(                          \
+            ::std::vector<::pybind11::detail::field_descriptor>{                                  \
+                PYBIND11_MAP2_LIST(PYBIND11_FIELD_DESCRIPTOR_EX, Type, __VA_ARGS__)})
 
 #endif // __CLION_IDE__
 
@@ -1330,8 +1541,8 @@ class common_iterator {
 
     common_iterator() : m_strides() {}
 
-    common_iterator(void* ptr, const container_type& strides, const container_type& shape)
-        : p_ptr(reinterpret_cast<char*>(ptr)), m_strides(strides.size()) {
+    common_iterator(void *ptr, const container_type &strides, const container_type &shape)
+        : p_ptr(reinterpret_cast<char *>(ptr)), m_strides(strides.size()) {
         m_strides.back() = static_cast<value_type>(strides.back());
         for (size_type i = m_strides.size() - 1; i != 0; --i) {
             size_type j = i - 1;
@@ -1340,38 +1551,35 @@ class common_iterator {
         }
     }
 
-    void increment(size_type dim) {
-        p_ptr += m_strides[dim];
-    }
+    void increment(size_type dim) { p_ptr += m_strides[dim]; }
 
-    void* data() const {
-        return p_ptr;
-    }
+    void *data() const { return p_ptr; }
 
 private:
-    char *p_ptr{0};
+    char *p_ptr{nullptr};
     container_type m_strides;
 };
 
-template <size_t N> class multi_array_iterator {
+template <size_t N>
+class multi_array_iterator {
 public:
     using container_type = std::vector<ssize_t>;
 
-    multi_array_iterator(const std::array<buffer_info, N> &buffers,
-                         const container_type &shape)
-        : m_shape(shape.size()), m_index(shape.size(), 0),
-          m_common_iterator() {
+    multi_array_iterator(const std::array<buffer_info, N> &buffers, const container_type &shape)
+        : m_shape(shape.size()), m_index(shape.size(), 0), m_common_iterator() {
 
         // Manual copy to avoid conversion warning if using std::copy
-        for (size_t i = 0; i < shape.size(); ++i)
+        for (size_t i = 0; i < shape.size(); ++i) {
             m_shape[i] = shape[i];
+        }
 
         container_type strides(shape.size());
-        for (size_t i = 0; i < N; ++i)
+        for (size_t i = 0; i < N; ++i) {
             init_common_iterator(buffers[i], shape, m_common_iterator[i], strides);
+        }
     }
 
-    multi_array_iterator& operator++() {
+    multi_array_iterator &operator++() {
         for (size_t j = m_index.size(); j != 0; --j) {
             size_t i = j - 1;
             if (++m_index[i] != m_shape[i]) {
@@ -1383,12 +1591,12 @@ template <size_t N> class multi_array_iterator {
         return *this;
     }
 
-    template <size_t K, class T = void> T* data() const {
-        return reinterpret_cast<T*>(m_common_iterator[K].data());
+    template <size_t K, class T = void>
+    T *data() const {
+        return reinterpret_cast<T *>(m_common_iterator[K].data());
     }
 
 private:
-
     using common_iter = common_iterator;
 
     void init_common_iterator(const buffer_info &buffer,
@@ -1401,10 +1609,11 @@ template <size_t N> class multi_array_iterator {
         auto strides_iter = strides.rbegin();
 
         while (buffer_shape_iter != buffer.shape.rend()) {
-            if (*shape_iter == *buffer_shape_iter)
+            if (*shape_iter == *buffer_shape_iter) {
                 *strides_iter = *buffer_strides_iter;
-            else
+            } else {
                 *strides_iter = 0;
+            }
 
             ++buffer_shape_iter;
             ++buffer_strides_iter;
@@ -1417,8 +1626,9 @@ template <size_t N> class multi_array_iterator {
     }
 
     void increment_common_iterator(size_t dim) {
-        for (auto &iter : m_common_iterator)
+        for (auto &iter : m_common_iterator) {
             iter.increment(dim);
+        }
     }
 
     container_type m_shape;
@@ -1428,60 +1638,71 @@ template <size_t N> class multi_array_iterator {
 
 enum class broadcast_trivial { non_trivial, c_trivial, f_trivial };
 
-// Populates the shape and number of dimensions for the set of buffers.  Returns a broadcast_trivial
-// enum value indicating whether the broadcast is "trivial"--that is, has each buffer being either a
-// singleton or a full-size, C-contiguous (`c_trivial`) or Fortran-contiguous (`f_trivial`) storage
-// buffer; returns `non_trivial` otherwise.
+// Populates the shape and number of dimensions for the set of buffers.  Returns a
+// broadcast_trivial enum value indicating whether the broadcast is "trivial"--that is, has each
+// buffer being either a singleton or a full-size, C-contiguous (`c_trivial`) or Fortran-contiguous
+// (`f_trivial`) storage buffer; returns `non_trivial` otherwise.
 template <size_t N>
-broadcast_trivial broadcast(const std::array<buffer_info, N> &buffers, ssize_t &ndim, std::vector<ssize_t> &shape) {
-    ndim = std::accumulate(buffers.begin(), buffers.end(), ssize_t(0), [](ssize_t res, const buffer_info &buf) {
-        return std::max(res, buf.ndim);
-    });
+broadcast_trivial
+broadcast(const std::array<buffer_info, N> &buffers, ssize_t &ndim, std::vector<ssize_t> &shape) {
+    ndim = std::accumulate(
+        buffers.begin(), buffers.end(), ssize_t(0), [](ssize_t res, const buffer_info &buf) {
+            return std::max(res, buf.ndim);
+        });
 
     shape.clear();
     shape.resize((size_t) ndim, 1);
 
-    // Figure out the output size, and make sure all input arrays conform (i.e. are either size 1 or
-    // the full size).
+    // Figure out the output size, and make sure all input arrays conform (i.e. are either size 1
+    // or the full size).
     for (size_t i = 0; i < N; ++i) {
         auto res_iter = shape.rbegin();
         auto end = buffers[i].shape.rend();
-        for (auto shape_iter = buffers[i].shape.rbegin(); shape_iter != end; ++shape_iter, ++res_iter) {
+        for (auto shape_iter = buffers[i].shape.rbegin(); shape_iter != end;
+             ++shape_iter, ++res_iter) {
             const auto &dim_size_in = *shape_iter;
             auto &dim_size_out = *res_iter;
 
-            // Each input dimension can either be 1 or `n`, but `n` values must match across buffers
-            if (dim_size_out == 1)
+            // Each input dimension can either be 1 or `n`, but `n` values must match across
+            // buffers
+            if (dim_size_out == 1) {
                 dim_size_out = dim_size_in;
-            else if (dim_size_in != 1 && dim_size_in != dim_size_out)
+            } else if (dim_size_in != 1 && dim_size_in != dim_size_out) {
                 pybind11_fail("pybind11::vectorize: incompatible size/dimension of inputs!");
+            }
         }
     }
 
     bool trivial_broadcast_c = true;
     bool trivial_broadcast_f = true;
     for (size_t i = 0; i < N && (trivial_broadcast_c || trivial_broadcast_f); ++i) {
-        if (buffers[i].size == 1)
+        if (buffers[i].size == 1) {
             continue;
+        }
 
         // Require the same number of dimensions:
-        if (buffers[i].ndim != ndim)
+        if (buffers[i].ndim != ndim) {
             return broadcast_trivial::non_trivial;
+        }
 
         // Require all dimensions be full-size:
-        if (!std::equal(buffers[i].shape.cbegin(), buffers[i].shape.cend(), shape.cbegin()))
+        if (!std::equal(buffers[i].shape.cbegin(), buffers[i].shape.cend(), shape.cbegin())) {
             return broadcast_trivial::non_trivial;
+        }
 
         // Check for C contiguity (but only if previous inputs were also C contiguous)
         if (trivial_broadcast_c) {
             ssize_t expect_stride = buffers[i].itemsize;
             auto end = buffers[i].shape.crend();
-            for (auto shape_iter = buffers[i].shape.crbegin(), stride_iter = buffers[i].strides.crbegin();
-                    trivial_broadcast_c && shape_iter != end; ++shape_iter, ++stride_iter) {
-                if (expect_stride == *stride_iter)
+            for (auto shape_iter = buffers[i].shape.crbegin(),
+                      stride_iter = buffers[i].strides.crbegin();
+                 trivial_broadcast_c && shape_iter != end;
+                 ++shape_iter, ++stride_iter) {
+                if (expect_stride == *stride_iter) {
                     expect_stride *= *shape_iter;
-                else
+                } else {
                     trivial_broadcast_c = false;
+                }
             }
         }
 
@@ -1489,60 +1710,61 @@ broadcast_trivial broadcast(const std::array<buffer_info, N> &buffers, ssize_t &
         if (trivial_broadcast_f) {
             ssize_t expect_stride = buffers[i].itemsize;
             auto end = buffers[i].shape.cend();
-            for (auto shape_iter = buffers[i].shape.cbegin(), stride_iter = buffers[i].strides.cbegin();
-                    trivial_broadcast_f && shape_iter != end; ++shape_iter, ++stride_iter) {
-                if (expect_stride == *stride_iter)
+            for (auto shape_iter = buffers[i].shape.cbegin(),
+                      stride_iter = buffers[i].strides.cbegin();
+                 trivial_broadcast_f && shape_iter != end;
+                 ++shape_iter, ++stride_iter) {
+                if (expect_stride == *stride_iter) {
                     expect_stride *= *shape_iter;
-                else
+                } else {
                     trivial_broadcast_f = false;
+                }
             }
         }
     }
 
-    return
-        trivial_broadcast_c ? broadcast_trivial::c_trivial :
-        trivial_broadcast_f ? broadcast_trivial::f_trivial :
-        broadcast_trivial::non_trivial;
+    return trivial_broadcast_c   ? broadcast_trivial::c_trivial
+           : trivial_broadcast_f ? broadcast_trivial::f_trivial
+                                 : broadcast_trivial::non_trivial;
 }
 
 template <typename T>
 struct vectorize_arg {
-    static_assert(!std::is_rvalue_reference<T>::value, "Functions with rvalue reference arguments cannot be vectorized");
+    static_assert(!std::is_rvalue_reference<T>::value,
+                  "Functions with rvalue reference arguments cannot be vectorized");
     // The wrapped function gets called with this type:
     using call_type = remove_reference_t<T>;
     // Is this a vectorized argument?
-    static constexpr bool vectorize =
-        satisfies_any_of<call_type, std::is_arithmetic, is_complex, is_pod>::value &&
-        satisfies_none_of<call_type, std::is_pointer, std::is_array, is_std_array, std::is_enum>::value &&
-        (!std::is_reference<T>::value ||
-         (std::is_lvalue_reference<T>::value && std::is_const<call_type>::value));
+    static constexpr bool vectorize
+        = satisfies_any_of<call_type, std::is_arithmetic, is_complex, is_pod>::value
+          && satisfies_none_of<call_type,
+                               std::is_pointer,
+                               std::is_array,
+                               is_std_array,
+                               std::is_enum>::value
+          && (!std::is_reference<T>::value
+              || (std::is_lvalue_reference<T>::value && std::is_const<call_type>::value));
     // Accept this type: an array for vectorized types, otherwise the type as-is:
     using type = conditional_t<vectorize, array_t<remove_cv_t<call_type>, array::forcecast>, T>;
 };
 
-
 // py::vectorize when a return type is present
 template <typename Func, typename Return, typename... Args>
 struct vectorize_returned_array {
     using Type = array_t<Return>;
 
     static Type create(broadcast_trivial trivial, const std::vector<ssize_t> &shape) {
-        if (trivial == broadcast_trivial::f_trivial)
+        if (trivial == broadcast_trivial::f_trivial) {
             return array_t<Return, array::f_style>(shape);
+        }
         return array_t<Return>(shape);
     }
 
-    static Return *mutable_data(Type &array) {
-        return array.mutable_data();
-    }
+    static Return *mutable_data(Type &array) { return array.mutable_data(); }
 
-    static Return call(Func &f, Args &... args) {
-        return f(args...);
-    }
+    static Return call(Func &f, Args &...args) { return f(args...); }
 
-    static void call(Return *out, size_t i, Func &f, Args &... args) {
-        out[i] = f(args...);
-    }
+    static void call(Return *out, size_t i, Func &f, Args &...args) { out[i] = f(args...); }
 };
 
 // py::vectorize when a return type is not present
@@ -1550,25 +1772,18 @@ template <typename Func, typename... Args>
 struct vectorize_returned_array<Func, void, Args...> {
     using Type = none;
 
-    static Type create(broadcast_trivial, const std::vector<ssize_t> &) {
-        return none();
-    }
+    static Type create(broadcast_trivial, const std::vector<ssize_t> &) { return none(); }
 
-    static void *mutable_data(Type &) {
-        return nullptr;
-    }
+    static void *mutable_data(Type &) { return nullptr; }
 
-    static detail::void_type call(Func &f, Args &... args) {
+    static detail::void_type call(Func &f, Args &...args) {
         f(args...);
         return {};
     }
 
-    static void call(void *, size_t, Func &f, Args &... args) {
-        f(args...);
-    }
+    static void call(void *, size_t, Func &f, Args &...args) { f(args...); }
 };
 
-
 template <typename Func, typename Return, typename... Args>
 struct vectorize_helper {
 
@@ -1581,8 +1796,9 @@ struct vectorize_helper {
 
     static constexpr size_t N = sizeof...(Args);
     static constexpr size_t NVectorized = constexpr_sum(vectorize_arg<Args>::vectorize...);
-    static_assert(NVectorized >= 1,
-            "pybind11::vectorize(...) requires a function with at least one vectorizable argument");
+    static_assert(
+        NVectorized >= 1,
+        "pybind11::vectorize(...) requires a function with at least one vectorizable argument");
 
 public:
     template <typename T,
@@ -1601,10 +1817,11 @@ struct vectorize_helper {
 private:
     remove_reference_t<Func> f;
 
-    // Internal compiler error in MSVC 19.16.27025.1 (Visual Studio 2017 15.9.4), when compiling with "/permissive-" flag
-    // when arg_call_types is manually inlined.
+    // Internal compiler error in MSVC 19.16.27025.1 (Visual Studio 2017 15.9.4), when compiling
+    // with "/permissive-" flag when arg_call_types is manually inlined.
     using arg_call_types = std::tuple<typename vectorize_arg<Args>::call_type...>;
-    template <size_t Index> using param_n_t = typename std::tuple_element<Index, arg_call_types>::type;
+    template <size_t Index>
+    using param_n_t = typename std::tuple_element<Index, arg_call_types>::type;
 
     using returned_array = vectorize_returned_array<Func, Return, Args...>;
 
@@ -1615,17 +1832,20 @@ struct vectorize_helper {
     //     - BIndex is a incremental sequence (beginning at 0) of the same size as VIndex, so that
     //       we can store vectorized buffer_infos in an array (argument VIndex has its buffer at
     //       index BIndex in the array).
-    template <size_t... Index, size_t... VIndex, size_t... BIndex> object run(
-            typename vectorize_arg<Args>::type &...args,
-            index_sequence<Index...> i_seq, index_sequence<VIndex...> vi_seq, index_sequence<BIndex...> bi_seq) {
+    template <size_t... Index, size_t... VIndex, size_t... BIndex>
+    object run(typename vectorize_arg<Args>::type &...args,
+               index_sequence<Index...> i_seq,
+               index_sequence<VIndex...> vi_seq,
+               index_sequence<BIndex...> bi_seq) {
 
         // Pointers to values the function was called with; the vectorized ones set here will start
         // out as array_t<T> pointers, but they will be changed them to T pointers before we make
         // call the wrapped function.  Non-vectorized pointers are left as-is.
-        std::array<void *, N> params{{ &args... }};
+        std::array<void *, N> params{{&args...}};
 
         // The array of `buffer_info`s of vectorized arguments:
-        std::array<buffer_info, NVectorized> buffers{{ reinterpret_cast<array *>(params[VIndex])->request()... }};
+        std::array<buffer_info, NVectorized> buffers{
+            {reinterpret_cast<array *>(params[VIndex])->request()...}};
 
         /* Determine dimensions parameters of output array */
         ssize_t nd = 0;
@@ -1633,25 +1853,30 @@ struct vectorize_helper {
         auto trivial = broadcast(buffers, nd, shape);
         auto ndim = (size_t) nd;
 
-        size_t size = std::accumulate(shape.begin(), shape.end(), (size_t) 1, std::multiplies<size_t>());
+        size_t size
+            = std::accumulate(shape.begin(), shape.end(), (size_t) 1, std::multiplies<size_t>());
 
         // If all arguments are 0-dimension arrays (i.e. single values) return a plain value (i.e.
         // not wrapped in an array).
         if (size == 1 && ndim == 0) {
             PYBIND11_EXPAND_SIDE_EFFECTS(params[VIndex] = buffers[BIndex].ptr);
-            return cast(returned_array::call(f, *reinterpret_cast<param_n_t<Index> *>(params[Index])...));
+            return cast(
+                returned_array::call(f, *reinterpret_cast<param_n_t<Index> *>(params[Index])...));
         }
 
         auto result = returned_array::create(trivial, shape);
 
-        if (size == 0) return std::move(result);
+        if (size == 0) {
+            return std::move(result);
+        }
 
         /* Call the function */
-        auto mutable_data = returned_array::mutable_data(result);
-        if (trivial == broadcast_trivial::non_trivial)
+        auto *mutable_data = returned_array::mutable_data(result);
+        if (trivial == broadcast_trivial::non_trivial) {
             apply_broadcast(buffers, params, mutable_data, size, shape, i_seq, vi_seq, bi_seq);
-        else
+        } else {
             apply_trivial(buffers, params, mutable_data, size, i_seq, vi_seq, bi_seq);
+        }
 
         return std::move(result);
     }
@@ -1661,21 +1886,24 @@ struct vectorize_helper {
                        std::array<void *, N> &params,
                        Return *out,
                        size_t size,
-                       index_sequence<Index...>, index_sequence<VIndex...>, index_sequence<BIndex...>) {
+                       index_sequence<Index...>,
+                       index_sequence<VIndex...>,
+                       index_sequence<BIndex...>) {
 
         // Initialize an array of mutable byte references and sizes with references set to the
         // appropriate pointer in `params`; as we iterate, we'll increment each pointer by its size
         // (except for singletons, which get an increment of 0).
-        std::array<std::pair<unsigned char *&, const size_t>, NVectorized> vecparams{{
-            std::pair<unsigned char *&, const size_t>(
-                    reinterpret_cast<unsigned char *&>(params[VIndex] = buffers[BIndex].ptr),
-                    buffers[BIndex].size == 1 ? 0 : sizeof(param_n_t<VIndex>)
-            )...
-        }};
+        std::array<std::pair<unsigned char *&, const size_t>, NVectorized> vecparams{
+            {std::pair<unsigned char *&, const size_t>(
+                reinterpret_cast<unsigned char *&>(params[VIndex] = buffers[BIndex].ptr),
+                buffers[BIndex].size == 1 ? 0 : sizeof(param_n_t<VIndex>))...}};
 
         for (size_t i = 0; i < size; ++i) {
-            returned_array::call(out, i, f, *reinterpret_cast<param_n_t<Index> *>(params[Index])...);
-            for (auto &x : vecparams) x.first += x.second;
+            returned_array::call(
+                out, i, f, *reinterpret_cast<param_n_t<Index> *>(params[Index])...);
+            for (auto &x : vecparams) {
+                x.first += x.second;
+            }
         }
     }
 
@@ -1685,55 +1913,70 @@ struct vectorize_helper {
                          Return *out,
                          size_t size,
                          const std::vector<ssize_t> &output_shape,
-                         index_sequence<Index...>, index_sequence<VIndex...>, index_sequence<BIndex...>) {
+                         index_sequence<Index...>,
+                         index_sequence<VIndex...>,
+                         index_sequence<BIndex...>) {
 
         multi_array_iterator<NVectorized> input_iter(buffers, output_shape);
 
         for (size_t i = 0; i < size; ++i, ++input_iter) {
-            PYBIND11_EXPAND_SIDE_EFFECTS((
-                params[VIndex] = input_iter.template data<BIndex>()
-            ));
-            returned_array::call(out, i, f, *reinterpret_cast<param_n_t<Index> *>(std::get<Index>(params))...);
+            PYBIND11_EXPAND_SIDE_EFFECTS((params[VIndex] = input_iter.template data<BIndex>()));
+            returned_array::call(
+                out, i, f, *reinterpret_cast<param_n_t<Index> *>(std::get<Index>(params))...);
         }
     }
 };
 
 template <typename Func, typename Return, typename... Args>
-vectorize_helper<Func, Return, Args...>
-vectorize_extractor(const Func &f, Return (*) (Args ...)) {
+vectorize_helper<Func, Return, Args...> vectorize_extractor(const Func &f, Return (*)(Args...)) {
     return detail::vectorize_helper<Func, Return, Args...>(f);
 }
 
-template <typename T, int Flags> struct handle_type_name<array_t<T, Flags>> {
-    static constexpr auto name = const_name("numpy.ndarray[") + npy_format_descriptor<T>::name + const_name("]");
+template <typename T, int Flags>
+struct handle_type_name<array_t<T, Flags>> {
+    static constexpr auto name
+        = const_name("numpy.ndarray[") + npy_format_descriptor<T>::name + const_name("]");
 };
 
 PYBIND11_NAMESPACE_END(detail)
 
 // Vanilla pointer vectorizer:
 template <typename Return, typename... Args>
-detail::vectorize_helper<Return (*)(Args...), Return, Args...>
-vectorize(Return (*f) (Args ...)) {
+detail::vectorize_helper<Return (*)(Args...), Return, Args...> vectorize(Return (*f)(Args...)) {
     return detail::vectorize_helper<Return (*)(Args...), Return, Args...>(f);
 }
 
 // lambda vectorizer:
 template <typename Func, detail::enable_if_t<detail::is_lambda<Func>::value, int> = 0>
-auto vectorize(Func &&f) -> decltype(
-        detail::vectorize_extractor(std::forward<Func>(f), (detail::function_signature_t<Func> *) nullptr)) {
-    return detail::vectorize_extractor(std::forward<Func>(f), (detail::function_signature_t<Func> *) nullptr);
+auto vectorize(Func &&f)
+    -> decltype(detail::vectorize_extractor(std::forward<Func>(f),
+                                            (detail::function_signature_t<Func> *) nullptr)) {
+    return detail::vectorize_extractor(std::forward<Func>(f),
+                                       (detail::function_signature_t<Func> *) nullptr);
 }
 
 // Vectorize a class method (non-const):
-template <typename Return, typename Class, typename... Args,
-          typename Helper = detail::vectorize_helper<decltype(std::mem_fn(std::declval<Return (Class::*)(Args...)>())), Return, Class *, Args...>>
+template <typename Return,
+          typename Class,
+          typename... Args,
+          typename Helper = detail::vectorize_helper<
+              decltype(std::mem_fn(std::declval<Return (Class::*)(Args...)>())),
+              Return,
+              Class *,
+              Args...>>
 Helper vectorize(Return (Class::*f)(Args...)) {
     return Helper(std::mem_fn(f));
 }
 
 // Vectorize a class method (const):
-template <typename Return, typename Class, typename... Args,
-          typename Helper = detail::vectorize_helper<decltype(std::mem_fn(std::declval<Return (Class::*)(Args...) const>())), Return, const Class *, Args...>>
+template <typename Return,
+          typename Class,
+          typename... Args,
+          typename Helper = detail::vectorize_helper<
+              decltype(std::mem_fn(std::declval<Return (Class::*)(Args...) const>())),
+              Return,
+              const Class *,
+              Args...>>
 Helper vectorize(Return (Class::*f)(Args...) const) {
     return Helper(std::mem_fn(f));
 }
diff --git a/pybind11/include/pybind11/operators.h b/pybind11/include/pybind11/operators.h
index 2a61531589..a0c3b78d65 100644
--- a/pybind11/include/pybind11/operators.h
+++ b/pybind11/include/pybind11/operators.h
@@ -16,12 +16,50 @@ PYBIND11_NAMESPACE_BEGIN(detail)
 
 /// Enumeration with all supported operator types
 enum op_id : int {
-    op_add, op_sub, op_mul, op_div, op_mod, op_divmod, op_pow, op_lshift,
-    op_rshift, op_and, op_xor, op_or, op_neg, op_pos, op_abs, op_invert,
-    op_int, op_long, op_float, op_str, op_cmp, op_gt, op_ge, op_lt, op_le,
-    op_eq, op_ne, op_iadd, op_isub, op_imul, op_idiv, op_imod, op_ilshift,
-    op_irshift, op_iand, op_ixor, op_ior, op_complex, op_bool, op_nonzero,
-    op_repr, op_truediv, op_itruediv, op_hash
+    op_add,
+    op_sub,
+    op_mul,
+    op_div,
+    op_mod,
+    op_divmod,
+    op_pow,
+    op_lshift,
+    op_rshift,
+    op_and,
+    op_xor,
+    op_or,
+    op_neg,
+    op_pos,
+    op_abs,
+    op_invert,
+    op_int,
+    op_long,
+    op_float,
+    op_str,
+    op_cmp,
+    op_gt,
+    op_ge,
+    op_lt,
+    op_le,
+    op_eq,
+    op_ne,
+    op_iadd,
+    op_isub,
+    op_imul,
+    op_idiv,
+    op_imod,
+    op_ilshift,
+    op_irshift,
+    op_iand,
+    op_ixor,
+    op_ior,
+    op_complex,
+    op_bool,
+    op_nonzero,
+    op_repr,
+    op_truediv,
+    op_itruediv,
+    op_hash
 };
 
 enum op_type : int {
@@ -30,126 +68,126 @@ enum op_type : int {
     op_u  /* unary operator */
 };
 
-struct self_t { };
+struct self_t {};
 static const self_t self = self_t();
 
 /// Type for an unused type slot
-struct undefined_t { };
+struct undefined_t {};
 
 /// Don't warn about an unused variable
 inline self_t __self() { return self; }
 
 /// base template of operator implementations
-template <op_id, op_type, typename B, typename L, typename R> struct op_impl { };
+template <op_id, op_type, typename B, typename L, typename R>
+struct op_impl {};
 
 /// Operator implementation generator
-template <op_id id, op_type ot, typename L, typename R> struct op_ {
-    template <typename Class, typename... Extra> void execute(Class &cl, const Extra&... extra) const {
+template <op_id id, op_type ot, typename L, typename R>
+struct op_ {
+    template <typename Class, typename... Extra>
+    void execute(Class &cl, const Extra &...extra) const {
         using Base = typename Class::type;
         using L_type = conditional_t<std::is_same<L, self_t>::value, Base, L>;
         using R_type = conditional_t<std::is_same<R, self_t>::value, Base, R>;
         using op = op_impl<id, ot, Base, L_type, R_type>;
         cl.def(op::name(), &op::execute, is_operator(), extra...);
-        #if PY_MAJOR_VERSION < 3
-        if (PYBIND11_SILENCE_MSVC_C4127(id == op_truediv) ||
-            PYBIND11_SILENCE_MSVC_C4127(id == op_itruediv))
-            cl.def(id == op_itruediv ? "__idiv__" : ot == op_l ? "__div__" : "__rdiv__",
-                    &op::execute, is_operator(), extra...);
-        #endif
     }
-    template <typename Class, typename... Extra> void execute_cast(Class &cl, const Extra&... extra) const {
+    template <typename Class, typename... Extra>
+    void execute_cast(Class &cl, const Extra &...extra) const {
         using Base = typename Class::type;
         using L_type = conditional_t<std::is_same<L, self_t>::value, Base, L>;
         using R_type = conditional_t<std::is_same<R, self_t>::value, Base, R>;
         using op = op_impl<id, ot, Base, L_type, R_type>;
         cl.def(op::name(), &op::execute_cast, is_operator(), extra...);
-        #if PY_MAJOR_VERSION < 3
-        if (id == op_truediv || id == op_itruediv)
-            cl.def(id == op_itruediv ? "__idiv__" : ot == op_l ? "__div__" : "__rdiv__",
-                    &op::execute, is_operator(), extra...);
-        #endif
     }
 };
 
-#define PYBIND11_BINARY_OPERATOR(id, rid, op, expr)                                    \
-template <typename B, typename L, typename R> struct op_impl<op_##id, op_l, B, L, R> { \
-    static char const* name() { return "__" #id "__"; }                                \
-    static auto execute(const L &l, const R &r) -> decltype(expr) { return (expr); }   \
-    static B execute_cast(const L &l, const R &r) { return B(expr); }                  \
-};                                                                                     \
-template <typename B, typename L, typename R> struct op_impl<op_##id, op_r, B, L, R> { \
-    static char const* name() { return "__" #rid "__"; }                               \
-    static auto execute(const R &r, const L &l) -> decltype(expr) { return (expr); }   \
-    static B execute_cast(const R &r, const L &l) { return B(expr); }                  \
-};                                                                                     \
-inline op_<op_##id, op_l, self_t, self_t> op(const self_t &, const self_t &) {         \
-    return op_<op_##id, op_l, self_t, self_t>();                                       \
-}                                                                                      \
-template <typename T> op_<op_##id, op_l, self_t, T> op(const self_t &, const T &) {    \
-    return op_<op_##id, op_l, self_t, T>();                                            \
-}                                                                                      \
-template <typename T> op_<op_##id, op_r, T, self_t> op(const T &, const self_t &) {    \
-    return op_<op_##id, op_r, T, self_t>();                                            \
-}
-
-#define PYBIND11_INPLACE_OPERATOR(id, op, expr)                                        \
-template <typename B, typename L, typename R> struct op_impl<op_##id, op_l, B, L, R> { \
-    static char const* name() { return "__" #id "__"; }                                \
-    static auto execute(L &l, const R &r) -> decltype(expr) { return expr; }           \
-    static B execute_cast(L &l, const R &r) { return B(expr); }                        \
-};                                                                                     \
-template <typename T> op_<op_##id, op_l, self_t, T> op(const self_t &, const T &) {    \
-    return op_<op_##id, op_l, self_t, T>();                                            \
-}
-
-#define PYBIND11_UNARY_OPERATOR(id, op, expr)                                          \
-template <typename B, typename L> struct op_impl<op_##id, op_u, B, L, undefined_t> {   \
-    static char const* name() { return "__" #id "__"; }                                \
-    static auto execute(const L &l) -> decltype(expr) { return expr; }                 \
-    static B execute_cast(const L &l) { return B(expr); }                              \
-};                                                                                     \
-inline op_<op_##id, op_u, self_t, undefined_t> op(const self_t &) {                    \
-    return op_<op_##id, op_u, self_t, undefined_t>();                                  \
-}
-
-PYBIND11_BINARY_OPERATOR(sub,       rsub,         operator-,    l - r)
-PYBIND11_BINARY_OPERATOR(add,       radd,         operator+,    l + r)
-PYBIND11_BINARY_OPERATOR(mul,       rmul,         operator*,    l * r)
-PYBIND11_BINARY_OPERATOR(truediv,   rtruediv,     operator/,    l / r)
-PYBIND11_BINARY_OPERATOR(mod,       rmod,         operator%,    l % r)
-PYBIND11_BINARY_OPERATOR(lshift,    rlshift,      operator<<,   l << r)
-PYBIND11_BINARY_OPERATOR(rshift,    rrshift,      operator>>,   l >> r)
-PYBIND11_BINARY_OPERATOR(and,       rand,         operator&,    l & r)
-PYBIND11_BINARY_OPERATOR(xor,       rxor,         operator^,    l ^ r)
-PYBIND11_BINARY_OPERATOR(eq,        eq,           operator==,   l == r)
-PYBIND11_BINARY_OPERATOR(ne,        ne,           operator!=,   l != r)
-PYBIND11_BINARY_OPERATOR(or,        ror,          operator|,    l | r)
-PYBIND11_BINARY_OPERATOR(gt,        lt,           operator>,    l > r)
-PYBIND11_BINARY_OPERATOR(ge,        le,           operator>=,   l >= r)
-PYBIND11_BINARY_OPERATOR(lt,        gt,           operator<,    l < r)
-PYBIND11_BINARY_OPERATOR(le,        ge,           operator<=,   l <= r)
-//PYBIND11_BINARY_OPERATOR(pow,       rpow,         pow,          std::pow(l,  r))
-PYBIND11_INPLACE_OPERATOR(iadd,     operator+=,   l += r)
-PYBIND11_INPLACE_OPERATOR(isub,     operator-=,   l -= r)
-PYBIND11_INPLACE_OPERATOR(imul,     operator*=,   l *= r)
-PYBIND11_INPLACE_OPERATOR(itruediv, operator/=,   l /= r)
-PYBIND11_INPLACE_OPERATOR(imod,     operator%=,   l %= r)
-PYBIND11_INPLACE_OPERATOR(ilshift,  operator<<=,  l <<= r)
-PYBIND11_INPLACE_OPERATOR(irshift,  operator>>=,  l >>= r)
-PYBIND11_INPLACE_OPERATOR(iand,     operator&=,   l &= r)
-PYBIND11_INPLACE_OPERATOR(ixor,     operator^=,   l ^= r)
-PYBIND11_INPLACE_OPERATOR(ior,      operator|=,   l |= r)
-PYBIND11_UNARY_OPERATOR(neg,        operator-,    -l)
-PYBIND11_UNARY_OPERATOR(pos,        operator+,    +l)
+#define PYBIND11_BINARY_OPERATOR(id, rid, op, expr)                                               \
+    template <typename B, typename L, typename R>                                                 \
+    struct op_impl<op_##id, op_l, B, L, R> {                                                      \
+        static char const *name() { return "__" #id "__"; }                                       \
+        static auto execute(const L &l, const R &r) -> decltype(expr) { return (expr); }          \
+        static B execute_cast(const L &l, const R &r) { return B(expr); }                         \
+    };                                                                                            \
+    template <typename B, typename L, typename R>                                                 \
+    struct op_impl<op_##id, op_r, B, L, R> {                                                      \
+        static char const *name() { return "__" #rid "__"; }                                      \
+        static auto execute(const R &r, const L &l) -> decltype(expr) { return (expr); }          \
+        static B execute_cast(const R &r, const L &l) { return B(expr); }                         \
+    };                                                                                            \
+    inline op_<op_##id, op_l, self_t, self_t> op(const self_t &, const self_t &) {                \
+        return op_<op_##id, op_l, self_t, self_t>();                                              \
+    }                                                                                             \
+    template <typename T>                                                                         \
+    op_<op_##id, op_l, self_t, T> op(const self_t &, const T &) {                                 \
+        return op_<op_##id, op_l, self_t, T>();                                                   \
+    }                                                                                             \
+    template <typename T>                                                                         \
+    op_<op_##id, op_r, T, self_t> op(const T &, const self_t &) {                                 \
+        return op_<op_##id, op_r, T, self_t>();                                                   \
+    }
+
+#define PYBIND11_INPLACE_OPERATOR(id, op, expr)                                                   \
+    template <typename B, typename L, typename R>                                                 \
+    struct op_impl<op_##id, op_l, B, L, R> {                                                      \
+        static char const *name() { return "__" #id "__"; }                                       \
+        static auto execute(L &l, const R &r) -> decltype(expr) { return expr; }                  \
+        static B execute_cast(L &l, const R &r) { return B(expr); }                               \
+    };                                                                                            \
+    template <typename T>                                                                         \
+    op_<op_##id, op_l, self_t, T> op(const self_t &, const T &) {                                 \
+        return op_<op_##id, op_l, self_t, T>();                                                   \
+    }
+
+#define PYBIND11_UNARY_OPERATOR(id, op, expr)                                                     \
+    template <typename B, typename L>                                                             \
+    struct op_impl<op_##id, op_u, B, L, undefined_t> {                                            \
+        static char const *name() { return "__" #id "__"; }                                       \
+        static auto execute(const L &l) -> decltype(expr) { return expr; }                        \
+        static B execute_cast(const L &l) { return B(expr); }                                     \
+    };                                                                                            \
+    inline op_<op_##id, op_u, self_t, undefined_t> op(const self_t &) {                           \
+        return op_<op_##id, op_u, self_t, undefined_t>();                                         \
+    }
+
+PYBIND11_BINARY_OPERATOR(sub, rsub, operator-, l - r)
+PYBIND11_BINARY_OPERATOR(add, radd, operator+, l + r)
+PYBIND11_BINARY_OPERATOR(mul, rmul, operator*, l *r)
+PYBIND11_BINARY_OPERATOR(truediv, rtruediv, operator/, l / r)
+PYBIND11_BINARY_OPERATOR(mod, rmod, operator%, l % r)
+PYBIND11_BINARY_OPERATOR(lshift, rlshift, operator<<, l << r)
+PYBIND11_BINARY_OPERATOR(rshift, rrshift, operator>>, l >> r)
+PYBIND11_BINARY_OPERATOR(and, rand, operator&, l &r)
+PYBIND11_BINARY_OPERATOR(xor, rxor, operator^, l ^ r)
+PYBIND11_BINARY_OPERATOR(eq, eq, operator==, l == r)
+PYBIND11_BINARY_OPERATOR(ne, ne, operator!=, l != r)
+PYBIND11_BINARY_OPERATOR(or, ror, operator|, l | r)
+PYBIND11_BINARY_OPERATOR(gt, lt, operator>, l > r)
+PYBIND11_BINARY_OPERATOR(ge, le, operator>=, l >= r)
+PYBIND11_BINARY_OPERATOR(lt, gt, operator<, l < r)
+PYBIND11_BINARY_OPERATOR(le, ge, operator<=, l <= r)
+// PYBIND11_BINARY_OPERATOR(pow,       rpow,         pow,          std::pow(l,  r))
+PYBIND11_INPLACE_OPERATOR(iadd, operator+=, l += r)
+PYBIND11_INPLACE_OPERATOR(isub, operator-=, l -= r)
+PYBIND11_INPLACE_OPERATOR(imul, operator*=, l *= r)
+PYBIND11_INPLACE_OPERATOR(itruediv, operator/=, l /= r)
+PYBIND11_INPLACE_OPERATOR(imod, operator%=, l %= r)
+PYBIND11_INPLACE_OPERATOR(ilshift, operator<<=, l <<= r)
+PYBIND11_INPLACE_OPERATOR(irshift, operator>>=, l >>= r)
+PYBIND11_INPLACE_OPERATOR(iand, operator&=, l &= r)
+PYBIND11_INPLACE_OPERATOR(ixor, operator^=, l ^= r)
+PYBIND11_INPLACE_OPERATOR(ior, operator|=, l |= r)
+PYBIND11_UNARY_OPERATOR(neg, operator-, -l)
+PYBIND11_UNARY_OPERATOR(pos, operator+, +l)
 // WARNING: This usage of `abs` should only be done for existing STL overloads.
 // Adding overloads directly in to the `std::` namespace is advised against:
 // https://en.cppreference.com/w/cpp/language/extending_std
-PYBIND11_UNARY_OPERATOR(abs,        abs,          std::abs(l))
-PYBIND11_UNARY_OPERATOR(hash,       hash,         std::hash<L>()(l))
-PYBIND11_UNARY_OPERATOR(invert,     operator~,    (~l))
-PYBIND11_UNARY_OPERATOR(bool,       operator!,    !!l)
-PYBIND11_UNARY_OPERATOR(int,        int_,         (int) l)
-PYBIND11_UNARY_OPERATOR(float,      float_,       (double) l)
+PYBIND11_UNARY_OPERATOR(abs, abs, std::abs(l))
+PYBIND11_UNARY_OPERATOR(hash, hash, std::hash<L>()(l))
+PYBIND11_UNARY_OPERATOR(invert, operator~, (~l))
+PYBIND11_UNARY_OPERATOR(bool, operator!, !!l)
+PYBIND11_UNARY_OPERATOR(int, int_, (int) l)
+PYBIND11_UNARY_OPERATOR(float, float_, (double) l)
 
 #undef PYBIND11_BINARY_OPERATOR
 #undef PYBIND11_INPLACE_OPERATOR
diff --git a/pybind11/include/pybind11/options.h b/pybind11/include/pybind11/options.h
index d74db1c68d..1e493bdcc4 100644
--- a/pybind11/include/pybind11/options.h
+++ b/pybind11/include/pybind11/options.h
@@ -15,43 +15,54 @@ PYBIND11_NAMESPACE_BEGIN(PYBIND11_NAMESPACE)
 
 class options {
 public:
-
     // Default RAII constructor, which leaves settings as they currently are.
     options() : previous_state(global_state()) {}
 
     // Class is non-copyable.
-    options(const options&) = delete;
-    options& operator=(const options&) = delete;
+    options(const options &) = delete;
+    options &operator=(const options &) = delete;
 
     // Destructor, which restores settings that were in effect before.
-    ~options() {
-        global_state() = previous_state;
-    }
+    ~options() { global_state() = previous_state; }
 
     // Setter methods (affect the global state):
 
-    options& disable_user_defined_docstrings() & { global_state().show_user_defined_docstrings = false; return *this; }
+    options &disable_user_defined_docstrings() & {
+        global_state().show_user_defined_docstrings = false;
+        return *this;
+    }
 
-    options& enable_user_defined_docstrings() & { global_state().show_user_defined_docstrings = true; return *this; }
+    options &enable_user_defined_docstrings() & {
+        global_state().show_user_defined_docstrings = true;
+        return *this;
+    }
 
-    options& disable_function_signatures() & { global_state().show_function_signatures = false; return *this; }
+    options &disable_function_signatures() & {
+        global_state().show_function_signatures = false;
+        return *this;
+    }
 
-    options& enable_function_signatures() & { global_state().show_function_signatures = true; return *this; }
+    options &enable_function_signatures() & {
+        global_state().show_function_signatures = true;
+        return *this;
+    }
 
     // Getter methods (return the global state):
 
-    static bool show_user_defined_docstrings() { return global_state().show_user_defined_docstrings; }
+    static bool show_user_defined_docstrings() {
+        return global_state().show_user_defined_docstrings;
+    }
 
     static bool show_function_signatures() { return global_state().show_function_signatures; }
 
     // This type is not meant to be allocated on the heap.
-    void* operator new(size_t) = delete;
+    void *operator new(size_t) = delete;
 
 private:
-
     struct state {
-        bool show_user_defined_docstrings = true;  //< Include user-supplied texts in docstrings.
-        bool show_function_signatures = true;      //< Include auto-generated function signatures in docstrings.
+        bool show_user_defined_docstrings = true; //< Include user-supplied texts in docstrings.
+        bool show_function_signatures = true;     //< Include auto-generated function signatures
+                                                  //  in docstrings.
     };
 
     static state &global_state() {
diff --git a/pybind11/include/pybind11/pybind11.h b/pybind11/include/pybind11/pybind11.h
index 7aa93bb5aa..d61dcd5c7e 100644
--- a/pybind11/include/pybind11/pybind11.h
+++ b/pybind11/include/pybind11/pybind11.h
@@ -10,30 +10,29 @@
 
 #pragma once
 
+#include "detail/class.h"
+#include "detail/init.h"
 #include "attr.h"
 #include "gil.h"
 #include "options.h"
-#include "detail/class.h"
-#include "detail/init.h"
 
 #include <cstdlib>
+#include <cstring>
 #include <memory>
 #include <new>
-#include <vector>
 #include <string>
 #include <utility>
-
-#include <cstring>
+#include <vector>
 
 #if defined(__cpp_lib_launder) && !(defined(_MSC_VER) && (_MSC_VER < 1914))
-#  define PYBIND11_STD_LAUNDER std::launder
-#  define PYBIND11_HAS_STD_LAUNDER 1
+#    define PYBIND11_STD_LAUNDER std::launder
+#    define PYBIND11_HAS_STD_LAUNDER 1
 #else
-#  define PYBIND11_STD_LAUNDER
-#  define PYBIND11_HAS_STD_LAUNDER 0
+#    define PYBIND11_STD_LAUNDER
+#    define PYBIND11_HAS_STD_LAUNDER 0
 #endif
 #if defined(__GNUG__) && !defined(__clang__)
-#  include <cxxabi.h>
+#    include <cxxabi.h>
 #endif
 
 /* https://stackoverflow.com/questions/46798456/handling-gccs-noexcept-type-warning
@@ -56,7 +55,7 @@ PYBIND11_NAMESPACE_BEGIN(detail)
 // Return true if one of the translators completed without raising an exception
 // itself. Return of false indicates that if there are other translators
 // available, they should be tried.
-inline bool apply_exception_translators(std::forward_list<ExceptionTranslator>& translators) {
+inline bool apply_exception_translators(std::forward_list<ExceptionTranslator> &translators) {
     auto last_exception = std::current_exception();
 
     for (auto &translator : translators) {
@@ -83,30 +82,33 @@ class cpp_function : public function {
 public:
     cpp_function() = default;
     // NOLINTNEXTLINE(google-explicit-constructor)
-    cpp_function(std::nullptr_t) { }
+    cpp_function(std::nullptr_t) {}
 
     /// Construct a cpp_function from a vanilla function pointer
     template <typename Return, typename... Args, typename... Extra>
     // NOLINTNEXTLINE(google-explicit-constructor)
-    cpp_function(Return (*f)(Args...), const Extra&... extra) {
+    cpp_function(Return (*f)(Args...), const Extra &...extra) {
         initialize(f, f, extra...);
     }
 
     /// Construct a cpp_function from a lambda function (possibly with internal state)
-    template <typename Func, typename... Extra,
+    template <typename Func,
+              typename... Extra,
               typename = detail::enable_if_t<detail::is_lambda<Func>::value>>
     // NOLINTNEXTLINE(google-explicit-constructor)
-    cpp_function(Func &&f, const Extra&... extra) {
-        initialize(std::forward<Func>(f),
-                   (detail::function_signature_t<Func> *) nullptr, extra...);
+    cpp_function(Func &&f, const Extra &...extra) {
+        initialize(
+            std::forward<Func>(f), (detail::function_signature_t<Func> *) nullptr, extra...);
     }
 
     /// Construct a cpp_function from a class method (non-const, no ref-qualifier)
     template <typename Return, typename Class, typename... Arg, typename... Extra>
     // NOLINTNEXTLINE(google-explicit-constructor)
-    cpp_function(Return (Class::*f)(Arg...), const Extra&... extra) {
-        initialize([f](Class *c, Arg... args) -> Return { return (c->*f)(std::forward<Arg>(args)...); },
-                   (Return (*) (Class *, Arg...)) nullptr, extra...);
+    cpp_function(Return (Class::*f)(Arg...), const Extra &...extra) {
+        initialize(
+            [f](Class *c, Arg... args) -> Return { return (c->*f)(std::forward<Arg>(args)...); },
+            (Return(*)(Class *, Arg...)) nullptr,
+            extra...);
     }
 
     /// Construct a cpp_function from a class method (non-const, lvalue ref-qualifier)
@@ -114,17 +116,21 @@ class cpp_function : public function {
     /// but with an added `&`.
     template <typename Return, typename Class, typename... Arg, typename... Extra>
     // NOLINTNEXTLINE(google-explicit-constructor)
-    cpp_function(Return (Class::*f)(Arg...)&, const Extra&... extra) {
-        initialize([f](Class *c, Arg... args) -> Return { return (c->*f)(std::forward<Arg>(args)...); },
-                   (Return (*) (Class *, Arg...)) nullptr, extra...);
+    cpp_function(Return (Class::*f)(Arg...) &, const Extra &...extra) {
+        initialize(
+            [f](Class *c, Arg... args) -> Return { return (c->*f)(std::forward<Arg>(args)...); },
+            (Return(*)(Class *, Arg...)) nullptr,
+            extra...);
     }
 
     /// Construct a cpp_function from a class method (const, no ref-qualifier)
     template <typename Return, typename Class, typename... Arg, typename... Extra>
     // NOLINTNEXTLINE(google-explicit-constructor)
-    cpp_function(Return (Class::*f)(Arg...) const, const Extra&... extra) {
-        initialize([f](const Class *c, Arg... args) -> Return { return (c->*f)(std::forward<Arg>(args)...); },
-                   (Return (*)(const Class *, Arg ...)) nullptr, extra...);
+    cpp_function(Return (Class::*f)(Arg...) const, const Extra &...extra) {
+        initialize([f](const Class *c,
+                       Arg... args) -> Return { return (c->*f)(std::forward<Arg>(args)...); },
+                   (Return(*)(const Class *, Arg...)) nullptr,
+                   extra...);
     }
 
     /// Construct a cpp_function from a class method (const, lvalue ref-qualifier)
@@ -132,9 +138,11 @@ class cpp_function : public function {
     /// but with an added `&`.
     template <typename Return, typename Class, typename... Arg, typename... Extra>
     // NOLINTNEXTLINE(google-explicit-constructor)
-    cpp_function(Return (Class::*f)(Arg...) const&, const Extra&... extra) {
-        initialize([f](const Class *c, Arg... args) -> Return { return (c->*f)(std::forward<Arg>(args)...); },
-                   (Return (*)(const Class *, Arg ...)) nullptr, extra...);
+    cpp_function(Return (Class::*f)(Arg...) const &, const Extra &...extra) {
+        initialize([f](const Class *c,
+                       Arg... args) -> Return { return (c->*f)(std::forward<Arg>(args)...); },
+                   (Return(*)(const Class *, Arg...)) nullptr,
+                   extra...);
     }
 
     /// Return the function name
@@ -144,9 +152,10 @@ class cpp_function : public function {
     struct InitializingFunctionRecordDeleter {
         // `destruct(function_record, false)`: `initialize_generic` copies strings and
         // takes care of cleaning up in case of exceptions. So pass `false` to `free_strings`.
-        void operator()(detail::function_record * rec) { destruct(rec, false); }
+        void operator()(detail::function_record *rec) { destruct(rec, false); }
     };
-    using unique_function_record = std::unique_ptr<detail::function_record, InitializingFunctionRecordDeleter>;
+    using unique_function_record
+        = std::unique_ptr<detail::function_record, InitializingFunctionRecordDeleter>;
 
     /// Space optimization: don't inline this frequently instantiated fragment
     PYBIND11_NOINLINE unique_function_record make_function_record() {
@@ -155,14 +164,17 @@ class cpp_function : public function {
 
     /// Special internal constructor for functors, lambda functions, etc.
     template <typename Func, typename Return, typename... Args, typename... Extra>
-    void initialize(Func &&f, Return (*)(Args...), const Extra&... extra) {
+    void initialize(Func &&f, Return (*)(Args...), const Extra &...extra) {
         using namespace detail;
-        struct capture { remove_reference_t<Func> f; };
+        struct capture {
+            remove_reference_t<Func> f;
+        };
 
-        /* Store the function including any extra state it might have (e.g. a lambda capture object) */
+        /* Store the function including any extra state it might have (e.g. a lambda capture
+         * object) */
         // The unique_ptr makes sure nothing is leaked in case of an exception.
         auto unique_rec = make_function_record();
-        auto rec = unique_rec.get();
+        auto *rec = unique_rec.get();
 
         /* Store the capture object directly in the function record if there is enough space */
         if (PYBIND11_SILENCE_MSVC_C4127(sizeof(capture) <= sizeof(rec->data))) {
@@ -170,67 +182,73 @@ class cpp_function : public function {
                enough space to use the placement new operator. However, the
                'if' statement above ensures that this is the case. */
 #if defined(__GNUG__) && __GNUC__ >= 6 && !defined(__clang__) && !defined(__INTEL_COMPILER)
-#  pragma GCC diagnostic push
-#  pragma GCC diagnostic ignored "-Wplacement-new"
+#    pragma GCC diagnostic push
+#    pragma GCC diagnostic ignored "-Wplacement-new"
 #endif
-            new ((capture *) &rec->data) capture { std::forward<Func>(f) };
+            new ((capture *) &rec->data) capture{std::forward<Func>(f)};
 #if defined(__GNUG__) && __GNUC__ >= 6 && !defined(__clang__) && !defined(__INTEL_COMPILER)
-#  pragma GCC diagnostic pop
+#    pragma GCC diagnostic pop
 #endif
 #if defined(__GNUG__) && !PYBIND11_HAS_STD_LAUNDER && !defined(__INTEL_COMPILER)
-#  pragma GCC diagnostic push
-#  pragma GCC diagnostic ignored "-Wstrict-aliasing"
+#    pragma GCC diagnostic push
+#    pragma GCC diagnostic ignored "-Wstrict-aliasing"
 #endif
             // UB without std::launder, but without breaking ABI and/or
             // a significant refactoring it's "impossible" to solve.
-            if (!std::is_trivially_destructible<capture>::value)
+            if (!std::is_trivially_destructible<capture>::value) {
                 rec->free_data = [](function_record *r) {
                     auto data = PYBIND11_STD_LAUNDER((capture *) &r->data);
                     (void) data;
                     data->~capture();
                 };
+            }
 #if defined(__GNUG__) && !PYBIND11_HAS_STD_LAUNDER && !defined(__INTEL_COMPILER)
-#  pragma GCC diagnostic pop
+#    pragma GCC diagnostic pop
 #endif
         } else {
-            rec->data[0] = new capture { std::forward<Func>(f) };
+            rec->data[0] = new capture{std::forward<Func>(f)};
             rec->free_data = [](function_record *r) { delete ((capture *) r->data[0]); };
         }
 
         /* Type casters for the function arguments and return value */
         using cast_in = argument_loader<Args...>;
-        using cast_out = make_caster<
-            conditional_t<std::is_void<Return>::value, void_type, Return>
-        >;
+        using cast_out
+            = make_caster<conditional_t<std::is_void<Return>::value, void_type, Return>>;
 
-        static_assert(expected_num_args<Extra...>(sizeof...(Args), cast_in::args_pos >= 0, cast_in::has_kwargs),
-                      "The number of argument annotations does not match the number of function arguments");
+        static_assert(
+            expected_num_args<Extra...>(
+                sizeof...(Args), cast_in::args_pos >= 0, cast_in::has_kwargs),
+            "The number of argument annotations does not match the number of function arguments");
 
         /* Dispatch code which converts function arguments and performs the actual function call */
         rec->impl = [](function_call &call) -> handle {
             cast_in args_converter;
 
             /* Try to cast the function arguments into the C++ domain */
-            if (!args_converter.load_args(call))
+            if (!args_converter.load_args(call)) {
                 return PYBIND11_TRY_NEXT_OVERLOAD;
+            }
 
             /* Invoke call policy pre-call hook */
             process_attributes<Extra...>::precall(call);
 
             /* Get a pointer to the capture object */
-            auto data = (sizeof(capture) <= sizeof(call.func.data)
-                         ? &call.func.data : call.func.data[0]);
+            const auto *data = (sizeof(capture) <= sizeof(call.func.data) ? &call.func.data
+                                                                          : call.func.data[0]);
             auto *cap = const_cast<capture *>(reinterpret_cast<const capture *>(data));
 
             /* Override policy for rvalues -- usually to enforce rvp::move on an rvalue */
-            return_value_policy policy = return_value_policy_override<Return>::policy(call.func.policy);
+            return_value_policy policy
+                = return_value_policy_override<Return>::policy(call.func.policy);
 
             /* Function scope guard -- defaults to the compile-to-nothing `void_type` */
             using Guard = extract_guard_t<Extra...>;
 
             /* Perform the function call */
-            handle result = cast_out::cast(
-                std::move(args_converter).template call<Return, Guard>(cap->f), policy, call.parent);
+            handle result
+                = cast_out::cast(std::move(args_converter).template call<Return, Guard>(cap->f),
+                                 policy,
+                                 call.parent);
 
             /* Invoke call policy post-call hook */
             process_attributes<Extra...>::postcall(call, result);
@@ -239,8 +257,9 @@ class cpp_function : public function {
         };
 
         rec->nargs_pos = cast_in::args_pos >= 0
-            ? static_cast<std::uint16_t>(cast_in::args_pos)
-            : sizeof...(Args) - cast_in::has_kwargs; // Will get reduced more if we have a kw_only
+                             ? static_cast<std::uint16_t>(cast_in::args_pos)
+                             : sizeof...(Args) - cast_in::has_kwargs; // Will get reduced more if
+                                                                      // we have a kw_only
         rec->has_args = cast_in::args_pos >= 0;
         rec->has_kwargs = cast_in::has_kwargs;
 
@@ -251,18 +270,26 @@ class cpp_function : public function {
             constexpr bool has_kw_only_args = any_of<std::is_same<kw_only, Extra>...>::value,
                            has_pos_only_args = any_of<std::is_same<pos_only, Extra>...>::value,
                            has_arg_annotations = any_of<is_keyword<Extra>...>::value;
-            static_assert(has_arg_annotations || !has_kw_only_args, "py::kw_only requires the use of argument annotations");
-            static_assert(has_arg_annotations || !has_pos_only_args, "py::pos_only requires the use of argument annotations (for docstrings and aligning the annotations to the argument)");
-
-            static_assert(constexpr_sum(is_kw_only<Extra>::value...) <= 1, "py::kw_only may be specified only once");
-            static_assert(constexpr_sum(is_pos_only<Extra>::value...) <= 1, "py::pos_only may be specified only once");
+            static_assert(has_arg_annotations || !has_kw_only_args,
+                          "py::kw_only requires the use of argument annotations");
+            static_assert(has_arg_annotations || !has_pos_only_args,
+                          "py::pos_only requires the use of argument annotations (for docstrings "
+                          "and aligning the annotations to the argument)");
+
+            static_assert(constexpr_sum(is_kw_only<Extra>::value...) <= 1,
+                          "py::kw_only may be specified only once");
+            static_assert(constexpr_sum(is_pos_only<Extra>::value...) <= 1,
+                          "py::pos_only may be specified only once");
             constexpr auto kw_only_pos = constexpr_first<is_kw_only, Extra...>();
             constexpr auto pos_only_pos = constexpr_first<is_pos_only, Extra...>();
-            static_assert(!(has_kw_only_args && has_pos_only_args) || pos_only_pos < kw_only_pos, "py::pos_only must come before py::kw_only");
+            static_assert(!(has_kw_only_args && has_pos_only_args) || pos_only_pos < kw_only_pos,
+                          "py::pos_only must come before py::kw_only");
         }
 
-        /* Generate a readable signature describing the function's arguments and return value types */
-        static constexpr auto signature = const_name("(") + cast_in::arg_names + const_name(") -> ") + cast_out::name;
+        /* Generate a readable signature describing the function's arguments and return
+           value types */
+        static constexpr auto signature
+            = const_name("(") + cast_in::arg_names + const_name(") -> ") + cast_out::name;
         PYBIND11_DESCR_CONSTEXPR auto types = decltype(signature)::types();
 
         /* Register the function with Python from generic (non-templated) code */
@@ -271,76 +298,93 @@ class cpp_function : public function {
 
         /* Stash some additional information used by an important optimization in 'functional.h' */
         using FunctionType = Return (*)(Args...);
-        constexpr bool is_function_ptr =
-            std::is_convertible<Func, FunctionType>::value &&
-            sizeof(capture) == sizeof(void *);
+        constexpr bool is_function_ptr
+            = std::is_convertible<Func, FunctionType>::value && sizeof(capture) == sizeof(void *);
         if (is_function_ptr) {
             rec->is_stateless = true;
-            rec->data[1] = const_cast<void *>(reinterpret_cast<const void *>(&typeid(FunctionType)));
+            rec->data[1]
+                = const_cast<void *>(reinterpret_cast<const void *>(&typeid(FunctionType)));
         }
     }
 
-    // Utility class that keeps track of all duplicated strings, and cleans them up in its destructor,
-    // unless they are released. Basically a RAII-solution to deal with exceptions along the way.
+    // Utility class that keeps track of all duplicated strings, and cleans them up in its
+    // destructor, unless they are released. Basically a RAII-solution to deal with exceptions
+    // along the way.
     class strdup_guard {
     public:
+        strdup_guard() = default;
+        strdup_guard(const strdup_guard &) = delete;
+        strdup_guard &operator=(const strdup_guard &) = delete;
+
         ~strdup_guard() {
-            for (auto s : strings)
+            for (auto *s : strings) {
                 std::free(s);
+            }
         }
         char *operator()(const char *s) {
-            auto t = PYBIND11_COMPAT_STRDUP(s);
+            auto *t = PYBIND11_COMPAT_STRDUP(s);
             strings.push_back(t);
             return t;
         }
-        void release() {
-            strings.clear();
-        }
+        void release() { strings.clear(); }
+
     private:
         std::vector<char *> strings;
     };
 
     /// Register a function call with Python (generic non-templated code goes here)
-    void initialize_generic(unique_function_record &&unique_rec, const char *text,
-                            const std::type_info *const *types, size_t args) {
+    void initialize_generic(unique_function_record &&unique_rec,
+                            const char *text,
+                            const std::type_info *const *types,
+                            size_t args) {
         // Do NOT receive `unique_rec` by value. If this function fails to move out the unique_ptr,
-        // we do not want this to destuct the pointer. `initialize` (the caller) still relies on the
-        // pointee being alive after this call. Only move out if a `capsule` is going to keep it alive.
-        auto rec = unique_rec.get();
+        // we do not want this to destruct the pointer. `initialize` (the caller) still relies on
+        // the pointee being alive after this call. Only move out if a `capsule` is going to keep
+        // it alive.
+        auto *rec = unique_rec.get();
 
         // Keep track of strdup'ed strings, and clean them up as long as the function's capsule
         // has not taken ownership yet (when `unique_rec.release()` is called).
-        // Note: This cannot easily be fixed by a `unique_ptr` with custom deleter, because the strings
-        // are only referenced before strdup'ing. So only *after* the following block could `destruct`
-        // safely be called, but even then, `repr` could still throw in the middle of copying all strings.
+        // Note: This cannot easily be fixed by a `unique_ptr` with custom deleter, because the
+        // strings are only referenced before strdup'ing. So only *after* the following block could
+        // `destruct` safely be called, but even then, `repr` could still throw in the middle of
+        // copying all strings.
         strdup_guard guarded_strdup;
 
         /* Create copies of all referenced C-style strings */
         rec->name = guarded_strdup(rec->name ? rec->name : "");
-        if (rec->doc) rec->doc = guarded_strdup(rec->doc);
-        for (auto &a: rec->args) {
-            if (a.name)
+        if (rec->doc) {
+            rec->doc = guarded_strdup(rec->doc);
+        }
+        for (auto &a : rec->args) {
+            if (a.name) {
                 a.name = guarded_strdup(a.name);
-            if (a.descr)
+            }
+            if (a.descr) {
                 a.descr = guarded_strdup(a.descr);
-            else if (a.value)
+            } else if (a.value) {
                 a.descr = guarded_strdup(repr(a.value).cast<std::string>().c_str());
+            }
         }
 
         rec->is_constructor = (std::strcmp(rec->name, "__init__") == 0)
                               || (std::strcmp(rec->name, "__setstate__") == 0);
 
-#if !defined(NDEBUG) && !defined(PYBIND11_DISABLE_NEW_STYLE_INIT_WARNING)
+#if defined(PYBIND11_DETAILED_ERROR_MESSAGES) && !defined(PYBIND11_DISABLE_NEW_STYLE_INIT_WARNING)
         if (rec->is_constructor && !rec->is_new_style_constructor) {
-            const auto class_name = detail::get_fully_qualified_tp_name((PyTypeObject *) rec->scope.ptr());
+            const auto class_name
+                = detail::get_fully_qualified_tp_name((PyTypeObject *) rec->scope.ptr());
             const auto func_name = std::string(rec->name);
-            PyErr_WarnEx(
-                PyExc_FutureWarning,
-                ("pybind11-bound class '" + class_name + "' is using an old-style "
-                 "placement-new '" + func_name + "' which has been deprecated. See "
-                 "the upgrade guide in pybind11's docs. This message is only visible "
-                 "when compiled in debug mode.").c_str(), 0
-            );
+            PyErr_WarnEx(PyExc_FutureWarning,
+                         ("pybind11-bound class '" + class_name
+                          + "' is using an old-style "
+                            "placement-new '"
+                          + func_name
+                          + "' which has been deprecated. See "
+                            "the upgrade guide in pybind11's docs. This message is only visible "
+                            "when compiled in debug mode.")
+                             .c_str(),
+                         0);
         }
 #endif
 
@@ -348,18 +392,20 @@ class cpp_function : public function {
         std::string signature;
         size_t type_index = 0, arg_index = 0;
         bool is_starred = false;
-        for (auto *pc = text; *pc != '\0'; ++pc) {
+        for (const auto *pc = text; *pc != '\0'; ++pc) {
             const auto c = *pc;
 
             if (c == '{') {
                 // Write arg name for everything except *args and **kwargs.
                 is_starred = *(pc + 1) == '*';
-                if (is_starred)
+                if (is_starred) {
                     continue;
+                }
                 // Separator for keyword-only arguments, placed before the kw
                 // arguments start (unless we are already putting an *args)
-                if (!rec->has_args && arg_index == rec->nargs_pos)
+                if (!rec->has_args && arg_index == rec->nargs_pos) {
                     signature += "*, ";
+                }
                 if (arg_index < rec->args.size() && rec->args[arg_index].name) {
                     signature += rec->args[arg_index].name;
                 } else if (arg_index == 0 && rec->is_method) {
@@ -376,25 +422,26 @@ class cpp_function : public function {
                 }
                 // Separator for positional-only arguments (placed after the
                 // argument, rather than before like *
-                if (rec->nargs_pos_only > 0 && (arg_index + 1) == rec->nargs_pos_only)
+                if (rec->nargs_pos_only > 0 && (arg_index + 1) == rec->nargs_pos_only) {
                     signature += ", /";
-                if (!is_starred)
+                }
+                if (!is_starred) {
                     arg_index++;
+                }
             } else if (c == '%') {
                 const std::type_info *t = types[type_index++];
-                if (!t)
+                if (!t) {
                     pybind11_fail("Internal error while parsing type signature (1)");
-                if (auto tinfo = detail::get_type_info(*t)) {
+                }
+                if (auto *tinfo = detail::get_type_info(*t)) {
                     handle th((PyObject *) tinfo->type);
-                    signature +=
-                        th.attr("__module__").cast<std::string>() + "." +
-                        th.attr("__qualname__").cast<std::string>(); // Python 3.3+, but we backport it to earlier versions
+                    signature += th.attr("__module__").cast<std::string>() + "."
+                                 + th.attr("__qualname__").cast<std::string>();
                 } else if (rec->is_new_style_constructor && arg_index == 0) {
                     // A new-style `__init__` takes `self` as `value_and_holder`.
                     // Rewrite it to the proper class type.
-                    signature +=
-                        rec->scope.attr("__module__").cast<std::string>() + "." +
-                        rec->scope.attr("__qualname__").cast<std::string>();
+                    signature += rec->scope.attr("__module__").cast<std::string>() + "."
+                                 + rec->scope.attr("__qualname__").cast<std::string>();
                 } else {
                     std::string tname(t->name());
                     detail::clean_type_id(tname);
@@ -405,40 +452,37 @@ class cpp_function : public function {
             }
         }
 
-        if (arg_index != args - rec->has_args - rec->has_kwargs || types[type_index] != nullptr)
+        if (arg_index != args - rec->has_args - rec->has_kwargs || types[type_index] != nullptr) {
             pybind11_fail("Internal error while parsing type signature (2)");
-
-#if PY_MAJOR_VERSION < 3
-        if (std::strcmp(rec->name, "__next__") == 0) {
-            std::free(rec->name);
-            rec->name = guarded_strdup("next");
-        } else if (std::strcmp(rec->name, "__bool__") == 0) {
-            std::free(rec->name);
-            rec->name = guarded_strdup("__nonzero__");
         }
-#endif
+
         rec->signature = guarded_strdup(signature.c_str());
         rec->args.shrink_to_fit();
         rec->nargs = (std::uint16_t) args;
 
-        if (rec->sibling && PYBIND11_INSTANCE_METHOD_CHECK(rec->sibling.ptr()))
+        if (rec->sibling && PYBIND11_INSTANCE_METHOD_CHECK(rec->sibling.ptr())) {
             rec->sibling = PYBIND11_INSTANCE_METHOD_GET_FUNCTION(rec->sibling.ptr());
+        }
 
         detail::function_record *chain = nullptr, *chain_start = rec;
         if (rec->sibling) {
             if (PyCFunction_Check(rec->sibling.ptr())) {
                 auto *self = PyCFunction_GET_SELF(rec->sibling.ptr());
-                capsule rec_capsule = isinstance<capsule>(self) ? reinterpret_borrow<capsule>(self) : capsule(self);
+                capsule rec_capsule = isinstance<capsule>(self) ? reinterpret_borrow<capsule>(self)
+                                                                : capsule(self);
                 chain = (detail::function_record *) rec_capsule;
                 /* Never append a method to an overload chain of a parent class;
                    instead, hide the parent's overloads in this case */
-                if (!chain->scope.is(rec->scope))
+                if (!chain->scope.is(rec->scope)) {
                     chain = nullptr;
+                }
+            }
+            // Don't trigger for things like the default __init__, which are wrapper_descriptors
+            // that we are intentionally replacing
+            else if (!rec->sibling.is_none() && rec->name[0] != '_') {
+                pybind11_fail("Cannot overload existing non-function object \""
+                              + std::string(rec->name) + "\" with a function of the same name");
             }
-            // Don't trigger for things like the default __init__, which are wrapper_descriptors that we are intentionally replacing
-            else if (!rec->sibling.is_none() && rec->name[0] != '_')
-                pybind11_fail("Cannot overload existing non-function object \"" + std::string(rec->name) +
-                        "\" with a function of the same name");
         }
 
         if (!chain) {
@@ -450,9 +494,8 @@ class cpp_function : public function {
                 = reinterpret_cast<PyCFunction>(reinterpret_cast<void (*)()>(dispatcher));
             rec->def->ml_flags = METH_VARARGS | METH_KEYWORDS;
 
-            capsule rec_capsule(unique_rec.release(), [](void *ptr) {
-                destruct((detail::function_record *) ptr);
-            });
+            capsule rec_capsule(unique_rec.release(),
+                                [](void *ptr) { destruct((detail::function_record *) ptr); });
             guarded_strdup.release();
 
             object scope_module;
@@ -465,21 +508,27 @@ class cpp_function : public function {
             }
 
             m_ptr = PyCFunction_NewEx(rec->def, rec_capsule.ptr(), scope_module.ptr());
-            if (!m_ptr)
+            if (!m_ptr) {
                 pybind11_fail("cpp_function::cpp_function(): Could not allocate function object");
+            }
         } else {
             /* Append at the beginning or end of the overload chain */
             m_ptr = rec->sibling.ptr();
             inc_ref();
-            if (chain->is_method != rec->is_method)
-                pybind11_fail("overloading a method with both static and instance methods is not supported; "
-                    #if defined(NDEBUG)
-                        "compile in debug mode for more details"
-                    #else
-                        "error while attempting to bind " + std::string(rec->is_method ? "instance" : "static") + " method " +
-                        std::string(pybind11::str(rec->scope.attr("__name__"))) + "." + std::string(rec->name) + signature
-                    #endif
+            if (chain->is_method != rec->is_method) {
+                pybind11_fail(
+                    "overloading a method with both static and instance methods is not supported; "
+#if !defined(PYBIND11_DETAILED_ERROR_MESSAGES)
+                    "#define PYBIND11_DETAILED_ERROR_MESSAGES or compile in debug mode for more "
+                    "details"
+#else
+                    "error while attempting to bind "
+                    + std::string(rec->is_method ? "instance" : "static") + " method "
+                    + std::string(pybind11::str(rec->scope.attr("__name__"))) + "."
+                    + std::string(rec->name) + signature
+#endif
                 );
+            }
 
             if (rec->prepend) {
                 // Beginning of chain; we need to replace the capsule's current head-of-the-chain
@@ -487,14 +536,16 @@ class cpp_function : public function {
                 // chain.
                 chain_start = rec;
                 rec->next = chain;
-                auto rec_capsule = reinterpret_borrow<capsule>(((PyCFunctionObject *) m_ptr)->m_self);
+                auto rec_capsule
+                    = reinterpret_borrow<capsule>(((PyCFunctionObject *) m_ptr)->m_self);
                 rec_capsule.set_pointer(unique_rec.release());
                 guarded_strdup.release();
             } else {
                 // Or end of chain (normal behavior)
                 chain_start = chain;
-                while (chain->next)
+                while (chain->next) {
                     chain = chain->next;
+                }
                 chain->next = unique_rec.release();
                 guarded_strdup.release();
             }
@@ -512,25 +563,35 @@ class cpp_function : public function {
         }
         // Then specific overload signatures
         bool first_user_def = true;
-        for (auto it = chain_start; it != nullptr; it = it->next) {
+        for (auto *it = chain_start; it != nullptr; it = it->next) {
             if (options::show_function_signatures()) {
-                if (index > 0) signatures += "\n";
-                if (chain)
+                if (index > 0) {
+                    signatures += '\n';
+                }
+                if (chain) {
                     signatures += std::to_string(++index) + ". ";
+                }
                 signatures += rec->name;
                 signatures += it->signature;
-                signatures += "\n";
+                signatures += '\n';
             }
             if (it->doc && it->doc[0] != '\0' && options::show_user_defined_docstrings()) {
-                // If we're appending another docstring, and aren't printing function signatures, we
-                // need to append a newline first:
+                // If we're appending another docstring, and aren't printing function signatures,
+                // we need to append a newline first:
                 if (!options::show_function_signatures()) {
-                    if (first_user_def) first_user_def = false;
-                    else signatures += "\n";
+                    if (first_user_def) {
+                        first_user_def = false;
+                    } else {
+                        signatures += '\n';
+                    }
+                }
+                if (options::show_function_signatures()) {
+                    signatures += '\n';
                 }
-                if (options::show_function_signatures()) signatures += "\n";
                 signatures += it->doc;
-                if (options::show_function_signatures()) signatures += "\n";
+                if (options::show_function_signatures()) {
+                    signatures += '\n';
+                }
             }
         }
 
@@ -543,24 +604,27 @@ class cpp_function : public function {
 
         if (rec->is_method) {
             m_ptr = PYBIND11_INSTANCE_METHOD_NEW(m_ptr, rec->scope.ptr());
-            if (!m_ptr)
-                pybind11_fail("cpp_function::cpp_function(): Could not allocate instance method object");
+            if (!m_ptr) {
+                pybind11_fail(
+                    "cpp_function::cpp_function(): Could not allocate instance method object");
+            }
             Py_DECREF(func);
         }
     }
 
     /// When a cpp_function is GCed, release any memory allocated by pybind11
     static void destruct(detail::function_record *rec, bool free_strings = true) {
-        // If on Python 3.9, check the interpreter "MICRO" (patch) version.
-        // If this is running on 3.9.0, we have to work around a bug.
-        #if !defined(PYPY_VERSION) && PY_MAJOR_VERSION == 3 && PY_MINOR_VERSION == 9
-            static bool is_zero = Py_GetVersion()[4] == '0';
-        #endif
+// If on Python 3.9, check the interpreter "MICRO" (patch) version.
+// If this is running on 3.9.0, we have to work around a bug.
+#if !defined(PYPY_VERSION) && PY_MAJOR_VERSION == 3 && PY_MINOR_VERSION == 9
+        static bool is_zero = Py_GetVersion()[4] == '0';
+#endif
 
         while (rec) {
             detail::function_record *next = rec->next;
-            if (rec->free_data)
+            if (rec->free_data) {
                 rec->free_data(rec);
+            }
             // During initialization, these strings might not have been copied yet,
             // so they cannot be freed. Once the function has been created, they can.
             // Check `make_function_record` for more details.
@@ -568,31 +632,32 @@ class cpp_function : public function {
                 std::free((char *) rec->name);
                 std::free((char *) rec->doc);
                 std::free((char *) rec->signature);
-                for (auto &arg: rec->args) {
+                for (auto &arg : rec->args) {
                     std::free(const_cast<char *>(arg.name));
                     std::free(const_cast<char *>(arg.descr));
                 }
             }
-            for (auto &arg: rec->args)
+            for (auto &arg : rec->args) {
                 arg.value.dec_ref();
+            }
             if (rec->def) {
                 std::free(const_cast<char *>(rec->def->ml_doc));
-                // Python 3.9.0 decref's these in the wrong order; rec->def
-                // If loaded on 3.9.0, let these leak (use Python 3.9.1 at runtime to fix)
-                // See https://github.com/python/cpython/pull/22670
-                #if !defined(PYPY_VERSION) && PY_MAJOR_VERSION == 3 && PY_MINOR_VERSION == 9
-                    if (!is_zero)
-                        delete rec->def;
-                #else
+// Python 3.9.0 decref's these in the wrong order; rec->def
+// If loaded on 3.9.0, let these leak (use Python 3.9.1 at runtime to fix)
+// See https://github.com/python/cpython/pull/22670
+#if !defined(PYPY_VERSION) && PY_MAJOR_VERSION == 3 && PY_MINOR_VERSION == 9
+                if (!is_zero) {
                     delete rec->def;
-                #endif
+                }
+#else
+                delete rec->def;
+#endif
             }
             delete rec;
             rec = next;
         }
     }
 
-
     /// Main dispatch logic for calls to functions bound using pybind11
     static PyObject *dispatcher(PyObject *self, PyObject *args_in, PyObject *kwargs_in) {
         using namespace detail;
@@ -601,7 +666,8 @@ class cpp_function : public function {
         const function_record *overloads = (function_record *) PyCapsule_GetPointer(self, nullptr),
                               *it = overloads;
 
-        /* Need to know how many arguments + keyword arguments there are to pick the right overload */
+        /* Need to know how many arguments + keyword arguments there are to pick the right
+           overload */
         const auto n_args_in = (size_t) PyTuple_GET_SIZE(args_in);
 
         handle parent = n_args_in > 0 ? PyTuple_GET_ITEM(args_in, 0) : nullptr,
@@ -609,19 +675,23 @@ class cpp_function : public function {
 
         auto self_value_and_holder = value_and_holder();
         if (overloads->is_constructor) {
-            if (!parent || !PyObject_TypeCheck(parent.ptr(), (PyTypeObject *) overloads->scope.ptr())) {
-                PyErr_SetString(PyExc_TypeError, "__init__(self, ...) called with invalid or missing `self` argument");
+            if (!parent
+                || !PyObject_TypeCheck(parent.ptr(), (PyTypeObject *) overloads->scope.ptr())) {
+                PyErr_SetString(
+                    PyExc_TypeError,
+                    "__init__(self, ...) called with invalid or missing `self` argument");
                 return nullptr;
             }
 
-            const auto tinfo = get_type_info((PyTypeObject *) overloads->scope.ptr());
-            const auto pi = reinterpret_cast<instance *>(parent.ptr());
+            auto *const tinfo = get_type_info((PyTypeObject *) overloads->scope.ptr());
+            auto *const pi = reinterpret_cast<instance *>(parent.ptr());
             self_value_and_holder = pi->get_value_and_holder(tinfo, true);
 
             // If this value is already registered it must mean __init__ is invoked multiple times;
             // we really can't support that in C++, so just ignore the second __init__.
-            if (self_value_and_holder.instance_registered())
+            if (self_value_and_holder.instance_registered()) {
                 return none().release().ptr();
+            }
         }
 
         try {
@@ -640,44 +710,53 @@ class cpp_function : public function {
                    1. Copy all positional arguments we were given, also checking to make sure that
                       named positional arguments weren't *also* specified via kwarg.
                    2. If we weren't given enough, try to make up the omitted ones by checking
-                      whether they were provided by a kwarg matching the `py::arg("name")` name.  If
+                      whether they were provided by a kwarg matching the `py::arg("name")` name. If
                       so, use it (and remove it from kwargs); if not, see if the function binding
                       provided a default that we can use.
-                   3. Ensure that either all keyword arguments were "consumed", or that the function
-                      takes a kwargs argument to accept unconsumed kwargs.
+                   3. Ensure that either all keyword arguments were "consumed", or that the
+                   function takes a kwargs argument to accept unconsumed kwargs.
                    4. Any positional arguments still left get put into a tuple (for args), and any
                       leftover kwargs get put into a dict.
                    5. Pack everything into a vector; if we have py::args or py::kwargs, they are an
                       extra tuple or dict at the end of the positional arguments.
                    6. Call the function call dispatcher (function_record::impl)
 
-                   If one of these fail, move on to the next overload and keep trying until we get a
-                   result other than PYBIND11_TRY_NEXT_OVERLOAD.
+                   If one of these fail, move on to the next overload and keep trying until we get
+                   a result other than PYBIND11_TRY_NEXT_OVERLOAD.
                  */
 
                 const function_record &func = *it;
-                size_t num_args = func.nargs;    // Number of positional arguments that we need
-                if (func.has_args) --num_args;   // (but don't count py::args
-                if (func.has_kwargs) --num_args; //  or py::kwargs)
+                size_t num_args = func.nargs; // Number of positional arguments that we need
+                if (func.has_args) {
+                    --num_args; // (but don't count py::args
+                }
+                if (func.has_kwargs) {
+                    --num_args; //  or py::kwargs)
+                }
                 size_t pos_args = func.nargs_pos;
 
-                if (!func.has_args && n_args_in > pos_args)
+                if (!func.has_args && n_args_in > pos_args) {
                     continue; // Too many positional arguments for this overload
+                }
 
-                if (n_args_in < pos_args && func.args.size() < pos_args)
-                    continue; // Not enough positional arguments given, and not enough defaults to fill in the blanks
+                if (n_args_in < pos_args && func.args.size() < pos_args) {
+                    continue; // Not enough positional arguments given, and not enough defaults to
+                              // fill in the blanks
+                }
 
                 function_call call(func, parent);
 
-                size_t args_to_copy = (std::min)(pos_args, n_args_in); // Protect std::min with parentheses
+                // Protect std::min with parentheses
+                size_t args_to_copy = (std::min)(pos_args, n_args_in);
                 size_t args_copied = 0;
 
                 // 0. Inject new-style `self` argument
                 if (func.is_new_style_constructor) {
                     // The `value` may have been preallocated by an old-style `__init__`
                     // if it was a preceding candidate for overload resolution.
-                    if (self_value_and_holder)
+                    if (self_value_and_holder) {
                         self_value_and_holder.type->dealloc(self_value_and_holder);
+                    }
 
                     call.init_self = PyTuple_GET_ITEM(args_in, 0);
                     call.args.emplace_back(reinterpret_cast<PyObject *>(&self_value_and_holder));
@@ -688,8 +767,10 @@ class cpp_function : public function {
                 // 1. Copy any position arguments given.
                 bool bad_arg = false;
                 for (; args_copied < args_to_copy; ++args_copied) {
-                    const argument_record *arg_rec = args_copied < func.args.size() ? &func.args[args_copied] : nullptr;
-                    if (kwargs_in && arg_rec && arg_rec->name && dict_getitemstring(kwargs_in, arg_rec->name)) {
+                    const argument_record *arg_rec
+                        = args_copied < func.args.size() ? &func.args[args_copied] : nullptr;
+                    if (kwargs_in && arg_rec && arg_rec->name
+                        && dict_getitemstring(kwargs_in, arg_rec->name)) {
                         bad_arg = true;
                         break;
                     }
@@ -702,8 +783,9 @@ class cpp_function : public function {
                     call.args.push_back(arg);
                     call.args_convert.push_back(arg_rec ? arg_rec->convert : true);
                 }
-                if (bad_arg)
+                if (bad_arg) {
                     continue; // Maybe it was meant for another overload (issue #688)
+                }
 
                 // Keep track of how many position args we copied out in case we need to come back
                 // to copy the rest into a py::args argument.
@@ -724,12 +806,14 @@ class cpp_function : public function {
                         if (value) {
                             call.args.push_back(value);
                             call.args_convert.push_back(arg_rec.convert);
-                        } else
+                        } else {
                             break;
+                        }
                     }
 
-                    if (args_copied < func.nargs_pos_only)
+                    if (args_copied < func.nargs_pos_only) {
                         continue; // Not enough defaults to fill the positional arguments
+                    }
                 }
 
                 // 2. Check kwargs and, failing that, defaults that may help complete the list
@@ -740,8 +824,9 @@ class cpp_function : public function {
                         const auto &arg_rec = func.args[args_copied];
 
                         handle value;
-                        if (kwargs_in && arg_rec.name)
+                        if (kwargs_in && arg_rec.name) {
                             value = dict_getitemstring(kwargs.ptr(), arg_rec.name);
+                        }
 
                         if (value) {
                             // Consume a kwargs value
@@ -761,24 +846,29 @@ class cpp_function : public function {
                         }
 
                         if (value) {
-                            // If we're at the py::args index then first insert a stub for it to be replaced later
-                            if (func.has_args && call.args.size() == func.nargs_pos)
+                            // If we're at the py::args index then first insert a stub for it to be
+                            // replaced later
+                            if (func.has_args && call.args.size() == func.nargs_pos) {
                                 call.args.push_back(none());
+                            }
 
                             call.args.push_back(value);
                             call.args_convert.push_back(arg_rec.convert);
-                        }
-                        else
+                        } else {
                             break;
+                        }
                     }
 
-                    if (args_copied < num_args)
-                        continue; // Not enough arguments, defaults, or kwargs to fill the positional arguments
+                    if (args_copied < num_args) {
+                        continue; // Not enough arguments, defaults, or kwargs to fill the
+                                  // positional arguments
+                    }
                 }
 
                 // 3. Check everything was consumed (unless we have a kwargs arg)
-                if (kwargs && !kwargs.empty() && !func.has_kwargs)
+                if (kwargs && !kwargs.empty() && !func.has_kwargs) {
                     continue; // Unconsumed kwargs, but no py::kwargs argument to accept them
+                }
 
                 // 4a. If we have a py::args argument, create a new tuple with leftovers
                 if (func.has_args) {
@@ -796,29 +886,33 @@ class cpp_function : public function {
                             extra_args[i] = PyTuple_GET_ITEM(args_in, positional_args_copied + i);
                         }
                     }
-                    if (call.args.size() <= func.nargs_pos)
+                    if (call.args.size() <= func.nargs_pos) {
                         call.args.push_back(extra_args);
-                    else
+                    } else {
                         call.args[func.nargs_pos] = extra_args;
+                    }
                     call.args_convert.push_back(false);
                     call.args_ref = std::move(extra_args);
                 }
 
                 // 4b. If we have a py::kwargs, pass on any remaining kwargs
                 if (func.has_kwargs) {
-                    if (!kwargs.ptr())
+                    if (!kwargs.ptr()) {
                         kwargs = dict(); // If we didn't get one, send an empty one
+                    }
                     call.args.push_back(kwargs);
                     call.args_convert.push_back(false);
                     call.kwargs_ref = std::move(kwargs);
                 }
 
-                // 5. Put everything in a vector.  Not technically step 5, we've been building it
-                // in `call.args` all along.
-                #if !defined(NDEBUG)
-                if (call.args.size() != func.nargs || call.args_convert.size() != func.nargs)
-                    pybind11_fail("Internal error: function call dispatcher inserted wrong number of arguments!");
-                #endif
+// 5. Put everything in a vector.  Not technically step 5, we've been building it
+// in `call.args` all along.
+#if defined(PYBIND11_DETAILED_ERROR_MESSAGES)
+                if (call.args.size() != func.nargs || call.args_convert.size() != func.nargs) {
+                    pybind11_fail("Internal error: function call dispatcher inserted wrong number "
+                                  "of arguments!");
+                }
+#endif
 
                 std::vector<bool> second_pass_convert;
                 if (overloaded) {
@@ -837,8 +931,9 @@ class cpp_function : public function {
                     result = PYBIND11_TRY_NEXT_OVERLOAD;
                 }
 
-                if (result.ptr() != PYBIND11_TRY_NEXT_OVERLOAD)
+                if (result.ptr() != PYBIND11_TRY_NEXT_OVERLOAD) {
                     break;
+                }
 
                 if (overloaded) {
                     // The (overloaded) call failed; if the call has at least one argument that
@@ -857,7 +952,8 @@ class cpp_function : public function {
             }
 
             if (overloaded && !second_pass.empty() && result.ptr() == PYBIND11_TRY_NEXT_OVERLOAD) {
-                // The no-conversion pass finished without success, try again with conversion allowed
+                // The no-conversion pass finished without success, try again with conversion
+                // allowed
                 for (auto &call : second_pass) {
                     try {
                         loader_life_support guard{};
@@ -869,8 +965,9 @@ class cpp_function : public function {
                     if (result.ptr() != PYBIND11_TRY_NEXT_OVERLOAD) {
                         // The error reporting logic below expects 'it' to be valid, as it would be
                         // if we'd encountered this failure in the first-pass loop.
-                        if (!result)
+                        if (!result) {
                             it = &call.func;
+                        }
                         break;
                     }
                 }
@@ -879,7 +976,7 @@ class cpp_function : public function {
             e.restore();
             return nullptr;
 #ifdef __GLIBCXX__
-        } catch ( abi::__forced_unwind& ) {
+        } catch (abi::__forced_unwind &) {
             throw;
 #endif
         } catch (...) {
@@ -896,9 +993,11 @@ class cpp_function : public function {
                 - catch the exception and call PyErr_SetString or PyErr_SetObject
                   to set a standard (or custom) Python exception, or
                 - do nothing and let the exception fall through to the next translator, or
-                - delegate translation to the next translator by throwing a new type of exception. */
+                - delegate translation to the next translator by throwing a new type of exception.
+             */
 
-            auto &local_exception_translators = get_local_internals().registered_exception_translators;
+            auto &local_exception_translators
+                = get_local_internals().registered_exception_translators;
             if (detail::apply_exception_translators(local_exception_translators)) {
                 return nullptr;
             }
@@ -907,7 +1006,8 @@ class cpp_function : public function {
                 return nullptr;
             }
 
-            PyErr_SetString(PyExc_SystemError, "Exception escaped from default exception translator!");
+            PyErr_SetString(PyExc_SystemError,
+                            "Exception escaped from default exception translator!");
             return nullptr;
         }
 
@@ -922,20 +1022,22 @@ class cpp_function : public function {
         };
 
         if (result.ptr() == PYBIND11_TRY_NEXT_OVERLOAD) {
-            if (overloads->is_operator)
+            if (overloads->is_operator) {
                 return handle(Py_NotImplemented).inc_ref().ptr();
+            }
 
-            std::string msg = std::string(overloads->name) + "(): incompatible " +
-                std::string(overloads->is_constructor ? "constructor" : "function") +
-                " arguments. The following argument types are supported:\n";
+            std::string msg = std::string(overloads->name) + "(): incompatible "
+                              + std::string(overloads->is_constructor ? "constructor" : "function")
+                              + " arguments. The following argument types are supported:\n";
 
             int ctr = 0;
             for (const function_record *it2 = overloads; it2 != nullptr; it2 = it2->next) {
-                msg += "    "+ std::to_string(++ctr) + ". ";
+                msg += "    " + std::to_string(++ctr) + ". ";
 
                 bool wrote_sig = false;
                 if (overloads->is_constructor) {
-                    // For a constructor, rewrite `(self: Object, arg0, ...) -> NoneType` as `Object(arg0, ...)`
+                    // For a constructor, rewrite `(self: Object, arg0, ...) -> NoneType` as
+                    // `Object(arg0, ...)`
                     std::string sig = it2->signature;
                     size_t start = sig.find('(') + 7; // skip "(self: "
                     if (start < sig.size()) {
@@ -943,7 +1045,9 @@ class cpp_function : public function {
                         size_t end = sig.find(", "), next = end + 2;
                         size_t ret = sig.rfind(" -> ");
                         // Or the ), if there is no comma:
-                        if (end >= sig.size()) next = end = sig.find(')');
+                        if (end >= sig.size()) {
+                            next = end = sig.find(')');
+                        }
                         if (start < end && next < sig.size()) {
                             msg.append(sig, start, end - start);
                             msg += '(';
@@ -952,35 +1056,45 @@ class cpp_function : public function {
                         }
                     }
                 }
-                if (!wrote_sig) msg += it2->signature;
+                if (!wrote_sig) {
+                    msg += it2->signature;
+                }
 
-                msg += "\n";
+                msg += '\n';
             }
             msg += "\nInvoked with: ";
             auto args_ = reinterpret_borrow<tuple>(args_in);
             bool some_args = false;
             for (size_t ti = overloads->is_constructor ? 1 : 0; ti < args_.size(); ++ti) {
-                if (!some_args) some_args = true;
-                else msg += ", ";
+                if (!some_args) {
+                    some_args = true;
+                } else {
+                    msg += ", ";
+                }
                 try {
                     msg += pybind11::repr(args_[ti]);
-                } catch (const error_already_set&) {
+                } catch (const error_already_set &) {
                     msg += "<repr raised Error>";
                 }
             }
             if (kwargs_in) {
                 auto kwargs = reinterpret_borrow<dict>(kwargs_in);
                 if (!kwargs.empty()) {
-                    if (some_args) msg += "; ";
+                    if (some_args) {
+                        msg += "; ";
+                    }
                     msg += "kwargs: ";
                     bool first = true;
                     for (auto kwarg : kwargs) {
-                        if (first) first = false;
-                        else msg += ", ";
+                        if (first) {
+                            first = false;
+                        } else {
+                            msg += ", ";
+                        }
                         msg += pybind11::str("{}=").format(kwarg.first);
                         try {
                             msg += pybind11::repr(kwarg.second);
-                        } catch (const error_already_set&) {
+                        } catch (const error_already_set &) {
                             msg += "<repr raised Error>";
                         }
                     }
@@ -988,14 +1102,12 @@ class cpp_function : public function {
             }
 
             append_note_if_missing_header_is_suspected(msg);
-#if PY_VERSION_HEX >= 0x03030000
             // Attach additional error info to the exception if supported
             if (PyErr_Occurred()) {
                 // #HelpAppreciated: unit test coverage for this branch.
                 raise_from(PyExc_TypeError, msg.c_str());
                 return nullptr;
             }
-#endif
             PyErr_SetString(PyExc_TypeError, msg.c_str());
             return nullptr;
         }
@@ -1004,13 +1116,11 @@ class cpp_function : public function {
                               "Python type! The signature was\n\t";
             msg += it->signature;
             append_note_if_missing_header_is_suspected(msg);
-#if PY_VERSION_HEX >= 0x03030000
             // Attach additional error info to the exception if supported
             if (PyErr_Occurred()) {
                 raise_from(PyExc_TypeError, msg.c_str());
                 return nullptr;
             }
-#endif
             PyErr_SetString(PyExc_TypeError, msg.c_str());
             return nullptr;
         }
@@ -1022,7 +1132,6 @@ class cpp_function : public function {
     }
 };
 
-
 /// Wrapper for Python extension modules
 class module_ : public object {
 public:
@@ -1031,11 +1140,7 @@ class module_ : public object {
     /// Create a new top-level Python module with the given name and docstring
     PYBIND11_DEPRECATED("Use PYBIND11_MODULE or module_::create_extension_module instead")
     explicit module_(const char *name, const char *doc = nullptr) {
-#if PY_MAJOR_VERSION >= 3
         *this = create_extension_module(name, doc, new PyModuleDef());
-#else
-        *this = create_extension_module(name, doc, nullptr);
-#endif
     }
 
     /** \rst
@@ -1044,11 +1149,15 @@ class module_ : public object {
         details on the ``Extra&& ... extra`` argument, see section :ref:`extras`.
     \endrst */
     template <typename Func, typename... Extra>
-    module_ &def(const char *name_, Func &&f, const Extra& ... extra) {
-        cpp_function func(std::forward<Func>(f), name(name_), scope(*this),
-                          sibling(getattr(*this, name_, none())), extra...);
+    module_ &def(const char *name_, Func &&f, const Extra &...extra) {
+        cpp_function func(std::forward<Func>(f),
+                          name(name_),
+                          scope(*this),
+                          sibling(getattr(*this, name_, none())),
+                          extra...);
         // NB: allow overwriting here because cpp_function sets up a chain with the intention of
-        // overwriting (and has already checked internally that it isn't overwriting non-functions).
+        // overwriting (and has already checked internally that it isn't overwriting
+        // non-functions).
         add_object(name_, func, true /* overwrite */);
         return *this;
     }
@@ -1064,11 +1173,19 @@ class module_ : public object {
             py::module_ m3 = m2.def_submodule("subsub", "A submodule of 'example.sub'");
     \endrst */
     module_ def_submodule(const char *name, const char *doc = nullptr) {
-        std::string full_name = std::string(PyModule_GetName(m_ptr))
-            + std::string(".") + std::string(name);
-        auto result = reinterpret_borrow<module_>(PyImport_AddModule(full_name.c_str()));
-        if (doc && options::show_user_defined_docstrings())
+        const char *this_name = PyModule_GetName(m_ptr);
+        if (this_name == nullptr) {
+            throw error_already_set();
+        }
+        std::string full_name = std::string(this_name) + '.' + name;
+        handle submodule = PyImport_AddModule(full_name.c_str());
+        if (!submodule) {
+            throw error_already_set();
+        }
+        auto result = reinterpret_borrow<module_>(submodule);
+        if (doc && options::show_user_defined_docstrings()) {
             result.attr("__doc__") = pybind11::str(doc);
+        }
         attr(name) = result;
         return result;
     }
@@ -1076,16 +1193,18 @@ class module_ : public object {
     /// Import and return a module or throws `error_already_set`.
     static module_ import(const char *name) {
         PyObject *obj = PyImport_ImportModule(name);
-        if (!obj)
+        if (!obj) {
             throw error_already_set();
+        }
         return reinterpret_steal<module_>(obj);
     }
 
     /// Reload the module or throws `error_already_set`.
     void reload() {
         PyObject *obj = PyImport_ReloadModule(ptr());
-        if (!obj)
+        if (!obj) {
             throw error_already_set();
+        }
         *this = reinterpret_steal<module_>(obj);
     }
 
@@ -1093,56 +1212,49 @@ class module_ : public object {
         Adds an object to the module using the given name.  Throws if an object with the given name
         already exists.
 
-        ``overwrite`` should almost always be false: attempting to overwrite objects that pybind11 has
-        established will, in most cases, break things.
+        ``overwrite`` should almost always be false: attempting to overwrite objects that pybind11
+        has established will, in most cases, break things.
     \endrst */
     PYBIND11_NOINLINE void add_object(const char *name, handle obj, bool overwrite = false) {
-        if (!overwrite && hasattr(*this, name))
-            pybind11_fail("Error during initialization: multiple incompatible definitions with name \"" +
-                    std::string(name) + "\"");
+        if (!overwrite && hasattr(*this, name)) {
+            pybind11_fail(
+                "Error during initialization: multiple incompatible definitions with name \""
+                + std::string(name) + "\"");
+        }
 
         PyModule_AddObject(ptr(), name, obj.inc_ref().ptr() /* steals a reference */);
     }
 
-#if PY_MAJOR_VERSION >= 3
-    using module_def = PyModuleDef;
-#else
-    struct module_def {};
-#endif
+    using module_def = PyModuleDef; // TODO: Can this be removed (it was needed only for Python 2)?
 
     /** \rst
         Create a new top-level module that can be used as the main module of a C extension.
 
-        For Python 3, ``def`` should point to a statically allocated module_def.
-        For Python 2, ``def`` can be a nullptr and is completely ignored.
+        ``def`` should point to a statically allocated module_def.
     \endrst */
     static module_ create_extension_module(const char *name, const char *doc, module_def *def) {
-#if PY_MAJOR_VERSION >= 3
         // module_def is PyModuleDef
-        def = new (def) PyModuleDef {  // Placement new (not an allocation).
-            /* m_base */     PyModuleDef_HEAD_INIT,
-            /* m_name */     name,
-            /* m_doc */      options::show_user_defined_docstrings() ? doc : nullptr,
-            /* m_size */     -1,
-            /* m_methods */  nullptr,
-            /* m_slots */    nullptr,
-            /* m_traverse */ nullptr,
-            /* m_clear */    nullptr,
-            /* m_free */     nullptr
-        };
-        auto m = PyModule_Create(def);
-#else
-        // Ignore module_def *def; only necessary for Python 3
-        (void) def;
-        auto m = Py_InitModule3(name, nullptr, options::show_user_defined_docstrings() ? doc : nullptr);
-#endif
+        // Placement new (not an allocation).
+        def = new (def)
+            PyModuleDef{/* m_base */ PyModuleDef_HEAD_INIT,
+                        /* m_name */ name,
+                        /* m_doc */ options::show_user_defined_docstrings() ? doc : nullptr,
+                        /* m_size */ -1,
+                        /* m_methods */ nullptr,
+                        /* m_slots */ nullptr,
+                        /* m_traverse */ nullptr,
+                        /* m_clear */ nullptr,
+                        /* m_free */ nullptr};
+        auto *m = PyModule_Create(def);
         if (m == nullptr) {
-            if (PyErr_Occurred())
+            if (PyErr_Occurred()) {
                 throw error_already_set();
+            }
             pybind11_fail("Internal error in module_::create_extension_module()");
         }
-        // TODO: Should be reinterpret_steal for Python 3, but Python also steals it again when returned from PyInit_...
-        //       For Python 2, reinterpret_borrow is correct.
+        // TODO: Should be reinterpret_steal for Python 3, but Python also steals it again when
+        //       returned from PyInit_...
+        //       For Python 2, reinterpret_borrow was correct.
         return reinterpret_borrow<module_>(m);
     }
 };
@@ -1160,14 +1272,12 @@ inline dict globals() {
     return reinterpret_borrow<dict>(p ? p : module_::import("__main__").attr("__dict__").ptr());
 }
 
-#if PY_VERSION_HEX >= 0x03030000
-template <typename... Args,
-          typename = detail::enable_if_t<args_are_all_keyword_or_ds<Args...>()>>
-PYBIND11_DEPRECATED("make_simple_namespace should be replaced with py::module_::import(\"types\").attr(\"SimpleNamespace\") ")
-object make_simple_namespace(Args&&... args_) {
+template <typename... Args, typename = detail::enable_if_t<args_are_all_keyword_or_ds<Args...>()>>
+PYBIND11_DEPRECATED("make_simple_namespace should be replaced with "
+                    "py::module_::import(\"types\").attr(\"SimpleNamespace\") ")
+object make_simple_namespace(Args &&...args_) {
     return module_::import("types").attr("SimpleNamespace")(std::forward<Args>(args_)...);
 }
-#endif
 
 PYBIND11_NAMESPACE_BEGIN(detail)
 /// Generic support for creating new Python heap types
@@ -1176,14 +1286,17 @@ class generic_type : public object {
     PYBIND11_OBJECT_DEFAULT(generic_type, object, PyType_Check)
 protected:
     void initialize(const type_record &rec) {
-        if (rec.scope && hasattr(rec.scope, "__dict__") && rec.scope.attr("__dict__").contains(rec.name))
-            pybind11_fail("generic_type: cannot initialize type \"" + std::string(rec.name) +
-                          "\": an object with that name is already defined");
+        if (rec.scope && hasattr(rec.scope, "__dict__")
+            && rec.scope.attr("__dict__").contains(rec.name)) {
+            pybind11_fail("generic_type: cannot initialize type \"" + std::string(rec.name)
+                          + "\": an object with that name is already defined");
+        }
 
         if ((rec.module_local ? get_local_type_info(*rec.type) : get_global_type_info(*rec.type))
-            != nullptr)
-            pybind11_fail("generic_type: type \"" + std::string(rec.name) +
-                          "\" is already registered!");
+            != nullptr) {
+            pybind11_fail("generic_type: type \"" + std::string(rec.name)
+                          + "\" is already registered!");
+        }
 
         m_ptr = make_new_python_type(rec);
 
@@ -1205,17 +1318,17 @@ class generic_type : public object {
         auto &internals = get_internals();
         auto tindex = std::type_index(*rec.type);
         tinfo->direct_conversions = &internals.direct_conversions[tindex];
-        if (rec.module_local)
+        if (rec.module_local) {
             get_local_internals().registered_types_cpp[tindex] = tinfo;
-        else
+        } else {
             internals.registered_types_cpp[tindex] = tinfo;
-        internals.registered_types_py[(PyTypeObject *) m_ptr] = { tinfo };
+        }
+        internals.registered_types_py[(PyTypeObject *) m_ptr] = {tinfo};
 
         if (rec.bases.size() > 1 || rec.multiple_inheritance) {
             mark_parents_nonsimple(tinfo->type);
             tinfo->simple_ancestors = false;
-        }
-        else if (rec.bases.size() == 1) {
+        } else if (rec.bases.size() == 1) {
             auto *parent_tinfo = get_type_info((PyTypeObject *) rec.bases[0].ptr());
             assert(parent_tinfo != nullptr);
             bool parent_simple_ancestors = parent_tinfo->simple_ancestors;
@@ -1235,25 +1348,25 @@ class generic_type : public object {
     void mark_parents_nonsimple(PyTypeObject *value) {
         auto t = reinterpret_borrow<tuple>(value->tp_bases);
         for (handle h : t) {
-            auto tinfo2 = get_type_info((PyTypeObject *) h.ptr());
-            if (tinfo2)
+            auto *tinfo2 = get_type_info((PyTypeObject *) h.ptr());
+            if (tinfo2) {
                 tinfo2->simple_type = false;
+            }
             mark_parents_nonsimple((PyTypeObject *) h.ptr());
         }
     }
 
-    void install_buffer_funcs(
-            buffer_info *(*get_buffer)(PyObject *, void *),
-            void *get_buffer_data) {
-        auto *type = (PyHeapTypeObject*) m_ptr;
-        auto tinfo = detail::get_type_info(&type->ht_type);
+    void install_buffer_funcs(buffer_info *(*get_buffer)(PyObject *, void *),
+                              void *get_buffer_data) {
+        auto *type = (PyHeapTypeObject *) m_ptr;
+        auto *tinfo = detail::get_type_info(&type->ht_type);
 
-        if (!type->ht_type.tp_as_buffer)
-            pybind11_fail(
-                "To be able to register buffer protocol support for the type '" +
-                get_fully_qualified_tp_name(tinfo->type) +
-                "' the associated class<>(..) invocation must "
-                "include the pybind11::buffer_protocol() annotation!");
+        if (!type->ht_type.tp_as_buffer) {
+            pybind11_fail("To be able to register buffer protocol support for the type '"
+                          + get_fully_qualified_tp_name(tinfo->type)
+                          + "' the associated class<>(..) invocation must "
+                            "include the pybind11::buffer_protocol() annotation!");
+        }
 
         tinfo->get_buffer = get_buffer;
         tinfo->get_buffer_data = get_buffer_data;
@@ -1261,58 +1374,76 @@ class generic_type : public object {
 
     // rec_func must be set for either fget or fset.
     void def_property_static_impl(const char *name,
-                                  handle fget, handle fset,
+                                  handle fget,
+                                  handle fset,
                                   detail::function_record *rec_func) {
         const auto is_static = (rec_func != nullptr) && !(rec_func->is_method && rec_func->scope);
         const auto has_doc = (rec_func != nullptr) && (rec_func->doc != nullptr)
                              && pybind11::options::show_user_defined_docstrings();
-        auto property = handle((PyObject *) (is_static ? get_internals().static_property_type
-                                                       : &PyProperty_Type));
+        auto property = handle(
+            (PyObject *) (is_static ? get_internals().static_property_type : &PyProperty_Type));
         attr(name) = property(fget.ptr() ? fget : none(),
                               fset.ptr() ? fset : none(),
-                              /*deleter*/none(),
+                              /*deleter*/ none(),
                               pybind11::str(has_doc ? rec_func->doc : ""));
     }
 };
 
 /// Set the pointer to operator new if it exists. The cast is needed because it can be overloaded.
-template <typename T, typename = void_t<decltype(static_cast<void *(*)(size_t)>(T::operator new))>>
-void set_operator_new(type_record *r) { r->operator_new = &T::operator new; }
-
-template <typename> void set_operator_new(...) { }
+template <typename T,
+          typename = void_t<decltype(static_cast<void *(*) (size_t)>(T::operator new))>>
+void set_operator_new(type_record *r) {
+    r->operator_new = &T::operator new;
+}
 
-template <typename T, typename SFINAE = void> struct has_operator_delete : std::false_type { };
-template <typename T> struct has_operator_delete<T, void_t<decltype(static_cast<void (*)(void *)>(T::operator delete))>>
-    : std::true_type { };
-template <typename T, typename SFINAE = void> struct has_operator_delete_size : std::false_type { };
-template <typename T> struct has_operator_delete_size<T, void_t<decltype(static_cast<void (*)(void *, size_t)>(T::operator delete))>>
-    : std::true_type { };
+template <typename>
+void set_operator_new(...) {}
+
+template <typename T, typename SFINAE = void>
+struct has_operator_delete : std::false_type {};
+template <typename T>
+struct has_operator_delete<T, void_t<decltype(static_cast<void (*)(void *)>(T::operator delete))>>
+    : std::true_type {};
+template <typename T, typename SFINAE = void>
+struct has_operator_delete_size : std::false_type {};
+template <typename T>
+struct has_operator_delete_size<
+    T,
+    void_t<decltype(static_cast<void (*)(void *, size_t)>(T::operator delete))>> : std::true_type {
+};
 /// Call class-specific delete if it exists or global otherwise. Can also be an overload set.
 template <typename T, enable_if_t<has_operator_delete<T>::value, int> = 0>
-void call_operator_delete(T *p, size_t, size_t) { T::operator delete(p); }
-template <typename T, enable_if_t<!has_operator_delete<T>::value && has_operator_delete_size<T>::value, int> = 0>
-void call_operator_delete(T *p, size_t s, size_t) { T::operator delete(p, s); }
+void call_operator_delete(T *p, size_t, size_t) {
+    T::operator delete(p);
+}
+template <
+    typename T,
+    enable_if_t<!has_operator_delete<T>::value && has_operator_delete_size<T>::value, int> = 0>
+void call_operator_delete(T *p, size_t s, size_t) {
+    T::operator delete(p, s);
+}
 
 inline void call_operator_delete(void *p, size_t s, size_t a) {
-    (void)s; (void)a;
-    #if defined(__cpp_aligned_new) && (!defined(_MSC_VER) || _MSC_VER >= 1912)
-        if (a > __STDCPP_DEFAULT_NEW_ALIGNMENT__) {
-            #ifdef __cpp_sized_deallocation
-                ::operator delete(p, s, std::align_val_t(a));
-            #else
-                ::operator delete(p, std::align_val_t(a));
-            #endif
-            return;
-        }
-    #endif
-    #ifdef __cpp_sized_deallocation
-        ::operator delete(p, s);
-    #else
-        ::operator delete(p);
-    #endif
+    (void) s;
+    (void) a;
+#if defined(__cpp_aligned_new) && (!defined(_MSC_VER) || _MSC_VER >= 1912)
+    if (a > __STDCPP_DEFAULT_NEW_ALIGNMENT__) {
+#    ifdef __cpp_sized_deallocation
+        ::operator delete(p, s, std::align_val_t(a));
+#    else
+        ::operator delete(p, std::align_val_t(a));
+#    endif
+        return;
+    }
+#endif
+#ifdef __cpp_sized_deallocation
+    ::operator delete(p, s);
+#else
+    ::operator delete(p);
+#endif
 }
 
-inline void add_class_method(object& cls, const char *name_, const cpp_function &cf) {
+inline void add_class_method(object &cls, const char *name_, const cpp_function &cf) {
     cls.attr(cf.name()) = cf;
     if (std::strcmp(name_, "__eq__") == 0 && !cls.attr("__dict__").contains("__hash__")) {
         cls.attr("__hash__") = none();
@@ -1324,30 +1455,37 @@ PYBIND11_NAMESPACE_END(detail)
 /// Given a pointer to a member function, cast it to its `Derived` version.
 /// Forward everything else unchanged.
 template <typename /*Derived*/, typename F>
-auto method_adaptor(F &&f) -> decltype(std::forward<F>(f)) { return std::forward<F>(f); }
+auto method_adaptor(F &&f) -> decltype(std::forward<F>(f)) {
+    return std::forward<F>(f);
+}
 
 template <typename Derived, typename Return, typename Class, typename... Args>
 auto method_adaptor(Return (Class::*pmf)(Args...)) -> Return (Derived::*)(Args...) {
-    static_assert(detail::is_accessible_base_of<Class, Derived>::value,
+    static_assert(
+        detail::is_accessible_base_of<Class, Derived>::value,
         "Cannot bind an inaccessible base class method; use a lambda definition instead");
     return pmf;
 }
 
 template <typename Derived, typename Return, typename Class, typename... Args>
 auto method_adaptor(Return (Class::*pmf)(Args...) const) -> Return (Derived::*)(Args...) const {
-    static_assert(detail::is_accessible_base_of<Class, Derived>::value,
+    static_assert(
+        detail::is_accessible_base_of<Class, Derived>::value,
         "Cannot bind an inaccessible base class method; use a lambda definition instead");
     return pmf;
 }
 
 template <typename type_, typename... options>
 class class_ : public detail::generic_type {
-    template <typename T> using is_holder = detail::is_holder_type<type_, T>;
-    template <typename T> using is_subtype = detail::is_strict_base_of<type_, T>;
-    template <typename T> using is_base = detail::is_strict_base_of<T, type_>;
+    template <typename T>
+    using is_holder = detail::is_holder_type<type_, T>;
+    template <typename T>
+    using is_subtype = detail::is_strict_base_of<type_, T>;
+    template <typename T>
+    using is_base = detail::is_strict_base_of<T, type_>;
     // struct instead of using here to help MSVC:
-    template <typename T> struct is_valid_class_option :
-        detail::any_of<is_holder<T>, is_subtype<T>, is_base<T>> {};
+    template <typename T>
+    struct is_valid_class_option : detail::any_of<is_holder<T>, is_subtype<T>, is_base<T>> {};
 
 public:
     using type = type_;
@@ -1356,23 +1494,24 @@ class class_ : public detail::generic_type {
     using holder_type = detail::exactly_one_t<is_holder, std::unique_ptr<type>, options...>;
 
     static_assert(detail::all_of<is_valid_class_option<options>...>::value,
-            "Unknown/invalid class_ template parameters provided");
+                  "Unknown/invalid class_ template parameters provided");
 
     static_assert(!has_alias || std::is_polymorphic<type>::value,
-            "Cannot use an alias class with a non-polymorphic type");
+                  "Cannot use an alias class with a non-polymorphic type");
 
     PYBIND11_OBJECT(class_, generic_type, PyType_Check)
 
     template <typename... Extra>
-    class_(handle scope, const char *name, const Extra &... extra) {
+    class_(handle scope, const char *name, const Extra &...extra) {
         using namespace detail;
 
         // MI can only be specified via class_ template options, not constructor parameters
         static_assert(
             none_of<is_pyobject<Extra>...>::value || // no base class arguments, or:
-            (   constexpr_sum(is_pyobject<Extra>::value...) == 1 && // Exactly one base
-                constexpr_sum(is_base<options>::value...)   == 0 && // no template option bases
-                none_of<std::is_same<multiple_inheritance, Extra>...>::value), // no multiple_inheritance attr
+                (constexpr_sum(is_pyobject<Extra>::value...) == 1 && // Exactly one base
+                 constexpr_sum(is_base<options>::value...) == 0 &&   // no template option bases
+                 // no multiple_inheritance attr
+                 none_of<std::is_same<multiple_inheritance, Extra>...>::value),
             "Error: multiple inheritance bases must be specified via class_ template options");
 
         type_record record;
@@ -1380,7 +1519,7 @@ class class_ : public detail::generic_type {
         record.name = name;
         record.type = &typeid(type);
         record.type_size = sizeof(conditional_t<has_alias, type_alias, type>);
-        record.type_align = alignof(conditional_t<has_alias, type_alias, type>&);
+        record.type_align = alignof(conditional_t<has_alias, type_alias, type> &);
         record.holder_size = sizeof(holder_type);
         record.init_instance = init_instance;
         record.dealloc = dealloc;
@@ -1397,8 +1536,10 @@ class class_ : public detail::generic_type {
         generic_type::initialize(record);
 
         if (has_alias) {
-            auto &instances = record.module_local ? get_local_internals().registered_types_cpp : get_internals().registered_types_cpp;
-            instances[std::type_index(typeid(type_alias))] = instances[std::type_index(typeid(type))];
+            auto &instances = record.module_local ? get_local_internals().registered_types_cpp
+                                                  : get_internals().registered_types_cpp;
+            instances[std::type_index(typeid(type_alias))]
+                = instances[std::type_index(typeid(type))];
         }
     }
 
@@ -1410,54 +1551,61 @@ class class_ : public detail::generic_type {
     }
 
     template <typename Base, detail::enable_if_t<!is_base<Base>::value, int> = 0>
-    static void add_base(detail::type_record &) { }
+    static void add_base(detail::type_record &) {}
 
     template <typename Func, typename... Extra>
-    class_ &def(const char *name_, Func&& f, const Extra&... extra) {
-        cpp_function cf(method_adaptor<type>(std::forward<Func>(f)), name(name_), is_method(*this),
-                        sibling(getattr(*this, name_, none())), extra...);
+    class_ &def(const char *name_, Func &&f, const Extra &...extra) {
+        cpp_function cf(method_adaptor<type>(std::forward<Func>(f)),
+                        name(name_),
+                        is_method(*this),
+                        sibling(getattr(*this, name_, none())),
+                        extra...);
         add_class_method(*this, name_, cf);
         return *this;
     }
 
-    template <typename Func, typename... Extra> class_ &
-    def_static(const char *name_, Func &&f, const Extra&... extra) {
+    template <typename Func, typename... Extra>
+    class_ &def_static(const char *name_, Func &&f, const Extra &...extra) {
         static_assert(!std::is_member_function_pointer<Func>::value,
-                "def_static(...) called with a non-static member function pointer");
-        cpp_function cf(std::forward<Func>(f), name(name_), scope(*this),
-                        sibling(getattr(*this, name_, none())), extra...);
-        attr(cf.name()) = staticmethod(cf);
+                      "def_static(...) called with a non-static member function pointer");
+        cpp_function cf(std::forward<Func>(f),
+                        name(name_),
+                        scope(*this),
+                        sibling(getattr(*this, name_, none())),
+                        extra...);
+        auto cf_name = cf.name();
+        attr(std::move(cf_name)) = staticmethod(std::move(cf));
         return *this;
     }
 
     template <detail::op_id id, detail::op_type ot, typename L, typename R, typename... Extra>
-    class_ &def(const detail::op_<id, ot, L, R> &op, const Extra&... extra) {
+    class_ &def(const detail::op_<id, ot, L, R> &op, const Extra &...extra) {
         op.execute(*this, extra...);
         return *this;
     }
 
     template <detail::op_id id, detail::op_type ot, typename L, typename R, typename... Extra>
-    class_ & def_cast(const detail::op_<id, ot, L, R> &op, const Extra&... extra) {
+    class_ &def_cast(const detail::op_<id, ot, L, R> &op, const Extra &...extra) {
         op.execute_cast(*this, extra...);
         return *this;
     }
 
     template <typename... Args, typename... Extra>
-    class_ &def(const detail::initimpl::constructor<Args...> &init, const Extra&... extra) {
+    class_ &def(const detail::initimpl::constructor<Args...> &init, const Extra &...extra) {
         PYBIND11_WORKAROUND_INCORRECT_MSVC_C4100(init);
         init.execute(*this, extra...);
         return *this;
     }
 
     template <typename... Args, typename... Extra>
-    class_ &def(const detail::initimpl::alias_constructor<Args...> &init, const Extra&... extra) {
+    class_ &def(const detail::initimpl::alias_constructor<Args...> &init, const Extra &...extra) {
         PYBIND11_WORKAROUND_INCORRECT_MSVC_C4100(init);
         init.execute(*this, extra...);
         return *this;
     }
 
     template <typename... Args, typename... Extra>
-    class_ &def(detail::initimpl::factory<Args...> &&init, const Extra&... extra) {
+    class_ &def(detail::initimpl::factory<Args...> &&init, const Extra &...extra) {
         std::move(init).execute(*this, extra...);
         return *this;
     }
@@ -1469,51 +1617,59 @@ class class_ : public detail::generic_type {
     }
 
     template <typename Func>
-    class_& def_buffer(Func &&func) {
-        struct capture { Func func; };
-        auto *ptr = new capture { std::forward<Func>(func) };
-        install_buffer_funcs([](PyObject *obj, void *ptr) -> buffer_info* {
-            detail::make_caster<type> caster;
-            if (!caster.load(obj, false))
-                return nullptr;
-            return new buffer_info(((capture *) ptr)->func(caster));
-        }, ptr);
+    class_ &def_buffer(Func &&func) {
+        struct capture {
+            Func func;
+        };
+        auto *ptr = new capture{std::forward<Func>(func)};
+        install_buffer_funcs(
+            [](PyObject *obj, void *ptr) -> buffer_info * {
+                detail::make_caster<type> caster;
+                if (!caster.load(obj, false)) {
+                    return nullptr;
+                }
+                return new buffer_info(((capture *) ptr)->func(std::move(caster)));
+            },
+            ptr);
         weakref(m_ptr, cpp_function([ptr](handle wr) {
-            delete ptr;
-            wr.dec_ref();
-        })).release();
+                    delete ptr;
+                    wr.dec_ref();
+                }))
+            .release();
         return *this;
     }
 
     template <typename Return, typename Class, typename... Args>
     class_ &def_buffer(Return (Class::*func)(Args...)) {
-        return def_buffer([func] (type &obj) { return (obj.*func)(); });
+        return def_buffer([func](type &obj) { return (obj.*func)(); });
     }
 
     template <typename Return, typename Class, typename... Args>
     class_ &def_buffer(Return (Class::*func)(Args...) const) {
-        return def_buffer([func] (const type &obj) { return (obj.*func)(); });
+        return def_buffer([func](const type &obj) { return (obj.*func)(); });
     }
 
     template <typename C, typename D, typename... Extra>
-    class_ &def_readwrite(const char *name, D C::*pm, const Extra&... extra) {
-        static_assert(std::is_same<C, type>::value || std::is_base_of<C, type>::value, "def_readwrite() requires a class member (or base class member)");
-        cpp_function fget([pm](const type &c) -> const D &{ return c.*pm; }, is_method(*this)),
-                     fset([pm](type &c, const D &value) { c.*pm = value; }, is_method(*this));
+    class_ &def_readwrite(const char *name, D C::*pm, const Extra &...extra) {
+        static_assert(std::is_same<C, type>::value || std::is_base_of<C, type>::value,
+                      "def_readwrite() requires a class member (or base class member)");
+        cpp_function fget([pm](const type &c) -> const D & { return c.*pm; }, is_method(*this)),
+            fset([pm](type &c, const D &value) { c.*pm = value; }, is_method(*this));
         def_property(name, fget, fset, return_value_policy::reference_internal, extra...);
         return *this;
     }
 
     template <typename C, typename D, typename... Extra>
-    class_ &def_readonly(const char *name, const D C::*pm, const Extra& ...extra) {
-        static_assert(std::is_same<C, type>::value || std::is_base_of<C, type>::value, "def_readonly() requires a class member (or base class member)");
-        cpp_function fget([pm](const type &c) -> const D &{ return c.*pm; }, is_method(*this));
+    class_ &def_readonly(const char *name, const D C::*pm, const Extra &...extra) {
+        static_assert(std::is_same<C, type>::value || std::is_base_of<C, type>::value,
+                      "def_readonly() requires a class member (or base class member)");
+        cpp_function fget([pm](const type &c) -> const D & { return c.*pm; }, is_method(*this));
         def_property_readonly(name, fget, return_value_policy::reference_internal, extra...);
         return *this;
     }
 
     template <typename D, typename... Extra>
-    class_ &def_readwrite_static(const char *name, D *pm, const Extra& ...extra) {
+    class_ &def_readwrite_static(const char *name, D *pm, const Extra &...extra) {
         cpp_function fget([pm](const object &) -> const D & { return *pm; }, scope(*this)),
             fset([pm](const object &, const D &value) { *pm = value; }, scope(*this));
         def_property_static(name, fget, fset, return_value_policy::reference, extra...);
@@ -1521,7 +1677,7 @@ class class_ : public detail::generic_type {
     }
 
     template <typename D, typename... Extra>
-    class_ &def_readonly_static(const char *name, const D *pm, const Extra& ...extra) {
+    class_ &def_readonly_static(const char *name, const D *pm, const Extra &...extra) {
         cpp_function fget([pm](const object &) -> const D & { return *pm; }, scope(*this));
         def_property_readonly_static(name, fget, return_value_policy::reference, extra...);
         return *this;
@@ -1529,66 +1685,91 @@ class class_ : public detail::generic_type {
 
     /// Uses return_value_policy::reference_internal by default
     template <typename Getter, typename... Extra>
-    class_ &def_property_readonly(const char *name, const Getter &fget, const Extra& ...extra) {
-        return def_property_readonly(name, cpp_function(method_adaptor<type>(fget)),
-                                     return_value_policy::reference_internal, extra...);
+    class_ &def_property_readonly(const char *name, const Getter &fget, const Extra &...extra) {
+        return def_property_readonly(name,
+                                     cpp_function(method_adaptor<type>(fget)),
+                                     return_value_policy::reference_internal,
+                                     extra...);
     }
 
     /// Uses cpp_function's return_value_policy by default
     template <typename... Extra>
-    class_ &def_property_readonly(const char *name, const cpp_function &fget, const Extra& ...extra) {
+    class_ &
+    def_property_readonly(const char *name, const cpp_function &fget, const Extra &...extra) {
         return def_property(name, fget, nullptr, extra...);
     }
 
     /// Uses return_value_policy::reference by default
     template <typename Getter, typename... Extra>
-    class_ &def_property_readonly_static(const char *name, const Getter &fget, const Extra& ...extra) {
-        return def_property_readonly_static(name, cpp_function(fget), return_value_policy::reference, extra...);
+    class_ &
+    def_property_readonly_static(const char *name, const Getter &fget, const Extra &...extra) {
+        return def_property_readonly_static(
+            name, cpp_function(fget), return_value_policy::reference, extra...);
     }
 
     /// Uses cpp_function's return_value_policy by default
     template <typename... Extra>
-    class_ &def_property_readonly_static(const char *name, const cpp_function &fget, const Extra& ...extra) {
+    class_ &def_property_readonly_static(const char *name,
+                                         const cpp_function &fget,
+                                         const Extra &...extra) {
         return def_property_static(name, fget, nullptr, extra...);
     }
 
     /// Uses return_value_policy::reference_internal by default
     template <typename Getter, typename Setter, typename... Extra>
-    class_ &def_property(const char *name, const Getter &fget, const Setter &fset, const Extra& ...extra) {
+    class_ &
+    def_property(const char *name, const Getter &fget, const Setter &fset, const Extra &...extra) {
         return def_property(name, fget, cpp_function(method_adaptor<type>(fset)), extra...);
     }
     template <typename Getter, typename... Extra>
-    class_ &def_property(const char *name, const Getter &fget, const cpp_function &fset, const Extra& ...extra) {
-        return def_property(name, cpp_function(method_adaptor<type>(fget)), fset,
-                            return_value_policy::reference_internal, extra...);
+    class_ &def_property(const char *name,
+                         const Getter &fget,
+                         const cpp_function &fset,
+                         const Extra &...extra) {
+        return def_property(name,
+                            cpp_function(method_adaptor<type>(fget)),
+                            fset,
+                            return_value_policy::reference_internal,
+                            extra...);
     }
 
     /// Uses cpp_function's return_value_policy by default
     template <typename... Extra>
-    class_ &def_property(const char *name, const cpp_function &fget, const cpp_function &fset, const Extra& ...extra) {
+    class_ &def_property(const char *name,
+                         const cpp_function &fget,
+                         const cpp_function &fset,
+                         const Extra &...extra) {
         return def_property_static(name, fget, fset, is_method(*this), extra...);
     }
 
     /// Uses return_value_policy::reference by default
     template <typename Getter, typename... Extra>
-    class_ &def_property_static(const char *name, const Getter &fget, const cpp_function &fset, const Extra& ...extra) {
-        return def_property_static(name, cpp_function(fget), fset, return_value_policy::reference, extra...);
+    class_ &def_property_static(const char *name,
+                                const Getter &fget,
+                                const cpp_function &fset,
+                                const Extra &...extra) {
+        return def_property_static(
+            name, cpp_function(fget), fset, return_value_policy::reference, extra...);
     }
 
     /// Uses cpp_function's return_value_policy by default
     template <typename... Extra>
-    class_ &def_property_static(const char *name, const cpp_function &fget, const cpp_function &fset, const Extra& ...extra) {
-        static_assert( 0 == detail::constexpr_sum(std::is_base_of<arg, Extra>::value...),
+    class_ &def_property_static(const char *name,
+                                const cpp_function &fget,
+                                const cpp_function &fset,
+                                const Extra &...extra) {
+        static_assert(0 == detail::constexpr_sum(std::is_base_of<arg, Extra>::value...),
                       "Argument annotations are not allowed for properties");
         auto rec_fget = get_function_record(fget), rec_fset = get_function_record(fset);
         auto *rec_active = rec_fget;
         if (rec_fget) {
-           char *doc_prev = rec_fget->doc; /* 'extra' field may include a property-specific documentation string */
-           detail::process_attributes<Extra...>::init(extra..., rec_fget);
-           if (rec_fget->doc && rec_fget->doc != doc_prev) {
-              std::free(doc_prev);
-              rec_fget->doc = PYBIND11_COMPAT_STRDUP(rec_fget->doc);
-           }
+            char *doc_prev = rec_fget->doc; /* 'extra' field may include a property-specific
+                                               documentation string */
+            detail::process_attributes<Extra...>::init(extra..., rec_fget);
+            if (rec_fget->doc && rec_fget->doc != doc_prev) {
+                std::free(doc_prev);
+                rec_fget->doc = PYBIND11_COMPAT_STRDUP(rec_fget->doc);
+            }
         }
         if (rec_fset) {
             char *doc_prev = rec_fset->doc;
@@ -1597,7 +1778,9 @@ class class_ : public detail::generic_type {
                 std::free(doc_prev);
                 rec_fset->doc = PYBIND11_COMPAT_STRDUP(rec_fset->doc);
             }
-            if (! rec_active) rec_active = rec_fset;
+            if (!rec_active) {
+                rec_active = rec_fset;
+            }
         }
         def_property_static_impl(name, fget, fset, rec_active);
         return *this;
@@ -1606,11 +1789,13 @@ class class_ : public detail::generic_type {
 private:
     /// Initialize holder object, variant 1: object derives from enable_shared_from_this
     template <typename T>
-    static void init_holder(detail::instance *inst, detail::value_and_holder &v_h,
-            const holder_type * /* unused */, const std::enable_shared_from_this<T> * /* dummy */) {
+    static void init_holder(detail::instance *inst,
+                            detail::value_and_holder &v_h,
+                            const holder_type * /* unused */,
+                            const std::enable_shared_from_this<T> * /* dummy */) {
 
         auto sh = std::dynamic_pointer_cast<typename holder_type::element_type>(
-                detail::try_get_shared_from_this(v_h.value_ptr<type>()));
+            detail::try_get_shared_from_this(v_h.value_ptr<type>()));
         if (sh) {
             new (std::addressof(v_h.holder<holder_type>())) holder_type(std::move(sh));
             v_h.set_holder_constructed();
@@ -1623,30 +1808,38 @@ class class_ : public detail::generic_type {
     }
 
     static void init_holder_from_existing(const detail::value_and_holder &v_h,
-            const holder_type *holder_ptr, std::true_type /*is_copy_constructible*/) {
-        new (std::addressof(v_h.holder<holder_type>())) holder_type(*reinterpret_cast<const holder_type *>(holder_ptr));
+                                          const holder_type *holder_ptr,
+                                          std::true_type /*is_copy_constructible*/) {
+        new (std::addressof(v_h.holder<holder_type>()))
+            holder_type(*reinterpret_cast<const holder_type *>(holder_ptr));
     }
 
     static void init_holder_from_existing(const detail::value_and_holder &v_h,
-            const holder_type *holder_ptr, std::false_type /*is_copy_constructible*/) {
-        new (std::addressof(v_h.holder<holder_type>())) holder_type(std::move(*const_cast<holder_type *>(holder_ptr)));
-    }
-
-    /// Initialize holder object, variant 2: try to construct from existing holder object, if possible
-    static void init_holder(detail::instance *inst, detail::value_and_holder &v_h,
-            const holder_type *holder_ptr, const void * /* dummy -- not enable_shared_from_this<T>) */) {
+                                          const holder_type *holder_ptr,
+                                          std::false_type /*is_copy_constructible*/) {
+        new (std::addressof(v_h.holder<holder_type>()))
+            holder_type(std::move(*const_cast<holder_type *>(holder_ptr)));
+    }
+
+    /// Initialize holder object, variant 2: try to construct from existing holder object, if
+    /// possible
+    static void init_holder(detail::instance *inst,
+                            detail::value_and_holder &v_h,
+                            const holder_type *holder_ptr,
+                            const void * /* dummy -- not enable_shared_from_this<T>) */) {
         if (holder_ptr) {
             init_holder_from_existing(v_h, holder_ptr, std::is_copy_constructible<holder_type>());
             v_h.set_holder_constructed();
-        } else if (inst->owned || detail::always_construct_holder<holder_type>::value) {
+        } else if (PYBIND11_SILENCE_MSVC_C4127(detail::always_construct_holder<holder_type>::value)
+                   || inst->owned) {
             new (std::addressof(v_h.holder<holder_type>())) holder_type(v_h.value_ptr<type>());
             v_h.set_holder_constructed();
         }
     }
 
     /// Performs instance initialization including constructing a holder and registering the known
-    /// instance.  Should be called as soon as the `type` value_ptr is set for an instance.  Takes an
-    /// optional pointer to an existing holder to use; if not specified and the instance is
+    /// instance.  Should be called as soon as the `type` value_ptr is set for an instance.  Takes
+    /// an optional pointer to an existing holder to use; if not specified and the instance is
     /// `.owned`, a new holder will be constructed to manage the value pointer.
     static void init_instance(detail::instance *inst, const void *holder_ptr) {
         auto v_h = inst->get_value_and_holder(detail::get_type_info(typeid(type)));
@@ -1669,35 +1862,42 @@ class class_ : public detail::generic_type {
         if (v_h.holder_constructed()) {
             v_h.holder<holder_type>().~holder_type();
             v_h.set_holder_constructed(false);
-        }
-        else {
-            detail::call_operator_delete(v_h.value_ptr<type>(),
-                v_h.type->type_size,
-                v_h.type->type_align
-            );
+        } else {
+            detail::call_operator_delete(
+                v_h.value_ptr<type>(), v_h.type->type_size, v_h.type->type_align);
         }
         v_h.value_ptr() = nullptr;
     }
 
     static detail::function_record *get_function_record(handle h) {
         h = detail::get_function(h);
-        return h ? (detail::function_record *) reinterpret_borrow<capsule>(PyCFunction_GET_SELF(h.ptr()))
+        return h ? (detail::function_record *) reinterpret_borrow<capsule>(
+                   PyCFunction_GET_SELF(h.ptr()))
                  : nullptr;
     }
 };
 
 /// Binds an existing constructor taking arguments Args...
-template <typename... Args> detail::initimpl::constructor<Args...> init() { return {}; }
+template <typename... Args>
+detail::initimpl::constructor<Args...> init() {
+    return {};
+}
 /// Like `init<Args...>()`, but the instance is always constructed through the alias class (even
 /// when not inheriting on the Python side).
-template <typename... Args> detail::initimpl::alias_constructor<Args...> init_alias() { return {}; }
+template <typename... Args>
+detail::initimpl::alias_constructor<Args...> init_alias() {
+    return {};
+}
 
 /// Binds a factory function as a constructor
 template <typename Func, typename Ret = detail::initimpl::factory<Func>>
-Ret init(Func &&f) { return {std::forward<Func>(f)}; }
+Ret init(Func &&f) {
+    return {std::forward<Func>(f)};
+}
 
-/// Dual-argument factory function: the first function is called when no alias is needed, the second
-/// when an alias is needed (i.e. due to python-side inheritance).  Arguments must be identical.
+/// Dual-argument factory function: the first function is called when no alias is needed, the
+/// second when an alias is needed (i.e. due to python-side inheritance).  Arguments must be
+/// identical.
 template <typename CFunc, typename AFunc, typename Ret = detail::initimpl::factory<CFunc, AFunc>>
 Ret init(CFunc &&c, AFunc &&a) {
     return {std::forward<CFunc>(c), std::forward<AFunc>(a)};
@@ -1715,14 +1915,15 @@ PYBIND11_NAMESPACE_BEGIN(detail)
 inline str enum_name(handle arg) {
     dict entries = arg.get_type().attr("__entries");
     for (auto kv : entries) {
-        if (handle(kv.second[int_(0)]).equal(arg))
+        if (handle(kv.second[int_(0)]).equal(arg)) {
             return pybind11::str(kv.first);
+        }
     }
     return "???";
 }
 
 struct enum_base {
-    enum_base(const handle &base, const handle &parent) : m_base(base), m_parent(parent) { }
+    enum_base(const handle &base, const handle &parent) : m_base(base), m_parent(parent) {}
 
     PYBIND11_NOINLINE void init(bool is_arithmetic, bool is_convertible) {
         m_base.attr("__entries") = dict();
@@ -1733,7 +1934,8 @@ struct enum_base {
             [](const object &arg) -> str {
                 handle type = type::handle_of(arg);
                 object type_name = type.attr("__name__");
-                return pybind11::str("<{}.{}: {}>").format(type_name, enum_name(arg), int_(arg));
+                return pybind11::str("<{}.{}: {}>")
+                    .format(std::move(type_name), enum_name(arg), int_(arg));
             },
             name("__repr__"),
             is_method(m_base));
@@ -1743,36 +1945,48 @@ struct enum_base {
         m_base.attr("__str__") = cpp_function(
             [](handle arg) -> str {
                 object type_name = type::handle_of(arg).attr("__name__");
-                return pybind11::str("{}.{}").format(type_name, enum_name(arg));
-            }, name("name"), is_method(m_base)
-        );
+                return pybind11::str("{}.{}").format(std::move(type_name), enum_name(arg));
+            },
+            name("name"),
+            is_method(m_base));
 
-        m_base.attr("__doc__") = static_property(cpp_function(
-            [](handle arg) -> std::string {
-                std::string docstring;
-                dict entries = arg.attr("__entries");
-                if (((PyTypeObject *) arg.ptr())->tp_doc)
-                    docstring += std::string(((PyTypeObject *) arg.ptr())->tp_doc) + "\n\n";
-                docstring += "Members:";
-                for (auto kv : entries) {
-                    auto key = std::string(pybind11::str(kv.first));
-                    auto comment = kv.second[int_(1)];
-                    docstring += "\n\n  " + key;
-                    if (!comment.is_none())
-                        docstring += " : " + (std::string) pybind11::str(comment);
-                }
-                return docstring;
-            }, name("__doc__")
-        ), none(), none(), "");
+        m_base.attr("__doc__") = static_property(
+            cpp_function(
+                [](handle arg) -> std::string {
+                    std::string docstring;
+                    dict entries = arg.attr("__entries");
+                    if (((PyTypeObject *) arg.ptr())->tp_doc) {
+                        docstring += std::string(((PyTypeObject *) arg.ptr())->tp_doc) + "\n\n";
+                    }
+                    docstring += "Members:";
+                    for (auto kv : entries) {
+                        auto key = std::string(pybind11::str(kv.first));
+                        auto comment = kv.second[int_(1)];
+                        docstring += "\n\n  " + key;
+                        if (!comment.is_none()) {
+                            docstring += " : " + (std::string) pybind11::str(comment);
+                        }
+                    }
+                    return docstring;
+                },
+                name("__doc__")),
+            none(),
+            none(),
+            "");
 
         m_base.attr("__members__") = static_property(cpp_function(
-            [](handle arg) -> dict {
-                dict entries = arg.attr("__entries"), m;
-                for (auto kv : entries)
-                    m[kv.first] = kv.second[int_(0)];
-                return m;
-            }, name("__members__")), none(), none(), ""
-        );
+                                                         [](handle arg) -> dict {
+                                                             dict entries = arg.attr("__entries"),
+                                                                  m;
+                                                             for (auto kv : entries) {
+                                                                 m[kv.first] = kv.second[int_(0)];
+                                                             }
+                                                             return m;
+                                                         },
+                                                         name("__members__")),
+                                                     none(),
+                                                     none(),
+                                                     "");
 
 #define PYBIND11_ENUM_OP_STRICT(op, expr, strict_behavior)                                        \
     m_base.attr(op) = cpp_function(                                                               \
@@ -1806,42 +2020,42 @@ struct enum_base {
         arg("other"))
 
         if (is_convertible) {
-            PYBIND11_ENUM_OP_CONV_LHS("__eq__", !b.is_none() &&  a.equal(b));
-            PYBIND11_ENUM_OP_CONV_LHS("__ne__",  b.is_none() || !a.equal(b));
+            PYBIND11_ENUM_OP_CONV_LHS("__eq__", !b.is_none() && a.equal(b));
+            PYBIND11_ENUM_OP_CONV_LHS("__ne__", b.is_none() || !a.equal(b));
 
             if (is_arithmetic) {
-                PYBIND11_ENUM_OP_CONV("__lt__",   a <  b);
-                PYBIND11_ENUM_OP_CONV("__gt__",   a >  b);
-                PYBIND11_ENUM_OP_CONV("__le__",   a <= b);
-                PYBIND11_ENUM_OP_CONV("__ge__",   a >= b);
-                PYBIND11_ENUM_OP_CONV("__and__",  a &  b);
-                PYBIND11_ENUM_OP_CONV("__rand__", a &  b);
-                PYBIND11_ENUM_OP_CONV("__or__",   a |  b);
-                PYBIND11_ENUM_OP_CONV("__ror__",  a |  b);
-                PYBIND11_ENUM_OP_CONV("__xor__",  a ^  b);
-                PYBIND11_ENUM_OP_CONV("__rxor__", a ^  b);
+                PYBIND11_ENUM_OP_CONV("__lt__", a < b);
+                PYBIND11_ENUM_OP_CONV("__gt__", a > b);
+                PYBIND11_ENUM_OP_CONV("__le__", a <= b);
+                PYBIND11_ENUM_OP_CONV("__ge__", a >= b);
+                PYBIND11_ENUM_OP_CONV("__and__", a & b);
+                PYBIND11_ENUM_OP_CONV("__rand__", a & b);
+                PYBIND11_ENUM_OP_CONV("__or__", a | b);
+                PYBIND11_ENUM_OP_CONV("__ror__", a | b);
+                PYBIND11_ENUM_OP_CONV("__xor__", a ^ b);
+                PYBIND11_ENUM_OP_CONV("__rxor__", a ^ b);
                 m_base.attr("__invert__")
                     = cpp_function([](const object &arg) { return ~(int_(arg)); },
                                    name("__invert__"),
                                    is_method(m_base));
             }
         } else {
-            PYBIND11_ENUM_OP_STRICT("__eq__",  int_(a).equal(int_(b)), return false);
+            PYBIND11_ENUM_OP_STRICT("__eq__", int_(a).equal(int_(b)), return false);
             PYBIND11_ENUM_OP_STRICT("__ne__", !int_(a).equal(int_(b)), return true);
 
             if (is_arithmetic) {
-                #define PYBIND11_THROW throw type_error("Expected an enumeration of matching type!");
-                PYBIND11_ENUM_OP_STRICT("__lt__", int_(a) <  int_(b), PYBIND11_THROW);
-                PYBIND11_ENUM_OP_STRICT("__gt__", int_(a) >  int_(b), PYBIND11_THROW);
+#define PYBIND11_THROW throw type_error("Expected an enumeration of matching type!");
+                PYBIND11_ENUM_OP_STRICT("__lt__", int_(a) < int_(b), PYBIND11_THROW);
+                PYBIND11_ENUM_OP_STRICT("__gt__", int_(a) > int_(b), PYBIND11_THROW);
                 PYBIND11_ENUM_OP_STRICT("__le__", int_(a) <= int_(b), PYBIND11_THROW);
                 PYBIND11_ENUM_OP_STRICT("__ge__", int_(a) >= int_(b), PYBIND11_THROW);
-                #undef PYBIND11_THROW
+#undef PYBIND11_THROW
             }
         }
 
-        #undef PYBIND11_ENUM_OP_CONV_LHS
-        #undef PYBIND11_ENUM_OP_CONV
-        #undef PYBIND11_ENUM_OP_STRICT
+#undef PYBIND11_ENUM_OP_CONV_LHS
+#undef PYBIND11_ENUM_OP_CONV
+#undef PYBIND11_ENUM_OP_STRICT
 
         m_base.attr("__getstate__") = cpp_function(
             [](const object &arg) { return int_(arg); }, name("__getstate__"), is_method(m_base));
@@ -1850,60 +2064,90 @@ struct enum_base {
             [](const object &arg) { return int_(arg); }, name("__hash__"), is_method(m_base));
     }
 
-    PYBIND11_NOINLINE void value(char const* name_, object value, const char *doc = nullptr) {
+    PYBIND11_NOINLINE void value(char const *name_, object value, const char *doc = nullptr) {
         dict entries = m_base.attr("__entries");
         str name(name_);
         if (entries.contains(name)) {
             std::string type_name = (std::string) str(m_base.attr("__name__"));
-            throw value_error(type_name + ": element \"" + std::string(name_) + "\" already exists!");
+            throw value_error(std::move(type_name) + ": element \"" + std::string(name_)
+                              + "\" already exists!");
         }
 
         entries[name] = std::make_pair(value, doc);
-        m_base.attr(name) = value;
+        m_base.attr(std::move(name)) = std::move(value);
     }
 
     PYBIND11_NOINLINE void export_values() {
         dict entries = m_base.attr("__entries");
-        for (auto kv : entries)
+        for (auto kv : entries) {
             m_parent.attr(kv.first) = kv.second[int_(0)];
+        }
     }
 
     handle m_base;
     handle m_parent;
 };
 
-template <bool is_signed, size_t length> struct equivalent_integer {};
-template <> struct equivalent_integer<true,  1> { using type = int8_t;   };
-template <> struct equivalent_integer<false, 1> { using type = uint8_t;  };
-template <> struct equivalent_integer<true,  2> { using type = int16_t;  };
-template <> struct equivalent_integer<false, 2> { using type = uint16_t; };
-template <> struct equivalent_integer<true,  4> { using type = int32_t;  };
-template <> struct equivalent_integer<false, 4> { using type = uint32_t; };
-template <> struct equivalent_integer<true,  8> { using type = int64_t;  };
-template <> struct equivalent_integer<false, 8> { using type = uint64_t; };
+template <bool is_signed, size_t length>
+struct equivalent_integer {};
+template <>
+struct equivalent_integer<true, 1> {
+    using type = int8_t;
+};
+template <>
+struct equivalent_integer<false, 1> {
+    using type = uint8_t;
+};
+template <>
+struct equivalent_integer<true, 2> {
+    using type = int16_t;
+};
+template <>
+struct equivalent_integer<false, 2> {
+    using type = uint16_t;
+};
+template <>
+struct equivalent_integer<true, 4> {
+    using type = int32_t;
+};
+template <>
+struct equivalent_integer<false, 4> {
+    using type = uint32_t;
+};
+template <>
+struct equivalent_integer<true, 8> {
+    using type = int64_t;
+};
+template <>
+struct equivalent_integer<false, 8> {
+    using type = uint64_t;
+};
 
 template <typename IntLike>
-using equivalent_integer_t = typename equivalent_integer<std::is_signed<IntLike>::value, sizeof(IntLike)>::type;
+using equivalent_integer_t =
+    typename equivalent_integer<std::is_signed<IntLike>::value, sizeof(IntLike)>::type;
 
 PYBIND11_NAMESPACE_END(detail)
 
 /// Binds C++ enumerations and enumeration classes to Python
-template <typename Type> class enum_ : public class_<Type> {
+template <typename Type>
+class enum_ : public class_<Type> {
 public:
     using Base = class_<Type>;
-    using Base::def;
     using Base::attr;
+    using Base::def;
     using Base::def_property_readonly;
     using Base::def_property_readonly_static;
     using Underlying = typename std::underlying_type<Type>::type;
     // Scalar is the integer representation of underlying type
-    using Scalar = detail::conditional_t<detail::any_of<
-        detail::is_std_char_type<Underlying>, std::is_same<Underlying, bool>
-    >::value, detail::equivalent_integer_t<Underlying>, Underlying>;
+    using Scalar = detail::conditional_t<detail::any_of<detail::is_std_char_type<Underlying>,
+                                                        std::is_same<Underlying, bool>>::value,
+                                         detail::equivalent_integer_t<Underlying>,
+                                         Underlying>;
 
     template <typename... Extra>
-    enum_(const handle &scope, const char *name, const Extra&... extra)
-      : class_<Type>(scope, name, extra...), m_base(*this, scope) {
+    enum_(const handle &scope, const char *name, const Extra &...extra)
+        : class_<Type>(scope, name, extra...), m_base(*this, scope) {
         constexpr bool is_arithmetic = detail::any_of<std::is_same<arithmetic, Extra>...>::value;
         constexpr bool is_convertible = std::is_convertible<Type, Underlying>::value;
         m_base.init(is_arithmetic, is_convertible);
@@ -1911,29 +2155,26 @@ template <typename Type> class enum_ : public class_<Type> {
         def(init([](Scalar i) { return static_cast<Type>(i); }), arg("value"));
         def_property_readonly("value", [](Type value) { return (Scalar) value; });
         def("__int__", [](Type value) { return (Scalar) value; });
-        #if PY_MAJOR_VERSION < 3
-            def("__long__", [](Type value) { return (Scalar) value; });
-        #endif
-        #if PY_MAJOR_VERSION > 3 || (PY_MAJOR_VERSION == 3 && PY_MINOR_VERSION >= 8)
-            def("__index__", [](Type value) { return (Scalar) value; });
-        #endif
-
+        def("__index__", [](Type value) { return (Scalar) value; });
         attr("__setstate__") = cpp_function(
             [](detail::value_and_holder &v_h, Scalar arg) {
-                detail::initimpl::setstate<Base>(v_h, static_cast<Type>(arg),
-                        Py_TYPE(v_h.inst) != v_h.type->type); },
+                detail::initimpl::setstate<Base>(
+                    v_h, static_cast<Type>(arg), Py_TYPE(v_h.inst) != v_h.type->type);
+            },
             detail::is_new_style_constructor(),
-            pybind11::name("__setstate__"), is_method(*this), arg("state"));
+            pybind11::name("__setstate__"),
+            is_method(*this),
+            arg("state"));
     }
 
     /// Export enumeration entries into the parent scope
-    enum_& export_values() {
+    enum_ &export_values() {
         m_base.export_values();
         return *this;
     }
 
     /// Add an enumeration entry
-    enum_& value(char const* name, Type value, const char *doc = nullptr) {
+    enum_ &value(char const *name, Type value, const char *doc = nullptr) {
         m_base.value(name, pybind11::cast(value, return_value_policy::copy), doc);
         return *this;
     }
@@ -1944,26 +2185,28 @@ template <typename Type> class enum_ : public class_<Type> {
 
 PYBIND11_NAMESPACE_BEGIN(detail)
 
-
 PYBIND11_NOINLINE void keep_alive_impl(handle nurse, handle patient) {
-    if (!nurse || !patient)
+    if (!nurse || !patient) {
         pybind11_fail("Could not activate keep_alive!");
+    }
 
-    if (patient.is_none() || nurse.is_none())
+    if (patient.is_none() || nurse.is_none()) {
         return; /* Nothing to keep alive or nothing to be kept alive by */
+    }
 
     auto tinfo = all_type_info(Py_TYPE(nurse.ptr()));
     if (!tinfo.empty()) {
         /* It's a pybind-registered type, so we can store the patient in the
          * internal list. */
         add_patient(nurse.ptr(), patient.ptr());
-    }
-    else {
+    } else {
         /* Fall back to clever approach based on weak references taken from
          * Boost.Python. This is not used for pybind-registered types because
          * the objects can be destroyed out-of-order in a GC pass. */
-        cpp_function disable_lifesupport(
-            [patient](handle weakref) { patient.dec_ref(); weakref.dec_ref(); });
+        cpp_function disable_lifesupport([patient](handle weakref) {
+            patient.dec_ref();
+            weakref.dec_ref();
+        });
 
         weakref wr(nurse, disable_lifesupport);
 
@@ -1972,44 +2215,52 @@ PYBIND11_NOINLINE void keep_alive_impl(handle nurse, handle patient) {
     }
 }
 
-PYBIND11_NOINLINE void keep_alive_impl(size_t Nurse, size_t Patient, function_call &call, handle ret) {
+PYBIND11_NOINLINE void
+keep_alive_impl(size_t Nurse, size_t Patient, function_call &call, handle ret) {
     auto get_arg = [&](size_t n) {
-        if (n == 0)
+        if (n == 0) {
             return ret;
-        if (n == 1 && call.init_self)
+        }
+        if (n == 1 && call.init_self) {
             return call.init_self;
-        if (n <= call.args.size())
+        }
+        if (n <= call.args.size()) {
             return call.args[n - 1];
+        }
         return handle();
     };
 
     keep_alive_impl(get_arg(Nurse), get_arg(Patient));
 }
 
-inline std::pair<decltype(internals::registered_types_py)::iterator, bool> all_type_info_get_cache(PyTypeObject *type) {
-    auto res = get_internals().registered_types_py
+inline std::pair<decltype(internals::registered_types_py)::iterator, bool>
+all_type_info_get_cache(PyTypeObject *type) {
+    auto res = get_internals()
+                   .registered_types_py
 #ifdef __cpp_lib_unordered_map_try_emplace
-        .try_emplace(type);
+                   .try_emplace(type);
 #else
-        .emplace(type, std::vector<detail::type_info *>());
+                   .emplace(type, std::vector<detail::type_info *>());
 #endif
     if (res.second) {
         // New cache entry created; set up a weak reference to automatically remove it if the type
         // gets destroyed:
         weakref((PyObject *) type, cpp_function([type](handle wr) {
-            get_internals().registered_types_py.erase(type);
-
-            // TODO consolidate the erasure code in pybind11_meta_dealloc() in class.h
-            auto &cache = get_internals().inactive_override_cache;
-            for (auto it = cache.begin(), last = cache.end(); it != last; ) {
-                if (it->first == reinterpret_cast<PyObject *>(type))
-                    it = cache.erase(it);
-                else
-                    ++it;
-            }
+                    get_internals().registered_types_py.erase(type);
+
+                    // TODO consolidate the erasure code in pybind11_meta_dealloc() in class.h
+                    auto &cache = get_internals().inactive_override_cache;
+                    for (auto it = cache.begin(), last = cache.end(); it != last;) {
+                        if (it->first == reinterpret_cast<PyObject *>(type)) {
+                            it = cache.erase(it);
+                        } else {
+                            ++it;
+                        }
+                    }
 
-            wr.dec_ref();
-        })).release();
+                    wr.dec_ref();
+                }))
+            .release();
     }
 
     return res;
@@ -2018,7 +2269,12 @@ inline std::pair<decltype(internals::registered_types_py)::iterator, bool> all_t
 /* There are a large number of apparently unused template arguments because
  * each combination requires a separate py::class_ registration.
  */
-template <typename Access, return_value_policy Policy, typename Iterator, typename Sentinel, typename ValueType, typename... Extra>
+template <typename Access,
+          return_value_policy Policy,
+          typename Iterator,
+          typename Sentinel,
+          typename ValueType,
+          typename... Extra>
 struct iterator_state {
     Iterator it;
     Sentinel end;
@@ -2033,12 +2289,10 @@ template <typename Iterator, typename SFINAE = decltype(*std::declval<Iterator &
 struct iterator_access {
     using result_type = decltype(*std::declval<Iterator &>());
     // NOLINTNEXTLINE(readability-const-return-type) // PR #3263
-    result_type operator()(Iterator &it) const {
-        return *it;
-    }
+    result_type operator()(Iterator &it) const { return *it; }
 };
 
-template <typename Iterator, typename SFINAE = decltype((*std::declval<Iterator &>()).first) >
+template <typename Iterator, typename SFINAE = decltype((*std::declval<Iterator &>()).first)>
 class iterator_key_access {
 private:
     using pair_type = decltype(*std::declval<Iterator &>());
@@ -2053,14 +2307,11 @@ class iterator_key_access {
      * (it's not used in the first branch because going via decltype and back
      * through declval does not perfectly preserve references).
      */
-    using result_type = conditional_t<
-        std::is_reference<decltype(*std::declval<Iterator &>())>::value,
-        decltype(((*std::declval<Iterator &>()).first)),
-        decltype(std::declval<pair_type>().first)
-    >;
-    result_type operator()(Iterator &it) const {
-        return (*it).first;
-    }
+    using result_type
+        = conditional_t<std::is_reference<decltype(*std::declval<Iterator &>())>::value,
+                        decltype(((*std::declval<Iterator &>()).first)),
+                        decltype(std::declval<pair_type>().first)>;
+    result_type operator()(Iterator &it) const { return (*it).first; }
 };
 
 template <typename Iterator, typename SFINAE = decltype((*std::declval<Iterator &>()).second)>
@@ -2069,14 +2320,11 @@ class iterator_value_access {
     using pair_type = decltype(*std::declval<Iterator &>());
 
 public:
-    using result_type = conditional_t<
-        std::is_reference<decltype(*std::declval<Iterator &>())>::value,
-        decltype(((*std::declval<Iterator &>()).second)),
-        decltype(std::declval<pair_type>().second)
-    >;
-    result_type operator()(Iterator &it) const {
-        return (*it).second;
-    }
+    using result_type
+        = conditional_t<std::is_reference<decltype(*std::declval<Iterator &>())>::value,
+                        decltype(((*std::declval<Iterator &>()).second)),
+                        decltype(std::declval<pair_type>().second)>;
+    result_type operator()(Iterator &it) const { return (*it).second; }
 };
 
 template <typename Access,
@@ -2085,28 +2333,33 @@ template <typename Access,
           typename Sentinel,
           typename ValueType,
           typename... Extra>
-iterator make_iterator_impl(Iterator first, Sentinel last, Extra &&... extra) {
+iterator make_iterator_impl(Iterator &&first, Sentinel &&last, Extra &&...extra) {
     using state = detail::iterator_state<Access, Policy, Iterator, Sentinel, ValueType, Extra...>;
     // TODO: state captures only the types of Extra, not the values
 
     if (!detail::get_type_info(typeid(state), false)) {
         class_<state>(handle(), "iterator", pybind11::module_local())
-            .def("__iter__", [](state &s) -> state& { return s; })
-            .def("__next__", [](state &s) -> ValueType {
-                if (!s.first_or_done)
-                    ++s.it;
-                else
-                    s.first_or_done = false;
-                if (s.it == s.end) {
-                    s.first_or_done = true;
-                    throw stop_iteration();
-                }
-                return Access()(s.it);
-            // NOLINTNEXTLINE(readability-const-return-type) // PR #3263
-            }, std::forward<Extra>(extra)..., Policy);
+            .def("__iter__", [](state &s) -> state & { return s; })
+            .def(
+                "__next__",
+                [](state &s) -> ValueType {
+                    if (!s.first_or_done) {
+                        ++s.it;
+                    } else {
+                        s.first_or_done = false;
+                    }
+                    if (s.it == s.end) {
+                        s.first_or_done = true;
+                        throw stop_iteration();
+                    }
+                    return Access()(s.it);
+                    // NOLINTNEXTLINE(readability-const-return-type) // PR #3263
+                },
+                std::forward<Extra>(extra)...,
+                Policy);
     }
 
-    return cast(state{first, last, true});
+    return cast(state{std::forward<Iterator>(first), std::forward<Sentinel>(last), true});
 }
 
 PYBIND11_NAMESPACE_END(detail)
@@ -2117,14 +2370,15 @@ template <return_value_policy Policy = return_value_policy::reference_internal,
           typename Sentinel,
           typename ValueType = typename detail::iterator_access<Iterator>::result_type,
           typename... Extra>
-iterator make_iterator(Iterator first, Sentinel last, Extra &&... extra) {
-    return detail::make_iterator_impl<
-        detail::iterator_access<Iterator>,
-        Policy,
-        Iterator,
-        Sentinel,
-        ValueType,
-        Extra...>(first, last, std::forward<Extra>(extra)...);
+iterator make_iterator(Iterator &&first, Sentinel &&last, Extra &&...extra) {
+    return detail::make_iterator_impl<detail::iterator_access<Iterator>,
+                                      Policy,
+                                      Iterator,
+                                      Sentinel,
+                                      ValueType,
+                                      Extra...>(std::forward<Iterator>(first),
+                                                std::forward<Sentinel>(last),
+                                                std::forward<Extra>(extra)...);
 }
 
 /// Makes a python iterator over the keys (`.first`) of a iterator over pairs from a
@@ -2134,14 +2388,15 @@ template <return_value_policy Policy = return_value_policy::reference_internal,
           typename Sentinel,
           typename KeyType = typename detail::iterator_key_access<Iterator>::result_type,
           typename... Extra>
-iterator make_key_iterator(Iterator first, Sentinel last, Extra &&...extra) {
-    return detail::make_iterator_impl<
-        detail::iterator_key_access<Iterator>,
-        Policy,
-        Iterator,
-        Sentinel,
-        KeyType,
-        Extra...>(first, last, std::forward<Extra>(extra)...);
+iterator make_key_iterator(Iterator &&first, Sentinel &&last, Extra &&...extra) {
+    return detail::make_iterator_impl<detail::iterator_key_access<Iterator>,
+                                      Policy,
+                                      Iterator,
+                                      Sentinel,
+                                      KeyType,
+                                      Extra...>(std::forward<Iterator>(first),
+                                                std::forward<Sentinel>(last),
+                                                std::forward<Extra>(extra)...);
 }
 
 /// Makes a python iterator over the values (`.second`) of a iterator over pairs from a
@@ -2151,37 +2406,49 @@ template <return_value_policy Policy = return_value_policy::reference_internal,
           typename Sentinel,
           typename ValueType = typename detail::iterator_value_access<Iterator>::result_type,
           typename... Extra>
-iterator make_value_iterator(Iterator first, Sentinel last, Extra &&...extra) {
-    return detail::make_iterator_impl<
-        detail::iterator_value_access<Iterator>,
-        Policy, Iterator,
-        Sentinel,
-        ValueType,
-        Extra...>(first, last, std::forward<Extra>(extra)...);
+iterator make_value_iterator(Iterator &&first, Sentinel &&last, Extra &&...extra) {
+    return detail::make_iterator_impl<detail::iterator_value_access<Iterator>,
+                                      Policy,
+                                      Iterator,
+                                      Sentinel,
+                                      ValueType,
+                                      Extra...>(std::forward<Iterator>(first),
+                                                std::forward<Sentinel>(last),
+                                                std::forward<Extra>(extra)...);
 }
 
 /// Makes an iterator over values of an stl container or other container supporting
 /// `std::begin()`/`std::end()`
 template <return_value_policy Policy = return_value_policy::reference_internal,
-          typename Type, typename... Extra> iterator make_iterator(Type &value, Extra&&... extra) {
-    return make_iterator<Policy>(std::begin(value), std::end(value), extra...);
+          typename Type,
+          typename... Extra>
+iterator make_iterator(Type &value, Extra &&...extra) {
+    return make_iterator<Policy>(
+        std::begin(value), std::end(value), std::forward<Extra>(extra)...);
 }
 
 /// Makes an iterator over the keys (`.first`) of a stl map-like container supporting
 /// `std::begin()`/`std::end()`
 template <return_value_policy Policy = return_value_policy::reference_internal,
-          typename Type, typename... Extra> iterator make_key_iterator(Type &value, Extra&&... extra) {
-    return make_key_iterator<Policy>(std::begin(value), std::end(value), extra...);
+          typename Type,
+          typename... Extra>
+iterator make_key_iterator(Type &value, Extra &&...extra) {
+    return make_key_iterator<Policy>(
+        std::begin(value), std::end(value), std::forward<Extra>(extra)...);
 }
 
 /// Makes an iterator over the values (`.second`) of a stl map-like container supporting
 /// `std::begin()`/`std::end()`
 template <return_value_policy Policy = return_value_policy::reference_internal,
-          typename Type, typename... Extra> iterator make_value_iterator(Type &value, Extra&&... extra) {
-    return make_value_iterator<Policy>(std::begin(value), std::end(value), extra...);
+          typename Type,
+          typename... Extra>
+iterator make_value_iterator(Type &value, Extra &&...extra) {
+    return make_value_iterator<Policy>(
+        std::begin(value), std::end(value), std::forward<Extra>(extra)...);
 }
 
-template <typename InputType, typename OutputType> void implicitly_convertible() {
+template <typename InputType, typename OutputType>
+void implicitly_convertible() {
     struct set_flag {
         bool &flag;
         explicit set_flag(bool &flag_) : flag(flag_) { flag_ = true; }
@@ -2189,38 +2456,40 @@ template <typename InputType, typename OutputType> void implicitly_convertible()
     };
     auto implicit_caster = [](PyObject *obj, PyTypeObject *type) -> PyObject * {
         static bool currently_used = false;
-        if (currently_used) // implicit conversions are non-reentrant
+        if (currently_used) { // implicit conversions are non-reentrant
             return nullptr;
+        }
         set_flag flag_helper(currently_used);
-        if (!detail::make_caster<InputType>().load(obj, false))
+        if (!detail::make_caster<InputType>().load(obj, false)) {
             return nullptr;
+        }
         tuple args(1);
         args[0] = obj;
         PyObject *result = PyObject_Call((PyObject *) type, args.ptr(), nullptr);
-        if (result == nullptr)
+        if (result == nullptr) {
             PyErr_Clear();
+        }
         return result;
     };
 
-    if (auto tinfo = detail::get_type_info(typeid(OutputType)))
-        tinfo->implicit_conversions.push_back(implicit_caster);
-    else
+    if (auto *tinfo = detail::get_type_info(typeid(OutputType))) {
+        tinfo->implicit_conversions.emplace_back(std::move(implicit_caster));
+    } else {
         pybind11_fail("implicitly_convertible: Unable to find type " + type_id<OutputType>());
+    }
 }
 
-
 inline void register_exception_translator(ExceptionTranslator &&translator) {
     detail::get_internals().registered_exception_translators.push_front(
         std::forward<ExceptionTranslator>(translator));
 }
 
-
 /**
-  * Add a new module-local exception translator. Locally registered functions
-  * will be tried before any globally registered exception translators, which
-  * will only be invoked if the module-local handlers do not deal with
-  * the exception.
-  */
+ * Add a new module-local exception translator. Locally registered functions
+ * will be tried before any globally registered exception translators, which
+ * will only be invoked if the module-local handlers do not deal with
+ * the exception.
+ */
 inline void register_local_exception_translator(ExceptionTranslator &&translator) {
     detail::get_local_internals().registered_exception_translators.push_front(
         std::forward<ExceptionTranslator>(translator));
@@ -2238,19 +2507,19 @@ class exception : public object {
 public:
     exception() = default;
     exception(handle scope, const char *name, handle base = PyExc_Exception) {
-        std::string full_name = scope.attr("__name__").cast<std::string>() +
-                                std::string(".") + name;
-        m_ptr = PyErr_NewException(const_cast<char *>(full_name.c_str()), base.ptr(), NULL);
-        if (hasattr(scope, "__dict__") && scope.attr("__dict__").contains(name))
+        std::string full_name
+            = scope.attr("__name__").cast<std::string>() + std::string(".") + name;
+        m_ptr = PyErr_NewException(const_cast<char *>(full_name.c_str()), base.ptr(), nullptr);
+        if (hasattr(scope, "__dict__") && scope.attr("__dict__").contains(name)) {
             pybind11_fail("Error during initialization: multiple incompatible "
-                          "definitions with name \"" + std::string(name) + "\"");
+                          "definitions with name \""
+                          + std::string(name) + "\"");
+        }
         scope.attr(name) = *this;
     }
 
     // Sets the current python exception to this exception object with the given message
-    void operator()(const char *message) {
-        PyErr_SetString(m_ptr, message);
-    }
+    void operator()(const char *message) { PyErr_SetString(m_ptr, message); }
 };
 
 PYBIND11_NAMESPACE_BEGIN(detail)
@@ -2258,22 +2527,27 @@ PYBIND11_NAMESPACE_BEGIN(detail)
 // register_exception approach below.  (It would be simpler to have the static local variable
 // directly in register_exception, but that makes clang <3.5 segfault - issue #1349).
 template <typename CppException>
-exception<CppException> &get_exception_object() { static exception<CppException> ex; return ex; }
+exception<CppException> &get_exception_object() {
+    static exception<CppException> ex;
+    return ex;
+}
 
 // Helper function for register_exception and register_local_exception
 template <typename CppException>
-exception<CppException> &register_exception_impl(handle scope,
-                                                const char *name,
-                                                handle base,
-                                                bool isLocal) {
+exception<CppException> &
+register_exception_impl(handle scope, const char *name, handle base, bool isLocal) {
     auto &ex = detail::get_exception_object<CppException>();
-    if (!ex) ex = exception<CppException>(scope, name, base);
+    if (!ex) {
+        ex = exception<CppException>(scope, name, base);
+    }
 
-    auto register_func = isLocal ? &register_local_exception_translator
-                                 : &register_exception_translator;
+    auto register_func
+        = isLocal ? &register_local_exception_translator : &register_exception_translator;
 
     register_func([](std::exception_ptr p) {
-        if (!p) return;
+        if (!p) {
+            return;
+        }
         try {
             std::rethrow_exception(p);
         } catch (const CppException &e) {
@@ -2292,9 +2566,8 @@ PYBIND11_NAMESPACE_END(detail)
  * exception object and translator directly.
  */
 template <typename CppException>
-exception<CppException> &register_exception(handle scope,
-                                            const char *name,
-                                            handle base = PyExc_Exception) {
+exception<CppException> &
+register_exception(handle scope, const char *name, handle base = PyExc_Exception) {
     return detail::register_exception_impl<CppException>(scope, name, base, false /* isLocal */);
 }
 
@@ -2307,9 +2580,8 @@ exception<CppException> &register_exception(handle scope,
  * exception object and translator directly.
  */
 template <typename CppException>
-exception<CppException> &register_local_exception(handle scope,
-                                                  const char *name,
-                                                  handle base = PyExc_Exception) {
+exception<CppException> &
+register_local_exception(handle scope, const char *name, handle base = PyExc_Exception) {
     return detail::register_exception_impl<CppException>(scope, name, base, true /* isLocal */);
 }
 
@@ -2319,8 +2591,8 @@ PYBIND11_NOINLINE void print(const tuple &args, const dict &kwargs) {
     for (size_t i = 0; i < args.size(); ++i) {
         strings[i] = str(args[i]);
     }
-    auto sep = kwargs.contains("sep") ? kwargs["sep"] : cast(" ");
-    auto line = sep.attr("join")(strings);
+    auto sep = kwargs.contains("sep") ? kwargs["sep"] : str(" ");
+    auto line = sep.attr("join")(std::move(strings));
 
     object file;
     if (kwargs.contains("file")) {
@@ -2338,11 +2610,12 @@ PYBIND11_NOINLINE void print(const tuple &args, const dict &kwargs) {
     }
 
     auto write = file.attr("write");
-    write(line);
-    write(kwargs.contains("end") ? kwargs["end"] : cast("\n"));
+    write(std::move(line));
+    write(kwargs.contains("end") ? kwargs["end"] : str("\n"));
 
-    if (kwargs.contains("flush") && kwargs["flush"].cast<bool>())
+    if (kwargs.contains("flush") && kwargs["flush"].cast<bool>()) {
         file.attr("flush")();
+    }
 }
 PYBIND11_NAMESPACE_END(detail)
 
@@ -2352,52 +2625,58 @@ void print(Args &&...args) {
     detail::print(c.args(), c.kwargs());
 }
 
-error_already_set::~error_already_set() {
-    if (m_type) {
-        gil_scoped_acquire gil;
-        error_scope scope;
-        m_type.release().dec_ref();
-        m_value.release().dec_ref();
-        m_trace.release().dec_ref();
-    }
+inline void
+error_already_set::m_fetched_error_deleter(detail::error_fetch_and_normalize *raw_ptr) {
+    gil_scoped_acquire gil;
+    error_scope scope;
+    delete raw_ptr;
+}
+
+inline const char *error_already_set::what() const noexcept {
+    gil_scoped_acquire gil;
+    error_scope scope;
+    return m_fetched_error->error_string().c_str();
 }
 
 PYBIND11_NAMESPACE_BEGIN(detail)
-inline function get_type_override(const void *this_ptr, const type_info *this_type, const char *name)  {
+
+inline function
+get_type_override(const void *this_ptr, const type_info *this_type, const char *name) {
     handle self = get_object_handle(this_ptr, this_type);
-    if (!self)
+    if (!self) {
         return function();
+    }
     handle type = type::handle_of(self);
     auto key = std::make_pair(type.ptr(), name);
 
     /* Cache functions that aren't overridden in Python to avoid
        many costly Python dictionary lookups below */
     auto &cache = get_internals().inactive_override_cache;
-    if (cache.find(key) != cache.end())
+    if (cache.find(key) != cache.end()) {
         return function();
+    }
 
     function override = getattr(self, name, function());
     if (override.is_cpp_function()) {
-        cache.insert(key);
+        cache.insert(std::move(key));
         return function();
     }
 
     /* Don't call dispatch code if invoked from overridden function.
        Unfortunately this doesn't work on PyPy. */
-#if !defined(PYPY_VERSION) && PY_VERSION_HEX < 0x030B0000
-    // TODO: Remove PyPy workaround for Python 3.11.
-    // Current API fails on 3.11 since co_varnames can be null.
-#if PY_VERSION_HEX >= 0x03090000
+#if !defined(PYPY_VERSION)
+#    if PY_VERSION_HEX >= 0x03090000
     PyFrameObject *frame = PyThreadState_GetFrame(PyThreadState_Get());
     if (frame != nullptr) {
         PyCodeObject *f_code = PyFrame_GetCode(frame);
         // f_code is guaranteed to not be NULL
         if ((std::string) str(f_code->co_name) == name && f_code->co_argcount > 0) {
-            PyObject* locals = PyEval_GetLocals();
-            if (locals != nullptr && f_code->co_varnames != nullptr) {
-                PyObject *self_caller = dict_getitem(
-                    locals, PyTuple_GET_ITEM(f_code->co_varnames, 0)
-                );
+            PyObject *locals = PyEval_GetLocals();
+            if (locals != nullptr) {
+                PyObject *co_varnames = PyObject_GetAttrString((PyObject *) f_code, "co_varnames");
+                PyObject *self_arg = PyTuple_GET_ITEM(co_varnames, 0);
+                Py_DECREF(co_varnames);
+                PyObject *self_caller = dict_getitem(locals, self_arg);
                 if (self_caller == self.ptr()) {
                     Py_DECREF(f_code);
                     Py_DECREF(frame);
@@ -2408,39 +2687,44 @@ inline function get_type_override(const void *this_ptr, const type_info *this_ty
         Py_DECREF(f_code);
         Py_DECREF(frame);
     }
-#else
+#    else
     PyFrameObject *frame = PyThreadState_Get()->frame;
     if (frame != nullptr && (std::string) str(frame->f_code->co_name) == name
         && frame->f_code->co_argcount > 0) {
         PyFrame_FastToLocals(frame);
-        PyObject *self_caller = dict_getitem(
-            frame->f_locals, PyTuple_GET_ITEM(frame->f_code->co_varnames, 0));
-        if (self_caller == self.ptr())
+        PyObject *self_caller
+            = dict_getitem(frame->f_locals, PyTuple_GET_ITEM(frame->f_code->co_varnames, 0));
+        if (self_caller == self.ptr()) {
             return function();
+        }
     }
-#endif
+#    endif
 
 #else
     /* PyPy currently doesn't provide a detailed cpyext emulation of
        frame objects, so we have to emulate this using Python. This
        is going to be slow..*/
-    dict d; d["self"] = self; d["name"] = pybind11::str(name);
-    PyObject *result = PyRun_String(
-        "import inspect\n"
-        "frame = inspect.currentframe()\n"
-        "if frame is not None:\n"
-        "    frame = frame.f_back\n"
-        "    if frame is not None and str(frame.f_code.co_name) == name and "
-        "frame.f_code.co_argcount > 0:\n"
-        "        self_caller = frame.f_locals[frame.f_code.co_varnames[0]]\n"
-        "        if self_caller == self:\n"
-        "            self = None\n",
-        Py_file_input, d.ptr(), d.ptr());
+    dict d;
+    d["self"] = self;
+    d["name"] = pybind11::str(name);
+    PyObject *result
+        = PyRun_String("import inspect\n"
+                       "frame = inspect.currentframe()\n"
+                       "if frame is not None:\n"
+                       "    frame = frame.f_back\n"
+                       "    if frame is not None and str(frame.f_code.co_name) == name and "
+                       "frame.f_code.co_argcount > 0:\n"
+                       "        self_caller = frame.f_locals[frame.f_code.co_varnames[0]]\n"
+                       "        if self_caller == self:\n"
+                       "            self = None\n",
+                       Py_file_input,
+                       d.ptr(),
+                       d.ptr());
     if (result == nullptr)
         throw error_already_set();
+    Py_DECREF(result);
     if (d["self"].is_none())
         return function();
-    Py_DECREF(result);
 #endif
 
     return override;
@@ -2448,15 +2732,17 @@ inline function get_type_override(const void *this_ptr, const type_info *this_ty
 PYBIND11_NAMESPACE_END(detail)
 
 /** \rst
-  Try to retrieve a python method by the provided name from the instance pointed to by the this_ptr.
+  Try to retrieve a python method by the provided name from the instance pointed to by the
+  this_ptr.
 
-  :this_ptr: The pointer to the object the overridden method should be retrieved for. This should be
-             the first non-trampoline class encountered in the inheritance chain.
+  :this_ptr: The pointer to the object the overridden method should be retrieved for. This should
+             be the first non-trampoline class encountered in the inheritance chain.
   :name: The name of the overridden Python method to retrieve.
   :return: The Python method by this name from the object or an empty function wrapper.
  \endrst */
-template <class T> function get_override(const T *this_ptr, const char *name) {
-    auto tinfo = detail::get_type_info(typeid(T));
+template <class T>
+function get_override(const T *this_ptr, const char *name) {
+    auto *tinfo = detail::get_type_info(typeid(T));
     return tinfo ? detail::get_type_override(this_ptr, tinfo, name) : function();
 }
 
@@ -2476,9 +2762,10 @@ template <class T> function get_override(const T *this_ptr, const char *name) {
     } while (false)
 
 /** \rst
-    Macro to populate the virtual method in the trampoline class. This macro tries to look up a method named 'fn'
-    from the Python side, deals with the :ref:`gil` and necessary argument conversions to call this method and return
-    the appropriate type. See :ref:`overriding_virtuals` for more information. This macro should be used when the method
+    Macro to populate the virtual method in the trampoline class. This macro tries to look up a
+    method named 'fn' from the Python side, deals with the :ref:`gil` and necessary argument
+    conversions to call this method and return the appropriate type.
+    See :ref:`overriding_virtuals` for more information. This macro should be used when the method
     name in C is not the same as the method name in Python. For example with `__str__`.
 
     .. code-block:: cpp
@@ -2492,26 +2779,28 @@ template <class T> function get_override(const T *this_ptr, const char *name) {
         );
       }
 \endrst */
-#define PYBIND11_OVERRIDE_NAME(ret_type, cname, name, fn, ...) \
-    do { \
+#define PYBIND11_OVERRIDE_NAME(ret_type, cname, name, fn, ...)                                    \
+    do {                                                                                          \
         PYBIND11_OVERRIDE_IMPL(PYBIND11_TYPE(ret_type), PYBIND11_TYPE(cname), name, __VA_ARGS__); \
-        return cname::fn(__VA_ARGS__); \
+        return cname::fn(__VA_ARGS__);                                                            \
     } while (false)
 
 /** \rst
-    Macro for pure virtual functions, this function is identical to :c:macro:`PYBIND11_OVERRIDE_NAME`, except that it
-    throws if no override can be found.
+    Macro for pure virtual functions, this function is identical to
+    :c:macro:`PYBIND11_OVERRIDE_NAME`, except that it throws if no override can be found.
 \endrst */
-#define PYBIND11_OVERRIDE_PURE_NAME(ret_type, cname, name, fn, ...) \
-    do { \
+#define PYBIND11_OVERRIDE_PURE_NAME(ret_type, cname, name, fn, ...)                               \
+    do {                                                                                          \
         PYBIND11_OVERRIDE_IMPL(PYBIND11_TYPE(ret_type), PYBIND11_TYPE(cname), name, __VA_ARGS__); \
-        pybind11::pybind11_fail("Tried to call pure virtual function \"" PYBIND11_STRINGIFY(cname) "::" name "\""); \
+        pybind11::pybind11_fail(                                                                  \
+            "Tried to call pure virtual function \"" PYBIND11_STRINGIFY(cname) "::" name "\"");   \
     } while (false)
 
 /** \rst
-    Macro to populate the virtual method in the trampoline class. This macro tries to look up the method
-    from the Python side, deals with the :ref:`gil` and necessary argument conversions to call this method and return
-    the appropriate type. This macro should be used if the method name in C and in Python are identical.
+    Macro to populate the virtual method in the trampoline class. This macro tries to look up the
+    method from the Python side, deals with the :ref:`gil` and necessary argument conversions to
+    call this method and return the appropriate type. This macro should be used if the method name
+    in C and in Python are identical.
     See :ref:`overriding_virtuals` for more information.
 
     .. code-block:: cpp
@@ -2532,21 +2821,22 @@ template <class T> function get_override(const T *this_ptr, const char *name) {
           }
       };
 \endrst */
-#define PYBIND11_OVERRIDE(ret_type, cname, fn, ...) \
+#define PYBIND11_OVERRIDE(ret_type, cname, fn, ...)                                               \
     PYBIND11_OVERRIDE_NAME(PYBIND11_TYPE(ret_type), PYBIND11_TYPE(cname), #fn, fn, __VA_ARGS__)
 
 /** \rst
-    Macro for pure virtual functions, this function is identical to :c:macro:`PYBIND11_OVERRIDE`, except that it throws
-    if no override can be found.
+    Macro for pure virtual functions, this function is identical to :c:macro:`PYBIND11_OVERRIDE`,
+    except that it throws if no override can be found.
 \endrst */
-#define PYBIND11_OVERRIDE_PURE(ret_type, cname, fn, ...) \
-    PYBIND11_OVERRIDE_PURE_NAME(PYBIND11_TYPE(ret_type), PYBIND11_TYPE(cname), #fn, fn, __VA_ARGS__)
-
+#define PYBIND11_OVERRIDE_PURE(ret_type, cname, fn, ...)                                          \
+    PYBIND11_OVERRIDE_PURE_NAME(                                                                  \
+        PYBIND11_TYPE(ret_type), PYBIND11_TYPE(cname), #fn, fn, __VA_ARGS__)
 
 // Deprecated versions
 
 PYBIND11_DEPRECATED("get_type_overload has been deprecated")
-inline function get_type_overload(const void *this_ptr, const detail::type_info *this_type, const char *name) {
+inline function
+get_type_overload(const void *this_ptr, const detail::type_info *this_type, const char *name) {
     return detail::get_type_override(this_ptr, this_type, name);
 }
 
@@ -2555,15 +2845,16 @@ inline function get_overload(const T *this_ptr, const char *name) {
     return get_override(this_ptr, name);
 }
 
-#define PYBIND11_OVERLOAD_INT(ret_type, cname, name, ...) \
+#define PYBIND11_OVERLOAD_INT(ret_type, cname, name, ...)                                         \
     PYBIND11_OVERRIDE_IMPL(PYBIND11_TYPE(ret_type), PYBIND11_TYPE(cname), name, __VA_ARGS__)
-#define PYBIND11_OVERLOAD_NAME(ret_type, cname, name, fn, ...) \
+#define PYBIND11_OVERLOAD_NAME(ret_type, cname, name, fn, ...)                                    \
     PYBIND11_OVERRIDE_NAME(PYBIND11_TYPE(ret_type), PYBIND11_TYPE(cname), name, fn, __VA_ARGS__)
-#define PYBIND11_OVERLOAD_PURE_NAME(ret_type, cname, name, fn, ...) \
-    PYBIND11_OVERRIDE_PURE_NAME(PYBIND11_TYPE(ret_type), PYBIND11_TYPE(cname), name, fn, __VA_ARGS__);
-#define PYBIND11_OVERLOAD(ret_type, cname, fn, ...) \
+#define PYBIND11_OVERLOAD_PURE_NAME(ret_type, cname, name, fn, ...)                               \
+    PYBIND11_OVERRIDE_PURE_NAME(                                                                  \
+        PYBIND11_TYPE(ret_type), PYBIND11_TYPE(cname), name, fn, __VA_ARGS__);
+#define PYBIND11_OVERLOAD(ret_type, cname, fn, ...)                                               \
     PYBIND11_OVERRIDE(PYBIND11_TYPE(ret_type), PYBIND11_TYPE(cname), fn, __VA_ARGS__)
-#define PYBIND11_OVERLOAD_PURE(ret_type, cname, fn, ...) \
+#define PYBIND11_OVERLOAD_PURE(ret_type, cname, fn, ...)                                          \
     PYBIND11_OVERRIDE_PURE(PYBIND11_TYPE(ret_type), PYBIND11_TYPE(cname), fn, __VA_ARGS__);
 
 PYBIND11_NAMESPACE_END(PYBIND11_NAMESPACE)
diff --git a/pybind11/include/pybind11/pytypes.h b/pybind11/include/pybind11/pytypes.h
index 902fb1f07d..339b0961eb 100644
--- a/pybind11/include/pybind11/pytypes.h
+++ b/pybind11/include/pybind11/pytypes.h
@@ -11,38 +11,51 @@
 
 #include "detail/common.h"
 #include "buffer_info.h"
-#include <utility>
+
+#include <assert.h>
+#include <cstddef>
+#include <exception>
+#include <frameobject.h>
+#include <iterator>
+#include <memory>
+#include <string>
 #include <type_traits>
+#include <typeinfo>
+#include <utility>
 
 #if defined(PYBIND11_HAS_OPTIONAL)
-#  include <optional>
+#    include <optional>
 #endif
 
 #ifdef PYBIND11_HAS_STRING_VIEW
-#  include <string_view>
+#    include <string_view>
 #endif
 
 PYBIND11_NAMESPACE_BEGIN(PYBIND11_NAMESPACE)
 
 /* A few forward declarations */
-class handle; class object;
-class str; class iterator;
+class handle;
+class object;
+class str;
+class iterator;
 class type;
-struct arg; struct arg_v;
+struct arg;
+struct arg_v;
 
 PYBIND11_NAMESPACE_BEGIN(detail)
 class args_proxy;
 bool isinstance_generic(handle obj, const std::type_info &tp);
 
 // Accessor forward declarations
-template <typename Policy> class accessor;
+template <typename Policy>
+class accessor;
 namespace accessor_policies {
-    struct obj_attr;
-    struct str_attr;
-    struct generic_item;
-    struct sequence_item;
-    struct list_item;
-    struct tuple_item;
+struct obj_attr;
+struct str_attr;
+struct generic_item;
+struct sequence_item;
+struct list_item;
+struct tuple_item;
 } // namespace accessor_policies
 using obj_attr_accessor = accessor<accessor_policies::obj_attr>;
 using str_attr_accessor = accessor<accessor_policies::str_attr>;
@@ -52,8 +65,9 @@ using list_accessor = accessor<accessor_policies::list_item>;
 using tuple_accessor = accessor<accessor_policies::tuple_item>;
 
 /// Tag and check to identify a class which implements the Python object API
-class pyobject_tag { };
-template <typename T> using is_pyobject = std::is_base_of<pyobject_tag, remove_reference_t<T>>;
+class pyobject_tag {};
+template <typename T>
+using is_pyobject = std::is_base_of<pyobject_tag, remove_reference_t<T>>;
 
 /** \rst
     A mixin class which adds common functions to `handle`, `object` and various accessors.
@@ -79,7 +93,9 @@ class object_api : public pyobject_tag {
         or `object` subclass causes a call to ``__setitem__``.
     \endrst */
     item_accessor operator[](handle key) const;
-    /// See above (the only difference is that they key is provided as a string literal)
+    /// See above (the only difference is that the key's reference is stolen)
+    item_accessor operator[](object &&key) const;
+    /// See above (the only difference is that the key is provided as a string literal)
     item_accessor operator[](const char *key) const;
 
     /** \rst
@@ -89,7 +105,9 @@ class object_api : public pyobject_tag {
         or `object` subclass causes a call to ``setattr``.
     \endrst */
     obj_attr_accessor attr(handle key) const;
-    /// See above (the only difference is that they key is provided as a string literal)
+    /// See above (the only difference is that the key's reference is stolen)
+    obj_attr_accessor attr(object &&key) const;
+    /// See above (the only difference is that the key is provided as a string literal)
     str_attr_accessor attr(const char *key) const;
 
     /** \rst
@@ -101,7 +119,8 @@ class object_api : public pyobject_tag {
     args_proxy operator*() const;
 
     /// Check if the given item is contained within this object, i.e. ``item in obj``.
-    template <typename T> bool contains(T &&item) const;
+    template <typename T>
+    bool contains(T &&item) const;
 
     /** \rst
         Assuming the Python object is a function or implements the ``__call__``
@@ -113,22 +132,24 @@ class object_api : public pyobject_tag {
         function will throw a `cast_error` exception. When the Python function
         call fails, a `error_already_set` exception is thrown.
     \endrst */
-    template <return_value_policy policy = return_value_policy::automatic_reference, typename... Args>
+    template <return_value_policy policy = return_value_policy::automatic_reference,
+              typename... Args>
     object operator()(Args &&...args) const;
-    template <return_value_policy policy = return_value_policy::automatic_reference, typename... Args>
+    template <return_value_policy policy = return_value_policy::automatic_reference,
+              typename... Args>
     PYBIND11_DEPRECATED("call(...) was deprecated in favor of operator()(...)")
-        object call(Args&&... args) const;
+    object call(Args &&...args) const;
 
     /// Equivalent to ``obj is other`` in Python.
-    bool is(object_api const& other) const { return derived().ptr() == other.derived().ptr(); }
+    bool is(object_api const &other) const { return derived().ptr() == other.derived().ptr(); }
     /// Equivalent to ``obj is None`` in Python.
     bool is_none() const { return derived().ptr() == Py_None; }
     /// Equivalent to obj == other in Python
-    bool equal(object_api const &other) const      { return rich_compare(other, Py_EQ); }
-    bool not_equal(object_api const &other) const  { return rich_compare(other, Py_NE); }
-    bool operator<(object_api const &other) const  { return rich_compare(other, Py_LT); }
+    bool equal(object_api const &other) const { return rich_compare(other, Py_EQ); }
+    bool not_equal(object_api const &other) const { return rich_compare(other, Py_NE); }
+    bool operator<(object_api const &other) const { return rich_compare(other, Py_LT); }
     bool operator<=(object_api const &other) const { return rich_compare(other, Py_LE); }
-    bool operator>(object_api const &other) const  { return rich_compare(other, Py_GT); }
+    bool operator>(object_api const &other) const { return rich_compare(other, Py_GT); }
     bool operator>=(object_api const &other) const { return rich_compare(other, Py_GE); }
 
     object operator-() const;
@@ -161,15 +182,25 @@ class object_api : public pyobject_tag {
     /// Return the object's current reference count
     int ref_count() const { return static_cast<int>(Py_REFCNT(derived().ptr())); }
 
-    // TODO PYBIND11_DEPRECATED("Call py::type::handle_of(h) or py::type::of(h) instead of h.get_type()")
+    // TODO PYBIND11_DEPRECATED(
+    //     "Call py::type::handle_of(h) or py::type::of(h) instead of h.get_type()")
     handle get_type() const;
 
 private:
     bool rich_compare(object_api const &other, int value) const;
 };
 
+template <typename T>
+using is_pyobj_ptr_or_nullptr_t = detail::any_of<std::is_same<T, PyObject *>,
+                                                 std::is_same<T, PyObject *const>,
+                                                 std::is_same<T, std::nullptr_t>>;
+
 PYBIND11_NAMESPACE_END(detail)
 
+#if !defined(PYBIND11_HANDLE_REF_DEBUG) && !defined(NDEBUG)
+#    define PYBIND11_HANDLE_REF_DEBUG
+#endif
+
 /** \rst
     Holds a reference to a Python object (no reference counting)
 
@@ -185,9 +216,23 @@ class handle : public detail::object_api<handle> {
 public:
     /// The default constructor creates a handle with a ``nullptr``-valued pointer
     handle() = default;
-    /// Creates a ``handle`` from the given raw Python object pointer
+
+    /// Enable implicit conversion from ``PyObject *`` and ``nullptr``.
+    /// Not using ``handle(PyObject *ptr)`` to avoid implicit conversion from ``0``.
+    template <typename T,
+              detail::enable_if_t<detail::is_pyobj_ptr_or_nullptr_t<T>::value, int> = 0>
+    // NOLINTNEXTLINE(google-explicit-constructor)
+    handle(T ptr) : m_ptr(ptr) {}
+
+    /// Enable implicit conversion through ``T::operator PyObject *()``.
+    template <
+        typename T,
+        detail::enable_if_t<detail::all_of<detail::none_of<std::is_base_of<handle, T>,
+                                                           detail::is_pyobj_ptr_or_nullptr_t<T>>,
+                                           std::is_convertible<T, PyObject *>>::value,
+                            int> = 0>
     // NOLINTNEXTLINE(google-explicit-constructor)
-    handle(PyObject *ptr) : m_ptr(ptr) { } // Allow implicit conversion from PyObject*
+    handle(T &obj) : m_ptr(obj) {}
 
     /// Return the underlying ``PyObject *`` pointer
     PyObject *ptr() const { return m_ptr; }
@@ -198,20 +243,30 @@ class handle : public detail::object_api<handle> {
         preferable to use the `object` class which derives from `handle` and calls
         this function automatically. Returns a reference to itself.
     \endrst */
-    const handle& inc_ref() const & { Py_XINCREF(m_ptr); return *this; }
+    const handle &inc_ref() const & {
+#ifdef PYBIND11_HANDLE_REF_DEBUG
+        inc_ref_counter(1);
+#endif
+        Py_XINCREF(m_ptr);
+        return *this;
+    }
 
     /** \rst
         Manually decrease the reference count of the Python object. Usually, it is
         preferable to use the `object` class which derives from `handle` and calls
         this function automatically. Returns a reference to itself.
     \endrst */
-    const handle& dec_ref() const & { Py_XDECREF(m_ptr); return *this; }
+    const handle &dec_ref() const & {
+        Py_XDECREF(m_ptr);
+        return *this;
+    }
 
     /** \rst
         Attempt to cast the Python object into the given C++ type. A `cast_error`
         will be throw upon failure.
     \endrst */
-    template <typename T> T cast() const;
+    template <typename T>
+    T cast() const;
     /// Return ``true`` when the `handle` wraps a valid Python object
     explicit operator bool() const { return m_ptr != nullptr; }
     /** \rst
@@ -224,8 +279,21 @@ class handle : public detail::object_api<handle> {
     bool operator!=(const handle &h) const { return m_ptr != h.m_ptr; }
     PYBIND11_DEPRECATED("Use handle::operator bool() instead")
     bool check() const { return m_ptr != nullptr; }
+
 protected:
     PyObject *m_ptr = nullptr;
+
+#ifdef PYBIND11_HANDLE_REF_DEBUG
+private:
+    static std::size_t inc_ref_counter(std::size_t add) {
+        thread_local std::size_t counter = 0;
+        counter += add;
+        return counter;
+    }
+
+public:
+    static std::size_t inc_ref_counter() { return inc_ref_counter(0); }
+#endif
 };
 
 /** \rst
@@ -242,11 +310,15 @@ class object : public handle {
 public:
     object() = default;
     PYBIND11_DEPRECATED("Use reinterpret_borrow<object>() or reinterpret_steal<object>()")
-    object(handle h, bool is_borrowed) : handle(h) { if (is_borrowed) inc_ref(); }
+    object(handle h, bool is_borrowed) : handle(h) {
+        if (is_borrowed) {
+            inc_ref();
+        }
+    }
     /// Copy constructor; always increases the reference count
     object(const object &o) : handle(o) { inc_ref(); }
     /// Move constructor; steals the object from ``other`` and preserves its reference count
-    object(object &&other) noexcept { m_ptr = other.m_ptr; other.m_ptr = nullptr; }
+    object(object &&other) noexcept : handle(other) { other.m_ptr = nullptr; }
     /// Destructor; automatically calls `handle::dec_ref()`
     ~object() { dec_ref(); }
 
@@ -256,12 +328,12 @@ class object : public handle {
         Python object.
     \endrst */
     handle release() {
-      PyObject *tmp = m_ptr;
-      m_ptr = nullptr;
-      return handle(tmp);
+        PyObject *tmp = m_ptr;
+        m_ptr = nullptr;
+        return handle(tmp);
     }
 
-    object& operator=(const object &other) {
+    object &operator=(const object &other) {
         other.inc_ref();
         // Use temporary variable to ensure `*this` remains valid while
         // `Py_XDECREF` executes, in case `*this` is accessible from Python.
@@ -271,7 +343,7 @@ class object : public handle {
         return *this;
     }
 
-    object& operator=(object &&other) noexcept {
+    object &operator=(object &&other) noexcept {
         if (this != &other) {
             handle temp(m_ptr);
             m_ptr = other.m_ptr;
@@ -282,24 +354,28 @@ class object : public handle {
     }
 
     // Calling cast() on an object lvalue just copies (via handle::cast)
-    template <typename T> T cast() const &;
+    template <typename T>
+    T cast() const &;
     // Calling on an object rvalue does a move, if needed and/or possible
-    template <typename T> T cast() &&;
+    template <typename T>
+    T cast() &&;
 
 protected:
     // Tags for choosing constructors from raw PyObject *
-    struct borrowed_t { };
-    struct stolen_t { };
+    struct borrowed_t {};
+    struct stolen_t {};
 
     /// @cond BROKEN
-    template <typename T> friend T reinterpret_borrow(handle);
-    template <typename T> friend T reinterpret_steal(handle);
+    template <typename T>
+    friend T reinterpret_borrow(handle);
+    template <typename T>
+    friend T reinterpret_steal(handle);
     /// @endcond
 
 public:
     // Only accessible from derived classes and the reinterpret_* functions
     object(handle h, borrowed_t) : handle(h) { inc_ref(); }
-    object(handle h, stolen_t) : handle(h) { }
+    object(handle h, stolen_t) : handle(h) {}
 };
 
 /** \rst
@@ -315,7 +391,10 @@ class object : public handle {
         // or
         py::tuple t = reinterpret_borrow<py::tuple>(p); // <-- `p` must be already be a `tuple`
 \endrst */
-template <typename T> T reinterpret_borrow(handle h) { return {h, object::borrowed_t{}}; }
+template <typename T>
+T reinterpret_borrow(handle h) {
+    return {h, object::borrowed_t{}};
+}
 
 /** \rst
     Like `reinterpret_borrow`, but steals the reference.
@@ -325,49 +404,224 @@ template <typename T> T reinterpret_borrow(handle h) { return {h, object::borrow
         PyObject *p = PyObject_Str(obj);
         py::str s = reinterpret_steal<py::str>(p); // <-- `p` must be already be a `str`
 \endrst */
-template <typename T> T reinterpret_steal(handle h) { return {h, object::stolen_t{}}; }
+template <typename T>
+T reinterpret_steal(handle h) {
+    return {h, object::stolen_t{}};
+}
 
 PYBIND11_NAMESPACE_BEGIN(detail)
+
+// Equivalent to obj.__class__.__name__ (or obj.__name__ if obj is a class).
+inline const char *obj_class_name(PyObject *obj) {
+    if (Py_TYPE(obj) == &PyType_Type) {
+        return reinterpret_cast<PyTypeObject *>(obj)->tp_name;
+    }
+    return Py_TYPE(obj)->tp_name;
+}
+
 std::string error_string();
+
+struct error_fetch_and_normalize {
+    // Immediate normalization is long-established behavior (starting with
+    // https://github.com/pybind/pybind11/commit/135ba8deafb8bf64a15b24d1513899eb600e2011
+    // from Sep 2016) and safest. Normalization could be deferred, but this could mask
+    // errors elsewhere, the performance gain is very minor in typical situations
+    // (usually the dominant bottleneck is EH unwinding), and the implementation here
+    // would be more complex.
+    explicit error_fetch_and_normalize(const char *called) {
+        PyErr_Fetch(&m_type.ptr(), &m_value.ptr(), &m_trace.ptr());
+        if (!m_type) {
+            pybind11_fail("Internal error: " + std::string(called)
+                          + " called while "
+                            "Python error indicator not set.");
+        }
+        const char *exc_type_name_orig = detail::obj_class_name(m_type.ptr());
+        if (exc_type_name_orig == nullptr) {
+            pybind11_fail("Internal error: " + std::string(called)
+                          + " failed to obtain the name "
+                            "of the original active exception type.");
+        }
+        m_lazy_error_string = exc_type_name_orig;
+        // PyErr_NormalizeException() may change the exception type if there are cascading
+        // failures. This can potentially be extremely confusing.
+        PyErr_NormalizeException(&m_type.ptr(), &m_value.ptr(), &m_trace.ptr());
+        if (m_type.ptr() == nullptr) {
+            pybind11_fail("Internal error: " + std::string(called)
+                          + " failed to normalize the "
+                            "active exception.");
+        }
+        const char *exc_type_name_norm = detail::obj_class_name(m_type.ptr());
+        if (exc_type_name_orig == nullptr) {
+            pybind11_fail("Internal error: " + std::string(called)
+                          + " failed to obtain the name "
+                            "of the normalized active exception type.");
+        }
+        if (exc_type_name_norm != m_lazy_error_string) {
+            std::string msg = std::string(called)
+                              + ": MISMATCH of original and normalized "
+                                "active exception types: ";
+            msg += "ORIGINAL ";
+            msg += m_lazy_error_string;
+            msg += " REPLACED BY ";
+            msg += exc_type_name_norm;
+            msg += ": " + format_value_and_trace();
+            pybind11_fail(msg);
+        }
+    }
+
+    error_fetch_and_normalize(const error_fetch_and_normalize &) = delete;
+    error_fetch_and_normalize(error_fetch_and_normalize &&) = delete;
+
+    std::string format_value_and_trace() const {
+        std::string result;
+        std::string message_error_string;
+        if (m_value) {
+            auto value_str = reinterpret_steal<object>(PyObject_Str(m_value.ptr()));
+            if (!value_str) {
+                message_error_string = detail::error_string();
+                result = "<MESSAGE UNAVAILABLE DUE TO ANOTHER EXCEPTION>";
+            } else {
+                result = value_str.cast<std::string>();
+            }
+        } else {
+            result = "<MESSAGE UNAVAILABLE>";
+        }
+        if (result.empty()) {
+            result = "<EMPTY MESSAGE>";
+        }
+
+        bool have_trace = false;
+        if (m_trace) {
+#if !defined(PYPY_VERSION)
+            auto *tb = reinterpret_cast<PyTracebackObject *>(m_trace.ptr());
+
+            // Get the deepest trace possible.
+            while (tb->tb_next) {
+                tb = tb->tb_next;
+            }
+
+            PyFrameObject *frame = tb->tb_frame;
+            Py_XINCREF(frame);
+            result += "\n\nAt:\n";
+            while (frame) {
+#    if PY_VERSION_HEX >= 0x030900B1
+                PyCodeObject *f_code = PyFrame_GetCode(frame);
+#    else
+                PyCodeObject *f_code = frame->f_code;
+                Py_INCREF(f_code);
+#    endif
+                int lineno = PyFrame_GetLineNumber(frame);
+                result += "  ";
+                result += handle(f_code->co_filename).cast<std::string>();
+                result += '(';
+                result += std::to_string(lineno);
+                result += "): ";
+                result += handle(f_code->co_name).cast<std::string>();
+                result += '\n';
+                Py_DECREF(f_code);
+#    if PY_VERSION_HEX >= 0x030900B1
+                auto *b_frame = PyFrame_GetBack(frame);
+#    else
+                auto *b_frame = frame->f_back;
+                Py_XINCREF(b_frame);
+#    endif
+                Py_DECREF(frame);
+                frame = b_frame;
+            }
+
+            have_trace = true;
+#endif //! defined(PYPY_VERSION)
+        }
+
+        if (!message_error_string.empty()) {
+            if (!have_trace) {
+                result += '\n';
+            }
+            result += "\nMESSAGE UNAVAILABLE DUE TO EXCEPTION: " + message_error_string;
+        }
+
+        return result;
+    }
+
+    std::string const &error_string() const {
+        if (!m_lazy_error_string_completed) {
+            m_lazy_error_string += ": " + format_value_and_trace();
+            m_lazy_error_string_completed = true;
+        }
+        return m_lazy_error_string;
+    }
+
+    void restore() {
+        if (m_restore_called) {
+            pybind11_fail("Internal error: pybind11::detail::error_fetch_and_normalize::restore() "
+                          "called a second time. ORIGINAL ERROR: "
+                          + error_string());
+        }
+        PyErr_Restore(m_type.inc_ref().ptr(), m_value.inc_ref().ptr(), m_trace.inc_ref().ptr());
+        m_restore_called = true;
+    }
+
+    bool matches(handle exc) const {
+        return (PyErr_GivenExceptionMatches(m_type.ptr(), exc.ptr()) != 0);
+    }
+
+    // Not protecting these for simplicity.
+    object m_type, m_value, m_trace;
+
+private:
+    // Only protecting invariants.
+    mutable std::string m_lazy_error_string;
+    mutable bool m_lazy_error_string_completed = false;
+    mutable bool m_restore_called = false;
+};
+
+inline std::string error_string() {
+    return error_fetch_and_normalize("pybind11::detail::error_string").error_string();
+}
+
 PYBIND11_NAMESPACE_END(detail)
 
 #if defined(_MSC_VER)
-#  pragma warning(push)
-#  pragma warning(disable: 4275 4251) // warning C4275: An exported class was derived from a class that wasn't exported. Can be ignored when derived from a STL class.
+#    pragma warning(push)
+#    pragma warning(disable : 4275 4251)
+//     warning C4275: An exported class was derived from a class that wasn't exported.
+//     Can be ignored when derived from a STL class.
 #endif
 /// Fetch and hold an error which was already set in Python.  An instance of this is typically
 /// thrown to propagate python-side errors back through C++ which can either be caught manually or
 /// else falls back to the function dispatcher (which then raises the captured error back to
 /// python).
-class PYBIND11_EXPORT_EXCEPTION error_already_set : public std::runtime_error {
+class PYBIND11_EXPORT_EXCEPTION error_already_set : public std::exception {
 public:
-    /// Constructs a new exception from the current Python error indicator, if any.  The current
-    /// Python error indicator will be cleared.
-    error_already_set() : std::runtime_error(detail::error_string()) {
-        PyErr_Fetch(&m_type.ptr(), &m_value.ptr(), &m_trace.ptr());
-    }
-
-    error_already_set(const error_already_set &) = default;
-    error_already_set(error_already_set &&) = default;
-
-    inline ~error_already_set() override;
-
-    /// Give the currently-held error back to Python, if any.  If there is currently a Python error
-    /// already set it is cleared first.  After this call, the current object no longer stores the
-    /// error variables (but the `.what()` string is still available).
-    void restore() { PyErr_Restore(m_type.release().ptr(), m_value.release().ptr(), m_trace.release().ptr()); }
-
-    /// If it is impossible to raise the currently-held error, such as in a destructor, we can write
-    /// it out using Python's unraisable hook (`sys.unraisablehook`). The error context should be
-    /// some object whose `repr()` helps identify the location of the error. Python already knows the
-    /// type and value of the error, so there is no need to repeat that. After this call, the current
-    /// object no longer stores the error variables, and neither does Python.
+    /// Fetches the current Python exception (using PyErr_Fetch()), which will clear the
+    /// current Python error indicator.
+    error_already_set()
+        : m_fetched_error{new detail::error_fetch_and_normalize("pybind11::error_already_set"),
+                          m_fetched_error_deleter} {}
+
+    /// The what() result is built lazily on demand.
+    /// WARNING: This member function needs to acquire the Python GIL. This can lead to
+    ///          crashes (undefined behavior) if the Python interpreter is finalizing.
+    const char *what() const noexcept override;
+
+    /// Restores the currently-held Python error (which will clear the Python error indicator first
+    /// if already set).
+    /// NOTE: This member function will always restore the normalized exception, which may or may
+    ///       not be the original Python exception.
+    /// WARNING: The GIL must be held when this member function is called!
+    void restore() { m_fetched_error->restore(); }
+
+    /// If it is impossible to raise the currently-held error, such as in a destructor, we can
+    /// write it out using Python's unraisable hook (`sys.unraisablehook`). The error context
+    /// should be some object whose `repr()` helps identify the location of the error. Python
+    /// already knows the type and value of the error, so there is no need to repeat that.
     void discard_as_unraisable(object err_context) {
         restore();
         PyErr_WriteUnraisable(err_context.ptr());
     }
-    /// An alternate version of `discard_as_unraisable()`, where a string provides information on the
-    /// location of the error. For example, `__func__` could be helpful.
+    /// An alternate version of `discard_as_unraisable()`, where a string provides information on
+    /// the location of the error. For example, `__func__` could be helpful.
+    /// WARNING: The GIL must be held when this member function is called!
     void discard_as_unraisable(const char *err_context) {
         discard_as_unraisable(reinterpret_steal<object>(PYBIND11_FROM_STRING(err_context)));
     }
@@ -379,23 +633,23 @@ class PYBIND11_EXPORT_EXCEPTION error_already_set : public std::runtime_error {
     /// Check if the currently trapped error type matches the given Python exception class (or a
     /// subclass thereof).  May also be passed a tuple to search for any exception class matches in
     /// the given tuple.
-    bool matches(handle exc) const {
-        return (PyErr_GivenExceptionMatches(m_type.ptr(), exc.ptr()) != 0);
-    }
+    bool matches(handle exc) const { return m_fetched_error->matches(exc); }
 
-    const object& type() const { return m_type; }
-    const object& value() const { return m_value; }
-    const object& trace() const { return m_trace; }
+    const object &type() const { return m_fetched_error->m_type; }
+    const object &value() const { return m_fetched_error->m_value; }
+    const object &trace() const { return m_fetched_error->m_trace; }
 
 private:
-    object m_type, m_value, m_trace;
+    std::shared_ptr<detail::error_fetch_and_normalize> m_fetched_error;
+
+    /// WARNING: This custom deleter needs to acquire the Python GIL. This can lead to
+    ///          crashes (undefined behavior) if the Python interpreter is finalizing.
+    static void m_fetched_error_deleter(detail::error_fetch_and_normalize *raw_ptr);
 };
 #if defined(_MSC_VER)
-#  pragma warning(pop)
+#    pragma warning(pop)
 #endif
 
-#if PY_VERSION_HEX >= 0x03030000
-
 /// Replaces the current Python error indicator with the chosen error, performing a
 /// 'raise from' to indicate that the chosen error was caused by the original error.
 inline void raise_from(PyObject *type, const char *message) {
@@ -426,15 +680,12 @@ inline void raise_from(PyObject *type, const char *message) {
 
 /// Sets the current Python error indicator with the chosen error, performing a 'raise from'
 /// from the error contained in error_already_set to indicate that the chosen error was
-/// caused by the original error. After this function is called error_already_set will
-/// no longer contain an error.
-inline void raise_from(error_already_set& err, PyObject *type, const char *message) {
+/// caused by the original error.
+inline void raise_from(error_already_set &err, PyObject *type, const char *message) {
     err.restore();
     raise_from(type, message);
 }
 
-#endif
-
 /** \defgroup python_builtins const_name
     Unless stated otherwise, the following C++ functions behave the same
     as their Python counterparts.
@@ -446,20 +697,29 @@ inline void raise_from(error_already_set& err, PyObject *type, const char *messa
     `object` or a class which was exposed to Python as ``py::class_<T>``.
 \endrst */
 template <typename T, detail::enable_if_t<std::is_base_of<object, T>::value, int> = 0>
-bool isinstance(handle obj) { return T::check_(obj); }
+bool isinstance(handle obj) {
+    return T::check_(obj);
+}
 
 template <typename T, detail::enable_if_t<!std::is_base_of<object, T>::value, int> = 0>
-bool isinstance(handle obj) { return detail::isinstance_generic(obj, typeid(T)); }
+bool isinstance(handle obj) {
+    return detail::isinstance_generic(obj, typeid(T));
+}
 
-template <> inline bool isinstance<handle>(handle) = delete;
-template <> inline bool isinstance<object>(handle obj) { return obj.ptr() != nullptr; }
+template <>
+inline bool isinstance<handle>(handle) = delete;
+template <>
+inline bool isinstance<object>(handle obj) {
+    return obj.ptr() != nullptr;
+}
 
 /// \ingroup python_builtins
 /// Return true if ``obj`` is an instance of the ``type``.
 inline bool isinstance(handle obj, handle type) {
     const auto result = PyObject_IsInstance(obj.ptr(), type.ptr());
-    if (result == -1)
+    if (result == -1) {
         throw error_already_set();
+    }
     return result != 0;
 }
 
@@ -474,22 +734,30 @@ inline bool hasattr(handle obj, const char *name) {
 }
 
 inline void delattr(handle obj, handle name) {
-    if (PyObject_DelAttr(obj.ptr(), name.ptr()) != 0) { throw error_already_set(); }
+    if (PyObject_DelAttr(obj.ptr(), name.ptr()) != 0) {
+        throw error_already_set();
+    }
 }
 
 inline void delattr(handle obj, const char *name) {
-    if (PyObject_DelAttrString(obj.ptr(), name) != 0) { throw error_already_set(); }
+    if (PyObject_DelAttrString(obj.ptr(), name) != 0) {
+        throw error_already_set();
+    }
 }
 
 inline object getattr(handle obj, handle name) {
     PyObject *result = PyObject_GetAttr(obj.ptr(), name.ptr());
-    if (!result) { throw error_already_set(); }
+    if (!result) {
+        throw error_already_set();
+    }
     return reinterpret_steal<object>(result);
 }
 
 inline object getattr(handle obj, const char *name) {
     PyObject *result = PyObject_GetAttrString(obj.ptr(), name);
-    if (!result) { throw error_already_set(); }
+    if (!result) {
+        throw error_already_set();
+    }
     return reinterpret_steal<object>(result);
 }
 
@@ -510,16 +778,22 @@ inline object getattr(handle obj, const char *name, handle default_) {
 }
 
 inline void setattr(handle obj, handle name, handle value) {
-    if (PyObject_SetAttr(obj.ptr(), name.ptr(), value.ptr()) != 0) { throw error_already_set(); }
+    if (PyObject_SetAttr(obj.ptr(), name.ptr(), value.ptr()) != 0) {
+        throw error_already_set();
+    }
 }
 
 inline void setattr(handle obj, const char *name, handle value) {
-    if (PyObject_SetAttrString(obj.ptr(), name, value.ptr()) != 0) { throw error_already_set(); }
+    if (PyObject_SetAttrString(obj.ptr(), name, value.ptr()) != 0) {
+        throw error_already_set();
+    }
 }
 
 inline ssize_t hash(handle obj) {
     auto h = PyObject_Hash(obj.ptr());
-    if (h == -1) { throw error_already_set(); }
+    if (h == -1) {
+        throw error_already_set();
+    }
     return h;
 }
 
@@ -528,13 +802,11 @@ inline ssize_t hash(handle obj) {
 PYBIND11_NAMESPACE_BEGIN(detail)
 inline handle get_function(handle value) {
     if (value) {
-#if PY_MAJOR_VERSION >= 3
-        if (PyInstanceMethod_Check(value.ptr()))
+        if (PyInstanceMethod_Check(value.ptr())) {
             value = PyInstanceMethod_GET_FUNCTION(value.ptr());
-        else
-#endif
-        if (PyMethod_Check(value.ptr()))
+        } else if (PyMethod_Check(value.ptr())) {
             value = PyMethod_GET_FUNCTION(value.ptr());
+        }
     }
     return value;
 }
@@ -543,44 +815,36 @@ inline handle get_function(handle value) {
 // aren't swallowed (see #2862)
 
 // copied from cpython _PyDict_GetItemStringWithError
-inline PyObject * dict_getitemstring(PyObject *v, const char *key)
-{
-#if PY_MAJOR_VERSION >= 3
+inline PyObject *dict_getitemstring(PyObject *v, const char *key) {
     PyObject *kv = nullptr, *rv = nullptr;
     kv = PyUnicode_FromString(key);
-    if (kv == NULL) {
+    if (kv == nullptr) {
         throw error_already_set();
     }
 
     rv = PyDict_GetItemWithError(v, kv);
     Py_DECREF(kv);
-    if (rv == NULL && PyErr_Occurred()) {
+    if (rv == nullptr && PyErr_Occurred()) {
         throw error_already_set();
     }
     return rv;
-#else
-    return PyDict_GetItemString(v, key);
-#endif
 }
 
-inline PyObject * dict_getitem(PyObject *v, PyObject *key)
-{
-#if PY_MAJOR_VERSION >= 3
+inline PyObject *dict_getitem(PyObject *v, PyObject *key) {
     PyObject *rv = PyDict_GetItemWithError(v, key);
-    if (rv == NULL && PyErr_Occurred()) {
+    if (rv == nullptr && PyErr_Occurred()) {
         throw error_already_set();
     }
     return rv;
-#else
-    return PyDict_GetItem(v, key);
-#endif
 }
 
-// Helper aliases/functions to support implicit casting of values given to python accessors/methods.
-// When given a pyobject, this simply returns the pyobject as-is; for other C++ type, the value goes
-// through pybind11::cast(obj) to convert it to an `object`.
+// Helper aliases/functions to support implicit casting of values given to python
+// accessors/methods. When given a pyobject, this simply returns the pyobject as-is; for other C++
+// type, the value goes through pybind11::cast(obj) to convert it to an `object`.
 template <typename T, enable_if_t<is_pyobject<T>::value, int> = 0>
-auto object_or_cast(T &&o) -> decltype(std::forward<T>(o)) { return std::forward<T>(o); }
+auto object_or_cast(T &&o) -> decltype(std::forward<T>(o)) {
+    return std::forward<T>(o);
+}
 // The following casting version is implemented in cast.h:
 template <typename T, enable_if_t<!is_pyobject<T>::value, int> = 0>
 object object_or_cast(T &&o);
@@ -588,50 +852,64 @@ object object_or_cast(T &&o);
 inline handle object_or_cast(PyObject *ptr) { return ptr; }
 
 #if defined(_MSC_VER) && _MSC_VER < 1920
-#  pragma warning(push)
-#  pragma warning(disable: 4522) // warning C4522: multiple assignment operators specified
+#    pragma warning(push)
+#    pragma warning(disable : 4522) // warning C4522: multiple assignment operators specified
 #endif
 template <typename Policy>
 class accessor : public object_api<accessor<Policy>> {
     using key_type = typename Policy::key_type;
 
 public:
-    accessor(handle obj, key_type key) : obj(obj), key(std::move(key)) { }
+    accessor(handle obj, key_type key) : obj(obj), key(std::move(key)) {}
     accessor(const accessor &) = default;
     accessor(accessor &&) noexcept = default;
 
-    // accessor overload required to override default assignment operator (templates are not allowed
-    // to replace default compiler-generated assignments).
+    // accessor overload required to override default assignment operator (templates are not
+    // allowed to replace default compiler-generated assignments).
     void operator=(const accessor &a) && { std::move(*this).operator=(handle(a)); }
     void operator=(const accessor &a) & { operator=(handle(a)); }
 
-    template <typename T> void operator=(T &&value) && {
+    template <typename T>
+    void operator=(T &&value) && {
         Policy::set(obj, key, object_or_cast(std::forward<T>(value)));
     }
-    template <typename T> void operator=(T &&value) & {
-        get_cache() = reinterpret_borrow<object>(object_or_cast(std::forward<T>(value)));
+    template <typename T>
+    void operator=(T &&value) & {
+        get_cache() = ensure_object(object_or_cast(std::forward<T>(value)));
     }
 
     template <typename T = Policy>
-    PYBIND11_DEPRECATED("Use of obj.attr(...) as bool is deprecated in favor of pybind11::hasattr(obj, ...)")
-    explicit operator enable_if_t<std::is_same<T, accessor_policies::str_attr>::value ||
-            std::is_same<T, accessor_policies::obj_attr>::value, bool>() const {
+    PYBIND11_DEPRECATED(
+        "Use of obj.attr(...) as bool is deprecated in favor of pybind11::hasattr(obj, ...)")
+    explicit
+    operator enable_if_t<std::is_same<T, accessor_policies::str_attr>::value
+                             || std::is_same<T, accessor_policies::obj_attr>::value,
+                         bool>() const {
         return hasattr(obj, key);
     }
     template <typename T = Policy>
     PYBIND11_DEPRECATED("Use of obj[key] as bool is deprecated in favor of obj.contains(key)")
-    explicit operator enable_if_t<std::is_same<T, accessor_policies::generic_item>::value, bool>() const {
+    explicit
+    operator enable_if_t<std::is_same<T, accessor_policies::generic_item>::value, bool>() const {
         return obj.contains(key);
     }
 
     // NOLINTNEXTLINE(google-explicit-constructor)
     operator object() const { return get_cache(); }
     PyObject *ptr() const { return get_cache().ptr(); }
-    template <typename T> T cast() const { return get_cache().template cast<T>(); }
+    template <typename T>
+    T cast() const {
+        return get_cache().template cast<T>();
+    }
 
 private:
+    static object ensure_object(object &&o) { return std::move(o); }
+    static object ensure_object(handle h) { return reinterpret_borrow<object>(h); }
+
     object &get_cache() const {
-        if (!cache) { cache = Policy::get(obj, key); }
+        if (!cache) {
+            cache = Policy::get(obj, key);
+        }
         return cache;
     }
 
@@ -641,7 +919,7 @@ class accessor : public object_api<accessor<Policy>> {
     mutable object cache;
 };
 #if defined(_MSC_VER) && _MSC_VER < 1920
-#  pragma warning(pop)
+#    pragma warning(pop)
 #endif
 
 PYBIND11_NAMESPACE_BEGIN(accessor_policies)
@@ -662,12 +940,16 @@ struct generic_item {
 
     static object get(handle obj, handle key) {
         PyObject *result = PyObject_GetItem(obj.ptr(), key.ptr());
-        if (!result) { throw error_already_set(); }
+        if (!result) {
+            throw error_already_set();
+        }
         return reinterpret_steal<object>(result);
     }
 
     static void set(handle obj, handle key, handle val) {
-        if (PyObject_SetItem(obj.ptr(), key.ptr(), val.ptr()) != 0) { throw error_already_set(); }
+        if (PyObject_SetItem(obj.ptr(), key.ptr(), val.ptr()) != 0) {
+            throw error_already_set();
+        }
     }
 };
 
@@ -677,7 +959,9 @@ struct sequence_item {
     template <typename IdxType, detail::enable_if_t<std::is_integral<IdxType>::value, int> = 0>
     static object get(handle obj, const IdxType &index) {
         PyObject *result = PySequence_GetItem(obj.ptr(), ssize_t_cast(index));
-        if (!result) { throw error_already_set(); }
+        if (!result) {
+            throw error_already_set();
+        }
         return reinterpret_steal<object>(result);
     }
 
@@ -696,7 +980,9 @@ struct list_item {
     template <typename IdxType, detail::enable_if_t<std::is_integral<IdxType>::value, int> = 0>
     static object get(handle obj, const IdxType &index) {
         PyObject *result = PyList_GetItem(obj.ptr(), ssize_t_cast(index));
-        if (!result) { throw error_already_set(); }
+        if (!result) {
+            throw error_already_set();
+        }
         return reinterpret_borrow<object>(result);
     }
 
@@ -715,7 +1001,9 @@ struct tuple_item {
     template <typename IdxType, detail::enable_if_t<std::is_integral<IdxType>::value, int> = 0>
     static object get(handle obj, const IdxType &index) {
         PyObject *result = PyTuple_GetItem(obj.ptr(), ssize_t_cast(index));
-        if (!result) { throw error_already_set(); }
+        if (!result) {
+            throw error_already_set();
+        }
         return reinterpret_borrow<object>(result);
     }
 
@@ -742,7 +1030,7 @@ class generic_iterator : public Policy {
     using pointer = typename Policy::pointer;
 
     generic_iterator() = default;
-    generic_iterator(handle seq, ssize_t index) : Policy(seq, index) { }
+    generic_iterator(handle seq, ssize_t index) : Policy(seq, index) {}
 
     // NOLINTNEXTLINE(readability-const-return-type) // PR #3263
     reference operator*() const { return Policy::dereference(); }
@@ -750,22 +1038,48 @@ class generic_iterator : public Policy {
     reference operator[](difference_type n) const { return *(*this + n); }
     pointer operator->() const { return **this; }
 
-    It &operator++() { Policy::increment(); return *this; }
-    It operator++(int) { auto copy = *this; Policy::increment(); return copy; }
-    It &operator--() { Policy::decrement(); return *this; }
-    It operator--(int) { auto copy = *this; Policy::decrement(); return copy; }
-    It &operator+=(difference_type n) { Policy::advance(n); return *this; }
-    It &operator-=(difference_type n) { Policy::advance(-n); return *this; }
+    It &operator++() {
+        Policy::increment();
+        return *this;
+    }
+    It operator++(int) {
+        auto copy = *this;
+        Policy::increment();
+        return copy;
+    }
+    It &operator--() {
+        Policy::decrement();
+        return *this;
+    }
+    It operator--(int) {
+        auto copy = *this;
+        Policy::decrement();
+        return copy;
+    }
+    It &operator+=(difference_type n) {
+        Policy::advance(n);
+        return *this;
+    }
+    It &operator-=(difference_type n) {
+        Policy::advance(-n);
+        return *this;
+    }
 
-    friend It operator+(const It &a, difference_type n) { auto copy = a; return copy += n; }
+    friend It operator+(const It &a, difference_type n) {
+        auto copy = a;
+        return copy += n;
+    }
     friend It operator+(difference_type n, const It &b) { return b + n; }
-    friend It operator-(const It &a, difference_type n) { auto copy = a; return copy -= n; }
+    friend It operator-(const It &a, difference_type n) {
+        auto copy = a;
+        return copy -= n;
+    }
     friend difference_type operator-(const It &a, const It &b) { return a.distance_to(b); }
 
     friend bool operator==(const It &a, const It &b) { return a.equal(b); }
     friend bool operator!=(const It &a, const It &b) { return !(a == b); }
-    friend bool operator< (const It &a, const It &b) { return b - a > 0; }
-    friend bool operator> (const It &a, const It &b) { return b < a; }
+    friend bool operator<(const It &a, const It &b) { return b - a > 0; }
+    friend bool operator>(const It &a, const It &b) { return b < a; }
     friend bool operator>=(const It &a, const It &b) { return !(a < b); }
     friend bool operator<=(const It &a, const It &b) { return !(a > b); }
 };
@@ -777,7 +1091,7 @@ struct arrow_proxy {
     T value;
 
     // NOLINTNEXTLINE(google-explicit-constructor)
-    arrow_proxy(T &&value) noexcept : value(std::move(value)) { }
+    arrow_proxy(T &&value) noexcept : value(std::move(value)) {}
     T *operator->() const { return &value; }
 };
 
@@ -789,7 +1103,7 @@ class sequence_fast_readonly {
     using reference = const handle; // PR #3263
     using pointer = arrow_proxy<const handle>;
 
-    sequence_fast_readonly(handle obj, ssize_t n) : ptr(PySequence_Fast_ITEMS(obj.ptr()) + n) { }
+    sequence_fast_readonly(handle obj, ssize_t n) : ptr(PySequence_Fast_ITEMS(obj.ptr()) + n) {}
 
     // NOLINTNEXTLINE(readability-const-return-type) // PR #3263
     reference dereference() const { return *ptr; }
@@ -811,7 +1125,7 @@ class sequence_slow_readwrite {
     using reference = sequence_accessor;
     using pointer = arrow_proxy<const sequence_accessor>;
 
-    sequence_slow_readwrite(handle obj, ssize_t index) : obj(obj), index(index) { }
+    sequence_slow_readwrite(handle obj, ssize_t index) : obj(obj), index(index) {}
 
     reference dereference() const { return {obj, static_cast<size_t>(index)}; }
     void increment() { ++index; }
@@ -877,33 +1191,38 @@ inline bool PyNone_Check(PyObject *o) { return o == Py_None; }
 inline bool PyEllipsis_Check(PyObject *o) { return o == Py_Ellipsis; }
 
 #ifdef PYBIND11_STR_LEGACY_PERMISSIVE
-inline bool PyUnicode_Check_Permissive(PyObject *o) { return PyUnicode_Check(o) || PYBIND11_BYTES_CHECK(o); }
-#define PYBIND11_STR_CHECK_FUN detail::PyUnicode_Check_Permissive
+inline bool PyUnicode_Check_Permissive(PyObject *o) {
+    return PyUnicode_Check(o) || PYBIND11_BYTES_CHECK(o);
+}
+#    define PYBIND11_STR_CHECK_FUN detail::PyUnicode_Check_Permissive
 #else
-#define PYBIND11_STR_CHECK_FUN PyUnicode_Check
+#    define PYBIND11_STR_CHECK_FUN PyUnicode_Check
 #endif
 
 inline bool PyStaticMethod_Check(PyObject *o) { return o->ob_type == &PyStaticMethod_Type; }
 
 class kwargs_proxy : public handle {
 public:
-    explicit kwargs_proxy(handle h) : handle(h) { }
+    explicit kwargs_proxy(handle h) : handle(h) {}
 };
 
 class args_proxy : public handle {
 public:
-    explicit args_proxy(handle h) : handle(h) { }
+    explicit args_proxy(handle h) : handle(h) {}
     kwargs_proxy operator*() const { return kwargs_proxy(*this); }
 };
 
 /// Python argument categories (using PEP 448 terms)
-template <typename T> using is_keyword = std::is_base_of<arg, T>;
-template <typename T> using is_s_unpacking = std::is_same<args_proxy, T>; // * unpacking
-template <typename T> using is_ds_unpacking = std::is_same<kwargs_proxy, T>; // ** unpacking
-template <typename T> using is_positional = satisfies_none_of<T,
-    is_keyword, is_s_unpacking, is_ds_unpacking
->;
-template <typename T> using is_keyword_or_ds = satisfies_any_of<T, is_keyword, is_ds_unpacking>;
+template <typename T>
+using is_keyword = std::is_base_of<arg, T>;
+template <typename T>
+using is_s_unpacking = std::is_same<args_proxy, T>; // * unpacking
+template <typename T>
+using is_ds_unpacking = std::is_same<kwargs_proxy, T>; // ** unpacking
+template <typename T>
+using is_positional = satisfies_none_of<T, is_keyword, is_s_unpacking, is_ds_unpacking>;
+template <typename T>
+using is_keyword_or_ds = satisfies_any_of<T, is_keyword, is_ds_unpacking>;
 
 // Call argument collector forward declarations
 template <return_value_policy policy = return_value_policy::automatic_reference>
@@ -917,53 +1236,60 @@ PYBIND11_NAMESPACE_END(detail)
 //       inheriting ctors: `using Parent::Parent`. It's not an option right now because
 //       the `using` statement triggers the parent deprecation warning even if the ctor
 //       isn't even used.
-#define PYBIND11_OBJECT_COMMON(Name, Parent, CheckFun) \
-    public: \
-        PYBIND11_DEPRECATED("Use reinterpret_borrow<"#Name">() or reinterpret_steal<"#Name">()") \
-        Name(handle h, bool is_borrowed) : Parent(is_borrowed ? Parent(h, borrowed_t{}) : Parent(h, stolen_t{})) { } \
-        Name(handle h, borrowed_t) : Parent(h, borrowed_t{}) { } \
-        Name(handle h, stolen_t) : Parent(h, stolen_t{}) { } \
-        PYBIND11_DEPRECATED("Use py::isinstance<py::python_type>(obj) instead") \
-        bool check() const { return m_ptr != nullptr && (CheckFun(m_ptr) != 0); } \
-        static bool check_(handle h) { return h.ptr() != nullptr && CheckFun(h.ptr()); } \
-        template <typename Policy_> \
-        /* NOLINTNEXTLINE(google-explicit-constructor) */ \
-        Name(const ::pybind11::detail::accessor<Policy_> &a) : Name(object(a)) { }
-
-#define PYBIND11_OBJECT_CVT(Name, Parent, CheckFun, ConvertFun) \
-    PYBIND11_OBJECT_COMMON(Name, Parent, CheckFun) \
-    /* This is deliberately not 'explicit' to allow implicit conversion from object: */ \
-    /* NOLINTNEXTLINE(google-explicit-constructor) */ \
-    Name(const object &o) \
-    : Parent(check_(o) ? o.inc_ref().ptr() : ConvertFun(o.ptr()), stolen_t{}) \
-    { if (!m_ptr) throw error_already_set(); } \
-    /* NOLINTNEXTLINE(google-explicit-constructor) */ \
-    Name(object &&o) \
-    : Parent(check_(o) ? o.release().ptr() : ConvertFun(o.ptr()), stolen_t{}) \
-    { if (!m_ptr) throw error_already_set(); }
-
-#define PYBIND11_OBJECT_CVT_DEFAULT(Name, Parent, CheckFun, ConvertFun) \
-    PYBIND11_OBJECT_CVT(Name, Parent, CheckFun, ConvertFun) \
-    Name() : Parent() { }
-
-#define PYBIND11_OBJECT_CHECK_FAILED(Name, o_ptr) \
-    ::pybind11::type_error("Object of type '" + \
-                           ::pybind11::detail::get_fully_qualified_tp_name(Py_TYPE(o_ptr)) + \
-                           "' is not an instance of '" #Name "'")
-
-#define PYBIND11_OBJECT(Name, Parent, CheckFun) \
-    PYBIND11_OBJECT_COMMON(Name, Parent, CheckFun) \
-    /* This is deliberately not 'explicit' to allow implicit conversion from object: */ \
-    /* NOLINTNEXTLINE(google-explicit-constructor) */ \
-    Name(const object &o) : Parent(o) \
-    { if (m_ptr && !check_(m_ptr)) throw PYBIND11_OBJECT_CHECK_FAILED(Name, m_ptr); } \
-    /* NOLINTNEXTLINE(google-explicit-constructor) */ \
-    Name(object &&o) : Parent(std::move(o)) \
-    { if (m_ptr && !check_(m_ptr)) throw PYBIND11_OBJECT_CHECK_FAILED(Name, m_ptr); }
-
-#define PYBIND11_OBJECT_DEFAULT(Name, Parent, CheckFun) \
-    PYBIND11_OBJECT(Name, Parent, CheckFun) \
-    Name() : Parent() { }
+#define PYBIND11_OBJECT_COMMON(Name, Parent, CheckFun)                                            \
+public:                                                                                           \
+    PYBIND11_DEPRECATED("Use reinterpret_borrow<" #Name ">() or reinterpret_steal<" #Name ">()")  \
+    Name(handle h, bool is_borrowed)                                                              \
+        : Parent(is_borrowed ? Parent(h, borrowed_t{}) : Parent(h, stolen_t{})) {}                \
+    Name(handle h, borrowed_t) : Parent(h, borrowed_t{}) {}                                       \
+    Name(handle h, stolen_t) : Parent(h, stolen_t{}) {}                                           \
+    PYBIND11_DEPRECATED("Use py::isinstance<py::python_type>(obj) instead")                       \
+    bool check() const { return m_ptr != nullptr && (CheckFun(m_ptr) != 0); }                     \
+    static bool check_(handle h) { return h.ptr() != nullptr && CheckFun(h.ptr()); }              \
+    template <typename Policy_> /* NOLINTNEXTLINE(google-explicit-constructor) */                 \
+    Name(const ::pybind11::detail::accessor<Policy_> &a) : Name(object(a)) {}
+
+#define PYBIND11_OBJECT_CVT(Name, Parent, CheckFun, ConvertFun)                                   \
+    PYBIND11_OBJECT_COMMON(Name, Parent, CheckFun)                                                \
+    /* This is deliberately not 'explicit' to allow implicit conversion from object: */           \
+    /* NOLINTNEXTLINE(google-explicit-constructor) */                                             \
+    Name(const object &o)                                                                         \
+        : Parent(check_(o) ? o.inc_ref().ptr() : ConvertFun(o.ptr()), stolen_t{}) {               \
+        if (!m_ptr)                                                                               \
+            throw ::pybind11::error_already_set();                                                \
+    }                                                                                             \
+    /* NOLINTNEXTLINE(google-explicit-constructor) */                                             \
+    Name(object &&o) : Parent(check_(o) ? o.release().ptr() : ConvertFun(o.ptr()), stolen_t{}) {  \
+        if (!m_ptr)                                                                               \
+            throw ::pybind11::error_already_set();                                                \
+    }
+
+#define PYBIND11_OBJECT_CVT_DEFAULT(Name, Parent, CheckFun, ConvertFun)                           \
+    PYBIND11_OBJECT_CVT(Name, Parent, CheckFun, ConvertFun)                                       \
+    Name() : Parent() {}
+
+#define PYBIND11_OBJECT_CHECK_FAILED(Name, o_ptr)                                                 \
+    ::pybind11::type_error("Object of type '"                                                     \
+                           + ::pybind11::detail::get_fully_qualified_tp_name(Py_TYPE(o_ptr))      \
+                           + "' is not an instance of '" #Name "'")
+
+#define PYBIND11_OBJECT(Name, Parent, CheckFun)                                                   \
+    PYBIND11_OBJECT_COMMON(Name, Parent, CheckFun)                                                \
+    /* This is deliberately not 'explicit' to allow implicit conversion from object: */           \
+    /* NOLINTNEXTLINE(google-explicit-constructor) */                                             \
+    Name(const object &o) : Parent(o) {                                                           \
+        if (m_ptr && !check_(m_ptr))                                                              \
+            throw PYBIND11_OBJECT_CHECK_FAILED(Name, m_ptr);                                      \
+    }                                                                                             \
+    /* NOLINTNEXTLINE(google-explicit-constructor) */                                             \
+    Name(object &&o) : Parent(std::move(o)) {                                                     \
+        if (m_ptr && !check_(m_ptr))                                                              \
+            throw PYBIND11_OBJECT_CHECK_FAILED(Name, m_ptr);                                      \
+    }
+
+#define PYBIND11_OBJECT_DEFAULT(Name, Parent, CheckFun)                                           \
+    PYBIND11_OBJECT(Name, Parent, CheckFun)                                                       \
+    Name() : Parent() {}
 
 /// \addtogroup pytypes
 /// @{
@@ -986,7 +1312,7 @@ class iterator : public object {
 
     PYBIND11_OBJECT_DEFAULT(iterator, object, PyIter_Check)
 
-    iterator& operator++() {
+    iterator &operator++() {
         advance();
         return *this;
     }
@@ -1000,13 +1326,16 @@ class iterator : public object {
     // NOLINTNEXTLINE(readability-const-return-type) // PR #3263
     reference operator*() const {
         if (m_ptr && !value.ptr()) {
-            auto& self = const_cast<iterator &>(*this);
+            auto &self = const_cast<iterator &>(*this);
             self.advance();
         }
         return value;
     }
 
-    pointer operator->() const { operator*(); return &value; }
+    pointer operator->() const {
+        operator*();
+        return &value;
+    }
 
     /** \rst
          The value which marks the end of the iteration. ``it == iterator::sentinel()``
@@ -1029,21 +1358,21 @@ class iterator : public object {
 private:
     void advance() {
         value = reinterpret_steal<object>(PyIter_Next(m_ptr));
-        if (PyErr_Occurred()) { throw error_already_set(); }
+        if (PyErr_Occurred()) {
+            throw error_already_set();
+        }
     }
 
 private:
     object value = {};
 };
 
-
-
 class type : public object {
 public:
     PYBIND11_OBJECT(type, object, PyType_Check)
 
     /// Return a type handle from a handle or an object
-    static handle handle_of(handle h) { return handle((PyObject*) Py_TYPE(h.ptr())); }
+    static handle handle_of(handle h) { return handle((PyObject *) Py_TYPE(h.ptr())); }
 
     /// Return a type object from a handle or an object
     static type of(handle h) { return type(type::handle_of(h), borrowed_t{}); }
@@ -1052,14 +1381,16 @@ class type : public object {
     /// Convert C++ type to handle if previously registered. Does not convert
     /// standard types, like int, float. etc. yet.
     /// See https://github.com/pybind/pybind11/issues/2486
-    template<typename T>
+    template <typename T>
     static handle handle_of();
 
     /// Convert C++ type to type if previously registered. Does not convert
     /// standard types, like int, float. etc. yet.
     /// See https://github.com/pybind/pybind11/issues/2486
-    template<typename T>
-    static type of() {return type(type::handle_of<T>(), borrowed_t{}); }
+    template <typename T>
+    static type of() {
+        return type(type::handle_of<T>(), borrowed_t{});
+    }
 };
 
 class iterable : public object {
@@ -1076,30 +1407,34 @@ class str : public object {
     template <typename SzType, detail::enable_if_t<std::is_integral<SzType>::value, int> = 0>
     str(const char *c, const SzType &n)
         : object(PyUnicode_FromStringAndSize(c, ssize_t_cast(n)), stolen_t{}) {
-        if (!m_ptr) pybind11_fail("Could not allocate string object!");
+        if (!m_ptr) {
+            pybind11_fail("Could not allocate string object!");
+        }
     }
 
-    // 'explicit' is explicitly omitted from the following constructors to allow implicit conversion to py::str from C++ string-like objects
+    // 'explicit' is explicitly omitted from the following constructors to allow implicit
+    // conversion to py::str from C++ string-like objects
     // NOLINTNEXTLINE(google-explicit-constructor)
-    str(const char *c = "")
-        : object(PyUnicode_FromString(c), stolen_t{}) {
-        if (!m_ptr) pybind11_fail("Could not allocate string object!");
+    str(const char *c = "") : object(PyUnicode_FromString(c), stolen_t{}) {
+        if (!m_ptr) {
+            pybind11_fail("Could not allocate string object!");
+        }
     }
 
     // NOLINTNEXTLINE(google-explicit-constructor)
-    str(const std::string &s) : str(s.data(), s.size()) { }
+    str(const std::string &s) : str(s.data(), s.size()) {}
 
 #ifdef PYBIND11_HAS_STRING_VIEW
     // enable_if is needed to avoid "ambiguous conversion" errors (see PR #3521).
     template <typename T, detail::enable_if_t<std::is_same<T, std::string_view>::value, int> = 0>
     // NOLINTNEXTLINE(google-explicit-constructor)
-    str(T s) : str(s.data(), s.size()) { }
+    str(T s) : str(s.data(), s.size()) {}
 
-# ifdef PYBIND11_HAS_U8STRING
+#    ifdef PYBIND11_HAS_U8STRING
     // reinterpret_cast here is safe (C++20 guarantees char8_t has the same size/alignment as char)
     // NOLINTNEXTLINE(google-explicit-constructor)
-    str(std::u8string_view s) : str(reinterpret_cast<const char*>(s.data()), s.size()) { }
-# endif
+    str(std::u8string_view s) : str(reinterpret_cast<const char *>(s.data()), s.size()) {}
+#    endif
 
 #endif
 
@@ -1109,20 +1444,26 @@ class str : public object {
         Return a string representation of the object. This is analogous to
         the ``str()`` function in Python.
     \endrst */
-    explicit str(handle h) : object(raw_str(h.ptr()), stolen_t{}) { if (!m_ptr) throw error_already_set(); }
+    explicit str(handle h) : object(raw_str(h.ptr()), stolen_t{}) {
+        if (!m_ptr) {
+            throw error_already_set();
+        }
+    }
 
     // NOLINTNEXTLINE(google-explicit-constructor)
     operator std::string() const {
         object temp = *this;
         if (PyUnicode_Check(m_ptr)) {
             temp = reinterpret_steal<object>(PyUnicode_AsUTF8String(m_ptr));
-            if (!temp)
+            if (!temp) {
                 throw error_already_set();
+            }
         }
         char *buffer = nullptr;
         ssize_t length = 0;
-        if (PYBIND11_BYTES_AS_STRING_AND_SIZE(temp.ptr(), &buffer, &length))
-            pybind11_fail("Unable to extract string contents! (invalid type)");
+        if (PyBytes_AsStringAndSize(temp.ptr(), &buffer, &length) != 0) {
+            throw error_already_set();
+        }
         return std::string(buffer, (size_t) length);
     }
 
@@ -1135,11 +1476,6 @@ class str : public object {
     /// Return string representation -- always returns a new reference, even if already a str
     static PyObject *raw_str(PyObject *op) {
         PyObject *str_value = PyObject_Str(op);
-#if PY_MAJOR_VERSION < 3
-        if (!str_value) throw error_already_set();
-        PyObject *unicode = PyUnicode_FromEncodedObject(str_value, "utf-8", nullptr);
-        Py_XDECREF(str_value); str_value = unicode;
-#endif
         return str_value;
     }
 };
@@ -1160,51 +1496,51 @@ class bytes : public object {
 
     // Allow implicit conversion:
     // NOLINTNEXTLINE(google-explicit-constructor)
-    bytes(const char *c = "")
-        : object(PYBIND11_BYTES_FROM_STRING(c), stolen_t{}) {
-        if (!m_ptr) pybind11_fail("Could not allocate bytes object!");
+    bytes(const char *c = "") : object(PYBIND11_BYTES_FROM_STRING(c), stolen_t{}) {
+        if (!m_ptr) {
+            pybind11_fail("Could not allocate bytes object!");
+        }
     }
 
     template <typename SzType, detail::enable_if_t<std::is_integral<SzType>::value, int> = 0>
     bytes(const char *c, const SzType &n)
         : object(PYBIND11_BYTES_FROM_STRING_AND_SIZE(c, ssize_t_cast(n)), stolen_t{}) {
-        if (!m_ptr) pybind11_fail("Could not allocate bytes object!");
+        if (!m_ptr) {
+            pybind11_fail("Could not allocate bytes object!");
+        }
     }
 
     // Allow implicit conversion:
     // NOLINTNEXTLINE(google-explicit-constructor)
-    bytes(const std::string &s) : bytes(s.data(), s.size()) { }
+    bytes(const std::string &s) : bytes(s.data(), s.size()) {}
 
     explicit bytes(const pybind11::str &s);
 
     // NOLINTNEXTLINE(google-explicit-constructor)
-    operator std::string() const {
-        char *buffer = nullptr;
-        ssize_t length = 0;
-        if (PYBIND11_BYTES_AS_STRING_AND_SIZE(m_ptr, &buffer, &length))
-            pybind11_fail("Unable to extract bytes contents!");
-        return std::string(buffer, (size_t) length);
-    }
+    operator std::string() const { return string_op<std::string>(); }
 
 #ifdef PYBIND11_HAS_STRING_VIEW
     // enable_if is needed to avoid "ambiguous conversion" errors (see PR #3521).
     template <typename T, detail::enable_if_t<std::is_same<T, std::string_view>::value, int> = 0>
     // NOLINTNEXTLINE(google-explicit-constructor)
-    bytes(T s) : bytes(s.data(), s.size()) { }
+    bytes(T s) : bytes(s.data(), s.size()) {}
 
     // Obtain a string view that views the current `bytes` buffer value.  Note that this is only
     // valid so long as the `bytes` instance remains alive and so generally should not outlive the
     // lifetime of the `bytes` instance.
     // NOLINTNEXTLINE(google-explicit-constructor)
-    operator std::string_view() const {
+    operator std::string_view() const { return string_op<std::string_view>(); }
+#endif
+private:
+    template <typename T>
+    T string_op() const {
         char *buffer = nullptr;
         ssize_t length = 0;
-        if (PYBIND11_BYTES_AS_STRING_AND_SIZE(m_ptr, &buffer, &length))
-            pybind11_fail("Unable to extract bytes contents!");
+        if (PyBytes_AsStringAndSize(m_ptr, &buffer, &length) != 0) {
+            throw error_already_set();
+        }
         return {buffer, static_cast<size_t>(length)};
     }
-#endif
-
 };
 // Note: breathe >= 4.17.0 will fail to build docs if the below two constructors
 // are included in the doxygen group; close here and reopen after as a workaround
@@ -1214,27 +1550,32 @@ inline bytes::bytes(const pybind11::str &s) {
     object temp = s;
     if (PyUnicode_Check(s.ptr())) {
         temp = reinterpret_steal<object>(PyUnicode_AsUTF8String(s.ptr()));
-        if (!temp)
-            pybind11_fail("Unable to extract string contents! (encoding issue)");
+        if (!temp) {
+            throw error_already_set();
+        }
     }
     char *buffer = nullptr;
     ssize_t length = 0;
-    if (PYBIND11_BYTES_AS_STRING_AND_SIZE(temp.ptr(), &buffer, &length))
-        pybind11_fail("Unable to extract string contents! (invalid type)");
+    if (PyBytes_AsStringAndSize(temp.ptr(), &buffer, &length) != 0) {
+        throw error_already_set();
+    }
     auto obj = reinterpret_steal<object>(PYBIND11_BYTES_FROM_STRING_AND_SIZE(buffer, length));
-    if (!obj)
+    if (!obj) {
         pybind11_fail("Could not allocate bytes object!");
+    }
     m_ptr = obj.release().ptr();
 }
 
-inline str::str(const bytes& b) {
+inline str::str(const bytes &b) {
     char *buffer = nullptr;
     ssize_t length = 0;
-    if (PYBIND11_BYTES_AS_STRING_AND_SIZE(b.ptr(), &buffer, &length))
-        pybind11_fail("Unable to extract bytes contents!");
+    if (PyBytes_AsStringAndSize(b.ptr(), &buffer, &length) != 0) {
+        throw error_already_set();
+    }
     auto obj = reinterpret_steal<object>(PyUnicode_FromStringAndSize(buffer, length));
-    if (!obj)
+    if (!obj) {
         pybind11_fail("Could not allocate string object!");
+    }
     m_ptr = obj.release().ptr();
 }
 
@@ -1247,13 +1588,14 @@ class bytearray : public object {
     template <typename SzType, detail::enable_if_t<std::is_integral<SzType>::value, int> = 0>
     bytearray(const char *c, const SzType &n)
         : object(PyByteArray_FromStringAndSize(c, ssize_t_cast(n)), stolen_t{}) {
-        if (!m_ptr) pybind11_fail("Could not allocate bytearray object!");
+        if (!m_ptr) {
+            pybind11_fail("Could not allocate bytearray object!");
+        }
     }
 
-    bytearray()
-        : bytearray("", 0) {}
+    bytearray() : bytearray("", 0) {}
 
-    explicit bytearray(const std::string &s) : bytearray(s.data(), s.size()) { }
+    explicit bytearray(const std::string &s) : bytearray(s.data(), s.size()) {}
 
     size_t size() const { return static_cast<size_t>(PyByteArray_Size(m_ptr)); }
 
@@ -1272,22 +1614,22 @@ class bytearray : public object {
 class none : public object {
 public:
     PYBIND11_OBJECT(none, object, detail::PyNone_Check)
-    none() : object(Py_None, borrowed_t{}) { }
+    none() : object(Py_None, borrowed_t{}) {}
 };
 
 class ellipsis : public object {
 public:
     PYBIND11_OBJECT(ellipsis, object, detail::PyEllipsis_Check)
-    ellipsis() : object(Py_Ellipsis, borrowed_t{}) { }
+    ellipsis() : object(Py_Ellipsis, borrowed_t{}) {}
 };
 
 class bool_ : public object {
 public:
     PYBIND11_OBJECT_CVT(bool_, object, PyBool_Check, raw_bool)
-    bool_() : object(Py_False, borrowed_t{}) { }
+    bool_() : object(Py_False, borrowed_t{}) {}
     // Allow implicit conversion from and to `bool`:
     // NOLINTNEXTLINE(google-explicit-constructor)
-    bool_(bool value) : object(value ? Py_True : Py_False, borrowed_t{}) { }
+    bool_(bool value) : object(value ? Py_True : Py_False, borrowed_t{}) {}
     // NOLINTNEXTLINE(google-explicit-constructor)
     operator bool() const { return (m_ptr != nullptr) && PyLong_AsLong(m_ptr) != 0; }
 
@@ -1295,7 +1637,9 @@ class bool_ : public object {
     /// Return the truth value of an object -- always returns a new reference
     static PyObject *raw_bool(PyObject *op) {
         const auto value = PyObject_IsTrue(op);
-        if (value == -1) return nullptr;
+        if (value == -1) {
+            return nullptr;
+        }
         return handle(value != 0 ? Py_True : Py_False).inc_ref().ptr();
     }
 };
@@ -1307,11 +1651,7 @@ PYBIND11_NAMESPACE_BEGIN(detail)
 // unsigned type: (A)-1 != (B)-1 when A and B are unsigned types of different sizes).
 template <typename Unsigned>
 Unsigned as_unsigned(PyObject *o) {
-    if (PYBIND11_SILENCE_MSVC_C4127(sizeof(Unsigned) <= sizeof(unsigned long))
-#if PY_VERSION_HEX < 0x03000000
-        || PyInt_Check(o)
-#endif
-    ) {
+    if (PYBIND11_SILENCE_MSVC_C4127(sizeof(Unsigned) <= sizeof(unsigned long))) {
         unsigned long v = PyLong_AsUnsignedLong(o);
         return v == (unsigned long) -1 && PyErr_Occurred() ? (Unsigned) -1 : (Unsigned) v;
     }
@@ -1323,35 +1663,35 @@ PYBIND11_NAMESPACE_END(detail)
 class int_ : public object {
 public:
     PYBIND11_OBJECT_CVT(int_, object, PYBIND11_LONG_CHECK, PyNumber_Long)
-    int_() : object(PyLong_FromLong(0), stolen_t{}) { }
+    int_() : object(PyLong_FromLong(0), stolen_t{}) {}
     // Allow implicit conversion from C++ integral types:
-    template <typename T,
-              detail::enable_if_t<std::is_integral<T>::value, int> = 0>
+    template <typename T, detail::enable_if_t<std::is_integral<T>::value, int> = 0>
     // NOLINTNEXTLINE(google-explicit-constructor)
     int_(T value) {
         if (PYBIND11_SILENCE_MSVC_C4127(sizeof(T) <= sizeof(long))) {
-            if (std::is_signed<T>::value)
+            if (std::is_signed<T>::value) {
                 m_ptr = PyLong_FromLong((long) value);
-            else
+            } else {
                 m_ptr = PyLong_FromUnsignedLong((unsigned long) value);
+            }
         } else {
-            if (std::is_signed<T>::value)
+            if (std::is_signed<T>::value) {
                 m_ptr = PyLong_FromLongLong((long long) value);
-            else
+            } else {
                 m_ptr = PyLong_FromUnsignedLongLong((unsigned long long) value);
+            }
+        }
+        if (!m_ptr) {
+            pybind11_fail("Could not allocate int object!");
         }
-        if (!m_ptr) pybind11_fail("Could not allocate int object!");
     }
 
-    template <typename T,
-              detail::enable_if_t<std::is_integral<T>::value, int> = 0>
+    template <typename T, detail::enable_if_t<std::is_integral<T>::value, int> = 0>
     // NOLINTNEXTLINE(google-explicit-constructor)
     operator T() const {
-        return std::is_unsigned<T>::value
-            ? detail::as_unsigned<T>(m_ptr)
-            : sizeof(T) <= sizeof(long)
-              ? (T) PyLong_AsLong(m_ptr)
-              : (T) PYBIND11_LONG_AS_LONGLONG(m_ptr);
+        return std::is_unsigned<T>::value  ? detail::as_unsigned<T>(m_ptr)
+               : sizeof(T) <= sizeof(long) ? (T) PyLong_AsLong(m_ptr)
+                                           : (T) PYBIND11_LONG_AS_LONGLONG(m_ptr);
     }
 };
 
@@ -1361,11 +1701,15 @@ class float_ : public object {
     // Allow implicit conversion from float/double:
     // NOLINTNEXTLINE(google-explicit-constructor)
     float_(float value) : object(PyFloat_FromDouble((double) value), stolen_t{}) {
-        if (!m_ptr) pybind11_fail("Could not allocate float object!");
+        if (!m_ptr) {
+            pybind11_fail("Could not allocate float object!");
+        }
     }
     // NOLINTNEXTLINE(google-explicit-constructor)
     float_(double value = .0) : object(PyFloat_FromDouble((double) value), stolen_t{}) {
-        if (!m_ptr) pybind11_fail("Could not allocate float object!");
+        if (!m_ptr) {
+            pybind11_fail("Could not allocate float object!");
+        }
     }
     // NOLINTNEXTLINE(google-explicit-constructor)
     operator float() const { return (float) PyFloat_AsDouble(m_ptr); }
@@ -1378,22 +1722,26 @@ class weakref : public object {
     PYBIND11_OBJECT_CVT_DEFAULT(weakref, object, PyWeakref_Check, raw_weakref)
     explicit weakref(handle obj, handle callback = {})
         : object(PyWeakref_NewRef(obj.ptr(), callback.ptr()), stolen_t{}) {
-        if (!m_ptr) pybind11_fail("Could not allocate weak reference!");
+        if (!m_ptr) {
+            if (PyErr_Occurred()) {
+                throw error_already_set();
+            }
+            pybind11_fail("Could not allocate weak reference!");
+        }
     }
 
 private:
-    static PyObject *raw_weakref(PyObject *o) {
-        return PyWeakref_NewRef(o, nullptr);
-    }
+    static PyObject *raw_weakref(PyObject *o) { return PyWeakref_NewRef(o, nullptr); }
 };
 
 class slice : public object {
 public:
     PYBIND11_OBJECT_DEFAULT(slice, object, PySlice_Check)
-    slice(handle start, handle stop, handle step) {
-        m_ptr = PySlice_New(start.ptr(), stop.ptr(), step.ptr());
-        if (!m_ptr)
+    slice(handle start, handle stop, handle step)
+        : object(PySlice_New(start.ptr(), stop.ptr(), step.ptr()), stolen_t{}) {
+        if (!m_ptr) {
             pybind11_fail("Could not allocate slice object!");
+        }
     }
 
 #ifdef PYBIND11_HAS_OPTIONAL
@@ -1404,19 +1752,21 @@ class slice : public object {
         : slice(int_(start_), int_(stop_), int_(step_)) {}
 #endif
 
-    bool compute(size_t length, size_t *start, size_t *stop, size_t *step,
-                 size_t *slicelength) const {
+    bool
+    compute(size_t length, size_t *start, size_t *stop, size_t *step, size_t *slicelength) const {
         return PySlice_GetIndicesEx((PYBIND11_SLICE_OBJECT *) m_ptr,
-                                    (ssize_t) length, (ssize_t *) start,
-                                    (ssize_t *) stop, (ssize_t *) step,
-                                    (ssize_t *) slicelength) == 0;
+                                    (ssize_t) length,
+                                    (ssize_t *) start,
+                                    (ssize_t *) stop,
+                                    (ssize_t *) step,
+                                    (ssize_t *) slicelength)
+               == 0;
     }
-    bool compute(ssize_t length, ssize_t *start, ssize_t *stop, ssize_t *step,
-      ssize_t *slicelength) const {
-      return PySlice_GetIndicesEx((PYBIND11_SLICE_OBJECT *) m_ptr,
-          length, start,
-          stop, step,
-          slicelength) == 0;
+    bool compute(
+        ssize_t length, ssize_t *start, ssize_t *stop, ssize_t *step, ssize_t *slicelength) const {
+        return PySlice_GetIndicesEx(
+                   (PYBIND11_SLICE_OBJECT *) m_ptr, length, start, stop, step, slicelength)
+               == 0;
     }
 
 private:
@@ -1430,58 +1780,77 @@ class capsule : public object {
 public:
     PYBIND11_OBJECT_DEFAULT(capsule, object, PyCapsule_CheckExact)
     PYBIND11_DEPRECATED("Use reinterpret_borrow<capsule>() or reinterpret_steal<capsule>()")
-    capsule(PyObject *ptr, bool is_borrowed) : object(is_borrowed ? object(ptr, borrowed_t{}) : object(ptr, stolen_t{})) { }
+    capsule(PyObject *ptr, bool is_borrowed)
+        : object(is_borrowed ? object(ptr, borrowed_t{}) : object(ptr, stolen_t{})) {}
 
-    explicit capsule(const void *value, const char *name = nullptr, void (*destructor)(PyObject *) = nullptr)
+    explicit capsule(const void *value,
+                     const char *name = nullptr,
+                     void (*destructor)(PyObject *) = nullptr)
         : object(PyCapsule_New(const_cast<void *>(value), name, destructor), stolen_t{}) {
-        if (!m_ptr)
-            pybind11_fail("Could not allocate capsule object!");
+        if (!m_ptr) {
+            throw error_already_set();
+        }
     }
 
     PYBIND11_DEPRECATED("Please pass a destructor that takes a void pointer as input")
     capsule(const void *value, void (*destruct)(PyObject *))
-        : object(PyCapsule_New(const_cast<void*>(value), nullptr, destruct), stolen_t{}) {
-        if (!m_ptr)
-            pybind11_fail("Could not allocate capsule object!");
+        : object(PyCapsule_New(const_cast<void *>(value), nullptr, destruct), stolen_t{}) {
+        if (!m_ptr) {
+            throw error_already_set();
+        }
     }
 
     capsule(const void *value, void (*destructor)(void *)) {
         m_ptr = PyCapsule_New(const_cast<void *>(value), nullptr, [](PyObject *o) {
+            // guard if destructor called while err indicator is set
+            error_scope error_guard;
             auto destructor = reinterpret_cast<void (*)(void *)>(PyCapsule_GetContext(o));
-            void *ptr = PyCapsule_GetPointer(o, nullptr);
+            if (destructor == nullptr) {
+                if (PyErr_Occurred()) {
+                    throw error_already_set();
+                }
+                pybind11_fail("Unable to get capsule context");
+            }
+            const char *name = get_name_in_error_scope(o);
+            void *ptr = PyCapsule_GetPointer(o, name);
+            if (ptr == nullptr) {
+                throw error_already_set();
+            }
             destructor(ptr);
         });
 
-        if (!m_ptr)
-            pybind11_fail("Could not allocate capsule object!");
-
-        if (PyCapsule_SetContext(m_ptr, (void *) destructor) != 0)
-            pybind11_fail("Could not set capsule context!");
+        if (!m_ptr || PyCapsule_SetContext(m_ptr, (void *) destructor) != 0) {
+            throw error_already_set();
+        }
     }
 
     explicit capsule(void (*destructor)()) {
         m_ptr = PyCapsule_New(reinterpret_cast<void *>(destructor), nullptr, [](PyObject *o) {
-            auto destructor = reinterpret_cast<void (*)()>(PyCapsule_GetPointer(o, nullptr));
+            const char *name = get_name_in_error_scope(o);
+            auto destructor = reinterpret_cast<void (*)()>(PyCapsule_GetPointer(o, name));
+            if (destructor == nullptr) {
+                throw error_already_set();
+            }
             destructor();
         });
 
-        if (!m_ptr)
-            pybind11_fail("Could not allocate capsule object!");
+        if (!m_ptr) {
+            throw error_already_set();
+        }
     }
 
-    // NOLINTNEXTLINE(google-explicit-constructor)
-    template <typename T> operator T *() const {
+    template <typename T>
+    operator T *() const { // NOLINT(google-explicit-constructor)
         return get_pointer<T>();
     }
 
     /// Get the pointer the capsule holds.
-    template<typename T = void>
-    T* get_pointer() const {
-        auto name = this->name();
+    template <typename T = void>
+    T *get_pointer() const {
+        const auto *name = this->name();
         T *result = static_cast<T *>(PyCapsule_GetPointer(m_ptr, name));
         if (!result) {
-            PyErr_Clear();
-            pybind11_fail("Unable to extract capsule contents!");
+            throw error_already_set();
         }
         return result;
     }
@@ -1489,12 +1858,37 @@ class capsule : public object {
     /// Replaces a capsule's pointer *without* calling the destructor on the existing one.
     void set_pointer(const void *value) {
         if (PyCapsule_SetPointer(m_ptr, const_cast<void *>(value)) != 0) {
-            PyErr_Clear();
-            pybind11_fail("Could not set capsule pointer");
+            throw error_already_set();
+        }
+    }
+
+    const char *name() const {
+        const char *name = PyCapsule_GetName(m_ptr);
+        if ((name == nullptr) && PyErr_Occurred()) {
+            throw error_already_set();
+        }
+        return name;
+    }
+
+    /// Replaces a capsule's name *without* calling the destructor on the existing one.
+    void set_name(const char *new_name) {
+        if (PyCapsule_SetName(m_ptr, new_name) != 0) {
+            throw error_already_set();
         }
     }
 
-    const char *name() const { return PyCapsule_GetName(m_ptr); }
+private:
+    static const char *get_name_in_error_scope(PyObject *o) {
+        error_scope error_guard;
+
+        const char *name = PyCapsule_GetName(o);
+        if ((name == nullptr) && PyErr_Occurred()) {
+            // write out and consume error raised by call to PyCapsule_GetName
+            PyErr_WriteUnraisable(o);
+        }
+
+        return name;
+    }
 };
 
 class tuple : public object {
@@ -1504,12 +1898,17 @@ class tuple : public object {
               detail::enable_if_t<std::is_integral<SzType>::value, int> = 0>
     // Some compilers generate link errors when using `const SzType &` here:
     explicit tuple(SzType size = 0) : object(PyTuple_New(ssize_t_cast(size)), stolen_t{}) {
-        if (!m_ptr) pybind11_fail("Could not allocate tuple object!");
+        if (!m_ptr) {
+            pybind11_fail("Could not allocate tuple object!");
+        }
     }
     size_t size() const { return (size_t) PyTuple_Size(m_ptr); }
     bool empty() const { return size() == 0; }
     detail::tuple_accessor operator[](size_t index) const { return {*this, index}; }
-    detail::item_accessor operator[](handle h) const { return object::operator[](h); }
+    template <typename T, detail::enable_if_t<detail::is_pyobject<T>::value, int> = 0>
+    detail::item_accessor operator[](T &&o) const {
+        return object::operator[](std::forward<T>(o));
+    }
     detail::tuple_iterator begin() const { return {*this, 0}; }
     detail::tuple_iterator end() const { return {*this, PyTuple_GET_SIZE(m_ptr)}; }
 };
@@ -1518,37 +1917,41 @@ class tuple : public object {
 // fails to compile enable_if_t<all_of<is_keyword_or_ds<Args>...>::value> part below
 // (tested with ICC 2021.1 Beta 20200827).
 template <typename... Args>
-constexpr bool args_are_all_keyword_or_ds()
-{
-  return detail::all_of<detail::is_keyword_or_ds<Args>...>::value;
+constexpr bool args_are_all_keyword_or_ds() {
+    return detail::all_of<detail::is_keyword_or_ds<Args>...>::value;
 }
 
 class dict : public object {
 public:
     PYBIND11_OBJECT_CVT(dict, object, PyDict_Check, raw_dict)
     dict() : object(PyDict_New(), stolen_t{}) {
-        if (!m_ptr) pybind11_fail("Could not allocate dict object!");
+        if (!m_ptr) {
+            pybind11_fail("Could not allocate dict object!");
+        }
     }
     template <typename... Args,
               typename = detail::enable_if_t<args_are_all_keyword_or_ds<Args...>()>,
-              // MSVC workaround: it can't compile an out-of-line definition, so defer the collector
+              // MSVC workaround: it can't compile an out-of-line definition, so defer the
+              // collector
               typename collector = detail::deferred_t<detail::unpacking_collector<>, Args...>>
-    explicit dict(Args &&...args) : dict(collector(std::forward<Args>(args)...).kwargs()) { }
+    explicit dict(Args &&...args) : dict(collector(std::forward<Args>(args)...).kwargs()) {}
 
     size_t size() const { return (size_t) PyDict_Size(m_ptr); }
     bool empty() const { return size() == 0; }
     detail::dict_iterator begin() const { return {*this, 0}; }
     detail::dict_iterator end() const { return {}; }
     void clear() /* py-non-const */ { PyDict_Clear(ptr()); }
-    template <typename T> bool contains(T &&key) const {
+    template <typename T>
+    bool contains(T &&key) const {
         return PyDict_Contains(m_ptr, detail::object_or_cast(std::forward<T>(key)).ptr()) == 1;
     }
 
 private:
     /// Call the `dict` Python type -- always returns a new reference
     static PyObject *raw_dict(PyObject *op) {
-        if (PyDict_Check(op))
+        if (PyDict_Check(op)) {
             return handle(op).inc_ref().ptr();
+        }
         return PyObject_CallFunctionObjArgs((PyObject *) &PyDict_Type, op, nullptr);
     }
 };
@@ -1558,13 +1961,17 @@ class sequence : public object {
     PYBIND11_OBJECT_DEFAULT(sequence, object, PySequence_Check)
     size_t size() const {
         ssize_t result = PySequence_Size(m_ptr);
-        if (result == -1)
+        if (result == -1) {
             throw error_already_set();
+        }
         return (size_t) result;
     }
     bool empty() const { return size() == 0; }
     detail::sequence_accessor operator[](size_t index) const { return {*this, index}; }
-    detail::item_accessor operator[](handle h) const { return object::operator[](h); }
+    template <typename T, detail::enable_if_t<detail::is_pyobject<T>::value, int> = 0>
+    detail::item_accessor operator[](T &&o) const {
+        return object::operator[](std::forward<T>(o));
+    }
     detail::sequence_iterator begin() const { return {*this, 0}; }
     detail::sequence_iterator end() const { return {*this, PySequence_Size(m_ptr)}; }
 };
@@ -1576,15 +1983,21 @@ class list : public object {
               detail::enable_if_t<std::is_integral<SzType>::value, int> = 0>
     // Some compilers generate link errors when using `const SzType &` here:
     explicit list(SzType size = 0) : object(PyList_New(ssize_t_cast(size)), stolen_t{}) {
-        if (!m_ptr) pybind11_fail("Could not allocate list object!");
+        if (!m_ptr) {
+            pybind11_fail("Could not allocate list object!");
+        }
     }
     size_t size() const { return (size_t) PyList_Size(m_ptr); }
     bool empty() const { return size() == 0; }
     detail::list_accessor operator[](size_t index) const { return {*this, index}; }
-    detail::item_accessor operator[](handle h) const { return object::operator[](h); }
+    template <typename T, detail::enable_if_t<detail::is_pyobject<T>::value, int> = 0>
+    detail::item_accessor operator[](T &&o) const {
+        return object::operator[](std::forward<T>(o));
+    }
     detail::list_iterator begin() const { return {*this, 0}; }
     detail::list_iterator end() const { return {*this, PyList_GET_SIZE(m_ptr)}; }
-    template <typename T> void append(T &&val) /* py-non-const */ {
+    template <typename T>
+    void append(T &&val) /* py-non-const */ {
         PyList_Append(m_ptr, detail::object_or_cast(std::forward<T>(val)).ptr());
     }
     template <typename IdxType,
@@ -1596,24 +2009,42 @@ class list : public object {
     }
 };
 
-class args : public tuple { PYBIND11_OBJECT_DEFAULT(args, tuple, PyTuple_Check) };
-class kwargs : public dict { PYBIND11_OBJECT_DEFAULT(kwargs, dict, PyDict_Check)  };
+class args : public tuple {
+    PYBIND11_OBJECT_DEFAULT(args, tuple, PyTuple_Check)
+};
+class kwargs : public dict {
+    PYBIND11_OBJECT_DEFAULT(kwargs, dict, PyDict_Check)
+};
 
-class set : public object {
+class anyset : public object {
 public:
-    PYBIND11_OBJECT_CVT(set, object, PySet_Check, PySet_New)
-    set() : object(PySet_New(nullptr), stolen_t{}) {
-        if (!m_ptr) pybind11_fail("Could not allocate set object!");
-    }
-    size_t size() const { return (size_t) PySet_Size(m_ptr); }
+    PYBIND11_OBJECT(anyset, object, PyAnySet_Check)
+    size_t size() const { return static_cast<size_t>(PySet_Size(m_ptr)); }
     bool empty() const { return size() == 0; }
-    template <typename T> bool add(T &&val) /* py-non-const */ {
+    template <typename T>
+    bool contains(T &&val) const {
+        return PySet_Contains(m_ptr, detail::object_or_cast(std::forward<T>(val)).ptr()) == 1;
+    }
+};
+
+class set : public anyset {
+public:
+    PYBIND11_OBJECT_CVT(set, anyset, PySet_Check, PySet_New)
+    set() : anyset(PySet_New(nullptr), stolen_t{}) {
+        if (!m_ptr) {
+            pybind11_fail("Could not allocate set object!");
+        }
+    }
+    template <typename T>
+    bool add(T &&val) /* py-non-const */ {
         return PySet_Add(m_ptr, detail::object_or_cast(std::forward<T>(val)).ptr()) == 0;
     }
     void clear() /* py-non-const */ { PySet_Clear(m_ptr); }
-    template <typename T> bool contains(T &&val) const {
-        return PySet_Contains(m_ptr, detail::object_or_cast(std::forward<T>(val)).ptr()) == 1;
-    }
+};
+
+class frozenset : public anyset {
+public:
+    PYBIND11_OBJECT_CVT(frozenset, anyset, PyFrozenSet_Check, PyFrozenSet_New)
 };
 
 class function : public object {
@@ -1621,8 +2052,9 @@ class function : public object {
     PYBIND11_OBJECT_DEFAULT(function, object, PyCallable_Check)
     handle cpp_function() const {
         handle fun = detail::get_function(m_ptr);
-        if (fun && PyCFunction_Check(fun.ptr()))
+        if (fun && PyCFunction_Check(fun.ptr())) {
             return fun;
+        }
         return handle();
     }
     bool is_cpp_function() const { return (bool) cpp_function(); }
@@ -1639,7 +2071,9 @@ class buffer : public object {
 
     buffer_info request(bool writable = false) const {
         int flags = PyBUF_STRIDES | PyBUF_FORMAT;
-        if (writable) flags |= PyBUF_WRITABLE;
+        if (writable) {
+            flags |= PyBUF_WRITABLE;
+        }
         auto *view = new Py_buffer();
         if (PyObject_GetBuffer(m_ptr, view, flags) != 0) {
             delete view;
@@ -1662,15 +2096,16 @@ class memoryview : public object {
         For creating a ``memoryview`` from objects that support buffer protocol,
         use ``memoryview(const object& obj)`` instead of this constructor.
      \endrst */
-    explicit memoryview(const buffer_info& info) {
-        if (!info.view())
+    explicit memoryview(const buffer_info &info) {
+        if (!info.view()) {
             pybind11_fail("Prohibited to create memoryview without Py_buffer");
+        }
         // Note: PyMemoryView_FromBuffer never increments obj reference.
-        m_ptr = (info.view()->obj) ?
-            PyMemoryView_FromObject(info.view()->obj) :
-            PyMemoryView_FromBuffer(info.view());
-        if (!m_ptr)
+        m_ptr = (info.view()->obj) ? PyMemoryView_FromObject(info.view()->obj)
+                                   : PyMemoryView_FromBuffer(info.view());
+        if (!m_ptr) {
             pybind11_fail("Unable to create memoryview from buffer descriptor");
+        }
     }
 
     /** \rst
@@ -1683,7 +2118,8 @@ class memoryview : public object {
 
         See also: Python C API documentation for `PyMemoryView_FromBuffer`_.
 
-        .. _PyMemoryView_FromBuffer: https://docs.python.org/c-api/memoryview.html#c.PyMemoryView_FromBuffer
+        .. _PyMemoryView_FromBuffer:
+           https://docs.python.org/c-api/memoryview.html#c.PyMemoryView_FromBuffer
 
         :param ptr: Pointer to the buffer.
         :param itemsize: Byte size of an element.
@@ -1696,37 +2132,43 @@ class memoryview : public object {
         :param readonly: Flag to indicate if the underlying storage may be
             written to.
      \endrst */
-    static memoryview from_buffer(
-        void *ptr, ssize_t itemsize, const char *format,
-        detail::any_container<ssize_t> shape,
-        detail::any_container<ssize_t> strides, bool readonly = false);
-
-    static memoryview from_buffer(
-        const void *ptr, ssize_t itemsize, const char *format,
-        detail::any_container<ssize_t> shape,
-        detail::any_container<ssize_t> strides) {
+    static memoryview from_buffer(void *ptr,
+                                  ssize_t itemsize,
+                                  const char *format,
+                                  detail::any_container<ssize_t> shape,
+                                  detail::any_container<ssize_t> strides,
+                                  bool readonly = false);
+
+    static memoryview from_buffer(const void *ptr,
+                                  ssize_t itemsize,
+                                  const char *format,
+                                  detail::any_container<ssize_t> shape,
+                                  detail::any_container<ssize_t> strides) {
         return memoryview::from_buffer(
             const_cast<void *>(ptr), itemsize, format, std::move(shape), std::move(strides), true);
     }
 
-    template<typename T>
-    static memoryview from_buffer(
-        T *ptr, detail::any_container<ssize_t> shape,
-        detail::any_container<ssize_t> strides, bool readonly = false) {
-        return memoryview::from_buffer(
-            reinterpret_cast<void*>(ptr), sizeof(T),
-            format_descriptor<T>::value, shape, strides, readonly);
+    template <typename T>
+    static memoryview from_buffer(T *ptr,
+                                  detail::any_container<ssize_t> shape,
+                                  detail::any_container<ssize_t> strides,
+                                  bool readonly = false) {
+        return memoryview::from_buffer(reinterpret_cast<void *>(ptr),
+                                       sizeof(T),
+                                       format_descriptor<T>::value,
+                                       std::move(shape),
+                                       std::move(strides),
+                                       readonly);
     }
 
-    template<typename T>
-    static memoryview from_buffer(
-        const T *ptr, detail::any_container<ssize_t> shape,
-        detail::any_container<ssize_t> strides) {
+    template <typename T>
+    static memoryview from_buffer(const T *ptr,
+                                  detail::any_container<ssize_t> shape,
+                                  detail::any_container<ssize_t> strides) {
         return memoryview::from_buffer(
-            const_cast<T*>(ptr), shape, strides, true);
+            const_cast<T *>(ptr), std::move(shape), std::move(strides), true);
     }
 
-#if PY_MAJOR_VERSION >= 3
     /** \rst
         Creates ``memoryview`` from static memory.
 
@@ -1734,60 +2176,62 @@ class memoryview : public object {
         managed by Python. The caller is responsible for managing the lifetime
         of ``mem``, which MUST outlive the memoryview constructed here.
 
-        This method is not available in Python 2.
-
         See also: Python C API documentation for `PyMemoryView_FromBuffer`_.
 
-        .. _PyMemoryView_FromMemory: https://docs.python.org/c-api/memoryview.html#c.PyMemoryView_FromMemory
+        .. _PyMemoryView_FromMemory:
+           https://docs.python.org/c-api/memoryview.html#c.PyMemoryView_FromMemory
      \endrst */
     static memoryview from_memory(void *mem, ssize_t size, bool readonly = false) {
-        PyObject* ptr = PyMemoryView_FromMemory(
-            reinterpret_cast<char*>(mem), size,
-            (readonly) ? PyBUF_READ : PyBUF_WRITE);
-        if (!ptr)
+        PyObject *ptr = PyMemoryView_FromMemory(
+            reinterpret_cast<char *>(mem), size, (readonly) ? PyBUF_READ : PyBUF_WRITE);
+        if (!ptr) {
             pybind11_fail("Could not allocate memoryview object!");
+        }
         return memoryview(object(ptr, stolen_t{}));
     }
 
     static memoryview from_memory(const void *mem, ssize_t size) {
-        return memoryview::from_memory(const_cast<void*>(mem), size, true);
+        return memoryview::from_memory(const_cast<void *>(mem), size, true);
     }
 
 #ifdef PYBIND11_HAS_STRING_VIEW
     static memoryview from_memory(std::string_view mem) {
-        return from_memory(const_cast<char*>(mem.data()), static_cast<ssize_t>(mem.size()), true);
+        return from_memory(const_cast<char *>(mem.data()), static_cast<ssize_t>(mem.size()), true);
     }
 #endif
-
-#endif
 };
 
 /// @cond DUPLICATE
-inline memoryview memoryview::from_buffer(
-    void *ptr, ssize_t itemsize, const char* format,
-    detail::any_container<ssize_t> shape,
-    detail::any_container<ssize_t> strides, bool readonly) {
+inline memoryview memoryview::from_buffer(void *ptr,
+                                          ssize_t itemsize,
+                                          const char *format,
+                                          detail::any_container<ssize_t> shape,
+                                          detail::any_container<ssize_t> strides,
+                                          bool readonly) {
     size_t ndim = shape->size();
-    if (ndim != strides->size())
+    if (ndim != strides->size()) {
         pybind11_fail("memoryview: shape length doesn't match strides length");
+    }
     ssize_t size = ndim != 0u ? 1 : 0;
-    for (size_t i = 0; i < ndim; ++i)
+    for (size_t i = 0; i < ndim; ++i) {
         size *= (*shape)[i];
+    }
     Py_buffer view;
     view.buf = ptr;
     view.obj = nullptr;
     view.len = size * itemsize;
     view.readonly = static_cast<int>(readonly);
     view.itemsize = itemsize;
-    view.format = const_cast<char*>(format);
+    view.format = const_cast<char *>(format);
     view.ndim = static_cast<int>(ndim);
     view.shape = shape->data();
     view.strides = strides->data();
     view.suboffsets = nullptr;
     view.internal = nullptr;
-    PyObject* obj = PyMemoryView_FromBuffer(&view);
-    if (!obj)
+    PyObject *obj = PyMemoryView_FromBuffer(&view);
+    if (!obj) {
         throw error_already_set();
+    }
     return memoryview(object(obj, stolen_t{}));
 }
 /// @endcond
@@ -1799,19 +2243,16 @@ inline memoryview memoryview::from_buffer(
 /// Get the length of a Python object.
 inline size_t len(handle h) {
     ssize_t result = PyObject_Length(h.ptr());
-    if (result < 0)
+    if (result < 0) {
         throw error_already_set();
+    }
     return (size_t) result;
 }
 
 /// Get the length hint of a Python object.
 /// Returns 0 when this cannot be determined.
 inline size_t len_hint(handle h) {
-#if PY_VERSION_HEX >= 0x03040000
     ssize_t result = PyObject_LengthHint(h.ptr(), 0);
-#else
-    ssize_t result = PyObject_Length(h.ptr());
-#endif
     if (result < 0) {
         // Sometimes a length can't be determined at all (eg generators)
         // In which case simply return 0
@@ -1823,98 +2264,125 @@ inline size_t len_hint(handle h) {
 
 inline str repr(handle h) {
     PyObject *str_value = PyObject_Repr(h.ptr());
-    if (!str_value) throw error_already_set();
-#if PY_MAJOR_VERSION < 3
-    PyObject *unicode = PyUnicode_FromEncodedObject(str_value, "utf-8", nullptr);
-    Py_XDECREF(str_value); str_value = unicode;
-    if (!str_value) throw error_already_set();
-#endif
+    if (!str_value) {
+        throw error_already_set();
+    }
     return reinterpret_steal<str>(str_value);
 }
 
 inline iterator iter(handle obj) {
     PyObject *result = PyObject_GetIter(obj.ptr());
-    if (!result) { throw error_already_set(); }
+    if (!result) {
+        throw error_already_set();
+    }
     return reinterpret_steal<iterator>(result);
 }
 /// @} python_builtins
 
 PYBIND11_NAMESPACE_BEGIN(detail)
-template <typename D> iterator object_api<D>::begin() const { return iter(derived()); }
-template <typename D> iterator object_api<D>::end() const { return iterator::sentinel(); }
-template <typename D> item_accessor object_api<D>::operator[](handle key) const {
+template <typename D>
+iterator object_api<D>::begin() const {
+    return iter(derived());
+}
+template <typename D>
+iterator object_api<D>::end() const {
+    return iterator::sentinel();
+}
+template <typename D>
+item_accessor object_api<D>::operator[](handle key) const {
     return {derived(), reinterpret_borrow<object>(key)};
 }
-template <typename D> item_accessor object_api<D>::operator[](const char *key) const {
+template <typename D>
+item_accessor object_api<D>::operator[](object &&key) const {
+    return {derived(), std::move(key)};
+}
+template <typename D>
+item_accessor object_api<D>::operator[](const char *key) const {
     return {derived(), pybind11::str(key)};
 }
-template <typename D> obj_attr_accessor object_api<D>::attr(handle key) const {
+template <typename D>
+obj_attr_accessor object_api<D>::attr(handle key) const {
     return {derived(), reinterpret_borrow<object>(key)};
 }
-template <typename D> str_attr_accessor object_api<D>::attr(const char *key) const {
+template <typename D>
+obj_attr_accessor object_api<D>::attr(object &&key) const {
+    return {derived(), std::move(key)};
+}
+template <typename D>
+str_attr_accessor object_api<D>::attr(const char *key) const {
     return {derived(), key};
 }
-template <typename D> args_proxy object_api<D>::operator*() const {
+template <typename D>
+args_proxy object_api<D>::operator*() const {
     return args_proxy(derived().ptr());
 }
-template <typename D> template <typename T> bool object_api<D>::contains(T &&item) const {
+template <typename D>
+template <typename T>
+bool object_api<D>::contains(T &&item) const {
     return attr("__contains__")(std::forward<T>(item)).template cast<bool>();
 }
 
 template <typename D>
-pybind11::str object_api<D>::str() const { return pybind11::str(derived()); }
+pybind11::str object_api<D>::str() const {
+    return pybind11::str(derived());
+}
 
 template <typename D>
-str_attr_accessor object_api<D>::doc() const { return attr("__doc__"); }
+str_attr_accessor object_api<D>::doc() const {
+    return attr("__doc__");
+}
 
 template <typename D>
-handle object_api<D>::get_type() const { return type::handle_of(derived()); }
+handle object_api<D>::get_type() const {
+    return type::handle_of(derived());
+}
 
 template <typename D>
 bool object_api<D>::rich_compare(object_api const &other, int value) const {
     int rv = PyObject_RichCompareBool(derived().ptr(), other.derived().ptr(), value);
-    if (rv == -1)
+    if (rv == -1) {
         throw error_already_set();
+    }
     return rv == 1;
 }
 
-#define PYBIND11_MATH_OPERATOR_UNARY(op, fn)                                   \
-    template <typename D> object object_api<D>::op() const {                   \
-        object result = reinterpret_steal<object>(fn(derived().ptr()));        \
-        if (!result.ptr())                                                     \
-            throw error_already_set();                                         \
-        return result;                                                         \
-    }
-
-#define PYBIND11_MATH_OPERATOR_BINARY(op, fn)                                  \
-    template <typename D>                                                      \
-    object object_api<D>::op(object_api const &other) const {                  \
-        object result = reinterpret_steal<object>(                             \
-            fn(derived().ptr(), other.derived().ptr()));                       \
-        if (!result.ptr())                                                     \
-            throw error_already_set();                                         \
-        return result;                                                         \
-    }
-
-PYBIND11_MATH_OPERATOR_UNARY (operator~,   PyNumber_Invert)
-PYBIND11_MATH_OPERATOR_UNARY (operator-,   PyNumber_Negative)
-PYBIND11_MATH_OPERATOR_BINARY(operator+,   PyNumber_Add)
-PYBIND11_MATH_OPERATOR_BINARY(operator+=,  PyNumber_InPlaceAdd)
-PYBIND11_MATH_OPERATOR_BINARY(operator-,   PyNumber_Subtract)
-PYBIND11_MATH_OPERATOR_BINARY(operator-=,  PyNumber_InPlaceSubtract)
-PYBIND11_MATH_OPERATOR_BINARY(operator*,   PyNumber_Multiply)
-PYBIND11_MATH_OPERATOR_BINARY(operator*=,  PyNumber_InPlaceMultiply)
-PYBIND11_MATH_OPERATOR_BINARY(operator/,   PyNumber_TrueDivide)
-PYBIND11_MATH_OPERATOR_BINARY(operator/=,  PyNumber_InPlaceTrueDivide)
-PYBIND11_MATH_OPERATOR_BINARY(operator|,   PyNumber_Or)
-PYBIND11_MATH_OPERATOR_BINARY(operator|=,  PyNumber_InPlaceOr)
-PYBIND11_MATH_OPERATOR_BINARY(operator&,   PyNumber_And)
-PYBIND11_MATH_OPERATOR_BINARY(operator&=,  PyNumber_InPlaceAnd)
-PYBIND11_MATH_OPERATOR_BINARY(operator^,   PyNumber_Xor)
-PYBIND11_MATH_OPERATOR_BINARY(operator^=,  PyNumber_InPlaceXor)
-PYBIND11_MATH_OPERATOR_BINARY(operator<<,  PyNumber_Lshift)
+#define PYBIND11_MATH_OPERATOR_UNARY(op, fn)                                                      \
+    template <typename D>                                                                         \
+    object object_api<D>::op() const {                                                            \
+        object result = reinterpret_steal<object>(fn(derived().ptr()));                           \
+        if (!result.ptr())                                                                        \
+            throw error_already_set();                                                            \
+        return result;                                                                            \
+    }
+
+#define PYBIND11_MATH_OPERATOR_BINARY(op, fn)                                                     \
+    template <typename D>                                                                         \
+    object object_api<D>::op(object_api const &other) const {                                     \
+        object result = reinterpret_steal<object>(fn(derived().ptr(), other.derived().ptr()));    \
+        if (!result.ptr())                                                                        \
+            throw error_already_set();                                                            \
+        return result;                                                                            \
+    }
+
+PYBIND11_MATH_OPERATOR_UNARY(operator~, PyNumber_Invert)
+PYBIND11_MATH_OPERATOR_UNARY(operator-, PyNumber_Negative)
+PYBIND11_MATH_OPERATOR_BINARY(operator+, PyNumber_Add)
+PYBIND11_MATH_OPERATOR_BINARY(operator+=, PyNumber_InPlaceAdd)
+PYBIND11_MATH_OPERATOR_BINARY(operator-, PyNumber_Subtract)
+PYBIND11_MATH_OPERATOR_BINARY(operator-=, PyNumber_InPlaceSubtract)
+PYBIND11_MATH_OPERATOR_BINARY(operator*, PyNumber_Multiply)
+PYBIND11_MATH_OPERATOR_BINARY(operator*=, PyNumber_InPlaceMultiply)
+PYBIND11_MATH_OPERATOR_BINARY(operator/, PyNumber_TrueDivide)
+PYBIND11_MATH_OPERATOR_BINARY(operator/=, PyNumber_InPlaceTrueDivide)
+PYBIND11_MATH_OPERATOR_BINARY(operator|, PyNumber_Or)
+PYBIND11_MATH_OPERATOR_BINARY(operator|=, PyNumber_InPlaceOr)
+PYBIND11_MATH_OPERATOR_BINARY(operator&, PyNumber_And)
+PYBIND11_MATH_OPERATOR_BINARY(operator&=, PyNumber_InPlaceAnd)
+PYBIND11_MATH_OPERATOR_BINARY(operator^, PyNumber_Xor)
+PYBIND11_MATH_OPERATOR_BINARY(operator^=, PyNumber_InPlaceXor)
+PYBIND11_MATH_OPERATOR_BINARY(operator<<, PyNumber_Lshift)
 PYBIND11_MATH_OPERATOR_BINARY(operator<<=, PyNumber_InPlaceLshift)
-PYBIND11_MATH_OPERATOR_BINARY(operator>>,  PyNumber_Rshift)
+PYBIND11_MATH_OPERATOR_BINARY(operator>>, PyNumber_Rshift)
 PYBIND11_MATH_OPERATOR_BINARY(operator>>=, PyNumber_InPlaceRshift)
 
 #undef PYBIND11_MATH_OPERATOR_UNARY
diff --git a/pybind11/include/pybind11/stl.h b/pybind11/include/pybind11/stl.h
index 4303494827..ab30ecac0b 100644
--- a/pybind11/include/pybind11/stl.h
+++ b/pybind11/include/pybind11/stl.h
@@ -9,26 +9,27 @@
 
 #pragma once
 
-#include "detail/common.h"
 #include "pybind11.h"
-#include <set>
-#include <unordered_set>
+#include "detail/common.h"
+
+#include <deque>
+#include <list>
 #include <map>
+#include <ostream>
+#include <set>
 #include <unordered_map>
-#include <iostream>
-#include <list>
-#include <deque>
+#include <unordered_set>
 #include <valarray>
 
 // See `detail/common.h` for implementation of these guards.
 #if defined(PYBIND11_HAS_OPTIONAL)
-#  include <optional>
+#    include <optional>
 #elif defined(PYBIND11_HAS_EXP_OPTIONAL)
-#  include <experimental/optional>
+#    include <experimental/optional>
 #endif
 
 #if defined(PYBIND11_HAS_VARIANT)
-#  include <variant>
+#    include <variant>
 #endif
 
 PYBIND11_NAMESPACE_BEGIN(PYBIND11_NAMESPACE)
@@ -37,8 +38,9 @@ PYBIND11_NAMESPACE_BEGIN(detail)
 /// Extracts an const lvalue reference or rvalue reference for U based on the type of T (e.g. for
 /// forwarding a container element).  Typically used indirect via forwarded_type(), below.
 template <typename T, typename U>
-using forwarded_type = conditional_t<
-    std::is_lvalue_reference<T>::value, remove_reference_t<U> &, remove_reference_t<U> &&>;
+using forwarded_type = conditional_t<std::is_lvalue_reference<T>::value,
+                                     remove_reference_t<U> &,
+                                     remove_reference_t<U> &&>;
 
 /// Forwards a value U as rvalue or lvalue according to whether T is rvalue or lvalue; typically
 /// used for forwarding a container's elements.
@@ -47,19 +49,22 @@ forwarded_type<T, U> forward_like(U &&u) {
     return std::forward<detail::forwarded_type<T, U>>(std::forward<U>(u));
 }
 
-template <typename Type, typename Key> struct set_caster {
+template <typename Type, typename Key>
+struct set_caster {
     using type = Type;
     using key_conv = make_caster<Key>;
 
     bool load(handle src, bool convert) {
-        if (!isinstance<pybind11::set>(src))
+        if (!isinstance<anyset>(src)) {
             return false;
-        auto s = reinterpret_borrow<pybind11::set>(src);
+        }
+        auto s = reinterpret_borrow<anyset>(src);
         value.clear();
         for (auto entry : s) {
             key_conv conv;
-            if (!conv.load(entry, convert))
+            if (!conv.load(entry, convert)) {
                 return false;
+            }
             value.insert(cast_op<Key &&>(std::move(conv)));
         }
         return true;
@@ -67,13 +72,16 @@ template <typename Type, typename Key> struct set_caster {
 
     template <typename T>
     static handle cast(T &&src, return_value_policy policy, handle parent) {
-        if (!std::is_lvalue_reference<T>::value)
+        if (!std::is_lvalue_reference<T>::value) {
             policy = return_value_policy_override<Key>::policy(policy);
+        }
         pybind11::set s;
         for (auto &&value : src) {
-            auto value_ = reinterpret_steal<object>(key_conv::cast(forward_like<T>(value), policy, parent));
-            if (!value_ || !s.add(value_))
+            auto value_ = reinterpret_steal<object>(
+                key_conv::cast(forward_like<T>(value), policy, parent));
+            if (!value_ || !s.add(std::move(value_))) {
                 return handle();
+            }
         }
         return s.release();
     }
@@ -81,21 +89,23 @@ template <typename Type, typename Key> struct set_caster {
     PYBIND11_TYPE_CASTER(type, const_name("Set[") + key_conv::name + const_name("]"));
 };
 
-template <typename Type, typename Key, typename Value> struct map_caster {
-    using key_conv   = make_caster<Key>;
+template <typename Type, typename Key, typename Value>
+struct map_caster {
+    using key_conv = make_caster<Key>;
     using value_conv = make_caster<Value>;
 
     bool load(handle src, bool convert) {
-        if (!isinstance<dict>(src))
+        if (!isinstance<dict>(src)) {
             return false;
+        }
         auto d = reinterpret_borrow<dict>(src);
         value.clear();
         for (auto it : d) {
             key_conv kconv;
             value_conv vconv;
-            if (!kconv.load(it.first.ptr(), convert) ||
-                !vconv.load(it.second.ptr(), convert))
+            if (!kconv.load(it.first.ptr(), convert) || !vconv.load(it.second.ptr(), convert)) {
                 return false;
+            }
             value.emplace(cast_op<Key &&>(std::move(kconv)), cast_op<Value &&>(std::move(vconv)));
         }
         return true;
@@ -111,31 +121,39 @@ template <typename Type, typename Key, typename Value> struct map_caster {
             policy_value = return_value_policy_override<Value>::policy(policy_value);
         }
         for (auto &&kv : src) {
-            auto key = reinterpret_steal<object>(key_conv::cast(forward_like<T>(kv.first), policy_key, parent));
-            auto value = reinterpret_steal<object>(value_conv::cast(forward_like<T>(kv.second), policy_value, parent));
-            if (!key || !value)
+            auto key = reinterpret_steal<object>(
+                key_conv::cast(forward_like<T>(kv.first), policy_key, parent));
+            auto value = reinterpret_steal<object>(
+                value_conv::cast(forward_like<T>(kv.second), policy_value, parent));
+            if (!key || !value) {
                 return handle();
-            d[key] = value;
+            }
+            d[std::move(key)] = std::move(value);
         }
         return d.release();
     }
 
-    PYBIND11_TYPE_CASTER(Type, const_name("Dict[") + key_conv::name + const_name(", ") + value_conv::name + const_name("]"));
+    PYBIND11_TYPE_CASTER(Type,
+                         const_name("Dict[") + key_conv::name + const_name(", ") + value_conv::name
+                             + const_name("]"));
 };
 
-template <typename Type, typename Value> struct list_caster {
+template <typename Type, typename Value>
+struct list_caster {
     using value_conv = make_caster<Value>;
 
     bool load(handle src, bool convert) {
-        if (!isinstance<sequence>(src) || isinstance<bytes>(src) || isinstance<str>(src))
+        if (!isinstance<sequence>(src) || isinstance<bytes>(src) || isinstance<str>(src)) {
             return false;
+        }
         auto s = reinterpret_borrow<sequence>(src);
         value.clear();
         reserve_maybe(s, &value);
         for (auto it : s) {
             value_conv conv;
-            if (!conv.load(it, convert))
+            if (!conv.load(it, convert)) {
                 return false;
+            }
             value.push_back(cast_op<Value &&>(std::move(conv)));
         }
         return true;
@@ -143,7 +161,7 @@ template <typename Type, typename Value> struct list_caster {
 
 private:
     template <
-        typename T                                                                          = Type,
+        typename T = Type,
         enable_if_t<std::is_same<decltype(std::declval<T>().reserve(0)), void>::value, int> = 0>
     void reserve_maybe(const sequence &s, Type *) {
         value.reserve(s.size());
@@ -153,14 +171,17 @@ template <typename Type, typename Value> struct list_caster {
 public:
     template <typename T>
     static handle cast(T &&src, return_value_policy policy, handle parent) {
-        if (!std::is_lvalue_reference<T>::value)
+        if (!std::is_lvalue_reference<T>::value) {
             policy = return_value_policy_override<Value>::policy(policy);
+        }
         list l(src.size());
         ssize_t index = 0;
         for (auto &&value : src) {
-            auto value_ = reinterpret_steal<object>(value_conv::cast(forward_like<T>(value), policy, parent));
-            if (!value_)
+            auto value_ = reinterpret_steal<object>(
+                value_conv::cast(forward_like<T>(value), policy, parent));
+            if (!value_) {
                 return handle();
+            }
             PyList_SET_ITEM(l.ptr(), index++, value_.release().ptr()); // steals a reference
         }
         return l.release();
@@ -169,23 +190,25 @@ template <typename Type, typename Value> struct list_caster {
     PYBIND11_TYPE_CASTER(Type, const_name("List[") + value_conv::name + const_name("]"));
 };
 
-template <typename Type, typename Alloc> struct type_caster<std::vector<Type, Alloc>>
- : list_caster<std::vector<Type, Alloc>, Type> { };
+template <typename Type, typename Alloc>
+struct type_caster<std::vector<Type, Alloc>> : list_caster<std::vector<Type, Alloc>, Type> {};
 
-template <typename Type, typename Alloc> struct type_caster<std::deque<Type, Alloc>>
- : list_caster<std::deque<Type, Alloc>, Type> { };
+template <typename Type, typename Alloc>
+struct type_caster<std::deque<Type, Alloc>> : list_caster<std::deque<Type, Alloc>, Type> {};
 
-template <typename Type, typename Alloc> struct type_caster<std::list<Type, Alloc>>
- : list_caster<std::list<Type, Alloc>, Type> { };
+template <typename Type, typename Alloc>
+struct type_caster<std::list<Type, Alloc>> : list_caster<std::list<Type, Alloc>, Type> {};
 
-template <typename ArrayType, typename Value, bool Resizable, size_t Size = 0> struct array_caster {
+template <typename ArrayType, typename Value, bool Resizable, size_t Size = 0>
+struct array_caster {
     using value_conv = make_caster<Value>;
 
 private:
     template <bool R = Resizable>
     bool require_size(enable_if_t<R, size_t> size) {
-        if (value.size() != size)
+        if (value.size() != size) {
             value.resize(size);
+        }
         return true;
     }
     template <bool R = Resizable>
@@ -195,16 +218,19 @@ template <typename ArrayType, typename Value, bool Resizable, size_t Size = 0> s
 
 public:
     bool load(handle src, bool convert) {
-        if (!isinstance<sequence>(src))
+        if (!isinstance<sequence>(src)) {
             return false;
+        }
         auto l = reinterpret_borrow<sequence>(src);
-        if (!require_size(l.size()))
+        if (!require_size(l.size())) {
             return false;
+        }
         size_t ctr = 0;
         for (auto it : l) {
             value_conv conv;
-            if (!conv.load(it, convert))
+            if (!conv.load(it, convert)) {
                 return false;
+            }
             value[ctr++] = cast_op<Value &&>(std::move(conv));
         }
         return true;
@@ -215,43 +241,57 @@ template <typename ArrayType, typename Value, bool Resizable, size_t Size = 0> s
         list l(src.size());
         ssize_t index = 0;
         for (auto &&value : src) {
-            auto value_ = reinterpret_steal<object>(value_conv::cast(forward_like<T>(value), policy, parent));
-            if (!value_)
+            auto value_ = reinterpret_steal<object>(
+                value_conv::cast(forward_like<T>(value), policy, parent));
+            if (!value_) {
                 return handle();
+            }
             PyList_SET_ITEM(l.ptr(), index++, value_.release().ptr()); // steals a reference
         }
         return l.release();
     }
 
-    PYBIND11_TYPE_CASTER(ArrayType, const_name("List[") + value_conv::name + const_name<Resizable>(const_name(""), const_name("[") + const_name<Size>() + const_name("]")) + const_name("]"));
+    PYBIND11_TYPE_CASTER(ArrayType,
+                         const_name("List[") + value_conv::name
+                             + const_name<Resizable>(const_name(""),
+                                                     const_name("[") + const_name<Size>()
+                                                         + const_name("]"))
+                             + const_name("]"));
 };
 
-template <typename Type, size_t Size> struct type_caster<std::array<Type, Size>>
- : array_caster<std::array<Type, Size>, Type, false, Size> { };
+template <typename Type, size_t Size>
+struct type_caster<std::array<Type, Size>>
+    : array_caster<std::array<Type, Size>, Type, false, Size> {};
 
-template <typename Type> struct type_caster<std::valarray<Type>>
- : array_caster<std::valarray<Type>, Type, true> { };
+template <typename Type>
+struct type_caster<std::valarray<Type>> : array_caster<std::valarray<Type>, Type, true> {};
 
-template <typename Key, typename Compare, typename Alloc> struct type_caster<std::set<Key, Compare, Alloc>>
-  : set_caster<std::set<Key, Compare, Alloc>, Key> { };
+template <typename Key, typename Compare, typename Alloc>
+struct type_caster<std::set<Key, Compare, Alloc>>
+    : set_caster<std::set<Key, Compare, Alloc>, Key> {};
 
-template <typename Key, typename Hash, typename Equal, typename Alloc> struct type_caster<std::unordered_set<Key, Hash, Equal, Alloc>>
-  : set_caster<std::unordered_set<Key, Hash, Equal, Alloc>, Key> { };
+template <typename Key, typename Hash, typename Equal, typename Alloc>
+struct type_caster<std::unordered_set<Key, Hash, Equal, Alloc>>
+    : set_caster<std::unordered_set<Key, Hash, Equal, Alloc>, Key> {};
 
-template <typename Key, typename Value, typename Compare, typename Alloc> struct type_caster<std::map<Key, Value, Compare, Alloc>>
-  : map_caster<std::map<Key, Value, Compare, Alloc>, Key, Value> { };
+template <typename Key, typename Value, typename Compare, typename Alloc>
+struct type_caster<std::map<Key, Value, Compare, Alloc>>
+    : map_caster<std::map<Key, Value, Compare, Alloc>, Key, Value> {};
 
-template <typename Key, typename Value, typename Hash, typename Equal, typename Alloc> struct type_caster<std::unordered_map<Key, Value, Hash, Equal, Alloc>>
-  : map_caster<std::unordered_map<Key, Value, Hash, Equal, Alloc>, Key, Value> { };
+template <typename Key, typename Value, typename Hash, typename Equal, typename Alloc>
+struct type_caster<std::unordered_map<Key, Value, Hash, Equal, Alloc>>
+    : map_caster<std::unordered_map<Key, Value, Hash, Equal, Alloc>, Key, Value> {};
 
 // This type caster is intended to be used for std::optional and std::experimental::optional
-template<typename Type, typename Value = typename Type::value_type> struct optional_caster {
+template <typename Type, typename Value = typename Type::value_type>
+struct optional_caster {
     using value_conv = make_caster<Value>;
 
     template <typename T>
     static handle cast(T &&src, return_value_policy policy, handle parent) {
-        if (!src)
+        if (!src) {
             return none().inc_ref();
+        }
         if (!std::is_lvalue_reference<T>::value) {
             policy = return_value_policy_override<Value>::policy(policy);
         }
@@ -263,11 +303,12 @@ template<typename Type, typename Value = typename Type::value_type> struct optio
             return false;
         }
         if (src.is_none()) {
-            return true;  // default-constructed value is already empty
+            return true; // default-constructed value is already empty
         }
         value_conv inner_caster;
-        if (!inner_caster.load(src, convert))
+        if (!inner_caster.load(src, convert)) {
             return false;
+        }
 
         value.emplace(cast_op<Value &&>(std::move(inner_caster)));
         return true;
@@ -277,18 +318,20 @@ template<typename Type, typename Value = typename Type::value_type> struct optio
 };
 
 #if defined(PYBIND11_HAS_OPTIONAL)
-template<typename T> struct type_caster<std::optional<T>>
-    : public optional_caster<std::optional<T>> {};
+template <typename T>
+struct type_caster<std::optional<T>> : public optional_caster<std::optional<T>> {};
 
-template<> struct type_caster<std::nullopt_t>
-    : public void_caster<std::nullopt_t> {};
+template <>
+struct type_caster<std::nullopt_t> : public void_caster<std::nullopt_t> {};
 #endif
 
 #if defined(PYBIND11_HAS_EXP_OPTIONAL)
-template<typename T> struct type_caster<std::experimental::optional<T>>
+template <typename T>
+struct type_caster<std::experimental::optional<T>>
     : public optional_caster<std::experimental::optional<T>> {};
 
-template<> struct type_caster<std::experimental::nullopt_t>
+template <>
+struct type_caster<std::experimental::nullopt_t>
     : public void_caster<std::experimental::nullopt_t> {};
 #endif
 
@@ -309,7 +352,7 @@ struct variant_caster_visitor {
 /// `namespace::variant` types which provide a `namespace::visit()` function are handled here
 /// automatically using argument-dependent lookup. Users can provide specializations for other
 /// variant-like classes, e.g. `boost::variant` and `boost::apply_visitor`.
-template <template<typename...> class Variant>
+template <template <typename...> class Variant>
 struct visit_helper {
     template <typename... Args>
     static auto call(Args &&...args) -> decltype(visit(std::forward<Args>(args)...)) {
@@ -318,9 +361,10 @@ struct visit_helper {
 };
 
 /// Generic variant caster
-template <typename Variant> struct variant_caster;
+template <typename Variant>
+struct variant_caster;
 
-template <template<typename...> class V, typename... Ts>
+template <template <typename...> class V, typename... Ts>
 struct variant_caster<V<Ts...>> {
     static_assert(sizeof...(Ts) > 0, "Variant must consist of at least one alternative.");
 
@@ -328,7 +372,7 @@ struct variant_caster<V<Ts...>> {
     bool load_alternative(handle src, bool convert, type_list<U, Us...>) {
         auto caster = make_caster<U>();
         if (caster.load(src, convert)) {
-            value = cast_op<U>(caster);
+            value = cast_op<U>(std::move(caster));
             return true;
         }
         return load_alternative(src, convert, type_list<Us...>{});
@@ -341,8 +385,9 @@ struct variant_caster<V<Ts...>> {
         // E.g. `py::int_(1).cast<variant<double, int>>()` needs to fill the `int`
         // slot of the variant. Without two-pass loading `double` would be filled
         // because it appears first and a conversion is possible.
-        if (convert && load_alternative(src, false, type_list<Ts...>{}))
+        if (convert && load_alternative(src, false, type_list<Ts...>{})) {
             return true;
+        }
         return load_alternative(src, convert, type_list<Ts...>{});
     }
 
@@ -353,12 +398,17 @@ struct variant_caster<V<Ts...>> {
     }
 
     using Type = V<Ts...>;
-    PYBIND11_TYPE_CASTER(Type, const_name("Union[") + detail::concat(make_caster<Ts>::name...) + const_name("]"));
+    PYBIND11_TYPE_CASTER(Type,
+                         const_name("Union[") + detail::concat(make_caster<Ts>::name...)
+                             + const_name("]"));
 };
 
 #if defined(PYBIND11_HAS_VARIANT)
 template <typename... Ts>
-struct type_caster<std::variant<Ts...>> : variant_caster<std::variant<Ts...>> { };
+struct type_caster<std::variant<Ts...>> : variant_caster<std::variant<Ts...>> {};
+
+template <>
+struct type_caster<std::monostate> : public void_caster<std::monostate> {};
 #endif
 
 PYBIND11_NAMESPACE_END(detail)
diff --git a/pybind11/include/pybind11/stl/filesystem.h b/pybind11/include/pybind11/stl/filesystem.h
index a9a6c8512c..e26f421776 100644
--- a/pybind11/include/pybind11/stl/filesystem.h
+++ b/pybind11/include/pybind11/stl/filesystem.h
@@ -4,54 +4,60 @@
 
 #pragma once
 
-#include "../cast.h"
 #include "../pybind11.h"
-#include "../pytypes.h"
-
 #include "../detail/common.h"
 #include "../detail/descr.h"
+#include "../cast.h"
+#include "../pytypes.h"
 
 #include <string>
 
 #ifdef __has_include
-#  if defined(PYBIND11_CPP17) && __has_include(<filesystem>) && \
-      PY_VERSION_HEX >= 0x03060000
-#    include <filesystem>
-#    define PYBIND11_HAS_FILESYSTEM 1
-#  endif
+#    if defined(PYBIND11_CPP17)
+#        if __has_include(<filesystem>) && \
+          PY_VERSION_HEX >= 0x03060000
+#            include <filesystem>
+#            define PYBIND11_HAS_FILESYSTEM 1
+#        elif __has_include(<experimental/filesystem>)
+#            include <experimental/filesystem>
+#            define PYBIND11_HAS_EXPERIMENTAL_FILESYSTEM 1
+#        endif
+#    endif
 #endif
 
-#if !defined(PYBIND11_HAS_FILESYSTEM) && !defined(PYBIND11_HAS_FILESYSTEM_IS_OPTIONAL)
+#if !defined(PYBIND11_HAS_FILESYSTEM) && !defined(PYBIND11_HAS_EXPERIMENTAL_FILESYSTEM)           \
+    && !defined(PYBIND11_HAS_FILESYSTEM_IS_OPTIONAL)
 #    error                                                                                        \
-        "#include <filesystem> is not available. (Use -DPYBIND11_HAS_FILESYSTEM_IS_OPTIONAL to ignore.)"
+        "Neither #include <filesystem> nor #include <experimental/filesystem is available. (Use -DPYBIND11_HAS_FILESYSTEM_IS_OPTIONAL to ignore.)"
 #endif
 
 PYBIND11_NAMESPACE_BEGIN(PYBIND11_NAMESPACE)
 PYBIND11_NAMESPACE_BEGIN(detail)
 
-#if defined(PYBIND11_HAS_FILESYSTEM)
-template<typename T> struct path_caster {
+#if defined(PYBIND11_HAS_FILESYSTEM) || defined(PYBIND11_HAS_EXPERIMENTAL_FILESYSTEM)
+template <typename T>
+struct path_caster {
 
 private:
-    static PyObject* unicode_from_fs_native(const std::string& w) {
-#if !defined(PYPY_VERSION)
+    static PyObject *unicode_from_fs_native(const std::string &w) {
+#    if !defined(PYPY_VERSION)
         return PyUnicode_DecodeFSDefaultAndSize(w.c_str(), ssize_t(w.size()));
-#else
+#    else
         // PyPy mistakenly declares the first parameter as non-const.
-        return PyUnicode_DecodeFSDefaultAndSize(
-            const_cast<char*>(w.c_str()), ssize_t(w.size()));
-#endif
+        return PyUnicode_DecodeFSDefaultAndSize(const_cast<char *>(w.c_str()), ssize_t(w.size()));
+#    endif
     }
 
-    static PyObject* unicode_from_fs_native(const std::wstring& w) {
+    static PyObject *unicode_from_fs_native(const std::wstring &w) {
         return PyUnicode_FromWideChar(w.c_str(), ssize_t(w.size()));
     }
 
 public:
-    static handle cast(const T& path, return_value_policy, handle) {
+    static handle cast(const T &path, return_value_policy, handle) {
         if (auto py_str = unicode_from_fs_native(path.native())) {
-            return module_::import("pathlib").attr("Path")(reinterpret_steal<object>(py_str))
-                   .release();
+            return module_::import("pathlib")
+                .attr("Path")(reinterpret_steal<object>(py_str))
+                .release();
         }
         return nullptr;
     }
@@ -60,15 +66,15 @@ template<typename T> struct path_caster {
         // PyUnicode_FSConverter and PyUnicode_FSDecoder normally take care of
         // calling PyOS_FSPath themselves, but that's broken on PyPy (PyPy
         // issue #3168) so we do it ourselves instead.
-        PyObject* buf = PyOS_FSPath(handle.ptr());
+        PyObject *buf = PyOS_FSPath(handle.ptr());
         if (!buf) {
             PyErr_Clear();
             return false;
         }
-        PyObject* native = nullptr;
+        PyObject *native = nullptr;
         if constexpr (std::is_same_v<typename T::value_type, char>) {
             if (PyUnicode_FSConverter(buf, &native) != 0) {
-                if (auto c_str = PyBytes_AsString(native)) {
+                if (auto *c_str = PyBytes_AsString(native)) {
                     // AsString returns a pointer to the internal buffer, which
                     // must not be free'd.
                     value = c_str;
@@ -76,9 +82,9 @@ template<typename T> struct path_caster {
             }
         } else if constexpr (std::is_same_v<typename T::value_type, wchar_t>) {
             if (PyUnicode_FSDecoder(buf, &native) != 0) {
-                if (auto c_str = PyUnicode_AsWideCharString(native, nullptr)) {
+                if (auto *c_str = PyUnicode_AsWideCharString(native, nullptr)) {
                     // AsWideCharString returns a new string that must be free'd.
-                    value = c_str;  // Copies the string.
+                    value = c_str; // Copies the string.
                     PyMem_Free(c_str);
                 }
             }
@@ -95,9 +101,16 @@ template<typename T> struct path_caster {
     PYBIND11_TYPE_CASTER(T, const_name("os.PathLike"));
 };
 
-template<> struct type_caster<std::filesystem::path>
-    : public path_caster<std::filesystem::path> {};
-#endif // PYBIND11_HAS_FILESYSTEM
+#endif // PYBIND11_HAS_FILESYSTEM || defined(PYBIND11_HAS_EXPERIMENTAL_FILESYSTEM)
+
+#if defined(PYBIND11_HAS_FILESYSTEM)
+template <>
+struct type_caster<std::filesystem::path> : public path_caster<std::filesystem::path> {};
+#elif defined(PYBIND11_HAS_EXPERIMENTAL_FILESYSTEM)
+template <>
+struct type_caster<std::experimental::filesystem::path>
+    : public path_caster<std::experimental::filesystem::path> {};
+#endif
 
 PYBIND11_NAMESPACE_END(detail)
 PYBIND11_NAMESPACE_END(PYBIND11_NAMESPACE)
diff --git a/pybind11/include/pybind11/stl_bind.h b/pybind11/include/pybind11/stl_bind.h
index 050be83cc5..22a29b476f 100644
--- a/pybind11/include/pybind11/stl_bind.h
+++ b/pybind11/include/pybind11/stl_bind.h
@@ -19,137 +19,148 @@ PYBIND11_NAMESPACE_BEGIN(PYBIND11_NAMESPACE)
 PYBIND11_NAMESPACE_BEGIN(detail)
 
 /* SFINAE helper class used by 'is_comparable */
-template <typename T>  struct container_traits {
-    template <typename T2> static std::true_type test_comparable(decltype(std::declval<const T2 &>() == std::declval<const T2 &>())*);
-    template <typename T2> static std::false_type test_comparable(...);
-    template <typename T2> static std::true_type test_value(typename T2::value_type *);
-    template <typename T2> static std::false_type test_value(...);
-    template <typename T2> static std::true_type test_pair(typename T2::first_type *, typename T2::second_type *);
-    template <typename T2> static std::false_type test_pair(...);
-
-    static constexpr const bool is_comparable = std::is_same<std::true_type, decltype(test_comparable<T>(nullptr))>::value;
-    static constexpr const bool is_pair = std::is_same<std::true_type, decltype(test_pair<T>(nullptr, nullptr))>::value;
-    static constexpr const bool is_vector = std::is_same<std::true_type, decltype(test_value<T>(nullptr))>::value;
+template <typename T>
+struct container_traits {
+    template <typename T2>
+    static std::true_type
+    test_comparable(decltype(std::declval<const T2 &>() == std::declval<const T2 &>()) *);
+    template <typename T2>
+    static std::false_type test_comparable(...);
+    template <typename T2>
+    static std::true_type test_value(typename T2::value_type *);
+    template <typename T2>
+    static std::false_type test_value(...);
+    template <typename T2>
+    static std::true_type test_pair(typename T2::first_type *, typename T2::second_type *);
+    template <typename T2>
+    static std::false_type test_pair(...);
+
+    static constexpr const bool is_comparable
+        = std::is_same<std::true_type, decltype(test_comparable<T>(nullptr))>::value;
+    static constexpr const bool is_pair
+        = std::is_same<std::true_type, decltype(test_pair<T>(nullptr, nullptr))>::value;
+    static constexpr const bool is_vector
+        = std::is_same<std::true_type, decltype(test_value<T>(nullptr))>::value;
     static constexpr const bool is_element = !is_pair && !is_vector;
 };
 
 /* Default: is_comparable -> std::false_type */
 template <typename T, typename SFINAE = void>
-struct is_comparable : std::false_type { };
+struct is_comparable : std::false_type {};
 
 /* For non-map data structures, check whether operator== can be instantiated */
 template <typename T>
 struct is_comparable<
-    T, enable_if_t<container_traits<T>::is_element &&
-                   container_traits<T>::is_comparable>>
-    : std::true_type { };
+    T,
+    enable_if_t<container_traits<T>::is_element && container_traits<T>::is_comparable>>
+    : std::true_type {};
 
-/* For a vector/map data structure, recursively check the value type (which is std::pair for maps) */
+/* For a vector/map data structure, recursively check the value type
+   (which is std::pair for maps) */
 template <typename T>
 struct is_comparable<T, enable_if_t<container_traits<T>::is_vector>> {
-    static constexpr const bool value =
-        is_comparable<typename T::value_type>::value;
+    static constexpr const bool value = is_comparable<typename T::value_type>::value;
 };
 
 /* For pairs, recursively check the two data types */
 template <typename T>
 struct is_comparable<T, enable_if_t<container_traits<T>::is_pair>> {
-    static constexpr const bool value =
-        is_comparable<typename T::first_type>::value &&
-        is_comparable<typename T::second_type>::value;
+    static constexpr const bool value = is_comparable<typename T::first_type>::value
+                                        && is_comparable<typename T::second_type>::value;
 };
 
 /* Fallback functions */
-template <typename, typename, typename... Args> void vector_if_copy_constructible(const Args &...) { }
-template <typename, typename, typename... Args> void vector_if_equal_operator(const Args &...) { }
-template <typename, typename, typename... Args> void vector_if_insertion_operator(const Args &...) { }
-template <typename, typename, typename... Args> void vector_modifiers(const Args &...) { }
+template <typename, typename, typename... Args>
+void vector_if_copy_constructible(const Args &...) {}
+template <typename, typename, typename... Args>
+void vector_if_equal_operator(const Args &...) {}
+template <typename, typename, typename... Args>
+void vector_if_insertion_operator(const Args &...) {}
+template <typename, typename, typename... Args>
+void vector_modifiers(const Args &...) {}
 
-template<typename Vector, typename Class_>
+template <typename Vector, typename Class_>
 void vector_if_copy_constructible(enable_if_t<is_copy_constructible<Vector>::value, Class_> &cl) {
     cl.def(init<const Vector &>(), "Copy constructor");
 }
 
-template<typename Vector, typename Class_>
+template <typename Vector, typename Class_>
 void vector_if_equal_operator(enable_if_t<is_comparable<Vector>::value, Class_> &cl) {
     using T = typename Vector::value_type;
 
     cl.def(self == self);
     cl.def(self != self);
 
-    cl.def("count",
-        [](const Vector &v, const T &x) {
-            return std::count(v.begin(), v.end(), x);
-        },
+    cl.def(
+        "count",
+        [](const Vector &v, const T &x) { return std::count(v.begin(), v.end(), x); },
         arg("x"),
-        "Return the number of times ``x`` appears in the list"
-    );
+        "Return the number of times ``x`` appears in the list");
 
-    cl.def("remove", [](Vector &v, const T &x) {
+    cl.def(
+        "remove",
+        [](Vector &v, const T &x) {
             auto p = std::find(v.begin(), v.end(), x);
-            if (p != v.end())
+            if (p != v.end()) {
                 v.erase(p);
-            else
+            } else {
                 throw value_error();
+            }
         },
         arg("x"),
         "Remove the first item from the list whose value is x. "
-        "It is an error if there is no such item."
-    );
+        "It is an error if there is no such item.");
 
-    cl.def("__contains__",
-        [](const Vector &v, const T &x) {
-            return std::find(v.begin(), v.end(), x) != v.end();
-        },
+    cl.def(
+        "__contains__",
+        [](const Vector &v, const T &x) { return std::find(v.begin(), v.end(), x) != v.end(); },
         arg("x"),
-        "Return true the container contains ``x``"
-    );
+        "Return true the container contains ``x``");
 }
 
 // Vector modifiers -- requires a copyable vector_type:
-// (Technically, some of these (pop and __delitem__) don't actually require copyability, but it seems
-// silly to allow deletion but not insertion, so include them here too.)
+// (Technically, some of these (pop and __delitem__) don't actually require copyability, but it
+// seems silly to allow deletion but not insertion, so include them here too.)
 template <typename Vector, typename Class_>
-void vector_modifiers(enable_if_t<is_copy_constructible<typename Vector::value_type>::value, Class_> &cl) {
+void vector_modifiers(
+    enable_if_t<is_copy_constructible<typename Vector::value_type>::value, Class_> &cl) {
     using T = typename Vector::value_type;
     using SizeType = typename Vector::size_type;
     using DiffType = typename Vector::difference_type;
 
     auto wrap_i = [](DiffType i, SizeType n) {
-        if (i < 0)
+        if (i < 0) {
             i += n;
-        if (i < 0 || (SizeType)i >= n)
+        }
+        if (i < 0 || (SizeType) i >= n) {
             throw index_error();
+        }
         return i;
     };
 
-    cl.def("append",
-           [](Vector &v, const T &value) { v.push_back(value); },
-           arg("x"),
-           "Add an item to the end of the list");
+    cl.def(
+        "append",
+        [](Vector &v, const T &value) { v.push_back(value); },
+        arg("x"),
+        "Add an item to the end of the list");
 
     cl.def(init([](const iterable &it) {
         auto v = std::unique_ptr<Vector>(new Vector());
         v->reserve(len_hint(it));
-        for (handle h : it)
+        for (handle h : it) {
             v->push_back(h.cast<T>());
+        }
         return v.release();
     }));
 
-    cl.def("clear",
-        [](Vector &v) {
-            v.clear();
-        },
-        "Clear the contents"
-    );
+    cl.def(
+        "clear", [](Vector &v) { v.clear(); }, "Clear the contents");
 
-    cl.def("extend",
-       [](Vector &v, const Vector &src) {
-           v.insert(v.end(), src.begin(), src.end());
-       },
-       arg("L"),
-       "Extend the list by appending all the items in the given list"
-    );
+    cl.def(
+        "extend",
+        [](Vector &v, const Vector &src) { v.insert(v.end(), src.begin(), src.end()); },
+        arg("L"),
+        "Extend the list by appending all the items in the given list");
 
     cl.def(
         "extend",
@@ -174,31 +185,36 @@ void vector_modifiers(enable_if_t<is_copy_constructible<typename Vector::value_t
         arg("L"),
         "Extend the list by appending all the items in the given list");
 
-    cl.def("insert",
+    cl.def(
+        "insert",
         [](Vector &v, DiffType i, const T &x) {
             // Can't use wrap_i; i == v.size() is OK
-            if (i < 0)
+            if (i < 0) {
                 i += v.size();
-            if (i < 0 || (SizeType)i > v.size())
+            }
+            if (i < 0 || (SizeType) i > v.size()) {
                 throw index_error();
+            }
             v.insert(v.begin() + i, x);
         },
-        arg("i") , arg("x"),
-        "Insert an item at a given position."
-    );
+        arg("i"),
+        arg("x"),
+        "Insert an item at a given position.");
 
-    cl.def("pop",
+    cl.def(
+        "pop",
         [](Vector &v) {
-            if (v.empty())
+            if (v.empty()) {
                 throw index_error();
+            }
             T t = std::move(v.back());
             v.pop_back();
             return t;
         },
-        "Remove and return the last item"
-    );
+        "Remove and return the last item");
 
-    cl.def("pop",
+    cl.def(
+        "pop",
         [wrap_i](Vector &v, DiffType i) {
             i = wrap_i(i, v.size());
             T t = std::move(v[(SizeType) i]);
@@ -206,29 +222,27 @@ void vector_modifiers(enable_if_t<is_copy_constructible<typename Vector::value_t
             return t;
         },
         arg("i"),
-        "Remove and return the item at index ``i``"
-    );
+        "Remove and return the item at index ``i``");
 
-    cl.def("__setitem__",
-        [wrap_i](Vector &v, DiffType i, const T &t) {
-            i = wrap_i(i, v.size());
-            v[(SizeType)i] = t;
-        }
-    );
+    cl.def("__setitem__", [wrap_i](Vector &v, DiffType i, const T &t) {
+        i = wrap_i(i, v.size());
+        v[(SizeType) i] = t;
+    });
 
     /// Slicing protocol
     cl.def(
         "__getitem__",
-        [](const Vector &v, slice slice) -> Vector * {
+        [](const Vector &v, const slice &slice) -> Vector * {
             size_t start = 0, stop = 0, step = 0, slicelength = 0;
 
-            if (!slice.compute(v.size(), &start, &stop, &step, &slicelength))
+            if (!slice.compute(v.size(), &start, &stop, &step, &slicelength)) {
                 throw error_already_set();
+            }
 
             auto *seq = new Vector();
             seq->reserve((size_t) slicelength);
 
-            for (size_t i=0; i<slicelength; ++i) {
+            for (size_t i = 0; i < slicelength; ++i) {
                 seq->push_back(v[start]);
                 start += step;
             }
@@ -239,36 +253,40 @@ void vector_modifiers(enable_if_t<is_copy_constructible<typename Vector::value_t
 
     cl.def(
         "__setitem__",
-        [](Vector &v, slice slice, const Vector &value) {
+        [](Vector &v, const slice &slice, const Vector &value) {
             size_t start = 0, stop = 0, step = 0, slicelength = 0;
-            if (!slice.compute(v.size(), &start, &stop, &step, &slicelength))
+            if (!slice.compute(v.size(), &start, &stop, &step, &slicelength)) {
                 throw error_already_set();
+            }
 
-            if (slicelength != value.size())
-                throw std::runtime_error("Left and right hand size of slice assignment have different sizes!");
+            if (slicelength != value.size()) {
+                throw std::runtime_error(
+                    "Left and right hand size of slice assignment have different sizes!");
+            }
 
-            for (size_t i=0; i<slicelength; ++i) {
+            for (size_t i = 0; i < slicelength; ++i) {
                 v[start] = value[i];
                 start += step;
             }
         },
         "Assign list elements using a slice object");
 
-    cl.def("__delitem__",
+    cl.def(
+        "__delitem__",
         [wrap_i](Vector &v, DiffType i) {
             i = wrap_i(i, v.size());
             v.erase(v.begin() + i);
         },
-        "Delete the list elements at index ``i``"
-    );
+        "Delete the list elements at index ``i``");
 
     cl.def(
         "__delitem__",
-        [](Vector &v, slice slice) {
+        [](Vector &v, const slice &slice) {
             size_t start = 0, stop = 0, step = 0, slicelength = 0;
 
-            if (!slice.compute(v.size(), &start, &stop, &step, &slicelength))
+            if (!slice.compute(v.size(), &start, &stop, &step, &slicelength)) {
                 throw error_already_set();
+            }
 
             if (step == 1 && false) {
                 v.erase(v.begin() + (DiffType) start, v.begin() + DiffType(start + slicelength));
@@ -284,8 +302,10 @@ void vector_modifiers(enable_if_t<is_copy_constructible<typename Vector::value_t
 
 // If the type has an operator[] that doesn't return a reference (most notably std::vector<bool>),
 // we have to access by copying; otherwise we return by reference.
-template <typename Vector> using vector_needs_copy = negation<
-    std::is_same<decltype(std::declval<Vector>()[typename Vector::size_type()]), typename Vector::value_type &>>;
+template <typename Vector>
+using vector_needs_copy
+    = negation<std::is_same<decltype(std::declval<Vector>()[typename Vector::size_type()]),
+                            typename Vector::value_type &>>;
 
 // The usual case: access and iterate by reference
 template <typename Vector, typename Class_>
@@ -293,31 +313,34 @@ void vector_accessor(enable_if_t<!vector_needs_copy<Vector>::value, Class_> &cl)
     using T = typename Vector::value_type;
     using SizeType = typename Vector::size_type;
     using DiffType = typename Vector::difference_type;
-    using ItType   = typename Vector::iterator;
+    using ItType = typename Vector::iterator;
 
     auto wrap_i = [](DiffType i, SizeType n) {
-        if (i < 0)
+        if (i < 0) {
             i += n;
-        if (i < 0 || (SizeType)i >= n)
+        }
+        if (i < 0 || (SizeType) i >= n) {
             throw index_error();
+        }
         return i;
     };
 
-    cl.def("__getitem__",
+    cl.def(
+        "__getitem__",
         [wrap_i](Vector &v, DiffType i) -> T & {
             i = wrap_i(i, v.size());
-            return v[(SizeType)i];
+            return v[(SizeType) i];
         },
         return_value_policy::reference_internal // ref + keepalive
     );
 
-    cl.def("__iter__",
-           [](Vector &v) {
-               return make_iterator<
-                   return_value_policy::reference_internal, ItType, ItType, T&>(
-                   v.begin(), v.end());
-           },
-           keep_alive<0, 1>() /* Essential: keep list alive while iterator exists */
+    cl.def(
+        "__iter__",
+        [](Vector &v) {
+            return make_iterator<return_value_policy::reference_internal, ItType, ItType, T &>(
+                v.begin(), v.end());
+        },
+        keep_alive<0, 1>() /* Essential: keep list alive while iterator exists */
     );
 }
 
@@ -327,53 +350,60 @@ void vector_accessor(enable_if_t<vector_needs_copy<Vector>::value, Class_> &cl)
     using T = typename Vector::value_type;
     using SizeType = typename Vector::size_type;
     using DiffType = typename Vector::difference_type;
-    using ItType   = typename Vector::iterator;
-    cl.def("__getitem__",
-        [](const Vector &v, DiffType i) -> T {
-            if (i < 0 && (i += v.size()) < 0)
-                throw index_error();
-            if ((SizeType)i >= v.size())
-                throw index_error();
-            return v[(SizeType)i];
+    using ItType = typename Vector::iterator;
+    cl.def("__getitem__", [](const Vector &v, DiffType i) -> T {
+        if (i < 0 && (i += v.size()) < 0) {
+            throw index_error();
         }
-    );
+        if ((SizeType) i >= v.size()) {
+            throw index_error();
+        }
+        return v[(SizeType) i];
+    });
 
-    cl.def("__iter__",
-           [](Vector &v) {
-               return make_iterator<
-                   return_value_policy::copy, ItType, ItType, T>(
-                   v.begin(), v.end());
-           },
-           keep_alive<0, 1>() /* Essential: keep list alive while iterator exists */
+    cl.def(
+        "__iter__",
+        [](Vector &v) {
+            return make_iterator<return_value_policy::copy, ItType, ItType, T>(v.begin(), v.end());
+        },
+        keep_alive<0, 1>() /* Essential: keep list alive while iterator exists */
     );
 }
 
-template <typename Vector, typename Class_> auto vector_if_insertion_operator(Class_ &cl, std::string const &name)
-    -> decltype(std::declval<std::ostream&>() << std::declval<typename Vector::value_type>(), void()) {
+template <typename Vector, typename Class_>
+auto vector_if_insertion_operator(Class_ &cl, std::string const &name)
+    -> decltype(std::declval<std::ostream &>() << std::declval<typename Vector::value_type>(),
+                void()) {
     using size_type = typename Vector::size_type;
 
-    cl.def("__repr__",
-           [name](Vector &v) {
+    cl.def(
+        "__repr__",
+        [name](Vector &v) {
             std::ostringstream s;
             s << name << '[';
-            for (size_type i=0; i < v.size(); ++i) {
+            for (size_type i = 0; i < v.size(); ++i) {
                 s << v[i];
-                if (i != v.size() - 1)
+                if (i != v.size() - 1) {
                     s << ", ";
+                }
             }
             s << ']';
             return s.str();
         },
-        "Return the canonical string representation of this list."
-    );
+        "Return the canonical string representation of this list.");
 }
 
 // Provide the buffer interface for vectors if we have data() and we have a format for it
-// GCC seems to have "void std::vector<bool>::data()" - doing SFINAE on the existence of data() is insufficient, we need to check it returns an appropriate pointer
+// GCC seems to have "void std::vector<bool>::data()" - doing SFINAE on the existence of data()
+// is insufficient, we need to check it returns an appropriate pointer
 template <typename Vector, typename = void>
 struct vector_has_data_and_format : std::false_type {};
 template <typename Vector>
-struct vector_has_data_and_format<Vector, enable_if_t<std::is_same<decltype(format_descriptor<typename Vector::value_type>::format(), std::declval<Vector>().data()), typename Vector::value_type*>::value>> : std::true_type {};
+struct vector_has_data_and_format<
+    Vector,
+    enable_if_t<std::is_same<decltype(format_descriptor<typename Vector::value_type>::format(),
+                                      std::declval<Vector>().data()),
+                             typename Vector::value_type *>::value>> : std::true_type {};
 
 // [workaround(intel)] Separate function required here
 // Workaround as the Intel compiler does not compile the enable_if_t part below
@@ -388,26 +418,37 @@ constexpr bool args_any_are_buffer() {
 
 // Add the buffer interface to a vector
 template <typename Vector, typename Class_, typename... Args>
-void vector_buffer_impl(Class_& cl, std::true_type) {
+void vector_buffer_impl(Class_ &cl, std::true_type) {
     using T = typename Vector::value_type;
 
-    static_assert(vector_has_data_and_format<Vector>::value, "There is not an appropriate format descriptor for this vector");
+    static_assert(vector_has_data_and_format<Vector>::value,
+                  "There is not an appropriate format descriptor for this vector");
 
-    // numpy.h declares this for arbitrary types, but it may raise an exception and crash hard at runtime if PYBIND11_NUMPY_DTYPE hasn't been called, so check here
+    // numpy.h declares this for arbitrary types, but it may raise an exception and crash hard
+    // at runtime if PYBIND11_NUMPY_DTYPE hasn't been called, so check here
     format_descriptor<T>::format();
 
-    cl.def_buffer([](Vector& v) -> buffer_info {
-        return buffer_info(v.data(), static_cast<ssize_t>(sizeof(T)), format_descriptor<T>::format(), 1, {v.size()}, {sizeof(T)});
+    cl.def_buffer([](Vector &v) -> buffer_info {
+        return buffer_info(v.data(),
+                           static_cast<ssize_t>(sizeof(T)),
+                           format_descriptor<T>::format(),
+                           1,
+                           {v.size()},
+                           {sizeof(T)});
     });
 
     cl.def(init([](const buffer &buf) {
         auto info = buf.request();
-        if (info.ndim != 1 || info.strides[0] % static_cast<ssize_t>(sizeof(T)))
+        if (info.ndim != 1 || info.strides[0] % static_cast<ssize_t>(sizeof(T))) {
             throw type_error("Only valid 1D buffers can be copied to a vector");
-        if (!detail::compare_buffer_info<T>::compare(info) || (ssize_t) sizeof(T) != info.itemsize)
-            throw type_error("Format mismatch (Python: " + info.format + " C++: " + format_descriptor<T>::format() + ")");
+        }
+        if (!detail::compare_buffer_info<T>::compare(info)
+            || (ssize_t) sizeof(T) != info.itemsize) {
+            throw type_error("Format mismatch (Python: " + info.format
+                             + " C++: " + format_descriptor<T>::format() + ")");
+        }
 
-        T *p = static_cast<T*>(info.ptr);
+        T *p = static_cast<T *>(info.ptr);
         ssize_t step = info.strides[0] / static_cast<ssize_t>(sizeof(T));
         T *end = p + info.shape[0] * step;
         if (step == 1) {
@@ -415,21 +456,22 @@ void vector_buffer_impl(Class_& cl, std::true_type) {
         }
         Vector vec;
         vec.reserve((size_t) info.shape[0]);
-        for (; p != end; p += step)
+        for (; p != end; p += step) {
             vec.push_back(*p);
+        }
         return vec;
-
     }));
 
     return;
 }
 
 template <typename Vector, typename Class_, typename... Args>
-void vector_buffer_impl(Class_&, std::false_type) {}
+void vector_buffer_impl(Class_ &, std::false_type) {}
 
 template <typename Vector, typename Class_, typename... Args>
-void vector_buffer(Class_& cl) {
-    vector_buffer_impl<Vector, Class_, Args...>(cl, detail::any_of<std::is_same<Args, buffer_protocol>...>{});
+void vector_buffer(Class_ &cl) {
+    vector_buffer_impl<Vector, Class_, Args...>(
+        cl, detail::any_of<std::is_same<Args, buffer_protocol>...>{});
 }
 
 PYBIND11_NAMESPACE_END(detail)
@@ -438,13 +480,13 @@ PYBIND11_NAMESPACE_END(detail)
 // std::vector
 //
 template <typename Vector, typename holder_type = std::unique_ptr<Vector>, typename... Args>
-class_<Vector, holder_type> bind_vector(handle scope, std::string const &name, Args&&... args) {
+class_<Vector, holder_type> bind_vector(handle scope, std::string const &name, Args &&...args) {
     using Class_ = class_<Vector, holder_type>;
 
     // If the value_type is unregistered (e.g. a converting type) or is itself registered
     // module-local then make the vector binding module-local as well:
     using vtype = typename Vector::value_type;
-    auto vtype_info = detail::get_type_info(typeid(vtype));
+    auto *vtype_info = detail::get_type_info(typeid(vtype));
     bool local = !vtype_info || vtype_info->module_local;
 
     Class_ cl(scope, name.c_str(), pybind11::module_local(local), std::forward<Args>(args)...);
@@ -469,18 +511,13 @@ class_<Vector, holder_type> bind_vector(handle scope, std::string const &name, A
     // Accessor and iterator; return by value if copyable, otherwise we return by ref + keep-alive
     detail::vector_accessor<Vector, Class_>(cl);
 
-    cl.def("__bool__",
-        [](const Vector &v) -> bool {
-            return !v.empty();
-        },
-        "Check whether the list is nonempty"
-    );
+    cl.def(
+        "__bool__",
+        [](const Vector &v) -> bool { return !v.empty(); },
+        "Check whether the list is nonempty");
 
     cl.def("__len__", &Vector::size);
 
-
-
-
 #if 0
     // C++ style functions deprecated, leaving it here as an example
     cl.def(init<size_type>());
@@ -524,8 +561,6 @@ class_<Vector, holder_type> bind_vector(handle scope, std::string const &name, A
     return cl;
 }
 
-
-
 //
 // std::map, std::unordered_map
 //
@@ -533,90 +568,93 @@ class_<Vector, holder_type> bind_vector(handle scope, std::string const &name, A
 PYBIND11_NAMESPACE_BEGIN(detail)
 
 /* Fallback functions */
-template <typename, typename, typename... Args> void map_if_insertion_operator(const Args &...) { }
-template <typename, typename, typename... Args> void map_assignment(const Args &...) { }
+template <typename, typename, typename... Args>
+void map_if_insertion_operator(const Args &...) {}
+template <typename, typename, typename... Args>
+void map_assignment(const Args &...) {}
 
 // Map assignment when copy-assignable: just copy the value
 template <typename Map, typename Class_>
-void map_assignment(enable_if_t<is_copy_assignable<typename Map::mapped_type>::value, Class_> &cl) {
+void map_assignment(
+    enable_if_t<is_copy_assignable<typename Map::mapped_type>::value, Class_> &cl) {
     using KeyType = typename Map::key_type;
     using MappedType = typename Map::mapped_type;
 
-    cl.def("__setitem__",
-           [](Map &m, const KeyType &k, const MappedType &v) {
-               auto it = m.find(k);
-               if (it != m.end()) it->second = v;
-               else m.emplace(k, v);
-           }
-    );
+    cl.def("__setitem__", [](Map &m, const KeyType &k, const MappedType &v) {
+        auto it = m.find(k);
+        if (it != m.end()) {
+            it->second = v;
+        } else {
+            m.emplace(k, v);
+        }
+    });
 }
 
-// Not copy-assignable, but still copy-constructible: we can update the value by erasing and reinserting
-template<typename Map, typename Class_>
-void map_assignment(enable_if_t<
-        !is_copy_assignable<typename Map::mapped_type>::value &&
-        is_copy_constructible<typename Map::mapped_type>::value,
-        Class_> &cl) {
+// Not copy-assignable, but still copy-constructible: we can update the value by erasing and
+// reinserting
+template <typename Map, typename Class_>
+void map_assignment(enable_if_t<!is_copy_assignable<typename Map::mapped_type>::value
+                                    && is_copy_constructible<typename Map::mapped_type>::value,
+                                Class_> &cl) {
     using KeyType = typename Map::key_type;
     using MappedType = typename Map::mapped_type;
 
-    cl.def("__setitem__",
-           [](Map &m, const KeyType &k, const MappedType &v) {
-               // We can't use m[k] = v; because value type might not be default constructable
-               auto r = m.emplace(k, v);
-               if (!r.second) {
-                   // value type is not copy assignable so the only way to insert it is to erase it first...
-                   m.erase(r.first);
-                   m.emplace(k, v);
-               }
-           }
-    );
+    cl.def("__setitem__", [](Map &m, const KeyType &k, const MappedType &v) {
+        // We can't use m[k] = v; because value type might not be default constructable
+        auto r = m.emplace(k, v);
+        if (!r.second) {
+            // value type is not copy assignable so the only way to insert it is to erase it
+            // first...
+            m.erase(r.first);
+            m.emplace(k, v);
+        }
+    });
 }
 
+template <typename Map, typename Class_>
+auto map_if_insertion_operator(Class_ &cl, std::string const &name)
+    -> decltype(std::declval<std::ostream &>() << std::declval<typename Map::key_type>()
+                                               << std::declval<typename Map::mapped_type>(),
+                void()) {
 
-template <typename Map, typename Class_> auto map_if_insertion_operator(Class_ &cl, std::string const &name)
--> decltype(std::declval<std::ostream&>() << std::declval<typename Map::key_type>() << std::declval<typename Map::mapped_type>(), void()) {
-
-    cl.def("__repr__",
-           [name](Map &m) {
+    cl.def(
+        "__repr__",
+        [name](Map &m) {
             std::ostringstream s;
             s << name << '{';
             bool f = false;
             for (auto const &kv : m) {
-                if (f)
+                if (f) {
                     s << ", ";
+                }
                 s << kv.first << ": " << kv.second;
                 f = true;
             }
             s << '}';
             return s.str();
         },
-        "Return the canonical string representation of this map."
-    );
+        "Return the canonical string representation of this map.");
 }
 
-template<typename Map>
-struct keys_view
-{
+template <typename Map>
+struct keys_view {
     Map &map;
 };
 
-template<typename Map>
-struct values_view
-{
+template <typename Map>
+struct values_view {
     Map &map;
 };
 
-template<typename Map>
-struct items_view
-{
+template <typename Map>
+struct items_view {
     Map &map;
 };
 
 PYBIND11_NAMESPACE_END(detail)
 
 template <typename Map, typename holder_type = std::unique_ptr<Map>, typename... Args>
-class_<Map, holder_type> bind_map(handle scope, const std::string &name, Args&&... args) {
+class_<Map, holder_type> bind_map(handle scope, const std::string &name, Args &&...args) {
     using KeyType = typename Map::key_type;
     using MappedType = typename Map::mapped_type;
     using KeysView = detail::keys_view<Map>;
@@ -627,7 +665,7 @@ class_<Map, holder_type> bind_map(handle scope, const std::string &name, Args&&.
     // If either type is a non-module-local bound type then make the map binding non-local as well;
     // otherwise (e.g. both types are either module-local or converting) the map will be
     // module-local.
-    auto tinfo = detail::get_type_info(typeid(MappedType));
+    auto *tinfo = detail::get_type_info(typeid(MappedType));
     bool local = !tinfo || tinfo->module_local;
     if (local) {
         tinfo = detail::get_type_info(typeid(KeyType));
@@ -647,97 +685,97 @@ class_<Map, holder_type> bind_map(handle scope, const std::string &name, Args&&.
     // Register stream insertion operator (if possible)
     detail::map_if_insertion_operator<Map, Class_>(cl, name);
 
-    cl.def("__bool__",
+    cl.def(
+        "__bool__",
         [](const Map &m) -> bool { return !m.empty(); },
-        "Check whether the map is nonempty"
-    );
+        "Check whether the map is nonempty");
 
-    cl.def("__iter__",
-           [](Map &m) { return make_key_iterator(m.begin(), m.end()); },
-           keep_alive<0, 1>() /* Essential: keep map alive while iterator exists */
+    cl.def(
+        "__iter__",
+        [](Map &m) { return make_key_iterator(m.begin(), m.end()); },
+        keep_alive<0, 1>() /* Essential: keep map alive while iterator exists */
     );
 
-    cl.def("keys",
-           [](Map &m) { return KeysView{m}; },
-           keep_alive<0, 1>() /* Essential: keep map alive while view exists */
+    cl.def(
+        "keys",
+        [](Map &m) { return KeysView{m}; },
+        keep_alive<0, 1>() /* Essential: keep map alive while view exists */
     );
 
-    cl.def("values",
-           [](Map &m) { return ValuesView{m}; },
-           keep_alive<0, 1>() /* Essential: keep map alive while view exists */
+    cl.def(
+        "values",
+        [](Map &m) { return ValuesView{m}; },
+        keep_alive<0, 1>() /* Essential: keep map alive while view exists */
     );
 
-    cl.def("items",
-           [](Map &m) { return ItemsView{m}; },
-           keep_alive<0, 1>() /* Essential: keep map alive while view exists */
+    cl.def(
+        "items",
+        [](Map &m) { return ItemsView{m}; },
+        keep_alive<0, 1>() /* Essential: keep map alive while view exists */
     );
 
-    cl.def("__getitem__",
+    cl.def(
+        "__getitem__",
         [](Map &m, const KeyType &k) -> MappedType & {
             auto it = m.find(k);
-            if (it == m.end())
-              throw key_error();
-           return it->second;
+            if (it == m.end()) {
+                throw key_error();
+            }
+            return it->second;
         },
         return_value_policy::reference_internal // ref + keepalive
     );
 
-    cl.def("__contains__",
-        [](Map &m, const KeyType &k) -> bool {
-            auto it = m.find(k);
-            if (it == m.end())
-              return false;
-           return true;
+    cl.def("__contains__", [](Map &m, const KeyType &k) -> bool {
+        auto it = m.find(k);
+        if (it == m.end()) {
+            return false;
         }
-    );
+        return true;
+    });
     // Fallback for when the object is not of the key type
     cl.def("__contains__", [](Map &, const object &) -> bool { return false; });
 
     // Assignment provided only if the type is copyable
     detail::map_assignment<Map, Class_>(cl);
 
-    cl.def("__delitem__",
-           [](Map &m, const KeyType &k) {
-               auto it = m.find(k);
-               if (it == m.end())
-                   throw key_error();
-               m.erase(it);
-           }
-    );
+    cl.def("__delitem__", [](Map &m, const KeyType &k) {
+        auto it = m.find(k);
+        if (it == m.end()) {
+            throw key_error();
+        }
+        m.erase(it);
+    });
 
     cl.def("__len__", &Map::size);
 
     keys_view.def("__len__", [](KeysView &view) { return view.map.size(); });
-    keys_view.def("__iter__",
-        [](KeysView &view) {
-            return make_key_iterator(view.map.begin(), view.map.end());
-        },
+    keys_view.def(
+        "__iter__",
+        [](KeysView &view) { return make_key_iterator(view.map.begin(), view.map.end()); },
         keep_alive<0, 1>() /* Essential: keep view alive while iterator exists */
     );
-    keys_view.def("__contains__",
-        [](KeysView &view, const KeyType &k) -> bool {
-            auto it = view.map.find(k);
-            if (it == view.map.end())
-                return false;
-            return true;
+    keys_view.def("__contains__", [](KeysView &view, const KeyType &k) -> bool {
+        auto it = view.map.find(k);
+        if (it == view.map.end()) {
+            return false;
         }
-    );
+        return true;
+    });
     // Fallback for when the object is not of the key type
     keys_view.def("__contains__", [](KeysView &, const object &) -> bool { return false; });
 
     values_view.def("__len__", [](ValuesView &view) { return view.map.size(); });
-    values_view.def("__iter__",
-        [](ValuesView &view) {
-            return make_value_iterator(view.map.begin(), view.map.end());
-        },
+    values_view.def(
+        "__iter__",
+        [](ValuesView &view) { return make_value_iterator(view.map.begin(), view.map.end()); },
         keep_alive<0, 1>() /* Essential: keep view alive while iterator exists */
     );
 
     items_view.def("__len__", [](ItemsView &view) { return view.map.size(); });
-    items_view.def("__iter__",
-        [](ItemsView &view) {
-            return make_iterator(view.map.begin(), view.map.end());
-        },
+    items_view.def(
+        "__iter__",
+        [](ItemsView &view) { return make_iterator(view.map.begin(), view.map.end()); },
         keep_alive<0, 1>() /* Essential: keep view alive while iterator exists */
     );
 
diff --git a/pybind11/noxfile.py b/pybind11/noxfile.py
index 4adffac2ec..fe36d70fe0 100644
--- a/pybind11/noxfile.py
+++ b/pybind11/noxfile.py
@@ -1,8 +1,14 @@
+import os
+
 import nox
 
+nox.needs_version = ">=2022.1.7"
 nox.options.sessions = ["lint", "tests", "tests_packaging"]
 
-PYTHON_VERISONS = ["2.7", "3.5", "3.6", "3.7", "3.8", "3.9", "3.10", "3.11"]
+PYTHON_VERISONS = ["3.6", "3.7", "3.8", "3.9", "3.10", "3.11", "pypy3.7", "pypy3.8"]
+
+if os.environ.get("CI", None):
+    nox.options.error_on_missing_interpreters = True
 
 
 @nox.session(reuse_venv=True)
@@ -24,14 +30,12 @@ def tests(session: nox.Session) -> None:
     session.install("-r", "tests/requirements.txt")
     session.run(
         "cmake",
-        "-S",
-        ".",
-        "-B",
-        tmpdir,
+        "-S.",
+        f"-B{tmpdir}",
         "-DPYBIND11_WERROR=ON",
         "-DDOWNLOAD_CATCH=ON",
         "-DDOWNLOAD_EIGEN=ON",
-        *session.posargs
+        *session.posargs,
     )
     session.run("cmake", "--build", tmpdir)
     session.run("cmake", "--build", tmpdir, "--config=Release", "--target", "check")
@@ -57,10 +61,10 @@ def docs(session: nox.Session) -> None:
     session.chdir("docs")
 
     if "pdf" in session.posargs:
-        session.run("sphinx-build", "-b", "latexpdf", ".", "_build")
+        session.run("sphinx-build", "-M", "latexpdf", ".", "_build")
         return
 
-    session.run("sphinx-build", "-b", "html", ".", "_build")
+    session.run("sphinx-build", "-M", "html", ".", "_build")
 
     if "serve" in session.posargs:
         session.log("Launching docs at http://localhost:8000/ - use Ctrl-C to quit")
diff --git a/pybind11/pybind11/__init__.py b/pybind11/pybind11/__init__.py
index 64e999ba06..a1be969819 100644
--- a/pybind11/pybind11/__init__.py
+++ b/pybind11/pybind11/__init__.py
@@ -1,4 +1,9 @@
-# -*- coding: utf-8 -*-
+import sys
+
+if sys.version_info < (3, 6):
+    msg = "pybind11 does not support Python < 3.6. 2.9 was the last release supporting Python 2.7 and 3.5."
+    raise ImportError(msg)
+
 
 from ._version import __version__, version_info
 from .commands import get_cmake_dir, get_include
diff --git a/pybind11/pybind11/__main__.py b/pybind11/pybind11/__main__.py
index 3235747bed..22fc4471e7 100644
--- a/pybind11/pybind11/__main__.py
+++ b/pybind11/pybind11/__main__.py
@@ -1,5 +1,4 @@
-# -*- coding: utf-8 -*-
-from __future__ import print_function
+# pylint: disable=missing-function-docstring
 
 import argparse
 import sys
@@ -8,8 +7,7 @@
 from .commands import get_cmake_dir, get_include
 
 
-def print_includes():
-    # type: () -> None
+def print_includes() -> None:
     dirs = [
         sysconfig.get_path("include"),
         sysconfig.get_path("platinclude"),
@@ -25,8 +23,7 @@ def print_includes():
     print(" ".join("-I" + d for d in unique_dirs))
 
 
-def main():
-    # type: () -> None
+def main() -> None:
 
     parser = argparse.ArgumentParser()
     parser.add_argument(
diff --git a/pybind11/pybind11/_version.py b/pybind11/pybind11/_version.py
index 9d39b77a41..b78d5963d5 100644
--- a/pybind11/pybind11/_version.py
+++ b/pybind11/pybind11/_version.py
@@ -1,12 +1,12 @@
-# -*- coding: utf-8 -*-
+from typing import Union
 
 
-def _to_int(s):
+def _to_int(s: str) -> Union[int, str]:
     try:
         return int(s)
     except ValueError:
         return s
 
 
-__version__ = "2.9.1"
+__version__ = "2.10.0"
 version_info = tuple(_to_int(s) for s in __version__.split("."))
diff --git a/pybind11/pybind11/_version.pyi b/pybind11/pybind11/_version.pyi
deleted file mode 100644
index d45e5dc907..0000000000
--- a/pybind11/pybind11/_version.pyi
+++ /dev/null
@@ -1,6 +0,0 @@
-from typing import Tuple, Union
-
-def _to_int(s: str) -> Union[int, str]: ...
-
-__version__: str
-version_info: Tuple[Union[int, str], ...]
diff --git a/pybind11/pybind11/commands.py b/pybind11/pybind11/commands.py
index 11f81d2d6d..a29c8ca612 100644
--- a/pybind11/pybind11/commands.py
+++ b/pybind11/pybind11/commands.py
@@ -1,21 +1,25 @@
-# -*- coding: utf-8 -*-
 import os
 
 DIR = os.path.abspath(os.path.dirname(__file__))
 
 
-def get_include(user=False):
-    # type: (bool) -> str
+def get_include(user: bool = False) -> str:  # pylint: disable=unused-argument
+    """
+    Return the path to the pybind11 include directory. The historical "user"
+    argument is unused, and may be removed.
+    """
     installed_path = os.path.join(DIR, "include")
     source_path = os.path.join(os.path.dirname(DIR), "include")
     return installed_path if os.path.exists(installed_path) else source_path
 
 
-def get_cmake_dir():
-    # type: () -> str
+def get_cmake_dir() -> str:
+    """
+    Return the path to the pybind11 CMake module directory.
+    """
     cmake_installed_path = os.path.join(DIR, "share", "cmake", "pybind11")
     if os.path.exists(cmake_installed_path):
         return cmake_installed_path
-    else:
-        msg = "pybind11 not installed, installation required to access the CMake files"
-        raise ImportError(msg)
+
+    msg = "pybind11 not installed, installation required to access the CMake files"
+    raise ImportError(msg)
diff --git a/pybind11/pybind11/setup_helpers.py b/pybind11/pybind11/setup_helpers.py
index 5b7c9aab1c..1fd04b9154 100644
--- a/pybind11/pybind11/setup_helpers.py
+++ b/pybind11/pybind11/setup_helpers.py
@@ -1,5 +1,3 @@
-# -*- coding: utf-8 -*-
-
 """
 This module provides helpers for C++11+ projects using pybind11.
 
@@ -49,6 +47,20 @@
 import tempfile
 import threading
 import warnings
+from functools import lru_cache
+from pathlib import Path
+from typing import (
+    Any,
+    Callable,
+    Dict,
+    Iterable,
+    Iterator,
+    List,
+    Optional,
+    Tuple,
+    TypeVar,
+    Union,
+)
 
 try:
     from setuptools import Extension as _Extension
@@ -61,7 +73,6 @@
 import distutils.errors
 
 WIN = sys.platform.startswith("win32") and "mingw" not in sysconfig.get_platform()
-PY2 = sys.version_info[0] < 3
 MACOS = sys.platform.startswith("darwin")
 STD_TMPL = "/std:c++{}" if WIN else "-std=c++{}"
 
@@ -73,7 +84,7 @@
 # directory into your path if it sits beside your setup.py.
 
 
-class Pybind11Extension(_Extension):
+class Pybind11Extension(_Extension):  # type: ignore[misc]
     """
     Build a C++11+ Extension module with pybind11. This automatically adds the
     recommended flags when you init the extension and assumes C++ sources - you
@@ -95,21 +106,18 @@ class Pybind11Extension(_Extension):
 
     If you want to add pybind11 headers manually, for example for an exact
     git checkout, then set ``include_pybind11=False``.
-
-    Warning: do not use property-based access to the instance on Python 2 -
-    this is an ugly old-style class due to Distutils.
     """
 
     # flags are prepended, so that they can be further overridden, e.g. by
     # ``extra_compile_args=["-g"]``.
 
-    def _add_cflags(self, flags):
+    def _add_cflags(self, flags: List[str]) -> None:
         self.extra_compile_args[:0] = flags
 
-    def _add_ldflags(self, flags):
+    def _add_ldflags(self, flags: List[str]) -> None:
         self.extra_link_args[:0] = flags
 
-    def __init__(self, *args, **kwargs):
+    def __init__(self, *args: Any, **kwargs: Any) -> None:
 
         self._cxx_level = 0
         cxx_std = kwargs.pop("cxx_std", 0)
@@ -119,9 +127,7 @@ def __init__(self, *args, **kwargs):
 
         include_pybind11 = kwargs.pop("include_pybind11", True)
 
-        # Can't use super here because distutils has old-style classes in
-        # Python 2!
-        _Extension.__init__(self, *args, **kwargs)
+        super().__init__(*args, **kwargs)
 
         # Include the installed package pybind11 headers
         if include_pybind11:
@@ -133,11 +139,10 @@ def __init__(self, *args, **kwargs):
 
                 if pyinc not in self.include_dirs:
                     self.include_dirs.append(pyinc)
-            except ImportError:
+            except ModuleNotFoundError:
                 pass
 
-        # Have to use the accessor manually to support Python 2 distutils
-        Pybind11Extension.cxx_std.__set__(self, cxx_std)
+        self.cxx_std = cxx_std
 
         cflags = []
         ldflags = []
@@ -157,18 +162,18 @@ def __init__(self, *args, **kwargs):
         self._add_ldflags(ldflags)
 
     @property
-    def cxx_std(self):
+    def cxx_std(self) -> int:
         """
-        The CXX standard level. If set, will add the required flags. If left
-        at 0, it will trigger an automatic search when pybind11's build_ext
-        is used. If None, will have no effect.  Besides just the flags, this
-        may add a register warning/error fix for Python 2 or macos-min 10.9
-        or 10.14.
+        The CXX standard level. If set, will add the required flags. If left at
+        0, it will trigger an automatic search when pybind11's build_ext is
+        used. If None, will have no effect.  Besides just the flags, this may
+        add a macos-min 10.9 or 10.14 flag if MACOSX_DEPLOYMENT_TARGET is
+        unset.
         """
         return self._cxx_level
 
     @cxx_std.setter
-    def cxx_std(self, level):
+    def cxx_std(self, level: int) -> None:
 
         if self._cxx_level:
             warnings.warn("You cannot safely change the cxx_level after setting it!")
@@ -195,31 +200,20 @@ def cxx_std(self, level):
             current_macos = tuple(int(x) for x in platform.mac_ver()[0].split(".")[:2])
             desired_macos = (10, 9) if level < 17 else (10, 14)
             macos_string = ".".join(str(x) for x in min(current_macos, desired_macos))
-            macosx_min = "-mmacosx-version-min=" + macos_string
+            macosx_min = f"-mmacosx-version-min={macos_string}"
             cflags += [macosx_min]
             ldflags += [macosx_min]
 
-        if PY2:
-            if WIN:
-                # Will be ignored on MSVC 2015, where C++17 is not supported so
-                # this flag is not valid.
-                cflags += ["/wd5033"]
-            elif level >= 17:
-                cflags += ["-Wno-register"]
-            elif level >= 14:
-                cflags += ["-Wno-deprecated-register"]
-
         self._add_cflags(cflags)
         self._add_ldflags(ldflags)
 
 
 # Just in case someone clever tries to multithread
 tmp_chdir_lock = threading.Lock()
-cpp_cache_lock = threading.Lock()
 
 
 @contextlib.contextmanager
-def tmp_chdir():
+def tmp_chdir() -> Iterator[str]:
     "Prepare and enter a temporary directory, cleanup when done"
 
     # Threadsafe
@@ -235,7 +229,7 @@ def tmp_chdir():
 
 
 # cf http://bugs.python.org/issue26689
-def has_flag(compiler, flag):
+def has_flag(compiler: Any, flag: str) -> bool:
     """
     Return the flag if a flag name is supported on the
     specified compiler, otherwise None (can be used as a boolean).
@@ -243,13 +237,12 @@ def has_flag(compiler, flag):
     """
 
     with tmp_chdir():
-        fname = "flagcheck.cpp"
-        with open(fname, "w") as f:
-            # Don't trigger -Wunused-parameter.
-            f.write("int main (int, char **) { return 0; }")
+        fname = Path("flagcheck.cpp")
+        # Don't trigger -Wunused-parameter.
+        fname.write_text("int main (int, char **) { return 0; }", encoding="utf-8")
 
         try:
-            compiler.compile([fname], extra_postargs=[flag])
+            compiler.compile([str(fname)], extra_postargs=[flag])
         except distutils.errors.CompileError:
             return False
         return True
@@ -259,7 +252,8 @@ def has_flag(compiler, flag):
 cpp_flag_cache = None
 
 
-def auto_cpp_level(compiler):
+@lru_cache()
+def auto_cpp_level(compiler: Any) -> Union[str, int]:
     """
     Return the max supported C++ std level (17, 14, or 11). Returns latest on Windows.
     """
@@ -267,48 +261,38 @@ def auto_cpp_level(compiler):
     if WIN:
         return "latest"
 
-    global cpp_flag_cache
-
-    # If this has been previously calculated with the same args, return that
-    with cpp_cache_lock:
-        if cpp_flag_cache:
-            return cpp_flag_cache
-
     levels = [17, 14, 11]
 
     for level in levels:
         if has_flag(compiler, STD_TMPL.format(level)):
-            with cpp_cache_lock:
-                cpp_flag_cache = level
             return level
 
     msg = "Unsupported compiler -- at least C++11 support is needed!"
     raise RuntimeError(msg)
 
 
-class build_ext(_build_ext):  # noqa: N801
+class build_ext(_build_ext):  # type: ignore[misc] # noqa: N801
     """
     Customized build_ext that allows an auto-search for the highest supported
     C++ level for Pybind11Extension. This is only needed for the auto-search
     for now, and is completely optional otherwise.
     """
 
-    def build_extensions(self):
+    def build_extensions(self) -> None:
         """
         Build extensions, injecting C++ std for Pybind11Extension if needed.
         """
 
         for ext in self.extensions:
             if hasattr(ext, "_cxx_level") and ext._cxx_level == 0:
-                # Python 2 syntax - old-style distutils class
-                ext.__class__.cxx_std.__set__(ext, auto_cpp_level(self.compiler))
+                ext.cxx_std = auto_cpp_level(self.compiler)
 
-        # Python 2 doesn't allow super here, since distutils uses old-style
-        # classes!
-        _build_ext.build_extensions(self)
+        super().build_extensions()
 
 
-def intree_extensions(paths, package_dir=None):
+def intree_extensions(
+    paths: Iterable[str], package_dir: Optional[Dict[str, str]] = None
+) -> List[Pybind11Extension]:
     """
     Generate Pybind11Extensions from source files directly located in a Python
     source tree.
@@ -318,33 +302,37 @@ def intree_extensions(paths, package_dir=None):
     not contain an ``__init__.py`` file.
     """
     exts = []
-    for path in paths:
-        if package_dir is None:
+
+    if package_dir is None:
+        for path in paths:
             parent, _ = os.path.split(path)
             while os.path.exists(os.path.join(parent, "__init__.py")):
                 parent, _ = os.path.split(parent)
             relname, _ = os.path.splitext(os.path.relpath(path, parent))
             qualified_name = relname.replace(os.path.sep, ".")
             exts.append(Pybind11Extension(qualified_name, [path]))
+        return exts
+
+    for path in paths:
+        for prefix, parent in package_dir.items():
+            if path.startswith(parent):
+                relname, _ = os.path.splitext(os.path.relpath(path, parent))
+                qualified_name = relname.replace(os.path.sep, ".")
+                if prefix:
+                    qualified_name = prefix + "." + qualified_name
+                exts.append(Pybind11Extension(qualified_name, [path]))
+                break
         else:
-            found = False
-            for prefix, parent in package_dir.items():
-                if path.startswith(parent):
-                    found = True
-                    relname, _ = os.path.splitext(os.path.relpath(path, parent))
-                    qualified_name = relname.replace(os.path.sep, ".")
-                    if prefix:
-                        qualified_name = prefix + "." + qualified_name
-                    exts.append(Pybind11Extension(qualified_name, [path]))
-            if not found:
-                raise ValueError(
-                    "path {} is not a child of any of the directories listed "
-                    "in 'package_dir' ({})".format(path, package_dir)
-                )
+            msg = (
+                f"path {path} is not a child of any of the directories listed "
+                f"in 'package_dir' ({package_dir})"
+            )
+            raise ValueError(msg)
+
     return exts
 
 
-def naive_recompile(obj, src):
+def naive_recompile(obj: str, src: str) -> bool:
     """
     This will recompile only if the source file changes. It does not check
     header files, so a more advanced function or Ccache is better if you have
@@ -353,7 +341,7 @@ def naive_recompile(obj, src):
     return os.stat(obj).st_mtime < os.stat(src).st_mtime
 
 
-def no_recompile(obg, src):
+def no_recompile(obg: str, src: str) -> bool:  # pylint: disable=unused-argument
     """
     This is the safest but slowest choice (and is the default) - will always
     recompile sources.
@@ -361,15 +349,33 @@ def no_recompile(obg, src):
     return True
 
 
+S = TypeVar("S", bound="ParallelCompile")
+
+CCompilerMethod = Callable[
+    [
+        distutils.ccompiler.CCompiler,
+        List[str],
+        Optional[str],
+        Optional[Union[Tuple[str], Tuple[str, Optional[str]]]],
+        Optional[List[str]],
+        bool,
+        Optional[List[str]],
+        Optional[List[str]],
+        Optional[List[str]],
+    ],
+    List[str],
+]
+
+
 # Optional parallel compile utility
 # inspired by: http://stackoverflow.com/questions/11013851/speeding-up-build-process-with-distutils
 # and: https://github.com/tbenthompson/cppimport/blob/stable/cppimport/build_module.py
 # and NumPy's parallel distutils module:
 #              https://github.com/numpy/numpy/blob/master/numpy/distutils/ccompiler.py
-class ParallelCompile(object):
+class ParallelCompile:
     """
     Make a parallel compile function. Inspired by
-    numpy.distutils.ccompiler.CCompiler_compile and cppimport.
+    numpy.distutils.ccompiler.CCompiler.compile and cppimport.
 
     This takes several arguments that allow you to customize the compile
     function created:
@@ -404,35 +410,41 @@ class ParallelCompile(object):
 
     __slots__ = ("envvar", "default", "max", "_old", "needs_recompile")
 
-    def __init__(self, envvar=None, default=0, max=0, needs_recompile=no_recompile):
+    def __init__(
+        self,
+        envvar: Optional[str] = None,
+        default: int = 0,
+        max: int = 0,  # pylint: disable=redefined-builtin
+        needs_recompile: Callable[[str, str], bool] = no_recompile,
+    ) -> None:
         self.envvar = envvar
         self.default = default
         self.max = max
         self.needs_recompile = needs_recompile
-        self._old = []
+        self._old: List[CCompilerMethod] = []
 
-    def function(self):
+    def function(self) -> CCompilerMethod:
         """
         Builds a function object usable as distutils.ccompiler.CCompiler.compile.
         """
 
         def compile_function(
-            compiler,
-            sources,
-            output_dir=None,
-            macros=None,
-            include_dirs=None,
-            debug=0,
-            extra_preargs=None,
-            extra_postargs=None,
-            depends=None,
-        ):
+            compiler: distutils.ccompiler.CCompiler,
+            sources: List[str],
+            output_dir: Optional[str] = None,
+            macros: Optional[Union[Tuple[str], Tuple[str, Optional[str]]]] = None,
+            include_dirs: Optional[List[str]] = None,
+            debug: bool = False,
+            extra_preargs: Optional[List[str]] = None,
+            extra_postargs: Optional[List[str]] = None,
+            depends: Optional[List[str]] = None,
+        ) -> Any:
 
             # These lines are directly from distutils.ccompiler.CCompiler
-            macros, objects, extra_postargs, pp_opts, build = compiler._setup_compile(
+            macros, objects, extra_postargs, pp_opts, build = compiler._setup_compile(  # type: ignore[attr-defined]
                 output_dir, macros, include_dirs, sources, depends, extra_postargs
             )
-            cc_args = compiler._get_cc_args(pp_opts, debug, extra_preargs)
+            cc_args = compiler._get_cc_args(pp_opts, debug, extra_preargs)  # type: ignore[attr-defined]
 
             # The number of threads; start with default.
             threads = self.default
@@ -441,14 +453,14 @@ def compile_function(
             if self.envvar is not None:
                 threads = int(os.environ.get(self.envvar, self.default))
 
-            def _single_compile(obj):
+            def _single_compile(obj: Any) -> None:
                 try:
                     src, ext = build[obj]
                 except KeyError:
                     return
 
                 if not os.path.exists(obj) or self.needs_recompile(obj, src):
-                    compiler._compile(obj, src, ext, cc_args, extra_postargs, pp_opts)
+                    compiler._compile(obj, src, ext, cc_args, extra_postargs, pp_opts)  # type: ignore[attr-defined]
 
             try:
                 # Importing .synchronize checks for platforms that have some multiprocessing
@@ -466,14 +478,9 @@ def _single_compile(obj):
                     threads = 1
 
             if threads > 1:
-                pool = ThreadPool(threads)
-                # In Python 2, ThreadPool can't be used as a context manager.
-                # Once we are no longer supporting it, this can be 'with pool:'
-                try:
+                with ThreadPool(threads) as pool:
                     for _ in pool.imap_unordered(_single_compile, objects):
                         pass
-                finally:
-                    pool.terminate()
             else:
                 for ob in objects:
                     _single_compile(ob)
@@ -482,13 +489,16 @@ def _single_compile(obj):
 
         return compile_function
 
-    def install(self):
-        distutils.ccompiler.CCompiler.compile = self.function()
+    def install(self: S) -> S:
+        """
+        Installs the compile function into distutils.ccompiler.CCompiler.compile.
+        """
+        distutils.ccompiler.CCompiler.compile = self.function()  # type: ignore[assignment]
         return self
 
-    def __enter__(self):
+    def __enter__(self: S) -> S:
         self._old.append(distutils.ccompiler.CCompiler.compile)
         return self.install()
 
-    def __exit__(self, *args):
-        distutils.ccompiler.CCompiler.compile = self._old.pop()
+    def __exit__(self, *args: Any) -> None:
+        distutils.ccompiler.CCompiler.compile = self._old.pop()  # type: ignore[assignment]
diff --git a/pybind11/pybind11/setup_helpers.pyi b/pybind11/pybind11/setup_helpers.pyi
deleted file mode 100644
index 074744eb82..0000000000
--- a/pybind11/pybind11/setup_helpers.pyi
+++ /dev/null
@@ -1,63 +0,0 @@
-# IMPORTANT: Should stay in sync with setup_helpers.py (mostly checked by CI /
-# pre-commit).
-
-import contextlib
-import distutils.ccompiler
-from distutils.command.build_ext import build_ext as _build_ext  # type: ignore
-from distutils.extension import Extension as _Extension
-from types import TracebackType
-from typing import Any, Callable, Dict, Iterator, List, Optional, Type, TypeVar, Union
-
-WIN: bool
-PY2: bool
-MACOS: bool
-STD_TMPL: str
-
-class Pybind11Extension(_Extension):
-    def _add_cflags(self, *flags: str) -> None: ...
-    def _add_lflags(self, *flags: str) -> None: ...
-    def __init__(
-        self, *args: Any, cxx_std: int = 0, language: str = "c++", **kwargs: Any
-    ) -> None: ...
-    @property
-    def cxx_std(self) -> int: ...
-    @cxx_std.setter
-    def cxx_std(self, level: int) -> None: ...
-
-@contextlib.contextmanager
-def tmp_chdir() -> Iterator[str]: ...
-def has_flag(compiler: distutils.ccompiler.CCompiler, flag: str) -> bool: ...
-def auto_cpp_level(compiler: distutils.ccompiler.CCompiler) -> Union[int, str]: ...
-
-class build_ext(_build_ext):  # type: ignore
-    def build_extensions(self) -> None: ...
-
-def intree_extensions(
-    paths: Iterator[str], package_dir: Optional[Dict[str, str]] = None
-) -> List[Pybind11Extension]: ...
-def no_recompile(obj: str, src: str) -> bool: ...
-def naive_recompile(obj: str, src: str) -> bool: ...
-
-T = TypeVar("T", bound="ParallelCompile")
-
-class ParallelCompile:
-    envvar: Optional[str]
-    default: int
-    max: int
-    needs_recompile: Callable[[str, str], bool]
-    def __init__(
-        self,
-        envvar: Optional[str] = None,
-        default: int = 0,
-        max: int = 0,
-        needs_recompile: Callable[[str, str], bool] = no_recompile,
-    ) -> None: ...
-    def function(self) -> Any: ...
-    def install(self: T) -> T: ...
-    def __enter__(self: T) -> T: ...
-    def __exit__(
-        self,
-        exc_type: Optional[Type[BaseException]],
-        exc_value: Optional[BaseException],
-        traceback: Optional[TracebackType],
-    ) -> None: ...
diff --git a/pybind11/pyproject.toml b/pybind11/pyproject.toml
index 7d7a1c8213..3ba1b4b22f 100644
--- a/pybind11/pyproject.toml
+++ b/pybind11/pyproject.toml
@@ -1,5 +1,5 @@
 [build-system]
-requires = ["setuptools>=42", "wheel", "cmake>=3.18", "ninja"]
+requires = ["setuptools>=42", "cmake>=3.18", "ninja"]
 build-backend = "setuptools.build_meta"
 
 [tool.check-manifest]
@@ -22,20 +22,40 @@ known_first_party = "env,pybind11_cross_module_tests,pybind11_tests,"
 profile = "black"
 
 [tool.mypy]
-files = "pybind11"
-python_version = "2.7"
-warn_unused_configs = true
-
-disallow_any_generics = true
-disallow_subclassing_any = true
-disallow_untyped_calls = true
-disallow_untyped_defs = true
-disallow_incomplete_defs = true
-check_untyped_defs = true
-disallow_untyped_decorators = true
-no_implicit_optional = true
-warn_redundant_casts = true
-warn_unused_ignores = true
-warn_return_any = true
-no_implicit_reexport = true
-strict_equality = true
+files = ["pybind11"]
+python_version = "3.6"
+strict = true
+show_error_codes = true
+enable_error_code = ["ignore-without-code", "redundant-expr", "truthy-bool"]
+warn_unreachable = true
+
+[[tool.mypy.overrides]]
+module = ["ghapi.*", "setuptools.*"]
+ignore_missing_imports = true
+
+
+[tool.pytest.ini_options]
+minversion = "6.0"
+addopts = ["-ra", "--showlocals", "--strict-markers", "--strict-config"]
+xfail_strict = true
+filterwarnings = ["error"]
+log_cli_level = "info"
+testpaths = [
+    "tests",
+]
+timeout=300
+
+
+[tool.pylint]
+master.py-version = "3.6"
+reports.output-format = "colorized"
+messages_control.disable = [
+  "design",
+  "fixme",
+  "imports",
+  "line-too-long",
+  "imports",
+  "invalid-name",
+  "protected-access",
+  "missing-module-docstring",
+]
diff --git a/pybind11/setup.cfg b/pybind11/setup.cfg
index 317c44bbf6..36fbfed4f3 100644
--- a/pybind11/setup.cfg
+++ b/pybind11/setup.cfg
@@ -13,14 +13,13 @@ classifiers =
     Topic :: Software Development :: Libraries :: Python Modules
     Topic :: Utilities
     Programming Language :: C++
-    Programming Language :: Python :: 2.7
-    Programming Language :: Python :: 3
-    Programming Language :: Python :: 3.5
+    Programming Language :: Python :: 3 :: Only
     Programming Language :: Python :: 3.6
     Programming Language :: Python :: 3.7
     Programming Language :: Python :: 3.8
     Programming Language :: Python :: 3.9
     Programming Language :: Python :: 3.10
+    Programming Language :: Python :: 3.11
     License :: OSI Approved :: BSD License
     Programming Language :: Python :: Implementation :: PyPy
     Programming Language :: Python :: Implementation :: CPython
@@ -39,25 +38,13 @@ project_urls =
     Chat = https://gitter.im/pybind/Lobby
 
 [options]
-python_requires = >=2.7, !=3.0.*, !=3.1.*, !=3.2.*, !=3.3.*, !=3.4.*
+python_requires = >=3.6
 zip_safe = False
 
-[bdist_wheel]
-universal=1
-
 
 [flake8]
-max-line-length = 99
+max-line-length = 120
 show_source = True
 exclude = .git, __pycache__, build, dist, docs, tools, venv
-ignore =
-    # required for pretty matrix formatting: multiple spaces after `,` and `[`
-    E201, E241, W504,
-    # camelcase 'cPickle' imported as lowercase 'pickle'
-    N813
-    # Black conflict
-    W503, E203
-
-
-[tool:pytest]
-timeout = 300
+extend-ignore = E203, E722, B950
+extend-select = B9
diff --git a/pybind11/setup.py b/pybind11/setup.py
index 0e73489820..a149755bf6 100644
--- a/pybind11/setup.py
+++ b/pybind11/setup.py
@@ -1,53 +1,50 @@
-#!/usr/bin/env python
-# -*- coding: utf-8 -*-
+#!/usr/bin/env python3
 
 # Setup script for PyPI; use CMakeFile.txt to build extension modules
 
 import contextlib
-import io
 import os
 import re
 import shutil
 import string
 import subprocess
 import sys
-import tempfile
+from pathlib import Path
+from tempfile import TemporaryDirectory
+from typing import Dict, Iterator, List, Union
 
 import setuptools.command.sdist
 
-DIR = os.path.abspath(os.path.dirname(__file__))
+DIR = Path(__file__).parent.absolute()
 VERSION_REGEX = re.compile(
     r"^\s*#\s*define\s+PYBIND11_VERSION_([A-Z]+)\s+(.*)$", re.MULTILINE
 )
+VERSION_FILE = Path("pybind11/_version.py")
+COMMON_FILE = Path("include/pybind11/detail/common.h")
 
 
-def build_expected_version_hex(matches):
+def build_expected_version_hex(matches: Dict[str, str]) -> str:
     patch_level_serial = matches["PATCH"]
     serial = None
-    try:
-        major = int(matches["MAJOR"])
-        minor = int(matches["MINOR"])
-        flds = patch_level_serial.split(".")
-        if flds:
-            patch = int(flds[0])
-            level = None
-            if len(flds) == 1:
-                level = "0"
-                serial = 0
-            elif len(flds) == 2:
-                level_serial = flds[1]
-                for level in ("a", "b", "c", "dev"):
-                    if level_serial.startswith(level):
-                        serial = int(level_serial[len(level) :])
-                        break
-    except ValueError:
-        pass
+    major = int(matches["MAJOR"])
+    minor = int(matches["MINOR"])
+    flds = patch_level_serial.split(".")
+    if flds:
+        patch = int(flds[0])
+        if len(flds) == 1:
+            level = "0"
+            serial = 0
+        elif len(flds) == 2:
+            level_serial = flds[1]
+            for level in ("a", "b", "c", "dev"):
+                if level_serial.startswith(level):
+                    serial = int(level_serial[len(level) :])
+                    break
     if serial is None:
-        msg = 'Invalid PYBIND11_VERSION_PATCH: "{}"'.format(patch_level_serial)
+        msg = f'Invalid PYBIND11_VERSION_PATCH: "{patch_level_serial}"'
         raise RuntimeError(msg)
-    return "0x{:02x}{:02x}{:02x}{}{:x}".format(
-        major, minor, patch, level[:1].upper(), serial
-    )
+    version_hex_str = f"{major:02x}{minor:02x}{patch:02x}{level[:1]}{serial:x}"
+    return f"0x{version_hex_str.upper()}"
 
 
 # PYBIND11_GLOBAL_SDIST will build a different sdist, with the python-headers
@@ -55,82 +52,67 @@ def build_expected_version_hex(matches):
 
 global_sdist = os.environ.get("PYBIND11_GLOBAL_SDIST", False)
 
-setup_py = "tools/setup_global.py.in" if global_sdist else "tools/setup_main.py.in"
+setup_py = Path(
+    "tools/setup_global.py.in" if global_sdist else "tools/setup_main.py.in"
+)
 extra_cmd = 'cmdclass["sdist"] = SDist\n'
 
 to_src = (
-    ("pyproject.toml", "tools/pyproject.toml"),
-    ("setup.py", setup_py),
+    (Path("pyproject.toml"), Path("tools/pyproject.toml")),
+    (Path("setup.py"), setup_py),
 )
 
+
 # Read the listed version
-with open("pybind11/_version.py") as f:
-    code = compile(f.read(), "pybind11/_version.py", "exec")
-loc = {}
+loc: Dict[str, str] = {}
+code = compile(VERSION_FILE.read_text(encoding="utf-8"), "pybind11/_version.py", "exec")
 exec(code, loc)
 version = loc["__version__"]
 
 # Verify that the version matches the one in C++
-with io.open("include/pybind11/detail/common.h", encoding="utf8") as f:
-    matches = dict(VERSION_REGEX.findall(f.read()))
+matches = dict(VERSION_REGEX.findall(COMMON_FILE.read_text(encoding="utf8")))
 cpp_version = "{MAJOR}.{MINOR}.{PATCH}".format(**matches)
 if version != cpp_version:
-    msg = "Python version {} does not match C++ version {}!".format(
-        version, cpp_version
-    )
+    msg = f"Python version {version} does not match C++ version {cpp_version}!"
     raise RuntimeError(msg)
 
 version_hex = matches.get("HEX", "MISSING")
-expected_version_hex = build_expected_version_hex(matches)
-if version_hex != expected_version_hex:
-    msg = "PYBIND11_VERSION_HEX {} does not match expected value {}!".format(
-        version_hex,
-        expected_version_hex,
-    )
+exp_version_hex = build_expected_version_hex(matches)
+if version_hex != exp_version_hex:
+    msg = f"PYBIND11_VERSION_HEX {version_hex} does not match expected value {exp_version_hex}!"
     raise RuntimeError(msg)
 
 
-def get_and_replace(filename, binary=False, **opts):
-    with open(filename, "rb" if binary else "r") as f:
-        contents = f.read()
-    # Replacement has to be done on text in Python 3 (both work in Python 2)
+# TODO: use literals & overload (typing extensions or Python 3.8)
+def get_and_replace(
+    filename: Path, binary: bool = False, **opts: str
+) -> Union[bytes, str]:
     if binary:
+        contents = filename.read_bytes()
         return string.Template(contents.decode()).substitute(opts).encode()
-    else:
-        return string.Template(contents).substitute(opts)
+
+    return string.Template(filename.read_text()).substitute(opts)
 
 
 # Use our input files instead when making the SDist (and anything that depends
 # on it, like a wheel)
-class SDist(setuptools.command.sdist.sdist):
-    def make_release_tree(self, base_dir, files):
-        setuptools.command.sdist.sdist.make_release_tree(self, base_dir, files)
+class SDist(setuptools.command.sdist.sdist):  # type: ignore[misc]
+    def make_release_tree(self, base_dir: str, files: List[str]) -> None:
+        super().make_release_tree(base_dir, files)
 
         for to, src in to_src:
             txt = get_and_replace(src, binary=True, version=version, extra_cmd="")
 
-            dest = os.path.join(base_dir, to)
+            dest = Path(base_dir) / to
 
             # This is normally linked, so unlink before writing!
-            os.unlink(dest)
-            with open(dest, "wb") as f:
-                f.write(txt)
-
-
-# Backport from Python 3
-@contextlib.contextmanager
-def TemporaryDirectory():  # noqa: N802
-    "Prepare a temporary directory, cleanup when done"
-    try:
-        tmpdir = tempfile.mkdtemp()
-        yield tmpdir
-    finally:
-        shutil.rmtree(tmpdir)
+            dest.unlink()
+            dest.write_bytes(txt)  # type: ignore[arg-type]
 
 
 # Remove the CMake install directory when done
 @contextlib.contextmanager
-def remove_output(*sources):
+def remove_output(*sources: str) -> Iterator[None]:
     try:
         yield
     finally:
@@ -153,9 +135,14 @@ def remove_output(*sources):
                 if "DCMAKE_INSTALL_PREFIX" not in c
             ]
             cmd += fcommand
-        cmake_opts = dict(cwd=DIR, stdout=sys.stdout, stderr=sys.stderr)
-        subprocess.check_call(cmd, **cmake_opts)
-        subprocess.check_call(["cmake", "--install", tmpdir], **cmake_opts)
+        subprocess.run(cmd, check=True, cwd=DIR, stdout=sys.stdout, stderr=sys.stderr)
+        subprocess.run(
+            ["cmake", "--install", tmpdir],
+            check=True,
+            cwd=DIR,
+            stdout=sys.stdout,
+            stderr=sys.stderr,
+        )
 
     txt = get_and_replace(setup_py, version=version, extra_cmd=extra_cmd)
     code = compile(txt, setup_py, "exec")
diff --git a/pybind11/tests/CMakeLists.txt b/pybind11/tests/CMakeLists.txt
index 9040cf8c06..7296cd1b81 100644
--- a/pybind11/tests/CMakeLists.txt
+++ b/pybind11/tests/CMakeLists.txt
@@ -179,11 +179,6 @@ if(PYBIND11_TEST_FILTER)
   pybind11_filter_tests(PYBIND11_TEST_FILES ${PYBIND11_TEST_FILTER})
 endif()
 
-if(PYTHON_VERSION VERSION_LESS 3.5)
-  pybind11_filter_tests(PYBIND11_TEST_FILES test_async.cpp MESSAGE
-                        "Skipping test_async on Python 2")
-endif()
-
 # Skip tests for CUDA check:
 # /pybind11/tests/test_constants_and_functions.cpp(125):
 #   error: incompatible exception specifications
@@ -220,6 +215,7 @@ tests_extra_targets("test_exceptions.py;test_local_bindings.py;test_stl.py;test_
                     "pybind11_cross_module_tests")
 
 # And add additional targets for other tests.
+tests_extra_targets("test_exceptions.py" "cross_module_interleaved_error_already_set")
 tests_extra_targets("test_gil_scoped.py" "cross_module_gil_utils")
 
 set(PYBIND11_EIGEN_REPO
@@ -356,7 +352,7 @@ endif()
 # Compile with compiler warnings turned on
 function(pybind11_enable_warnings target_name)
   if(MSVC)
-    target_compile_options(${target_name} PRIVATE /W4)
+    target_compile_options(${target_name} PRIVATE /W4 /wd4189)
   elseif(CMAKE_CXX_COMPILER_ID MATCHES "(GNU|Intel|Clang)" AND NOT PYBIND11_CUDA_TESTS)
     target_compile_options(
       ${target_name}
@@ -388,17 +384,6 @@ function(pybind11_enable_warnings target_name)
           -diag-disable 11074,11076)
     endif()
   endif()
-
-  # Needs to be re-added since the ordering requires these to be after the ones above
-  if(CMAKE_CXX_STANDARD
-     AND CMAKE_CXX_COMPILER_ID MATCHES "Clang"
-     AND PYTHON_VERSION VERSION_LESS 3.0)
-    if(CMAKE_CXX_STANDARD LESS 17)
-      target_compile_options(${target_name} PUBLIC -Wno-deprecated-register)
-    else()
-      target_compile_options(${target_name} PUBLIC -Wno-register)
-    endif()
-  endif()
 endfunction()
 
 set(test_targets pybind11_tests)
diff --git a/pybind11/tests/conftest.py b/pybind11/tests/conftest.py
index 362eb80691..02ce263afc 100644
--- a/pybind11/tests/conftest.py
+++ b/pybind11/tests/conftest.py
@@ -1,8 +1,7 @@
-# -*- coding: utf-8 -*-
 """pytest configuration
 
 Extends output capture as needed by pybind11: ignore constructors, optional unordered lines.
-Adds docstring and exceptions message sanitizers: ignore Python 2 vs 3 differences.
+Adds docstring and exceptions message sanitizers.
 """
 
 import contextlib
@@ -13,19 +12,14 @@
 
 import pytest
 
-import env
-
 # Early diagnostic for failed imports
-import pybind11_tests  # noqa: F401
+import pybind11_tests
 
-_unicode_marker = re.compile(r"u(\'[^\']*\')")
 _long_marker = re.compile(r"([0-9])L")
 _hexadecimal = re.compile(r"0x[0-9a-fA-F]+")
 
 # Avoid collecting Python3 only files
 collect_ignore = []
-if env.PY2:
-    collect_ignore.append("test_async.py")
 
 
 def _strip_and_dedent(s):
@@ -45,7 +39,7 @@ def _make_explanation(a, b):
     ]
 
 
-class Output(object):
+class Output:
     """Basic output post-processing and comparison"""
 
     def __init__(self, string):
@@ -83,7 +77,7 @@ def __eq__(self, other):
             return False
 
 
-class Capture(object):
+class Capture:
     def __init__(self, capfd):
         self.capfd = capfd
         self.out = ""
@@ -126,7 +120,7 @@ def capture(capsys):
     return Capture(capsys)
 
 
-class SanitizedString(object):
+class SanitizedString:
     def __init__(self, sanitizer):
         self.sanitizer = sanitizer
         self.string = ""
@@ -149,9 +143,7 @@ def __eq__(self, other):
 def _sanitize_general(s):
     s = s.strip()
     s = s.replace("pybind11_tests.", "m.")
-    s = s.replace("unicode", "str")
     s = _long_marker.sub(r"\1", s)
-    s = _unicode_marker.sub(r"\1", s)
     return s
 
 
@@ -206,3 +198,16 @@ def gc_collect():
 def pytest_configure():
     pytest.suppress = suppress
     pytest.gc_collect = gc_collect
+
+
+def pytest_report_header(config):
+    del config  # Unused.
+    assert (
+        pybind11_tests.compiler_info is not None
+    ), "Please update pybind11_tests.cpp if this assert fails."
+    return (
+        "C++ Info:"
+        f" {pybind11_tests.compiler_info}"
+        f" {pybind11_tests.cpp_std}"
+        f" {pybind11_tests.PYBIND11_INTERNALS_ID}"
+    )
diff --git a/pybind11/tests/constructor_stats.h b/pybind11/tests/constructor_stats.h
index 805968a09b..a3835c21e6 100644
--- a/pybind11/tests/constructor_stats.h
+++ b/pybind11/tests/constructor_stats.h
@@ -56,7 +56,8 @@ from the ConstructorStats instance `.values()` method.
 In some cases, when you need to track instances of a C++ class not registered with pybind11, you
 need to add a function returning the ConstructorStats for the C++ class; this can be done with:
 
-    m.def("get_special_cstats", &ConstructorStats::get<SpecialClass>, py::return_value_policy::reference)
+    m.def("get_special_cstats", &ConstructorStats::get<SpecialClass>,
+py::return_value_policy::reference)
 
 Finally, you can suppress the output messages, but keep the constructor tracking (for
 inspection/testing in python) by using the functions with `print_` replaced with `track_` (e.g.
@@ -65,15 +66,18 @@ inspection/testing in python) by using the functions with `print_` replaced with
 */
 
 #include "pybind11_tests.h"
-#include <unordered_map>
+
 #include <list>
-#include <typeindex>
 #include <sstream>
+#include <typeindex>
+#include <unordered_map>
 
 class ConstructorStats {
 protected:
-    std::unordered_map<void*, int> _instances; // Need a map rather than set because members can shared address with parents
-    std::list<std::string> _values; // Used to track values (e.g. of value constructors)
+    std::unordered_map<void *, int> _instances; // Need a map rather than set because members can
+                                                // shared address with parents
+    std::list<std::string> _values;             // Used to track values
+                                                // (e.g. of value constructors)
 public:
     int default_constructions = 0;
     int copy_constructions = 0;
@@ -96,26 +100,26 @@ class ConstructorStats {
         default_constructions++;
     }
 
-    void created(void *inst) {
-        ++_instances[inst];
-    }
+    void created(void *inst) { ++_instances[inst]; }
 
     void destroyed(void *inst) {
-        if (--_instances[inst] < 0)
+        if (--_instances[inst] < 0) {
             throw std::runtime_error("cstats.destroyed() called with unknown "
                                      "instance; potential double-destruction "
                                      "or a missing cstats.created()");
+        }
     }
 
     static void gc() {
         // Force garbage collection to ensure any pending destructors are invoked:
 #if defined(PYPY_VERSION)
         PyObject *globals = PyEval_GetGlobals();
-        PyObject *result = PyRun_String(
-            "import gc\n"
-            "for i in range(2):"
-            "    gc.collect()\n",
-            Py_file_input, globals, globals);
+        PyObject *result = PyRun_String("import gc\n"
+                                        "for i in range(2):"
+                                        "    gc.collect()\n",
+                                        Py_file_input,
+                                        globals,
+                                        globals);
         if (result == nullptr)
             throw py::error_already_set();
         Py_DECREF(result);
@@ -127,15 +131,18 @@ class ConstructorStats {
     int alive() {
         gc();
         int total = 0;
-        for (const auto &p : _instances)
-            if (p.second > 0)
+        for (const auto &p : _instances) {
+            if (p.second > 0) {
                 total += p.second;
+            }
+        }
         return total;
     }
 
     void value() {} // Recursion terminator
     // Takes one or more values, converts them to strings, then stores them.
-    template <typename T, typename... Tmore> void value(const T &v, Tmore &&...args) {
+    template <typename T, typename... Tmore>
+    void value(const T &v, Tmore &&...args) {
         std::ostringstream oss;
         oss << v;
         _values.push_back(oss.str());
@@ -145,19 +152,22 @@ class ConstructorStats {
     // Move out stored values
     py::list values() {
         py::list l;
-        for (const auto &v : _values) l.append(py::cast(v));
+        for (const auto &v : _values) {
+            l.append(py::cast(v));
+        }
         _values.clear();
         return l;
     }
 
     // Gets constructor stats from a C++ type index
-    static ConstructorStats& get(std::type_index type) {
+    static ConstructorStats &get(std::type_index type) {
         static std::unordered_map<std::type_index, ConstructorStats> all_cstats;
         return all_cstats[type];
     }
 
     // Gets constructor stats from a C++ type
-    template <typename T> static ConstructorStats& get() {
+    template <typename T>
+    static ConstructorStats &get() {
 #if defined(PYPY_VERSION)
         gc();
 #endif
@@ -165,11 +175,12 @@ class ConstructorStats {
     }
 
     // Gets constructor stats from a Python class
-    static ConstructorStats& get(py::object class_) {
+    static ConstructorStats &get(py::object class_) {
         auto &internals = py::detail::get_internals();
         const std::type_index *t1 = nullptr, *t2 = nullptr;
         try {
-            auto *type_info = internals.registered_types_py.at((PyTypeObject *) class_.ptr()).at(0);
+            auto *type_info
+                = internals.registered_types_py.at((PyTypeObject *) class_.ptr()).at(0);
             for (auto &p : internals.registered_types_cpp) {
                 if (p.second == type_info) {
                     if (t1) {
@@ -179,17 +190,23 @@ class ConstructorStats {
                     t1 = &p.first;
                 }
             }
+        } catch (const std::out_of_range &) {
+        }
+        if (!t1) {
+            throw std::runtime_error("Unknown class passed to ConstructorStats::get()");
         }
-        catch (const std::out_of_range&) {}
-        if (!t1) throw std::runtime_error("Unknown class passed to ConstructorStats::get()");
         auto &cs1 = get(*t1);
-        // If we have both a t1 and t2 match, one is probably the trampoline class; return whichever
-        // has more constructions (typically one or the other will be 0)
+        // If we have both a t1 and t2 match, one is probably the trampoline class; return
+        // whichever has more constructions (typically one or the other will be 0)
         if (t2) {
             auto &cs2 = get(*t2);
-            int cs1_total = cs1.default_constructions + cs1.copy_constructions + cs1.move_constructions + (int) cs1._values.size();
-            int cs2_total = cs2.default_constructions + cs2.copy_constructions + cs2.move_constructions + (int) cs2._values.size();
-            if (cs2_total > cs1_total) return cs2;
+            int cs1_total = cs1.default_constructions + cs1.copy_constructions
+                            + cs1.move_constructions + (int) cs1._values.size();
+            int cs2_total = cs2.default_constructions + cs2.copy_constructions
+                            + cs2.move_constructions + (int) cs2._values.size();
+            if (cs2_total > cs1_total) {
+                return cs2;
+            }
         }
         return cs1;
     }
@@ -198,78 +215,108 @@ class ConstructorStats {
 // To track construction/destruction, you need to call these methods from the various
 // constructors/operators.  The ones that take extra values record the given values in the
 // constructor stats values for later inspection.
-template <class T> void track_copy_created(T *inst) { ConstructorStats::get<T>().copy_created(inst); }
-template <class T> void track_move_created(T *inst) { ConstructorStats::get<T>().move_created(inst); }
-template <class T, typename... Values> void track_copy_assigned(T *, Values &&...values) {
+template <class T>
+void track_copy_created(T *inst) {
+    ConstructorStats::get<T>().copy_created(inst);
+}
+template <class T>
+void track_move_created(T *inst) {
+    ConstructorStats::get<T>().move_created(inst);
+}
+template <class T, typename... Values>
+void track_copy_assigned(T *, Values &&...values) {
     auto &cst = ConstructorStats::get<T>();
     cst.copy_assignments++;
     cst.value(std::forward<Values>(values)...);
 }
-template <class T, typename... Values> void track_move_assigned(T *, Values &&...values) {
+template <class T, typename... Values>
+void track_move_assigned(T *, Values &&...values) {
     auto &cst = ConstructorStats::get<T>();
     cst.move_assignments++;
     cst.value(std::forward<Values>(values)...);
 }
-template <class T, typename... Values> void track_default_created(T *inst, Values &&...values) {
+template <class T, typename... Values>
+void track_default_created(T *inst, Values &&...values) {
     auto &cst = ConstructorStats::get<T>();
     cst.default_created(inst);
     cst.value(std::forward<Values>(values)...);
 }
-template <class T, typename... Values> void track_created(T *inst, Values &&...values) {
+template <class T, typename... Values>
+void track_created(T *inst, Values &&...values) {
     auto &cst = ConstructorStats::get<T>();
     cst.created(inst);
     cst.value(std::forward<Values>(values)...);
 }
-template <class T, typename... Values> void track_destroyed(T *inst) {
+template <class T, typename... Values>
+void track_destroyed(T *inst) {
     ConstructorStats::get<T>().destroyed(inst);
 }
-template <class T, typename... Values> void track_values(T *, Values &&...values) {
+template <class T, typename... Values>
+void track_values(T *, Values &&...values) {
     ConstructorStats::get<T>().value(std::forward<Values>(values)...);
 }
 
 /// Don't cast pointers to Python, print them as strings
 inline const char *format_ptrs(const char *p) { return p; }
 template <typename T>
-py::str format_ptrs(T *p) { return "{:#x}"_s.format(reinterpret_cast<std::uintptr_t>(p)); }
+py::str format_ptrs(T *p) {
+    return "{:#x}"_s.format(reinterpret_cast<std::uintptr_t>(p));
+}
 template <typename T>
-auto format_ptrs(T &&x) -> decltype(std::forward<T>(x)) { return std::forward<T>(x); }
+auto format_ptrs(T &&x) -> decltype(std::forward<T>(x)) {
+    return std::forward<T>(x);
+}
 
 template <class T, typename... Output>
 void print_constr_details(T *inst, const std::string &action, Output &&...output) {
-    py::print("###", py::type_id<T>(), "@", format_ptrs(inst), action,
+    py::print("###",
+              py::type_id<T>(),
+              "@",
+              format_ptrs(inst),
+              action,
               format_ptrs(std::forward<Output>(output))...);
 }
 
 // Verbose versions of the above:
-template <class T, typename... Values> void print_copy_created(T *inst, Values &&...values) { // NB: this prints, but doesn't store, given values
+template <class T, typename... Values>
+void print_copy_created(T *inst,
+                        Values &&...values) { // NB: this prints, but doesn't store, given values
     print_constr_details(inst, "created via copy constructor", values...);
     track_copy_created(inst);
 }
-template <class T, typename... Values> void print_move_created(T *inst, Values &&...values) { // NB: this prints, but doesn't store, given values
+template <class T, typename... Values>
+void print_move_created(T *inst,
+                        Values &&...values) { // NB: this prints, but doesn't store, given values
     print_constr_details(inst, "created via move constructor", values...);
     track_move_created(inst);
 }
-template <class T, typename... Values> void print_copy_assigned(T *inst, Values &&...values) {
+template <class T, typename... Values>
+void print_copy_assigned(T *inst, Values &&...values) {
     print_constr_details(inst, "assigned via copy assignment", values...);
     track_copy_assigned(inst, values...);
 }
-template <class T, typename... Values> void print_move_assigned(T *inst, Values &&...values) {
+template <class T, typename... Values>
+void print_move_assigned(T *inst, Values &&...values) {
     print_constr_details(inst, "assigned via move assignment", values...);
     track_move_assigned(inst, values...);
 }
-template <class T, typename... Values> void print_default_created(T *inst, Values &&...values) {
+template <class T, typename... Values>
+void print_default_created(T *inst, Values &&...values) {
     print_constr_details(inst, "created via default constructor", values...);
     track_default_created(inst, values...);
 }
-template <class T, typename... Values> void print_created(T *inst, Values &&...values) {
+template <class T, typename... Values>
+void print_created(T *inst, Values &&...values) {
     print_constr_details(inst, "created", values...);
     track_created(inst, values...);
 }
-template <class T, typename... Values> void print_destroyed(T *inst, Values &&...values) { // Prints but doesn't store given values
+template <class T, typename... Values>
+void print_destroyed(T *inst, Values &&...values) { // Prints but doesn't store given values
     print_constr_details(inst, "destroyed", values...);
     track_destroyed(inst);
 }
-template <class T, typename... Values> void print_values(T *inst, Values &&...values) {
+template <class T, typename... Values>
+void print_values(T *inst, Values &&...values) {
     print_constr_details(inst, ":", values...);
     track_values(inst, values...);
 }
diff --git a/pybind11/tests/cross_module_gil_utils.cpp b/pybind11/tests/cross_module_gil_utils.cpp
index 07db9f6e48..1436c35d6e 100644
--- a/pybind11/tests/cross_module_gil_utils.cpp
+++ b/pybind11/tests/cross_module_gil_utils.cpp
@@ -7,6 +7,7 @@
     BSD-style license that can be found in the LICENSE file.
 */
 #include <pybind11/pybind11.h>
+
 #include <cstdint>
 
 // This file mimics a DSO that makes pybind11 calls but does not define a
@@ -24,50 +25,21 @@ void gil_acquire() { py::gil_scoped_acquire gil; }
 
 constexpr char kModuleName[] = "cross_module_gil_utils";
 
-#if PY_MAJOR_VERSION >= 3
 struct PyModuleDef moduledef = {
-    PyModuleDef_HEAD_INIT,
-    kModuleName,
-    NULL,
-    0,
-    NULL,
-    NULL,
-    NULL,
-    NULL,
-    NULL
-};
-#else
-PyMethodDef module_methods[] = {
-    {NULL, NULL, 0, NULL}
-};
-#endif
+    PyModuleDef_HEAD_INIT, kModuleName, nullptr, 0, nullptr, nullptr, nullptr, nullptr, nullptr};
 
-}  // namespace
+} // namespace
 
-extern "C" PYBIND11_EXPORT
-#if PY_MAJOR_VERSION >= 3
-PyObject* PyInit_cross_module_gil_utils()
-#else
-void initcross_module_gil_utils()
-#endif
-{
+extern "C" PYBIND11_EXPORT PyObject *PyInit_cross_module_gil_utils() {
 
-    PyObject* m =
-#if PY_MAJOR_VERSION >= 3
-        PyModule_Create(&moduledef);
-#else
-        Py_InitModule(kModuleName, module_methods);
-#endif
+    PyObject *m = PyModule_Create(&moduledef);
 
-    if (m != NULL) {
-        static_assert(
-            sizeof(&gil_acquire) == sizeof(void*),
-            "Function pointer must have the same size as void*");
-        PyModule_AddObject(m, "gil_acquire_funcaddr",
-                           PyLong_FromVoidPtr(reinterpret_cast<void*>(&gil_acquire)));
+    if (m != nullptr) {
+        static_assert(sizeof(&gil_acquire) == sizeof(void *),
+                      "Function pointer must have the same size as void*");
+        PyModule_AddObject(
+            m, "gil_acquire_funcaddr", PyLong_FromVoidPtr(reinterpret_cast<void *>(&gil_acquire)));
     }
 
-#if PY_MAJOR_VERSION >= 3
     return m;
-#endif
 }
diff --git a/pybind11/tests/cross_module_interleaved_error_already_set.cpp b/pybind11/tests/cross_module_interleaved_error_already_set.cpp
new file mode 100644
index 0000000000..fdd9939e45
--- /dev/null
+++ b/pybind11/tests/cross_module_interleaved_error_already_set.cpp
@@ -0,0 +1,51 @@
+/*
+    Copyright (c) 2022 Google LLC
+
+    All rights reserved. Use of this source code is governed by a
+    BSD-style license that can be found in the LICENSE file.
+*/
+
+#include <pybind11/pybind11.h>
+
+// This file mimics a DSO that makes pybind11 calls but does not define a PYBIND11_MODULE,
+// so that the first call of cross_module_error_already_set() triggers the first call of
+// pybind11::detail::get_internals().
+
+namespace {
+
+namespace py = pybind11;
+
+void interleaved_error_already_set() {
+    PyErr_SetString(PyExc_RuntimeError, "1st error.");
+    try {
+        throw py::error_already_set();
+    } catch (const py::error_already_set &) {
+        // The 2nd error could be conditional in a real application.
+        PyErr_SetString(PyExc_RuntimeError, "2nd error.");
+    } // Here the 1st error is destroyed before the 2nd error is fetched.
+    // The error_already_set dtor triggers a pybind11::detail::get_internals()
+    // call via pybind11::gil_scoped_acquire.
+    if (PyErr_Occurred()) {
+        throw py::error_already_set();
+    }
+}
+
+constexpr char kModuleName[] = "cross_module_interleaved_error_already_set";
+
+struct PyModuleDef moduledef = {
+    PyModuleDef_HEAD_INIT, kModuleName, nullptr, 0, nullptr, nullptr, nullptr, nullptr, nullptr};
+
+} // namespace
+
+extern "C" PYBIND11_EXPORT PyObject *PyInit_cross_module_interleaved_error_already_set() {
+    PyObject *m = PyModule_Create(&moduledef);
+    if (m != nullptr) {
+        static_assert(sizeof(&interleaved_error_already_set) == sizeof(void *),
+                      "Function pointer must have the same size as void *");
+        PyModule_AddObject(
+            m,
+            "funcaddr",
+            PyLong_FromVoidPtr(reinterpret_cast<void *>(&interleaved_error_already_set)));
+    }
+    return m;
+}
diff --git a/pybind11/tests/env.py b/pybind11/tests/env.py
index 6172b451b3..0345df65dc 100644
--- a/pybind11/tests/env.py
+++ b/pybind11/tests/env.py
@@ -1,4 +1,3 @@
-# -*- coding: utf-8 -*-
 import platform
 import sys
 
@@ -11,10 +10,6 @@
 CPYTHON = platform.python_implementation() == "CPython"
 PYPY = platform.python_implementation() == "PyPy"
 
-PY2 = sys.version_info.major == 2
-
-PY = sys.version_info
-
 
 def deprecated_call():
     """
diff --git a/pybind11/tests/extra_python_package/test_files.py b/pybind11/tests/extra_python_package/test_files.py
index 337a72dfea..ba16b52241 100644
--- a/pybind11/tests/extra_python_package/test_files.py
+++ b/pybind11/tests/extra_python_package/test_files.py
@@ -1,4 +1,3 @@
-# -*- coding: utf-8 -*-
 import contextlib
 import os
 import string
@@ -64,11 +63,9 @@
     "__init__.py",
     "__main__.py",
     "_version.py",
-    "_version.pyi",
     "commands.py",
     "py.typed",
     "setup_helpers.py",
-    "setup_helpers.pyi",
 }
 
 headers = main_headers | detail_headers | stl_headers
@@ -111,19 +108,19 @@ def test_build_sdist(monkeypatch, tmpdir):
     out = subprocess.check_output(
         [
             sys.executable,
-            "setup.py",
-            "sdist",
-            "--formats=tar",
-            "--dist-dir",
+            "-m",
+            "build",
+            "--sdist",
+            "--outdir",
             str(tmpdir),
         ]
     )
     if hasattr(out, "decode"):
         out = out.decode()
 
-    (sdist,) = tmpdir.visit("*.tar")
+    (sdist,) = tmpdir.visit("*.tar.gz")
 
-    with tarfile.open(str(sdist)) as tar:
+    with tarfile.open(str(sdist), "r:gz") as tar:
         start = tar.getnames()[0] + "/"
         version = start[9:-1]
         simpler = {n.split("/", 1)[-1] for n in tar.getnames()[1:]}
@@ -148,9 +145,9 @@ def test_build_sdist(monkeypatch, tmpdir):
             contents = f.read().decode("utf8")
         assert 'set(pybind11_INCLUDE_DIR "${PACKAGE_PREFIX_DIR}/include")' in contents
 
-    files = {"pybind11/{}".format(n) for n in all_files}
+    files = {f"pybind11/{n}" for n in all_files}
     files |= sdist_files
-    files |= {"pybind11{}".format(n) for n in local_sdist_files}
+    files |= {f"pybind11{n}" for n in local_sdist_files}
     files.add("pybind11.egg-info/entry_points.txt")
     files.add("pybind11.egg-info/requires.txt")
     assert simpler == files
@@ -172,23 +169,23 @@ def test_build_global_dist(monkeypatch, tmpdir):
 
     monkeypatch.chdir(MAIN_DIR)
     monkeypatch.setenv("PYBIND11_GLOBAL_SDIST", "1")
-
     out = subprocess.check_output(
         [
             sys.executable,
-            "setup.py",
-            "sdist",
-            "--formats=tar",
-            "--dist-dir",
+            "-m",
+            "build",
+            "--sdist",
+            "--outdir",
             str(tmpdir),
         ]
     )
+
     if hasattr(out, "decode"):
         out = out.decode()
 
-    (sdist,) = tmpdir.visit("*.tar")
+    (sdist,) = tmpdir.visit("*.tar.gz")
 
-    with tarfile.open(str(sdist)) as tar:
+    with tarfile.open(str(sdist), "r:gz") as tar:
         start = tar.getnames()[0] + "/"
         version = start[16:-1]
         simpler = {n.split("/", 1)[-1] for n in tar.getnames()[1:]}
@@ -203,9 +200,9 @@ def test_build_global_dist(monkeypatch, tmpdir):
         ) as f:
             pyproject_toml = f.read()
 
-    files = {"pybind11/{}".format(n) for n in all_files}
+    files = {f"pybind11/{n}" for n in all_files}
     files |= sdist_files
-    files |= {"pybind11_global{}".format(n) for n in local_sdist_files}
+    files |= {f"pybind11_global{n}" for n in local_sdist_files}
     assert simpler == files
 
     with open(os.path.join(MAIN_DIR, "tools", "setup_global.py.in"), "rb") as f:
@@ -230,7 +227,7 @@ def tests_build_wheel(monkeypatch, tmpdir):
 
     (wheel,) = tmpdir.visit("*.whl")
 
-    files = {"pybind11/{}".format(n) for n in all_files}
+    files = {f"pybind11/{n}" for n in all_files}
     files |= {
         "dist-info/LICENSE",
         "dist-info/METADATA",
@@ -244,9 +241,7 @@ def tests_build_wheel(monkeypatch, tmpdir):
         names = z.namelist()
 
     trimmed = {n for n in names if "dist-info" not in n}
-    trimmed |= {
-        "dist-info/{}".format(n.split("/", 1)[-1]) for n in names if "dist-info" in n
-    }
+    trimmed |= {f"dist-info/{n.split('/', 1)[-1]}" for n in names if "dist-info" in n}
     assert files == trimmed
 
 
@@ -260,8 +255,8 @@ def tests_build_global_wheel(monkeypatch, tmpdir):
 
     (wheel,) = tmpdir.visit("*.whl")
 
-    files = {"data/data/{}".format(n) for n in src_files}
-    files |= {"data/headers/{}".format(n[8:]) for n in headers}
+    files = {f"data/data/{n}" for n in src_files}
+    files |= {f"data/headers/{n[8:]}" for n in headers}
     files |= {
         "dist-info/LICENSE",
         "dist-info/METADATA",
diff --git a/pybind11/tests/extra_setuptools/test_setuphelper.py b/pybind11/tests/extra_setuptools/test_setuphelper.py
index 788f368b14..d5d3093bf0 100644
--- a/pybind11/tests/extra_setuptools/test_setuphelper.py
+++ b/pybind11/tests/extra_setuptools/test_setuphelper.py
@@ -1,4 +1,3 @@
-# -*- coding: utf-8 -*-
 import os
 import subprocess
 import sys
@@ -19,7 +18,7 @@ def test_simple_setup_py(monkeypatch, tmpdir, parallel, std):
 
     (tmpdir / "setup.py").write_text(
         dedent(
-            u"""\
+            f"""\
             import sys
             sys.path.append({MAIN_DIR!r})
 
@@ -52,13 +51,13 @@ def test_simple_setup_py(monkeypatch, tmpdir, parallel, std):
                 ext_modules=ext_modules,
             )
             """
-        ).format(MAIN_DIR=MAIN_DIR, std=std, parallel=parallel),
+        ),
         encoding="ascii",
     )
 
     (tmpdir / "main.cpp").write_text(
         dedent(
-            u"""\
+            """\
             #include <pybind11/pybind11.h>
 
             int f(int x) {
@@ -96,7 +95,7 @@ def test_simple_setup_py(monkeypatch, tmpdir, parallel, std):
 
     (tmpdir / "test.py").write_text(
         dedent(
-            u"""\
+            """\
             import simple_setup
             assert simple_setup.f(3) == 9
             """
@@ -121,10 +120,11 @@ def test_intree_extensions(monkeypatch, tmpdir):
     subdir.ensure_dir()
     src = subdir / "ext.cpp"
     src.ensure()
-    (ext,) = intree_extensions([src.relto(tmpdir)])
+    relpath = src.relto(tmpdir)
+    (ext,) = intree_extensions([relpath])
     assert ext.name == "ext"
     subdir.ensure("__init__.py")
-    (ext,) = intree_extensions([src.relto(tmpdir)])
+    (ext,) = intree_extensions([relpath])
     assert ext.name == "dir.ext"
 
 
diff --git a/pybind11/tests/local_bindings.h b/pybind11/tests/local_bindings.h
index 4c936c19a5..01d2785353 100644
--- a/pybind11/tests/local_bindings.h
+++ b/pybind11/tests/local_bindings.h
@@ -1,12 +1,13 @@
 #pragma once
-#include <utility>
-
 #include "pybind11_tests.h"
 
+#include <utility>
+
 /// Simple class used to test py::local:
-template <int> class LocalBase {
+template <int>
+class LocalBase {
 public:
-    explicit LocalBase(int i) : i(i) { }
+    explicit LocalBase(int i) : i(i) {}
     int i = -1;
 };
 
@@ -35,12 +36,12 @@ using NonLocalVec2 = std::vector<NonLocal2>;
 using NonLocalMap = std::unordered_map<std::string, NonLocalType>;
 using NonLocalMap2 = std::unordered_map<std::string, uint8_t>;
 
-
 // Exception that will be caught via the module local translator.
 class LocalException : public std::exception {
 public:
-    explicit LocalException(const char * m) : message{m} {}
-    const char * what() const noexcept override {return message.c_str();}
+    explicit LocalException(const char *m) : message{m} {}
+    const char *what() const noexcept override { return message.c_str(); }
+
 private:
     std::string message = "";
 };
@@ -48,8 +49,9 @@ class LocalException : public std::exception {
 // Exception that will be registered with register_local_exception_translator
 class LocalSimpleException : public std::exception {
 public:
-    explicit LocalSimpleException(const char * m) : message{m} {}
-    const char * what() const noexcept override {return message.c_str();}
+    explicit LocalSimpleException(const char *m) : message{m} {}
+    const char *what() const noexcept override { return message.c_str(); }
+
 private:
     std::string message = "";
 };
@@ -58,17 +60,16 @@ PYBIND11_MAKE_OPAQUE(LocalVec);
 PYBIND11_MAKE_OPAQUE(LocalVec2);
 PYBIND11_MAKE_OPAQUE(LocalMap);
 PYBIND11_MAKE_OPAQUE(NonLocalVec);
-//PYBIND11_MAKE_OPAQUE(NonLocalVec2); // same type as LocalVec2
+// PYBIND11_MAKE_OPAQUE(NonLocalVec2); // same type as LocalVec2
 PYBIND11_MAKE_OPAQUE(NonLocalMap);
 PYBIND11_MAKE_OPAQUE(NonLocalMap2);
 
-
 // Simple bindings (used with the above):
 template <typename T, int Adjust = 0, typename... Args>
-py::class_<T> bind_local(Args && ...args) {
-    return py::class_<T>(std::forward<Args>(args)...)
-        .def(py::init<int>())
-        .def("get", [](T &i) { return i.i + Adjust; });
+py::class_<T> bind_local(Args &&...args) {
+    return py::class_<T>(std::forward<Args>(args)...).def(py::init<int>()).def("get", [](T &i) {
+        return i.i + Adjust;
+    });
 };
 
 // Simulate a foreign library base class (to match the example in the docs):
@@ -81,5 +82,11 @@ class Pet {
 };
 } // namespace pets
 
-struct MixGL { int i; explicit MixGL(int i) : i{i} {} };
-struct MixGL2 { int i; explicit MixGL2(int i) : i{i} {} };
+struct MixGL {
+    int i;
+    explicit MixGL(int i) : i{i} {}
+};
+struct MixGL2 {
+    int i;
+    explicit MixGL2(int i) : i{i} {}
+};
diff --git a/pybind11/tests/object.h b/pybind11/tests/object.h
index be21bf6316..564dd4a7a5 100644
--- a/pybind11/tests/object.h
+++ b/pybind11/tests/object.h
@@ -1,8 +1,9 @@
 #if !defined(__OBJECT_H)
-#define __OBJECT_H
+#    define __OBJECT_H
 
-#include <atomic>
-#include "constructor_stats.h"
+#    include "constructor_stats.h"
+
+#    include <atomic>
 
 /// Reference counted object base class
 class Object {
@@ -27,20 +28,23 @@ class Object {
      */
     void decRef(bool dealloc = true) const {
         --m_refCount;
-        if (m_refCount == 0 && dealloc)
+        if (m_refCount == 0 && dealloc) {
             delete this;
-        else if (m_refCount < 0)
+        } else if (m_refCount < 0) {
             throw std::runtime_error("Internal error: reference count < 0!");
+        }
     }
 
     virtual std::string toString() const = 0;
+
 protected:
     /** \brief Virtual protected deconstructor.
      * (Will only be called by \ref ref)
      */
     virtual ~Object() { print_destroyed(this); }
+
 private:
-    mutable std::atomic<int> m_refCount { 0 };
+    mutable std::atomic<int> m_refCount{0};
 };
 
 // Tag class used to track constructions of ref objects.  When we track constructors, below, we
@@ -59,84 +63,105 @@ class ref_tag {};
  *
  * \ingroup libcore
  */
-template <typename T> class ref {
+template <typename T>
+class ref {
 public:
     /// Create a nullptr reference
-    ref() : m_ptr(nullptr) { print_default_created(this); track_default_created((ref_tag*) this); }
+    ref() : m_ptr(nullptr) {
+        print_default_created(this);
+        track_default_created((ref_tag *) this);
+    }
 
     /// Construct a reference from a pointer
     explicit ref(T *ptr) : m_ptr(ptr) {
-        if (m_ptr) ((Object *) m_ptr)->incRef();
-
-        print_created(this, "from pointer", m_ptr); track_created((ref_tag*) this, "from pointer");
+        if (m_ptr) {
+            ((Object *) m_ptr)->incRef();
+        }
 
+        print_created(this, "from pointer", m_ptr);
+        track_created((ref_tag *) this, "from pointer");
     }
 
     /// Copy constructor
     ref(const ref &r) : m_ptr(r.m_ptr) {
-        if (m_ptr)
+        if (m_ptr) {
             ((Object *) m_ptr)->incRef();
+        }
 
-        print_copy_created(this, "with pointer", m_ptr); track_copy_created((ref_tag*) this);
+        print_copy_created(this, "with pointer", m_ptr);
+        track_copy_created((ref_tag *) this);
     }
 
     /// Move constructor
     ref(ref &&r) noexcept : m_ptr(r.m_ptr) {
         r.m_ptr = nullptr;
 
-        print_move_created(this, "with pointer", m_ptr); track_move_created((ref_tag*) this);
+        print_move_created(this, "with pointer", m_ptr);
+        track_move_created((ref_tag *) this);
     }
 
     /// Destroy this reference
     ~ref() {
-        if (m_ptr)
+        if (m_ptr) {
             ((Object *) m_ptr)->decRef();
+        }
 
-        print_destroyed(this); track_destroyed((ref_tag*) this);
+        print_destroyed(this);
+        track_destroyed((ref_tag *) this);
     }
 
     /// Move another reference into the current one
     ref &operator=(ref &&r) noexcept {
-        print_move_assigned(this, "pointer", r.m_ptr); track_move_assigned((ref_tag*) this);
+        print_move_assigned(this, "pointer", r.m_ptr);
+        track_move_assigned((ref_tag *) this);
 
-        if (*this == r)
+        if (*this == r) {
             return *this;
-        if (m_ptr)
+        }
+        if (m_ptr) {
             ((Object *) m_ptr)->decRef();
+        }
         m_ptr = r.m_ptr;
         r.m_ptr = nullptr;
         return *this;
     }
 
     /// Overwrite this reference with another reference
-    ref& operator=(const ref& r) {
+    ref &operator=(const ref &r) {
         if (this == &r) {
             return *this;
         }
         print_copy_assigned(this, "pointer", r.m_ptr);
         track_copy_assigned((ref_tag *) this);
 
-        if (m_ptr == r.m_ptr)
+        if (m_ptr == r.m_ptr) {
             return *this;
-        if (m_ptr)
+        }
+        if (m_ptr) {
             ((Object *) m_ptr)->decRef();
+        }
         m_ptr = r.m_ptr;
-        if (m_ptr)
+        if (m_ptr) {
             ((Object *) m_ptr)->incRef();
+        }
         return *this;
     }
 
     /// Overwrite this reference with a pointer to another object
-    ref& operator=(T *ptr) {
-        print_values(this, "assigned pointer"); track_values((ref_tag*) this, "assigned pointer");
+    ref &operator=(T *ptr) {
+        print_values(this, "assigned pointer");
+        track_values((ref_tag *) this, "assigned pointer");
 
-        if (m_ptr == ptr)
+        if (m_ptr == ptr) {
             return *this;
-        if (m_ptr)
+        }
+        if (m_ptr) {
             ((Object *) m_ptr)->decRef();
+        }
         m_ptr = ptr;
-        if (m_ptr)
+        if (m_ptr) {
             ((Object *) m_ptr)->incRef();
+        }
         return *this;
     }
 
@@ -147,31 +172,32 @@ template <typename T> class ref {
     bool operator!=(const ref &r) const { return m_ptr != r.m_ptr; }
 
     /// Compare this reference with a pointer
-    bool operator==(const T* ptr) const { return m_ptr == ptr; }
+    bool operator==(const T *ptr) const { return m_ptr == ptr; }
 
     /// Compare this reference with a pointer
-    bool operator!=(const T* ptr) const { return m_ptr != ptr; }
+    bool operator!=(const T *ptr) const { return m_ptr != ptr; }
 
     /// Access the object referenced by this reference
-    T* operator->() { return m_ptr; }
+    T *operator->() { return m_ptr; }
 
     /// Access the object referenced by this reference
-    const T* operator->() const { return m_ptr; }
+    const T *operator->() const { return m_ptr; }
 
     /// Return a C++ reference to the referenced object
-    T& operator*() { return *m_ptr; }
+    T &operator*() { return *m_ptr; }
 
     /// Return a const C++ reference to the referenced object
-    const T& operator*() const { return *m_ptr; }
+    const T &operator*() const { return *m_ptr; }
 
     /// Return a pointer to the referenced object
-    explicit operator T* () { return m_ptr; }
+    explicit operator T *() { return m_ptr; }
 
     /// Return a const pointer to the referenced object
-    T* get_ptr() { return m_ptr; }
+    T *get_ptr() { return m_ptr; }
 
     /// Return a pointer to the referenced object
-    const T* get_ptr() const { return m_ptr; }
+    const T *get_ptr() const { return m_ptr; }
+
 private:
     T *m_ptr;
 };
diff --git a/pybind11/tests/pybind11_cross_module_tests.cpp b/pybind11/tests/pybind11_cross_module_tests.cpp
index 5838cb2746..9379f3f259 100644
--- a/pybind11/tests/pybind11_cross_module_tests.cpp
+++ b/pybind11/tests/pybind11_cross_module_tests.cpp
@@ -7,12 +7,12 @@
     BSD-style license that can be found in the LICENSE file.
 */
 
-#include "pybind11_tests.h"
+#include <pybind11/stl_bind.h>
+
 #include "local_bindings.h"
+#include "pybind11_tests.h"
 #include "test_exceptions.h"
 
-#include <pybind11/stl_bind.h>
-
 #include <numeric>
 #include <utility>
 
@@ -30,37 +30,45 @@ PYBIND11_MODULE(pybind11_cross_module_tests, m) {
 
     // test_exceptions.py
     py::register_local_exception<LocalSimpleException>(m, "LocalSimpleException");
-    m.def("raise_runtime_error", []() { PyErr_SetString(PyExc_RuntimeError, "My runtime error"); throw py::error_already_set(); });
-    m.def("raise_value_error", []() { PyErr_SetString(PyExc_ValueError, "My value error"); throw py::error_already_set(); });
+    m.def("raise_runtime_error", []() {
+        PyErr_SetString(PyExc_RuntimeError, "My runtime error");
+        throw py::error_already_set();
+    });
+    m.def("raise_value_error", []() {
+        PyErr_SetString(PyExc_ValueError, "My value error");
+        throw py::error_already_set();
+    });
     m.def("throw_pybind_value_error", []() { throw py::value_error("pybind11 value error"); });
     m.def("throw_pybind_type_error", []() { throw py::type_error("pybind11 type error"); });
     m.def("throw_stop_iteration", []() { throw py::stop_iteration(); });
     m.def("throw_local_error", []() { throw LocalException("just local"); });
     m.def("throw_local_simple_error", []() { throw LocalSimpleException("external mod"); });
     py::register_exception_translator([](std::exception_ptr p) {
-      try {
-          if (p) std::rethrow_exception(p);
-      } catch (const shared_exception &e) {
-          PyErr_SetString(PyExc_KeyError, e.what());
-      }
+        try {
+            if (p) {
+                std::rethrow_exception(p);
+            }
+        } catch (const shared_exception &e) {
+            PyErr_SetString(PyExc_KeyError, e.what());
+        }
     });
 
     // translate the local exception into a key error but only in this module
     py::register_local_exception_translator([](std::exception_ptr p) {
-      try {
-          if (p) {
-            std::rethrow_exception(p);
-          }
-      } catch (const LocalException &e) {
-        PyErr_SetString(PyExc_KeyError, e.what());
-      }
+        try {
+            if (p) {
+                std::rethrow_exception(p);
+            }
+        } catch (const LocalException &e) {
+            PyErr_SetString(PyExc_KeyError, e.what());
+        }
     });
 
     // test_local_bindings.py
     // Local to both:
-    bind_local<LocalType, 1>(m, "LocalType", py::module_local())
-        .def("get2", [](LocalType &t) { return t.i + 2; })
-        ;
+    bind_local<LocalType, 1>(m, "LocalType", py::module_local()).def("get2", [](LocalType &t) {
+        return t.i + 2;
+    });
 
     // Can only be called with our python type:
     m.def("local_value", [](LocalType &l) { return l.i; });
@@ -68,9 +76,7 @@ PYBIND11_MODULE(pybind11_cross_module_tests, m) {
     // test_nonlocal_failure
     // This registration will fail (global registration when LocalFail is already registered
     // globally in the main test module):
-    m.def("register_nonlocal", [m]() {
-        bind_local<NonLocalType, 0>(m, "NonLocalType");
-    });
+    m.def("register_nonlocal", [m]() { bind_local<NonLocalType, 0>(m, "NonLocalType"); });
 
     // test_stl_bind_local
     // stl_bind.h binders defaults to py::module_local if the types are local or converting:
@@ -80,27 +86,21 @@ PYBIND11_MODULE(pybind11_cross_module_tests, m) {
     // test_stl_bind_global
     // and global if the type (or one of the types, for the map) is global (so these will fail,
     // assuming pybind11_tests is already loaded):
-    m.def("register_nonlocal_vec", [m]() {
-        py::bind_vector<NonLocalVec>(m, "NonLocalVec");
-    });
-    m.def("register_nonlocal_map", [m]() {
-        py::bind_map<NonLocalMap>(m, "NonLocalMap");
-    });
+    m.def("register_nonlocal_vec", [m]() { py::bind_vector<NonLocalVec>(m, "NonLocalVec"); });
+    m.def("register_nonlocal_map", [m]() { py::bind_map<NonLocalMap>(m, "NonLocalMap"); });
     // The default can, however, be overridden to global using `py::module_local()` or
     // `py::module_local(false)`.
     // Explicitly made local:
     py::bind_vector<NonLocalVec2>(m, "NonLocalVec2", py::module_local());
     // Explicitly made global (and so will fail to bind):
-    m.def("register_nonlocal_map2", [m]() {
-        py::bind_map<NonLocalMap2>(m, "NonLocalMap2", py::module_local(false));
-    });
+    m.def("register_nonlocal_map2",
+          [m]() { py::bind_map<NonLocalMap2>(m, "NonLocalMap2", py::module_local(false)); });
 
     // test_mixed_local_global
     // We try this both with the global type registered first and vice versa (the order shouldn't
     // matter).
-    m.def("register_mixed_global_local", [m]() {
-        bind_local<MixedGlobalLocal, 200>(m, "MixedGlobalLocal", py::module_local());
-    });
+    m.def("register_mixed_global_local",
+          [m]() { bind_local<MixedGlobalLocal, 200>(m, "MixedGlobalLocal", py::module_local()); });
     m.def("register_mixed_local_global", [m]() {
         bind_local<MixedLocalGlobal, 2000>(m, "MixedLocalGlobal", py::module_local(false));
     });
@@ -108,14 +108,14 @@ PYBIND11_MODULE(pybind11_cross_module_tests, m) {
     m.def("get_mixed_lg", [](int i) { return MixedLocalGlobal(i); });
 
     // test_internal_locals_differ
-    m.def("local_cpp_types_addr", []() { return (uintptr_t) &py::detail::get_local_internals().registered_types_cpp; });
+    m.def("local_cpp_types_addr",
+          []() { return (uintptr_t) &py::detail::get_local_internals().registered_types_cpp; });
 
     // test_stl_caster_vs_stl_bind
     py::bind_vector<std::vector<int>>(m, "VectorInt");
 
-    m.def("load_vector_via_binding", [](std::vector<int> &v) {
-        return std::accumulate(v.begin(), v.end(), 0);
-    });
+    m.def("load_vector_via_binding",
+          [](std::vector<int> &v) { return std::accumulate(v.begin(), v.end(), 0); });
 
     // test_cross_module_calls
     m.def("return_self", [](LocalVec *v) { return v; });
@@ -125,11 +125,9 @@ PYBIND11_MODULE(pybind11_cross_module_tests, m) {
     public:
         explicit Dog(std::string name) : Pet(std::move(name)) {}
     };
-    py::class_<pets::Pet>(m, "Pet", py::module_local())
-        .def("name", &pets::Pet::name);
+    py::class_<pets::Pet>(m, "Pet", py::module_local()).def("name", &pets::Pet::name);
     // Binding for local extending class:
-    py::class_<Dog, pets::Pet>(m, "Dog")
-        .def(py::init<std::string>());
+    py::class_<Dog, pets::Pet>(m, "Dog").def(py::init<std::string>());
     m.def("pet_name", [](pets::Pet &p) { return p.name(); });
 
     py::class_<MixGL>(m, "MixGL", py::module_local()).def(py::init<int>());
diff --git a/pybind11/tests/pybind11_tests.cpp b/pybind11/tests/pybind11_tests.cpp
index 439cd40129..aa3095594b 100644
--- a/pybind11/tests/pybind11_tests.cpp
+++ b/pybind11/tests/pybind11_tests.cpp
@@ -8,6 +8,7 @@
 */
 
 #include "pybind11_tests.h"
+
 #include "constructor_stats.h"
 
 #include <functional>
@@ -31,9 +32,7 @@ std::list<std::function<void(py::module_ &)>> &initializers() {
     return inits;
 }
 
-test_initializer::test_initializer(Initializer init) {
-    initializers().emplace_back(init);
-}
+test_initializer::test_initializer(Initializer init) { initializers().emplace_back(init); }
 
 test_initializer::test_initializer(const char *submodule_name, Initializer init) {
     initializers().emplace_back([=](py::module_ &parent) {
@@ -51,26 +50,52 @@ void bind_ConstructorStats(py::module_ &m) {
         .def_readwrite("move_assignments", &ConstructorStats::move_assignments)
         .def_readwrite("copy_constructions", &ConstructorStats::copy_constructions)
         .def_readwrite("move_constructions", &ConstructorStats::move_constructions)
-        .def_static("get", (ConstructorStats &(*)(py::object)) &ConstructorStats::get, py::return_value_policy::reference_internal)
+        .def_static("get",
+                    (ConstructorStats & (*) (py::object)) & ConstructorStats::get,
+                    py::return_value_policy::reference_internal)
 
-        // Not exactly ConstructorStats, but related: expose the internal pybind number of registered instances
-        // to allow instance cleanup checks (invokes a GC first)
+        // Not exactly ConstructorStats, but related: expose the internal pybind number of
+        // registered instances to allow instance cleanup checks (invokes a GC first)
         .def_static("detail_reg_inst", []() {
             ConstructorStats::gc();
             return py::detail::get_internals().registered_instances.size();
-        })
-        ;
+        });
+}
+
+const char *cpp_std() {
+    return
+#if defined(PYBIND11_CPP20)
+        "C++20";
+#elif defined(PYBIND11_CPP17)
+        "C++17";
+#elif defined(PYBIND11_CPP14)
+        "C++14";
+#else
+        "C++11";
+#endif
 }
 
 PYBIND11_MODULE(pybind11_tests, m) {
     m.doc() = "pybind11 test module";
 
+    // Intentionally kept minimal to not create a maintenance chore
+    // ("just enough" to be conclusive).
+#if defined(_MSC_FULL_VER)
+    m.attr("compiler_info") = "MSVC " PYBIND11_TOSTRING(_MSC_FULL_VER);
+#elif defined(__VERSION__)
+    m.attr("compiler_info") = __VERSION__;
+#else
+    m.attr("compiler_info") = py::none();
+#endif
+    m.attr("cpp_std") = cpp_std();
+    m.attr("PYBIND11_INTERNALS_ID") = PYBIND11_INTERNALS_ID;
+
     bind_ConstructorStats(m);
 
-#if !defined(NDEBUG)
-    m.attr("debug_enabled") = true;
+#if defined(PYBIND11_DETAILED_ERROR_MESSAGES)
+    m.attr("detailed_error_messages_enabled") = true;
 #else
-    m.attr("debug_enabled") = false;
+    m.attr("detailed_error_messages_enabled") = false;
 #endif
 
     py::class_<UserType>(m, "UserType", "A `py::class_` type for testing")
@@ -79,13 +104,14 @@ PYBIND11_MODULE(pybind11_tests, m) {
         .def("get_value", &UserType::value, "Get value using a method")
         .def("set_value", &UserType::set, "Set value using a method")
         .def_property("value", &UserType::value, &UserType::set, "Get/set value using a property")
-        .def("__repr__", [](const UserType& u) { return "UserType({})"_s.format(u.value()); });
+        .def("__repr__", [](const UserType &u) { return "UserType({})"_s.format(u.value()); });
 
     py::class_<IncType, UserType>(m, "IncType")
         .def(py::init<>())
         .def(py::init<int>())
-        .def("__repr__", [](const IncType& u) { return "IncType({})"_s.format(u.value()); });
+        .def("__repr__", [](const IncType &u) { return "IncType({})"_s.format(u.value()); });
 
-    for (const auto &initializer : initializers())
+    for (const auto &initializer : initializers()) {
         initializer(m);
+    }
 }
diff --git a/pybind11/tests/pybind11_tests.h b/pybind11/tests/pybind11_tests.h
index 9b99923237..a7c00c2f9b 100644
--- a/pybind11/tests/pybind11_tests.h
+++ b/pybind11/tests/pybind11_tests.h
@@ -1,13 +1,7 @@
 #pragma once
 
-#include <pybind11/pybind11.h>
 #include <pybind11/eval.h>
-
-#if defined(_MSC_VER) && _MSC_VER < 1910
-// We get some really long type names here which causes MSVC 2015 to emit warnings
-#    pragma warning(                                                                              \
-        disable : 4503) // warning C4503: decorated name length exceeded, name was truncated
-#endif
+#include <pybind11/pybind11.h>
 
 namespace py = pybind11;
 using namespace pybind11::literals;
@@ -26,13 +20,13 @@ class test_initializer {
     void test_submodule_##name(py::module_ &(variable))
 
 /// Dummy type which is not exported anywhere -- something to trigger a conversion error
-struct UnregisteredType { };
+struct UnregisteredType {};
 
 /// A user-defined type which is exported and can be used by any test
 class UserType {
 public:
     UserType() = default;
-    explicit UserType(int i) : i(i) { }
+    explicit UserType(int i) : i(i) {}
 
     int value() const { return i; }
     void set(int set) { i = set; }
@@ -46,7 +40,7 @@ class IncType : public UserType {
 public:
     using UserType::UserType;
     IncType() = default;
-    IncType(const IncType &other) : IncType(other.value() + 1) { }
+    IncType(const IncType &other) : IncType(other.value() + 1) {}
     IncType(IncType &&) = delete;
     IncType &operator=(const IncType &) = delete;
     IncType &operator=(IncType &&) = delete;
@@ -58,16 +52,21 @@ union IntFloat {
     float f;
 };
 
-/// Custom cast-only type that casts to a string "rvalue" or "lvalue" depending on the cast context.
-/// Used to test recursive casters (e.g. std::tuple, stl containers).
+/// Custom cast-only type that casts to a string "rvalue" or "lvalue" depending on the cast
+/// context. Used to test recursive casters (e.g. std::tuple, stl containers).
 struct RValueCaster {};
 PYBIND11_NAMESPACE_BEGIN(pybind11)
 PYBIND11_NAMESPACE_BEGIN(detail)
-template<> class type_caster<RValueCaster> {
+template <>
+class type_caster<RValueCaster> {
 public:
     PYBIND11_TYPE_CASTER(RValueCaster, const_name("RValueCaster"));
-    static handle cast(RValueCaster &&, return_value_policy, handle) { return py::str("rvalue").release(); }
-    static handle cast(const RValueCaster &, return_value_policy, handle) { return py::str("lvalue").release(); }
+    static handle cast(RValueCaster &&, return_value_policy, handle) {
+        return py::str("rvalue").release();
+    }
+    static handle cast(const RValueCaster &, return_value_policy, handle) {
+        return py::str("lvalue").release();
+    }
 };
 PYBIND11_NAMESPACE_END(detail)
 PYBIND11_NAMESPACE_END(pybind11)
@@ -81,5 +80,6 @@ void ignoreOldStyleInitWarnings(F &&body) {
     with warnings.catch_warnings():
         warnings.filterwarnings("ignore", message=message, category=FutureWarning)
         body()
-    )", py::dict(py::arg("body") = py::cpp_function(body)));
+    )",
+             py::dict(py::arg("body") = py::cpp_function(body)));
 }
diff --git a/pybind11/tests/pytest.ini b/pybind11/tests/pytest.ini
index a3871d6c3a..792ba361f7 100644
--- a/pybind11/tests/pytest.ini
+++ b/pybind11/tests/pytest.ini
@@ -1,12 +1,15 @@
 [pytest]
-minversion = 3.1
+minversion = 3.10
 norecursedirs = test_* extra_*
 xfail_strict = True
 addopts =
-    # show summary of skipped tests
-    -rs
+    # show summary of tests
+    -ra
     # capture only Python print and C++ py::print, but not C output (low-level Python errors)
     --capture=sys
+    # Show local info when a failure occurs
+    --showlocals
+log_cli_level = info
 filterwarnings =
     # make warnings into errors but ignore certain third-party extension issues
     error
diff --git a/pybind11/tests/requirements.txt b/pybind11/tests/requirements.txt
index 98ca46d28a..04aafa8cf9 100644
--- a/pybind11/tests/requirements.txt
+++ b/pybind11/tests/requirements.txt
@@ -1,12 +1,9 @@
-numpy==1.16.6; python_version<"3.6" and sys_platform!="win32" and platform_python_implementation!="PyPy"
-numpy==1.19.0; platform_python_implementation=="PyPy" and sys_platform=="linux" and python_version=="3.6"
-numpy==1.20.0; platform_python_implementation=="PyPy" and sys_platform=="linux" and python_version=="3.7"
+build==0.8.0
+numpy==1.21.5; platform_python_implementation=="PyPy" and sys_platform=="linux" and python_version=="3.7"
 numpy==1.19.3; platform_python_implementation!="PyPy" and python_version=="3.6"
-numpy==1.21.3; platform_python_implementation!="PyPy" and python_version>="3.7" and python_version<"3.11"
-py @ git+https://github.com/pytest-dev/py; python_version>="3.11"
-pytest==4.6.9; python_version<"3.5"
-pytest==6.1.2; python_version=="3.5"
-pytest==6.2.4; python_version>="3.6"
+numpy==1.21.5; platform_python_implementation!="PyPy" and python_version>="3.7" and python_version<"3.10"
+numpy==1.22.2; platform_python_implementation!="PyPy" and python_version>="3.10" and python_version<"3.11"
+pytest==7.0.0
 pytest-timeout
-scipy==1.2.3; platform_python_implementation!="PyPy" and python_version<"3.6"
-scipy==1.5.4; platform_python_implementation!="PyPy" and python_version>="3.6" and python_version<"3.10"
+scipy==1.5.4; platform_python_implementation!="PyPy" and python_version<"3.10"
+scipy==1.8.0; platform_python_implementation!="PyPy" and python_version=="3.10"
diff --git a/pybind11/tests/test_async.cpp b/pybind11/tests/test_async.cpp
index e6e01d72c9..a5d7224657 100644
--- a/pybind11/tests/test_async.cpp
+++ b/pybind11/tests/test_async.cpp
@@ -11,12 +11,11 @@
 
 TEST_SUBMODULE(async_module, m) {
     struct DoesNotSupportAsync {};
-    py::class_<DoesNotSupportAsync>(m, "DoesNotSupportAsync")
-        .def(py::init<>());
+    py::class_<DoesNotSupportAsync>(m, "DoesNotSupportAsync").def(py::init<>());
     struct SupportsAsync {};
     py::class_<SupportsAsync>(m, "SupportsAsync")
         .def(py::init<>())
-        .def("__await__", [](const SupportsAsync& self) -> py::object {
+        .def("__await__", [](const SupportsAsync &self) -> py::object {
             static_cast<void>(self);
             py::object loop = py::module_::import("asyncio.events").attr("get_event_loop")();
             py::object f = loop.attr("create_future")();
diff --git a/pybind11/tests/test_async.py b/pybind11/tests/test_async.py
index df4489c499..b9ff9514d2 100644
--- a/pybind11/tests/test_async.py
+++ b/pybind11/tests/test_async.py
@@ -1,4 +1,3 @@
-# -*- coding: utf-8 -*-
 import pytest
 
 asyncio = pytest.importorskip("asyncio")
diff --git a/pybind11/tests/test_buffers.cpp b/pybind11/tests/test_buffers.cpp
index 3a8e3e7b75..6b6e8cba7f 100644
--- a/pybind11/tests/test_buffers.cpp
+++ b/pybind11/tests/test_buffers.cpp
@@ -7,22 +7,26 @@
     BSD-style license that can be found in the LICENSE file.
 */
 
-#include "pybind11_tests.h"
-#include "constructor_stats.h"
 #include <pybind11/stl.h>
 
+#include "constructor_stats.h"
+#include "pybind11_tests.h"
+
 TEST_SUBMODULE(buffers, m) {
     // test_from_python / test_to_python:
     class Matrix {
     public:
         Matrix(py::ssize_t rows, py::ssize_t cols) : m_rows(rows), m_cols(cols) {
             print_created(this, std::to_string(m_rows) + "x" + std::to_string(m_cols) + " matrix");
-            m_data = new float[(size_t) (rows*cols)];
+            // NOLINTNEXTLINE(cppcoreguidelines-prefer-member-initializer)
+            m_data = new float[(size_t) (rows * cols)];
             memset(m_data, 0, sizeof(float) * (size_t) (rows * cols));
         }
 
         Matrix(const Matrix &s) : m_rows(s.m_rows), m_cols(s.m_cols) {
-            print_copy_created(this, std::to_string(m_rows) + "x" + std::to_string(m_cols) + " matrix");
+            print_copy_created(this,
+                               std::to_string(m_rows) + "x" + std::to_string(m_cols) + " matrix");
+            // NOLINTNEXTLINE(cppcoreguidelines-prefer-member-initializer)
             m_data = new float[(size_t) (m_rows * m_cols)];
             memcpy(m_data, s.m_data, sizeof(float) * (size_t) (m_rows * m_cols));
         }
@@ -35,7 +39,8 @@ TEST_SUBMODULE(buffers, m) {
         }
 
         ~Matrix() {
-            print_destroyed(this, std::to_string(m_rows) + "x" + std::to_string(m_cols) + " matrix");
+            print_destroyed(this,
+                            std::to_string(m_rows) + "x" + std::to_string(m_cols) + " matrix");
             delete[] m_data;
         }
 
@@ -54,27 +59,33 @@ TEST_SUBMODULE(buffers, m) {
         }
 
         Matrix &operator=(Matrix &&s) noexcept {
-            print_move_assigned(this, std::to_string(m_rows) + "x" + std::to_string(m_cols) + " matrix");
+            print_move_assigned(this,
+                                std::to_string(m_rows) + "x" + std::to_string(m_cols) + " matrix");
             if (&s != this) {
                 delete[] m_data;
-                m_rows = s.m_rows; m_cols = s.m_cols; m_data = s.m_data;
-                s.m_rows = 0; s.m_cols = 0; s.m_data = nullptr;
+                m_rows = s.m_rows;
+                m_cols = s.m_cols;
+                m_data = s.m_data;
+                s.m_rows = 0;
+                s.m_cols = 0;
+                s.m_data = nullptr;
             }
             return *this;
         }
 
         float operator()(py::ssize_t i, py::ssize_t j) const {
-            return m_data[(size_t) (i*m_cols + j)];
+            return m_data[(size_t) (i * m_cols + j)];
         }
 
         float &operator()(py::ssize_t i, py::ssize_t j) {
-            return m_data[(size_t) (i*m_cols + j)];
+            return m_data[(size_t) (i * m_cols + j)];
         }
 
         float *data() { return m_data; }
 
         py::ssize_t rows() const { return m_rows; }
         py::ssize_t cols() const { return m_cols; }
+
     private:
         py::ssize_t m_rows;
         py::ssize_t m_cols;
@@ -85,10 +96,11 @@ TEST_SUBMODULE(buffers, m) {
         /// Construct from a buffer
         .def(py::init([](const py::buffer &b) {
             py::buffer_info info = b.request();
-            if (info.format != py::format_descriptor<float>::format() || info.ndim != 2)
+            if (info.format != py::format_descriptor<float>::format() || info.ndim != 2) {
                 throw std::runtime_error("Incompatible buffer format!");
+            }
 
-            auto v = new Matrix(info.shape[0], info.shape[1]);
+            auto *v = new Matrix(info.shape[0], info.shape[1]);
             memcpy(v->data(), info.ptr, sizeof(float) * (size_t) (v->rows() * v->cols()));
             return v;
         }))
@@ -99,24 +111,25 @@ TEST_SUBMODULE(buffers, m) {
         /// Bare bones interface
         .def("__getitem__",
              [](const Matrix &m, std::pair<py::ssize_t, py::ssize_t> i) {
-                 if (i.first >= m.rows() || i.second >= m.cols())
+                 if (i.first >= m.rows() || i.second >= m.cols()) {
                      throw py::index_error();
+                 }
                  return m(i.first, i.second);
              })
         .def("__setitem__",
              [](Matrix &m, std::pair<py::ssize_t, py::ssize_t> i, float v) {
-                 if (i.first >= m.rows() || i.second >= m.cols())
+                 if (i.first >= m.rows() || i.second >= m.cols()) {
                      throw py::index_error();
+                 }
                  m(i.first, i.second) = v;
              })
         /// Provide buffer access
         .def_buffer([](Matrix &m) -> py::buffer_info {
             return py::buffer_info(
-                m.data(),                               /* Pointer to buffer */
-                { m.rows(), m.cols() },                 /* Buffer dimensions */
-                { sizeof(float) * size_t(m.cols()),     /* Strides (in bytes) for each index */
-                  sizeof(float) }
-            );
+                m.data(),                          /* Pointer to buffer */
+                {m.rows(), m.cols()},              /* Buffer dimensions */
+                {sizeof(float) * size_t(m.cols()), /* Strides (in bytes) for each index */
+                 sizeof(float)});
         });
 
     // test_inherited_protocol
@@ -125,9 +138,7 @@ TEST_SUBMODULE(buffers, m) {
         explicit SquareMatrix(py::ssize_t n) : Matrix(n, n) {}
     };
     // Derived classes inherit the buffer protocol and the buffer access function
-    py::class_<SquareMatrix, Matrix>(m, "SquareMatrix")
-        .def(py::init<py::ssize_t>());
-
+    py::class_<SquareMatrix, Matrix>(m, "SquareMatrix").def(py::init<py::ssize_t>());
 
     // test_pointer_to_member_fn
     // Tests that passing a pointer to member to the base class works in
@@ -136,8 +147,8 @@ TEST_SUBMODULE(buffers, m) {
         int32_t value = 0;
 
         py::buffer_info get_buffer_info() {
-            return py::buffer_info(&value, sizeof(value),
-                                   py::format_descriptor<int32_t>::format(), 1);
+            return py::buffer_info(
+                &value, sizeof(value), py::format_descriptor<int32_t>::format(), 1);
         }
     };
     py::class_<Buffer>(m, "Buffer", py::buffer_protocol())
@@ -145,7 +156,6 @@ TEST_SUBMODULE(buffers, m) {
         .def_readwrite("value", &Buffer::value)
         .def_buffer(&Buffer::get_buffer_info);
 
-
     class ConstBuffer {
         std::unique_ptr<int32_t> value;
 
@@ -154,8 +164,8 @@ TEST_SUBMODULE(buffers, m) {
         void set_value(int32_t v) { *value = v; }
 
         py::buffer_info get_buffer_info() const {
-            return py::buffer_info(value.get(), sizeof(*value),
-                                   py::format_descriptor<int32_t>::format(), 1);
+            return py::buffer_info(
+                value.get(), sizeof(*value), py::format_descriptor<int32_t>::format(), 1);
         }
 
         ConstBuffer() : value(new int32_t{0}) {}
@@ -165,7 +175,7 @@ TEST_SUBMODULE(buffers, m) {
         .def_property("value", &ConstBuffer::get_value, &ConstBuffer::set_value)
         .def_buffer(&ConstBuffer::get_buffer_info);
 
-    struct DerivedBuffer : public Buffer { };
+    struct DerivedBuffer : public Buffer {};
     py::class_<DerivedBuffer>(m, "DerivedBuffer", py::buffer_protocol())
         .def(py::init<>())
         .def_readwrite("value", (int32_t DerivedBuffer::*) &DerivedBuffer::value)
@@ -175,9 +185,7 @@ TEST_SUBMODULE(buffers, m) {
         const uint8_t value = 0;
         explicit BufferReadOnly(uint8_t value) : value(value) {}
 
-        py::buffer_info get_buffer_info() {
-            return py::buffer_info(&value, 1);
-        }
+        py::buffer_info get_buffer_info() { return py::buffer_info(&value, 1); }
     };
     py::class_<BufferReadOnly>(m, "BufferReadOnly", py::buffer_protocol())
         .def(py::init<uint8_t>())
@@ -187,9 +195,7 @@ TEST_SUBMODULE(buffers, m) {
         uint8_t value = 0;
         bool readonly = false;
 
-        py::buffer_info get_buffer_info() {
-            return py::buffer_info(&value, 1, readonly);
-        }
+        py::buffer_info get_buffer_info() { return py::buffer_info(&value, 1, readonly); }
     };
     py::class_<BufferReadOnlySelect>(m, "BufferReadOnlySelect", py::buffer_protocol())
         .def(py::init<>())
@@ -208,9 +214,11 @@ TEST_SUBMODULE(buffers, m) {
         .def_readonly("strides", &py::buffer_info::strides)
         .def_readonly("readonly", &py::buffer_info::readonly)
         .def("__repr__", [](py::handle self) {
-             return py::str("itemsize={0.itemsize!r}, size={0.size!r}, format={0.format!r}, ndim={0.ndim!r}, shape={0.shape!r}, strides={0.strides!r}, readonly={0.readonly!r}").format(self);
-        })
-        ;
+            return py::str("itemsize={0.itemsize!r}, size={0.size!r}, format={0.format!r}, "
+                           "ndim={0.ndim!r}, shape={0.shape!r}, strides={0.strides!r}, "
+                           "readonly={0.readonly!r}")
+                .format(self);
+        });
 
     m.def("get_buffer_info", [](const py::buffer &buffer) { return buffer.request(); });
 }
diff --git a/pybind11/tests/test_buffers.py b/pybind11/tests/test_buffers.py
index 0d5bf16c3d..8354b68cda 100644
--- a/pybind11/tests/test_buffers.py
+++ b/pybind11/tests/test_buffers.py
@@ -1,4 +1,3 @@
-# -*- coding: utf-8 -*-
 import ctypes
 import io
 import struct
@@ -93,16 +92,16 @@ def test_pointer_to_member_fn():
 def test_readonly_buffer():
     buf = m.BufferReadOnly(0x64)
     view = memoryview(buf)
-    assert view[0] == b"d" if env.PY2 else 0x64
+    assert view[0] == 0x64
     assert view.readonly
     with pytest.raises(TypeError):
-        view[0] = b"\0" if env.PY2 else 0
+        view[0] = 0
 
 
 def test_selective_readonly_buffer():
     buf = m.BufferReadOnlySelect()
 
-    memoryview(buf)[0] = b"d" if env.PY2 else 0x64
+    memoryview(buf)[0] = 0x64
     assert buf.value == 0x64
 
     io.BytesIO(b"A").readinto(buf)
@@ -110,7 +109,7 @@ def test_selective_readonly_buffer():
 
     buf.readonly = True
     with pytest.raises(TypeError):
-        memoryview(buf)[0] = b"\0" if env.PY2 else 0
+        memoryview(buf)[0] = 0
     with pytest.raises(TypeError):
         io.BytesIO(b"1").readinto(buf)
 
@@ -145,9 +144,6 @@ def test_ctypes_array_2d():
         assert not info.readonly
 
 
-@pytest.mark.skipif(
-    "env.PYPY and env.PY2", reason="PyPy2 bytes buffer not reported as readonly"
-)
 def test_ctypes_from_buffer():
     test_pystr = b"0123456789"
     for pyarray in (test_pystr, bytearray(test_pystr)):
diff --git a/pybind11/tests/test_builtin_casters.cpp b/pybind11/tests/test_builtin_casters.cpp
index 4a9f338378..6529f47d05 100644
--- a/pybind11/tests/test_builtin_casters.cpp
+++ b/pybind11/tests/test_builtin_casters.cpp
@@ -7,64 +7,67 @@
     BSD-style license that can be found in the LICENSE file.
 */
 
-#include "pybind11_tests.h"
 #include <pybind11/complex.h>
 
+#include "pybind11_tests.h"
+
 struct ConstRefCasted {
-  int tag;
+    int tag;
 };
 
 PYBIND11_NAMESPACE_BEGIN(pybind11)
 PYBIND11_NAMESPACE_BEGIN(detail)
 template <>
 class type_caster<ConstRefCasted> {
- public:
-  static constexpr auto name = const_name<ConstRefCasted>();
-
-  // Input is unimportant, a new value will always be constructed based on the
-  // cast operator.
-  bool load(handle, bool) { return true; }
-
-  explicit operator ConstRefCasted &&() {
-      value = {1};
-      // NOLINTNEXTLINE(performance-move-const-arg)
-      return std::move(value);
-  }
-  explicit operator ConstRefCasted &() {
-      value = {2};
-      return value;
-  }
-  explicit operator ConstRefCasted *() {
-      value = {3};
-      return &value;
-  }
-
-  explicit operator const ConstRefCasted &() {
-      value = {4};
-      return value;
-  }
-  explicit operator const ConstRefCasted *() {
-      value = {5};
-      return &value;
-  }
-
-  // custom cast_op to explicitly propagate types to the conversion operators.
-  template <typename T_>
-  using cast_op_type =
-      /// const
-      conditional_t<
-          std::is_same<remove_reference_t<T_>, const ConstRefCasted*>::value, const ConstRefCasted*,
-      conditional_t<
-          std::is_same<T_, const ConstRefCasted&>::value, const ConstRefCasted&,
-      /// non-const
-      conditional_t<
-          std::is_same<remove_reference_t<T_>, ConstRefCasted*>::value, ConstRefCasted*,
-      conditional_t<
-          std::is_same<T_, ConstRefCasted&>::value, ConstRefCasted&,
-          /* else */ConstRefCasted&&>>>>;
-
- private:
-  ConstRefCasted value = {0};
+public:
+    static constexpr auto name = const_name<ConstRefCasted>();
+
+    // Input is unimportant, a new value will always be constructed based on the
+    // cast operator.
+    bool load(handle, bool) { return true; }
+
+    explicit operator ConstRefCasted &&() {
+        value = {1};
+        // NOLINTNEXTLINE(performance-move-const-arg)
+        return std::move(value);
+    }
+    explicit operator ConstRefCasted &() {
+        value = {2};
+        return value;
+    }
+    explicit operator ConstRefCasted *() {
+        value = {3};
+        return &value;
+    }
+
+    explicit operator const ConstRefCasted &() {
+        value = {4};
+        return value;
+    }
+    explicit operator const ConstRefCasted *() {
+        value = {5};
+        return &value;
+    }
+
+    // custom cast_op to explicitly propagate types to the conversion operators.
+    template <typename T_>
+    using cast_op_type =
+        /// const
+        conditional_t<
+            std::is_same<remove_reference_t<T_>, const ConstRefCasted *>::value,
+            const ConstRefCasted *,
+            conditional_t<
+                std::is_same<T_, const ConstRefCasted &>::value,
+                const ConstRefCasted &,
+                /// non-const
+                conditional_t<std::is_same<remove_reference_t<T_>, ConstRefCasted *>::value,
+                              ConstRefCasted *,
+                              conditional_t<std::is_same<T_, ConstRefCasted &>::value,
+                                            ConstRefCasted &,
+                                            /* else */ ConstRefCasted &&>>>>;
+
+private:
+    ConstRefCasted value = {0};
 };
 PYBIND11_NAMESPACE_END(detail)
 PYBIND11_NAMESPACE_END(pybind11)
@@ -74,28 +77,47 @@ TEST_SUBMODULE(builtin_casters, m) {
     m.def("string_roundtrip", [](const char *s) { return s; });
 
     // test_unicode_conversion
-    // Some test characters in utf16 and utf32 encodings.  The last one (the 𝐀) contains a null byte
-    char32_t a32 = 0x61 /*a*/, z32 = 0x7a /*z*/, ib32 = 0x203d /*‽*/, cake32 = 0x1f382 /*🎂*/,              mathbfA32 = 0x1d400 /*𝐀*/;
-    char16_t b16 = 0x62 /*b*/, z16 = 0x7a,       ib16 = 0x203d,       cake16_1 = 0xd83c, cake16_2 = 0xdf82, mathbfA16_1 = 0xd835, mathbfA16_2 = 0xdc00;
+    // Some test characters in utf16 and utf32 encodings.  The last one (the 𝐀) contains a null
+    // byte
+    char32_t a32 = 0x61 /*a*/, z32 = 0x7a /*z*/, ib32 = 0x203d /*‽*/, cake32 = 0x1f382 /*🎂*/,
+             mathbfA32 = 0x1d400 /*𝐀*/;
+    char16_t b16 = 0x62 /*b*/, z16 = 0x7a, ib16 = 0x203d, cake16_1 = 0xd83c, cake16_2 = 0xdf82,
+             mathbfA16_1 = 0xd835, mathbfA16_2 = 0xdc00;
     std::wstring wstr;
-    wstr.push_back(0x61); // a
+    wstr.push_back(0x61);   // a
     wstr.push_back(0x2e18); // ⸘
-    if (PYBIND11_SILENCE_MSVC_C4127(sizeof(wchar_t) == 2)) { wstr.push_back(mathbfA16_1); wstr.push_back(mathbfA16_2); } // 𝐀, utf16
-    else { wstr.push_back((wchar_t) mathbfA32); } // 𝐀, utf32
+    if (PYBIND11_SILENCE_MSVC_C4127(sizeof(wchar_t) == 2)) {
+        wstr.push_back(mathbfA16_1);
+        wstr.push_back(mathbfA16_2);
+    } // 𝐀, utf16
+    else {
+        wstr.push_back((wchar_t) mathbfA32);
+    }                     // 𝐀, utf32
     wstr.push_back(0x7a); // z
 
-    m.def("good_utf8_string", []() { return std::string((const char*)u8"Say utf8\u203d \U0001f382 \U0001d400"); }); // Say utf8‽ 🎂 𝐀
-    m.def("good_utf16_string", [=]() { return std::u16string({ b16, ib16, cake16_1, cake16_2, mathbfA16_1, mathbfA16_2, z16 }); }); // b‽🎂𝐀z
-    m.def("good_utf32_string", [=]() { return std::u32string({ a32, mathbfA32, cake32, ib32, z32 }); }); // a𝐀🎂‽z
+    m.def("good_utf8_string", []() {
+        return std::string((const char *) u8"Say utf8\u203d \U0001f382 \U0001d400");
+    }); // Say utf8‽ 🎂 𝐀
+    m.def("good_utf16_string", [=]() {
+        return std::u16string({b16, ib16, cake16_1, cake16_2, mathbfA16_1, mathbfA16_2, z16});
+    }); // b‽🎂𝐀z
+    m.def("good_utf32_string", [=]() {
+        return std::u32string({a32, mathbfA32, cake32, ib32, z32});
+    });                                                 // a𝐀🎂‽z
     m.def("good_wchar_string", [=]() { return wstr; }); // a‽𝐀z
-    m.def("bad_utf8_string", []()  { return std::string("abc\xd0" "def"); });
-    m.def("bad_utf16_string", [=]() { return std::u16string({ b16, char16_t(0xd800), z16 }); });
-#if PY_MAJOR_VERSION >= 3
-    // Under Python 2.7, invalid unicode UTF-32 characters don't appear to trigger UnicodeDecodeError
-    m.def("bad_utf32_string", [=]() { return std::u32string({ a32, char32_t(0xd800), z32 }); });
-    if (PYBIND11_SILENCE_MSVC_C4127(sizeof(wchar_t) == 2))
-        m.def("bad_wchar_string", [=]() { return std::wstring({ wchar_t(0x61), wchar_t(0xd800) }); });
-#endif
+    m.def("bad_utf8_string", []() {
+        return std::string("abc\xd0"
+                           "def");
+    });
+    m.def("bad_utf16_string", [=]() { return std::u16string({b16, char16_t(0xd800), z16}); });
+    // Under Python 2.7, invalid unicode UTF-32 characters didn't appear to trigger
+    // UnicodeDecodeError
+    m.def("bad_utf32_string", [=]() { return std::u32string({a32, char32_t(0xd800), z32}); });
+    if (PYBIND11_SILENCE_MSVC_C4127(sizeof(wchar_t) == 2)) {
+        m.def("bad_wchar_string", [=]() {
+            return std::wstring({wchar_t(0x61), wchar_t(0xd800)});
+        });
+    }
     m.def("u8_Z", []() -> char { return 'Z'; });
     m.def("u8_eacute", []() -> char { return '\xe9'; });
     m.def("u16_ibang", [=]() -> char16_t { return ib16; });
@@ -117,8 +139,13 @@ TEST_SUBMODULE(builtin_casters, m) {
 
 #ifdef PYBIND11_HAS_U8STRING
     m.attr("has_u8string") = true;
-    m.def("good_utf8_u8string", []() { return std::u8string(u8"Say utf8\u203d \U0001f382 \U0001d400"); }); // Say utf8‽ 🎂 𝐀
-    m.def("bad_utf8_u8string", []()  { return std::u8string((const char8_t*)"abc\xd0" "def"); });
+    m.def("good_utf8_u8string", []() {
+        return std::u8string(u8"Say utf8\u203d \U0001f382 \U0001d400");
+    }); // Say utf8‽ 🎂 𝐀
+    m.def("bad_utf8_u8string", []() {
+        return std::u8string((const char8_t *) "abc\xd0"
+                                               "def");
+    });
 
     m.def("u8_char8_Z", []() -> char8_t { return u8'Z'; });
 
@@ -130,34 +157,61 @@ TEST_SUBMODULE(builtin_casters, m) {
     // test_string_view
 #ifdef PYBIND11_HAS_STRING_VIEW
     m.attr("has_string_view") = true;
-    m.def("string_view_print",   [](std::string_view s)    { py::print(s, s.size()); });
+    m.def("string_view_print", [](std::string_view s) { py::print(s, s.size()); });
     m.def("string_view16_print", [](std::u16string_view s) { py::print(s, s.size()); });
     m.def("string_view32_print", [](std::u32string_view s) { py::print(s, s.size()); });
-    m.def("string_view_chars",   [](std::string_view s)    { py::list l; for (auto c : s) l.append((std::uint8_t) c); return l; });
-    m.def("string_view16_chars", [](std::u16string_view s) { py::list l; for (auto c : s) l.append((int) c); return l; });
-    m.def("string_view32_chars", [](std::u32string_view s) { py::list l; for (auto c : s) l.append((int) c); return l; });
-    m.def("string_view_return",   []() { return std::string_view((const char*)u8"utf8 secret \U0001f382"); });
-    m.def("string_view16_return", []() { return std::u16string_view(u"utf16 secret \U0001f382"); });
-    m.def("string_view32_return", []() { return std::u32string_view(U"utf32 secret \U0001f382"); });
+    m.def("string_view_chars", [](std::string_view s) {
+        py::list l;
+        for (auto c : s) {
+            l.append((std::uint8_t) c);
+        }
+        return l;
+    });
+    m.def("string_view16_chars", [](std::u16string_view s) {
+        py::list l;
+        for (auto c : s) {
+            l.append((int) c);
+        }
+        return l;
+    });
+    m.def("string_view32_chars", [](std::u32string_view s) {
+        py::list l;
+        for (auto c : s) {
+            l.append((int) c);
+        }
+        return l;
+    });
+    m.def("string_view_return",
+          []() { return std::string_view((const char *) u8"utf8 secret \U0001f382"); });
+    m.def("string_view16_return",
+          []() { return std::u16string_view(u"utf16 secret \U0001f382"); });
+    m.def("string_view32_return",
+          []() { return std::u32string_view(U"utf32 secret \U0001f382"); });
 
     // The inner lambdas here are to also test implicit conversion
     using namespace std::literals;
-    m.def("string_view_bytes", []() { return [](py::bytes b) { return b; }("abc \x80\x80 def"sv); });
-    m.def("string_view_str",   []() { return [](py::str s) { return s; }("abc \342\200\275 def"sv); });
-    m.def("string_view_from_bytes", [](const py::bytes &b) { return [](std::string_view s) { return s; }(b); });
-#if PY_MAJOR_VERSION >= 3
+    m.def("string_view_bytes",
+          []() { return [](py::bytes b) { return b; }("abc \x80\x80 def"sv); });
+    m.def("string_view_str",
+          []() { return [](py::str s) { return s; }("abc \342\200\275 def"sv); });
+    m.def("string_view_from_bytes",
+          [](const py::bytes &b) { return [](std::string_view s) { return s; }(b); });
     m.def("string_view_memoryview", []() {
         static constexpr auto val = "Have some \360\237\216\202"sv;
         return py::memoryview::from_memory(val);
     });
-#endif
 
-#   ifdef PYBIND11_HAS_U8STRING
-    m.def("string_view8_print",  [](std::u8string_view s) { py::print(s, s.size()); });
-    m.def("string_view8_chars",  [](std::u8string_view s) { py::list l; for (auto c : s) l.append((std::uint8_t) c); return l; });
+#    ifdef PYBIND11_HAS_U8STRING
+    m.def("string_view8_print", [](std::u8string_view s) { py::print(s, s.size()); });
+    m.def("string_view8_chars", [](std::u8string_view s) {
+        py::list l;
+        for (auto c : s)
+            l.append((std::uint8_t) c);
+        return l;
+    });
     m.def("string_view8_return", []() { return std::u8string_view(u8"utf8 secret \U0001f382"); });
-    m.def("string_view8_str",    []() { return py::str{std::u8string_view{u8"abc ‽ def"}}; });
-#   endif
+    m.def("string_view8_str", []() { return py::str{std::u8string_view{u8"abc ‽ def"}}; });
+#    endif
 
     struct TypeWithBothOperatorStringAndStringView {
         // NOLINTNEXTLINE(google-explicit-constructor)
@@ -179,7 +233,8 @@ TEST_SUBMODULE(builtin_casters, m) {
 
     // test_int_convert
     m.def("int_passthrough", [](int arg) { return arg; });
-    m.def("int_passthrough_noconvert", [](int arg) { return arg; }, py::arg{}.noconvert());
+    m.def(
+        "int_passthrough_noconvert", [](int arg) { return arg; }, py::arg{}.noconvert());
 
     // test_tuple
     m.def(
@@ -188,31 +243,40 @@ TEST_SUBMODULE(builtin_casters, m) {
             return std::make_pair(input.second, input.first);
         },
         "Return a pair in reversed order");
-    m.def("tuple_passthrough", [](std::tuple<bool, std::string, int> input) {
-        return std::make_tuple(std::get<2>(input), std::get<1>(input), std::get<0>(input));
-    }, "Return a triple in reversed order");
+    m.def(
+        "tuple_passthrough",
+        [](std::tuple<bool, std::string, int> input) {
+            return std::make_tuple(std::get<2>(input), std::get<1>(input), std::get<0>(input));
+        },
+        "Return a triple in reversed order");
     m.def("empty_tuple", []() { return std::tuple<>(); });
     static std::pair<RValueCaster, RValueCaster> lvpair;
     static std::tuple<RValueCaster, RValueCaster, RValueCaster> lvtuple;
-    static std::pair<RValueCaster, std::tuple<RValueCaster, std::pair<RValueCaster, RValueCaster>>> lvnested;
+    static std::pair<RValueCaster, std::tuple<RValueCaster, std::pair<RValueCaster, RValueCaster>>>
+        lvnested;
     m.def("rvalue_pair", []() { return std::make_pair(RValueCaster{}, RValueCaster{}); });
     m.def("lvalue_pair", []() -> const decltype(lvpair) & { return lvpair; });
-    m.def("rvalue_tuple", []() { return std::make_tuple(RValueCaster{}, RValueCaster{}, RValueCaster{}); });
+    m.def("rvalue_tuple",
+          []() { return std::make_tuple(RValueCaster{}, RValueCaster{}, RValueCaster{}); });
     m.def("lvalue_tuple", []() -> const decltype(lvtuple) & { return lvtuple; });
     m.def("rvalue_nested", []() {
-        return std::make_pair(RValueCaster{}, std::make_tuple(RValueCaster{}, std::make_pair(RValueCaster{}, RValueCaster{}))); });
+        return std::make_pair(
+            RValueCaster{},
+            std::make_tuple(RValueCaster{}, std::make_pair(RValueCaster{}, RValueCaster{})));
+    });
     m.def("lvalue_nested", []() -> const decltype(lvnested) & { return lvnested; });
 
     static std::pair<int, std::string> int_string_pair{2, "items"};
-    m.def("int_string_pair", []() { return &int_string_pair; });
+    m.def(
+        "int_string_pair", []() { return &int_string_pair; }, py::return_value_policy::reference);
 
     // test_builtins_cast_return_none
     m.def("return_none_string", []() -> std::string * { return nullptr; });
-    m.def("return_none_char",   []() -> const char *  { return nullptr; });
-    m.def("return_none_bool",   []() -> bool *        { return nullptr; });
-    m.def("return_none_int",    []() -> int *         { return nullptr; });
-    m.def("return_none_float",  []() -> float *       { return nullptr; });
-    m.def("return_none_pair",   []() -> std::pair<int,int> * { return nullptr; });
+    m.def("return_none_char", []() -> const char * { return nullptr; });
+    m.def("return_none_bool", []() -> bool * { return nullptr; });
+    m.def("return_none_int", []() -> int * { return nullptr; });
+    m.def("return_none_float", []() -> float * { return nullptr; });
+    m.def("return_none_pair", []() -> std::pair<int, int> * { return nullptr; });
 
     // test_none_deferred
     m.def("defer_none_cstring", [](char *) { return false; });
@@ -230,7 +294,8 @@ TEST_SUBMODULE(builtin_casters, m) {
 
     // test_bool_caster
     m.def("bool_passthrough", [](bool arg) { return arg; });
-    m.def("bool_passthrough_noconvert", [](bool arg) { return arg; }, py::arg{}.noconvert());
+    m.def(
+        "bool_passthrough_noconvert", [](bool arg) { return arg; }, py::arg{}.noconvert());
 
     // TODO: This should be disabled and fixed in future Intel compilers
 #if !defined(__INTEL_COMPILER)
@@ -238,13 +303,15 @@ TEST_SUBMODULE(builtin_casters, m) {
     // When compiled with the Intel compiler, this results in segmentation faults when importing
     // the module. Tested with icc (ICC) 2021.1 Beta 20200827, this should be tested again when
     // a newer version of icc is available.
-    m.def("bool_passthrough_noconvert2", [](bool arg) { return arg; }, py::arg().noconvert());
+    m.def(
+        "bool_passthrough_noconvert2", [](bool arg) { return arg; }, py::arg().noconvert());
 #endif
 
     // test_reference_wrapper
     m.def("refwrap_builtin", [](std::reference_wrapper<int> p) { return 10 * p.get(); });
     m.def("refwrap_usertype", [](std::reference_wrapper<UserType> p) { return p.get().value(); });
-    m.def("refwrap_usertype_const", [](std::reference_wrapper<const UserType> p) { return p.get().value(); });
+    m.def("refwrap_usertype_const",
+          [](std::reference_wrapper<const UserType> p) { return p.get().value(); });
 
     m.def("refwrap_lvalue", []() -> std::reference_wrapper<UserType> {
         static UserType x(1);
@@ -257,17 +324,20 @@ TEST_SUBMODULE(builtin_casters, m) {
 
     // Not currently supported (std::pair caster has return-by-value cast operator);
     // triggers static_assert failure.
-    //m.def("refwrap_pair", [](std::reference_wrapper<std::pair<int, int>>) { });
+    // m.def("refwrap_pair", [](std::reference_wrapper<std::pair<int, int>>) { });
 
-    m.def("refwrap_list", [](bool copy) {
-        static IncType x1(1), x2(2);
-        py::list l;
-        for (auto &f : {std::ref(x1), std::ref(x2)}) {
-            l.append(py::cast(f, copy ? py::return_value_policy::copy
-                                      : py::return_value_policy::reference));
-        }
-        return l;
-    }, "copy"_a);
+    m.def(
+        "refwrap_list",
+        [](bool copy) {
+            static IncType x1(1), x2(2);
+            py::list l;
+            for (const auto &f : {std::ref(x1), std::ref(x2)}) {
+                l.append(py::cast(
+                    f, copy ? py::return_value_policy::copy : py::return_value_policy::reference));
+            }
+            return l;
+        },
+        "copy"_a);
 
     m.def("refwrap_iiw", [](const IncType &w) { return w.value(); });
     m.def("refwrap_call_iiw", [](IncType &w, const py::function &f) {
@@ -284,12 +354,13 @@ TEST_SUBMODULE(builtin_casters, m) {
 
     // test_complex
     m.def("complex_cast", [](float x) { return "{}"_s.format(x); });
-    m.def("complex_cast", [](std::complex<float> x) { return "({}, {})"_s.format(x.real(), x.imag()); });
+    m.def("complex_cast",
+          [](std::complex<float> x) { return "({}, {})"_s.format(x.real(), x.imag()); });
 
     // test int vs. long (Python 2)
-    m.def("int_cast", []() {return (int) 42;});
-    m.def("long_cast", []() {return (long) 42;});
-    m.def("longlong_cast", []() {return  ULLONG_MAX;});
+    m.def("int_cast", []() { return (int) 42; });
+    m.def("long_cast", []() { return (long) 42; });
+    m.def("longlong_cast", []() { return ULLONG_MAX; });
 
     /// test void* cast operator
     m.def("test_void_caster", []() -> bool {
@@ -300,11 +371,12 @@ TEST_SUBMODULE(builtin_casters, m) {
 
     // Tests const/non-const propagation in cast_op.
     m.def("takes", [](ConstRefCasted x) { return x.tag; });
-    m.def("takes_move", [](ConstRefCasted&& x) { return x.tag; });
-    m.def("takes_ptr", [](ConstRefCasted* x) { return x->tag; });
-    m.def("takes_ref", [](ConstRefCasted& x) { return x.tag; });
+    m.def("takes_move", [](ConstRefCasted &&x) { return x.tag; });
+    m.def("takes_ptr", [](ConstRefCasted *x) { return x->tag; });
+    m.def("takes_ref", [](ConstRefCasted &x) { return x.tag; });
     m.def("takes_ref_wrap", [](std::reference_wrapper<ConstRefCasted> x) { return x.get().tag; });
-    m.def("takes_const_ptr", [](const ConstRefCasted* x) { return x->tag; });
-    m.def("takes_const_ref", [](const ConstRefCasted& x) { return x.tag; });
-    m.def("takes_const_ref_wrap", [](std::reference_wrapper<const ConstRefCasted> x) { return x.get().tag; });
+    m.def("takes_const_ptr", [](const ConstRefCasted *x) { return x->tag; });
+    m.def("takes_const_ref", [](const ConstRefCasted &x) { return x.tag; });
+    m.def("takes_const_ref_wrap",
+          [](std::reference_wrapper<const ConstRefCasted> x) { return x.get().tag; });
 }
diff --git a/pybind11/tests/test_builtin_casters.py b/pybind11/tests/test_builtin_casters.py
index b1f1e395a7..d38ae68028 100644
--- a/pybind11/tests/test_builtin_casters.py
+++ b/pybind11/tests/test_builtin_casters.py
@@ -1,4 +1,5 @@
-# -*- coding: utf-8 -*-
+import sys
+
 import pytest
 
 import env
@@ -12,12 +13,12 @@ def test_simple_string():
 
 def test_unicode_conversion():
     """Tests unicode conversion and error reporting."""
-    assert m.good_utf8_string() == u"Say utf8‽ 🎂 𝐀"
-    assert m.good_utf16_string() == u"b‽🎂𝐀z"
-    assert m.good_utf32_string() == u"a𝐀🎂‽z"
-    assert m.good_wchar_string() == u"a⸘𝐀z"
+    assert m.good_utf8_string() == "Say utf8‽ 🎂 𝐀"
+    assert m.good_utf16_string() == "b‽🎂𝐀z"
+    assert m.good_utf32_string() == "a𝐀🎂‽z"
+    assert m.good_wchar_string() == "a⸘𝐀z"
     if hasattr(m, "has_u8string"):
-        assert m.good_utf8_u8string() == u"Say utf8‽ 🎂 𝐀"
+        assert m.good_utf8_u8string() == "Say utf8‽ 🎂 𝐀"
 
     with pytest.raises(UnicodeDecodeError):
         m.bad_utf8_string()
@@ -25,7 +26,7 @@ def test_unicode_conversion():
     with pytest.raises(UnicodeDecodeError):
         m.bad_utf16_string()
 
-    # These are provided only if they actually fail (they don't when 32-bit and under Python 2.7)
+    # These are provided only if they actually fail (they don't when 32-bit)
     if hasattr(m, "bad_utf32_string"):
         with pytest.raises(UnicodeDecodeError):
             m.bad_utf32_string()
@@ -37,10 +38,10 @@ def test_unicode_conversion():
             m.bad_utf8_u8string()
 
     assert m.u8_Z() == "Z"
-    assert m.u8_eacute() == u"é"
-    assert m.u16_ibang() == u"‽"
-    assert m.u32_mathbfA() == u"𝐀"
-    assert m.wchar_heart() == u"♥"
+    assert m.u8_eacute() == "é"
+    assert m.u16_ibang() == "‽"
+    assert m.u32_mathbfA() == "𝐀"
+    assert m.wchar_heart() == "♥"
     if hasattr(m, "has_u8string"):
         assert m.u8_char8_Z() == "Z"
 
@@ -49,72 +50,72 @@ def test_single_char_arguments():
     """Tests failures for passing invalid inputs to char-accepting functions"""
 
     def toobig_message(r):
-        return "Character code point not in range({:#x})".format(r)
+        return f"Character code point not in range({r:#x})"
 
     toolong_message = "Expected a character, but multi-character string found"
 
-    assert m.ord_char(u"a") == 0x61  # simple ASCII
-    assert m.ord_char_lv(u"b") == 0x62
+    assert m.ord_char("a") == 0x61  # simple ASCII
+    assert m.ord_char_lv("b") == 0x62
     assert (
-        m.ord_char(u"é") == 0xE9
+        m.ord_char("é") == 0xE9
     )  # requires 2 bytes in utf-8, but can be stuffed in a char
     with pytest.raises(ValueError) as excinfo:
-        assert m.ord_char(u"Ā") == 0x100  # requires 2 bytes, doesn't fit in a char
+        assert m.ord_char("Ā") == 0x100  # requires 2 bytes, doesn't fit in a char
     assert str(excinfo.value) == toobig_message(0x100)
     with pytest.raises(ValueError) as excinfo:
-        assert m.ord_char(u"ab")
+        assert m.ord_char("ab")
     assert str(excinfo.value) == toolong_message
 
-    assert m.ord_char16(u"a") == 0x61
-    assert m.ord_char16(u"é") == 0xE9
-    assert m.ord_char16_lv(u"ê") == 0xEA
-    assert m.ord_char16(u"Ā") == 0x100
-    assert m.ord_char16(u"‽") == 0x203D
-    assert m.ord_char16(u"♥") == 0x2665
-    assert m.ord_char16_lv(u"♡") == 0x2661
+    assert m.ord_char16("a") == 0x61
+    assert m.ord_char16("é") == 0xE9
+    assert m.ord_char16_lv("ê") == 0xEA
+    assert m.ord_char16("Ā") == 0x100
+    assert m.ord_char16("‽") == 0x203D
+    assert m.ord_char16("♥") == 0x2665
+    assert m.ord_char16_lv("♡") == 0x2661
     with pytest.raises(ValueError) as excinfo:
-        assert m.ord_char16(u"🎂") == 0x1F382  # requires surrogate pair
+        assert m.ord_char16("🎂") == 0x1F382  # requires surrogate pair
     assert str(excinfo.value) == toobig_message(0x10000)
     with pytest.raises(ValueError) as excinfo:
-        assert m.ord_char16(u"aa")
+        assert m.ord_char16("aa")
     assert str(excinfo.value) == toolong_message
 
-    assert m.ord_char32(u"a") == 0x61
-    assert m.ord_char32(u"é") == 0xE9
-    assert m.ord_char32(u"Ā") == 0x100
-    assert m.ord_char32(u"‽") == 0x203D
-    assert m.ord_char32(u"♥") == 0x2665
-    assert m.ord_char32(u"🎂") == 0x1F382
+    assert m.ord_char32("a") == 0x61
+    assert m.ord_char32("é") == 0xE9
+    assert m.ord_char32("Ā") == 0x100
+    assert m.ord_char32("‽") == 0x203D
+    assert m.ord_char32("♥") == 0x2665
+    assert m.ord_char32("🎂") == 0x1F382
     with pytest.raises(ValueError) as excinfo:
-        assert m.ord_char32(u"aa")
+        assert m.ord_char32("aa")
     assert str(excinfo.value) == toolong_message
 
-    assert m.ord_wchar(u"a") == 0x61
-    assert m.ord_wchar(u"é") == 0xE9
-    assert m.ord_wchar(u"Ā") == 0x100
-    assert m.ord_wchar(u"‽") == 0x203D
-    assert m.ord_wchar(u"♥") == 0x2665
+    assert m.ord_wchar("a") == 0x61
+    assert m.ord_wchar("é") == 0xE9
+    assert m.ord_wchar("Ā") == 0x100
+    assert m.ord_wchar("‽") == 0x203D
+    assert m.ord_wchar("♥") == 0x2665
     if m.wchar_size == 2:
         with pytest.raises(ValueError) as excinfo:
-            assert m.ord_wchar(u"🎂") == 0x1F382  # requires surrogate pair
+            assert m.ord_wchar("🎂") == 0x1F382  # requires surrogate pair
         assert str(excinfo.value) == toobig_message(0x10000)
     else:
-        assert m.ord_wchar(u"🎂") == 0x1F382
+        assert m.ord_wchar("🎂") == 0x1F382
     with pytest.raises(ValueError) as excinfo:
-        assert m.ord_wchar(u"aa")
+        assert m.ord_wchar("aa")
     assert str(excinfo.value) == toolong_message
 
     if hasattr(m, "has_u8string"):
-        assert m.ord_char8(u"a") == 0x61  # simple ASCII
-        assert m.ord_char8_lv(u"b") == 0x62
+        assert m.ord_char8("a") == 0x61  # simple ASCII
+        assert m.ord_char8_lv("b") == 0x62
         assert (
-            m.ord_char8(u"é") == 0xE9
+            m.ord_char8("é") == 0xE9
         )  # requires 2 bytes in utf-8, but can be stuffed in a char
         with pytest.raises(ValueError) as excinfo:
-            assert m.ord_char8(u"Ā") == 0x100  # requires 2 bytes, doesn't fit in a char
+            assert m.ord_char8("Ā") == 0x100  # requires 2 bytes, doesn't fit in a char
         assert str(excinfo.value) == toobig_message(0x100)
         with pytest.raises(ValueError) as excinfo:
-            assert m.ord_char8(u"ab")
+            assert m.ord_char8("ab")
         assert str(excinfo.value) == toolong_message
 
 
@@ -123,18 +124,22 @@ def test_bytes_to_string():
     one-way: the only way to return bytes to Python is via the pybind11::bytes class."""
     # Issue #816
 
-    def to_bytes(s):
-        b = s if env.PY2 else s.encode("utf8")
-        assert isinstance(b, bytes)
-        return b
-
-    assert m.strlen(to_bytes("hi")) == 2
-    assert m.string_length(to_bytes("world")) == 5
-    assert m.string_length(to_bytes("a\x00b")) == 3
-    assert m.strlen(to_bytes("a\x00b")) == 1  # C-string limitation
+    assert m.strlen(b"hi") == 2
+    assert m.string_length(b"world") == 5
+    assert m.string_length("a\x00b".encode()) == 3
+    assert m.strlen("a\x00b".encode()) == 1  # C-string limitation
 
     # passing in a utf8 encoded string should work
-    assert m.string_length(u"💩".encode("utf8")) == 4
+    assert m.string_length("💩".encode()) == 4
+
+
+def test_bytearray_to_string():
+    """Tests the ability to pass bytearray to C++ string-accepting functions"""
+    assert m.string_length(bytearray(b"Hi")) == 2
+    assert m.strlen(bytearray(b"bytearray")) == 9
+    assert m.string_length(bytearray()) == 0
+    assert m.string_length(bytearray("🦜", "utf-8", "strict")) == 4
+    assert m.string_length(bytearray(b"\x80")) == 1
 
 
 @pytest.mark.skipif(not hasattr(m, "has_string_view"), reason="no <string_view>")
@@ -142,26 +147,26 @@ def test_string_view(capture):
     """Tests support for C++17 string_view arguments and return values"""
     assert m.string_view_chars("Hi") == [72, 105]
     assert m.string_view_chars("Hi 🎂") == [72, 105, 32, 0xF0, 0x9F, 0x8E, 0x82]
-    assert m.string_view16_chars(u"Hi 🎂") == [72, 105, 32, 0xD83C, 0xDF82]
-    assert m.string_view32_chars(u"Hi 🎂") == [72, 105, 32, 127874]
+    assert m.string_view16_chars("Hi 🎂") == [72, 105, 32, 0xD83C, 0xDF82]
+    assert m.string_view32_chars("Hi 🎂") == [72, 105, 32, 127874]
     if hasattr(m, "has_u8string"):
         assert m.string_view8_chars("Hi") == [72, 105]
-        assert m.string_view8_chars(u"Hi 🎂") == [72, 105, 32, 0xF0, 0x9F, 0x8E, 0x82]
+        assert m.string_view8_chars("Hi 🎂") == [72, 105, 32, 0xF0, 0x9F, 0x8E, 0x82]
 
-    assert m.string_view_return() == u"utf8 secret 🎂"
-    assert m.string_view16_return() == u"utf16 secret 🎂"
-    assert m.string_view32_return() == u"utf32 secret 🎂"
+    assert m.string_view_return() == "utf8 secret 🎂"
+    assert m.string_view16_return() == "utf16 secret 🎂"
+    assert m.string_view32_return() == "utf32 secret 🎂"
     if hasattr(m, "has_u8string"):
-        assert m.string_view8_return() == u"utf8 secret 🎂"
+        assert m.string_view8_return() == "utf8 secret 🎂"
 
     with capture:
         m.string_view_print("Hi")
         m.string_view_print("utf8 🎂")
-        m.string_view16_print(u"utf16 🎂")
-        m.string_view32_print(u"utf32 🎂")
+        m.string_view16_print("utf16 🎂")
+        m.string_view32_print("utf32 🎂")
     assert (
         capture
-        == u"""
+        == """
         Hi 2
         utf8 🎂 9
         utf16 🎂 8
@@ -171,10 +176,10 @@ def test_string_view(capture):
     if hasattr(m, "has_u8string"):
         with capture:
             m.string_view8_print("Hi")
-            m.string_view8_print(u"utf8 🎂")
+            m.string_view8_print("utf8 🎂")
         assert (
             capture
-            == u"""
+            == """
             Hi 2
             utf8 🎂 9
         """
@@ -183,11 +188,11 @@ def test_string_view(capture):
     with capture:
         m.string_view_print("Hi, ascii")
         m.string_view_print("Hi, utf8 🎂")
-        m.string_view16_print(u"Hi, utf16 🎂")
-        m.string_view32_print(u"Hi, utf32 🎂")
+        m.string_view16_print("Hi, utf16 🎂")
+        m.string_view32_print("Hi, utf32 🎂")
     assert (
         capture
-        == u"""
+        == """
         Hi, ascii 9
         Hi, utf8 🎂 13
         Hi, utf16 🎂 12
@@ -197,22 +202,21 @@ def test_string_view(capture):
     if hasattr(m, "has_u8string"):
         with capture:
             m.string_view8_print("Hi, ascii")
-            m.string_view8_print(u"Hi, utf8 🎂")
+            m.string_view8_print("Hi, utf8 🎂")
         assert (
             capture
-            == u"""
+            == """
             Hi, ascii 9
             Hi, utf8 🎂 13
         """
         )
 
     assert m.string_view_bytes() == b"abc \x80\x80 def"
-    assert m.string_view_str() == u"abc ‽ def"
-    assert m.string_view_from_bytes(u"abc ‽ def".encode("utf-8")) == u"abc ‽ def"
+    assert m.string_view_str() == "abc ‽ def"
+    assert m.string_view_from_bytes("abc ‽ def".encode()) == "abc ‽ def"
     if hasattr(m, "has_u8string"):
-        assert m.string_view8_str() == u"abc ‽ def"
-    if not env.PY2:
-        assert m.string_view_memoryview() == "Have some 🎂".encode()
+        assert m.string_view8_str() == "abc ‽ def"
+    assert m.string_view_memoryview() == "Have some 🎂".encode()
 
     assert m.bytes_from_type_with_both_operator_string_and_string_view() == b"success"
     assert m.str_from_type_with_both_operator_string_and_string_view() == "success"
@@ -224,20 +228,8 @@ def test_integer_casting():
     assert m.i64_str(-1) == "-1"
     assert m.i32_str(2000000000) == "2000000000"
     assert m.u32_str(2000000000) == "2000000000"
-    if env.PY2:
-        assert m.i32_str(long(-1)) == "-1"  # noqa: F821 undefined name 'long'
-        assert m.i64_str(long(-1)) == "-1"  # noqa: F821 undefined name 'long'
-        assert (
-            m.i64_str(long(-999999999999))  # noqa: F821 undefined name 'long'
-            == "-999999999999"
-        )
-        assert (
-            m.u64_str(long(999999999999))  # noqa: F821 undefined name 'long'
-            == "999999999999"
-        )
-    else:
-        assert m.i64_str(-999999999999) == "-999999999999"
-        assert m.u64_str(999999999999) == "999999999999"
+    assert m.i64_str(-999999999999) == "-999999999999"
+    assert m.u64_str(999999999999) == "999999999999"
 
     with pytest.raises(TypeError) as excinfo:
         m.u32_str(-1)
@@ -252,46 +244,38 @@ def test_integer_casting():
         m.i32_str(3000000000)
     assert "incompatible function arguments" in str(excinfo.value)
 
-    if env.PY2:
-        with pytest.raises(TypeError) as excinfo:
-            m.u32_str(long(-1))  # noqa: F821 undefined name 'long'
-        assert "incompatible function arguments" in str(excinfo.value)
-        with pytest.raises(TypeError) as excinfo:
-            m.u64_str(long(-1))  # noqa: F821 undefined name 'long'
-        assert "incompatible function arguments" in str(excinfo.value)
-
 
 def test_int_convert():
-    class Int(object):
+    class Int:
         def __int__(self):
             return 42
 
-    class NotInt(object):
+    class NotInt:
         pass
 
-    class Float(object):
+    class Float:
         def __float__(self):
             return 41.99999
 
-    class Index(object):
+    class Index:
         def __index__(self):
             return 42
 
-    class IntAndIndex(object):
+    class IntAndIndex:
         def __int__(self):
             return 42
 
         def __index__(self):
             return 0
 
-    class RaisingTypeErrorOnIndex(object):
+    class RaisingTypeErrorOnIndex:
         def __index__(self):
             raise TypeError
 
         def __int__(self):
             return 42
 
-    class RaisingValueErrorOnIndex(object):
+    class RaisingValueErrorOnIndex:
         def __index__(self):
             raise ValueError
 
@@ -311,7 +295,7 @@ def cant_convert(v):
     cant_convert(3.14159)
     # TODO: Avoid DeprecationWarning in `PyLong_AsLong` (and similar)
     # TODO: PyPy 3.8 does not behave like CPython 3.8 here yet (7.3.7)
-    if (3, 8) <= env.PY < (3, 10) and env.CPYTHON:
+    if (3, 8) <= sys.version_info < (3, 10) and env.CPYTHON:
         with env.deprecated_call():
             assert convert(Int()) == 42
     else:
@@ -348,7 +332,7 @@ def require_implicit(v):
     # TODO: Avoid DeprecationWarning in `PyLong_AsLong` (and similar)
     # TODO: PyPy 3.8 does not behave like CPython 3.8 here yet (7.3.7)
     # https://github.com/pybind/pybind11/issues/3408
-    if (3, 8) <= env.PY < (3, 10) and env.CPYTHON:
+    if (3, 8) <= sys.version_info < (3, 10) and env.CPYTHON:
         with env.deprecated_call():
             assert convert(np.float32(3.14159)) == 3
     else:
@@ -475,7 +459,7 @@ def cant_convert(v):
     require_implicit(None)
     assert convert(None) is False
 
-    class A(object):
+    class A:
         def __init__(self, x):
             self.x = x
 
@@ -485,7 +469,7 @@ def __nonzero__(self):
         def __bool__(self):
             return self.x
 
-    class B(object):
+    class B:
         pass
 
     # Arbitrary objects are not accepted
@@ -515,17 +499,9 @@ def cant_convert(v):
 
 
 def test_int_long():
-    """In Python 2, a C++ int should return a Python int rather than long
-    if possible: longs are not always accepted where ints are used (such
-    as the argument to sys.exit()). A C++ long long is always a Python
-    long."""
-
-    import sys
-
-    must_be_long = type(getattr(sys, "maxint", 1) + 1)
     assert isinstance(m.int_cast(), int)
     assert isinstance(m.long_cast(), int)
-    assert isinstance(m.longlong_cast(), must_be_long)
+    assert isinstance(m.longlong_cast(), int)
 
 
 def test_void_caster_2():
diff --git a/pybind11/tests/test_call_policies.cpp b/pybind11/tests/test_call_policies.cpp
index 7cb98d0d86..d177008cfe 100644
--- a/pybind11/tests/test_call_policies.cpp
+++ b/pybind11/tests/test_call_policies.cpp
@@ -40,18 +40,17 @@ TEST_SUBMODULE(call_policies, m) {
         Child(Child &&) = default;
         ~Child() { py::print("Releasing child."); }
     };
-    py::class_<Child>(m, "Child")
-        .def(py::init<>());
+    py::class_<Child>(m, "Child").def(py::init<>());
 
     class Parent {
     public:
         Parent() { py::print("Allocating parent."); }
-        Parent(const Parent& parent) = default;
+        Parent(const Parent &parent) = default;
         ~Parent() { py::print("Releasing parent."); }
-        void addChild(Child *) { }
+        void addChild(Child *) {}
         Child *returnChild() { return new Child(); }
         Child *returnNullChild() { return nullptr; }
-        static Child *staticFunction(Parent*) { return new Child(); }
+        static Child *staticFunction(Parent *) { return new Child(); }
     };
     py::class_<Parent>(m, "Parent")
         .def(py::init<>())
@@ -62,11 +61,12 @@ TEST_SUBMODULE(call_policies, m) {
         .def("returnChildKeepAlive", &Parent::returnChild, py::keep_alive<1, 0>())
         .def("returnNullChildKeepAliveChild", &Parent::returnNullChild, py::keep_alive<1, 0>())
         .def("returnNullChildKeepAliveParent", &Parent::returnNullChild, py::keep_alive<0, 1>())
-        .def_static(
-            "staticFunction", &Parent::staticFunction, py::keep_alive<1, 0>());
+        .def_static("staticFunction", &Parent::staticFunction, py::keep_alive<1, 0>());
 
-    m.def("free_function", [](Parent*, Child*) {}, py::keep_alive<1, 2>());
-    m.def("invalid_arg_index", []{}, py::keep_alive<0, 1>());
+    m.def(
+        "free_function", [](Parent *, Child *) {}, py::keep_alive<1, 2>());
+    m.def(
+        "invalid_arg_index", [] {}, py::keep_alive<0, 1>());
 
 #if !defined(PYPY_VERSION)
     // test_alive_gc
@@ -74,29 +74,37 @@ TEST_SUBMODULE(call_policies, m) {
     public:
         using Parent::Parent;
     };
-    py::class_<ParentGC, Parent>(m, "ParentGC", py::dynamic_attr())
-        .def(py::init<>());
+    py::class_<ParentGC, Parent>(m, "ParentGC", py::dynamic_attr()).def(py::init<>());
 #endif
 
     // test_call_guard
     m.def("unguarded_call", &CustomGuard::report_status);
     m.def("guarded_call", &CustomGuard::report_status, py::call_guard<CustomGuard>());
 
-    m.def("multiple_guards_correct_order", []() {
-        return CustomGuard::report_status() + std::string(" & ") + DependentGuard::report_status();
-    }, py::call_guard<CustomGuard, DependentGuard>());
-
-    m.def("multiple_guards_wrong_order", []() {
-        return DependentGuard::report_status() + std::string(" & ") + CustomGuard::report_status();
-    }, py::call_guard<DependentGuard, CustomGuard>());
+    m.def(
+        "multiple_guards_correct_order",
+        []() {
+            return CustomGuard::report_status() + std::string(" & ")
+                   + DependentGuard::report_status();
+        },
+        py::call_guard<CustomGuard, DependentGuard>());
+
+    m.def(
+        "multiple_guards_wrong_order",
+        []() {
+            return DependentGuard::report_status() + std::string(" & ")
+                   + CustomGuard::report_status();
+        },
+        py::call_guard<DependentGuard, CustomGuard>());
 
 #if defined(WITH_THREAD) && !defined(PYPY_VERSION)
     // `py::call_guard<py::gil_scoped_release>()` should work in PyPy as well,
     // but it's unclear how to test it without `PyGILState_GetThisThreadState`.
     auto report_gil_status = []() {
         auto is_gil_held = false;
-        if (auto tstate = py::detail::get_thread_state_unchecked())
+        if (auto *tstate = py::detail::get_thread_state_unchecked()) {
             is_gil_held = (tstate == PyGILState_GetThisThreadState());
+        }
 
         return is_gil_held ? "GIL held" : "GIL released";
     };
diff --git a/pybind11/tests/test_call_policies.py b/pybind11/tests/test_call_policies.py
index 3599cf81af..6160564123 100644
--- a/pybind11/tests/test_call_policies.py
+++ b/pybind11/tests/test_call_policies.py
@@ -1,4 +1,3 @@
-# -*- coding: utf-8 -*-
 import pytest
 
 import env  # noqa: F401
diff --git a/pybind11/tests/test_callbacks.cpp b/pybind11/tests/test_callbacks.cpp
index 58688b6e8b..92b8053de4 100644
--- a/pybind11/tests/test_callbacks.cpp
+++ b/pybind11/tests/test_callbacks.cpp
@@ -7,11 +7,12 @@
     BSD-style license that can be found in the LICENSE file.
 */
 
-#include "pybind11_tests.h"
-#include "constructor_stats.h"
 #include <pybind11/functional.h>
-#include <thread>
 
+#include "constructor_stats.h"
+#include "pybind11_tests.h"
+
+#include <thread>
 
 int dummy_function(int i) { return i + 1; }
 
@@ -20,11 +21,12 @@ TEST_SUBMODULE(callbacks, m) {
     m.def("test_callback1", [](const py::object &func) { return func(); });
     m.def("test_callback2", [](const py::object &func) { return func("Hello", 'x', true, 5); });
     m.def("test_callback3", [](const std::function<int(int)> &func) {
-        return "func(43) = " + std::to_string(func(43)); });
-    m.def("test_callback4", []() -> std::function<int(int)> { return [](int i) { return i+1; }; });
-    m.def("test_callback5", []() {
-        return py::cpp_function([](int i) { return i+1; }, py::arg("number"));
+        return "func(43) = " + std::to_string(func(43));
     });
+    m.def("test_callback4",
+          []() -> std::function<int(int)> { return [](int i) { return i + 1; }; });
+    m.def("test_callback5",
+          []() { return py::cpp_function([](int i) { return i + 1; }, py::arg("number")); });
 
     // test_keyword_args_and_generalized_unpacking
     m.def("test_tuple_unpacking", [](const py::function &f) {
@@ -34,9 +36,9 @@ TEST_SUBMODULE(callbacks, m) {
     });
 
     m.def("test_dict_unpacking", [](const py::function &f) {
-        auto d1 = py::dict("key"_a="value", "a"_a=1);
+        auto d1 = py::dict("key"_a = "value", "a"_a = 1);
         auto d2 = py::dict();
-        auto d3 = py::dict("b"_a=2);
+        auto d3 = py::dict("b"_a = 2);
         return f("positional", 1, **d1, **d2, **d3);
     });
 
@@ -44,32 +46,40 @@ TEST_SUBMODULE(callbacks, m) {
 
     m.def("test_unpacking_and_keywords1", [](const py::function &f) {
         auto args = py::make_tuple(2);
-        auto kwargs = py::dict("d"_a=4);
-        return f(1, *args, "c"_a=3, **kwargs);
+        auto kwargs = py::dict("d"_a = 4);
+        return f(1, *args, "c"_a = 3, **kwargs);
     });
 
     m.def("test_unpacking_and_keywords2", [](const py::function &f) {
-        auto kwargs1 = py::dict("a"_a=1);
-        auto kwargs2 = py::dict("c"_a=3, "d"_a=4);
-        return f("positional", *py::make_tuple(1), 2, *py::make_tuple(3, 4), 5,
-                 "key"_a="value", **kwargs1, "b"_a=2, **kwargs2, "e"_a=5);
+        auto kwargs1 = py::dict("a"_a = 1);
+        auto kwargs2 = py::dict("c"_a = 3, "d"_a = 4);
+        return f("positional",
+                 *py::make_tuple(1),
+                 2,
+                 *py::make_tuple(3, 4),
+                 5,
+                 "key"_a = "value",
+                 **kwargs1,
+                 "b"_a = 2,
+                 **kwargs2,
+                 "e"_a = 5);
     });
 
     m.def("test_unpacking_error1", [](const py::function &f) {
-        auto kwargs = py::dict("x"_a=3);
-        return f("x"_a=1, "y"_a=2, **kwargs); // duplicate ** after keyword
+        auto kwargs = py::dict("x"_a = 3);
+        return f("x"_a = 1, "y"_a = 2, **kwargs); // duplicate ** after keyword
     });
 
     m.def("test_unpacking_error2", [](const py::function &f) {
-        auto kwargs = py::dict("x"_a=3);
-        return f(**kwargs, "x"_a=1); // duplicate keyword after **
+        auto kwargs = py::dict("x"_a = 3);
+        return f(**kwargs, "x"_a = 1); // duplicate keyword after **
     });
 
     m.def("test_arg_conversion_error1",
           [](const py::function &f) { f(234, UnregisteredType(), "kw"_a = 567); });
 
     m.def("test_arg_conversion_error2", [](const py::function &f) {
-        f(234, "expected_name"_a=UnregisteredType(), "kw"_a=567);
+        f(234, "expected_name"_a = UnregisteredType(), "kw"_a = 567);
     });
 
     // test_lambda_closure_cleanup
@@ -136,14 +146,19 @@ TEST_SUBMODULE(callbacks, m) {
     m.def("dummy_function_overloaded", [](int i, int j) { return i + j; });
     m.def("dummy_function_overloaded", &dummy_function);
     m.def("dummy_function2", [](int i, int j) { return i + j; });
-    m.def("roundtrip", [](std::function<int(int)> f, bool expect_none = false) {
-        if (expect_none && f)
-            throw std::runtime_error("Expected None to be converted to empty std::function");
-        return f;
-    }, py::arg("f"), py::arg("expect_none")=false);
+    m.def(
+        "roundtrip",
+        [](std::function<int(int)> f, bool expect_none = false) {
+            if (expect_none && f) {
+                throw std::runtime_error("Expected None to be converted to empty std::function");
+            }
+            return f;
+        },
+        py::arg("f"),
+        py::arg("expect_none") = false);
     m.def("test_dummy_function", [](const std::function<int(int)> &f) -> std::string {
         using fn_type = int (*)(int);
-        auto result = f.target<fn_type>();
+        const auto *result = f.target<fn_type>();
         if (!result) {
             auto r = f(1);
             return "can't convert to function pointer: eval(1) = " + std::to_string(r);
@@ -153,7 +168,6 @@ TEST_SUBMODULE(callbacks, m) {
             return "matches dummy_function: eval(1) = " + std::to_string(r);
         }
         return "argument does NOT match dummy_function. This should never happen!";
-
     });
 
     class AbstractBase {
@@ -185,7 +199,7 @@ TEST_SUBMODULE(callbacks, m) {
     // test_movable_object
     m.def("callback_with_movable", [](const std::function<void(MovableObject &)> &f) {
         auto x = MovableObject();
-        f(x); // lvalue reference shouldn't move out object
+        f(x);           // lvalue reference shouldn't move out object
         return x.valid; // must still return `true`
     });
 
@@ -197,9 +211,10 @@ TEST_SUBMODULE(callbacks, m) {
 
     // This checks that builtin functions can be passed as callbacks
     // rather than throwing RuntimeError due to trying to extract as capsule
-    m.def("test_sum_builtin", [](const std::function<double(py::iterable)> &sum_builtin, const py::iterable &i) {
-      return sum_builtin(i);
-    });
+    m.def("test_sum_builtin",
+          [](const std::function<double(py::iterable)> &sum_builtin, const py::iterable &i) {
+              return sum_builtin(i);
+          });
 
     // test async Python callbacks
     using callback_f = std::function<void(int)>;
@@ -215,8 +230,9 @@ TEST_SUBMODULE(callbacks, m) {
         };
 
         // spawn worker threads
-        for (auto i : work)
+        for (auto i : work) {
             start_f(py::cast<int>(i));
+        }
     });
 
     m.def("callback_num_times", [](const py::function &f, std::size_t num) {
diff --git a/pybind11/tests/test_callbacks.py b/pybind11/tests/test_callbacks.py
index f41ad86e7f..0b1047bbf2 100644
--- a/pybind11/tests/test_callbacks.py
+++ b/pybind11/tests/test_callbacks.py
@@ -1,4 +1,3 @@
-# -*- coding: utf-8 -*-
 import time
 from threading import Thread
 
@@ -18,7 +17,7 @@ def func2(a, b, c, d):
         return "func2", a, b, c, d
 
     def func3(a):
-        return "func3({})".format(a)
+        return f"func3({a})"
 
     assert m.test_callback1(func1) == "func1"
     assert m.test_callback2(func2) == ("func2", "Hello", "x", True, 5)
@@ -189,14 +188,8 @@ def test_callback_num_times():
         if not rep:
             print()
         print(
-            "callback_num_times: {:d} million / {:.3f} seconds = {:.3f} million / second".format(
-                num_millions, td, rate
-            )
+            f"callback_num_times: {num_millions:d} million / {td:.3f} seconds = {rate:.3f} million / second"
         )
     if len(rates) > 1:
         print("Min    Mean   Max")
-        print(
-            "{:6.3f} {:6.3f} {:6.3f}".format(
-                min(rates), sum(rates) / len(rates), max(rates)
-            )
-        )
+        print(f"{min(rates):6.3f} {sum(rates) / len(rates):6.3f} {max(rates):6.3f}")
diff --git a/pybind11/tests/test_chrono.cpp b/pybind11/tests/test_chrono.cpp
index 6537050803..8be0ffd183 100644
--- a/pybind11/tests/test_chrono.cpp
+++ b/pybind11/tests/test_chrono.cpp
@@ -8,21 +8,20 @@
     BSD-style license that can be found in the LICENSE file.
 */
 
-#include "pybind11_tests.h"
 #include <pybind11/chrono.h>
+
+#include "pybind11_tests.h"
+
 #include <chrono>
 
 struct different_resolutions {
-    using time_point_h = std::chrono::time_point<
-        std::chrono::system_clock, std::chrono::hours>;
-    using time_point_m = std::chrono::time_point<
-        std::chrono::system_clock, std::chrono::minutes>;
-    using time_point_s = std::chrono::time_point<
-        std::chrono::system_clock, std::chrono::seconds>;
-    using time_point_ms = std::chrono::time_point<
-        std::chrono::system_clock, std::chrono::milliseconds>;
-    using time_point_us = std::chrono::time_point<
-        std::chrono::system_clock, std::chrono::microseconds>;
+    using time_point_h = std::chrono::time_point<std::chrono::system_clock, std::chrono::hours>;
+    using time_point_m = std::chrono::time_point<std::chrono::system_clock, std::chrono::minutes>;
+    using time_point_s = std::chrono::time_point<std::chrono::system_clock, std::chrono::seconds>;
+    using time_point_ms
+        = std::chrono::time_point<std::chrono::system_clock, std::chrono::milliseconds>;
+    using time_point_us
+        = std::chrono::time_point<std::chrono::system_clock, std::chrono::microseconds>;
     time_point_h timestamp_h;
     time_point_m timestamp_m;
     time_point_s timestamp_s;
@@ -65,12 +64,11 @@ TEST_SUBMODULE(chrono, m) {
     // Roundtrip a duration in microseconds from a float argument
     m.def("test_chrono7", [](std::chrono::microseconds t) { return t; });
     // Float durations (issue #719)
-    m.def("test_chrono_float_diff", [](std::chrono::duration<float> a, std::chrono::duration<float> b) {
-        return a - b; });
+    m.def("test_chrono_float_diff",
+          [](std::chrono::duration<float> a, std::chrono::duration<float> b) { return a - b; });
 
-    m.def("test_nano_timepoint", [](timestamp start, timespan delta) -> timestamp {
-        return start + delta;
-    });
+    m.def("test_nano_timepoint",
+          [](timestamp start, timespan delta) -> timestamp { return start + delta; });
 
     // Test different resolutions
     py::class_<different_resolutions>(m, "different_resolutions")
@@ -79,6 +77,5 @@ TEST_SUBMODULE(chrono, m) {
         .def_readwrite("timestamp_m", &different_resolutions::timestamp_m)
         .def_readwrite("timestamp_s", &different_resolutions::timestamp_s)
         .def_readwrite("timestamp_ms", &different_resolutions::timestamp_ms)
-        .def_readwrite("timestamp_us", &different_resolutions::timestamp_us)
-        ;
+        .def_readwrite("timestamp_us", &different_resolutions::timestamp_us);
 }
diff --git a/pybind11/tests/test_chrono.py b/pybind11/tests/test_chrono.py
index fdd73d6908..7f47b37a25 100644
--- a/pybind11/tests/test_chrono.py
+++ b/pybind11/tests/test_chrono.py
@@ -1,4 +1,3 @@
-# -*- coding: utf-8 -*-
 import datetime
 
 import pytest
@@ -101,7 +100,7 @@ def test_chrono_system_clock_roundtrip_date():
 )
 def test_chrono_system_clock_roundtrip_time(time1, tz, monkeypatch):
     if tz is not None:
-        monkeypatch.setenv("TZ", "/usr/share/zoneinfo/{}".format(tz))
+        monkeypatch.setenv("TZ", f"/usr/share/zoneinfo/{tz}")
 
     # Roundtrip the time
     datetime2 = m.test_chrono2(time1)
diff --git a/pybind11/tests/test_class.cpp b/pybind11/tests/test_class.cpp
index 52a41a3bc0..c8b8071dc9 100644
--- a/pybind11/tests/test_class.cpp
+++ b/pybind11/tests/test_class.cpp
@@ -11,18 +11,20 @@
 // Intel compiler requires a separate header file to support aligned new operators
 // and does not set the __cpp_aligned_new feature macro.
 // This header needs to be included before pybind11.
-#include <aligned_new>
+#    include <aligned_new>
 #endif
 
-#include "pybind11_tests.h"
+#include <pybind11/stl.h>
+
 #include "constructor_stats.h"
 #include "local_bindings.h"
-#include <pybind11/stl.h>
+#include "pybind11_tests.h"
 
 #include <utility>
 
 #if defined(_MSC_VER)
-#  pragma warning(disable: 4324) // warning C4324: structure was padded due to alignment specifier
+#    pragma warning(disable : 4324)
+//     warning C4324: structure was padded due to alignment specifier
 #endif
 
 // test_brace_initialization
@@ -74,6 +76,7 @@ TEST_SUBMODULE(class_, m) {
             : m_name(name), m_species(species) {}
         std::string name() const { return m_name; }
         std::string species() const { return m_species; }
+
     private:
         std::string m_name;
         std::string m_species;
@@ -100,27 +103,24 @@ TEST_SUBMODULE(class_, m) {
     };
 
     py::class_<Pet> pet_class(m, "Pet");
-    pet_class
-        .def(py::init<std::string, std::string>())
+    pet_class.def(py::init<std::string, std::string>())
         .def("name", &Pet::name)
         .def("species", &Pet::species);
 
     /* One way of declaring a subclass relationship: reference parent's class_ object */
-    py::class_<Dog>(m, "Dog", pet_class)
-        .def(py::init<std::string>());
+    py::class_<Dog>(m, "Dog", pet_class).def(py::init<std::string>());
 
     /* Another way of declaring a subclass relationship: reference parent's C++ type */
-    py::class_<Rabbit, Pet>(m, "Rabbit")
-        .def(py::init<std::string>());
+    py::class_<Rabbit, Pet>(m, "Rabbit").def(py::init<std::string>());
 
     /* And another: list parent in class template arguments */
-    py::class_<Hamster, Pet>(m, "Hamster")
-        .def(py::init<std::string>());
+    py::class_<Hamster, Pet>(m, "Hamster").def(py::init<std::string>());
 
     /* Constructors are not inherited by default */
     py::class_<Chimera, Pet>(m, "Chimera");
 
-    m.def("pet_name_species", [](const Pet &pet) { return pet.name() + " is a " + pet.species(); });
+    m.def("pet_name_species",
+          [](const Pet &pet) { return pet.name() + " is a " + pet.species(); });
     m.def("dog_bark", [](const Dog &dog) { return dog.bark(); });
 
     // test_automatic_upcasting
@@ -130,33 +130,35 @@ TEST_SUBMODULE(class_, m) {
         BaseClass(BaseClass &&) = default;
         virtual ~BaseClass() = default;
     };
-    struct DerivedClass1 : BaseClass { };
-    struct DerivedClass2 : BaseClass { };
+    struct DerivedClass1 : BaseClass {};
+    struct DerivedClass2 : BaseClass {};
 
     py::class_<BaseClass>(m, "BaseClass").def(py::init<>());
     py::class_<DerivedClass1>(m, "DerivedClass1").def(py::init<>());
     py::class_<DerivedClass2>(m, "DerivedClass2").def(py::init<>());
 
-    m.def("return_class_1", []() -> BaseClass* { return new DerivedClass1(); });
-    m.def("return_class_2", []() -> BaseClass* { return new DerivedClass2(); });
-    m.def("return_class_n", [](int n) -> BaseClass* {
-        if (n == 1) return new DerivedClass1();
-        if (n == 2) return new DerivedClass2();
+    m.def("return_class_1", []() -> BaseClass * { return new DerivedClass1(); });
+    m.def("return_class_2", []() -> BaseClass * { return new DerivedClass2(); });
+    m.def("return_class_n", [](int n) -> BaseClass * {
+        if (n == 1) {
+            return new DerivedClass1();
+        }
+        if (n == 2) {
+            return new DerivedClass2();
+        }
         return new BaseClass();
     });
-    m.def("return_none", []() -> BaseClass* { return nullptr; });
+    m.def("return_none", []() -> BaseClass * { return nullptr; });
 
     // test_isinstance
     m.def("check_instances", [](const py::list &l) {
-        return py::make_tuple(
-            py::isinstance<py::tuple>(l[0]),
-            py::isinstance<py::dict>(l[1]),
-            py::isinstance<Pet>(l[2]),
-            py::isinstance<Pet>(l[3]),
-            py::isinstance<Dog>(l[4]),
-            py::isinstance<Rabbit>(l[5]),
-            py::isinstance<UnregisteredType>(l[6])
-        );
+        return py::make_tuple(py::isinstance<py::tuple>(l[0]),
+                              py::isinstance<py::dict>(l[1]),
+                              py::isinstance<Pet>(l[2]),
+                              py::isinstance<Pet>(l[3]),
+                              py::isinstance<Dog>(l[4]),
+                              py::isinstance<Rabbit>(l[5]),
+                              py::isinstance<UnregisteredType>(l[6]));
     });
 
     struct Invalid {};
@@ -167,25 +169,24 @@ TEST_SUBMODULE(class_, m) {
         // See https://github.com/pybind/pybind11/issues/2486
         // if (category == 2)
         //     return py::type::of<int>();
-        if (category == 1)
+        if (category == 1) {
             return py::type::of<DerivedClass1>();
+        }
         return py::type::of<Invalid>();
     });
 
     m.def("get_type_of", [](py::object ob) { return py::type::of(std::move(ob)); });
 
-    m.def("get_type_classic", [](py::handle h) {
-        return h.get_type();
-    });
+    m.def("get_type_classic", [](py::handle h) { return h.get_type(); });
 
     m.def("as_type", [](const py::object &ob) { return py::type(ob); });
 
     // test_mismatched_holder
-    struct MismatchBase1 { };
-    struct MismatchDerived1 : MismatchBase1 { };
+    struct MismatchBase1 {};
+    struct MismatchDerived1 : MismatchBase1 {};
 
-    struct MismatchBase2 { };
-    struct MismatchDerived2 : MismatchBase2 { };
+    struct MismatchBase2 {};
+    struct MismatchDerived2 : MismatchBase2 {};
 
     m.def("mismatched_holder_1", []() {
         auto mod = py::module_::import("__main__");
@@ -195,16 +196,14 @@ TEST_SUBMODULE(class_, m) {
     m.def("mismatched_holder_2", []() {
         auto mod = py::module_::import("__main__");
         py::class_<MismatchBase2>(mod, "MismatchBase2");
-        py::class_<MismatchDerived2, std::shared_ptr<MismatchDerived2>,
-                   MismatchBase2>(mod, "MismatchDerived2");
+        py::class_<MismatchDerived2, std::shared_ptr<MismatchDerived2>, MismatchBase2>(
+            mod, "MismatchDerived2");
     });
 
     // test_override_static
     // #511: problem with inheritance + overwritten def_static
     struct MyBase {
-        static std::unique_ptr<MyBase> make() {
-            return std::unique_ptr<MyBase>(new MyBase());
-        }
+        static std::unique_ptr<MyBase> make() { return std::unique_ptr<MyBase>(new MyBase()); }
     };
 
     struct MyDerived : MyBase {
@@ -213,8 +212,7 @@ TEST_SUBMODULE(class_, m) {
         }
     };
 
-    py::class_<MyBase>(m, "MyBase")
-        .def_static("make", &MyBase::make);
+    py::class_<MyBase>(m, "MyBase").def_static("make", &MyBase::make);
 
     py::class_<MyDerived, MyBase>(m, "MyDerived")
         .def_static("make", &MyDerived::make)
@@ -227,8 +225,7 @@ TEST_SUBMODULE(class_, m) {
         explicit ConvertibleFromUserType(UserType u) : i(u.value()) {}
     };
 
-    py::class_<ConvertibleFromUserType>(m, "AcceptsUserType")
-        .def(py::init<UserType>());
+    py::class_<ConvertibleFromUserType>(m, "AcceptsUserType").def(py::init<UserType>());
     py::implicitly_convertible<UserType, ConvertibleFromUserType>();
 
     m.def("implicitly_convert_argument", [](const ConvertibleFromUserType &r) { return r.i; });
@@ -250,32 +247,61 @@ TEST_SUBMODULE(class_, m) {
             return py::str().release().ptr();
         };
 
-        auto def = new PyMethodDef{"f", f, METH_VARARGS, nullptr};
-        py::capsule def_capsule(def, [](void *ptr) { delete reinterpret_cast<PyMethodDef *>(ptr); });
-        return py::reinterpret_steal<py::object>(PyCFunction_NewEx(def, def_capsule.ptr(), m.ptr()));
+        auto *def = new PyMethodDef{"f", f, METH_VARARGS, nullptr};
+        py::capsule def_capsule(def,
+                                [](void *ptr) { delete reinterpret_cast<PyMethodDef *>(ptr); });
+        return py::reinterpret_steal<py::object>(
+            PyCFunction_NewEx(def, def_capsule.ptr(), m.ptr()));
     }());
 
     // test_operator_new_delete
     struct HasOpNewDel {
         std::uint64_t i;
-        static void *operator new(size_t s) { py::print("A new", s); return ::operator new(s); }
-        static void *operator new(size_t s, void *ptr) { py::print("A placement-new", s); return ptr; }
-        static void operator delete(void *p) { py::print("A delete"); return ::operator delete(p); }
+        static void *operator new(size_t s) {
+            py::print("A new", s);
+            return ::operator new(s);
+        }
+        static void *operator new(size_t s, void *ptr) {
+            py::print("A placement-new", s);
+            return ptr;
+        }
+        static void operator delete(void *p) {
+            py::print("A delete");
+            return ::operator delete(p);
+        }
     };
     struct HasOpNewDelSize {
         std::uint32_t i;
-        static void *operator new(size_t s) { py::print("B new", s); return ::operator new(s); }
-        static void *operator new(size_t s, void *ptr) { py::print("B placement-new", s); return ptr; }
-        static void operator delete(void *p, size_t s) { py::print("B delete", s); return ::operator delete(p); }
+        static void *operator new(size_t s) {
+            py::print("B new", s);
+            return ::operator new(s);
+        }
+        static void *operator new(size_t s, void *ptr) {
+            py::print("B placement-new", s);
+            return ptr;
+        }
+        static void operator delete(void *p, size_t s) {
+            py::print("B delete", s);
+            return ::operator delete(p);
+        }
     };
     struct AliasedHasOpNewDelSize {
         std::uint64_t i;
-        static void *operator new(size_t s) { py::print("C new", s); return ::operator new(s); }
-        static void *operator new(size_t s, void *ptr) { py::print("C placement-new", s); return ptr; }
-        static void operator delete(void *p, size_t s) { py::print("C delete", s); return ::operator delete(p); }
+        static void *operator new(size_t s) {
+            py::print("C new", s);
+            return ::operator new(s);
+        }
+        static void *operator new(size_t s, void *ptr) {
+            py::print("C placement-new", s);
+            return ptr;
+        }
+        static void operator delete(void *p, size_t s) {
+            py::print("C delete", s);
+            return ::operator delete(p);
+        }
         virtual ~AliasedHasOpNewDelSize() = default;
         AliasedHasOpNewDelSize() = default;
-        AliasedHasOpNewDelSize(const AliasedHasOpNewDelSize&) = delete;
+        AliasedHasOpNewDelSize(const AliasedHasOpNewDelSize &) = delete;
     };
     struct PyAliasedHasOpNewDelSize : AliasedHasOpNewDelSize {
         PyAliasedHasOpNewDelSize() = default;
@@ -284,15 +310,28 @@ TEST_SUBMODULE(class_, m) {
     };
     struct HasOpNewDelBoth {
         std::uint32_t i[8];
-        static void *operator new(size_t s) { py::print("D new", s); return ::operator new(s); }
-        static void *operator new(size_t s, void *ptr) { py::print("D placement-new", s); return ptr; }
-        static void operator delete(void *p) { py::print("D delete"); return ::operator delete(p); }
-        static void operator delete(void *p, size_t s) { py::print("D wrong delete", s); return ::operator delete(p); }
+        static void *operator new(size_t s) {
+            py::print("D new", s);
+            return ::operator new(s);
+        }
+        static void *operator new(size_t s, void *ptr) {
+            py::print("D placement-new", s);
+            return ptr;
+        }
+        static void operator delete(void *p) {
+            py::print("D delete");
+            return ::operator delete(p);
+        }
+        static void operator delete(void *p, size_t s) {
+            py::print("D wrong delete", s);
+            return ::operator delete(p);
+        }
     };
     py::class_<HasOpNewDel>(m, "HasOpNewDel").def(py::init<>());
     py::class_<HasOpNewDelSize>(m, "HasOpNewDelSize").def(py::init<>());
     py::class_<HasOpNewDelBoth>(m, "HasOpNewDelBoth").def(py::init<>());
-    py::class_<AliasedHasOpNewDelSize, PyAliasedHasOpNewDelSize> aliased(m, "AliasedHasOpNewDelSize");
+    py::class_<AliasedHasOpNewDelSize, PyAliasedHasOpNewDelSize> aliased(m,
+                                                                         "AliasedHasOpNewDelSize");
     aliased.def(py::init<>());
     aliased.attr("size_noalias") = py::int_(sizeof(AliasedHasOpNewDelSize));
     aliased.attr("size_alias") = py::int_(sizeof(PyAliasedHasOpNewDelSize));
@@ -315,13 +354,7 @@ TEST_SUBMODULE(class_, m) {
         using ProtectedA::foo;
     };
 
-    py::class_<ProtectedA>(m, "ProtectedA")
-        .def(py::init<>())
-#if !defined(_MSC_VER) || _MSC_VER >= 1910
-        .def("foo", &PublicistA::foo);
-#else
-        .def("foo", static_cast<int (ProtectedA::*)() const>(&PublicistA::foo));
-#endif
+    py::class_<ProtectedA>(m, "ProtectedA").def(py::init<>()).def("foo", &PublicistA::foo);
 
     class ProtectedB {
     public:
@@ -346,17 +379,13 @@ TEST_SUBMODULE(class_, m) {
         // [workaround(intel)] = default does not work here
         // Removing or defaulting this destructor results in linking errors with the Intel compiler
         // (in Debug builds only, tested with icpc (ICC) 2021.1 Beta 20200827)
-        ~PublicistB() override {};  // NOLINT(modernize-use-equals-default)
+        ~PublicistB() override{}; // NOLINT(modernize-use-equals-default)
         using ProtectedB::foo;
     };
 
     py::class_<ProtectedB, TrampolineB>(m, "ProtectedB")
         .def(py::init<>())
-#if !defined(_MSC_VER) || _MSC_VER >= 1910
         .def("foo", &PublicistB::foo);
-#else
-        .def("foo", static_cast<int (ProtectedB::*)() const>(&PublicistB::foo));
-#endif
 
     // test_brace_initialization
     struct BraceInitialization {
@@ -396,8 +425,8 @@ TEST_SUBMODULE(class_, m) {
     py::class_<Nested>(base, "Nested")
         .def(py::init<>())
         .def("fn", [](Nested &, int, NestBase &, Nested &) {})
-        .def("fa", [](Nested &, int, NestBase &, Nested &) {},
-                "a"_a, "b"_a, "c"_a);
+        .def(
+            "fa", [](Nested &, int, NestBase &, Nested &) {}, "a"_a, "b"_a, "c"_a);
     base.def("g", [](NestBase &, Nested &) {});
     base.def("h", []() { return NestBase(); });
 
@@ -407,21 +436,21 @@ TEST_SUBMODULE(class_, m) {
     // generate a useful error message
 
     struct NotRegistered {};
-    struct StringWrapper { std::string str; };
+    struct StringWrapper {
+        std::string str;
+    };
     m.def("test_error_after_conversions", [](int) {});
     m.def("test_error_after_conversions",
           [](const StringWrapper &) -> NotRegistered { return {}; });
     py::class_<StringWrapper>(m, "StringWrapper").def(py::init<std::string>());
     py::implicitly_convertible<std::string, StringWrapper>();
 
-    #if defined(PYBIND11_CPP17)
-        struct alignas(1024) Aligned {
-            std::uintptr_t ptr() const { return (uintptr_t) this; }
-        };
-        py::class_<Aligned>(m, "Aligned")
-            .def(py::init<>())
-            .def("ptr", &Aligned::ptr);
-    #endif
+#if defined(PYBIND11_CPP17)
+    struct alignas(1024) Aligned {
+        std::uintptr_t ptr() const { return (uintptr_t) this; }
+    };
+    py::class_<Aligned>(m, "Aligned").def(py::init<>()).def("ptr", &Aligned::ptr);
+#endif
 
     // test_final
     struct IsFinal final {};
@@ -434,9 +463,7 @@ TEST_SUBMODULE(class_, m) {
     // test_exception_rvalue_abort
     struct PyPrintDestructor {
         PyPrintDestructor() = default;
-        ~PyPrintDestructor() {
-            py::print("Print from destructor");
-        }
+        ~PyPrintDestructor() { py::print("Print from destructor"); }
         void throw_something() { throw std::runtime_error("error"); }
     };
     py::class_<PyPrintDestructor>(m, "PyPrintDestructor")
@@ -450,8 +477,7 @@ TEST_SUBMODULE(class_, m) {
         .def(py::init([]() { return &samePointer; }));
 
     struct Empty {};
-    py::class_<Empty>(m, "Empty")
-        .def(py::init<>());
+    py::class_<Empty>(m, "Empty").def(py::init<>());
 
     // test_base_and_derived_nested_scope
     struct BaseWithNested {
@@ -493,12 +519,15 @@ TEST_SUBMODULE(class_, m) {
     });
 }
 
-template <int N> class BreaksBase { public:
+template <int N>
+class BreaksBase {
+public:
     virtual ~BreaksBase() = default;
     BreaksBase() = default;
-    BreaksBase(const BreaksBase&) = delete;
+    BreaksBase(const BreaksBase &) = delete;
 };
-template <int N> class BreaksTramp : public BreaksBase<N> {};
+template <int N>
+class BreaksTramp : public BreaksBase<N> {};
 // These should all compile just fine:
 using DoesntBreak1 = py::class_<BreaksBase<1>, std::unique_ptr<BreaksBase<1>>, BreaksTramp<1>>;
 using DoesntBreak2 = py::class_<BreaksBase<2>, BreaksTramp<2>, std::unique_ptr<BreaksBase<2>>>;
@@ -508,43 +537,83 @@ using DoesntBreak5 = py::class_<BreaksBase<5>>;
 using DoesntBreak6 = py::class_<BreaksBase<6>, std::shared_ptr<BreaksBase<6>>, BreaksTramp<6>>;
 using DoesntBreak7 = py::class_<BreaksBase<7>, BreaksTramp<7>, std::shared_ptr<BreaksBase<7>>>;
 using DoesntBreak8 = py::class_<BreaksBase<8>, std::shared_ptr<BreaksBase<8>>>;
-#define CHECK_BASE(N) static_assert(std::is_same<typename DoesntBreak##N::type, BreaksBase<(N)>>::value, \
-        "DoesntBreak" #N " has wrong type!")
-CHECK_BASE(1); CHECK_BASE(2); CHECK_BASE(3); CHECK_BASE(4); CHECK_BASE(5); CHECK_BASE(6); CHECK_BASE(7); CHECK_BASE(8);
-#define CHECK_ALIAS(N) static_assert(DoesntBreak##N::has_alias && std::is_same<typename DoesntBreak##N::type_alias, BreaksTramp<(N)>>::value, \
+#define CHECK_BASE(N)                                                                             \
+    static_assert(std::is_same<typename DoesntBreak##N::type, BreaksBase<(N)>>::value,            \
+                  "DoesntBreak" #N " has wrong type!")
+CHECK_BASE(1);
+CHECK_BASE(2);
+CHECK_BASE(3);
+CHECK_BASE(4);
+CHECK_BASE(5);
+CHECK_BASE(6);
+CHECK_BASE(7);
+CHECK_BASE(8);
+#define CHECK_ALIAS(N)                                                                            \
+    static_assert(                                                                                \
+        DoesntBreak##N::has_alias                                                                 \
+            && std::is_same<typename DoesntBreak##N::type_alias, BreaksTramp<(N)>>::value,        \
         "DoesntBreak" #N " has wrong type_alias!")
-#define CHECK_NOALIAS(N) static_assert(!DoesntBreak##N::has_alias && std::is_void<typename DoesntBreak##N::type_alias>::value, \
-        "DoesntBreak" #N " has type alias, but shouldn't!")
-CHECK_ALIAS(1); CHECK_ALIAS(2); CHECK_NOALIAS(3); CHECK_ALIAS(4); CHECK_NOALIAS(5); CHECK_ALIAS(6); CHECK_ALIAS(7); CHECK_NOALIAS(8);
-#define CHECK_HOLDER(N, TYPE) static_assert(std::is_same<typename DoesntBreak##N::holder_type, std::TYPE##_ptr<BreaksBase<(N)>>>::value, \
-        "DoesntBreak" #N " has wrong holder_type!")
-CHECK_HOLDER(1, unique); CHECK_HOLDER(2, unique); CHECK_HOLDER(3, unique); CHECK_HOLDER(4, unique); CHECK_HOLDER(5, unique);
-CHECK_HOLDER(6, shared); CHECK_HOLDER(7, shared); CHECK_HOLDER(8, shared);
+#define CHECK_NOALIAS(N)                                                                          \
+    static_assert(!DoesntBreak##N::has_alias                                                      \
+                      && std::is_void<typename DoesntBreak##N::type_alias>::value,                \
+                  "DoesntBreak" #N " has type alias, but shouldn't!")
+CHECK_ALIAS(1);
+CHECK_ALIAS(2);
+CHECK_NOALIAS(3);
+CHECK_ALIAS(4);
+CHECK_NOALIAS(5);
+CHECK_ALIAS(6);
+CHECK_ALIAS(7);
+CHECK_NOALIAS(8);
+#define CHECK_HOLDER(N, TYPE)                                                                     \
+    static_assert(std::is_same<typename DoesntBreak##N::holder_type,                              \
+                               std::TYPE##_ptr<BreaksBase<(N)>>>::value,                          \
+                  "DoesntBreak" #N " has wrong holder_type!")
+CHECK_HOLDER(1, unique);
+CHECK_HOLDER(2, unique);
+CHECK_HOLDER(3, unique);
+CHECK_HOLDER(4, unique);
+CHECK_HOLDER(5, unique);
+CHECK_HOLDER(6, shared);
+CHECK_HOLDER(7, shared);
+CHECK_HOLDER(8, shared);
 
 // There's no nice way to test that these fail because they fail to compile; leave them here,
 // though, so that they can be manually tested by uncommenting them (and seeing that compilation
 // failures occurs).
 
 // We have to actually look into the type: the typedef alone isn't enough to instantiate the type:
-#define CHECK_BROKEN(N) static_assert(std::is_same<typename Breaks##N::type, BreaksBase<-(N)>>::value, \
-        "Breaks1 has wrong type!");
-
-//// Two holder classes:
-//typedef py::class_<BreaksBase<-1>, std::unique_ptr<BreaksBase<-1>>, std::unique_ptr<BreaksBase<-1>>> Breaks1;
-//CHECK_BROKEN(1);
-//// Two aliases:
-//typedef py::class_<BreaksBase<-2>, BreaksTramp<-2>, BreaksTramp<-2>> Breaks2;
-//CHECK_BROKEN(2);
-//// Holder + 2 aliases
-//typedef py::class_<BreaksBase<-3>, std::unique_ptr<BreaksBase<-3>>, BreaksTramp<-3>, BreaksTramp<-3>> Breaks3;
-//CHECK_BROKEN(3);
-//// Alias + 2 holders
-//typedef py::class_<BreaksBase<-4>, std::unique_ptr<BreaksBase<-4>>, BreaksTramp<-4>, std::shared_ptr<BreaksBase<-4>>> Breaks4;
-//CHECK_BROKEN(4);
-//// Invalid option (not a subclass or holder)
-//typedef py::class_<BreaksBase<-5>, BreaksTramp<-4>> Breaks5;
-//CHECK_BROKEN(5);
-//// Invalid option: multiple inheritance not supported:
-//template <> struct BreaksBase<-8> : BreaksBase<-6>, BreaksBase<-7> {};
-//typedef py::class_<BreaksBase<-8>, BreaksBase<-6>, BreaksBase<-7>> Breaks8;
-//CHECK_BROKEN(8);
+#define CHECK_BROKEN(N)                                                                           \
+    static_assert(std::is_same<typename Breaks##N::type, BreaksBase<-(N)>>::value,                \
+                  "Breaks1 has wrong type!");
+
+#ifdef PYBIND11_NEVER_DEFINED_EVER
+// Two holder classes:
+typedef py::
+    class_<BreaksBase<-1>, std::unique_ptr<BreaksBase<-1>>, std::unique_ptr<BreaksBase<-1>>>
+        Breaks1;
+CHECK_BROKEN(1);
+// Two aliases:
+typedef py::class_<BreaksBase<-2>, BreaksTramp<-2>, BreaksTramp<-2>> Breaks2;
+CHECK_BROKEN(2);
+// Holder + 2 aliases
+typedef py::
+    class_<BreaksBase<-3>, std::unique_ptr<BreaksBase<-3>>, BreaksTramp<-3>, BreaksTramp<-3>>
+        Breaks3;
+CHECK_BROKEN(3);
+// Alias + 2 holders
+typedef py::class_<BreaksBase<-4>,
+                   std::unique_ptr<BreaksBase<-4>>,
+                   BreaksTramp<-4>,
+                   std::shared_ptr<BreaksBase<-4>>>
+    Breaks4;
+CHECK_BROKEN(4);
+// Invalid option (not a subclass or holder)
+typedef py::class_<BreaksBase<-5>, BreaksTramp<-4>> Breaks5;
+CHECK_BROKEN(5);
+// Invalid option: multiple inheritance not supported:
+template <>
+struct BreaksBase<-8> : BreaksBase<-6>, BreaksBase<-7> {};
+typedef py::class_<BreaksBase<-8>, BreaksBase<-6>, BreaksBase<-7>> Breaks8;
+CHECK_BROKEN(8);
+#endif
diff --git a/pybind11/tests/test_class.py b/pybind11/tests/test_class.py
index caafe2068d..ff9196f0f2 100644
--- a/pybind11/tests/test_class.py
+++ b/pybind11/tests/test_class.py
@@ -1,4 +1,3 @@
-# -*- coding: utf-8 -*-
 import pytest
 
 import env  # noqa: F401
@@ -7,7 +6,6 @@
 
 
 def test_repr():
-    # In Python 3.3+, repr() accesses __qualname__
     assert "pybind11_type" in repr(type(UserType))
     assert "UserType" in repr(UserType)
 
@@ -103,8 +101,8 @@ def test_docstrings(doc):
 
 
 def test_qualname(doc):
-    """Tests that a properly qualified name is set in __qualname__ (even in pre-3.3, where we
-    backport the attribute) and that generated docstrings properly use it and the module name"""
+    """Tests that a properly qualified name is set in __qualname__ and that
+    generated docstrings properly use it and the module name"""
     assert m.NestBase.__qualname__ == "NestBase"
     assert m.NestBase.Nested.__qualname__ == "NestBase.Nested"
 
@@ -130,13 +128,13 @@ def test_qualname(doc):
         doc(m.NestBase.Nested.fn)
         == """
         fn(self: m.class_.NestBase.Nested, arg0: int, arg1: m.class_.NestBase, arg2: m.class_.NestBase.Nested) -> None
-    """  # noqa: E501 line too long
+    """
     )
     assert (
         doc(m.NestBase.Nested.fa)
         == """
         fa(self: m.class_.NestBase.Nested, a: int, b: m.class_.NestBase, c: m.class_.NestBase.Nested) -> None
-    """  # noqa: E501 line too long
+    """
     )
     assert m.NestBase.__module__ == "pybind11_tests.class_"
     assert m.NestBase.Nested.__module__ == "pybind11_tests.class_"
diff --git a/pybind11/tests/test_cmake_build/embed.cpp b/pybind11/tests/test_cmake_build/embed.cpp
index a3abc8a84d..30bc4f1e14 100644
--- a/pybind11/tests/test_cmake_build/embed.cpp
+++ b/pybind11/tests/test_cmake_build/embed.cpp
@@ -6,15 +6,17 @@ PYBIND11_EMBEDDED_MODULE(test_cmake_build, m) {
 }
 
 int main(int argc, char *argv[]) {
-    if (argc != 2)
+    if (argc != 2) {
         throw std::runtime_error("Expected test.py file as the first argument");
-    auto test_py_file = argv[1];
+    }
+    auto *test_py_file = argv[1];
 
     py::scoped_interpreter guard{};
 
     auto m = py::module_::import("test_cmake_build");
-    if (m.attr("add")(1, 2).cast<int>() != 3)
+    if (m.attr("add")(1, 2).cast<int>() != 3) {
         throw std::runtime_error("embed.cpp failed");
+    }
 
     py::module_::import("sys").attr("argv") = py::make_tuple("test.py", "embed.cpp");
     py::eval_file(test_py_file, py::globals());
diff --git a/pybind11/tests/test_cmake_build/test.py b/pybind11/tests/test_cmake_build/test.py
index 972a27bea4..807fd43b4a 100644
--- a/pybind11/tests/test_cmake_build/test.py
+++ b/pybind11/tests/test_cmake_build/test.py
@@ -1,10 +1,8 @@
-# -*- coding: utf-8 -*-
 import sys
 
 import test_cmake_build
 
-if str is not bytes:  # If not Python2
-    assert isinstance(__file__, str)  # Test this is properly set
+assert isinstance(__file__, str)  # Test this is properly set
 
 assert test_cmake_build.add(1, 2) == 3
-print("{} imports, runs, and adds: 1 + 2 = 3".format(sys.argv[1]))
+print(f"{sys.argv[1]} imports, runs, and adds: 1 + 2 = 3")
diff --git a/pybind11/tests/test_const_name.cpp b/pybind11/tests/test_const_name.cpp
index 5cb3d16c14..2ad01e6827 100644
--- a/pybind11/tests/test_const_name.cpp
+++ b/pybind11/tests/test_const_name.cpp
@@ -4,65 +4,50 @@
 
 #include "pybind11_tests.h"
 
-#if defined(_MSC_VER) && _MSC_VER < 1910
-
-// MSVC 2015 fails in bizarre ways.
-#    define PYBIND11_SKIP_TEST_CONST_NAME
-
-#else // Only test with MSVC 2017 or newer.
-
 // IUT = Implementation Under Test
-#    define CONST_NAME_TESTS(TEST_FUNC, IUT)                                                      \
-        std::string TEST_FUNC(int selector) {                                                     \
-            switch (selector) {                                                                   \
-                case 0:                                                                           \
-                    return IUT("").text;                                                          \
-                case 1:                                                                           \
-                    return IUT("A").text;                                                         \
-                case 2:                                                                           \
-                    return IUT("Bd").text;                                                        \
-                case 3:                                                                           \
-                    return IUT("Cef").text;                                                       \
-                case 4:                                                                           \
-                    return IUT<int>().text; /*NOLINT(bugprone-macro-parentheses)*/                \
-                case 5:                                                                           \
-                    return IUT<std::string>().text; /*NOLINT(bugprone-macro-parentheses)*/        \
-                case 6:                                                                           \
-                    return IUT<true>("T1", "T2").text; /*NOLINT(bugprone-macro-parentheses)*/     \
-                case 7:                                                                           \
-                    return IUT<false>("U1", "U2").text; /*NOLINT(bugprone-macro-parentheses)*/    \
-                case 8:                                                                           \
-                    /*NOLINTNEXTLINE(bugprone-macro-parentheses)*/                                \
-                    return IUT<true>(IUT("D1"), IUT("D2")).text;                                  \
-                case 9:                                                                           \
-                    /*NOLINTNEXTLINE(bugprone-macro-parentheses)*/                                \
-                    return IUT<false>(IUT("E1"), IUT("E2")).text;                                 \
-                case 10:                                                                          \
-                    return IUT("KeepAtEnd").text;                                                 \
-                default:                                                                          \
-                    break;                                                                        \
-            }                                                                                     \
-            throw std::runtime_error("Invalid selector value.");                                  \
-        }
+#define CONST_NAME_TESTS(TEST_FUNC, IUT)                                                          \
+    std::string TEST_FUNC(int selector) {                                                         \
+        switch (selector) {                                                                       \
+            case 0:                                                                               \
+                return IUT("").text;                                                              \
+            case 1:                                                                               \
+                return IUT("A").text;                                                             \
+            case 2:                                                                               \
+                return IUT("Bd").text;                                                            \
+            case 3:                                                                               \
+                return IUT("Cef").text;                                                           \
+            case 4:                                                                               \
+                return IUT<int>().text; /*NOLINT(bugprone-macro-parentheses)*/                    \
+            case 5:                                                                               \
+                return IUT<std::string>().text; /*NOLINT(bugprone-macro-parentheses)*/            \
+            case 6:                                                                               \
+                return IUT<true>("T1", "T2").text; /*NOLINT(bugprone-macro-parentheses)*/         \
+            case 7:                                                                               \
+                return IUT<false>("U1", "U2").text; /*NOLINT(bugprone-macro-parentheses)*/        \
+            case 8:                                                                               \
+                /*NOLINTNEXTLINE(bugprone-macro-parentheses)*/                                    \
+                return IUT<true>(IUT("D1"), IUT("D2")).text;                                      \
+            case 9:                                                                               \
+                /*NOLINTNEXTLINE(bugprone-macro-parentheses)*/                                    \
+                return IUT<false>(IUT("E1"), IUT("E2")).text;                                     \
+            case 10:                                                                              \
+                return IUT("KeepAtEnd").text;                                                     \
+            default:                                                                              \
+                break;                                                                            \
+        }                                                                                         \
+        throw std::runtime_error("Invalid selector value.");                                      \
+    }
 
 CONST_NAME_TESTS(const_name_tests, py::detail::const_name)
 
-#    ifdef PYBIND11_DETAIL_UNDERSCORE_BACKWARD_COMPATIBILITY
+#ifdef PYBIND11_DETAIL_UNDERSCORE_BACKWARD_COMPATIBILITY
 CONST_NAME_TESTS(underscore_tests, py::detail::_)
-#    endif
-
-#endif // MSVC >= 2017
+#endif
 
 TEST_SUBMODULE(const_name, m) {
-#ifdef PYBIND11_SKIP_TEST_CONST_NAME
-    m.attr("const_name_tests") = "PYBIND11_SKIP_TEST_CONST_NAME";
-#else
     m.def("const_name_tests", const_name_tests);
-#endif
 
-#ifdef PYBIND11_SKIP_TEST_CONST_NAME
-    m.attr("underscore_tests") = "PYBIND11_SKIP_TEST_CONST_NAME";
-#elif defined(PYBIND11_DETAIL_UNDERSCORE_BACKWARD_COMPATIBILITY)
+#if defined(PYBIND11_DETAIL_UNDERSCORE_BACKWARD_COMPATIBILITY)
     m.def("underscore_tests", underscore_tests);
 #else
     m.attr("underscore_tests") = "PYBIND11_DETAIL_UNDERSCORE_BACKWARD_COMPATIBILITY not defined.";
diff --git a/pybind11/tests/test_const_name.py b/pybind11/tests/test_const_name.py
index d4e45e5e98..10b0caee2e 100644
--- a/pybind11/tests/test_const_name.py
+++ b/pybind11/tests/test_const_name.py
@@ -1,7 +1,5 @@
-# -*- coding: utf-8 -*-
 import pytest
 
-import env
 from pybind11_tests import const_name as m
 
 
@@ -25,7 +23,7 @@
     ),
 )
 def test_const_name(func, selector, expected):
-    if isinstance(func, type(u"") if env.PY2 else str):
+    if isinstance(func, str):
         pytest.skip(func)
     text = func(selector)
     assert text == expected
diff --git a/pybind11/tests/test_constants_and_functions.cpp b/pybind11/tests/test_constants_and_functions.cpp
index c0554503fa..1918a429c8 100644
--- a/pybind11/tests/test_constants_and_functions.cpp
+++ b/pybind11/tests/test_constants_and_functions.cpp
@@ -12,20 +12,14 @@
 
 enum MyEnum { EFirstEntry = 1, ESecondEntry };
 
-std::string test_function1() {
-    return "test_function()";
-}
+std::string test_function1() { return "test_function()"; }
 
-std::string test_function2(MyEnum k) {
-    return "test_function(enum=" + std::to_string(k) + ")";
-}
+std::string test_function2(MyEnum k) { return "test_function(enum=" + std::to_string(k) + ")"; }
 
-std::string test_function3(int i) {
-    return "test_function(" + std::to_string(i) + ")";
-}
+std::string test_function3(int i) { return "test_function(" + std::to_string(i) + ")"; }
 
-py::str test_function4()           { return "test_function()"; }
-py::str test_function4(char *)     { return "test_function(char *)"; }
+py::str test_function4() { return "test_function()"; }
+py::str test_function4(char *) { return "test_function(char *)"; }
 py::str test_function4(int, float) { return "test_function(int, float)"; }
 py::str test_function4(float, int) { return "test_function(float, int)"; }
 
@@ -37,57 +31,57 @@ py::bytes return_bytes() {
 std::string print_bytes(const py::bytes &bytes) {
     std::string ret = "bytes[";
     const auto value = static_cast<std::string>(bytes);
-    for (size_t i = 0; i < value.length(); ++i) {
-        ret += std::to_string(static_cast<int>(value[i])) + " ";
+    for (char c : value) {
+        ret += std::to_string(static_cast<int>(c)) + ' ';
     }
     ret.back() = ']';
     return ret;
 }
 
-// Test that we properly handle C++17 exception specifiers (which are part of the function signature
-// in C++17).  These should all still work before C++17, but don't affect the function signature.
+// Test that we properly handle C++17 exception specifiers (which are part of the function
+// signature in C++17).  These should all still work before C++17, but don't affect the function
+// signature.
 namespace test_exc_sp {
 // [workaround(intel)] Unable to use noexcept instead of noexcept(true)
 // Make the f1 test basically the same as the f2 test in C++17 mode for the Intel compiler as
 // it fails to compile with a plain noexcept (tested with icc (ICC) 2021.1 Beta 20200827).
 #if defined(__INTEL_COMPILER) && defined(PYBIND11_CPP17)
-int f1(int x) noexcept(true) { return x+1; }
+int f1(int x) noexcept(true) { return x + 1; }
 #else
-int f1(int x) noexcept { return x+1; }
+int f1(int x) noexcept { return x + 1; }
 #endif
-int f2(int x) noexcept(true) { return x+2; }
-int f3(int x) noexcept(false) { return x+3; }
+int f2(int x) noexcept(true) { return x + 2; }
+int f3(int x) noexcept(false) { return x + 3; }
 #if defined(__GNUG__) && !defined(__INTEL_COMPILER)
-#  pragma GCC diagnostic push
-#  pragma GCC diagnostic ignored "-Wdeprecated"
+#    pragma GCC diagnostic push
+#    pragma GCC diagnostic ignored "-Wdeprecated"
 #endif
 // NOLINTNEXTLINE(modernize-use-noexcept)
-int f4(int x) throw() { return x+4; } // Deprecated equivalent to noexcept(true)
+int f4(int x) throw() { return x + 4; } // Deprecated equivalent to noexcept(true)
 #if defined(__GNUG__) && !defined(__INTEL_COMPILER)
-#  pragma GCC diagnostic pop
+#    pragma GCC diagnostic pop
 #endif
 struct C {
-    int m1(int x) noexcept { return x-1; }
-    int m2(int x) const noexcept { return x-2; }
-    int m3(int x) noexcept(true) { return x-3; }
-    int m4(int x) const noexcept(true) { return x-4; }
-    int m5(int x) noexcept(false) { return x-5; }
-    int m6(int x) const noexcept(false) { return x-6; }
+    int m1(int x) noexcept { return x - 1; }
+    int m2(int x) const noexcept { return x - 2; }
+    int m3(int x) noexcept(true) { return x - 3; }
+    int m4(int x) const noexcept(true) { return x - 4; }
+    int m5(int x) noexcept(false) { return x - 5; }
+    int m6(int x) const noexcept(false) { return x - 6; }
 #if defined(__GNUG__) && !defined(__INTEL_COMPILER)
-#  pragma GCC diagnostic push
-#  pragma GCC diagnostic ignored "-Wdeprecated"
+#    pragma GCC diagnostic push
+#    pragma GCC diagnostic ignored "-Wdeprecated"
 #endif
     // NOLINTNEXTLINE(modernize-use-noexcept)
     int m7(int x) throw() { return x - 7; }
     // NOLINTNEXTLINE(modernize-use-noexcept)
     int m8(int x) const throw() { return x - 8; }
 #if defined(__GNUG__) && !defined(__INTEL_COMPILER)
-#  pragma GCC diagnostic pop
+#    pragma GCC diagnostic pop
 #endif
 };
 } // namespace test_exc_sp
 
-
 TEST_SUBMODULE(constants_and_functions, m) {
     // test_constants
     m.attr("some_constant") = py::int_(14);
@@ -129,8 +123,7 @@ TEST_SUBMODULE(constants_and_functions, m) {
         .def("m5", &C::m5)
         .def("m6", &C::m6)
         .def("m7", &C::m7)
-        .def("m8", &C::m8)
-        ;
+        .def("m8", &C::m8);
     m.def("f1", f1);
     m.def("f2", f2);
 #if defined(__INTEL_COMPILER)
@@ -144,14 +137,15 @@ TEST_SUBMODULE(constants_and_functions, m) {
     m.def("f4", f4);
 
     // test_function_record_leaks
-    struct LargeCapture {
+    m.def("register_large_capture_with_invalid_arguments", [](py::module_ m) {
         // This should always be enough to trigger the alternative branch
         // where `sizeof(capture) > sizeof(rec->data)`
-        uint64_t zeros[10] = {0, 1, 2, 3, 4, 5, 6, 7, 8, 9};
-    };
-    m.def("register_large_capture_with_invalid_arguments", [](py::module_ m) {
-        LargeCapture capture;  // VS 2015's MSVC is acting up if we create the array here
-        m.def("should_raise", [capture](int) { return capture.zeros[9] + 33; }, py::kw_only(), py::arg());
+        uint64_t capture[10] = {0, 1, 2, 3, 4, 5, 6, 7, 8, 9};
+#if defined(__GNUC__) && __GNUC__ == 4 // CentOS7
+        py::detail::silence_unused_warnings(capture);
+#endif
+        m.def(
+            "should_raise", [capture](int) { return capture[9] + 33; }, py::kw_only(), py::arg());
     });
     m.def("register_with_raising_repr", [](py::module_ m, const py::object &default_value) {
         m.def(
diff --git a/pybind11/tests/test_constants_and_functions.py b/pybind11/tests/test_constants_and_functions.py
index ff13bd0f26..5da0b84b8e 100644
--- a/pybind11/tests/test_constants_and_functions.py
+++ b/pybind11/tests/test_constants_and_functions.py
@@ -1,4 +1,3 @@
-# -*- coding: utf-8 -*-
 import pytest
 
 m = pytest.importorskip("pybind11_tests.constants_and_functions")
diff --git a/pybind11/tests/test_copy_move.cpp b/pybind11/tests/test_copy_move.cpp
index 4711a94822..28c2445644 100644
--- a/pybind11/tests/test_copy_move.cpp
+++ b/pybind11/tests/test_copy_move.cpp
@@ -8,30 +8,33 @@
     BSD-style license that can be found in the LICENSE file.
 */
 
-#include "pybind11_tests.h"
-#include "constructor_stats.h"
 #include <pybind11/stl.h>
 
+#include "constructor_stats.h"
+#include "pybind11_tests.h"
+
 template <typename derived>
 struct empty {
-    static const derived& get_one() { return instance_; }
+    static const derived &get_one() { return instance_; }
     static derived instance_;
 };
 
 struct lacking_copy_ctor : public empty<lacking_copy_ctor> {
     lacking_copy_ctor() = default;
-    lacking_copy_ctor(const lacking_copy_ctor& other) = delete;
+    lacking_copy_ctor(const lacking_copy_ctor &other) = delete;
 };
 
-template <> lacking_copy_ctor empty<lacking_copy_ctor>::instance_ = {};
+template <>
+lacking_copy_ctor empty<lacking_copy_ctor>::instance_ = {};
 
 struct lacking_move_ctor : public empty<lacking_move_ctor> {
     lacking_move_ctor() = default;
-    lacking_move_ctor(const lacking_move_ctor& other) = delete;
-    lacking_move_ctor(lacking_move_ctor&& other) = delete;
+    lacking_move_ctor(const lacking_move_ctor &other) = delete;
+    lacking_move_ctor(lacking_move_ctor &&other) = delete;
 };
 
-template <> lacking_move_ctor empty<lacking_move_ctor>::instance_ = {};
+template <>
+lacking_move_ctor empty<lacking_move_ctor>::instance_ = {};
 
 /* Custom type caster move/copy test classes */
 class MoveOnlyInt {
@@ -66,8 +69,16 @@ class MoveOrCopyInt {
         std::swap(value, m.value);
         return *this;
     }
-    MoveOrCopyInt(const MoveOrCopyInt &c) { print_copy_created(this, c.value); value = c.value; }
-    MoveOrCopyInt &operator=(const MoveOrCopyInt &c) { print_copy_assigned(this, c.value); value = c.value; return *this; }
+    MoveOrCopyInt(const MoveOrCopyInt &c) {
+        print_copy_created(this, c.value);
+        // NOLINTNEXTLINE(cppcoreguidelines-prefer-member-initializer)
+        value = c.value;
+    }
+    MoveOrCopyInt &operator=(const MoveOrCopyInt &c) {
+        print_copy_assigned(this, c.value);
+        value = c.value;
+        return *this;
+    }
     ~MoveOrCopyInt() { print_destroyed(this); }
 
     int value;
@@ -76,40 +87,70 @@ class CopyOnlyInt {
 public:
     CopyOnlyInt() { print_default_created(this); }
     explicit CopyOnlyInt(int v) : value{v} { print_created(this, value); }
-    CopyOnlyInt(const CopyOnlyInt &c) { print_copy_created(this, c.value); value = c.value; }
-    CopyOnlyInt &operator=(const CopyOnlyInt &c) { print_copy_assigned(this, c.value); value = c.value; return *this; }
+    CopyOnlyInt(const CopyOnlyInt &c) {
+        print_copy_created(this, c.value);
+        // NOLINTNEXTLINE(cppcoreguidelines-prefer-member-initializer)
+        value = c.value;
+    }
+    CopyOnlyInt &operator=(const CopyOnlyInt &c) {
+        print_copy_assigned(this, c.value);
+        value = c.value;
+        return *this;
+    }
     ~CopyOnlyInt() { print_destroyed(this); }
 
     int value;
 };
 PYBIND11_NAMESPACE_BEGIN(pybind11)
 PYBIND11_NAMESPACE_BEGIN(detail)
-template <> struct type_caster<MoveOnlyInt> {
+template <>
+struct type_caster<MoveOnlyInt> {
     PYBIND11_TYPE_CASTER(MoveOnlyInt, const_name("MoveOnlyInt"));
-    bool load(handle src, bool) { value = MoveOnlyInt(src.cast<int>()); return true; }
-    static handle cast(const MoveOnlyInt &m, return_value_policy r, handle p) { return pybind11::cast(m.value, r, p); }
+    bool load(handle src, bool) {
+        value = MoveOnlyInt(src.cast<int>());
+        return true;
+    }
+    static handle cast(const MoveOnlyInt &m, return_value_policy r, handle p) {
+        return pybind11::cast(m.value, r, p);
+    }
 };
 
-template <> struct type_caster<MoveOrCopyInt> {
+template <>
+struct type_caster<MoveOrCopyInt> {
     PYBIND11_TYPE_CASTER(MoveOrCopyInt, const_name("MoveOrCopyInt"));
-    bool load(handle src, bool) { value = MoveOrCopyInt(src.cast<int>()); return true; }
-    static handle cast(const MoveOrCopyInt &m, return_value_policy r, handle p) { return pybind11::cast(m.value, r, p); }
+    bool load(handle src, bool) {
+        value = MoveOrCopyInt(src.cast<int>());
+        return true;
+    }
+    static handle cast(const MoveOrCopyInt &m, return_value_policy r, handle p) {
+        return pybind11::cast(m.value, r, p);
+    }
 };
 
-template <> struct type_caster<CopyOnlyInt> {
+template <>
+struct type_caster<CopyOnlyInt> {
 protected:
     CopyOnlyInt value;
+
 public:
     static constexpr auto name = const_name("CopyOnlyInt");
-    bool load(handle src, bool) { value = CopyOnlyInt(src.cast<int>()); return true; }
-    static handle cast(const CopyOnlyInt &m, return_value_policy r, handle p) { return pybind11::cast(m.value, r, p); }
+    bool load(handle src, bool) {
+        value = CopyOnlyInt(src.cast<int>());
+        return true;
+    }
+    static handle cast(const CopyOnlyInt &m, return_value_policy r, handle p) {
+        return pybind11::cast(m.value, r, p);
+    }
     static handle cast(const CopyOnlyInt *src, return_value_policy policy, handle parent) {
-        if (!src) return none().release();
+        if (!src) {
+            return none().release();
+        }
         return cast(*src, policy, parent);
     }
     explicit operator CopyOnlyInt *() { return &value; }
     explicit operator CopyOnlyInt &() { return value; }
-    template <typename T> using cast_op_type = pybind11::detail::cast_op_type<T>;
+    template <typename T>
+    using cast_op_type = pybind11::detail::cast_op_type<T>;
 };
 PYBIND11_NAMESPACE_END(detail)
 PYBIND11_NAMESPACE_END(pybind11)
@@ -117,23 +158,21 @@ PYBIND11_NAMESPACE_END(pybind11)
 TEST_SUBMODULE(copy_move_policies, m) {
     // test_lacking_copy_ctor
     py::class_<lacking_copy_ctor>(m, "lacking_copy_ctor")
-        .def_static("get_one", &lacking_copy_ctor::get_one,
-                    py::return_value_policy::copy);
+        .def_static("get_one", &lacking_copy_ctor::get_one, py::return_value_policy::copy);
     // test_lacking_move_ctor
     py::class_<lacking_move_ctor>(m, "lacking_move_ctor")
-        .def_static("get_one", &lacking_move_ctor::get_one,
-                    py::return_value_policy::move);
+        .def_static("get_one", &lacking_move_ctor::get_one, py::return_value_policy::move);
 
     // test_move_and_copy_casts
     // NOLINTNEXTLINE(performance-unnecessary-value-param)
     m.def("move_and_copy_casts", [](const py::object &o) {
         int r = 0;
         r += py::cast<MoveOrCopyInt>(o).value; /* moves */
-        r += py::cast<MoveOnlyInt>(o).value; /* moves */
-        r += py::cast<CopyOnlyInt>(o).value; /* copies */
-        auto m1(py::cast<MoveOrCopyInt>(o)); /* moves */
-        auto m2(py::cast<MoveOnlyInt>(o)); /* moves */
-        auto m3(py::cast<CopyOnlyInt>(o)); /* copies */
+        r += py::cast<MoveOnlyInt>(o).value;   /* moves */
+        r += py::cast<CopyOnlyInt>(o).value;   /* copies */
+        auto m1(py::cast<MoveOrCopyInt>(o));   /* moves */
+        auto m2(py::cast<MoveOnlyInt>(o));     /* moves */
+        auto m3(py::cast<CopyOnlyInt>(o));     /* copies */
         r += m1.value + m2.value + m3.value;
 
         return r;
@@ -147,28 +186,34 @@ TEST_SUBMODULE(copy_move_policies, m) {
     // Changing this breaks the existing test: needs careful review.
     // NOLINTNEXTLINE(performance-unnecessary-value-param)
     m.def("copy_only", [](CopyOnlyInt m) { return m.value; });
-    m.def("move_pair", [](std::pair<MoveOnlyInt, MoveOrCopyInt> p) {
-        return p.first.value + p.second.value;
-    });
+    m.def("move_pair",
+          [](std::pair<MoveOnlyInt, MoveOrCopyInt> p) { return p.first.value + p.second.value; });
     m.def("move_tuple", [](std::tuple<MoveOnlyInt, MoveOrCopyInt, MoveOnlyInt> t) {
         return std::get<0>(t).value + std::get<1>(t).value + std::get<2>(t).value;
     });
     m.def("copy_tuple", [](std::tuple<CopyOnlyInt, CopyOnlyInt> t) {
         return std::get<0>(t).value + std::get<1>(t).value;
     });
-    m.def("move_copy_nested", [](std::pair<MoveOnlyInt, std::pair<std::tuple<MoveOrCopyInt, CopyOnlyInt, std::tuple<MoveOnlyInt>>, MoveOrCopyInt>> x) {
-        return x.first.value + std::get<0>(x.second.first).value + std::get<1>(x.second.first).value +
-            std::get<0>(std::get<2>(x.second.first)).value + x.second.second.value;
-    });
+    m.def("move_copy_nested",
+          [](std::pair<MoveOnlyInt,
+                       std::pair<std::tuple<MoveOrCopyInt, CopyOnlyInt, std::tuple<MoveOnlyInt>>,
+                                 MoveOrCopyInt>> x) {
+              return x.first.value + std::get<0>(x.second.first).value
+                     + std::get<1>(x.second.first).value
+                     + std::get<0>(std::get<2>(x.second.first)).value + x.second.second.value;
+          });
     m.def("move_and_copy_cstats", []() {
         ConstructorStats::gc();
         // Reset counts to 0 so that previous tests don't affect later ones:
         auto &mc = ConstructorStats::get<MoveOrCopyInt>();
-        mc.move_assignments = mc.move_constructions = mc.copy_assignments = mc.copy_constructions = 0;
+        mc.move_assignments = mc.move_constructions = mc.copy_assignments = mc.copy_constructions
+            = 0;
         auto &mo = ConstructorStats::get<MoveOnlyInt>();
-        mo.move_assignments = mo.move_constructions = mo.copy_assignments = mo.copy_constructions = 0;
+        mo.move_assignments = mo.move_constructions = mo.copy_assignments = mo.copy_constructions
+            = 0;
         auto &co = ConstructorStats::get<CopyOnlyInt>();
-        co.move_assignments = co.move_constructions = co.copy_assignments = co.copy_constructions = 0;
+        co.move_assignments = co.move_constructions = co.copy_assignments = co.copy_constructions
+            = 0;
         py::dict d;
         d["MoveOrCopyInt"] = py::cast(mc, py::return_value_policy::reference);
         d["MoveOnlyInt"] = py::cast(mo, py::return_value_policy::reference);
@@ -178,18 +223,13 @@ TEST_SUBMODULE(copy_move_policies, m) {
 #ifdef PYBIND11_HAS_OPTIONAL
     // test_move_and_copy_load_optional
     m.attr("has_optional") = true;
-    m.def("move_optional", [](std::optional<MoveOnlyInt> o) {
-        return o->value;
-    });
-    m.def("move_or_copy_optional", [](std::optional<MoveOrCopyInt> o) {
-        return o->value;
-    });
-    m.def("copy_optional", [](std::optional<CopyOnlyInt> o) {
-        return o->value;
-    });
-    m.def("move_optional_tuple", [](std::optional<std::tuple<MoveOrCopyInt, MoveOnlyInt, CopyOnlyInt>> x) {
-        return std::get<0>(*x).value + std::get<1>(*x).value + std::get<2>(*x).value;
-    });
+    m.def("move_optional", [](std::optional<MoveOnlyInt> o) { return o->value; });
+    m.def("move_or_copy_optional", [](std::optional<MoveOrCopyInt> o) { return o->value; });
+    m.def("copy_optional", [](std::optional<CopyOnlyInt> o) { return o->value; });
+    m.def("move_optional_tuple",
+          [](std::optional<std::tuple<MoveOrCopyInt, MoveOnlyInt, CopyOnlyInt>> x) {
+              return std::get<0>(*x).value + std::get<1>(*x).value + std::get<2>(*x).value;
+          });
 #else
     m.attr("has_optional") = false;
 #endif
@@ -200,20 +240,25 @@ TEST_SUBMODULE(copy_move_policies, m) {
     // added later.
     struct PrivateOpNew {
         int value = 1;
+
     private:
         void *operator new(size_t bytes) {
             void *ptr = std::malloc(bytes);
-            if (ptr)
+            if (ptr) {
                 return ptr;
+            }
             throw std::bad_alloc{};
         }
     };
     py::class_<PrivateOpNew>(m, "PrivateOpNew").def_readonly("value", &PrivateOpNew::value);
     m.def("private_op_new_value", []() { return PrivateOpNew(); });
-    m.def("private_op_new_reference", []() -> const PrivateOpNew & {
-        static PrivateOpNew x{};
-        return x;
-    }, py::return_value_policy::reference);
+    m.def(
+        "private_op_new_reference",
+        []() -> const PrivateOpNew & {
+            static PrivateOpNew x{};
+            return x;
+        },
+        py::return_value_policy::reference);
 
     // test_move_fallback
     // #389: rvp::move should fall-through to copy on non-movable objects
@@ -223,16 +268,28 @@ TEST_SUBMODULE(copy_move_policies, m) {
         MoveIssue1(const MoveIssue1 &c) = default;
         MoveIssue1(MoveIssue1 &&) = delete;
     };
-    py::class_<MoveIssue1>(m, "MoveIssue1").def(py::init<int>()).def_readwrite("value", &MoveIssue1::v);
+    py::class_<MoveIssue1>(m, "MoveIssue1")
+        .def(py::init<int>())
+        .def_readwrite("value", &MoveIssue1::v);
 
     struct MoveIssue2 {
         int v;
         explicit MoveIssue2(int v) : v{v} {}
         MoveIssue2(MoveIssue2 &&) = default;
     };
-    py::class_<MoveIssue2>(m, "MoveIssue2").def(py::init<int>()).def_readwrite("value", &MoveIssue2::v);
+    py::class_<MoveIssue2>(m, "MoveIssue2")
+        .def(py::init<int>())
+        .def_readwrite("value", &MoveIssue2::v);
+
+    // #2742: Don't expect ownership of raw pointer to `new`ed object to be transferred with
+    // `py::return_value_policy::move`
+    m.def(
+        "get_moveissue1",
+        [](int i) { return std::unique_ptr<MoveIssue1>(new MoveIssue1(i)); },
+        py::return_value_policy::move);
+    m.def(
+        "get_moveissue2", [](int i) { return MoveIssue2(i); }, py::return_value_policy::move);
 
-    // #2742: Don't expect ownership of raw pointer to `new`ed object to be transferred with `py::return_value_policy::move`
-    m.def("get_moveissue1", [](int i) { return std::unique_ptr<MoveIssue1>(new MoveIssue1(i)); }, py::return_value_policy::move);
-    m.def("get_moveissue2", [](int i) { return MoveIssue2(i); }, py::return_value_policy::move);
+    // Make sure that cast from pytype rvalue to other pytype works
+    m.def("get_pytype_rvalue_castissue", [](double i) { return py::float_(i).cast<py::int_>(); });
 }
diff --git a/pybind11/tests/test_copy_move.py b/pybind11/tests/test_copy_move.py
index eb1efddd50..9fef089339 100644
--- a/pybind11/tests/test_copy_move.py
+++ b/pybind11/tests/test_copy_move.py
@@ -1,4 +1,3 @@
-# -*- coding: utf-8 -*-
 import pytest
 
 from pybind11_tests import copy_move_policies as m
@@ -124,3 +123,10 @@ def test_move_fallback():
     assert m1.value == 1
     m2 = m.get_moveissue2(2)
     assert m2.value == 2
+
+
+def test_pytype_rvalue_cast():
+    """Make sure that cast from pytype rvalue to other pytype works"""
+
+    value = m.get_pytype_rvalue_castissue(1.0)
+    assert value == 1
diff --git a/pybind11/tests/test_custom_type_casters.cpp b/pybind11/tests/test_custom_type_casters.cpp
index 48613ee5a1..25540e3685 100644
--- a/pybind11/tests/test_custom_type_casters.cpp
+++ b/pybind11/tests/test_custom_type_casters.cpp
@@ -7,16 +7,24 @@
     BSD-style license that can be found in the LICENSE file.
 */
 
-#include "pybind11_tests.h"
 #include "constructor_stats.h"
-
+#include "pybind11_tests.h"
 
 // py::arg/py::arg_v testing: these arguments just record their argument when invoked
-class ArgInspector1 { public: std::string arg = "(default arg inspector 1)"; };
-class ArgInspector2 { public: std::string arg = "(default arg inspector 2)"; };
-class ArgAlwaysConverts { };
-namespace pybind11 { namespace detail {
-template <> struct type_caster<ArgInspector1> {
+class ArgInspector1 {
+public:
+    std::string arg = "(default arg inspector 1)";
+};
+class ArgInspector2 {
+public:
+    std::string arg = "(default arg inspector 2)";
+};
+class ArgAlwaysConverts {};
+
+namespace pybind11 {
+namespace detail {
+template <>
+struct type_caster<ArgInspector1> {
 public:
     // Classic
 #ifdef PYBIND11_DETAIL_UNDERSCORE_BACKWARD_COMPATIBILITY
@@ -26,9 +34,10 @@ template <> struct type_caster<ArgInspector1> {
 #endif
 
     bool load(handle src, bool convert) {
-        value.arg = "loading ArgInspector1 argument " +
-            std::string(convert ? "WITH" : "WITHOUT") + " conversion allowed.  "
-            "Argument value = " + (std::string) str(src);
+        value.arg = "loading ArgInspector1 argument " + std::string(convert ? "WITH" : "WITHOUT")
+                    + " conversion allowed.  "
+                      "Argument value = "
+                    + (std::string) str(src);
         return true;
     }
 
@@ -36,14 +45,16 @@ template <> struct type_caster<ArgInspector1> {
         return str(src.arg).release();
     }
 };
-template <> struct type_caster<ArgInspector2> {
+template <>
+struct type_caster<ArgInspector2> {
 public:
     PYBIND11_TYPE_CASTER(ArgInspector2, const_name("ArgInspector2"));
 
     bool load(handle src, bool convert) {
-        value.arg = "loading ArgInspector2 argument " +
-            std::string(convert ? "WITH" : "WITHOUT") + " conversion allowed.  "
-            "Argument value = " + (std::string) str(src);
+        value.arg = "loading ArgInspector2 argument " + std::string(convert ? "WITH" : "WITHOUT")
+                    + " conversion allowed.  "
+                      "Argument value = "
+                    + (std::string) str(src);
         return true;
     }
 
@@ -51,13 +62,12 @@ template <> struct type_caster<ArgInspector2> {
         return str(src.arg).release();
     }
 };
-template <> struct type_caster<ArgAlwaysConverts> {
+template <>
+struct type_caster<ArgAlwaysConverts> {
 public:
     PYBIND11_TYPE_CASTER(ArgAlwaysConverts, const_name("ArgAlwaysConverts"));
 
-    bool load(handle, bool convert) {
-        return convert;
-    }
+    bool load(handle, bool convert) { return convert; }
 
     static handle cast(const ArgAlwaysConverts &, return_value_policy, handle) {
         return py::none().release();
@@ -73,14 +83,19 @@ class DestructionTester {
     ~DestructionTester() { print_destroyed(this); }
     DestructionTester(const DestructionTester &) { print_copy_created(this); }
     DestructionTester(DestructionTester &&) noexcept { print_move_created(this); }
-    DestructionTester &operator=(const DestructionTester &) { print_copy_assigned(this); return *this; }
+    DestructionTester &operator=(const DestructionTester &) {
+        print_copy_assigned(this);
+        return *this;
+    }
     DestructionTester &operator=(DestructionTester &&) noexcept {
         print_move_assigned(this);
         return *this;
     }
 };
-namespace pybind11 { namespace detail {
-template <> struct type_caster<DestructionTester> {
+namespace pybind11 {
+namespace detail {
+template <>
+struct type_caster<DestructionTester> {
     PYBIND11_TYPE_CASTER(DestructionTester, const_name("DestructionTester"));
     bool load(handle, bool) { return true; }
 
@@ -91,6 +106,34 @@ template <> struct type_caster<DestructionTester> {
 } // namespace detail
 } // namespace pybind11
 
+// Define type caster outside of `pybind11::detail` and then alias it.
+namespace other_lib {
+struct MyType {};
+// Corrupt `py` shorthand alias for surrounding context.
+namespace py {}
+// Corrupt unqualified relative `pybind11` namespace.
+namespace pybind11 {}
+// Correct alias.
+namespace py_ = ::pybind11;
+// Define caster. This is effectively no-op, we only ensure it compiles and we
+// don't have any symbol collision when using macro mixin.
+struct my_caster {
+    PYBIND11_TYPE_CASTER(MyType, py_::detail::const_name("MyType"));
+    bool load(py_::handle, bool) { return true; }
+
+    static py_::handle cast(const MyType &, py_::return_value_policy, py_::handle) {
+        return py_::bool_(true).release();
+    }
+};
+} // namespace other_lib
+// Effectively "alias" it into correct namespace (via inheritance).
+namespace pybind11 {
+namespace detail {
+template <>
+struct type_caster<other_lib::MyType> : public other_lib::my_caster {};
+} // namespace detail
+} // namespace pybind11
+
 TEST_SUBMODULE(custom_type_casters, m) {
     // test_custom_type_casters
 
@@ -115,9 +158,14 @@ TEST_SUBMODULE(custom_type_casters, m) {
     py::class_<ArgInspector>(m, "ArgInspector")
         .def(py::init<>())
         .def("f", &ArgInspector::f, py::arg(), py::arg() = ArgAlwaysConverts())
-        .def("g", &ArgInspector::g, "a"_a.noconvert(), "b"_a, "c"_a.noconvert()=13, "d"_a=ArgInspector2(), py::arg() = ArgAlwaysConverts())
-        .def_static("h", &ArgInspector::h, py::arg{}.noconvert(), py::arg() = ArgAlwaysConverts())
-        ;
+        .def("g",
+             &ArgInspector::g,
+             "a"_a.noconvert(),
+             "b"_a,
+             "c"_a.noconvert() = 13,
+             "d"_a = ArgInspector2(),
+             py::arg() = ArgAlwaysConverts())
+        .def_static("h", &ArgInspector::h, py::arg{}.noconvert(), py::arg() = ArgAlwaysConverts());
     m.def(
         "arg_inspect_func",
         [](const ArgInspector2 &a, const ArgInspector1 &b, ArgAlwaysConverts) {
@@ -127,20 +175,35 @@ TEST_SUBMODULE(custom_type_casters, m) {
         py::arg_v(nullptr, ArgInspector1()).noconvert(true),
         py::arg() = ArgAlwaysConverts());
 
-    m.def("floats_preferred", [](double f) { return 0.5 * f; }, "f"_a);
-    m.def("floats_only", [](double f) { return 0.5 * f; }, "f"_a.noconvert());
-    m.def("ints_preferred", [](int i) { return i / 2; }, "i"_a);
-    m.def("ints_only", [](int i) { return i / 2; }, "i"_a.noconvert());
+    m.def(
+        "floats_preferred", [](double f) { return 0.5 * f; }, "f"_a);
+    m.def(
+        "floats_only", [](double f) { return 0.5 * f; }, "f"_a.noconvert());
+    m.def(
+        "ints_preferred", [](int i) { return i / 2; }, "i"_a);
+    m.def(
+        "ints_only", [](int i) { return i / 2; }, "i"_a.noconvert());
 
     // test_custom_caster_destruction
     // Test that `take_ownership` works on types with a custom type caster when given a pointer
 
     // default policy: don't take ownership:
-    m.def("custom_caster_no_destroy", []() { static auto *dt = new DestructionTester(); return dt; });
+    m.def("custom_caster_no_destroy", []() {
+        static auto *dt = new DestructionTester();
+        return dt;
+    });
 
-    m.def("custom_caster_destroy", []() { return new DestructionTester(); },
-            py::return_value_policy::take_ownership); // Takes ownership: destroy when finished
-    m.def("custom_caster_destroy_const", []() -> const DestructionTester * { return new DestructionTester(); },
-            py::return_value_policy::take_ownership); // Likewise (const doesn't inhibit destruction)
-    m.def("destruction_tester_cstats", &ConstructorStats::get<DestructionTester>, py::return_value_policy::reference);
+    m.def(
+        "custom_caster_destroy",
+        []() { return new DestructionTester(); },
+        py::return_value_policy::take_ownership); // Takes ownership: destroy when finished
+    m.def(
+        "custom_caster_destroy_const",
+        []() -> const DestructionTester * { return new DestructionTester(); },
+        py::return_value_policy::take_ownership); // Likewise (const doesn't inhibit destruction)
+    m.def("destruction_tester_cstats",
+          &ConstructorStats::get<DestructionTester>,
+          py::return_value_policy::reference);
+
+    m.def("other_lib_type", [](other_lib::MyType x) { return x; });
 }
diff --git a/pybind11/tests/test_custom_type_casters.py b/pybind11/tests/test_custom_type_casters.py
index a10646ff46..adfa6cf86e 100644
--- a/pybind11/tests/test_custom_type_casters.py
+++ b/pybind11/tests/test_custom_type_casters.py
@@ -1,4 +1,3 @@
-# -*- coding: utf-8 -*-
 import pytest
 
 from pybind11_tests import custom_type_casters as m
@@ -19,7 +18,7 @@ def test_noconvert_args(msg):
         loading ArgInspector1 argument WITH conversion allowed.  Argument value = this is b
         13
         loading ArgInspector2 argument WITH conversion allowed.  Argument value = (default arg inspector 2)
-    """  # noqa: E501 line too long
+    """
     )
     assert (
         msg(a.g("this is a", "this is b", 42))
@@ -28,7 +27,7 @@ def test_noconvert_args(msg):
         loading ArgInspector1 argument WITH conversion allowed.  Argument value = this is b
         42
         loading ArgInspector2 argument WITH conversion allowed.  Argument value = (default arg inspector 2)
-    """  # noqa: E501 line too long
+    """
     )
     assert (
         msg(a.g("this is a", "this is b", 42, "this is d"))
@@ -76,7 +75,7 @@ def test_noconvert_args(msg):
             1. (i: int) -> int
 
         Invoked with: 4.0
-    """  # noqa: E501 line too long
+    """
     )
 
     assert m.ints_only(4) == 2
@@ -115,3 +114,7 @@ def test_custom_caster_destruction():
 
     # Make sure we still only have the original object (from ..._no_destroy()) alive:
     assert cstats.alive() == 1
+
+
+def test_custom_caster_other_lib():
+    assert m.other_lib_type(True)
diff --git a/pybind11/tests/test_custom_type_setup.py b/pybind11/tests/test_custom_type_setup.py
index ef96f08141..19b44c9de2 100644
--- a/pybind11/tests/test_custom_type_setup.py
+++ b/pybind11/tests/test_custom_type_setup.py
@@ -1,5 +1,3 @@
-# -*- coding: utf-8 -*-
-
 import gc
 import weakref
 
diff --git a/pybind11/tests/test_docstring_options.cpp b/pybind11/tests/test_docstring_options.cpp
index 8a97af55fc..4d44f4e20d 100644
--- a/pybind11/tests/test_docstring_options.cpp
+++ b/pybind11/tests/test_docstring_options.cpp
@@ -15,35 +15,52 @@ TEST_SUBMODULE(docstring_options, m) {
         py::options options;
         options.disable_function_signatures();
 
-        m.def("test_function1", [](int, int) {}, py::arg("a"), py::arg("b"));
-        m.def("test_function2", [](int, int) {}, py::arg("a"), py::arg("b"), "A custom docstring");
-
-        m.def("test_overloaded1", [](int) {}, py::arg("i"), "Overload docstring");
-        m.def("test_overloaded1", [](double) {}, py::arg("d"));
-
-        m.def("test_overloaded2", [](int) {}, py::arg("i"), "overload docstring 1");
-        m.def("test_overloaded2", [](double) {}, py::arg("d"), "overload docstring 2");
-
-        m.def("test_overloaded3", [](int) {}, py::arg("i"));
-        m.def("test_overloaded3", [](double) {}, py::arg("d"), "Overload docstr");
+        m.def(
+            "test_function1", [](int, int) {}, py::arg("a"), py::arg("b"));
+        m.def(
+            "test_function2", [](int, int) {}, py::arg("a"), py::arg("b"), "A custom docstring");
+
+        m.def(
+            "test_overloaded1", [](int) {}, py::arg("i"), "Overload docstring");
+        m.def(
+            "test_overloaded1", [](double) {}, py::arg("d"));
+
+        m.def(
+            "test_overloaded2", [](int) {}, py::arg("i"), "overload docstring 1");
+        m.def(
+            "test_overloaded2", [](double) {}, py::arg("d"), "overload docstring 2");
+
+        m.def(
+            "test_overloaded3", [](int) {}, py::arg("i"));
+        m.def(
+            "test_overloaded3", [](double) {}, py::arg("d"), "Overload docstr");
 
         options.enable_function_signatures();
 
-        m.def("test_function3", [](int, int) {}, py::arg("a"), py::arg("b"));
-        m.def("test_function4", [](int, int) {}, py::arg("a"), py::arg("b"), "A custom docstring");
+        m.def(
+            "test_function3", [](int, int) {}, py::arg("a"), py::arg("b"));
+        m.def(
+            "test_function4", [](int, int) {}, py::arg("a"), py::arg("b"), "A custom docstring");
 
         options.disable_function_signatures().disable_user_defined_docstrings();
 
-        m.def("test_function5", [](int, int) {}, py::arg("a"), py::arg("b"), "A custom docstring");
+        m.def(
+            "test_function5", [](int, int) {}, py::arg("a"), py::arg("b"), "A custom docstring");
 
         {
             py::options nested_options;
             nested_options.enable_user_defined_docstrings();
-            m.def("test_function6", [](int, int) {}, py::arg("a"), py::arg("b"), "A custom docstring");
+            m.def(
+                "test_function6",
+                [](int, int) {},
+                py::arg("a"),
+                py::arg("b"),
+                "A custom docstring");
         }
     }
 
-    m.def("test_function7", [](int, int) {}, py::arg("a"), py::arg("b"), "A custom docstring");
+    m.def(
+        "test_function7", [](int, int) {}, py::arg("a"), py::arg("b"), "A custom docstring");
 
     {
         py::options options;
@@ -63,7 +80,9 @@ TEST_SUBMODULE(docstring_options, m) {
             int getValue() const { return value; }
         };
         py::class_<DocstringTestFoo>(m, "DocstringTestFoo", "This is a class docstring")
-            .def_property("value_prop", &DocstringTestFoo::getValue, &DocstringTestFoo::setValue, "This is a property docstring")
-        ;
+            .def_property("value_prop",
+                          &DocstringTestFoo::getValue,
+                          &DocstringTestFoo::setValue,
+                          "This is a property docstring");
     }
 }
diff --git a/pybind11/tests/test_docstring_options.py b/pybind11/tests/test_docstring_options.py
index 8ee6613884..fcd16b89fd 100644
--- a/pybind11/tests/test_docstring_options.py
+++ b/pybind11/tests/test_docstring_options.py
@@ -1,4 +1,3 @@
-# -*- coding: utf-8 -*-
 from pybind11_tests import docstring_options as m
 
 
diff --git a/pybind11/tests/test_eigen.cpp b/pybind11/tests/test_eigen.cpp
index d22a94a1a1..591dacc624 100644
--- a/pybind11/tests/test_eigen.cpp
+++ b/pybind11/tests/test_eigen.cpp
@@ -7,29 +7,29 @@
     BSD-style license that can be found in the LICENSE file.
 */
 
-#include "pybind11_tests.h"
-#include "constructor_stats.h"
 #include <pybind11/eigen.h>
 #include <pybind11/stl.h>
 
+#include "constructor_stats.h"
+#include "pybind11_tests.h"
+
 #if defined(_MSC_VER)
-#if _MSC_VER < 1910  // VS 2015's MSVC
-#  pragma warning(disable: 4127) // C4127: conditional expression is constant
-#endif
-#  pragma warning(disable: 4996) // C4996: std::unary_negation is deprecated
+#    pragma warning(disable : 4996) // C4996: std::unary_negation is deprecated
 #endif
 
 #include <Eigen/Cholesky>
 
 using MatrixXdR = Eigen::Matrix<double, Eigen::Dynamic, Eigen::Dynamic, Eigen::RowMajor>;
 
-
-
 // Sets/resets a testing reference matrix to have values of 10*r + c, where r and c are the
 // (1-based) row/column number.
-template <typename M> void reset_ref(M &x) {
-    for (int i = 0; i < x.rows(); i++) for (int j = 0; j < x.cols(); j++)
-        x(i, j) = 11 + 10*i + j;
+template <typename M>
+void reset_ref(M &x) {
+    for (int i = 0; i < x.rows(); i++) {
+        for (int j = 0; j < x.cols(); j++) {
+            x(i, j) = 11 + 10 * i + j;
+        }
+    }
 }
 
 // Returns a static, column-major matrix
@@ -61,11 +61,14 @@ double get_elem(const Eigen::Ref<const Eigen::MatrixXd> &m) { return m(2, 1); };
 
 // Returns a matrix with 10*r + 100*c added to each matrix element (to help test that the matrix
 // reference is referencing rows/columns correctly).
-template <typename MatrixArgType> Eigen::MatrixXd adjust_matrix(MatrixArgType m) {
+template <typename MatrixArgType>
+Eigen::MatrixXd adjust_matrix(MatrixArgType m) {
     Eigen::MatrixXd ret(m);
-    for (int c = 0; c < m.cols(); c++)
-        for (int r = 0; r < m.rows(); r++)
-            ret(r, c) += 10*r + 100*c;  // NOLINT(clang-analyzer-core.uninitialized.Assign)
+    for (int c = 0; c < m.cols(); c++) {
+        for (int r = 0; r < m.rows(); r++) {
+            ret(r, c) += 10 * r + 100 * c; // NOLINT(clang-analyzer-core.uninitialized.Assign)
+        }
+    }
     return ret;
 }
 
@@ -92,8 +95,10 @@ TEST_SUBMODULE(eigen, m) {
 
     // various tests
     m.def("double_col", [](const Eigen::VectorXf &x) -> Eigen::VectorXf { return 2.0f * x; });
-    m.def("double_row", [](const Eigen::RowVectorXf &x) -> Eigen::RowVectorXf { return 2.0f * x; });
-    m.def("double_complex", [](const Eigen::VectorXcf &x) -> Eigen::VectorXcf { return 2.0f * x; });
+    m.def("double_row",
+          [](const Eigen::RowVectorXf &x) -> Eigen::RowVectorXf { return 2.0f * x; });
+    m.def("double_complex",
+          [](const Eigen::VectorXcf &x) -> Eigen::VectorXcf { return 2.0f * x; });
     m.def("double_threec", [](py::EigenDRef<Eigen::Vector3f> x) { x *= 2; });
     m.def("double_threer", [](py::EigenDRef<Eigen::RowVector3f> x) { x *= 2; });
     m.def("double_mat_cm", [](const Eigen::MatrixXf &x) -> Eigen::MatrixXf { return 2.0f * x; });
@@ -103,19 +108,22 @@ TEST_SUBMODULE(eigen, m) {
     // Different ways of passing via Eigen::Ref; the first and second are the Eigen-recommended
     m.def("cholesky1",
           [](const Eigen::Ref<MatrixXdR> &x) -> Eigen::MatrixXd { return x.llt().matrixL(); });
-    m.def("cholesky2", [](const Eigen::Ref<const MatrixXdR> &x) -> Eigen::MatrixXd { return x.llt().matrixL(); });
-    m.def("cholesky3", [](const Eigen::Ref<MatrixXdR> &x) -> Eigen::MatrixXd { return x.llt().matrixL(); });
+    m.def("cholesky2", [](const Eigen::Ref<const MatrixXdR> &x) -> Eigen::MatrixXd {
+        return x.llt().matrixL();
+    });
+    m.def("cholesky3",
+          [](const Eigen::Ref<MatrixXdR> &x) -> Eigen::MatrixXd { return x.llt().matrixL(); });
     m.def("cholesky4", [](const Eigen::Ref<const MatrixXdR> &x) -> Eigen::MatrixXd {
         return x.llt().matrixL();
     });
 
     // test_eigen_ref_mutators
-    // Mutators: these add some value to the given element using Eigen, but Eigen should be mapping into
-    // the numpy array data and so the result should show up there.  There are three versions: one that
-    // works on a contiguous-row matrix (numpy's default), one for a contiguous-column matrix, and one
-    // for any matrix.
-    auto add_rm = [](Eigen::Ref<MatrixXdR> x, int r, int c, double v) { x(r,c) += v; };
-    auto add_cm = [](Eigen::Ref<Eigen::MatrixXd> x, int r, int c, double v) { x(r,c) += v; };
+    // Mutators: these add some value to the given element using Eigen, but Eigen should be mapping
+    // into the numpy array data and so the result should show up there.  There are three versions:
+    // one that works on a contiguous-row matrix (numpy's default), one for a contiguous-column
+    // matrix, and one for any matrix.
+    auto add_rm = [](Eigen::Ref<MatrixXdR> x, int r, int c, double v) { x(r, c) += v; };
+    auto add_cm = [](Eigen::Ref<Eigen::MatrixXd> x, int r, int c, double v) { x(r, c) += v; };
 
     // Mutators (Eigen maps into numpy variables):
     m.def("add_rm", add_rm); // Only takes row-contiguous
@@ -126,7 +134,8 @@ TEST_SUBMODULE(eigen, m) {
     m.def("add2", add_cm);
     m.def("add2", add_rm);
     // This one accepts a matrix of any stride:
-    m.def("add_any", [](py::EigenDRef<Eigen::MatrixXd> x, int r, int c, double v) { x(r,c) += v; });
+    m.def("add_any",
+          [](py::EigenDRef<Eigen::MatrixXd> x, int r, int c, double v) { x(r, c) += v; });
 
     // Return mutable references (numpy maps into eigen variables)
     m.def("get_cm_ref", []() { return Eigen::Ref<Eigen::MatrixXd>(get_cm()); });
@@ -138,45 +147,67 @@ TEST_SUBMODULE(eigen, m) {
     m.def("reset_refs", reset_refs); // Restores get_{cm,rm}_ref to original values
 
     // Increments and returns ref to (same) matrix
-    m.def("incr_matrix", [](Eigen::Ref<Eigen::MatrixXd> m, double v) {
-        m += Eigen::MatrixXd::Constant(m.rows(), m.cols(), v);
-        return m;
-    }, py::return_value_policy::reference);
+    m.def(
+        "incr_matrix",
+        [](Eigen::Ref<Eigen::MatrixXd> m, double v) {
+            m += Eigen::MatrixXd::Constant(m.rows(), m.cols(), v);
+            return m;
+        },
+        py::return_value_policy::reference);
 
     // Same, but accepts a matrix of any strides
-    m.def("incr_matrix_any", [](py::EigenDRef<Eigen::MatrixXd> m, double v) {
-        m += Eigen::MatrixXd::Constant(m.rows(), m.cols(), v);
-        return m;
-    }, py::return_value_policy::reference);
+    m.def(
+        "incr_matrix_any",
+        [](py::EigenDRef<Eigen::MatrixXd> m, double v) {
+            m += Eigen::MatrixXd::Constant(m.rows(), m.cols(), v);
+            return m;
+        },
+        py::return_value_policy::reference);
 
     // Returns an eigen slice of even rows
-    m.def("even_rows", [](py::EigenDRef<Eigen::MatrixXd> m) {
-        return py::EigenDMap<Eigen::MatrixXd>(
-                m.data(), (m.rows() + 1) / 2, m.cols(),
+    m.def(
+        "even_rows",
+        [](py::EigenDRef<Eigen::MatrixXd> m) {
+            return py::EigenDMap<Eigen::MatrixXd>(
+                m.data(),
+                (m.rows() + 1) / 2,
+                m.cols(),
                 py::EigenDStride(m.outerStride(), 2 * m.innerStride()));
-    }, py::return_value_policy::reference);
+        },
+        py::return_value_policy::reference);
 
     // Returns an eigen slice of even columns
-    m.def("even_cols", [](py::EigenDRef<Eigen::MatrixXd> m) {
-        return py::EigenDMap<Eigen::MatrixXd>(
-                m.data(), m.rows(), (m.cols() + 1) / 2,
+    m.def(
+        "even_cols",
+        [](py::EigenDRef<Eigen::MatrixXd> m) {
+            return py::EigenDMap<Eigen::MatrixXd>(
+                m.data(),
+                m.rows(),
+                (m.cols() + 1) / 2,
                 py::EigenDStride(2 * m.outerStride(), m.innerStride()));
-    }, py::return_value_policy::reference);
+        },
+        py::return_value_policy::reference);
 
     // Returns diagonals: a vector-like object with an inner stride != 1
     m.def("diagonal", [](const Eigen::Ref<const Eigen::MatrixXd> &x) { return x.diagonal(); });
-    m.def("diagonal_1", [](const Eigen::Ref<const Eigen::MatrixXd> &x) { return x.diagonal<1>(); });
-    m.def("diagonal_n", [](const Eigen::Ref<const Eigen::MatrixXd> &x, int index) { return x.diagonal(index); });
+    m.def("diagonal_1",
+          [](const Eigen::Ref<const Eigen::MatrixXd> &x) { return x.diagonal<1>(); });
+    m.def("diagonal_n",
+          [](const Eigen::Ref<const Eigen::MatrixXd> &x, int index) { return x.diagonal(index); });
 
     // Return a block of a matrix (gives non-standard strides)
-    m.def("block", [](const Eigen::Ref<const Eigen::MatrixXd> &x, int start_row, int start_col, int block_rows, int block_cols) {
-        return x.block(start_row, start_col, block_rows, block_cols);
-    });
+    m.def("block",
+          [](const Eigen::Ref<const Eigen::MatrixXd> &x,
+             int start_row,
+             int start_col,
+             int block_rows,
+             int block_cols) { return x.block(start_row, start_col, block_rows, block_cols); });
 
     // test_eigen_return_references, test_eigen_keepalive
     // return value referencing/copying tests:
     class ReturnTester {
         Eigen::MatrixXd mat = create();
+
     public:
         ReturnTester() { print_created(this); }
         ~ReturnTester() { print_destroyed(this); }
@@ -189,12 +220,24 @@ TEST_SUBMODULE(eigen, m) {
         const Eigen::MatrixXd *viewPtr() { return &mat; }
         Eigen::Ref<Eigen::MatrixXd> ref() { return mat; }
         Eigen::Ref<const Eigen::MatrixXd> refConst() { return mat; }
-        Eigen::Block<Eigen::MatrixXd> block(int r, int c, int nrow, int ncol) { return mat.block(r, c, nrow, ncol); }
-        Eigen::Block<const Eigen::MatrixXd> blockConst(int r, int c, int nrow, int ncol) const { return mat.block(r, c, nrow, ncol); }
-        py::EigenDMap<Eigen::Matrix2d> corners() { return py::EigenDMap<Eigen::Matrix2d>(mat.data(),
-                    py::EigenDStride(mat.outerStride() * (mat.outerSize()-1), mat.innerStride() * (mat.innerSize()-1))); }
-        py::EigenDMap<const Eigen::Matrix2d> cornersConst() const { return py::EigenDMap<const Eigen::Matrix2d>(mat.data(),
-                    py::EigenDStride(mat.outerStride() * (mat.outerSize()-1), mat.innerStride() * (mat.innerSize()-1))); }
+        Eigen::Block<Eigen::MatrixXd> block(int r, int c, int nrow, int ncol) {
+            return mat.block(r, c, nrow, ncol);
+        }
+        Eigen::Block<const Eigen::MatrixXd> blockConst(int r, int c, int nrow, int ncol) const {
+            return mat.block(r, c, nrow, ncol);
+        }
+        py::EigenDMap<Eigen::Matrix2d> corners() {
+            return py::EigenDMap<Eigen::Matrix2d>(
+                mat.data(),
+                py::EigenDStride(mat.outerStride() * (mat.outerSize() - 1),
+                                 mat.innerStride() * (mat.innerSize() - 1)));
+        }
+        py::EigenDMap<const Eigen::Matrix2d> cornersConst() const {
+            return py::EigenDMap<const Eigen::Matrix2d>(
+                mat.data(),
+                py::EigenDStride(mat.outerStride() * (mat.outerSize() - 1),
+                                 mat.innerStride() * (mat.innerSize() - 1)));
+        }
     };
     using rvp = py::return_value_policy;
     py::class_<ReturnTester>(m, "ReturnTester")
@@ -205,9 +248,9 @@ TEST_SUBMODULE(eigen, m) {
         .def("get_ptr", &ReturnTester::getPtr, rvp::reference_internal)
         .def("view", &ReturnTester::view, rvp::reference_internal)
         .def("view_ptr", &ReturnTester::view, rvp::reference_internal)
-        .def("copy_get", &ReturnTester::get)   // Default rvp: copy
-        .def("copy_view", &ReturnTester::view) //         "
-        .def("ref", &ReturnTester::ref) // Default for Ref is to reference
+        .def("copy_get", &ReturnTester::get)       // Default rvp: copy
+        .def("copy_view", &ReturnTester::view)     //         "
+        .def("ref", &ReturnTester::ref)            // Default for Ref is to reference
         .def("ref_const", &ReturnTester::refConst) // Likewise, but const
         .def("ref_safe", &ReturnTester::ref, rvp::reference_internal)
         .def("ref_const_safe", &ReturnTester::refConst, rvp::reference_internal)
@@ -218,33 +261,29 @@ TEST_SUBMODULE(eigen, m) {
         .def("block_const", &ReturnTester::blockConst, rvp::reference_internal)
         .def("copy_block", &ReturnTester::block, rvp::copy)
         .def("corners", &ReturnTester::corners, rvp::reference_internal)
-        .def("corners_const", &ReturnTester::cornersConst, rvp::reference_internal)
-        ;
+        .def("corners_const", &ReturnTester::cornersConst, rvp::reference_internal);
 
     // test_special_matrix_objects
     // Returns a DiagonalMatrix with diagonal (1,2,3,...)
     m.def("incr_diag", [](int k) {
         Eigen::DiagonalMatrix<int, Eigen::Dynamic> m(k);
-        for (int i = 0; i < k; i++) m.diagonal()[i] = i+1;
+        for (int i = 0; i < k; i++) {
+            m.diagonal()[i] = i + 1;
+        }
         return m;
     });
 
     // Returns a SelfAdjointView referencing the lower triangle of m
-    m.def("symmetric_lower", [](const Eigen::MatrixXi &m) {
-            return m.selfadjointView<Eigen::Lower>();
-    });
+    m.def("symmetric_lower",
+          [](const Eigen::MatrixXi &m) { return m.selfadjointView<Eigen::Lower>(); });
     // Returns a SelfAdjointView referencing the lower triangle of m
-    m.def("symmetric_upper", [](const Eigen::MatrixXi &m) {
-            return m.selfadjointView<Eigen::Upper>();
-    });
+    m.def("symmetric_upper",
+          [](const Eigen::MatrixXi &m) { return m.selfadjointView<Eigen::Upper>(); });
 
     // Test matrix for various functions below.
     Eigen::MatrixXf mat(5, 6);
-    mat << 0,  3,  0,  0,  0, 11,
-           22, 0,  0,  0, 17, 11,
-           7,  5,  0,  1,  0, 11,
-           0,  0,  0,  0,  0, 11,
-           0,  0, 14,  0,  8, 11;
+    mat << 0, 3, 0, 0, 0, 11, 22, 0, 0, 0, 17, 11, 7, 5, 0, 1, 0, 11, 0, 0, 0, 0, 0, 11, 0, 0, 14,
+        0, 8, 11;
 
     // test_fixed, and various other tests
     m.def("fixed_r", [mat]() -> FixedMatrixR { return FixedMatrixR(mat); });
@@ -269,7 +308,8 @@ TEST_SUBMODULE(eigen, m) {
         // NOLINTNEXTLINE(clang-analyzer-core.uninitialized.UndefReturn)
         return Eigen::SparseView<Eigen::MatrixXf>(mat);
     });
-    m.def("sparse_c", [mat]() -> SparseMatrixC { return Eigen::SparseView<Eigen::MatrixXf>(mat); });
+    m.def("sparse_c",
+          [mat]() -> SparseMatrixC { return Eigen::SparseView<Eigen::MatrixXf>(mat); });
     m.def("sparse_copy_r", [](const SparseMatrixR &m) -> SparseMatrixR { return m; });
     m.def("sparse_copy_c", [](const SparseMatrixC &m) -> SparseMatrixC { return m; });
     // test_partially_fixed
@@ -283,7 +323,8 @@ TEST_SUBMODULE(eigen, m) {
     m.def("cpp_copy", [](py::handle m) { return m.cast<Eigen::MatrixXd>()(1, 0); });
     m.def("cpp_ref_c", [](py::handle m) { return m.cast<Eigen::Ref<Eigen::MatrixXd>>()(1, 0); });
     m.def("cpp_ref_r", [](py::handle m) { return m.cast<Eigen::Ref<MatrixXdR>>()(1, 0); });
-    m.def("cpp_ref_any", [](py::handle m) { return m.cast<py::EigenDRef<Eigen::MatrixXd>>()(1, 0); });
+    m.def("cpp_ref_any",
+          [](py::handle m) { return m.cast<py::EigenDRef<Eigen::MatrixXd>>()(1, 0); });
 
     // [workaround(intel)] ICC 20/21 breaks with py::arg().stuff, using py::arg{}.stuff works.
 
@@ -297,15 +338,26 @@ TEST_SUBMODULE(eigen, m) {
         [](const Eigen::Ref<const Eigen::MatrixXd> &m) -> double { return get_elem(m); },
         py::arg{}.noconvert());
     // Also test a row-major-only no-copy const ref:
-    m.def("get_elem_rm_nocopy", [](Eigen::Ref<const Eigen::Matrix<long, -1, -1, Eigen::RowMajor>> &m) -> long { return m(2, 1); },
-            py::arg{}.noconvert());
+    m.def(
+        "get_elem_rm_nocopy",
+        [](Eigen::Ref<const Eigen::Matrix<long, -1, -1, Eigen::RowMajor>> &m) -> long {
+            return m(2, 1);
+        },
+        py::arg{}.noconvert());
 
-    // test_issue738
-    // Issue #738: 1xN or Nx1 2D matrices were neither accepted nor properly copied with an
+    // test_issue738, test_zero_length
+    // Issue #738: 1×N or N×1 2D matrices were neither accepted nor properly copied with an
     // incompatible stride value on the length-1 dimension--but that should be allowed (without
     // requiring a copy!) because the stride value can be safely ignored on a size-1 dimension.
-    m.def("iss738_f1", &adjust_matrix<const Eigen::Ref<const Eigen::MatrixXd> &>, py::arg{}.noconvert());
-    m.def("iss738_f2", &adjust_matrix<const Eigen::Ref<const Eigen::Matrix<double, -1, -1, Eigen::RowMajor>> &>, py::arg{}.noconvert());
+    // Similarly, 0×N or N×0 matrices were not accepted--again, these should be allowed since
+    // they contain no data. This particularly affects numpy ≥ 1.23, which sets the strides to
+    // 0 if any dimension size is 0.
+    m.def("iss738_f1",
+          &adjust_matrix<const Eigen::Ref<const Eigen::MatrixXd> &>,
+          py::arg{}.noconvert());
+    m.def("iss738_f2",
+          &adjust_matrix<const Eigen::Ref<const Eigen::Matrix<double, -1, -1, Eigen::RowMajor>> &>,
+          py::arg{}.noconvert());
 
     // test_issue1105
     // Issue #1105: when converting from a numpy two-dimensional (Nx1) or (1xN) value into a dense
@@ -320,8 +372,9 @@ TEST_SUBMODULE(eigen, m) {
         "matrix_multiply",
         [](const py::EigenDRef<const Eigen::MatrixXd> &A,
            const py::EigenDRef<const Eigen::MatrixXd> &B) -> Eigen::MatrixXd {
-            if (A.cols() != B.rows())
+            if (A.cols() != B.rows()) {
                 throw std::domain_error("Nonconformable matrices!");
+            }
             return A * B;
         },
         py::arg("A"),
diff --git a/pybind11/tests/test_eigen.py b/pybind11/tests/test_eigen.py
index e53826cbbb..a1c114aede 100644
--- a/pybind11/tests/test_eigen.py
+++ b/pybind11/tests/test_eigen.py
@@ -1,4 +1,3 @@
-# -*- coding: utf-8 -*-
 import pytest
 
 from pybind11_tests import ConstructorStats
@@ -201,7 +200,7 @@ def test_negative_stride_from_python(msg):
         double_threer(): incompatible function arguments. The following argument types are supported:
             1. (arg0: numpy.ndarray[numpy.float32[1, 3], flags.writeable]) -> None
 
-        Invoked with: """  # noqa: E501 line too long
+        Invoked with: """
         + repr(np.array([5.0, 4.0, 3.0], dtype="float32"))
     )
 
@@ -213,7 +212,7 @@ def test_negative_stride_from_python(msg):
         double_threec(): incompatible function arguments. The following argument types are supported:
             1. (arg0: numpy.ndarray[numpy.float32[3, 1], flags.writeable]) -> None
 
-        Invoked with: """  # noqa: E501 line too long
+        Invoked with: """
         + repr(np.array([7.0, 4.0, 1.0], dtype="float32"))
     )
 
@@ -222,9 +221,7 @@ def test_nonunit_stride_to_python():
     assert np.all(m.diagonal(ref) == ref.diagonal())
     assert np.all(m.diagonal_1(ref) == ref.diagonal(1))
     for i in range(-5, 7):
-        assert np.all(
-            m.diagonal_n(ref, i) == ref.diagonal(i)
-        ), "m.diagonal_n({})".format(i)
+        assert np.all(m.diagonal_n(ref, i) == ref.diagonal(i)), f"m.diagonal_n({i})"
 
     assert np.all(m.block(ref, 2, 1, 3, 3) == ref[2:5, 1:4])
     assert np.all(m.block(ref, 1, 4, 4, 2) == ref[1:, 4:])
@@ -237,7 +234,7 @@ def test_eigen_ref_to_python():
         mymat = chol(np.array([[1.0, 2, 4], [2, 13, 23], [4, 23, 77]]))
         assert np.all(
             mymat == np.array([[1, 0, 0], [2, 3, 0], [4, 5, 6]])
-        ), "cholesky{}".format(i)
+        ), f"cholesky{i}"
 
 
 def assign_both(a1, a2, r, c, v):
@@ -724,13 +721,13 @@ def test_sparse_signature(doc):
         doc(m.sparse_copy_r)
         == """
         sparse_copy_r(arg0: scipy.sparse.csr_matrix[numpy.float32]) -> scipy.sparse.csr_matrix[numpy.float32]
-    """  # noqa: E501 line too long
+    """
     )
     assert (
         doc(m.sparse_copy_c)
         == """
         sparse_copy_c(arg0: scipy.sparse.csc_matrix[numpy.float32]) -> scipy.sparse.csc_matrix[numpy.float32]
-    """  # noqa: E501 line too long
+    """
     )
 
 
@@ -747,6 +744,13 @@ def test_issue738():
     )
 
 
+@pytest.mark.parametrize("func", [m.iss738_f1, m.iss738_f2])
+@pytest.mark.parametrize("sizes", [(0, 2), (2, 0)])
+def test_zero_length(func, sizes):
+    """Ignore strides on a length-0 dimension (even if they would be incompatible length > 1)"""
+    assert np.all(func(np.zeros(sizes)) == np.zeros(sizes))
+
+
 def test_issue1105():
     """Issue 1105: 1xN or Nx1 input arrays weren't accepted for eigen
     compile-time row vectors or column vector"""
diff --git a/pybind11/tests/test_embed/CMakeLists.txt b/pybind11/tests/test_embed/CMakeLists.txt
index edb8961a7d..09a3693999 100644
--- a/pybind11/tests/test_embed/CMakeLists.txt
+++ b/pybind11/tests/test_embed/CMakeLists.txt
@@ -7,7 +7,7 @@ if("${PYTHON_MODULE_EXTENSION}" MATCHES "pypy" OR "${Python_INTERPRETER_ID}" STR
   return()
 endif()
 
-find_package(Catch 2.13.2)
+find_package(Catch 2.13.9)
 
 if(CATCH_FOUND)
   message(STATUS "Building interpreter tests using Catch v${CATCH_VERSION}")
diff --git a/pybind11/tests/test_embed/catch.cpp b/pybind11/tests/test_embed/catch.cpp
index dd137385cb..96d2e3f92a 100644
--- a/pybind11/tests/test_embed/catch.cpp
+++ b/pybind11/tests/test_embed/catch.cpp
@@ -4,9 +4,14 @@
 #include <pybind11/embed.h>
 
 #ifdef _MSC_VER
-// Silence MSVC C++17 deprecation warning from Catch regarding std::uncaught_exceptions (up to catch
-// 2.0.1; this should be fixed in the next catch release after 2.0.1).
-#  pragma warning(disable: 4996)
+// Silence MSVC C++17 deprecation warning from Catch regarding std::uncaught_exceptions (up to
+// catch 2.0.1; this should be fixed in the next catch release after 2.0.1).
+#    pragma warning(disable : 4996)
+#endif
+
+// Catch uses _ internally, which breaks gettext style defines
+#ifdef _
+#    undef _
 #endif
 
 #define CATCH_CONFIG_RUNNER
diff --git a/pybind11/tests/test_embed/external_module.cpp b/pybind11/tests/test_embed/external_module.cpp
index 4909522993..5c482fe061 100644
--- a/pybind11/tests/test_embed/external_module.cpp
+++ b/pybind11/tests/test_embed/external_module.cpp
@@ -13,11 +13,8 @@ PYBIND11_MODULE(external_module, m) {
         int v;
     };
 
-    py::class_<A>(m, "A")
-        .def(py::init<int>())
-        .def_readwrite("value", &A::v);
+    py::class_<A>(m, "A").def(py::init<int>()).def_readwrite("value", &A::v);
 
-    m.def("internals_at", []() {
-        return reinterpret_cast<uintptr_t>(&py::detail::get_internals());
-    });
+    m.def("internals_at",
+          []() { return reinterpret_cast<uintptr_t>(&py::detail::get_internals()); });
 }
diff --git a/pybind11/tests/test_embed/test_interpreter.cpp b/pybind11/tests/test_embed/test_interpreter.cpp
index 508975eb3c..1c45457a05 100644
--- a/pybind11/tests/test_embed/test_interpreter.cpp
+++ b/pybind11/tests/test_embed/test_interpreter.cpp
@@ -1,13 +1,12 @@
 #include <pybind11/embed.h>
 
 #ifdef _MSC_VER
-// Silence MSVC C++17 deprecation warning from Catch regarding std::uncaught_exceptions (up to catch
-// 2.0.1; this should be fixed in the next catch release after 2.0.1).
-#  pragma warning(disable: 4996)
+// Silence MSVC C++17 deprecation warning from Catch regarding std::uncaught_exceptions (up to
+// catch 2.0.1; this should be fixed in the next catch release after 2.0.1).
+#    pragma warning(disable : 4996)
 #endif
 
 #include <catch.hpp>
-
 #include <cstdlib>
 #include <fstream>
 #include <functional>
@@ -62,14 +61,14 @@ PYBIND11_EMBEDDED_MODULE(widget_module, m) {
 }
 
 PYBIND11_EMBEDDED_MODULE(trampoline_module, m) {
-    py::class_<test_override_cache_helper, test_override_cache_helper_trampoline, std::shared_ptr<test_override_cache_helper>>(m, "test_override_cache_helper")
+    py::class_<test_override_cache_helper,
+               test_override_cache_helper_trampoline,
+               std::shared_ptr<test_override_cache_helper>>(m, "test_override_cache_helper")
         .def(py::init_alias<>())
         .def("func", &test_override_cache_helper::func);
 }
 
-PYBIND11_EMBEDDED_MODULE(throw_exception, ) {
-    throw std::runtime_error("C++ Error");
-}
+PYBIND11_EMBEDDED_MODULE(throw_exception, ) { throw std::runtime_error("C++ Error"); }
 
 PYBIND11_EMBEDDED_MODULE(throw_error_already_set, ) {
     auto d = py::dict();
@@ -80,11 +79,13 @@ TEST_CASE("Pass classes and data between modules defined in C++ and Python") {
     auto module_ = py::module_::import("test_interpreter");
     REQUIRE(py::hasattr(module_, "DerivedWidget"));
 
-    auto locals = py::dict("hello"_a="Hello, World!", "x"_a=5, **module_.attr("__dict__"));
+    auto locals = py::dict("hello"_a = "Hello, World!", "x"_a = 5, **module_.attr("__dict__"));
     py::exec(R"(
         widget = DerivedWidget("{} - {}".format(hello, x))
         message = widget.the_message
-    )", py::globals(), locals);
+    )",
+             py::globals(),
+             locals);
     REQUIRE(locals["message"].cast<std::string>() == "Hello, World! - 5");
 
     auto py_widget = module_.attr("DerivedWidget")("The question");
@@ -124,26 +125,22 @@ TEST_CASE("Override cache") {
 
 TEST_CASE("Import error handling") {
     REQUIRE_NOTHROW(py::module_::import("widget_module"));
-    REQUIRE_THROWS_WITH(py::module_::import("throw_exception"),
-                        "ImportError: C++ Error");
-#if PY_VERSION_HEX >= 0x03030000
+    REQUIRE_THROWS_WITH(py::module_::import("throw_exception"), "ImportError: C++ Error");
     REQUIRE_THROWS_WITH(py::module_::import("throw_error_already_set"),
                         Catch::Contains("ImportError: initialization failed"));
 
-    auto locals = py::dict("is_keyerror"_a=false, "message"_a="not set");
+    auto locals = py::dict("is_keyerror"_a = false, "message"_a = "not set");
     py::exec(R"(
         try:
             import throw_error_already_set
         except ImportError as e:
             is_keyerror = type(e.__cause__) == KeyError
             message = str(e.__cause__)
-    )", py::globals(), locals);
+    )",
+             py::globals(),
+             locals);
     REQUIRE(locals["is_keyerror"].cast<bool>() == true);
     REQUIRE(locals["message"].cast<std::string>() == "'missing'");
-#else
-    REQUIRE_THROWS_WITH(py::module_::import("throw_error_already_set"),
-                        Catch::Contains("ImportError: KeyError"));
-#endif
 }
 
 TEST_CASE("There can be only one interpreter") {
@@ -179,11 +176,12 @@ TEST_CASE("Restart the interpreter") {
     REQUIRE(py::module_::import("widget_module").attr("add")(1, 2).cast<int>() == 3);
     REQUIRE(has_pybind11_internals_builtin());
     REQUIRE(has_pybind11_internals_static());
-    REQUIRE(py::module_::import("external_module").attr("A")(123).attr("value").cast<int>() == 123);
+    REQUIRE(py::module_::import("external_module").attr("A")(123).attr("value").cast<int>()
+            == 123);
 
     // local and foreign module internals should point to the same internals:
-    REQUIRE(reinterpret_cast<uintptr_t>(*py::detail::get_internals_pp()) ==
-            py::module_::import("external_module").attr("internals_at")().cast<uintptr_t>());
+    REQUIRE(reinterpret_cast<uintptr_t>(*py::detail::get_internals_pp())
+            == py::module_::import("external_module").attr("internals_at")().cast<uintptr_t>());
 
     // Restart the interpreter.
     py::finalize_interpreter();
@@ -198,16 +196,19 @@ TEST_CASE("Restart the interpreter") {
     pybind11::detail::get_internals();
     REQUIRE(has_pybind11_internals_builtin());
     REQUIRE(has_pybind11_internals_static());
-    REQUIRE(reinterpret_cast<uintptr_t>(*py::detail::get_internals_pp()) ==
-            py::module_::import("external_module").attr("internals_at")().cast<uintptr_t>());
+    REQUIRE(reinterpret_cast<uintptr_t>(*py::detail::get_internals_pp())
+            == py::module_::import("external_module").attr("internals_at")().cast<uintptr_t>());
 
     // Make sure that an interpreter with no get_internals() created until finalize still gets the
     // internals destroyed
     py::finalize_interpreter();
     py::initialize_interpreter();
     bool ran = false;
-    py::module_::import("__main__").attr("internals_destroy_test") =
-        py::capsule(&ran, [](void *ran) { py::detail::get_internals(); *static_cast<bool *>(ran) = true; });
+    py::module_::import("__main__").attr("internals_destroy_test")
+        = py::capsule(&ran, [](void *ran) {
+              py::detail::get_internals();
+              *static_cast<bool *>(ran) = true;
+          });
     REQUIRE_FALSE(has_pybind11_internals_builtin());
     REQUIRE_FALSE(has_pybind11_internals_static());
     REQUIRE_FALSE(ran);
@@ -240,8 +241,8 @@ TEST_CASE("Subinterpreter") {
     REQUIRE(has_pybind11_internals_static());
 
     /// Create and switch to a subinterpreter.
-    auto main_tstate = PyThreadState_Get();
-    auto sub_tstate = Py_NewInterpreter();
+    auto *main_tstate = PyThreadState_Get();
+    auto *sub_tstate = Py_NewInterpreter();
 
     // Subinterpreters get their own copy of builtins. detail::get_internals() still
     // works by returning from the static variable, i.e. all interpreters share a single
@@ -281,7 +282,7 @@ TEST_CASE("Threads") {
     REQUIRE_FALSE(has_pybind11_internals_static());
 
     constexpr auto num_threads = 10;
-    auto locals = py::dict("count"_a=0);
+    auto locals = py::dict("count"_a = 0);
 
     {
         py::gil_scoped_release gil_release{};
@@ -307,7 +308,11 @@ TEST_CASE("Threads") {
 struct scope_exit {
     std::function<void()> f_;
     explicit scope_exit(std::function<void()> f) noexcept : f_(std::move(f)) {}
-    ~scope_exit() { if (f_) f_(); }
+    ~scope_exit() {
+        if (f_) {
+            f_();
+        }
+    }
 };
 
 TEST_CASE("Reload module from file") {
@@ -318,9 +323,8 @@ TEST_CASE("Reload module from file") {
     bool dont_write_bytecode = sys.attr("dont_write_bytecode").cast<bool>();
     sys.attr("dont_write_bytecode") = true;
     // Reset the value at scope exit
-    scope_exit reset_dont_write_bytecode([&]() {
-        sys.attr("dont_write_bytecode") = dont_write_bytecode;
-    });
+    scope_exit reset_dont_write_bytecode(
+        [&]() { sys.attr("dont_write_bytecode") = dont_write_bytecode; });
 
     std::string module_name = "test_module_reload";
     std::string module_file = module_name + ".py";
@@ -331,9 +335,7 @@ TEST_CASE("Reload module from file") {
     test_module << "    return 1\n";
     test_module.close();
     // Delete the file at scope exit
-    scope_exit delete_module_file([&]() {
-        std::remove(module_file.c_str());
-    });
+    scope_exit delete_module_file([&]() { std::remove(module_file.c_str()); });
 
     // Import the module from file
     auto module_ = py::module_::import(module_name.c_str());
@@ -373,3 +375,21 @@ TEST_CASE("sys.argv gets initialized properly") {
     }
     py::initialize_interpreter();
 }
+
+TEST_CASE("make_iterator can be called before then after finalizing an interpreter") {
+    // Reproduction of issue #2101 (https://github.com/pybind/pybind11/issues/2101)
+    py::finalize_interpreter();
+
+    std::vector<int> container;
+    {
+        pybind11::scoped_interpreter g;
+        auto iter = pybind11::make_iterator(container.begin(), container.end());
+    }
+
+    REQUIRE_NOTHROW([&]() {
+        pybind11::scoped_interpreter g;
+        auto iter = pybind11::make_iterator(container.begin(), container.end());
+    }());
+
+    py::initialize_interpreter();
+}
diff --git a/pybind11/tests/test_embed/test_interpreter.py b/pybind11/tests/test_embed/test_interpreter.py
index 5ab55a4b37..f279449722 100644
--- a/pybind11/tests/test_embed/test_interpreter.py
+++ b/pybind11/tests/test_embed/test_interpreter.py
@@ -1,4 +1,3 @@
-# -*- coding: utf-8 -*-
 import sys
 
 from widget_module import Widget
@@ -6,7 +5,7 @@
 
 class DerivedWidget(Widget):
     def __init__(self, message):
-        super(DerivedWidget, self).__init__(message)
+        super().__init__(message)
 
     def the_answer(self):
         return 42
diff --git a/pybind11/tests/test_embed/test_trampoline.py b/pybind11/tests/test_embed/test_trampoline.py
index 87c8fa44c3..8e14e8ef0b 100644
--- a/pybind11/tests/test_embed/test_trampoline.py
+++ b/pybind11/tests/test_embed/test_trampoline.py
@@ -1,5 +1,3 @@
-# -*- coding: utf-8 -*-
-
 import trampoline_module
 
 
diff --git a/pybind11/tests/test_enum.cpp b/pybind11/tests/test_enum.cpp
index 40c48d412a..2597b275ef 100644
--- a/pybind11/tests/test_enum.cpp
+++ b/pybind11/tests/test_enum.cpp
@@ -11,11 +11,7 @@
 
 TEST_SUBMODULE(enums, m) {
     // test_unscoped_enum
-    enum UnscopedEnum {
-        EOne = 1,
-        ETwo,
-        EThree
-    };
+    enum UnscopedEnum { EOne = 1, ETwo, EThree };
     py::enum_<UnscopedEnum>(m, "UnscopedEnum", py::arithmetic(), "An unscoped enumeration")
         .value("EOne", EOne, "Docstring for EOne")
         .value("ETwo", ETwo, "Docstring for ETwo")
@@ -23,10 +19,7 @@ TEST_SUBMODULE(enums, m) {
         .export_values();
 
     // test_scoped_enum
-    enum class ScopedEnum {
-        Two = 2,
-        Three
-    };
+    enum class ScopedEnum { Two = 2, Three };
     py::enum_<ScopedEnum>(m, "ScopedEnum", py::arithmetic())
         .value("Two", ScopedEnum::Two)
         .value("Three", ScopedEnum::Three);
@@ -36,11 +29,7 @@ TEST_SUBMODULE(enums, m) {
     });
 
     // test_binary_operators
-    enum Flags {
-        Read = 4,
-        Write = 2,
-        Execute = 1
-    };
+    enum Flags { Read = 4, Write = 2, Execute = 1 };
     py::enum_<Flags>(m, "Flags", py::arithmetic())
         .value("Read", Flags::Read)
         .value("Write", Flags::Write)
@@ -50,14 +39,9 @@ TEST_SUBMODULE(enums, m) {
     // test_implicit_conversion
     class ClassWithUnscopedEnum {
     public:
-        enum EMode {
-            EFirstMode = 1,
-            ESecondMode
-        };
-
-        static EMode test_function(EMode mode) {
-            return mode;
-        }
+        enum EMode { EFirstMode = 1, ESecondMode };
+
+        static EMode test_function(EMode mode) { return mode; }
     };
     py::class_<ClassWithUnscopedEnum> exenum_class(m, "ClassWithUnscopedEnum");
     exenum_class.def_static("test_function", &ClassWithUnscopedEnum::test_function);
@@ -67,19 +51,17 @@ TEST_SUBMODULE(enums, m) {
         .export_values();
 
     // test_enum_to_int
-    m.def("test_enum_to_int", [](int) { });
-    m.def("test_enum_to_uint", [](uint32_t) { });
-    m.def("test_enum_to_long_long", [](long long) { });
+    m.def("test_enum_to_int", [](int) {});
+    m.def("test_enum_to_uint", [](uint32_t) {});
+    m.def("test_enum_to_long_long", [](long long) {});
 
     // test_duplicate_enum_name
-    enum SimpleEnum
-    {
-        ONE, TWO, THREE
-    };
+    enum SimpleEnum { ONE, TWO, THREE };
 
     m.def("register_bad_enum", [m]() {
         py::enum_<SimpleEnum>(m, "SimpleEnum")
-            .value("ONE", SimpleEnum::ONE)          //NOTE: all value function calls are called with the same first parameter value
+            .value("ONE", SimpleEnum::ONE) // NOTE: all value function calls are called with the
+                                           // same first parameter value
             .value("ONE", SimpleEnum::TWO)
             .value("ONE", SimpleEnum::THREE)
             .export_values();
@@ -90,33 +72,36 @@ TEST_SUBMODULE(enums, m) {
     enum class ScopedShortEnum : short {};
     enum class ScopedLongEnum : long {};
     enum UnscopedUInt64Enum : std::uint64_t {};
-    static_assert(py::detail::all_of<
-        std::is_same<py::enum_<UnscopedUCharEnum>::Scalar, unsigned char>,
-        std::is_same<py::enum_<ScopedShortEnum>::Scalar, short>,
-        std::is_same<py::enum_<ScopedLongEnum>::Scalar, long>,
-        std::is_same<py::enum_<UnscopedUInt64Enum>::Scalar, std::uint64_t>
-    >::value, "Error during the deduction of enum's scalar type with normal integer underlying");
+    static_assert(
+        py::detail::all_of<
+            std::is_same<py::enum_<UnscopedUCharEnum>::Scalar, unsigned char>,
+            std::is_same<py::enum_<ScopedShortEnum>::Scalar, short>,
+            std::is_same<py::enum_<ScopedLongEnum>::Scalar, long>,
+            std::is_same<py::enum_<UnscopedUInt64Enum>::Scalar, std::uint64_t>>::value,
+        "Error during the deduction of enum's scalar type with normal integer underlying");
 
     // test_enum_scalar_with_char_underlying
-    enum class ScopedCharEnum   : char     { Zero, Positive };
-    enum class ScopedWCharEnum  : wchar_t  { Zero, Positive };
+    enum class ScopedCharEnum : char { Zero, Positive };
+    enum class ScopedWCharEnum : wchar_t { Zero, Positive };
     enum class ScopedChar32Enum : char32_t { Zero, Positive };
     enum class ScopedChar16Enum : char16_t { Zero, Positive };
 
     // test the scalar of char type enums according to chapter 'Character types'
     // from https://en.cppreference.com/w/cpp/language/types
-    static_assert(py::detail::any_of<
-        std::is_same<py::enum_<ScopedCharEnum>::Scalar, signed char>, // e.g. gcc on x86
-        std::is_same<py::enum_<ScopedCharEnum>::Scalar, unsigned char>  // e.g. arm linux
-    >::value, "char should be cast to either signed char or unsigned char");
     static_assert(
-        sizeof(py::enum_<ScopedWCharEnum>::Scalar) == 2 ||
-        sizeof(py::enum_<ScopedWCharEnum>::Scalar) == 4
-    , "wchar_t should be either 16 bits (Windows) or 32 (everywhere else)");
-    static_assert(py::detail::all_of<
-        std::is_same<py::enum_<ScopedChar32Enum>::Scalar, std::uint_least32_t>,
-        std::is_same<py::enum_<ScopedChar16Enum>::Scalar, std::uint_least16_t>
-    >::value, "char32_t, char16_t (and char8_t)'s size, signedness, and alignment is determined");
+        py::detail::any_of<
+            std::is_same<py::enum_<ScopedCharEnum>::Scalar, signed char>,  // e.g. gcc on x86
+            std::is_same<py::enum_<ScopedCharEnum>::Scalar, unsigned char> // e.g. arm linux
+            >::value,
+        "char should be cast to either signed char or unsigned char");
+    static_assert(sizeof(py::enum_<ScopedWCharEnum>::Scalar) == 2
+                      || sizeof(py::enum_<ScopedWCharEnum>::Scalar) == 4,
+                  "wchar_t should be either 16 bits (Windows) or 32 (everywhere else)");
+    static_assert(
+        py::detail::all_of<
+            std::is_same<py::enum_<ScopedChar32Enum>::Scalar, std::uint_least32_t>,
+            std::is_same<py::enum_<ScopedChar16Enum>::Scalar, std::uint_least16_t>>::value,
+        "char32_t, char16_t (and char8_t)'s size, signedness, and alignment is determined");
 #if defined(PYBIND11_HAS_U8STRING)
     enum class ScopedChar8Enum : char8_t { Zero, Positive };
     static_assert(std::is_same<py::enum_<ScopedChar8Enum>::Scalar, unsigned char>::value);
diff --git a/pybind11/tests/test_enum.py b/pybind11/tests/test_enum.py
index 14c754e726..f14a72398f 100644
--- a/pybind11/tests/test_enum.py
+++ b/pybind11/tests/test_enum.py
@@ -1,7 +1,5 @@
-# -*- coding: utf-8 -*-
 import pytest
 
-import env
 from pybind11_tests import enums as m
 
 
@@ -241,10 +239,7 @@ def test_char_underlying_enum():  # Issue #1331/PR #1334:
     assert type(m.ScopedCharEnum.Positive.__int__()) is int
     assert int(m.ScopedChar16Enum.Zero) == 0
     assert hash(m.ScopedChar32Enum.Positive) == 1
-    if env.PY2:
-        assert m.ScopedCharEnum.Positive.__getstate__() == 1  # long
-    else:
-        assert type(m.ScopedCharEnum.Positive.__getstate__()) is int
+    assert type(m.ScopedCharEnum.Positive.__getstate__()) is int
     assert m.ScopedWCharEnum(1) == m.ScopedWCharEnum.Positive
     with pytest.raises(TypeError):
         # Even if the underlying type is char, only an int can be used to construct the enum:
@@ -255,10 +250,7 @@ def test_bool_underlying_enum():
     assert type(m.ScopedBoolEnum.TRUE.__int__()) is int
     assert int(m.ScopedBoolEnum.FALSE) == 0
     assert hash(m.ScopedBoolEnum.TRUE) == 1
-    if env.PY2:
-        assert m.ScopedBoolEnum.TRUE.__getstate__() == 1  # long
-    else:
-        assert type(m.ScopedBoolEnum.TRUE.__getstate__()) is int
+    assert type(m.ScopedBoolEnum.TRUE.__getstate__()) is int
     assert m.ScopedBoolEnum(1) == m.ScopedBoolEnum.TRUE
     # Enum could construct with a bool
     # (bool is a strict subclass of int, and False will be converted to 0)
diff --git a/pybind11/tests/test_eval.cpp b/pybind11/tests/test_eval.cpp
index 29366f6798..cd2903f0ab 100644
--- a/pybind11/tests/test_eval.cpp
+++ b/pybind11/tests/test_eval.cpp
@@ -7,10 +7,10 @@
     BSD-style license that can be found in the LICENSE file.
 */
 
-
 #include <pybind11/eval.h>
 
 #include "pybind11_tests.h"
+
 #include <utility>
 
 TEST_SUBMODULE(eval_, m) {
@@ -20,16 +20,13 @@ TEST_SUBMODULE(eval_, m) {
 
     m.def("test_eval_statements", [global]() {
         auto local = py::dict();
-        local["call_test"] = py::cpp_function([&]() -> int {
-            return 42;
-        });
+        local["call_test"] = py::cpp_function([&]() -> int { return 42; });
 
         // Regular string literal
-        py::exec(
-            "message = 'Hello World!'\n"
-            "x = call_test()",
-            global, local
-        );
+        py::exec("message = 'Hello World!'\n"
+                 "x = call_test()",
+                 global,
+                 local);
 
         // Multi-line raw string literal
         py::exec(R"(
@@ -37,8 +34,9 @@ TEST_SUBMODULE(eval_, m) {
                 print(message)
             else:
                 raise RuntimeError
-            )", global, local
-        );
+            )",
+                 global,
+                 local);
         auto x = local["x"].cast<int>();
 
         return x == 42;
@@ -53,9 +51,7 @@ TEST_SUBMODULE(eval_, m) {
 
     m.def("test_eval_single_statement", []() {
         auto local = py::dict();
-        local["call_test"] = py::cpp_function([&]() -> int {
-            return 42;
-        });
+        local["call_test"] = py::cpp_function([&]() -> int { return 42; });
 
         auto result = py::eval<py::eval_single_statement>("x = call_test()", py::dict(), local);
         auto x = local["x"].cast<int>();
@@ -93,8 +89,9 @@ TEST_SUBMODULE(eval_, m) {
 
     // test_eval_empty_globals
     m.def("eval_empty_globals", [](py::object global) {
-        if (global.is_none())
+        if (global.is_none()) {
             global = py::dict();
+        }
         auto int_class = py::eval("isinstance(42, int)", global);
         return global;
     });
@@ -113,7 +110,9 @@ TEST_SUBMODULE(eval_, m) {
 
             def func_local():
                 return local_value
-            )", global, local);
+            )",
+                 global,
+                 local);
         return std::make_pair(global, local);
     });
 }
diff --git a/pybind11/tests/test_eval.py b/pybind11/tests/test_eval.py
index 1bbd991bc0..51b6b796b4 100644
--- a/pybind11/tests/test_eval.py
+++ b/pybind11/tests/test_eval.py
@@ -1,4 +1,3 @@
-# -*- coding: utf-8 -*-
 import os
 
 import pytest
@@ -18,7 +17,7 @@ def test_evals(capture):
     assert m.test_eval_failure()
 
 
-@pytest.mark.xfail("env.PYPY and not env.PY2", raises=RuntimeError)
+@pytest.mark.xfail("env.PYPY", raises=RuntimeError)
 def test_eval_file():
     filename = os.path.join(os.path.dirname(__file__), "test_eval_call.py")
     assert m.test_eval_file(filename)
diff --git a/pybind11/tests/test_eval_call.py b/pybind11/tests/test_eval_call.py
index 373b67bac8..fd1da2a5cc 100644
--- a/pybind11/tests/test_eval_call.py
+++ b/pybind11/tests/test_eval_call.py
@@ -1,4 +1,3 @@
-# -*- coding: utf-8 -*-
 # This file is called from 'test_eval.py'
 
 if "call_test2" in locals():
diff --git a/pybind11/tests/test_exceptions.cpp b/pybind11/tests/test_exceptions.cpp
index 3aa9673828..3ec999d1dc 100644
--- a/pybind11/tests/test_exceptions.cpp
+++ b/pybind11/tests/test_exceptions.cpp
@@ -9,8 +9,8 @@
 #include "test_exceptions.h"
 
 #include "local_bindings.h"
-
 #include "pybind11_tests.h"
+
 #include <exception>
 #include <stdexcept>
 #include <utility>
@@ -18,8 +18,9 @@
 // A type that should be raised as an exception in Python
 class MyException : public std::exception {
 public:
-    explicit MyException(const char * m) : message{m} {}
-    const char * what() const noexcept override {return message.c_str();}
+    explicit MyException(const char *m) : message{m} {}
+    const char *what() const noexcept override { return message.c_str(); }
+
 private:
     std::string message = "";
 };
@@ -27,8 +28,9 @@ class MyException : public std::exception {
 // A type that should be translated to a standard Python exception
 class MyException2 : public std::exception {
 public:
-    explicit MyException2(const char * m) : message{m} {}
-    const char * what() const noexcept override {return message.c_str();}
+    explicit MyException2(const char *m) : message{m} {}
+    const char *what() const noexcept override { return message.c_str(); }
+
 private:
     std::string message = "";
 };
@@ -36,13 +38,13 @@ class MyException2 : public std::exception {
 // A type that is not derived from std::exception (and is thus unknown)
 class MyException3 {
 public:
-    explicit MyException3(const char * m) : message{m} {}
-    virtual const char * what() const noexcept {return message.c_str();}
+    explicit MyException3(const char *m) : message{m} {}
+    virtual const char *what() const noexcept { return message.c_str(); }
     // Rule of 5 BEGIN: to preempt compiler warnings.
-    MyException3(const MyException3&) = default;
-    MyException3(MyException3&&) = default;
-    MyException3& operator=(const MyException3&) = default;
-    MyException3& operator=(MyException3&&) = default;
+    MyException3(const MyException3 &) = default;
+    MyException3(MyException3 &&) = default;
+    MyException3 &operator=(const MyException3 &) = default;
+    MyException3 &operator=(MyException3 &&) = default;
     virtual ~MyException3() = default;
     // Rule of 5 END.
 private:
@@ -53,13 +55,13 @@ class MyException3 {
 // and delegated to its exception translator
 class MyException4 : public std::exception {
 public:
-    explicit MyException4(const char * m) : message{m} {}
-    const char * what() const noexcept override {return message.c_str();}
+    explicit MyException4(const char *m) : message{m} {}
+    const char *what() const noexcept override { return message.c_str(); }
+
 private:
     std::string message = "";
 };
 
-
 // Like the above, but declared via the helper function
 class MyException5 : public std::logic_error {
 public:
@@ -71,17 +73,16 @@ class MyException5_1 : public MyException5 {
     using MyException5::MyException5;
 };
 
-
 // Exception that will be caught via the module local translator.
 class MyException6 : public std::exception {
 public:
-    explicit MyException6(const char * m) : message{m} {}
-    const char * what() const noexcept override {return message.c_str();}
+    explicit MyException6(const char *m) : message{m} {}
+    const char *what() const noexcept override { return message.c_str(); }
+
 private:
     std::string message = "";
 };
 
-
 struct PythonCallInDestructor {
     explicit PythonCallInDestructor(const py::dict &d) : d(d) {}
     ~PythonCallInDestructor() { d["good"] = true; }
@@ -89,8 +90,6 @@ struct PythonCallInDestructor {
     py::dict d;
 };
 
-
-
 struct PythonAlreadySetInDestructor {
     explicit PythonAlreadySetInDestructor(const py::str &s) : s(s) {}
     ~PythonAlreadySetInDestructor() {
@@ -98,8 +97,7 @@ struct PythonAlreadySetInDestructor {
         try {
             // Assign to a py::object to force read access of nonexistent dict entry
             py::object o = foo["bar"];
-        }
-        catch (py::error_already_set& ex) {
+        } catch (py::error_already_set &ex) {
             ex.discard_as_unraisable(s);
         }
     }
@@ -107,16 +105,22 @@ struct PythonAlreadySetInDestructor {
     py::str s;
 };
 
+std::string error_already_set_what(const py::object &exc_type, const py::object &exc_value) {
+    PyErr_SetObject(exc_type.ptr(), exc_value.ptr());
+    return py::error_already_set().what();
+}
+
 TEST_SUBMODULE(exceptions, m) {
-    m.def("throw_std_exception", []() {
-        throw std::runtime_error("This exception was intentionally thrown.");
-    });
+    m.def("throw_std_exception",
+          []() { throw std::runtime_error("This exception was intentionally thrown."); });
 
     // make a new custom exception and use it as a translation target
     static py::exception<MyException> ex(m, "MyException");
     py::register_exception_translator([](std::exception_ptr p) {
         try {
-            if (p) std::rethrow_exception(p);
+            if (p) {
+                std::rethrow_exception(p);
+            }
         } catch (const MyException &e) {
             // Set MyException as the active python error
             ex(e.what());
@@ -128,7 +132,9 @@ TEST_SUBMODULE(exceptions, m) {
     // never by visible from Python
     py::register_exception_translator([](std::exception_ptr p) {
         try {
-            if (p) std::rethrow_exception(p);
+            if (p) {
+                std::rethrow_exception(p);
+            }
         } catch (const MyException2 &e) {
             // Translate this exception to a standard RuntimeError
             PyErr_SetString(PyExc_RuntimeError, e.what());
@@ -140,7 +146,9 @@ TEST_SUBMODULE(exceptions, m) {
     // translator for MyException by throwing a new exception
     py::register_exception_translator([](std::exception_ptr p) {
         try {
-            if (p) std::rethrow_exception(p);
+            if (p) {
+                std::rethrow_exception(p);
+            }
         } catch (const MyException4 &e) {
             throw MyException(e.what());
         }
@@ -151,26 +159,30 @@ TEST_SUBMODULE(exceptions, m) {
     // A slightly more complicated one that declares MyException5_1 as a subclass of MyException5
     py::register_exception<MyException5_1>(m, "MyException5_1", ex5.ptr());
 
-    //py::register_local_exception<LocalSimpleException>(m, "LocalSimpleException")
+    // py::register_local_exception<LocalSimpleException>(m, "LocalSimpleException")
 
     py::register_local_exception_translator([](std::exception_ptr p) {
-      try {
-          if (p) {
-            std::rethrow_exception(p);
-          }
-      } catch (const MyException6 &e) {
-        PyErr_SetString(PyExc_RuntimeError, e.what());
-      }
+        try {
+            if (p) {
+                std::rethrow_exception(p);
+            }
+        } catch (const MyException6 &e) {
+            PyErr_SetString(PyExc_RuntimeError, e.what());
+        }
     });
 
     m.def("throws1", []() { throw MyException("this error should go to a custom type"); });
-    m.def("throws2", []() { throw MyException2("this error should go to a standard Python exception"); });
+    m.def("throws2",
+          []() { throw MyException2("this error should go to a standard Python exception"); });
     m.def("throws3", []() { throw MyException3("this error cannot be translated"); });
     m.def("throws4", []() { throw MyException4("this error is rethrown"); });
-    m.def("throws5", []() { throw MyException5("this is a helper-defined translated exception"); });
+    m.def("throws5",
+          []() { throw MyException5("this is a helper-defined translated exception"); });
     m.def("throws5_1", []() { throw MyException5_1("MyException5 subclass"); });
     m.def("throws6", []() { throw MyException6("MyException6 only handled in this module"); });
-    m.def("throws_logic_error", []() { throw std::logic_error("this error should fall through to the standard handler"); });
+    m.def("throws_logic_error", []() {
+        throw std::logic_error("this error should fall through to the standard handler");
+    });
     m.def("throws_overflow_error", []() { throw std::overflow_error(""); });
     m.def("throws_local_error", []() { throw LocalException("never caught"); });
     m.def("throws_local_simple_error", []() { throw LocalSimpleException("this mod"); });
@@ -179,9 +191,10 @@ TEST_SUBMODULE(exceptions, m) {
         try {
             // Assign to a py::object to force read access of nonexistent dict entry
             py::object o = foo["bar"];
-        }
-        catch (py::error_already_set& ex) {
-            if (!ex.matches(PyExc_KeyError)) throw;
+        } catch (py::error_already_set &ex) {
+            if (!ex.matches(PyExc_KeyError)) {
+                throw;
+            }
             return true;
         }
         return false;
@@ -191,9 +204,10 @@ TEST_SUBMODULE(exceptions, m) {
         try {
             // Assign to a py::object to force read access of nonexistent dict entry
             py::object o = foo["bar"];
-        }
-        catch (py::error_already_set &ex) {
-            if (!ex.matches(PyExc_Exception)) throw;
+        } catch (py::error_already_set &ex) {
+            if (!ex.matches(PyExc_Exception)) {
+                throw;
+            }
             return true;
         }
         return false;
@@ -202,30 +216,35 @@ TEST_SUBMODULE(exceptions, m) {
         try {
             // On Python >= 3.6, this raises a ModuleNotFoundError, a subclass of ImportError
             py::module_::import("nonexistent");
-        }
-        catch (py::error_already_set &ex) {
-            if (!ex.matches(PyExc_ImportError)) throw;
+        } catch (py::error_already_set &ex) {
+            if (!ex.matches(PyExc_ImportError)) {
+                throw;
+            }
             return true;
         }
         return false;
     });
 
     m.def("throw_already_set", [](bool err) {
-        if (err)
+        if (err) {
             PyErr_SetString(PyExc_ValueError, "foo");
+        }
         try {
             throw py::error_already_set();
-        } catch (const std::runtime_error& e) {
-            if ((err && e.what() != std::string("ValueError: foo")) ||
-                (!err && e.what() != std::string("Unknown internal error occurred")))
-            {
+        } catch (const std::runtime_error &e) {
+            if ((err && e.what() != std::string("ValueError: foo"))
+                || (!err
+                    && e.what()
+                           != std::string("Internal error: pybind11::error_already_set called "
+                                          "while Python error indicator not set."))) {
                 PyErr_Clear();
                 throw std::runtime_error("error message mismatch");
             }
         }
         PyErr_Clear();
-        if (err)
+        if (err) {
             PyErr_SetString(PyExc_ValueError, "foo");
+        }
         throw py::error_already_set();
     });
 
@@ -235,7 +254,7 @@ TEST_SUBMODULE(exceptions, m) {
             PythonCallInDestructor set_dict_in_destructor(d);
             PyErr_SetString(PyExc_ValueError, "foo");
             throw py::error_already_set();
-        } catch (const py::error_already_set&) {
+        } catch (const py::error_already_set &) {
             retval = true;
         }
         return retval;
@@ -252,20 +271,21 @@ TEST_SUBMODULE(exceptions, m) {
               try {
                   f(*args);
               } catch (py::error_already_set &ex) {
-                  if (ex.matches(exc_type))
+                  if (ex.matches(exc_type)) {
                       py::print(ex.what());
-                  else
-                      throw;
+                  } else {
+                      // Simply `throw;` also works and is better, but using `throw ex;`
+                      // here to cover that situation (as observed in the wild).
+                      throw ex; // Invokes the copy ctor.
+                  }
               }
           });
 
     // Test repr that cannot be displayed
-    m.def("simple_bool_passthrough", [](bool x) {return x;});
+    m.def("simple_bool_passthrough", [](bool x) { return x; });
 
     m.def("throw_should_be_translated_to_key_error", []() { throw shared_exception(); });
 
-#if PY_VERSION_HEX >= 0x03030000
-
     m.def("raise_from", []() {
         PyErr_SetString(PyExc_ValueError, "inner");
         py::raise_from(PyExc_ValueError, "outer");
@@ -276,7 +296,7 @@ TEST_SUBMODULE(exceptions, m) {
         try {
             PyErr_SetString(PyExc_ValueError, "inner");
             throw py::error_already_set();
-        } catch (py::error_already_set& e) {
+        } catch (py::error_already_set &e) {
             py::raise_from(e, PyExc_ValueError, "outer");
             throw py::error_already_set();
         }
@@ -289,5 +309,29 @@ TEST_SUBMODULE(exceptions, m) {
             std::throw_with_nested(std::runtime_error("Outer Exception"));
         }
     });
-#endif
+
+    m.def("error_already_set_what", [](const py::object &exc_type, const py::object &exc_value) {
+        PyErr_SetObject(exc_type.ptr(), exc_value.ptr());
+        std::string what = py::error_already_set().what();
+        bool py_err_set_after_what = (PyErr_Occurred() != nullptr);
+        PyErr_Clear();
+        return py::make_tuple(std::move(what), py_err_set_after_what);
+    });
+
+    m.def("test_cross_module_interleaved_error_already_set", []() {
+        auto cm = py::module_::import("cross_module_interleaved_error_already_set");
+        auto interleaved_error_already_set
+            = reinterpret_cast<void (*)()>(PyLong_AsVoidPtr(cm.attr("funcaddr").ptr()));
+        interleaved_error_already_set();
+    });
+
+    m.def("test_error_already_set_double_restore", [](bool dry_run) {
+        PyErr_SetString(PyExc_ValueError, "Random error.");
+        py::error_already_set e;
+        e.restore();
+        PyErr_Clear();
+        if (!dry_run) {
+            e.restore();
+        }
+    });
 }
diff --git a/pybind11/tests/test_exceptions.h b/pybind11/tests/test_exceptions.h
index 9d428312eb..03684b89fa 100644
--- a/pybind11/tests/test_exceptions.h
+++ b/pybind11/tests/test_exceptions.h
@@ -1,5 +1,6 @@
 #pragma once
 #include "pybind11_tests.h"
+
 #include <stdexcept>
 
 // shared exceptions for cross_module_tests
diff --git a/pybind11/tests/test_exceptions.py b/pybind11/tests/test_exceptions.py
index d698b1312e..a5984a142f 100644
--- a/pybind11/tests/test_exceptions.py
+++ b/pybind11/tests/test_exceptions.py
@@ -1,4 +1,3 @@
-# -*- coding: utf-8 -*-
 import sys
 
 import pytest
@@ -17,14 +16,16 @@ def test_std_exception(msg):
 def test_error_already_set(msg):
     with pytest.raises(RuntimeError) as excinfo:
         m.throw_already_set(False)
-    assert msg(excinfo.value) == "Unknown internal error occurred"
+    assert (
+        msg(excinfo.value)
+        == "Internal error: pybind11::error_already_set called while Python error indicator not set."
+    )
 
     with pytest.raises(ValueError) as excinfo:
         m.throw_already_set(True)
     assert msg(excinfo.value) == "foo"
 
 
-@pytest.mark.skipif("env.PY2")
 def test_raise_from(msg):
     with pytest.raises(ValueError) as excinfo:
         m.raise_from()
@@ -32,7 +33,6 @@ def test_raise_from(msg):
     assert msg(excinfo.value.__cause__) == "inner"
 
 
-@pytest.mark.skipif("env.PY2")
 def test_raise_from_already_set(msg):
     with pytest.raises(ValueError) as excinfo:
         m.raise_from_already_set()
@@ -91,7 +91,7 @@ def test_python_call_in_catch():
 def ignore_pytest_unraisable_warning(f):
     unraisable = "PytestUnraisableExceptionWarning"
     if hasattr(pytest, unraisable):  # Python >= 3.8 and pytest >= 6
-        dec = pytest.mark.filterwarnings("ignore::pytest.{}".format(unraisable))
+        dec = pytest.mark.filterwarnings(f"ignore::pytest.{unraisable}")
         return dec(f)
     else:
         return f
@@ -102,7 +102,7 @@ def ignore_pytest_unraisable_warning(f):
 @ignore_pytest_unraisable_warning
 def test_python_alreadyset_in_destructor(monkeypatch, capsys):
     hooked = False
-    triggered = [False]  # mutable, so Python 2.7 closure can modify it
+    triggered = False
 
     if hasattr(sys, "unraisablehook"):  # Python 3.8+
         hooked = True
@@ -112,7 +112,8 @@ def test_python_alreadyset_in_destructor(monkeypatch, capsys):
         def hook(unraisable_hook_args):
             exc_type, exc_value, exc_tb, err_msg, obj = unraisable_hook_args
             if obj == "already_set demo":
-                triggered[0] = True
+                nonlocal triggered
+                triggered = True
             default_hook(unraisable_hook_args)
             return
 
@@ -121,11 +122,11 @@ def hook(unraisable_hook_args):
 
     assert m.python_alreadyset_in_destructor("already_set demo") is True
     if hooked:
-        assert triggered[0] is True
+        assert triggered is True
 
     _, captured_stderr = capsys.readouterr()
-    # Error message is different in Python 2 and 3, check for words that appear in both
-    assert "ignored" in captured_stderr and "already_set demo" in captured_stderr
+    assert captured_stderr.startswith("Exception ignored in: 'already_set demo'")
+    assert captured_stderr.rstrip().endswith("KeyError: 'bar'")
 
 
 def test_exception_matches():
@@ -239,7 +240,6 @@ def pycatch(exctype, f, *args):
     assert str(excinfo.value) == "this is a helper-defined translated exception"
 
 
-@pytest.mark.skipif("env.PY2")
 def test_throw_nested_exception():
     with pytest.raises(RuntimeError) as excinfo:
         m.throw_nested_exception()
@@ -249,7 +249,7 @@ def test_throw_nested_exception():
 
 # This can often happen if you wrap a pybind11 class in a Python wrapper
 def test_invalid_repr():
-    class MyRepr(object):
+    class MyRepr:
         def __repr__(self):
             raise AttributeError("Example error")
 
@@ -273,3 +273,90 @@ def test_local_translator(msg):
         m.throws_local_simple_error()
     assert not isinstance(excinfo.value, cm.LocalSimpleException)
     assert msg(excinfo.value) == "this mod"
+
+
+class FlakyException(Exception):
+    def __init__(self, failure_point):
+        if failure_point == "failure_point_init":
+            raise ValueError("triggered_failure_point_init")
+        self.failure_point = failure_point
+
+    def __str__(self):
+        if self.failure_point == "failure_point_str":
+            raise ValueError("triggered_failure_point_str")
+        return "FlakyException.__str__"
+
+
+@pytest.mark.parametrize(
+    "exc_type, exc_value, expected_what",
+    (
+        (ValueError, "plain_str", "ValueError: plain_str"),
+        (ValueError, ("tuple_elem",), "ValueError: tuple_elem"),
+        (FlakyException, ("happy",), "FlakyException: FlakyException.__str__"),
+    ),
+)
+def test_error_already_set_what_with_happy_exceptions(
+    exc_type, exc_value, expected_what
+):
+    what, py_err_set_after_what = m.error_already_set_what(exc_type, exc_value)
+    assert not py_err_set_after_what
+    assert what == expected_what
+
+
+@pytest.mark.skipif("env.PYPY", reason="PyErr_NormalizeException Segmentation fault")
+def test_flaky_exception_failure_point_init():
+    with pytest.raises(RuntimeError) as excinfo:
+        m.error_already_set_what(FlakyException, ("failure_point_init",))
+    lines = str(excinfo.value).splitlines()
+    # PyErr_NormalizeException replaces the original FlakyException with ValueError:
+    assert lines[:3] == [
+        "pybind11::error_already_set: MISMATCH of original and normalized active exception types:"
+        " ORIGINAL FlakyException REPLACED BY ValueError: triggered_failure_point_init",
+        "",
+        "At:",
+    ]
+    # Checking the first two lines of the traceback as formatted in error_string():
+    assert "test_exceptions.py(" in lines[3]
+    assert lines[3].endswith("): __init__")
+    assert lines[4].endswith("): test_flaky_exception_failure_point_init")
+
+
+def test_flaky_exception_failure_point_str():
+    what, py_err_set_after_what = m.error_already_set_what(
+        FlakyException, ("failure_point_str",)
+    )
+    assert not py_err_set_after_what
+    lines = what.splitlines()
+    if env.PYPY and len(lines) == 3:
+        n = 3  # Traceback is missing.
+    else:
+        n = 5
+    assert (
+        lines[:n]
+        == [
+            "FlakyException: <MESSAGE UNAVAILABLE DUE TO ANOTHER EXCEPTION>",
+            "",
+            "MESSAGE UNAVAILABLE DUE TO EXCEPTION: ValueError: triggered_failure_point_str",
+            "",
+            "At:",
+        ][:n]
+    )
+
+
+def test_cross_module_interleaved_error_already_set():
+    with pytest.raises(RuntimeError) as excinfo:
+        m.test_cross_module_interleaved_error_already_set()
+    assert str(excinfo.value) in (
+        "2nd error.",  # Almost all platforms.
+        "RuntimeError: 2nd error.",  # Some PyPy builds (seen under macOS).
+    )
+
+
+def test_error_already_set_double_restore():
+    m.test_error_already_set_double_restore(True)  # dry_run
+    with pytest.raises(RuntimeError) as excinfo:
+        m.test_error_already_set_double_restore(False)
+    assert str(excinfo.value) == (
+        "Internal error: pybind11::detail::error_fetch_and_normalize::restore()"
+        " called a second time. ORIGINAL ERROR: ValueError: Random error."
+    )
diff --git a/pybind11/tests/test_factory_constructors.cpp b/pybind11/tests/test_factory_constructors.cpp
index 660e2896af..a387cd2e76 100644
--- a/pybind11/tests/test_factory_constructors.cpp
+++ b/pybind11/tests/test_factory_constructors.cpp
@@ -10,6 +10,7 @@
 
 #include "constructor_stats.h"
 #include "pybind11_tests.h"
+
 #include <cmath>
 #include <new>
 #include <utility>
@@ -38,8 +39,7 @@ class TestFactory2 {
     explicit TestFactory2(std::string v) : value(std::move(v)) { print_created(this, value); }
 
 public:
-    TestFactory2(TestFactory2 &&m) noexcept {
-        value = std::move(m.value);
+    TestFactory2(TestFactory2 &&m) noexcept : value{std::move(m.value)} {
         print_move_created(this);
     }
     TestFactory2 &operator=(TestFactory2 &&m) noexcept {
@@ -59,8 +59,7 @@ class TestFactory3 {
 
 public:
     explicit TestFactory3(std::string v) : value(std::move(v)) { print_created(this, value); }
-    TestFactory3(TestFactory3 &&m) noexcept {
-        value = std::move(m.value);
+    TestFactory3(TestFactory3 &&m) noexcept : value{std::move(m.value)} {
         print_move_created(this);
     }
     TestFactory3 &operator=(TestFactory3 &&m) noexcept {
@@ -89,14 +88,23 @@ class TestFactory6 {
 protected:
     int value;
     bool alias = false;
+
 public:
     explicit TestFactory6(int i) : value{i} { print_created(this, i); }
     TestFactory6(TestFactory6 &&f) noexcept {
         print_move_created(this);
+        // NOLINTNEXTLINE(cppcoreguidelines-prefer-member-initializer)
         value = f.value;
+        // NOLINTNEXTLINE(cppcoreguidelines-prefer-member-initializer)
+        alias = f.alias;
+    }
+    TestFactory6(const TestFactory6 &f) {
+        print_copy_created(this);
+        // NOLINTNEXTLINE(cppcoreguidelines-prefer-member-initializer)
+        value = f.value;
+        // NOLINTNEXTLINE(cppcoreguidelines-prefer-member-initializer)
         alias = f.alias;
     }
-    TestFactory6(const TestFactory6 &f) { print_copy_created(this); value = f.value; alias = f.alias; }
     virtual ~TestFactory6() { print_destroyed(this); }
     virtual int get() { return value; }
     bool has_alias() const { return alias; }
@@ -127,14 +135,23 @@ class TestFactory7 {
 protected:
     int value;
     bool alias = false;
+
 public:
     explicit TestFactory7(int i) : value{i} { print_created(this, i); }
     TestFactory7(TestFactory7 &&f) noexcept {
         print_move_created(this);
+        // NOLINTNEXTLINE(cppcoreguidelines-prefer-member-initializer)
         value = f.value;
+        // NOLINTNEXTLINE(cppcoreguidelines-prefer-member-initializer)
+        alias = f.alias;
+    }
+    TestFactory7(const TestFactory7 &f) {
+        print_copy_created(this);
+        // NOLINTNEXTLINE(cppcoreguidelines-prefer-member-initializer)
+        value = f.value;
+        // NOLINTNEXTLINE(cppcoreguidelines-prefer-member-initializer)
         alias = f.alias;
     }
-    TestFactory7(const TestFactory7 &f) { print_copy_created(this); value = f.value; alias = f.alias; }
     virtual ~TestFactory7() { print_destroyed(this); }
     virtual int get() { return value; }
     bool has_alias() const { return alias; }
@@ -142,6 +159,7 @@ class TestFactory7 {
 class PyTF7 : public TestFactory7 {
 public:
     explicit PyTF7(int i) : TestFactory7(i) {
+        // NOLINTNEXTLINE(cppcoreguidelines-prefer-member-initializer)
         alias = true;
         print_created(this, i);
     }
@@ -151,14 +169,15 @@ class PyTF7 : public TestFactory7 {
     int get() override { PYBIND11_OVERRIDE(int, TestFactory7, get, /*no args*/); }
 };
 
-
 class TestFactoryHelper {
 public:
     // Non-movable, non-copyable type:
     // Return via pointer:
     static TestFactory1 *construct1() { return new TestFactory1(); }
     // Holder:
-    static std::unique_ptr<TestFactory1> construct1(int a) { return std::unique_ptr<TestFactory1>(new TestFactory1(a)); }
+    static std::unique_ptr<TestFactory1> construct1(int a) {
+        return std::unique_ptr<TestFactory1>(new TestFactory1(a));
+    }
     // pointer again
     static TestFactory1 *construct1_string(std::string a) {
         return new TestFactory1(std::move(a));
@@ -168,7 +187,9 @@ class TestFactoryHelper {
     // pointer:
     static TestFactory2 *construct2() { return new TestFactory2(); }
     // holder:
-    static std::unique_ptr<TestFactory2> construct2(int a) { return std::unique_ptr<TestFactory2>(new TestFactory2(a)); }
+    static std::unique_ptr<TestFactory2> construct2(int a) {
+        return std::unique_ptr<TestFactory2>(new TestFactory2(a));
+    }
     // by value moving:
     static TestFactory2 construct2(std::string a) { return TestFactory2(std::move(a)); }
 
@@ -176,16 +197,18 @@ class TestFactoryHelper {
     // pointer:
     static TestFactory3 *construct3() { return new TestFactory3(); }
     // holder:
-    static std::shared_ptr<TestFactory3> construct3(int a) { return std::shared_ptr<TestFactory3>(new TestFactory3(a)); }
+    static std::shared_ptr<TestFactory3> construct3(int a) {
+        return std::shared_ptr<TestFactory3>(new TestFactory3(a));
+    }
 };
 
 TEST_SUBMODULE(factory_constructors, m) {
 
     // Define various trivial types to allow simpler overload resolution:
     py::module_ m_tag = m.def_submodule("tag");
-#define MAKE_TAG_TYPE(Name) \
-    struct Name##_tag {}; \
-    py::class_<Name##_tag>(m_tag, #Name "_tag").def(py::init<>()); \
+#define MAKE_TAG_TYPE(Name)                                                                       \
+    struct Name##_tag {};                                                                         \
+    py::class_<Name##_tag>(m_tag, #Name "_tag").def(py::init<>());                                \
     m_tag.attr(#Name) = py::cast(Name##_tag{})
     MAKE_TAG_TYPE(pointer);
     MAKE_TAG_TYPE(unique_ptr);
@@ -208,9 +231,9 @@ TEST_SUBMODULE(factory_constructors, m) {
         .def(py::init([](unique_ptr_tag, int v) { return TestFactoryHelper::construct1(v); }))
         .def(py::init(&TestFactoryHelper::construct1_string)) // raw function pointer
         .def(py::init([](pointer_tag) { return TestFactoryHelper::construct1(); }))
-        .def(py::init([](py::handle, int v, py::handle) { return TestFactoryHelper::construct1(v); }))
-        .def_readwrite("value", &TestFactory1::value)
-        ;
+        .def(py::init(
+            [](py::handle, int v, py::handle) { return TestFactoryHelper::construct1(v); }))
+        .def_readwrite("value", &TestFactory1::value);
     py::class_<TestFactory2>(m, "TestFactory2")
         .def(py::init([](pointer_tag, int v) { return TestFactoryHelper::construct2(v); }))
         .def(py::init([](unique_ptr_tag, std::string v) {
@@ -221,7 +244,10 @@ TEST_SUBMODULE(factory_constructors, m) {
 
     // Stateful & reused:
     int c = 1;
-    auto c4a = [c](pointer_tag, TF4_tag, int a) { (void) c; return new TestFactory4(a);};
+    auto c4a = [c](pointer_tag, TF4_tag, int a) {
+        (void) c;
+        return new TestFactory4(a);
+    };
 
     // test_init_factory_basic, test_init_factory_casting
     py::class_<TestFactory3, std::shared_ptr<TestFactory3>> pyTestFactory3(m, "TestFactory3");
@@ -238,16 +264,17 @@ TEST_SUBMODULE(factory_constructors, m) {
         .def(py::init(c4a)) // derived ptr
         .def(py::init([](pointer_tag, TF5_tag, int a) { return new TestFactory5(a); }))
         // derived shared ptr:
-        .def(py::init([](shared_ptr_tag, TF4_tag, int a) { return std::make_shared<TestFactory4>(a); }))
-        .def(py::init([](shared_ptr_tag, TF5_tag, int a) { return std::make_shared<TestFactory5>(a); }))
+        .def(py::init(
+            [](shared_ptr_tag, TF4_tag, int a) { return std::make_shared<TestFactory4>(a); }))
+        .def(py::init(
+            [](shared_ptr_tag, TF5_tag, int a) { return std::make_shared<TestFactory5>(a); }))
 
         // Returns nullptr:
         .def(py::init([](null_ptr_tag) { return (TestFactory3 *) nullptr; }))
         .def(py::init([](null_unique_ptr_tag) { return std::unique_ptr<TestFactory3>(); }))
         .def(py::init([](null_shared_ptr_tag) { return std::shared_ptr<TestFactory3>(); }))
 
-        .def_readwrite("value", &TestFactory3::value)
-        ;
+        .def_readwrite("value", &TestFactory3::value);
 
     // test_init_factory_casting
     py::class_<TestFactory4, TestFactory3, std::shared_ptr<TestFactory4>>(m, "TestFactory4")
@@ -331,9 +358,7 @@ TEST_SUBMODULE(factory_constructors, m) {
     py::class_<NoPlacementNew>(m, "NoPlacementNew")
         .def(py::init<int>())
         .def(py::init([]() { return new NoPlacementNew(100); }))
-        .def_readwrite("i", &NoPlacementNew::i)
-        ;
-
+        .def_readwrite("i", &NoPlacementNew::i);
 
     // test_reallocations
     // Class that has verbose operator_new/operator_delete calls
@@ -343,23 +368,29 @@ TEST_SUBMODULE(factory_constructors, m) {
         explicit NoisyAlloc(double d) { py::print(py::str("NoisyAlloc(double {})").format(d)); }
         ~NoisyAlloc() { py::print("~NoisyAlloc()"); }
 
-        static void *operator new(size_t s) { py::print("noisy new"); return ::operator new(s); }
-        static void *operator new(size_t, void *p) { py::print("noisy placement new"); return p; }
-        static void operator delete(void *p, size_t) { py::print("noisy delete"); ::operator delete(p); }
+        static void *operator new(size_t s) {
+            py::print("noisy new");
+            return ::operator new(s);
+        }
+        static void *operator new(size_t, void *p) {
+            py::print("noisy placement new");
+            return p;
+        }
+        static void operator delete(void *p, size_t) {
+            py::print("noisy delete");
+            ::operator delete(p);
+        }
         static void operator delete(void *, void *) { py::print("noisy placement delete"); }
-#if defined(_MSC_VER) && _MSC_VER < 1910
-        // MSVC 2015 bug: the above "noisy delete" isn't invoked (fixed in MSVC 2017)
-        static void operator delete(void *p) { py::print("noisy delete"); ::operator delete(p); }
-#endif
     };
 
-
     py::class_<NoisyAlloc> pyNoisyAlloc(m, "NoisyAlloc");
-        // Since these overloads have the same number of arguments, the dispatcher will try each of
-        // them until the arguments convert.  Thus we can get a pre-allocation here when passing a
-        // single non-integer:
+    // Since these overloads have the same number of arguments, the dispatcher will try each of
+    // them until the arguments convert.  Thus we can get a pre-allocation here when passing a
+    // single non-integer:
     ignoreOldStyleInitWarnings([&pyNoisyAlloc]() {
-        pyNoisyAlloc.def("__init__", [](NoisyAlloc *a, int i) { new (a) NoisyAlloc(i); }); // Regular constructor, runs first, requires preallocation
+        pyNoisyAlloc.def("__init__", [](NoisyAlloc *a, int i) {
+            new (a) NoisyAlloc(i);
+        }); // Regular constructor, runs first, requires preallocation
     });
 
     pyNoisyAlloc.def(py::init([](double d) { return new NoisyAlloc(d); }));
@@ -370,7 +401,8 @@ TEST_SUBMODULE(factory_constructors, m) {
     pyNoisyAlloc.def(py::init([](double d, int) { return NoisyAlloc(d); }));
     // Old-style placement new init; requires preallocation
     ignoreOldStyleInitWarnings([&pyNoisyAlloc]() {
-        pyNoisyAlloc.def("__init__", [](NoisyAlloc &a, double d, double) { new (&a) NoisyAlloc(d); });
+        pyNoisyAlloc.def("__init__",
+                         [](NoisyAlloc &a, double d, double) { new (&a) NoisyAlloc(d); });
     });
     // Requires deallocation of previous overload preallocated value:
     pyNoisyAlloc.def(py::init([](int i, double) { return new NoisyAlloc(i); }));
@@ -380,7 +412,8 @@ TEST_SUBMODULE(factory_constructors, m) {
             "__init__", [](NoisyAlloc &a, int i, const std::string &) { new (&a) NoisyAlloc(i); });
     });
 
-    // static_assert testing (the following def's should all fail with appropriate compilation errors):
+    // static_assert testing (the following def's should all fail with appropriate compilation
+    // errors):
 #if 0
     struct BadF1Base {};
     struct BadF1 : BadF1Base {};
diff --git a/pybind11/tests/test_factory_constructors.py b/pybind11/tests/test_factory_constructors.py
index 8bc0269852..120a587c45 100644
--- a/pybind11/tests/test_factory_constructors.py
+++ b/pybind11/tests/test_factory_constructors.py
@@ -1,9 +1,7 @@
-# -*- coding: utf-8 -*-
 import re
 
 import pytest
 
-import env  # noqa: F401
 from pybind11_tests import ConstructorStats
 from pybind11_tests import factory_constructors as m
 from pybind11_tests.factory_constructors import tag
@@ -82,7 +80,7 @@ def test_init_factory_signature(msg):
             4. m.factory_constructors.TestFactory1(arg0: handle, arg1: int, arg2: handle)
 
         Invoked with: 'invalid', 'constructor', 'arguments'
-    """  # noqa: E501 line too long
+    """
     )
 
     assert (
@@ -465,12 +463,10 @@ def test_reallocation_g(capture, msg):
     )
 
 
-@pytest.mark.skipif("env.PY2")
 def test_invalid_self():
-    """Tests invocation of the pybind-registered base class with an invalid `self` argument.  You
-    can only actually do this on Python 3: Python 2 raises an exception itself if you try."""
+    """Tests invocation of the pybind-registered base class with an invalid `self` argument."""
 
-    class NotPybindDerived(object):
+    class NotPybindDerived:
         pass
 
     # Attempts to initialize with an invalid type passed as `self`:
diff --git a/pybind11/tests/test_gil_scoped.cpp b/pybind11/tests/test_gil_scoped.cpp
index b261085c88..97efdc1616 100644
--- a/pybind11/tests/test_gil_scoped.cpp
+++ b/pybind11/tests/test_gil_scoped.cpp
@@ -7,43 +7,41 @@
     BSD-style license that can be found in the LICENSE file.
 */
 
-#include "pybind11_tests.h"
 #include <pybind11/functional.h>
 
+#include "pybind11_tests.h"
 
-class VirtClass  {
+class VirtClass {
 public:
     virtual ~VirtClass() = default;
     VirtClass() = default;
-    VirtClass(const VirtClass&) = delete;
+    VirtClass(const VirtClass &) = delete;
     virtual void virtual_func() {}
     virtual void pure_virtual_func() = 0;
 };
 
 class PyVirtClass : public VirtClass {
-    void virtual_func() override {
-        PYBIND11_OVERRIDE(void, VirtClass, virtual_func,);
-    }
+    void virtual_func() override { PYBIND11_OVERRIDE(void, VirtClass, virtual_func, ); }
     void pure_virtual_func() override {
-        PYBIND11_OVERRIDE_PURE(void, VirtClass, pure_virtual_func,);
+        PYBIND11_OVERRIDE_PURE(void, VirtClass, pure_virtual_func, );
     }
 };
 
 TEST_SUBMODULE(gil_scoped, m) {
-  py::class_<VirtClass, PyVirtClass>(m, "VirtClass")
-      .def(py::init<>())
-      .def("virtual_func", &VirtClass::virtual_func)
-      .def("pure_virtual_func", &VirtClass::pure_virtual_func);
-
-  m.def("test_callback_py_obj", [](py::object &func) { func(); });
-  m.def("test_callback_std_func", [](const std::function<void()> &func) { func(); });
-  m.def("test_callback_virtual_func", [](VirtClass &virt) { virt.virtual_func(); });
-  m.def("test_callback_pure_virtual_func", [](VirtClass &virt) { virt.pure_virtual_func(); });
-  m.def("test_cross_module_gil", []() {
-      auto cm = py::module_::import("cross_module_gil_utils");
-      auto gil_acquire
-          = reinterpret_cast<void (*)()>(PyLong_AsVoidPtr(cm.attr("gil_acquire_funcaddr").ptr()));
-      py::gil_scoped_release gil_release;
-      gil_acquire();
-  });
+    py::class_<VirtClass, PyVirtClass>(m, "VirtClass")
+        .def(py::init<>())
+        .def("virtual_func", &VirtClass::virtual_func)
+        .def("pure_virtual_func", &VirtClass::pure_virtual_func);
+
+    m.def("test_callback_py_obj", [](py::object &func) { func(); });
+    m.def("test_callback_std_func", [](const std::function<void()> &func) { func(); });
+    m.def("test_callback_virtual_func", [](VirtClass &virt) { virt.virtual_func(); });
+    m.def("test_callback_pure_virtual_func", [](VirtClass &virt) { virt.pure_virtual_func(); });
+    m.def("test_cross_module_gil", []() {
+        auto cm = py::module_::import("cross_module_gil_utils");
+        auto gil_acquire = reinterpret_cast<void (*)()>(
+            PyLong_AsVoidPtr(cm.attr("gil_acquire_funcaddr").ptr()));
+        py::gil_scoped_release gil_release;
+        gil_acquire();
+    });
 }
diff --git a/pybind11/tests/test_gil_scoped.py b/pybind11/tests/test_gil_scoped.py
index 0a1d62747d..52374b0cce 100644
--- a/pybind11/tests/test_gil_scoped.py
+++ b/pybind11/tests/test_gil_scoped.py
@@ -1,4 +1,3 @@
-# -*- coding: utf-8 -*-
 import multiprocessing
 import threading
 
diff --git a/pybind11/tests/test_iostream.cpp b/pybind11/tests/test_iostream.cpp
index c620b59493..421eaa2dd8 100644
--- a/pybind11/tests/test_iostream.cpp
+++ b/pybind11/tests/test_iostream.cpp
@@ -7,12 +7,10 @@
     BSD-style license that can be found in the LICENSE file.
 */
 
-#if defined(_MSC_VER) && _MSC_VER < 1910  // VS 2015's MSVC
-#  pragma warning(disable: 4702) // unreachable code in system header (xatomic.h(382))
-#endif
-
 #include <pybind11/iostream.h>
+
 #include "pybind11_tests.h"
+
 #include <atomic>
 #include <iostream>
 #include <mutex>
@@ -22,8 +20,9 @@
 void noisy_function(const std::string &msg, bool flush) {
 
     std::cout << msg;
-    if (flush)
+    if (flush) {
         std::cout << std::flush;
+    }
 }
 
 void noisy_funct_dual(const std::string &msg, const std::string &emsg) {
@@ -50,13 +49,12 @@ struct TestThread {
                     std::cout << "x" << std::flush;
                 }
                 std::this_thread::sleep_for(std::chrono::microseconds(50));
-            } };
+            }
+        };
         t_ = new std::thread(std::move(thread_f));
     }
 
-    ~TestThread() {
-        delete t_;
-    }
+    ~TestThread() { delete t_; }
 
     void stop() { stop_ = true; }
 
@@ -74,7 +72,6 @@ struct TestThread {
     std::atomic<bool> stop_;
 };
 
-
 TEST_SUBMODULE(iostream, m) {
 
     add_ostream_redirect(m);
@@ -91,9 +88,11 @@ TEST_SUBMODULE(iostream, m) {
         std::cout << msg << std::flush;
     });
 
-    m.def("guard_output", &noisy_function,
-            py::call_guard<py::scoped_ostream_redirect>(),
-            py::arg("msg"), py::arg("flush")=true);
+    m.def("guard_output",
+          &noisy_function,
+          py::call_guard<py::scoped_ostream_redirect>(),
+          py::arg("msg"),
+          py::arg("flush") = true);
 
     m.def("captured_err", [](const std::string &msg) {
         py::scoped_ostream_redirect redir(std::cerr, py::module_::import("sys").attr("stderr"));
@@ -102,9 +101,11 @@ TEST_SUBMODULE(iostream, m) {
 
     m.def("noisy_function", &noisy_function, py::arg("msg"), py::arg("flush") = true);
 
-    m.def("dual_guard", &noisy_funct_dual,
-            py::call_guard<py::scoped_ostream_redirect, py::scoped_estream_redirect>(),
-            py::arg("msg"), py::arg("emsg"));
+    m.def("dual_guard",
+          &noisy_funct_dual,
+          py::call_guard<py::scoped_ostream_redirect, py::scoped_estream_redirect>(),
+          py::arg("msg"),
+          py::arg("emsg"));
 
     m.def("raw_output", [](const std::string &msg) { std::cout << msg << std::flush; });
 
diff --git a/pybind11/tests/test_iostream.py b/pybind11/tests/test_iostream.py
index 7f18ca65c6..5bbdf6955d 100644
--- a/pybind11/tests/test_iostream.py
+++ b/pybind11/tests/test_iostream.py
@@ -1,44 +1,8 @@
-# -*- coding: utf-8 -*-
-import sys
-from contextlib import contextmanager
+from contextlib import redirect_stderr, redirect_stdout
+from io import StringIO
 
 from pybind11_tests import iostream as m
 
-try:
-    # Python 3
-    from io import StringIO
-except ImportError:
-    # Python 2
-    try:
-        from cStringIO import StringIO
-    except ImportError:
-        from StringIO import StringIO
-
-try:
-    # Python 3.4
-    from contextlib import redirect_stdout
-except ImportError:
-
-    @contextmanager
-    def redirect_stdout(target):
-        original = sys.stdout
-        sys.stdout = target
-        yield
-        sys.stdout = original
-
-
-try:
-    # Python 3.5
-    from contextlib import redirect_stderr
-except ImportError:
-
-    @contextmanager
-    def redirect_stderr(target):
-        original = sys.stderr
-        sys.stderr = target
-        yield
-        sys.stderr = original
-
 
 def test_captured(capsys):
     msg = "I've been redirected to Python, I hope!"
diff --git a/pybind11/tests/test_kwargs_and_defaults.cpp b/pybind11/tests/test_kwargs_and_defaults.cpp
index 34ad2a8647..7418afefb4 100644
--- a/pybind11/tests/test_kwargs_and_defaults.cpp
+++ b/pybind11/tests/test_kwargs_and_defaults.cpp
@@ -7,38 +7,43 @@
     BSD-style license that can be found in the LICENSE file.
 */
 
-#include "pybind11_tests.h"
-#include "constructor_stats.h"
 #include <pybind11/stl.h>
 
+#include "constructor_stats.h"
+#include "pybind11_tests.h"
+
 #include <utility>
 
 TEST_SUBMODULE(kwargs_and_defaults, m) {
-    auto kw_func = [](int x, int y) { return "x=" + std::to_string(x) + ", y=" + std::to_string(y); };
+    auto kw_func
+        = [](int x, int y) { return "x=" + std::to_string(x) + ", y=" + std::to_string(y); };
 
     // test_named_arguments
     m.def("kw_func0", kw_func);
     m.def("kw_func1", kw_func, py::arg("x"), py::arg("y"));
     m.def("kw_func2", kw_func, py::arg("x") = 100, py::arg("y") = 200);
-    m.def("kw_func3", [](const char *) { }, py::arg("data") = std::string("Hello world!"));
+    m.def(
+        "kw_func3", [](const char *) {}, py::arg("data") = std::string("Hello world!"));
 
     /* A fancier default argument */
     std::vector<int> list{{13, 17}};
-    m.def("kw_func4", [](const std::vector<int> &entries) {
-        std::string ret = "{";
-        for (int i : entries)
-            ret += std::to_string(i) + " ";
-        ret.back() = '}';
-        return ret;
-    }, py::arg("myList") = list);
+    m.def(
+        "kw_func4",
+        [](const std::vector<int> &entries) {
+            std::string ret = "{";
+            for (int i : entries) {
+                ret += std::to_string(i) + " ";
+            }
+            ret.back() = '}';
+            return ret;
+        },
+        py::arg("myList") = list);
 
-    m.def("kw_func_udl", kw_func, "x"_a, "y"_a=300);
-    m.def("kw_func_udl_z", kw_func, "x"_a, "y"_a=0);
+    m.def("kw_func_udl", kw_func, "x"_a, "y"_a = 300);
+    m.def("kw_func_udl_z", kw_func, "x"_a, "y"_a = 0);
 
     // test_args_and_kwargs
-    m.def("args_function", [](py::args args) -> py::tuple {
-        return std::move(args);
-    });
+    m.def("args_function", [](py::args args) -> py::tuple { return std::move(args); });
     m.def("args_kwargs_function", [](const py::args &args, const py::kwargs &kwargs) {
         return py::make_tuple(args, kwargs);
     });
@@ -53,35 +58,60 @@ TEST_SUBMODULE(kwargs_and_defaults, m) {
     };
     m.def("mixed_plus_args_kwargs", mixed_plus_both);
 
-    m.def("mixed_plus_args_kwargs_defaults", mixed_plus_both,
-            py::arg("i") = 1, py::arg("j") = 3.14159);
-
-    m.def("args_kwonly",
-            [](int i, double j, const py::args &args, int z) { return py::make_tuple(i, j, args, z); },
-            "i"_a, "j"_a, "z"_a);
-    m.def("args_kwonly_kwargs",
-            [](int i, double j, const py::args &args, int z, const py::kwargs &kwargs) {
-                return py::make_tuple(i, j, args, z, kwargs); },
-            "i"_a, "j"_a, py::kw_only{}, "z"_a);
-    m.def("args_kwonly_kwargs_defaults",
-            [](int i, double j, const py::args &args, int z, const py::kwargs &kwargs) {
-                return py::make_tuple(i, j, args, z, kwargs); },
-            "i"_a = 1, "j"_a = 3.14159, "z"_a = 42);
-    m.def("args_kwonly_full_monty",
-            [](int h, int i, double j, const py::args &args, int z, const py::kwargs &kwargs) {
-                return py::make_tuple(h, i, j, args, z, kwargs); },
-            py::arg() = 1, py::arg() = 2, py::pos_only{}, "j"_a = 3.14159, "z"_a = 42);
-
-
-    // test_args_refcount
-    // PyPy needs a garbage collection to get the reference count values to match CPython's behaviour
-    #ifdef PYPY_VERSION
-    #define GC_IF_NEEDED ConstructorStats::gc()
-    #else
-    #define GC_IF_NEEDED
-    #endif
-    m.def("arg_refcount_h", [](py::handle h) { GC_IF_NEEDED; return h.ref_count(); });
-    m.def("arg_refcount_h", [](py::handle h, py::handle, py::handle) { GC_IF_NEEDED; return h.ref_count(); });
+    m.def("mixed_plus_args_kwargs_defaults",
+          mixed_plus_both,
+          py::arg("i") = 1,
+          py::arg("j") = 3.14159);
+
+    m.def(
+        "args_kwonly",
+        [](int i, double j, const py::args &args, int z) { return py::make_tuple(i, j, args, z); },
+        "i"_a,
+        "j"_a,
+        "z"_a);
+    m.def(
+        "args_kwonly_kwargs",
+        [](int i, double j, const py::args &args, int z, const py::kwargs &kwargs) {
+            return py::make_tuple(i, j, args, z, kwargs);
+        },
+        "i"_a,
+        "j"_a,
+        py::kw_only{},
+        "z"_a);
+    m.def(
+        "args_kwonly_kwargs_defaults",
+        [](int i, double j, const py::args &args, int z, const py::kwargs &kwargs) {
+            return py::make_tuple(i, j, args, z, kwargs);
+        },
+        "i"_a = 1,
+        "j"_a = 3.14159,
+        "z"_a = 42);
+    m.def(
+        "args_kwonly_full_monty",
+        [](int h, int i, double j, const py::args &args, int z, const py::kwargs &kwargs) {
+            return py::make_tuple(h, i, j, args, z, kwargs);
+        },
+        py::arg() = 1,
+        py::arg() = 2,
+        py::pos_only{},
+        "j"_a = 3.14159,
+        "z"_a = 42);
+
+// test_args_refcount
+// PyPy needs a garbage collection to get the reference count values to match CPython's behaviour
+#ifdef PYPY_VERSION
+#    define GC_IF_NEEDED ConstructorStats::gc()
+#else
+#    define GC_IF_NEEDED
+#endif
+    m.def("arg_refcount_h", [](py::handle h) {
+        GC_IF_NEEDED;
+        return h.ref_count();
+    });
+    m.def("arg_refcount_h", [](py::handle h, py::handle, py::handle) {
+        GC_IF_NEEDED;
+        return h.ref_count();
+    });
     m.def("arg_refcount_o", [](const py::object &o) {
         GC_IF_NEEDED;
         return o.ref_count();
@@ -89,40 +119,61 @@ TEST_SUBMODULE(kwargs_and_defaults, m) {
     m.def("args_refcount", [](py::args a) {
         GC_IF_NEEDED;
         py::tuple t(a.size());
-        for (size_t i = 0; i < a.size(); i++)
+        for (size_t i = 0; i < a.size(); i++) {
             // Use raw Python API here to avoid an extra, intermediate incref on the tuple item:
             t[i] = (int) Py_REFCNT(PyTuple_GET_ITEM(a.ptr(), static_cast<py::ssize_t>(i)));
+        }
         return t;
     });
     m.def("mixed_args_refcount", [](const py::object &o, py::args a) {
         GC_IF_NEEDED;
         py::tuple t(a.size() + 1);
         t[0] = o.ref_count();
-        for (size_t i = 0; i < a.size(); i++)
+        for (size_t i = 0; i < a.size(); i++) {
             // Use raw Python API here to avoid an extra, intermediate incref on the tuple item:
             t[i + 1] = (int) Py_REFCNT(PyTuple_GET_ITEM(a.ptr(), static_cast<py::ssize_t>(i)));
+        }
         return t;
     });
 
     // pybind11 won't allow these to be bound: args and kwargs, if present, must be at the end.
     // Uncomment these to test that the static_assert is indeed working:
-//    m.def("bad_args1", [](py::args, int) {});
-//    m.def("bad_args2", [](py::kwargs, int) {});
-//    m.def("bad_args3", [](py::kwargs, py::args) {});
-//    m.def("bad_args4", [](py::args, int, py::kwargs) {});
-//    m.def("bad_args5", [](py::args, py::kwargs, int) {});
-//    m.def("bad_args6", [](py::args, py::args) {});
-//    m.def("bad_args7", [](py::kwargs, py::kwargs) {});
+    //    m.def("bad_args1", [](py::args, int) {});
+    //    m.def("bad_args2", [](py::kwargs, int) {});
+    //    m.def("bad_args3", [](py::kwargs, py::args) {});
+    //    m.def("bad_args4", [](py::args, int, py::kwargs) {});
+    //    m.def("bad_args5", [](py::args, py::kwargs, int) {});
+    //    m.def("bad_args6", [](py::args, py::args) {});
+    //    m.def("bad_args7", [](py::kwargs, py::kwargs) {});
 
     // test_keyword_only_args
-    m.def("kw_only_all", [](int i, int j) { return py::make_tuple(i, j); },
-            py::kw_only(), py::arg("i"), py::arg("j"));
-    m.def("kw_only_some", [](int i, int j, int k) { return py::make_tuple(i, j, k); },
-            py::arg(), py::kw_only(), py::arg("j"), py::arg("k"));
-    m.def("kw_only_with_defaults", [](int i, int j, int k, int z) { return py::make_tuple(i, j, k, z); },
-            py::arg() = 3, "j"_a = 4, py::kw_only(), "k"_a = 5, "z"_a);
-    m.def("kw_only_mixed", [](int i, int j) { return py::make_tuple(i, j); },
-            "i"_a, py::kw_only(), "j"_a);
+    m.def(
+        "kw_only_all",
+        [](int i, int j) { return py::make_tuple(i, j); },
+        py::kw_only(),
+        py::arg("i"),
+        py::arg("j"));
+    m.def(
+        "kw_only_some",
+        [](int i, int j, int k) { return py::make_tuple(i, j, k); },
+        py::arg(),
+        py::kw_only(),
+        py::arg("j"),
+        py::arg("k"));
+    m.def(
+        "kw_only_with_defaults",
+        [](int i, int j, int k, int z) { return py::make_tuple(i, j, k, z); },
+        py::arg() = 3,
+        "j"_a = 4,
+        py::kw_only(),
+        "k"_a = 5,
+        "z"_a);
+    m.def(
+        "kw_only_mixed",
+        [](int i, int j) { return py::make_tuple(i, j); },
+        "i"_a,
+        py::kw_only(),
+        "j"_a);
     m.def(
         "kw_only_plus_more",
         [](int i, int j, int k, const py::kwargs &kwargs) {
@@ -134,29 +185,57 @@ TEST_SUBMODULE(kwargs_and_defaults, m) {
         py::arg("k") /* kw-only */);
 
     m.def("register_invalid_kw_only", [](py::module_ m) {
-        m.def("bad_kw_only", [](int i, int j) { return py::make_tuple(i, j); },
-                py::kw_only(), py::arg() /* invalid unnamed argument */, "j"_a);
+        m.def(
+            "bad_kw_only",
+            [](int i, int j) { return py::make_tuple(i, j); },
+            py::kw_only(),
+            py::arg() /* invalid unnamed argument */,
+            "j"_a);
     });
 
     // test_positional_only_args
-    m.def("pos_only_all", [](int i, int j) { return py::make_tuple(i, j); },
-            py::arg("i"), py::arg("j"), py::pos_only());
-    m.def("pos_only_mix", [](int i, int j) { return py::make_tuple(i, j); },
-            py::arg("i"), py::pos_only(), py::arg("j"));
-    m.def("pos_kw_only_mix", [](int i, int j, int k) { return py::make_tuple(i, j, k); },
-            py::arg("i"), py::pos_only(), py::arg("j"), py::kw_only(), py::arg("k"));
-    m.def("pos_only_def_mix", [](int i, int j, int k) { return py::make_tuple(i, j, k); },
-            py::arg("i"), py::arg("j") = 2, py::pos_only(), py::arg("k") = 3);
-
+    m.def(
+        "pos_only_all",
+        [](int i, int j) { return py::make_tuple(i, j); },
+        py::arg("i"),
+        py::arg("j"),
+        py::pos_only());
+    m.def(
+        "pos_only_mix",
+        [](int i, int j) { return py::make_tuple(i, j); },
+        py::arg("i"),
+        py::pos_only(),
+        py::arg("j"));
+    m.def(
+        "pos_kw_only_mix",
+        [](int i, int j, int k) { return py::make_tuple(i, j, k); },
+        py::arg("i"),
+        py::pos_only(),
+        py::arg("j"),
+        py::kw_only(),
+        py::arg("k"));
+    m.def(
+        "pos_only_def_mix",
+        [](int i, int j, int k) { return py::make_tuple(i, j, k); },
+        py::arg("i"),
+        py::arg("j") = 2,
+        py::pos_only(),
+        py::arg("k") = 3);
 
     // These should fail to compile:
+#ifdef PYBIND11_NEVER_DEFINED_EVER
     // argument annotations are required when using kw_only
-//    m.def("bad_kw_only1", [](int) {}, py::kw_only());
+    m.def(
+        "bad_kw_only1", [](int) {}, py::kw_only());
     // can't specify both `py::kw_only` and a `py::args` argument
-//    m.def("bad_kw_only2", [](int i, py::args) {}, py::kw_only(), "i"_a);
+    m.def(
+        "bad_kw_only2", [](int i, py::args) {}, py::kw_only(), "i"_a);
+#endif
 
     // test_function_signatures (along with most of the above)
-    struct KWClass { void foo(int, float) {} };
+    struct KWClass {
+        void foo(int, float) {}
+    };
     py::class_<KWClass>(m, "KWClass")
         .def("foo0", &KWClass::foo)
         .def("foo1", &KWClass::foo, "x"_a, "y"_a);
@@ -177,11 +256,18 @@ TEST_SUBMODULE(kwargs_and_defaults, m) {
         .def(py::init([](int) { return first_arg_kw_only(); }),
              py::kw_only(), // This being before any args was broken
              py::arg("i") = 0)
-        .def("method", [](first_arg_kw_only&, int, int) {},
-             py::kw_only(), // and likewise here
-             py::arg("i") = 1, py::arg("j") = 2)
+        .def(
+            "method",
+            [](first_arg_kw_only &, int, int) {},
+            py::kw_only(), // and likewise here
+            py::arg("i") = 1,
+            py::arg("j") = 2)
         // Closely related: pos_only marker didn't show up properly when it was before any other
         // arguments (although that is fairly useless in practice).
-        .def("pos_only", [](first_arg_kw_only&, int, int) {},
-                py::pos_only{}, py::arg("i"), py::arg("j"));
+        .def(
+            "pos_only",
+            [](first_arg_kw_only &, int, int) {},
+            py::pos_only{},
+            py::arg("i"),
+            py::arg("j"));
 }
diff --git a/pybind11/tests/test_kwargs_and_defaults.py b/pybind11/tests/test_kwargs_and_defaults.py
index d61cf2aa58..ab7017886e 100644
--- a/pybind11/tests/test_kwargs_and_defaults.py
+++ b/pybind11/tests/test_kwargs_and_defaults.py
@@ -1,7 +1,5 @@
-# -*- coding: utf-8 -*-
 import pytest
 
-import env  # noqa: F401
 from pybind11_tests import kwargs_and_defaults as m
 
 
@@ -82,7 +80,7 @@ def test_mixed_args_and_kwargs(msg):
             1. (arg0: int, arg1: float, *args) -> tuple
 
         Invoked with: 1
-    """  # noqa: E501 line too long
+    """
     )
     with pytest.raises(TypeError) as excinfo:
         assert mpa()
@@ -93,7 +91,7 @@ def test_mixed_args_and_kwargs(msg):
             1. (arg0: int, arg1: float, *args) -> tuple
 
         Invoked with:
-    """  # noqa: E501 line too long
+    """
     )
 
     assert mpk(-2, 3.5, pi=3.14159, e=2.71828) == (
@@ -127,7 +125,7 @@ def test_mixed_args_and_kwargs(msg):
             1. (i: int = 1, j: float = 3.14159, *args, **kwargs) -> tuple
 
         Invoked with: 1; kwargs: i=1
-    """  # noqa: E501 line too long
+    """
     )
     with pytest.raises(TypeError) as excinfo:
         assert mpakd(1, 2, j=1)
@@ -138,7 +136,7 @@ def test_mixed_args_and_kwargs(msg):
             1. (i: int = 1, j: float = 3.14159, *args, **kwargs) -> tuple
 
         Invoked with: 1, 2; kwargs: j=1
-    """  # noqa: E501 line too long
+    """
     )
 
     # Arguments after a py::args are automatically keyword-only (pybind 2.9+)
@@ -343,7 +341,6 @@ def test_signatures():
     )
 
 
-@pytest.mark.xfail("env.PYPY and env.PY2", reason="PyPy2 doesn't double count")
 def test_args_refcount():
     """Issue/PR #1216 - py::args elements get double-inc_ref()ed when combined with regular
     arguments"""
diff --git a/pybind11/tests/test_local_bindings.cpp b/pybind11/tests/test_local_bindings.cpp
index a5808e2f2a..1373677447 100644
--- a/pybind11/tests/test_local_bindings.cpp
+++ b/pybind11/tests/test_local_bindings.cpp
@@ -8,12 +8,12 @@
     BSD-style license that can be found in the LICENSE file.
 */
 
-#include "pybind11_tests.h"
-#include "local_bindings.h"
-
 #include <pybind11/stl.h>
 #include <pybind11/stl_bind.h>
 
+#include "local_bindings.h"
+#include "pybind11_tests.h"
+
 #include <numeric>
 #include <utility>
 
@@ -24,9 +24,9 @@ TEST_SUBMODULE(local_bindings, m) {
 
     // test_local_bindings
     // Register a class with py::module_local:
-    bind_local<LocalType, -1>(m, "LocalType", py::module_local())
-        .def("get3", [](LocalType &t) { return t.i + 3; })
-        ;
+    bind_local<LocalType, -1>(m, "LocalType", py::module_local()).def("get3", [](LocalType &t) {
+        return t.i + 3;
+    });
 
     m.def("local_value", [](LocalType &l) { return l.i; });
 
@@ -35,20 +35,21 @@ TEST_SUBMODULE(local_bindings, m) {
     // one, in pybind11_cross_module_tests.cpp, is designed to fail):
     bind_local<NonLocalType, 0>(m, "NonLocalType")
         .def(py::init<int>())
-        .def("get", [](LocalType &i) { return i.i; })
-        ;
+        .def("get", [](LocalType &i) { return i.i; });
 
     // test_duplicate_local
-    // py::module_local declarations should be visible across compilation units that get linked together;
-    // this tries to register a duplicate local.  It depends on a definition in test_class.cpp and
-    // should raise a runtime error from the duplicate definition attempt.  If test_class isn't
-    // available it *also* throws a runtime error (with "test_class not enabled" as value).
+    // py::module_local declarations should be visible across compilation units that get linked
+    // together; this tries to register a duplicate local.  It depends on a definition in
+    // test_class.cpp and should raise a runtime error from the duplicate definition attempt.  If
+    // test_class isn't available it *also* throws a runtime error (with "test_class not enabled"
+    // as value).
     m.def("register_local_external", [m]() {
         auto main = py::module_::import("pybind11_tests");
         if (py::hasattr(main, "class_")) {
             bind_local<LocalExternal, 7>(m, "LocalExternal", py::module_local());
+        } else {
+            throw std::runtime_error("test_class not enabled");
         }
-        else throw std::runtime_error("test_class not enabled");
     });
 
     // test_stl_bind_local
@@ -78,12 +79,12 @@ TEST_SUBMODULE(local_bindings, m) {
     m.def("get_mixed_lg", [](int i) { return MixedLocalGlobal(i); });
 
     // test_internal_locals_differ
-    m.def("local_cpp_types_addr", []() { return (uintptr_t) &py::detail::get_local_internals().registered_types_cpp; });
+    m.def("local_cpp_types_addr",
+          []() { return (uintptr_t) &py::detail::get_local_internals().registered_types_cpp; });
 
     // test_stl_caster_vs_stl_bind
-    m.def("load_vector_via_caster", [](std::vector<int> v) {
-        return std::accumulate(v.begin(), v.end(), 0);
-    });
+    m.def("load_vector_via_caster",
+          [](std::vector<int> v) { return std::accumulate(v.begin(), v.end(), 0); });
 
     // test_cross_module_calls
     m.def("return_self", [](LocalVec *v) { return v; });
@@ -93,11 +94,9 @@ TEST_SUBMODULE(local_bindings, m) {
     public:
         explicit Cat(std::string name) : Pet(std::move(name)) {}
     };
-    py::class_<pets::Pet>(m, "Pet", py::module_local())
-        .def("get_name", &pets::Pet::name);
+    py::class_<pets::Pet>(m, "Pet", py::module_local()).def("get_name", &pets::Pet::name);
     // Binding for local extending class:
-    py::class_<Cat, pets::Pet>(m, "Cat")
-        .def(py::init<std::string>());
+    py::class_<Cat, pets::Pet>(m, "Cat").def(py::init<std::string>());
     m.def("pet_name", [](pets::Pet &p) { return p.name(); });
 
     py::class_<MixGL>(m, "MixGL").def(py::init<int>());
diff --git a/pybind11/tests/test_local_bindings.py b/pybind11/tests/test_local_bindings.py
index 52b1b63358..654d96d490 100644
--- a/pybind11/tests/test_local_bindings.py
+++ b/pybind11/tests/test_local_bindings.py
@@ -1,4 +1,3 @@
-# -*- coding: utf-8 -*-
 import pytest
 
 import env  # noqa: F401
@@ -200,7 +199,7 @@ def test_stl_caster_vs_stl_bind(msg):
         1. (arg0: pybind11_cross_module_tests.VectorInt) -> int
 
     Invoked with: [1, 2, 3]
-    """  # noqa: E501 line too long
+    """
     )
 
 
diff --git a/pybind11/tests/test_methods_and_attributes.cpp b/pybind11/tests/test_methods_and_attributes.cpp
index 9e55452dec..815dd5e98a 100644
--- a/pybind11/tests/test_methods_and_attributes.cpp
+++ b/pybind11/tests/test_methods_and_attributes.cpp
@@ -8,8 +8,8 @@
     BSD-style license that can be found in the LICENSE file.
 */
 
-#include "pybind11_tests.h"
 #include "constructor_stats.h"
+#include "pybind11_tests.h"
 
 #if !defined(PYBIND11_OVERLOAD_CAST)
 template <typename... Args>
@@ -27,7 +27,10 @@ class ExampleMandA {
 
     std::string toString() const { return "ExampleMandA[value=" + std::to_string(value) + "]"; }
 
-    void operator=(const ExampleMandA &e) { print_copy_assigned(this); value = e.value; }
+    void operator=(const ExampleMandA &e) {
+        print_copy_assigned(this);
+        value = e.value;
+    }
     void operator=(ExampleMandA &&e) noexcept {
         print_move_assigned(this);
         value = e.value;
@@ -40,37 +43,37 @@ class ExampleMandA {
     void add4(ExampleMandA *other) { value += other->value; }       // passing by pointer
     void add5(const ExampleMandA *other) { value += other->value; } // passing by const pointer
 
-    void add6(int other) { value += other; }                        // passing by value
-    void add7(int &other) { value += other; }                       // passing by reference
-    void add8(const int &other) { value += other; }                 // passing by const reference
+    void add6(int other) { value += other; }        // passing by value
+    void add7(int &other) { value += other; }       // passing by reference
+    void add8(const int &other) { value += other; } // passing by const reference
     // NOLINTNEXTLINE(readability-non-const-parameter) Deliberately non-const for testing
-    void add9(int *other) { value += *other; }                      // passing by pointer
-    void add10(const int *other) { value += *other; }               // passing by const pointer
-
-    void consume_str(std::string&&) {}
-
-    ExampleMandA self1() { return *this; }                          // return by value
-    ExampleMandA &self2() { return *this; }                         // return by reference
-    const ExampleMandA &self3() const { return *this; }             // return by const reference
-    ExampleMandA *self4() { return this; }                          // return by pointer
-    const ExampleMandA *self5() const { return this; }              // return by const pointer
-
-    int internal1() const { return value; }                         // return by value
-    int &internal2() { return value; }                              // return by reference
-    const int &internal3() const { return value; }                  // return by const reference
-    int *internal4() { return &value; }                             // return by pointer
-    const int *internal5() { return &value; }                       // return by const pointer
-
-    py::str overloaded()             { return "()"; }
-    py::str overloaded(int)          { return "(int)"; }
-    py::str overloaded(int, float)   { return "(int, float)"; }
-    py::str overloaded(float, int)   { return "(float, int)"; }
-    py::str overloaded(int, int)     { return "(int, int)"; }
+    void add9(int *other) { value += *other; }        // passing by pointer
+    void add10(const int *other) { value += *other; } // passing by const pointer
+
+    void consume_str(std::string &&) {}
+
+    ExampleMandA self1() { return *this; }              // return by value
+    ExampleMandA &self2() { return *this; }             // return by reference
+    const ExampleMandA &self3() const { return *this; } // return by const reference
+    ExampleMandA *self4() { return this; }              // return by pointer
+    const ExampleMandA *self5() const { return this; }  // return by const pointer
+
+    int internal1() const { return value; }        // return by value
+    int &internal2() { return value; }             // return by reference
+    const int &internal3() const { return value; } // return by const reference
+    int *internal4() { return &value; }            // return by pointer
+    const int *internal5() { return &value; }      // return by const pointer
+
+    py::str overloaded() { return "()"; }
+    py::str overloaded(int) { return "(int)"; }
+    py::str overloaded(int, float) { return "(int, float)"; }
+    py::str overloaded(float, int) { return "(float, int)"; }
+    py::str overloaded(int, int) { return "(int, int)"; }
     py::str overloaded(float, float) { return "(float, float)"; }
-    py::str overloaded(int)          const { return "(int) const"; }
-    py::str overloaded(int, float)   const { return "(int, float) const"; }
-    py::str overloaded(float, int)   const { return "(float, int) const"; }
-    py::str overloaded(int, int)     const { return "(int, int) const"; }
+    py::str overloaded(int) const { return "(int) const"; }
+    py::str overloaded(int, float) const { return "(int, float) const"; }
+    py::str overloaded(float, int) const { return "(float, int) const"; }
+    py::str overloaded(int, int) const { return "(int, int) const"; }
     py::str overloaded(float, float) const { return "(float, float) const"; }
 
     static py::str overloaded(float) { return "static float"; }
@@ -112,7 +115,10 @@ UserType TestPropRVP::sv1(1);
 UserType TestPropRVP::sv2(1);
 
 // Test None-allowed py::arg argument policy
-class NoneTester { public: int answer = 42; };
+class NoneTester {
+public:
+    int answer = 42;
+};
 int none1(const NoneTester &obj) { return obj.answer; }
 int none2(NoneTester *obj) { return obj ? obj->answer : -1; }
 int none3(std::shared_ptr<NoneTester> &obj) { return obj ? obj->answer : -1; }
@@ -134,11 +140,15 @@ struct StrIssue {
     explicit StrIssue(int i) : val{i} {}
 };
 
-// Issues #854, #910: incompatible function args when member function/pointer is in unregistered base class
+// Issues #854, #910: incompatible function args when member function/pointer is in unregistered
+// base class
 class UnregisteredBase {
 public:
     void do_nothing() const {}
-    void increase_value() { rw_value++; ro_value += 0.25; }
+    void increase_value() {
+        rw_value++;
+        ro_value += 0.25;
+    }
     void set_int(int v) { rw_value = v; }
     int get_int() const { return rw_value; }
     double get_double() const { return ro_value; }
@@ -161,10 +171,10 @@ struct RefQualified {
 
 // Test rvalue ref param
 struct RValueRefParam {
-    std::size_t func1(std::string&& s) { return s.size(); }
-    std::size_t func2(std::string&& s) const { return s.size(); }
-    std::size_t func3(std::string&& s) & { return s.size(); }
-    std::size_t func4(std::string&& s) const & { return s.size(); }
+    std::size_t func1(std::string &&s) { return s.size(); }
+    std::size_t func2(std::string &&s) const { return s.size(); }
+    std::size_t func3(std::string &&s) & { return s.size(); }
+    std::size_t func4(std::string &&s) const & { return s.size(); }
 };
 
 TEST_SUBMODULE(methods_and_attributes, m) {
@@ -172,8 +182,8 @@ TEST_SUBMODULE(methods_and_attributes, m) {
     py::class_<ExampleMandA> emna(m, "ExampleMandA");
     emna.def(py::init<>())
         .def(py::init<int>())
-        .def(py::init<std::string&&>())
-        .def(py::init<const ExampleMandA&>())
+        .def(py::init<std::string &&>())
+        .def(py::init<const ExampleMandA &>())
         .def("add1", &ExampleMandA::add1)
         .def("add2", &ExampleMandA::add2)
         .def("add3", &ExampleMandA::add3)
@@ -198,16 +208,20 @@ TEST_SUBMODULE(methods_and_attributes, m) {
 #if defined(PYBIND11_OVERLOAD_CAST)
         .def("overloaded", py::overload_cast<>(&ExampleMandA::overloaded))
         .def("overloaded", py::overload_cast<int>(&ExampleMandA::overloaded))
-        .def("overloaded", py::overload_cast<int,   float>(&ExampleMandA::overloaded))
-        .def("overloaded", py::overload_cast<float,   int>(&ExampleMandA::overloaded))
-        .def("overloaded", py::overload_cast<int,     int>(&ExampleMandA::overloaded))
+        .def("overloaded", py::overload_cast<int, float>(&ExampleMandA::overloaded))
+        .def("overloaded", py::overload_cast<float, int>(&ExampleMandA::overloaded))
+        .def("overloaded", py::overload_cast<int, int>(&ExampleMandA::overloaded))
         .def("overloaded", py::overload_cast<float, float>(&ExampleMandA::overloaded))
         .def("overloaded_float", py::overload_cast<float, float>(&ExampleMandA::overloaded))
-        .def("overloaded_const", py::overload_cast<int         >(&ExampleMandA::overloaded, py::const_))
-        .def("overloaded_const", py::overload_cast<int,   float>(&ExampleMandA::overloaded, py::const_))
-        .def("overloaded_const", py::overload_cast<float,   int>(&ExampleMandA::overloaded, py::const_))
-        .def("overloaded_const", py::overload_cast<int,     int>(&ExampleMandA::overloaded, py::const_))
-        .def("overloaded_const", py::overload_cast<float, float>(&ExampleMandA::overloaded, py::const_))
+        .def("overloaded_const", py::overload_cast<int>(&ExampleMandA::overloaded, py::const_))
+        .def("overloaded_const",
+             py::overload_cast<int, float>(&ExampleMandA::overloaded, py::const_))
+        .def("overloaded_const",
+             py::overload_cast<float, int>(&ExampleMandA::overloaded, py::const_))
+        .def("overloaded_const",
+             py::overload_cast<int, int>(&ExampleMandA::overloaded, py::const_))
+        .def("overloaded_const",
+             py::overload_cast<float, float>(&ExampleMandA::overloaded, py::const_))
 #else
         // Use both the traditional static_cast method and the C++11 compatible overload_cast_
         .def("overloaded", overload_cast_<>()(&ExampleMandA::overloaded))
@@ -225,16 +239,29 @@ TEST_SUBMODULE(methods_and_attributes, m) {
 #endif
         // test_no_mixed_overloads
         // Raise error if trying to mix static/non-static overloads on the same name:
-        .def_static("add_mixed_overloads1", []() {
-            auto emna = py::reinterpret_borrow<py::class_<ExampleMandA>>(py::module_::import("pybind11_tests.methods_and_attributes").attr("ExampleMandA"));
-            emna.def       ("overload_mixed1", static_cast<py::str (ExampleMandA::*)(int, int)>(&ExampleMandA::overloaded))
-                .def_static("overload_mixed1", static_cast<py::str (              *)(float   )>(&ExampleMandA::overloaded));
-        })
-        .def_static("add_mixed_overloads2", []() {
-            auto emna = py::reinterpret_borrow<py::class_<ExampleMandA>>(py::module_::import("pybind11_tests.methods_and_attributes").attr("ExampleMandA"));
-            emna.def_static("overload_mixed2", static_cast<py::str (              *)(float   )>(&ExampleMandA::overloaded))
-                .def       ("overload_mixed2", static_cast<py::str (ExampleMandA::*)(int, int)>(&ExampleMandA::overloaded));
-        })
+        .def_static("add_mixed_overloads1",
+                    []() {
+                        auto emna = py::reinterpret_borrow<py::class_<ExampleMandA>>(
+                            py::module_::import("pybind11_tests.methods_and_attributes")
+                                .attr("ExampleMandA"));
+                        emna.def("overload_mixed1",
+                                 static_cast<py::str (ExampleMandA::*)(int, int)>(
+                                     &ExampleMandA::overloaded))
+                            .def_static(
+                                "overload_mixed1",
+                                static_cast<py::str (*)(float)>(&ExampleMandA::overloaded));
+                    })
+        .def_static("add_mixed_overloads2",
+                    []() {
+                        auto emna = py::reinterpret_borrow<py::class_<ExampleMandA>>(
+                            py::module_::import("pybind11_tests.methods_and_attributes")
+                                .attr("ExampleMandA"));
+                        emna.def_static("overload_mixed2",
+                                        static_cast<py::str (*)(float)>(&ExampleMandA::overloaded))
+                            .def("overload_mixed2",
+                                 static_cast<py::str (ExampleMandA::*)(int, int)>(
+                                     &ExampleMandA::overloaded));
+                    })
         .def("__str__", &ExampleMandA::toString)
         .def_readwrite("value", &ExampleMandA::value);
 
@@ -307,7 +334,7 @@ TEST_SUBMODULE(methods_and_attributes, m) {
                                       [](const py::object &) { return UserType(1); });
 
     // test_metaclass_override
-    struct MetaclassOverride { };
+    struct MetaclassOverride {};
     py::class_<MetaclassOverride>(m, "MetaclassOverride", py::metaclass((PyObject *) &PyType_Type))
         .def_property_readonly_static("readonly", [](const py::object &) { return 1; });
 
@@ -315,45 +342,51 @@ TEST_SUBMODULE(methods_and_attributes, m) {
     m.def("overload_order", [](const std::string &) { return 1; });
     m.def("overload_order", [](const std::string &) { return 2; });
     m.def("overload_order", [](int) { return 3; });
-    m.def("overload_order", [](int) { return 4; }, py::prepend{});
+    m.def(
+        "overload_order", [](int) { return 4; }, py::prepend{});
 
 #if !defined(PYPY_VERSION)
     // test_dynamic_attributes
     class DynamicClass {
     public:
         DynamicClass() { print_default_created(this); }
-        DynamicClass(const DynamicClass&) = delete;
+        DynamicClass(const DynamicClass &) = delete;
         ~DynamicClass() { print_destroyed(this); }
     };
-    py::class_<DynamicClass>(m, "DynamicClass", py::dynamic_attr())
-        .def(py::init());
+    py::class_<DynamicClass>(m, "DynamicClass", py::dynamic_attr()).def(py::init());
 
-    class CppDerivedDynamicClass : public DynamicClass { };
-    py::class_<CppDerivedDynamicClass, DynamicClass>(m, "CppDerivedDynamicClass")
-        .def(py::init());
+    class CppDerivedDynamicClass : public DynamicClass {};
+    py::class_<CppDerivedDynamicClass, DynamicClass>(m, "CppDerivedDynamicClass").def(py::init());
 #endif
 
     // test_bad_arg_default
     // Issue/PR #648: bad arg default debugging output
-#if !defined(NDEBUG)
-    m.attr("debug_enabled") = true;
+#if defined(PYBIND11_DETAILED_ERROR_MESSAGES)
+    m.attr("detailed_error_messages_enabled") = true;
 #else
-    m.attr("debug_enabled") = false;
+    m.attr("detailed_error_messages_enabled") = false;
 #endif
-    m.def("bad_arg_def_named", []{
+    m.def("bad_arg_def_named", [] {
         auto m = py::module_::import("pybind11_tests");
-        m.def("should_fail", [](int, UnregisteredType) {}, py::arg(), py::arg("a") = UnregisteredType());
+        m.def(
+            "should_fail",
+            [](int, UnregisteredType) {},
+            py::arg(),
+            py::arg("a") = UnregisteredType());
     });
-    m.def("bad_arg_def_unnamed", []{
+    m.def("bad_arg_def_unnamed", [] {
         auto m = py::module_::import("pybind11_tests");
-        m.def("should_fail", [](int, UnregisteredType) {}, py::arg(), py::arg() = UnregisteredType());
+        m.def(
+            "should_fail",
+            [](int, UnregisteredType) {},
+            py::arg(),
+            py::arg() = UnregisteredType());
     });
 
     // [workaround(intel)] ICC 20/21 breaks with py::arg().stuff, using py::arg{}.stuff works.
 
     // test_accepts_none
-    py::class_<NoneTester, std::shared_ptr<NoneTester>>(m, "NoneTester")
-        .def(py::init<>());
+    py::class_<NoneTester, std::shared_ptr<NoneTester>>(m, "NoneTester").def(py::init<>());
     m.def("no_none1", &none1, py::arg{}.none(false));
     m.def("no_none2", &none2, py::arg{}.none(false));
     m.def("no_none3", &none3, py::arg{}.none(false));
@@ -371,21 +404,19 @@ TEST_SUBMODULE(methods_and_attributes, m) {
     // test_casts_none
     // Issue #2778: implicit casting from None to object (not pointer)
     py::class_<NoneCastTester>(m, "NoneCastTester")
-          .def(py::init<>())
-          .def(py::init<int>())
-          .def(py::init([](py::none const&) { return NoneCastTester{}; }));
+        .def(py::init<>())
+        .def(py::init<int>())
+        .def(py::init([](py::none const &) { return NoneCastTester{}; }));
     py::implicitly_convertible<py::none, NoneCastTester>();
-    m.def("ok_obj_or_none", [](NoneCastTester const& foo) { return foo.answer; });
-
+    m.def("ok_obj_or_none", [](NoneCastTester const &foo) { return foo.answer; });
 
     // test_str_issue
     // Issue #283: __str__ called on uninitialized instance when constructor arguments invalid
     py::class_<StrIssue>(m, "StrIssue")
         .def(py::init<int>())
         .def(py::init<>())
-        .def("__str__", [](const StrIssue &si) {
-            return "StrIssue[" + std::to_string(si.val) + "]"; }
-        );
+        .def("__str__",
+             [](const StrIssue &si) { return "StrIssue[" + std::to_string(si.val) + "]"; });
 
     // test_unregistered_base_implementations
     //
@@ -408,7 +439,8 @@ TEST_SUBMODULE(methods_and_attributes, m) {
         // This one is in the registered class:
         .def("sum", &RegisteredDerived::sum);
 
-    using Adapted = decltype(py::method_adaptor<RegisteredDerived>(&RegisteredDerived::do_nothing));
+    using Adapted
+        = decltype(py::method_adaptor<RegisteredDerived>(&RegisteredDerived::do_nothing));
     static_assert(std::is_same<Adapted, void (RegisteredDerived::*)() const>::value, "");
 
     // test_methods_and_attributes
diff --git a/pybind11/tests/test_methods_and_attributes.py b/pybind11/tests/test_methods_and_attributes.py
index fa026f9edd..0a2ae1239a 100644
--- a/pybind11/tests/test_methods_and_attributes.py
+++ b/pybind11/tests/test_methods_and_attributes.py
@@ -1,10 +1,21 @@
-# -*- coding: utf-8 -*-
+import sys
+
 import pytest
 
 import env  # noqa: F401
 from pybind11_tests import ConstructorStats
 from pybind11_tests import methods_and_attributes as m
 
+NO_GETTER_MSG = (
+    "unreadable attribute" if sys.version_info < (3, 11) else "object has no getter"
+)
+NO_SETTER_MSG = (
+    "can't set attribute" if sys.version_info < (3, 11) else "object has no setter"
+)
+NO_DELETER_MSG = (
+    "can't delete attribute" if sys.version_info < (3, 11) else "object has no deleter"
+)
+
 
 def test_methods_and_attributes():
     instance1 = m.ExampleMandA()
@@ -103,32 +114,32 @@ def test_properties():
 
     with pytest.raises(AttributeError) as excinfo:
         dummy = instance.def_property_writeonly  # unused var
-    assert "unreadable attribute" in str(excinfo.value)
+    assert NO_GETTER_MSG in str(excinfo.value)
 
     instance.def_property_writeonly = 4
     assert instance.def_property_readonly == 4
 
     with pytest.raises(AttributeError) as excinfo:
         dummy = instance.def_property_impossible  # noqa: F841 unused var
-    assert "unreadable attribute" in str(excinfo.value)
+    assert NO_GETTER_MSG in str(excinfo.value)
 
     with pytest.raises(AttributeError) as excinfo:
         instance.def_property_impossible = 5
-    assert "can't set attribute" in str(excinfo.value)
+    assert NO_SETTER_MSG in str(excinfo.value)
 
 
 def test_static_properties():
     assert m.TestProperties.def_readonly_static == 1
     with pytest.raises(AttributeError) as excinfo:
         m.TestProperties.def_readonly_static = 2
-    assert "can't set attribute" in str(excinfo.value)
+    assert NO_SETTER_MSG in str(excinfo.value)
 
     m.TestProperties.def_readwrite_static = 2
     assert m.TestProperties.def_readwrite_static == 2
 
     with pytest.raises(AttributeError) as excinfo:
         dummy = m.TestProperties.def_writeonly_static  # unused var
-    assert "unreadable attribute" in str(excinfo.value)
+    assert NO_GETTER_MSG in str(excinfo.value)
 
     m.TestProperties.def_writeonly_static = 3
     assert m.TestProperties.def_readonly_static == 3
@@ -136,14 +147,14 @@ def test_static_properties():
     assert m.TestProperties.def_property_readonly_static == 3
     with pytest.raises(AttributeError) as excinfo:
         m.TestProperties.def_property_readonly_static = 99
-    assert "can't set attribute" in str(excinfo.value)
+    assert NO_SETTER_MSG in str(excinfo.value)
 
     m.TestProperties.def_property_static = 4
     assert m.TestProperties.def_property_static == 4
 
     with pytest.raises(AttributeError) as excinfo:
         dummy = m.TestProperties.def_property_writeonly_static
-    assert "unreadable attribute" in str(excinfo.value)
+    assert NO_GETTER_MSG in str(excinfo.value)
 
     m.TestProperties.def_property_writeonly_static = 5
     assert m.TestProperties.def_property_static == 5
@@ -161,7 +172,7 @@ def test_static_properties():
 
     with pytest.raises(AttributeError) as excinfo:
         dummy = instance.def_property_writeonly_static  # noqa: F841 unused var
-    assert "unreadable attribute" in str(excinfo.value)
+    assert NO_GETTER_MSG in str(excinfo.value)
 
     instance.def_property_writeonly_static = 4
     assert instance.def_property_static == 4
@@ -181,7 +192,7 @@ def test_static_properties():
     properties_override = m.TestPropertiesOverride()
     with pytest.raises(AttributeError) as excinfo:
         del properties_override.def_readonly
-    assert "can't delete attribute" in str(excinfo.value)
+    assert NO_DELETER_MSG in str(excinfo.value)
 
 
 def test_static_cls():
@@ -217,15 +228,15 @@ def test_metaclass_override():
 
 
 def test_no_mixed_overloads():
-    from pybind11_tests import debug_enabled
+    from pybind11_tests import detailed_error_messages_enabled
 
     with pytest.raises(RuntimeError) as excinfo:
         m.ExampleMandA.add_mixed_overloads1()
     assert str(
         excinfo.value
     ) == "overloading a method with both static and instance methods is not supported; " + (
-        "compile in debug mode for more details"
-        if not debug_enabled
+        "#define PYBIND11_DETAILED_ERROR_MESSAGES or compile in debug mode for more details"
+        if not detailed_error_messages_enabled
         else "error while attempting to bind static method ExampleMandA.overload_mixed1"
         "(arg0: float) -> str"
     )
@@ -235,8 +246,8 @@ def test_no_mixed_overloads():
     assert str(
         excinfo.value
     ) == "overloading a method with both static and instance methods is not supported; " + (
-        "compile in debug mode for more details"
-        if not debug_enabled
+        "#define PYBIND11_DETAILED_ERROR_MESSAGES or compile in debug mode for more details"
+        if not detailed_error_messages_enabled
         else "error while attempting to bind instance method ExampleMandA.overload_mixed2"
         "(self: pybind11_tests.methods_and_attributes.ExampleMandA, arg0: int, arg1: int)"
         " -> str"
@@ -345,16 +356,16 @@ def test_cyclic_gc():
 
 
 def test_bad_arg_default(msg):
-    from pybind11_tests import debug_enabled
+    from pybind11_tests import detailed_error_messages_enabled
 
     with pytest.raises(RuntimeError) as excinfo:
         m.bad_arg_def_named()
     assert msg(excinfo.value) == (
         "arg(): could not convert default argument 'a: UnregisteredType' in function "
         "'should_fail' into a Python object (type not registered yet?)"
-        if debug_enabled
+        if detailed_error_messages_enabled
         else "arg(): could not convert default argument into a Python object (type not registered "
-        "yet?). Compile in debug mode for more information."
+        "yet?). #define PYBIND11_DETAILED_ERROR_MESSAGES or compile in debug mode for more information."
     )
 
     with pytest.raises(RuntimeError) as excinfo:
@@ -362,9 +373,9 @@ def test_bad_arg_default(msg):
     assert msg(excinfo.value) == (
         "arg(): could not convert default argument 'UnregisteredType' in function "
         "'should_fail' into a Python object (type not registered yet?)"
-        if debug_enabled
+        if detailed_error_messages_enabled
         else "arg(): could not convert default argument into a Python object (type not registered "
-        "yet?). Compile in debug mode for more information."
+        "yet?). #define PYBIND11_DETAILED_ERROR_MESSAGES or compile in debug mode for more information."
     )
 
 
@@ -494,26 +505,17 @@ def test_overload_ordering():
     assert m.overload_order("string") == 1
     assert m.overload_order(0) == 4
 
-    # Different for Python 2 vs. 3
-    uni_name = type(u"").__name__
-
     assert "1. overload_order(arg0: int) -> int" in m.overload_order.__doc__
-    assert (
-        "2. overload_order(arg0: {}) -> int".format(uni_name)
-        in m.overload_order.__doc__
-    )
-    assert (
-        "3. overload_order(arg0: {}) -> int".format(uni_name)
-        in m.overload_order.__doc__
-    )
+    assert "2. overload_order(arg0: str) -> int" in m.overload_order.__doc__
+    assert "3. overload_order(arg0: str) -> int" in m.overload_order.__doc__
     assert "4. overload_order(arg0: int) -> int" in m.overload_order.__doc__
 
     with pytest.raises(TypeError) as err:
         m.overload_order(1.1)
 
     assert "1. (arg0: int) -> int" in str(err.value)
-    assert "2. (arg0: {}) -> int".format(uni_name) in str(err.value)
-    assert "3. (arg0: {}) -> int".format(uni_name) in str(err.value)
+    assert "2. (arg0: str) -> int" in str(err.value)
+    assert "3. (arg0: str) -> int" in str(err.value)
     assert "4. (arg0: int) -> int" in str(err.value)
 
 
diff --git a/pybind11/tests/test_modules.cpp b/pybind11/tests/test_modules.cpp
index ce61c1a25c..18a7ec74cc 100644
--- a/pybind11/tests/test_modules.cpp
+++ b/pybind11/tests/test_modules.cpp
@@ -8,8 +8,8 @@
     BSD-style license that can be found in the LICENSE file.
 */
 
-#include "pybind11_tests.h"
 #include "constructor_stats.h"
+#include "pybind11_tests.h"
 
 TEST_SUBMODULE(modules, m) {
     // test_nested_modules
@@ -22,23 +22,30 @@ TEST_SUBMODULE(modules, m) {
     public:
         explicit A(int v) : v(v) { print_created(this, v); }
         ~A() { print_destroyed(this); }
-        A(const A&) { print_copy_created(this); }
-        A& operator=(const A &copy) { print_copy_assigned(this); v = copy.v; return *this; }
+        A(const A &) { print_copy_created(this); }
+        A &operator=(const A &copy) {
+            print_copy_assigned(this);
+            v = copy.v;
+            return *this;
+        }
         std::string toString() const { return "A[" + std::to_string(v) + "]"; }
 
     private:
         int v;
     };
-    py::class_<A>(m_sub, "A")
-        .def(py::init<int>())
-        .def("__repr__", &A::toString);
+    py::class_<A>(m_sub, "A").def(py::init<int>()).def("__repr__", &A::toString);
 
     class B {
     public:
         B() { print_default_created(this); }
         ~B() { print_destroyed(this); }
-        B(const B&) { print_copy_created(this); }
-        B& operator=(const B &copy) { print_copy_assigned(this); a1 = copy.a1; a2 = copy.a2; return *this; }
+        B(const B &) { print_copy_created(this); }
+        B &operator=(const B &copy) {
+            print_copy_assigned(this);
+            a1 = copy.a1;
+            a2 = copy.a2;
+            return *this;
+        }
         A &get_a1() { return a1; }
         A &get_a2() { return a2; }
 
@@ -47,9 +54,16 @@ TEST_SUBMODULE(modules, m) {
     };
     py::class_<B>(m_sub, "B")
         .def(py::init<>())
-        .def("get_a1", &B::get_a1, "Return the internal A 1", py::return_value_policy::reference_internal)
-        .def("get_a2", &B::get_a2, "Return the internal A 2", py::return_value_policy::reference_internal)
-        .def_readwrite("a1", &B::a1)  // def_readonly uses an internal reference return policy by default
+        .def("get_a1",
+             &B::get_a1,
+             "Return the internal A 1",
+             py::return_value_policy::reference_internal)
+        .def("get_a2",
+             &B::get_a2,
+             "Return the internal A 2",
+             py::return_value_policy::reference_internal)
+        .def_readwrite("a1", &B::a1) // def_readonly uses an internal
+                                     // reference return policy by default
         .def_readwrite("a2", &B::a2);
 
     // This is intentionally "py::module" to verify it still can be used in place of "py::module_"
@@ -58,13 +72,14 @@ TEST_SUBMODULE(modules, m) {
     // test_duplicate_registration
     // Registering two things with the same name
     m.def("duplicate_registration", []() {
-        class Dupe1 { };
-        class Dupe2 { };
-        class Dupe3 { };
-        class DupeException { };
+        class Dupe1 {};
+        class Dupe2 {};
+        class Dupe3 {};
+        class DupeException {};
 
         // Go ahead and leak, until we have a non-leaking py::module_ constructor
-        auto dm = py::module_::create_extension_module("dummy", nullptr, new py::module_::module_def);
+        auto dm
+            = py::module_::create_extension_module("dummy", nullptr, new py::module_::module_def);
         auto failures = py::list();
 
         py::class_<Dupe1>(dm, "Dupe1");
@@ -75,28 +90,36 @@ TEST_SUBMODULE(modules, m) {
         try {
             py::class_<Dupe1>(dm, "Dupe1");
             failures.append("Dupe1 class");
-        } catch (std::runtime_error &) {}
+        } catch (std::runtime_error &) {
+        }
         try {
             dm.def("Dupe1", []() { return Dupe1(); });
             failures.append("Dupe1 function");
-        } catch (std::runtime_error &) {}
+        } catch (std::runtime_error &) {
+        }
         try {
             py::class_<Dupe3>(dm, "dupe1_factory");
             failures.append("dupe1_factory");
-        } catch (std::runtime_error &) {}
+        } catch (std::runtime_error &) {
+        }
         try {
             py::exception<Dupe3>(dm, "Dupe2");
             failures.append("Dupe2");
-        } catch (std::runtime_error &) {}
+        } catch (std::runtime_error &) {
+        }
         try {
             dm.def("DupeException", []() { return 30; });
             failures.append("DupeException1");
-        } catch (std::runtime_error &) {}
+        } catch (std::runtime_error &) {
+        }
         try {
             py::class_<DupeException>(dm, "DupeException");
             failures.append("DupeException2");
-        } catch (std::runtime_error &) {}
+        } catch (std::runtime_error &) {
+        }
 
         return failures;
     });
+
+    m.def("def_submodule", [](py::module_ m, const char *name) { return m.def_submodule(name); });
 }
diff --git a/pybind11/tests/test_modules.py b/pybind11/tests/test_modules.py
index 49e1ea5e30..e11d68e78e 100644
--- a/pybind11/tests/test_modules.py
+++ b/pybind11/tests/test_modules.py
@@ -1,4 +1,6 @@
-# -*- coding: utf-8 -*-
+import pytest
+
+import env
 from pybind11_tests import ConstructorStats
 from pybind11_tests import modules as m
 from pybind11_tests.modules import subsubmodule as ms
@@ -90,3 +92,30 @@ def test_builtin_key_type():
         keys = __builtins__.__dict__.keys()
 
     assert {type(k) for k in keys} == {str}
+
+
+@pytest.mark.xfail("env.PYPY", reason="PyModule_GetName()")
+def test_def_submodule_failures():
+    sm = m.def_submodule(m, b"ScratchSubModuleName")  # Using bytes to show it works.
+    assert sm.__name__ == m.__name__ + "." + "ScratchSubModuleName"
+    malformed_utf8 = b"\x80"
+    if env.PYPY:
+        # It is not worth the effort finding a trigger for a failure when running with PyPy.
+        pytest.skip("Sufficiently exercised on platforms other than PyPy.")
+    else:
+        # Meant to trigger PyModule_GetName() failure:
+        sm_name_orig = sm.__name__
+        sm.__name__ = malformed_utf8
+        try:
+            with pytest.raises(Exception):
+                # Seen with Python 3.9: SystemError: nameless module
+                # But we do not want to exercise the internals of PyModule_GetName(), which could
+                # change in future versions of Python, but a bad __name__ is very likely to cause
+                # some kind of failure indefinitely.
+                m.def_submodule(sm, b"SubSubModuleName")
+        finally:
+            # Clean up to ensure nothing gets upset by a module with an invalid __name__.
+            sm.__name__ = sm_name_orig  # Purely precautionary.
+    # Meant to trigger PyImport_AddModule() failure:
+    with pytest.raises(UnicodeDecodeError):
+        m.def_submodule(sm, malformed_utf8)
diff --git a/pybind11/tests/test_multiple_inheritance.cpp b/pybind11/tests/test_multiple_inheritance.cpp
index 4689df4e46..5916ae9010 100644
--- a/pybind11/tests/test_multiple_inheritance.cpp
+++ b/pybind11/tests/test_multiple_inheritance.cpp
@@ -8,14 +8,15 @@
     BSD-style license that can be found in the LICENSE file.
 */
 
-#include "pybind11_tests.h"
 #include "constructor_stats.h"
+#include "pybind11_tests.h"
 
 namespace {
 
 // Many bases for testing that multiple inheritance from many classes (i.e. requiring extra
 // space for holder constructed flags) works.
-template <int N> struct BaseN {
+template <int N>
+struct BaseN {
     explicit BaseN(int i) : i(i) {}
     int i;
 };
@@ -57,13 +58,23 @@ struct Base2a {
     int i;
 };
 struct Base12a : Base1a, Base2a {
-    Base12a(int i, int j) : Base1a(i), Base2a(j) { }
+    Base12a(int i, int j) : Base1a(i), Base2a(j) {}
 };
 
 // test_mi_unaligned_base
 // test_mi_base_return
-struct I801B1 { int a = 1; I801B1() = default; I801B1(const I801B1 &) = default; virtual ~I801B1() = default; };
-struct I801B2 { int b = 2; I801B2() = default; I801B2(const I801B2 &) = default; virtual ~I801B2() = default; };
+struct I801B1 {
+    int a = 1;
+    I801B1() = default;
+    I801B1(const I801B1 &) = default;
+    virtual ~I801B1() = default;
+};
+struct I801B2 {
+    int b = 2;
+    I801B2() = default;
+    I801B2(const I801B2 &) = default;
+    virtual ~I801B2() = default;
+};
 struct I801C : I801B1, I801B2 {};
 struct I801D : I801C {}; // Indirect MI
 
@@ -82,8 +93,7 @@ TEST_SUBMODULE(multiple_inheritance, m) {
         int i;
     };
     py::class_<Base1> b1(m, "Base1");
-    b1.def(py::init<int>())
-      .def("foo", &Base1::foo);
+    b1.def(py::init<int>()).def("foo", &Base1::foo);
 
     struct Base2 {
         explicit Base2(int i) : i(i) {}
@@ -91,42 +101,49 @@ TEST_SUBMODULE(multiple_inheritance, m) {
         int i;
     };
     py::class_<Base2> b2(m, "Base2");
-    b2.def(py::init<int>())
-      .def("bar", &Base2::bar);
-
+    b2.def(py::init<int>()).def("bar", &Base2::bar);
 
     // test_multiple_inheritance_cpp
     struct Base12 : Base1, Base2 {
-        Base12(int i, int j) : Base1(i), Base2(j) { }
+        Base12(int i, int j) : Base1(i), Base2(j) {}
     };
     struct MIType : Base12 {
-        MIType(int i, int j) : Base12(i, j) { }
+        MIType(int i, int j) : Base12(i, j) {}
     };
     py::class_<Base12, Base1, Base2>(m, "Base12");
-    py::class_<MIType, Base12>(m, "MIType")
-        .def(py::init<int, int>());
-
+    py::class_<MIType, Base12>(m, "MIType").def(py::init<int, int>());
 
     // test_multiple_inheritance_python_many_bases
 #define PYBIND11_BASEN(N)                                                                         \
     py::class_<BaseN<(N)>>(m, "BaseN" #N).def(py::init<int>()).def("f" #N, [](BaseN<N> &b) {      \
         return b.i + (N);                                                                         \
     })
-    PYBIND11_BASEN( 1); PYBIND11_BASEN( 2); PYBIND11_BASEN( 3); PYBIND11_BASEN( 4);
-    PYBIND11_BASEN( 5); PYBIND11_BASEN( 6); PYBIND11_BASEN( 7); PYBIND11_BASEN( 8);
-    PYBIND11_BASEN( 9); PYBIND11_BASEN(10); PYBIND11_BASEN(11); PYBIND11_BASEN(12);
-    PYBIND11_BASEN(13); PYBIND11_BASEN(14); PYBIND11_BASEN(15); PYBIND11_BASEN(16);
+    PYBIND11_BASEN(1);
+    PYBIND11_BASEN(2);
+    PYBIND11_BASEN(3);
+    PYBIND11_BASEN(4);
+    PYBIND11_BASEN(5);
+    PYBIND11_BASEN(6);
+    PYBIND11_BASEN(7);
+    PYBIND11_BASEN(8);
+    PYBIND11_BASEN(9);
+    PYBIND11_BASEN(10);
+    PYBIND11_BASEN(11);
+    PYBIND11_BASEN(12);
+    PYBIND11_BASEN(13);
+    PYBIND11_BASEN(14);
+    PYBIND11_BASEN(15);
+    PYBIND11_BASEN(16);
     PYBIND11_BASEN(17);
 
     // Uncommenting this should result in a compile time failure (MI can only be specified via
-    // template parameters because pybind has to know the types involved; see discussion in #742 for
-    // details).
-//    struct Base12v2 : Base1, Base2 {
-//        Base12v2(int i, int j) : Base1(i), Base2(j) { }
-//    };
-//    py::class_<Base12v2>(m, "Base12v2", b1, b2)
-//        .def(py::init<int, int>());
-
+    // template parameters because pybind has to know the types involved; see discussion in #742
+    // for details).
+    //    struct Base12v2 : Base1, Base2 {
+    //        Base12v2(int i, int j) : Base1(i), Base2(j) { }
+    //    };
+    //    py::class_<Base12v2>(m, "Base12v2", b1, b2)
+    //        .def(py::init<int, int>());
 
     // test_multiple_inheritance_virtbase
     // Test the case where not all base classes are specified, and where pybind11 requires the
@@ -139,8 +156,8 @@ TEST_SUBMODULE(multiple_inheritance, m) {
         .def(py::init<int>())
         .def("bar", &Base2a::bar);
 
-    py::class_<Base12a, /* Base1 missing */ Base2a,
-               std::shared_ptr<Base12a>>(m, "Base12a", py::multiple_inheritance())
+    py::class_<Base12a, /* Base1 missing */ Base2a, std::shared_ptr<Base12a>>(
+        m, "Base12a", py::multiple_inheritance())
         .def(py::init<int, int>());
 
     m.def("bar_base2a", [](Base2a *b) { return b->bar(); });
@@ -150,11 +167,18 @@ TEST_SUBMODULE(multiple_inheritance, m) {
     // test_mi_base_return
     // Issue #801: invalid casting to derived type with MI bases
     // Unregistered classes:
-    struct I801B3 { int c = 3; virtual ~I801B3() = default; };
+    struct I801B3 {
+        int c = 3;
+        virtual ~I801B3() = default;
+    };
     struct I801E : I801B3, I801D {};
 
-    py::class_<I801B1, std::shared_ptr<I801B1>>(m, "I801B1").def(py::init<>()).def_readonly("a", &I801B1::a);
-    py::class_<I801B2, std::shared_ptr<I801B2>>(m, "I801B2").def(py::init<>()).def_readonly("b", &I801B2::b);
+    py::class_<I801B1, std::shared_ptr<I801B1>>(m, "I801B1")
+        .def(py::init<>())
+        .def_readonly("a", &I801B1::a);
+    py::class_<I801B2, std::shared_ptr<I801B2>>(m, "I801B2")
+        .def(py::init<>())
+        .def_readonly("b", &I801B2::b);
     py::class_<I801C, I801B1, I801B2, std::shared_ptr<I801C>>(m, "I801C").def(py::init<>());
     py::class_<I801D, I801C, std::shared_ptr<I801D>>(m, "I801D").def(py::init<>());
 
@@ -179,11 +203,8 @@ TEST_SUBMODULE(multiple_inheritance, m) {
     m.def("i801e_c", []() -> I801C * { return new I801E(); });
     m.def("i801e_b2", []() -> I801B2 * { return new I801E(); });
 
-
     // test_mi_static_properties
-    py::class_<Vanilla>(m, "Vanilla")
-        .def(py::init<>())
-        .def("vanilla", &Vanilla::vanilla);
+    py::class_<Vanilla>(m, "Vanilla").def(py::init<>()).def("vanilla", &Vanilla::vanilla);
 
     py::class_<WithStatic1>(m, "WithStatic1")
         .def(py::init<>())
@@ -195,22 +216,19 @@ TEST_SUBMODULE(multiple_inheritance, m) {
         .def_static("static_func2", &WithStatic2::static_func2)
         .def_readwrite_static("static_value2", &WithStatic2::static_value2);
 
-    py::class_<VanillaStaticMix1, Vanilla, WithStatic1, WithStatic2>(
-        m, "VanillaStaticMix1")
+    py::class_<VanillaStaticMix1, Vanilla, WithStatic1, WithStatic2>(m, "VanillaStaticMix1")
         .def(py::init<>())
         .def_static("static_func", &VanillaStaticMix1::static_func)
         .def_readwrite_static("static_value", &VanillaStaticMix1::static_value);
 
-    py::class_<VanillaStaticMix2, WithStatic1, Vanilla, WithStatic2>(
-        m, "VanillaStaticMix2")
+    py::class_<VanillaStaticMix2, WithStatic1, Vanilla, WithStatic2>(m, "VanillaStaticMix2")
         .def(py::init<>())
         .def_static("static_func", &VanillaStaticMix2::static_func)
         .def_readwrite_static("static_value", &VanillaStaticMix2::static_value);
 
-
-    struct WithDict { };
-    struct VanillaDictMix1 : Vanilla, WithDict { };
-    struct VanillaDictMix2 : WithDict, Vanilla { };
+    struct WithDict {};
+    struct VanillaDictMix1 : Vanilla, WithDict {};
+    struct VanillaDictMix2 : WithDict, Vanilla {};
     py::class_<WithDict>(m, "WithDict", py::dynamic_attr()).def(py::init<>());
     py::class_<VanillaDictMix1, Vanilla, WithDict>(m, "VanillaDictMix1").def(py::init<>());
     py::class_<VanillaDictMix2, WithDict, Vanilla>(m, "VanillaDictMix2").def(py::init<>());
@@ -218,18 +236,25 @@ TEST_SUBMODULE(multiple_inheritance, m) {
     // test_diamond_inheritance
     // Issue #959: segfault when constructing diamond inheritance instance
     // All of these have int members so that there will be various unequal pointers involved.
-    struct B { int b; B() = default; B(const B&) = default; virtual ~B() = default; };
-    struct C0 : public virtual B { int c0; };
-    struct C1 : public virtual B { int c1; };
-    struct D : public C0, public C1 { int d; };
-    py::class_<B>(m, "B")
-        .def("b", [](B *self) { return self; });
-    py::class_<C0, B>(m, "C0")
-        .def("c0", [](C0 *self) { return self; });
-    py::class_<C1, B>(m, "C1")
-        .def("c1", [](C1 *self) { return self; });
-    py::class_<D, C0, C1>(m, "D")
-        .def(py::init<>());
+    struct B {
+        int b;
+        B() = default;
+        B(const B &) = default;
+        virtual ~B() = default;
+    };
+    struct C0 : public virtual B {
+        int c0;
+    };
+    struct C1 : public virtual B {
+        int c1;
+    };
+    struct D : public C0, public C1 {
+        int d;
+    };
+    py::class_<B>(m, "B").def("b", [](B *self) { return self; });
+    py::class_<C0, B>(m, "C0").def("c0", [](C0 *self) { return self; });
+    py::class_<C1, B>(m, "C1").def("c1", [](C1 *self) { return self; });
+    py::class_<D, C0, C1>(m, "D").def(py::init<>());
 
     // test_pr3635_diamond_*
     // - functions are get_{base}_{var}, return {var}
diff --git a/pybind11/tests/test_multiple_inheritance.py b/pybind11/tests/test_multiple_inheritance.py
index abdf25d608..3a1d88d711 100644
--- a/pybind11/tests/test_multiple_inheritance.py
+++ b/pybind11/tests/test_multiple_inheritance.py
@@ -1,4 +1,3 @@
-# -*- coding: utf-8 -*-
 import pytest
 
 import env  # noqa: F401
@@ -13,8 +12,7 @@ def test_multiple_inheritance_cpp():
     assert mt.bar() == 4
 
 
-@pytest.mark.skipif("env.PYPY and env.PY2")
-@pytest.mark.xfail("env.PYPY and not env.PY2")
+@pytest.mark.xfail("env.PYPY")
 def test_multiple_inheritance_mix1():
     class Base1:
         def __init__(self, i):
@@ -53,15 +51,14 @@ def __init__(self, i, j):
     assert mt.bar() == 4
 
 
-@pytest.mark.skipif("env.PYPY and env.PY2")
-@pytest.mark.xfail("env.PYPY and not env.PY2")
+@pytest.mark.xfail("env.PYPY")
 def test_multiple_inheritance_python():
     class MI1(m.Base1, m.Base2):
         def __init__(self, i, j):
             m.Base1.__init__(self, i)
             m.Base2.__init__(self, j)
 
-    class B1(object):
+    class B1:
         def v(self):
             return 1
 
@@ -96,7 +93,7 @@ class B2(B1):
         def v(self):
             return 2
 
-    class B3(object):
+    class B3:
         def v(self):
             return 3
 
diff --git a/pybind11/tests/test_numpy_array.cpp b/pybind11/tests/test_numpy_array.cpp
index 30a71acc9b..69ddbe1ef2 100644
--- a/pybind11/tests/test_numpy_array.cpp
+++ b/pybind11/tests/test_numpy_array.cpp
@@ -7,11 +7,11 @@
     BSD-style license that can be found in the LICENSE file.
 */
 
-#include "pybind11_tests.h"
-
 #include <pybind11/numpy.h>
 #include <pybind11/stl.h>
 
+#include "pybind11_tests.h"
+
 #include <cstdint>
 #include <utility>
 
@@ -22,7 +22,7 @@ struct DtypeCheck {
 };
 
 template <typename T>
-DtypeCheck get_dtype_check(const char* name) {
+DtypeCheck get_dtype_check(const char *name) {
     py::module_ np = py::module_::import("numpy");
     DtypeCheck check{};
     check.numpy = np.attr("dtype")(np.attr(name));
@@ -31,17 +31,15 @@ DtypeCheck get_dtype_check(const char* name) {
 }
 
 std::vector<DtypeCheck> get_concrete_dtype_checks() {
-    return {
-        // Normalization
-        get_dtype_check<std::int8_t>("int8"),
-        get_dtype_check<std::uint8_t>("uint8"),
-        get_dtype_check<std::int16_t>("int16"),
-        get_dtype_check<std::uint16_t>("uint16"),
-        get_dtype_check<std::int32_t>("int32"),
-        get_dtype_check<std::uint32_t>("uint32"),
-        get_dtype_check<std::int64_t>("int64"),
-        get_dtype_check<std::uint64_t>("uint64")
-    };
+    return {// Normalization
+            get_dtype_check<std::int8_t>("int8"),
+            get_dtype_check<std::uint8_t>("uint8"),
+            get_dtype_check<std::int16_t>("int16"),
+            get_dtype_check<std::uint16_t>("uint16"),
+            get_dtype_check<std::int32_t>("int32"),
+            get_dtype_check<std::uint32_t>("uint32"),
+            get_dtype_check<std::int64_t>("int64"),
+            get_dtype_check<std::uint64_t>("uint64")};
 }
 
 struct DtypeSizeCheck {
@@ -80,43 +78,71 @@ using arr = py::array;
 using arr_t = py::array_t<uint16_t, 0>;
 static_assert(std::is_same<arr_t::value_type, uint16_t>::value, "");
 
-template<typename... Ix> arr data(const arr& a, Ix... index) {
+template <typename... Ix>
+arr data(const arr &a, Ix... index) {
     return arr(a.nbytes() - a.offset_at(index...), (const uint8_t *) a.data(index...));
 }
 
-template<typename... Ix> arr data_t(const arr_t& a, Ix... index) {
+template <typename... Ix>
+arr data_t(const arr_t &a, Ix... index) {
     return arr(a.size() - a.index_at(index...), a.data(index...));
 }
 
-template<typename... Ix> arr& mutate_data(arr& a, Ix... index) {
-    auto ptr = (uint8_t *) a.mutable_data(index...);
-    for (py::ssize_t i = 0; i < a.nbytes() - a.offset_at(index...); i++)
+template <typename... Ix>
+arr &mutate_data(arr &a, Ix... index) {
+    auto *ptr = (uint8_t *) a.mutable_data(index...);
+    for (py::ssize_t i = 0; i < a.nbytes() - a.offset_at(index...); i++) {
         ptr[i] = (uint8_t) (ptr[i] * 2);
+    }
     return a;
 }
 
-template<typename... Ix> arr_t& mutate_data_t(arr_t& a, Ix... index) {
+template <typename... Ix>
+arr_t &mutate_data_t(arr_t &a, Ix... index) {
     auto ptr = a.mutable_data(index...);
-    for (py::ssize_t i = 0; i < a.size() - a.index_at(index...); i++)
+    for (py::ssize_t i = 0; i < a.size() - a.index_at(index...); i++) {
         ptr[i]++;
+    }
+    return a;
+}
+
+template <typename... Ix>
+py::ssize_t index_at(const arr &a, Ix... idx) {
+    return a.index_at(idx...);
+}
+template <typename... Ix>
+py::ssize_t index_at_t(const arr_t &a, Ix... idx) {
+    return a.index_at(idx...);
+}
+template <typename... Ix>
+py::ssize_t offset_at(const arr &a, Ix... idx) {
+    return a.offset_at(idx...);
+}
+template <typename... Ix>
+py::ssize_t offset_at_t(const arr_t &a, Ix... idx) {
+    return a.offset_at(idx...);
+}
+template <typename... Ix>
+py::ssize_t at_t(const arr_t &a, Ix... idx) {
+    return a.at(idx...);
+}
+template <typename... Ix>
+arr_t &mutate_at_t(arr_t &a, Ix... idx) {
+    a.mutable_at(idx...)++;
     return a;
 }
 
-template<typename... Ix> py::ssize_t index_at(const arr& a, Ix... idx) { return a.index_at(idx...); }
-template<typename... Ix> py::ssize_t index_at_t(const arr_t& a, Ix... idx) { return a.index_at(idx...); }
-template<typename... Ix> py::ssize_t offset_at(const arr& a, Ix... idx) { return a.offset_at(idx...); }
-template<typename... Ix> py::ssize_t offset_at_t(const arr_t& a, Ix... idx) { return a.offset_at(idx...); }
-template<typename... Ix> py::ssize_t at_t(const arr_t& a, Ix... idx) { return a.at(idx...); }
-template<typename... Ix> arr_t& mutate_at_t(arr_t& a, Ix... idx) { a.mutable_at(idx...)++; return a; }
-
-#define def_index_fn(name, type) \
-    sm.def(#name, [](type a) { return name(a); }); \
-    sm.def(#name, [](type a, int i) { return name(a, i); }); \
-    sm.def(#name, [](type a, int i, int j) { return name(a, i, j); }); \
+#define def_index_fn(name, type)                                                                  \
+    sm.def(#name, [](type a) { return name(a); });                                                \
+    sm.def(#name, [](type a, int i) { return name(a, i); });                                      \
+    sm.def(#name, [](type a, int i, int j) { return name(a, i, j); });                            \
     sm.def(#name, [](type a, int i, int j, int k) { return name(a, i, j, k); });
 
-template <typename T, typename T2> py::handle auxiliaries(T &&r, T2 &&r2) {
-    if (r.ndim() != 2) throw std::domain_error("error: ndim != 2");
+template <typename T, typename T2>
+py::handle auxiliaries(T &&r, T2 &&r2) {
+    if (r.ndim() != 2) {
+        throw std::domain_error("error: ndim != 2");
+    }
     py::list l;
     l.append(*r.data(0, 0));
     l.append(*r2.mutable_data(0, 0));
@@ -134,16 +160,18 @@ template <typename T, typename T2> py::handle auxiliaries(T &&r, T2 &&r2) {
 static int data_i = 42;
 
 TEST_SUBMODULE(numpy_array, sm) {
-    try { py::module_::import("numpy"); }
-    catch (...) { return; }
+    try {
+        py::module_::import("numpy");
+    } catch (const py::error_already_set &) {
+        return;
+    }
 
     // test_dtypes
     py::class_<DtypeCheck>(sm, "DtypeCheck")
         .def_readonly("numpy", &DtypeCheck::numpy)
         .def_readonly("pybind11", &DtypeCheck::pybind11)
-        .def("__repr__", [](const DtypeCheck& self) {
-            return py::str("<DtypeCheck numpy={} pybind11={}>").format(
-                self.numpy, self.pybind11);
+        .def("__repr__", [](const DtypeCheck &self) {
+            return py::str("<DtypeCheck numpy={} pybind11={}>").format(self.numpy, self.pybind11);
         });
     sm.def("get_concrete_dtype_checks", &get_concrete_dtype_checks);
 
@@ -151,41 +179,41 @@ TEST_SUBMODULE(numpy_array, sm) {
         .def_readonly("name", &DtypeSizeCheck::name)
         .def_readonly("size_cpp", &DtypeSizeCheck::size_cpp)
         .def_readonly("size_numpy", &DtypeSizeCheck::size_numpy)
-        .def("__repr__", [](const DtypeSizeCheck& self) {
-            return py::str("<DtypeSizeCheck name='{}' size_cpp={} size_numpy={} dtype={}>").format(
-                self.name, self.size_cpp, self.size_numpy, self.dtype);
+        .def("__repr__", [](const DtypeSizeCheck &self) {
+            return py::str("<DtypeSizeCheck name='{}' size_cpp={} size_numpy={} dtype={}>")
+                .format(self.name, self.size_cpp, self.size_numpy, self.dtype);
         });
     sm.def("get_platform_dtype_size_checks", &get_platform_dtype_size_checks);
 
     // test_array_attributes
-    sm.def("ndim", [](const arr& a) { return a.ndim(); });
-    sm.def("shape", [](const arr& a) { return arr(a.ndim(), a.shape()); });
-    sm.def("shape", [](const arr& a, py::ssize_t dim) { return a.shape(dim); });
-    sm.def("strides", [](const arr& a) { return arr(a.ndim(), a.strides()); });
-    sm.def("strides", [](const arr& a, py::ssize_t dim) { return a.strides(dim); });
-    sm.def("writeable", [](const arr& a) { return a.writeable(); });
-    sm.def("size", [](const arr& a) { return a.size(); });
-    sm.def("itemsize", [](const arr& a) { return a.itemsize(); });
-    sm.def("nbytes", [](const arr& a) { return a.nbytes(); });
-    sm.def("owndata", [](const arr& a) { return a.owndata(); });
+    sm.def("ndim", [](const arr &a) { return a.ndim(); });
+    sm.def("shape", [](const arr &a) { return arr(a.ndim(), a.shape()); });
+    sm.def("shape", [](const arr &a, py::ssize_t dim) { return a.shape(dim); });
+    sm.def("strides", [](const arr &a) { return arr(a.ndim(), a.strides()); });
+    sm.def("strides", [](const arr &a, py::ssize_t dim) { return a.strides(dim); });
+    sm.def("writeable", [](const arr &a) { return a.writeable(); });
+    sm.def("size", [](const arr &a) { return a.size(); });
+    sm.def("itemsize", [](const arr &a) { return a.itemsize(); });
+    sm.def("nbytes", [](const arr &a) { return a.nbytes(); });
+    sm.def("owndata", [](const arr &a) { return a.owndata(); });
 
     // test_index_offset
-    def_index_fn(index_at, const arr&);
-    def_index_fn(index_at_t, const arr_t&);
-    def_index_fn(offset_at, const arr&);
-    def_index_fn(offset_at_t, const arr_t&);
+    def_index_fn(index_at, const arr &);
+    def_index_fn(index_at_t, const arr_t &);
+    def_index_fn(offset_at, const arr &);
+    def_index_fn(offset_at_t, const arr_t &);
     // test_data
-    def_index_fn(data, const arr&);
-    def_index_fn(data_t, const arr_t&);
+    def_index_fn(data, const arr &);
+    def_index_fn(data_t, const arr_t &);
     // test_mutate_data, test_mutate_readonly
-    def_index_fn(mutate_data, arr&);
-    def_index_fn(mutate_data_t, arr_t&);
-    def_index_fn(at_t, const arr_t&);
-    def_index_fn(mutate_at_t, arr_t&);
+    def_index_fn(mutate_data, arr &);
+    def_index_fn(mutate_data_t, arr_t &);
+    def_index_fn(at_t, const arr_t &);
+    def_index_fn(mutate_at_t, arr_t &);
 
     // test_make_c_f_array
-    sm.def("make_f_array", [] { return py::array_t<float>({ 2, 2 }, { 4, 8 }); });
-    sm.def("make_c_array", [] { return py::array_t<float>({ 2, 2 }, { 8, 4 }); });
+    sm.def("make_f_array", [] { return py::array_t<float>({2, 2}, {4, 8}); });
+    sm.def("make_c_array", [] { return py::array_t<float>({2, 2}, {8, 4}); });
 
     // test_empty_shaped_array
     sm.def("make_empty_shaped_array", [] { return py::array(py::dtype("f"), {}, {}); });
@@ -194,18 +222,16 @@ TEST_SUBMODULE(numpy_array, sm) {
 
     // test_wrap
     sm.def("wrap", [](const py::array &a) {
-        return py::array(
-            a.dtype(),
-            {a.shape(), a.shape() + a.ndim()},
-            {a.strides(), a.strides() + a.ndim()},
-            a.data(),
-            a
-        );
+        return py::array(a.dtype(),
+                         {a.shape(), a.shape() + a.ndim()},
+                         {a.strides(), a.strides() + a.ndim()},
+                         a.data(),
+                         a);
     });
 
     // test_numpy_view
     struct ArrayClass {
-        int data[2] = { 1, 2 };
+        int data[2] = {1, 2};
         ArrayClass() { py::print("ArrayClass()"); }
         ~ArrayClass() { py::print("~ArrayClass()"); }
     };
@@ -213,13 +239,12 @@ TEST_SUBMODULE(numpy_array, sm) {
         .def(py::init<>())
         .def("numpy_view", [](py::object &obj) {
             py::print("ArrayClass::numpy_view()");
-            auto &a = obj.cast<ArrayClass&>();
+            auto &a = obj.cast<ArrayClass &>();
             return py::array_t<int>({2}, {4}, a.data, obj);
-        }
-    );
+        });
 
     // test_cast_numpy_int64_to_uint64
-    sm.def("function_taking_uint64", [](uint64_t) { });
+    sm.def("function_taking_uint64", [](uint64_t) {});
 
     // test_isinstance
     sm.def("isinstance_untyped", [](py::object yes, py::object no) {
@@ -232,18 +257,14 @@ TEST_SUBMODULE(numpy_array, sm) {
 
     // test_constructors
     sm.def("default_constructors", []() {
-        return py::dict(
-            "array"_a=py::array(),
-            "array_t<int32>"_a=py::array_t<std::int32_t>(),
-            "array_t<double>"_a=py::array_t<double>()
-        );
+        return py::dict("array"_a = py::array(),
+                        "array_t<int32>"_a = py::array_t<std::int32_t>(),
+                        "array_t<double>"_a = py::array_t<double>());
     });
     sm.def("converting_constructors", [](const py::object &o) {
-        return py::dict(
-            "array"_a=py::array(o),
-            "array_t<int32>"_a=py::array_t<std::int32_t>(o),
-            "array_t<double>"_a=py::array_t<double>(o)
-        );
+        return py::dict("array"_a = py::array(o),
+                        "array_t<int32>"_a = py::array_t<std::int32_t>(o),
+                        "array_t<double>"_a = py::array_t<double>(o));
     });
 
     // test_overload_resolution
@@ -290,36 +311,49 @@ TEST_SUBMODULE(numpy_array, sm) {
     sm.def("issue685", [](const py::object &) { return "other"; });
 
     // test_array_unchecked_fixed_dims
-    sm.def("proxy_add2", [](py::array_t<double> a, double v) {
-        auto r = a.mutable_unchecked<2>();
-        for (py::ssize_t i = 0; i < r.shape(0); i++)
-            for (py::ssize_t j = 0; j < r.shape(1); j++)
-                r(i, j) += v;
-    }, py::arg{}.noconvert(), py::arg());
+    sm.def(
+        "proxy_add2",
+        [](py::array_t<double> a, double v) {
+            auto r = a.mutable_unchecked<2>();
+            for (py::ssize_t i = 0; i < r.shape(0); i++) {
+                for (py::ssize_t j = 0; j < r.shape(1); j++) {
+                    r(i, j) += v;
+                }
+            }
+        },
+        py::arg{}.noconvert(),
+        py::arg());
 
     sm.def("proxy_init3", [](double start) {
-        py::array_t<double, py::array::c_style> a({ 3, 3, 3 });
+        py::array_t<double, py::array::c_style> a({3, 3, 3});
         auto r = a.mutable_unchecked<3>();
-        for (py::ssize_t i = 0; i < r.shape(0); i++)
-        for (py::ssize_t j = 0; j < r.shape(1); j++)
-        for (py::ssize_t k = 0; k < r.shape(2); k++)
-            r(i, j, k) = start++;
+        for (py::ssize_t i = 0; i < r.shape(0); i++) {
+            for (py::ssize_t j = 0; j < r.shape(1); j++) {
+                for (py::ssize_t k = 0; k < r.shape(2); k++) {
+                    r(i, j, k) = start++;
+                }
+            }
+        }
         return a;
     });
     sm.def("proxy_init3F", [](double start) {
-        py::array_t<double, py::array::f_style> a({ 3, 3, 3 });
+        py::array_t<double, py::array::f_style> a({3, 3, 3});
         auto r = a.mutable_unchecked<3>();
-        for (py::ssize_t k = 0; k < r.shape(2); k++)
-        for (py::ssize_t j = 0; j < r.shape(1); j++)
-        for (py::ssize_t i = 0; i < r.shape(0); i++)
-            r(i, j, k) = start++;
+        for (py::ssize_t k = 0; k < r.shape(2); k++) {
+            for (py::ssize_t j = 0; j < r.shape(1); j++) {
+                for (py::ssize_t i = 0; i < r.shape(0); i++) {
+                    r(i, j, k) = start++;
+                }
+            }
+        }
         return a;
     });
     sm.def("proxy_squared_L2_norm", [](const py::array_t<double> &a) {
         auto r = a.unchecked<1>();
         double sumsq = 0;
-        for (py::ssize_t i = 0; i < r.shape(0); i++)
+        for (py::ssize_t i = 0; i < r.shape(0); i++) {
             sumsq += r[i] * r(i); // Either notation works for a 1D array
+        }
         return sumsq;
     });
 
@@ -343,51 +377,69 @@ TEST_SUBMODULE(numpy_array, sm) {
 
     // test_array_unchecked_dyn_dims
     // Same as the above, but without a compile-time dimensions specification:
-    sm.def("proxy_add2_dyn", [](py::array_t<double> a, double v) {
-        auto r = a.mutable_unchecked();
-        if (r.ndim() != 2) throw std::domain_error("error: ndim != 2");
-        for (py::ssize_t i = 0; i < r.shape(0); i++)
-            for (py::ssize_t j = 0; j < r.shape(1); j++)
-                r(i, j) += v;
-    }, py::arg{}.noconvert(), py::arg());
+    sm.def(
+        "proxy_add2_dyn",
+        [](py::array_t<double> a, double v) {
+            auto r = a.mutable_unchecked();
+            if (r.ndim() != 2) {
+                throw std::domain_error("error: ndim != 2");
+            }
+            for (py::ssize_t i = 0; i < r.shape(0); i++) {
+                for (py::ssize_t j = 0; j < r.shape(1); j++) {
+                    r(i, j) += v;
+                }
+            }
+        },
+        py::arg{}.noconvert(),
+        py::arg());
     sm.def("proxy_init3_dyn", [](double start) {
-        py::array_t<double, py::array::c_style> a({ 3, 3, 3 });
+        py::array_t<double, py::array::c_style> a({3, 3, 3});
         auto r = a.mutable_unchecked();
-        if (r.ndim() != 3) throw std::domain_error("error: ndim != 3");
-        for (py::ssize_t i = 0; i < r.shape(0); i++)
-        for (py::ssize_t j = 0; j < r.shape(1); j++)
-        for (py::ssize_t k = 0; k < r.shape(2); k++)
-            r(i, j, k) = start++;
+        if (r.ndim() != 3) {
+            throw std::domain_error("error: ndim != 3");
+        }
+        for (py::ssize_t i = 0; i < r.shape(0); i++) {
+            for (py::ssize_t j = 0; j < r.shape(1); j++) {
+                for (py::ssize_t k = 0; k < r.shape(2); k++) {
+                    r(i, j, k) = start++;
+                }
+            }
+        }
         return a;
     });
     sm.def("proxy_auxiliaries2_dyn", [](py::array_t<double> a) {
         return auxiliaries(a.unchecked(), a.mutable_unchecked());
     });
 
-    sm.def("array_auxiliaries2", [](py::array_t<double> a) {
-        return auxiliaries(a, a);
-    });
+    sm.def("array_auxiliaries2", [](py::array_t<double> a) { return auxiliaries(a, a); });
 
     // test_array_failures
-    // Issue #785: Uninformative "Unknown internal error" exception when constructing array from empty object:
+    // Issue #785: Uninformative "Unknown internal error" exception when constructing array from
+    // empty object:
     sm.def("array_fail_test", []() { return py::array(py::object()); });
     sm.def("array_t_fail_test", []() { return py::array_t<double>(py::object()); });
     // Make sure the error from numpy is being passed through:
-    sm.def("array_fail_test_negative_size", []() { int c = 0; return py::array(-1, &c); });
+    sm.def("array_fail_test_negative_size", []() {
+        int c = 0;
+        return py::array(-1, &c);
+    });
 
     // test_initializer_list
     // Issue (unnumbered; reported in #788): regression: initializer lists can be ambiguous
-    sm.def("array_initializer_list1", []() { return py::array_t<float>(1); }); // { 1 } also works, but clang warns about it
-    sm.def("array_initializer_list2", []() { return py::array_t<float>({ 1, 2 }); });
-    sm.def("array_initializer_list3", []() { return py::array_t<float>({ 1, 2, 3 }); });
-    sm.def("array_initializer_list4", []() { return py::array_t<float>({ 1, 2, 3, 4 }); });
+    sm.def("array_initializer_list1", []() { return py::array_t<float>(1); });
+    // { 1 } also works for the above, but clang warns about it
+    sm.def("array_initializer_list2", []() { return py::array_t<float>({1, 2}); });
+    sm.def("array_initializer_list3", []() { return py::array_t<float>({1, 2, 3}); });
+    sm.def("array_initializer_list4", []() { return py::array_t<float>({1, 2, 3, 4}); });
 
     // test_array_resize
     // reshape array to 2D without changing size
     sm.def("array_reshape2", [](py::array_t<double> a) {
-        const auto dim_sz = (py::ssize_t)std::sqrt(a.size());
-        if (dim_sz * dim_sz != a.size())
-            throw std::domain_error("array_reshape2: input array total size is not a squared integer");
+        const auto dim_sz = (py::ssize_t) std::sqrt(a.size());
+        if (dim_sz * dim_sz != a.size()) {
+            throw std::domain_error(
+                "array_reshape2: input array total size is not a squared integer");
+        }
         a.resize({dim_sz, dim_sz});
     });
 
diff --git a/pybind11/tests/test_numpy_array.py b/pybind11/tests/test_numpy_array.py
index e4138f0239..504963b166 100644
--- a/pybind11/tests/test_numpy_array.py
+++ b/pybind11/tests/test_numpy_array.py
@@ -1,4 +1,3 @@
-# -*- coding: utf-8 -*-
 import pytest
 
 import env  # noqa: F401
@@ -19,9 +18,7 @@ def test_dtypes():
         assert check.numpy == check.pybind11, check
         if check.numpy.num != check.pybind11.num:
             print(
-                "NOTE: typenum mismatch for {}: {} != {}".format(
-                    check, check.numpy.num, check.pybind11.num
-                )
+                f"NOTE: typenum mismatch for {check}: {check.numpy.num} != {check.pybind11.num}"
             )
 
 
@@ -117,9 +114,7 @@ def test_at_fail(arr, dim):
     for func in m.at_t, m.mutate_at_t:
         with pytest.raises(IndexError) as excinfo:
             func(arr, *([0] * dim))
-        assert str(excinfo.value) == "index dimension mismatch: {} (ndim = 2)".format(
-            dim
-        )
+        assert str(excinfo.value) == f"index dimension mismatch: {dim} (ndim = 2)"
 
 
 def test_at(arr):
@@ -193,8 +188,6 @@ def test_make_empty_shaped_array():
 
 def test_wrap():
     def assert_references(a, b, base=None):
-        from distutils.version import LooseVersion
-
         if base is None:
             base = a
         assert a is not b
@@ -205,7 +198,8 @@ def assert_references(a, b, base=None):
         assert a.flags.f_contiguous == b.flags.f_contiguous
         assert a.flags.writeable == b.flags.writeable
         assert a.flags.aligned == b.flags.aligned
-        if LooseVersion(np.__version__) >= LooseVersion("1.14.0"):
+        # 1.13 supported Python 3.6
+        if tuple(int(x) for x in np.__version__.split(".")[:2]) >= (1, 14):
             assert a.flags.writebackifcopy == b.flags.writebackifcopy
         else:
             assert a.flags.updateifcopy == b.flags.updateifcopy
diff --git a/pybind11/tests/test_numpy_dtypes.cpp b/pybind11/tests/test_numpy_dtypes.cpp
index bf4f4cee74..6654f9ed8f 100644
--- a/pybind11/tests/test_numpy_dtypes.cpp
+++ b/pybind11/tests/test_numpy_dtypes.cpp
@@ -7,13 +7,14 @@
   BSD-style license that can be found in the LICENSE file.
 */
 
-#include "pybind11_tests.h"
 #include <pybind11/numpy.h>
 
+#include "pybind11_tests.h"
+
 #ifdef __GNUC__
-#define PYBIND11_PACKED(cls) cls __attribute__((__packed__))
+#    define PYBIND11_PACKED(cls) cls __attribute__((__packed__))
 #else
-#define PYBIND11_PACKED(cls) __pragma(pack(push, 1)) cls __pragma(pack(pop))
+#    define PYBIND11_PACKED(cls) __pragma(pack(push, 1)) cls __pragma(pack(pop))
 #endif
 
 namespace py = pybind11;
@@ -25,7 +26,7 @@ struct SimpleStruct {
     long double ldbl_;
 };
 
-std::ostream& operator<<(std::ostream& os, const SimpleStruct& v) {
+std::ostream &operator<<(std::ostream &os, const SimpleStruct &v) {
     return os << "s:" << v.bool_ << "," << v.uint_ << "," << v.float_ << "," << v.ldbl_;
 }
 
@@ -43,7 +44,7 @@ PYBIND11_PACKED(struct PackedStruct {
     long double ldbl_;
 });
 
-std::ostream& operator<<(std::ostream& os, const PackedStruct& v) {
+std::ostream &operator<<(std::ostream &os, const PackedStruct &v) {
     return os << "p:" << v.bool_ << "," << v.uint_ << "," << v.float_ << "," << v.ldbl_;
 }
 
@@ -52,7 +53,7 @@ PYBIND11_PACKED(struct NestedStruct {
     PackedStruct b;
 });
 
-std::ostream& operator<<(std::ostream& os, const NestedStruct& v) {
+std::ostream &operator<<(std::ostream &os, const NestedStruct &v) {
     return os << "n:a=" << v.a << ";b=" << v.b;
 }
 
@@ -70,7 +71,7 @@ struct PartialNestedStruct {
     uint64_t dummy2;
 };
 
-struct UnboundStruct { };
+struct UnboundStruct {};
 
 struct StringStruct {
     char a[3];
@@ -82,7 +83,7 @@ struct ComplexStruct {
     std::complex<double> cdbl;
 };
 
-std::ostream& operator<<(std::ostream& os, const ComplexStruct& v) {
+std::ostream &operator<<(std::ostream &os, const ComplexStruct &v) {
     return os << "c:" << v.cflt << "," << v.cdbl;
 }
 
@@ -106,46 +107,50 @@ PYBIND11_PACKED(struct EnumStruct {
     E2 e2;
 });
 
-std::ostream& operator<<(std::ostream& os, const StringStruct& v) {
+std::ostream &operator<<(std::ostream &os, const StringStruct &v) {
     os << "a='";
-    for (size_t i = 0; i < 3 && (v.a[i] != 0); i++)
+    for (size_t i = 0; i < 3 && (v.a[i] != 0); i++) {
         os << v.a[i];
+    }
     os << "',b='";
-    for (size_t i = 0; i < 3 && (v.b[i] != 0); i++)
+    for (size_t i = 0; i < 3 && (v.b[i] != 0); i++) {
         os << v.b[i];
+    }
     return os << "'";
 }
 
-std::ostream& operator<<(std::ostream& os, const ArrayStruct& v) {
+std::ostream &operator<<(std::ostream &os, const ArrayStruct &v) {
     os << "a={";
     for (int i = 0; i < 3; i++) {
-        if (i > 0)
+        if (i > 0) {
             os << ',';
+        }
         os << '{';
-        for (int j = 0; j < 3; j++)
+        for (int j = 0; j < 3; j++) {
             os << v.a[i][j] << ',';
+        }
         os << v.a[i][3] << '}';
     }
     os << "},b={" << v.b[0] << ',' << v.b[1];
     os << "},c={" << int(v.c[0]) << ',' << int(v.c[1]) << ',' << int(v.c[2]);
     os << "},d={";
     for (int i = 0; i < 4; i++) {
-        if (i > 0)
+        if (i > 0) {
             os << ',';
+        }
         os << '{' << v.d[i][0] << ',' << v.d[i][1] << '}';
     }
     return os << '}';
 }
 
-std::ostream& operator<<(std::ostream& os, const EnumStruct& v) {
+std::ostream &operator<<(std::ostream &os, const EnumStruct &v) {
     return os << "e1=" << (v.e1 == E1::A ? "A" : "B") << ",e2=" << (v.e2 == E2::X ? "X" : "Y");
 }
 
 template <typename T>
 py::array mkarray_via_buffer(size_t n) {
-    return py::array(py::buffer_info(nullptr, sizeof(T),
-                                     py::format_descriptor<T>::format(),
-                                     1, { n }, { sizeof(T) }));
+    return py::array(py::buffer_info(
+        nullptr, sizeof(T), py::format_descriptor<T>::format(), 1, {n}, {sizeof(T)}));
 }
 
 #define SET_TEST_VALS(s, i)                                                                       \
@@ -160,7 +165,7 @@ template <typename S>
 py::array_t<S, 0> create_recarray(size_t n) {
     auto arr = mkarray_via_buffer<S>(n);
     auto req = arr.request();
-    auto ptr = static_cast<S*>(req.ptr);
+    auto *ptr = static_cast<S *>(req.ptr);
     for (size_t i = 0; i < n; i++) {
         SET_TEST_VALS(ptr[i], i);
     }
@@ -170,7 +175,7 @@ py::array_t<S, 0> create_recarray(size_t n) {
 template <typename S>
 py::list print_recarray(py::array_t<S, 0> arr) {
     const auto req = arr.request();
-    const auto ptr = static_cast<S*>(req.ptr);
+    auto *const ptr = static_cast<S *>(req.ptr);
     auto l = py::list();
     for (py::ssize_t i = 0; i < req.size; i++) {
         std::stringstream ss;
@@ -183,12 +188,12 @@ py::list print_recarray(py::array_t<S, 0> arr) {
 py::array_t<int32_t, 0> test_array_ctors(int i) {
     using arr_t = py::array_t<int32_t, 0>;
 
-    std::vector<int32_t> data { 1, 2, 3, 4, 5, 6 };
-    std::vector<py::ssize_t> shape { 3, 2 };
-    std::vector<py::ssize_t> strides { 8, 4 };
+    std::vector<int32_t> data{1, 2, 3, 4, 5, 6};
+    std::vector<py::ssize_t> shape{3, 2};
+    std::vector<py::ssize_t> strides{8, 4};
 
-    auto ptr = data.data();
-    auto vptr = (void *) ptr;
+    auto *ptr = data.data();
+    auto *vptr = (void *) ptr;
     auto dtype = py::dtype("int32");
 
     py::buffer_info buf_ndim1(vptr, 4, "i", 6);
@@ -198,41 +203,69 @@ py::array_t<int32_t, 0> test_array_ctors(int i) {
 
     auto fill = [](py::array arr) {
         auto req = arr.request();
-        for (int i = 0; i < 6; i++) ((int32_t *) req.ptr)[i] = i + 1;
+        for (int i = 0; i < 6; i++) {
+            ((int32_t *) req.ptr)[i] = i + 1;
+        }
         return arr;
     };
 
     switch (i) {
-    // shape: (3, 2)
-    case 10: return arr_t(shape, strides, ptr);
-    case 11: return py::array(shape, strides, ptr);
-    case 12: return py::array(dtype, shape, strides, vptr);
-    case 13: return arr_t(shape, ptr);
-    case 14: return py::array(shape, ptr);
-    case 15: return py::array(dtype, shape, vptr);
-    case 16: return arr_t(buf_ndim2);
-    case 17: return py::array(buf_ndim2);
-    // shape: (3, 2) - post-fill
-    case 20: return fill(arr_t(shape, strides));
-    case 21: return py::array(shape, strides, ptr); // can't have nullptr due to templated ctor
-    case 22: return fill(py::array(dtype, shape, strides));
-    case 23: return fill(arr_t(shape));
-    case 24: return py::array(shape, ptr); // can't have nullptr due to templated ctor
-    case 25: return fill(py::array(dtype, shape));
-    case 26: return fill(arr_t(buf_ndim2_null));
-    case 27: return fill(py::array(buf_ndim2_null));
-    // shape: (6, )
-    case 30: return arr_t(6, ptr);
-    case 31: return py::array(6, ptr);
-    case 32: return py::array(dtype, 6, vptr);
-    case 33: return arr_t(buf_ndim1);
-    case 34: return py::array(buf_ndim1);
-    // shape: (6, )
-    case 40: return fill(arr_t(6));
-    case 41: return py::array(6, ptr);  // can't have nullptr due to templated ctor
-    case 42: return fill(py::array(dtype, 6));
-    case 43: return fill(arr_t(buf_ndim1_null));
-    case 44: return fill(py::array(buf_ndim1_null));
+        // shape: (3, 2)
+        case 10:
+            return arr_t(shape, strides, ptr);
+        case 11:
+            return py::array(shape, strides, ptr);
+        case 12:
+            return py::array(dtype, shape, strides, vptr);
+        case 13:
+            return arr_t(shape, ptr);
+        case 14:
+            return py::array(shape, ptr);
+        case 15:
+            return py::array(dtype, shape, vptr);
+        case 16:
+            return arr_t(buf_ndim2);
+        case 17:
+            return py::array(buf_ndim2);
+        // shape: (3, 2) - post-fill
+        case 20:
+            return fill(arr_t(shape, strides));
+        case 21:
+            return py::array(shape, strides, ptr); // can't have nullptr due to templated ctor
+        case 22:
+            return fill(py::array(dtype, shape, strides));
+        case 23:
+            return fill(arr_t(shape));
+        case 24:
+            return py::array(shape, ptr); // can't have nullptr due to templated ctor
+        case 25:
+            return fill(py::array(dtype, shape));
+        case 26:
+            return fill(arr_t(buf_ndim2_null));
+        case 27:
+            return fill(py::array(buf_ndim2_null));
+        // shape: (6, )
+        case 30:
+            return arr_t(6, ptr);
+        case 31:
+            return py::array(6, ptr);
+        case 32:
+            return py::array(dtype, 6, vptr);
+        case 33:
+            return arr_t(buf_ndim1);
+        case 34:
+            return py::array(buf_ndim1);
+        // shape: (6, )
+        case 40:
+            return fill(arr_t(6));
+        case 41:
+            return py::array(6, ptr); // can't have nullptr due to templated ctor
+        case 42:
+            return fill(py::array(dtype, 6));
+        case 43:
+            return fill(arr_t(buf_ndim1_null));
+        case 44:
+            return fill(py::array(buf_ndim1_null));
     }
     return arr_t();
 }
@@ -244,14 +277,21 @@ py::list test_dtype_ctors() {
     list.append(py::dtype::from_args(py::str("bool")));
     py::list names, offsets, formats;
     py::dict dict;
-    names.append(py::str("a")); names.append(py::str("b")); dict["names"] = names;
-    offsets.append(py::int_(1)); offsets.append(py::int_(10)); dict["offsets"] = offsets;
-    formats.append(py::dtype("int32")); formats.append(py::dtype("float64")); dict["formats"] = formats;
+    names.append(py::str("a"));
+    names.append(py::str("b"));
+    dict["names"] = names;
+    offsets.append(py::int_(1));
+    offsets.append(py::int_(10));
+    dict["offsets"] = offsets;
+    formats.append(py::dtype("int32"));
+    formats.append(py::dtype("float64"));
+    dict["formats"] = formats;
     dict["itemsize"] = py::int_(20);
     list.append(py::dtype::from_args(dict));
     list.append(py::dtype(names, formats, offsets, 20));
-    list.append(py::dtype(py::buffer_info((void *) 0, sizeof(unsigned int), "I", 1)));
-    list.append(py::dtype(py::buffer_info((void *) 0, 0, "T{i:a:f:b:}", 1)));
+    list.append(py::dtype(py::buffer_info((void *) nullptr, sizeof(unsigned int), "I", 1)));
+    list.append(py::dtype(py::buffer_info((void *) nullptr, 0, "T{i:a:f:b:}", 1)));
+    list.append(py::dtype(py::detail::npy_api::NPY_DOUBLE_));
     return list;
 }
 
@@ -259,8 +299,11 @@ struct A {};
 struct B {};
 
 TEST_SUBMODULE(numpy_dtypes, m) {
-    try { py::module_::import("numpy"); }
-    catch (...) { return; }
+    try {
+        py::module_::import("numpy");
+    } catch (const py::error_already_set &) {
+        return;
+    }
 
     // typeinfo may be registered before the dtype descriptor for scalar casts to work...
     py::class_<SimpleStruct>(m, "SimpleStruct")
@@ -278,11 +321,10 @@ TEST_SUBMODULE(numpy_dtypes, m) {
             if (py::len(tup) != 4) {
                 throw py::cast_error("Invalid size");
             }
-            return SimpleStruct{
-                tup[0].cast<bool>(),
-                tup[1].cast<uint32_t>(),
-                tup[2].cast<float>(),
-                tup[3].cast<long double>()};
+            return SimpleStruct{tup[0].cast<bool>(),
+                                tup[1].cast<uint32_t>(),
+                                tup[2].cast<float>(),
+                                tup[3].cast<long double>()};
         });
 
     PYBIND11_NUMPY_DTYPE(SimpleStruct, bool_, uint_, float_, ldbl_);
@@ -301,19 +343,21 @@ TEST_SUBMODULE(numpy_dtypes, m) {
 
     PYBIND11_NUMPY_DTYPE_EX(StructWithUglyNames, __x__, "x", __y__, "y");
 
-    // If uncommented, this should produce a static_assert failure telling the user that the struct
+#ifdef PYBIND11_NEVER_DEFINED_EVER
+    // If enabled, this should produce a static_assert failure telling the user that the struct
     // is not a POD type
-//    struct NotPOD { std::string v; NotPOD() : v("hi") {}; };
-//    PYBIND11_NUMPY_DTYPE(NotPOD, v);
+    struct NotPOD {
+        std::string v;
+        NotPOD() : v("hi"){};
+    };
+    PYBIND11_NUMPY_DTYPE(NotPOD, v);
+#endif
 
     // Check that dtypes can be registered programmatically, both from
     // initializer lists of field descriptors and from other containers.
-    py::detail::npy_format_descriptor<A>::register_dtype(
-        {}
-    );
+    py::detail::npy_format_descriptor<A>::register_dtype({});
     py::detail::npy_format_descriptor<B>::register_dtype(
-        std::vector<py::detail::field_descriptor>{}
-    );
+        std::vector<py::detail::field_descriptor>{});
 
     // test_recarray, test_scalar_conversion
     m.def("create_rec_simple", &create_recarray<SimpleStruct>);
@@ -321,7 +365,7 @@ TEST_SUBMODULE(numpy_dtypes, m) {
     m.def("create_rec_nested", [](size_t n) { // test_signature
         py::array_t<NestedStruct, 0> arr = mkarray_via_buffer<NestedStruct>(n);
         auto req = arr.request();
-        auto ptr = static_cast<NestedStruct*>(req.ptr);
+        auto *ptr = static_cast<NestedStruct *>(req.ptr);
         for (size_t i = 0; i < n; i++) {
             SET_TEST_VALS(ptr[i].a, i);
             SET_TEST_VALS(ptr[i].b, i + 1);
@@ -332,7 +376,7 @@ TEST_SUBMODULE(numpy_dtypes, m) {
     m.def("create_rec_partial_nested", [](size_t n) {
         py::array_t<PartialNestedStruct, 0> arr = mkarray_via_buffer<PartialNestedStruct>(n);
         auto req = arr.request();
-        auto ptr = static_cast<PartialNestedStruct*>(req.ptr);
+        auto *ptr = static_cast<PartialNestedStruct *>(req.ptr);
         for (size_t i = 0; i < n; i++) {
             SET_TEST_VALS(ptr[i].a, i);
         }
@@ -346,17 +390,15 @@ TEST_SUBMODULE(numpy_dtypes, m) {
     m.def("get_format_unbound", []() { return py::format_descriptor<UnboundStruct>::format(); });
     m.def("print_format_descriptors", []() {
         py::list l;
-        for (const auto &fmt : {
-            py::format_descriptor<SimpleStruct>::format(),
-            py::format_descriptor<PackedStruct>::format(),
-            py::format_descriptor<NestedStruct>::format(),
-            py::format_descriptor<PartialStruct>::format(),
-            py::format_descriptor<PartialNestedStruct>::format(),
-            py::format_descriptor<StringStruct>::format(),
-            py::format_descriptor<ArrayStruct>::format(),
-            py::format_descriptor<EnumStruct>::format(),
-            py::format_descriptor<ComplexStruct>::format()
-        }) {
+        for (const auto &fmt : {py::format_descriptor<SimpleStruct>::format(),
+                                py::format_descriptor<PackedStruct>::format(),
+                                py::format_descriptor<NestedStruct>::format(),
+                                py::format_descriptor<PartialStruct>::format(),
+                                py::format_descriptor<PartialNestedStruct>::format(),
+                                py::format_descriptor<StringStruct>::format(),
+                                py::format_descriptor<ArrayStruct>::format(),
+                                py::format_descriptor<EnumStruct>::format(),
+                                py::format_descriptor<ComplexStruct>::format()}) {
             l.append(py::cast(fmt));
         }
         return l;
@@ -364,50 +406,79 @@ TEST_SUBMODULE(numpy_dtypes, m) {
 
     // test_dtype
     std::vector<const char *> dtype_names{
-        "byte", "short", "intc", "int_", "longlong",
-        "ubyte", "ushort", "uintc", "uint", "ulonglong",
-        "half", "single", "double", "longdouble",
-        "csingle", "cdouble", "clongdouble",
-        "bool_", "datetime64", "timedelta64", "object_"
-    };
+        "byte",    "short",   "intc",        "int_",  "longlong",   "ubyte",       "ushort",
+        "uintc",   "uint",    "ulonglong",   "half",  "single",     "double",      "longdouble",
+        "csingle", "cdouble", "clongdouble", "bool_", "datetime64", "timedelta64", "object_"};
 
     m.def("print_dtypes", []() {
         py::list l;
-        for (const py::handle &d : {
-            py::dtype::of<SimpleStruct>(),
-            py::dtype::of<PackedStruct>(),
-            py::dtype::of<NestedStruct>(),
-            py::dtype::of<PartialStruct>(),
-            py::dtype::of<PartialNestedStruct>(),
-            py::dtype::of<StringStruct>(),
-            py::dtype::of<ArrayStruct>(),
-            py::dtype::of<EnumStruct>(),
-            py::dtype::of<StructWithUglyNames>(),
-            py::dtype::of<ComplexStruct>()
-        })
+        for (const py::handle &d : {py::dtype::of<SimpleStruct>(),
+                                    py::dtype::of<PackedStruct>(),
+                                    py::dtype::of<NestedStruct>(),
+                                    py::dtype::of<PartialStruct>(),
+                                    py::dtype::of<PartialNestedStruct>(),
+                                    py::dtype::of<StringStruct>(),
+                                    py::dtype::of<ArrayStruct>(),
+                                    py::dtype::of<EnumStruct>(),
+                                    py::dtype::of<StructWithUglyNames>(),
+                                    py::dtype::of<ComplexStruct>()}) {
             l.append(py::str(d));
+        }
         return l;
     });
     m.def("test_dtype_ctors", &test_dtype_ctors);
     m.def("test_dtype_kind", [dtype_names]() {
         py::list list;
-        for (auto& dt_name : dtype_names)
+        for (const auto &dt_name : dtype_names) {
             list.append(py::dtype(dt_name).kind());
+        }
         return list;
     });
     m.def("test_dtype_char_", [dtype_names]() {
         py::list list;
-        for (auto& dt_name : dtype_names)
+        for (const auto &dt_name : dtype_names) {
             list.append(py::dtype(dt_name).char_());
+        }
+        return list;
+    });
+    m.def("test_dtype_num", [dtype_names]() {
+        py::list list;
+        for (const auto &dt_name : dtype_names) {
+            list.append(py::dtype(dt_name).num());
+        }
+        return list;
+    });
+    m.def("test_dtype_byteorder", [dtype_names]() {
+        py::list list;
+        for (const auto &dt_name : dtype_names) {
+            list.append(py::dtype(dt_name).byteorder());
+        }
+        return list;
+    });
+    m.def("test_dtype_alignment", [dtype_names]() {
+        py::list list;
+        for (const auto &dt_name : dtype_names) {
+            list.append(py::dtype(dt_name).alignment());
+        }
+        return list;
+    });
+    m.def("test_dtype_flags", [dtype_names]() {
+        py::list list;
+        for (const auto &dt_name : dtype_names) {
+            list.append(py::dtype(dt_name).flags());
+        }
         return list;
     });
     m.def("test_dtype_methods", []() {
         py::list list;
         auto dt1 = py::dtype::of<int32_t>();
         auto dt2 = py::dtype::of<SimpleStruct>();
-        list.append(dt1); list.append(dt2);
-        list.append(py::bool_(dt1.has_fields())); list.append(py::bool_(dt2.has_fields()));
-        list.append(py::int_(dt1.itemsize())); list.append(py::int_(dt2.itemsize()));
+        list.append(dt1);
+        list.append(dt2);
+        list.append(py::bool_(dt1.has_fields()));
+        list.append(py::bool_(dt2.has_fields()));
+        list.append(py::int_(dt1.itemsize()));
+        list.append(py::int_(dt2.itemsize()));
         return list;
     });
     struct TrailingPaddingStruct {
@@ -422,17 +493,24 @@ TEST_SUBMODULE(numpy_dtypes, m) {
         py::array_t<StringStruct, 0> arr = mkarray_via_buffer<StringStruct>(non_empty ? 4 : 0);
         if (non_empty) {
             auto req = arr.request();
-            auto ptr = static_cast<StringStruct*>(req.ptr);
-            for (py::ssize_t i = 0; i < req.size * req.itemsize; i++)
-                static_cast<char*>(req.ptr)[i] = 0;
-            ptr[1].a[0] = 'a'; ptr[1].b[0] = 'a';
-            ptr[2].a[0] = 'a'; ptr[2].b[0] = 'a';
-            ptr[3].a[0] = 'a'; ptr[3].b[0] = 'a';
-
-            ptr[2].a[1] = 'b'; ptr[2].b[1] = 'b';
-            ptr[3].a[1] = 'b'; ptr[3].b[1] = 'b';
-
-            ptr[3].a[2] = 'c'; ptr[3].b[2] = 'c';
+            auto *ptr = static_cast<StringStruct *>(req.ptr);
+            for (py::ssize_t i = 0; i < req.size * req.itemsize; i++) {
+                static_cast<char *>(req.ptr)[i] = 0;
+            }
+            ptr[1].a[0] = 'a';
+            ptr[1].b[0] = 'a';
+            ptr[2].a[0] = 'a';
+            ptr[2].b[0] = 'a';
+            ptr[3].a[0] = 'a';
+            ptr[3].b[0] = 'a';
+
+            ptr[2].a[1] = 'b';
+            ptr[2].b[1] = 'b';
+            ptr[3].a[1] = 'b';
+            ptr[3].b[1] = 'b';
+
+            ptr[3].a[2] = 'c';
+            ptr[3].b[2] = 'c';
         }
         return arr;
     });
@@ -441,18 +519,24 @@ TEST_SUBMODULE(numpy_dtypes, m) {
     // test_array_array
     m.def("create_array_array", [](size_t n) {
         py::array_t<ArrayStruct, 0> arr = mkarray_via_buffer<ArrayStruct>(n);
-        auto ptr = (ArrayStruct *) arr.mutable_data();
+        auto *ptr = (ArrayStruct *) arr.mutable_data();
         for (size_t i = 0; i < n; i++) {
-            for (size_t j = 0; j < 3; j++)
-                for (size_t k = 0; k < 4; k++)
+            for (size_t j = 0; j < 3; j++) {
+                for (size_t k = 0; k < 4; k++) {
                     ptr[i].a[j][k] = char('A' + (i * 100 + j * 10 + k) % 26);
-            for (size_t j = 0; j < 2; j++)
+                }
+            }
+            for (size_t j = 0; j < 2; j++) {
                 ptr[i].b[j] = int32_t(i * 1000 + j);
-            for (size_t j = 0; j < 3; j++)
+            }
+            for (size_t j = 0; j < 3; j++) {
                 ptr[i].c[j] = uint8_t(i * 10 + j);
-            for (size_t j = 0; j < 4; j++)
-                for (size_t k = 0; k < 2; k++)
+            }
+            for (size_t j = 0; j < 4; j++) {
+                for (size_t k = 0; k < 2; k++) {
                     ptr[i].d[j][k] = float(i) * 100.0f + float(j) * 10.0f + float(k);
+                }
+            }
         }
         return arr;
     });
@@ -461,7 +545,7 @@ TEST_SUBMODULE(numpy_dtypes, m) {
     // test_enum_array
     m.def("create_enum_array", [](size_t n) {
         py::array_t<EnumStruct, 0> arr = mkarray_via_buffer<EnumStruct>(n);
-        auto ptr = (EnumStruct *) arr.mutable_data();
+        auto *ptr = (EnumStruct *) arr.mutable_data();
         for (size_t i = 0; i < n; i++) {
             ptr[i].e1 = static_cast<E1>(-1 + ((int) i % 2) * 2);
             ptr[i].e2 = static_cast<E2>(1 + (i % 2));
@@ -473,7 +557,7 @@ TEST_SUBMODULE(numpy_dtypes, m) {
     // test_complex_array
     m.def("create_complex_array", [](size_t n) {
         py::array_t<ComplexStruct, 0> arr = mkarray_via_buffer<ComplexStruct>(n);
-        auto ptr = (ComplexStruct *) arr.mutable_data();
+        auto *ptr = (ComplexStruct *) arr.mutable_data();
         for (size_t i = 0; i < n; i++) {
             ptr[i].cflt.real(float(i));
             ptr[i].cflt.imag(float(i) + 0.25f);
@@ -496,14 +580,19 @@ TEST_SUBMODULE(numpy_dtypes, m) {
     PYBIND11_NUMPY_DTYPE(CompareStruct, x, y, z);
     m.def("compare_buffer_info", []() {
         py::list list;
-        list.append(py::bool_(py::detail::compare_buffer_info<float>::compare(py::buffer_info(nullptr, sizeof(float), "f", 1))));
-        list.append(py::bool_(py::detail::compare_buffer_info<unsigned>::compare(py::buffer_info(nullptr, sizeof(int), "I", 1))));
-        list.append(py::bool_(py::detail::compare_buffer_info<long>::compare(py::buffer_info(nullptr, sizeof(long), "l", 1))));
-        list.append(py::bool_(py::detail::compare_buffer_info<long>::compare(py::buffer_info(nullptr, sizeof(long), sizeof(long) == sizeof(int) ? "i" : "q", 1))));
-        list.append(py::bool_(py::detail::compare_buffer_info<CompareStruct>::compare(py::buffer_info(nullptr, sizeof(CompareStruct), "T{?:x:3xI:y:f:z:}", 1))));
+        list.append(py::bool_(py::detail::compare_buffer_info<float>::compare(
+            py::buffer_info(nullptr, sizeof(float), "f", 1))));
+        list.append(py::bool_(py::detail::compare_buffer_info<unsigned>::compare(
+            py::buffer_info(nullptr, sizeof(int), "I", 1))));
+        list.append(py::bool_(py::detail::compare_buffer_info<long>::compare(
+            py::buffer_info(nullptr, sizeof(long), "l", 1))));
+        list.append(py::bool_(py::detail::compare_buffer_info<long>::compare(
+            py::buffer_info(nullptr, sizeof(long), sizeof(long) == sizeof(int) ? "i" : "q", 1))));
+        list.append(py::bool_(py::detail::compare_buffer_info<CompareStruct>::compare(
+            py::buffer_info(nullptr, sizeof(CompareStruct), "T{?:x:3xI:y:f:z:}", 1))));
         return list;
     });
-    m.def("buffer_to_dtype", [](py::buffer& buf) { return py::dtype(buf.request()); });
+    m.def("buffer_to_dtype", [](py::buffer &buf) { return py::dtype(buf.request()); });
 
     // test_scalar_conversion
     auto f_simple = [](SimpleStruct s) { return s.uint_ * 10; };
@@ -517,8 +606,9 @@ TEST_SUBMODULE(numpy_dtypes, m) {
     m.def("f_simple_pass_thru_vectorized", py::vectorize(f_simple_pass_thru));
 
     // test_register_dtype
-    m.def("register_dtype", []() { PYBIND11_NUMPY_DTYPE(SimpleStruct, bool_, uint_, float_, ldbl_); });
+    m.def("register_dtype",
+          []() { PYBIND11_NUMPY_DTYPE(SimpleStruct, bool_, uint_, float_, ldbl_); });
 
     // test_str_leak
-    m.def("dtype_wrapper", [](py::object d) { return py::dtype::from_args(std::move(d)); });
+    m.def("dtype_wrapper", [](const py::object &d) { return py::dtype::from_args(d); });
 }
diff --git a/pybind11/tests/test_numpy_dtypes.py b/pybind11/tests/test_numpy_dtypes.py
index 06e578329e..fcfd587b18 100644
--- a/pybind11/tests/test_numpy_dtypes.py
+++ b/pybind11/tests/test_numpy_dtypes.py
@@ -1,4 +1,3 @@
-# -*- coding: utf-8 -*-
 import re
 
 import pytest
@@ -15,7 +14,7 @@ def simple_dtype():
     return np.dtype(
         {
             "names": ["bool_", "uint_", "float_", "ldbl_"],
-            "formats": ["?", "u4", "f4", "f{}".format(ld.itemsize)],
+            "formats": ["?", "u4", "f4", f"f{ld.itemsize}"],
             "offsets": [0, 4, 8, (16 if ld.alignment > 4 else 12)],
         }
     )
@@ -32,8 +31,8 @@ def dt_fmt():
     e = "<" if byteorder == "little" else ">"
     return (
         "{{'names':['bool_','uint_','float_','ldbl_'],"
-        " 'formats':['?','" + e + "u4','" + e + "f4','" + e + "f{}'],"
-        " 'offsets':[0,4,8,{}], 'itemsize':{}}}"
+        "'formats':['?','" + e + "u4','" + e + "f4','" + e + "f{}'],"
+        "'offsets':[0,4,8,{}],'itemsize':{}}}"
     )
 
 
@@ -46,7 +45,7 @@ def simple_dtype_fmt():
 def packed_dtype_fmt():
     from sys import byteorder
 
-    return "[('bool_', '?'), ('uint_', '{e}u4'), ('float_', '{e}f4'), ('ldbl_', '{e}f{}')]".format(
+    return "[('bool_','?'),('uint_','{e}u4'),('float_','{e}f4'),('ldbl_','{e}f{}')]".format(
         np.dtype("longdouble").itemsize, e="<" if byteorder == "little" else ">"
     )
 
@@ -77,7 +76,7 @@ def partial_nested_fmt():
     partial_size = partial_ld_off + ld.itemsize
     partial_end_padding = partial_size % np.dtype("uint64").alignment
     partial_nested_size = partial_nested_off * 2 + partial_size + partial_end_padding
-    return "{{'names':['a'], 'formats':[{}], 'offsets':[{}], 'itemsize':{}}}".format(
+    return "{{'names':['a'],'formats':[{}],'offsets':[{}],'itemsize':{}}}".format(
         partial_dtype_fmt(), partial_nested_off, partial_nested_size
     )
 
@@ -123,25 +122,25 @@ def test_dtype(simple_dtype):
 
     e = "<" if byteorder == "little" else ">"
 
-    assert m.print_dtypes() == [
+    assert [x.replace(" ", "") for x in m.print_dtypes()] == [
         simple_dtype_fmt(),
         packed_dtype_fmt(),
-        "[('a', {}), ('b', {})]".format(simple_dtype_fmt(), packed_dtype_fmt()),
+        f"[('a',{simple_dtype_fmt()}),('b',{packed_dtype_fmt()})]",
         partial_dtype_fmt(),
         partial_nested_fmt(),
-        "[('a', 'S3'), ('b', 'S3')]",
+        "[('a','S3'),('b','S3')]",
         (
-            "{{'names':['a','b','c','d'], "
-            + "'formats':[('S4', (3,)),('"
+            "{{'names':['a','b','c','d'],"
+            + "'formats':[('S4',(3,)),('"
             + e
-            + "i4', (2,)),('u1', (3,)),('"
+            + "i4',(2,)),('u1',(3,)),('"
             + e
-            + "f4', (4, 2))], "
-            + "'offsets':[0,12,20,24], 'itemsize':56}}"
+            + "f4',(4,2))],"
+            + "'offsets':[0,12,20,24],'itemsize':56}}"
         ).format(e=e),
-        "[('e1', '" + e + "i8'), ('e2', 'u1')]",
-        "[('x', 'i1'), ('y', '" + e + "u8')]",
-        "[('cflt', '" + e + "c8'), ('cdbl', '" + e + "c16')]",
+        "[('e1','" + e + "i8'),('e2','u1')]",
+        "[('x','i1'),('y','" + e + "u8')]",
+        "[('cflt','" + e + "c8'),('cdbl','" + e + "c16')]",
     ]
 
     d1 = np.dtype(
@@ -161,6 +160,7 @@ def test_dtype(simple_dtype):
         d1,
         np.dtype("uint32"),
         d2,
+        np.dtype("d"),
     ]
 
     assert m.test_dtype_methods() == [
@@ -176,8 +176,13 @@ def test_dtype(simple_dtype):
         np.zeros(1, m.trailing_padding_dtype())
     )
 
+    expected_chars = "bhilqBHILQefdgFDG?MmO"
     assert m.test_dtype_kind() == list("iiiiiuuuuuffffcccbMmO")
-    assert m.test_dtype_char_() == list("bhilqBHILQefdgFDG?MmO")
+    assert m.test_dtype_char_() == list(expected_chars)
+    assert m.test_dtype_num() == [np.dtype(ch).num for ch in expected_chars]
+    assert m.test_dtype_byteorder() == [np.dtype(ch).byteorder for ch in expected_chars]
+    assert m.test_dtype_alignment() == [np.dtype(ch).alignment for ch in expected_chars]
+    assert m.test_dtype_flags() == [chr(np.dtype(ch).flags) for ch in expected_chars]
 
 
 def test_recarray(simple_dtype, packed_dtype):
@@ -238,7 +243,7 @@ def test_recarray(simple_dtype, packed_dtype):
     ]
 
     arr = m.create_rec_partial(3)
-    assert str(arr.dtype) == partial_dtype_fmt()
+    assert str(arr.dtype).replace(" ", "") == partial_dtype_fmt()
     partial_dtype = arr.dtype
     assert "" not in arr.dtype.fields
     assert partial_dtype.itemsize > simple_dtype.itemsize
@@ -246,7 +251,7 @@ def test_recarray(simple_dtype, packed_dtype):
     assert_equal(arr, elements, packed_dtype)
 
     arr = m.create_rec_partial_nested(3)
-    assert str(arr.dtype) == partial_nested_fmt()
+    assert str(arr.dtype).replace(" ", "") == partial_nested_fmt()
     assert "" not in arr.dtype.fields
     assert "" not in arr.dtype.fields["a"][0].fields
     assert arr.dtype.itemsize > partial_dtype.itemsize
@@ -285,12 +290,12 @@ def test_array_array():
     e = "<" if byteorder == "little" else ">"
 
     arr = m.create_array_array(3)
-    assert str(arr.dtype) == (
-        "{{'names':['a','b','c','d'], "
-        + "'formats':[('S4', (3,)),('"
+    assert str(arr.dtype).replace(" ", "") == (
+        "{{'names':['a','b','c','d'],"
+        + "'formats':[('S4',(3,)),('"
         + e
-        + "i4', (2,)),('u1', (3,)),('{e}f4', (4, 2))], "
-        + "'offsets':[0,12,20,24], 'itemsize':56}}"
+        + "i4',(2,)),('u1',(3,)),('{e}f4',(4,2))],"
+        + "'offsets':[0,12,20,24],'itemsize':56}}"
     ).format(e=e)
     assert m.print_array_array(arr) == [
         "a={{A,B,C,D},{K,L,M,N},{U,V,W,X}},b={0,1},"
diff --git a/pybind11/tests/test_numpy_vectorize.cpp b/pybind11/tests/test_numpy_vectorize.cpp
index eb5281fb1d..dcc4c6ac25 100644
--- a/pybind11/tests/test_numpy_vectorize.cpp
+++ b/pybind11/tests/test_numpy_vectorize.cpp
@@ -8,38 +8,43 @@
     BSD-style license that can be found in the LICENSE file.
 */
 
-#include "pybind11_tests.h"
 #include <pybind11/numpy.h>
 
+#include "pybind11_tests.h"
+
 #include <utility>
 
 double my_func(int x, float y, double z) {
     py::print("my_func(x:int={}, y:float={:.0f}, z:float={:.0f})"_s.format(x, y, z));
-    return (float) x*y*z;
+    return (float) x * y * z;
 }
 
 TEST_SUBMODULE(numpy_vectorize, m) {
-    try { py::module_::import("numpy"); }
-    catch (...) { return; }
+    try {
+        py::module_::import("numpy");
+    } catch (const py::error_already_set &) {
+        return;
+    }
 
     // test_vectorize, test_docs, test_array_collapse
     // Vectorize all arguments of a function (though non-vector arguments are also allowed)
     m.def("vectorized_func", py::vectorize(my_func));
 
-    // Vectorize a lambda function with a capture object (e.g. to exclude some arguments from the vectorization)
+    // Vectorize a lambda function with a capture object (e.g. to exclude some arguments from the
+    // vectorization)
     m.def("vectorized_func2", [](py::array_t<int> x, py::array_t<float> y, float z) {
         return py::vectorize([z](int x, float y) { return my_func(x, y, z); })(std::move(x),
                                                                                std::move(y));
     });
 
     // Vectorize a complex-valued function
-    m.def("vectorized_func3", py::vectorize(
-        [](std::complex<double> c) { return c * std::complex<double>(2.f); }
-    ));
+    m.def("vectorized_func3",
+          py::vectorize([](std::complex<double> c) { return c * std::complex<double>(2.f); }));
 
     // test_type_selection
     // NumPy function which only accepts specific data types
-    // A lot of these no lints could be replaced with const refs, and probably should at some point.
+    // A lot of these no lints could be replaced with const refs, and probably should at some
+    // point.
     m.def("selective_func",
           [](const py::array_t<int, py::array::c_style> &) { return "Int branch taken."; });
     m.def("selective_func",
@@ -49,8 +54,8 @@ TEST_SUBMODULE(numpy_vectorize, m) {
     });
 
     // test_passthrough_arguments
-    // Passthrough test: references and non-pod types should be automatically passed through (in the
-    // function definition below, only `b`, `d`, and `g` are vectorized):
+    // Passthrough test: references and non-pod types should be automatically passed through (in
+    // the function definition below, only `b`, `d`, and `g` are vectorized):
     struct NonPODClass {
         explicit NonPODClass(int v) : value{v} {}
         int value;
@@ -76,8 +81,7 @@ TEST_SUBMODULE(numpy_vectorize, m) {
         int value = 0;
     };
     py::class_<VectorizeTestClass> vtc(m, "VectorizeTestClass");
-    vtc .def(py::init<int>())
-        .def_readwrite("value", &VectorizeTestClass::value);
+    vtc.def(py::init<int>()).def_readwrite("value", &VectorizeTestClass::value);
 
     // Automatic vectorizing of methods
     vtc.def("method", py::vectorize(&VectorizeTestClass::method));
@@ -99,5 +103,5 @@ TEST_SUBMODULE(numpy_vectorize, m) {
               return py::detail::broadcast(buffers, ndim, shape);
           });
 
-    m.def("add_to", py::vectorize([](NonPODClass& x, int a) { x.value += a; }));
+    m.def("add_to", py::vectorize([](NonPODClass &x, int a) { x.value += a; }));
 }
diff --git a/pybind11/tests/test_numpy_vectorize.py b/pybind11/tests/test_numpy_vectorize.py
index de5c9a607d..7e8c015c46 100644
--- a/pybind11/tests/test_numpy_vectorize.py
+++ b/pybind11/tests/test_numpy_vectorize.py
@@ -1,4 +1,3 @@
-# -*- coding: utf-8 -*-
 import pytest
 
 from pybind11_tests import numpy_vectorize as m
diff --git a/pybind11/tests/test_opaque_types.cpp b/pybind11/tests/test_opaque_types.cpp
index 804de6d4ff..0386dba03d 100644
--- a/pybind11/tests/test_opaque_types.cpp
+++ b/pybind11/tests/test_opaque_types.cpp
@@ -7,8 +7,10 @@
     BSD-style license that can be found in the LICENSE file.
 */
 
-#include "pybind11_tests.h"
 #include <pybind11/stl.h>
+
+#include "pybind11_tests.h"
+
 #include <vector>
 
 // IMPORTANT: Disable internal pybind11 translation mechanisms for STL data structures
@@ -26,12 +28,13 @@ TEST_SUBMODULE(opaque_types, m) {
         .def(py::init<>())
         .def("pop_back", &StringList::pop_back)
         /* There are multiple versions of push_back(), etc. Select the right ones. */
-        .def("push_back", (void (StringList::*)(const std::string &)) &StringList::push_back)
-        .def("back", (std::string &(StringList::*)()) &StringList::back)
+        .def("push_back", (void(StringList::*)(const std::string &)) & StringList::push_back)
+        .def("back", (std::string & (StringList::*) ()) & StringList::back)
         .def("__len__", [](const StringList &v) { return v.size(); })
-        .def("__iter__", [](StringList &v) {
-           return py::make_iterator(v.begin(), v.end());
-        }, py::keep_alive<0, 1>());
+        .def(
+            "__iter__",
+            [](StringList &v) { return py::make_iterator(v.begin(), v.end()); },
+            py::keep_alive<0, 1>());
 
     class ClassWithSTLVecProperty {
     public:
@@ -45,8 +48,9 @@ TEST_SUBMODULE(opaque_types, m) {
         std::string ret = "Opaque list: [";
         bool first = true;
         for (const auto &entry : l) {
-            if (!first)
+            if (!first) {
                 ret += ", ";
+            }
             ret += entry;
             first = false;
         }
diff --git a/pybind11/tests/test_opaque_types.py b/pybind11/tests/test_opaque_types.py
index 5495cb6b4a..5d4f2a1bf4 100644
--- a/pybind11/tests/test_opaque_types.py
+++ b/pybind11/tests/test_opaque_types.py
@@ -1,4 +1,3 @@
-# -*- coding: utf-8 -*-
 import pytest
 
 from pybind11_tests import ConstructorStats, UserType
@@ -13,7 +12,7 @@ def test_string_list():
     assert lst.back() == "Element 2"
 
     for i, k in enumerate(lst, start=1):
-        assert k == "Element {}".format(i)
+        assert k == f"Element {i}"
     lst.pop_back()
     assert m.print_opaque_list(lst) == "Opaque list: [Element 1]"
 
@@ -40,7 +39,7 @@ def test_pointers(msg):
             1. (arg0: capsule) -> int
 
         Invoked with: [1, 2, 3]
-    """  # noqa: E501 line too long
+    """
     )
 
     assert m.return_null_str() is None
diff --git a/pybind11/tests/test_operator_overloading.cpp b/pybind11/tests/test_operator_overloading.cpp
index ffa059d5b5..a4b895a897 100644
--- a/pybind11/tests/test_operator_overloading.cpp
+++ b/pybind11/tests/test_operator_overloading.cpp
@@ -7,11 +7,13 @@
     BSD-style license that can be found in the LICENSE file.
 */
 
+#include <pybind11/operators.h>
+#include <pybind11/stl.h>
+
 #include "constructor_stats.h"
 #include "pybind11_tests.h"
+
 #include <functional>
-#include <pybind11/operators.h>
-#include <pybind11/stl.h>
 
 class Vector2 {
 public:
@@ -21,17 +23,24 @@ class Vector2 {
         print_move_created(this);
         v.x = v.y = 0;
     }
-    Vector2 &operator=(const Vector2 &v) { x = v.x; y = v.y; print_copy_assigned(this); return *this; }
+    Vector2 &operator=(const Vector2 &v) {
+        x = v.x;
+        y = v.y;
+        print_copy_assigned(this);
+        return *this;
+    }
     Vector2 &operator=(Vector2 &&v) noexcept {
-        x   = v.x;
-        y   = v.y;
+        x = v.x;
+        y = v.y;
         v.x = v.y = 0;
         print_move_assigned(this);
         return *this;
     }
     ~Vector2() { print_destroyed(this); }
 
-    std::string toString() const { return "[" + std::to_string(x) + ", " + std::to_string(y) + "]"; }
+    std::string toString() const {
+        return "[" + std::to_string(x) + ", " + std::to_string(y) + "]";
+    }
 
     Vector2 operator-() const { return Vector2(-x, -y); }
     Vector2 operator+(const Vector2 &v) const { return Vector2(x + v.x, y + v.y); }
@@ -42,30 +51,51 @@ class Vector2 {
     Vector2 operator/(float value) const { return Vector2(x / value, y / value); }
     Vector2 operator*(const Vector2 &v) const { return Vector2(x * v.x, y * v.y); }
     Vector2 operator/(const Vector2 &v) const { return Vector2(x / v.x, y / v.y); }
-    Vector2& operator+=(const Vector2 &v) { x += v.x; y += v.y; return *this; }
-    Vector2& operator-=(const Vector2 &v) { x -= v.x; y -= v.y; return *this; }
-    Vector2& operator*=(float v) { x *= v; y *= v; return *this; }
-    Vector2& operator/=(float v) { x /= v; y /= v; return *this; }
-    Vector2& operator*=(const Vector2 &v) { x *= v.x; y *= v.y; return *this; }
-    Vector2& operator/=(const Vector2 &v) { x /= v.x; y /= v.y; return *this; }
+    Vector2 &operator+=(const Vector2 &v) {
+        x += v.x;
+        y += v.y;
+        return *this;
+    }
+    Vector2 &operator-=(const Vector2 &v) {
+        x -= v.x;
+        y -= v.y;
+        return *this;
+    }
+    Vector2 &operator*=(float v) {
+        x *= v;
+        y *= v;
+        return *this;
+    }
+    Vector2 &operator/=(float v) {
+        x /= v;
+        y /= v;
+        return *this;
+    }
+    Vector2 &operator*=(const Vector2 &v) {
+        x *= v.x;
+        y *= v.y;
+        return *this;
+    }
+    Vector2 &operator/=(const Vector2 &v) {
+        x /= v.x;
+        y /= v.y;
+        return *this;
+    }
 
     friend Vector2 operator+(float f, const Vector2 &v) { return Vector2(f + v.x, f + v.y); }
     friend Vector2 operator-(float f, const Vector2 &v) { return Vector2(f - v.x, f - v.y); }
     friend Vector2 operator*(float f, const Vector2 &v) { return Vector2(f * v.x, f * v.y); }
     friend Vector2 operator/(float f, const Vector2 &v) { return Vector2(f / v.x, f / v.y); }
 
-    bool operator==(const Vector2 &v) const {
-        return x == v.x && y == v.y;
-    }
-    bool operator!=(const Vector2 &v) const {
-        return x != v.x || y != v.y;
-    }
+    bool operator==(const Vector2 &v) const { return x == v.x && y == v.y; }
+    bool operator!=(const Vector2 &v) const { return x != v.x || y != v.y; }
+
 private:
     float x, y;
 };
 
-class C1 { };
-class C2 { };
+class C1 {};
+class C2 {};
 
 int operator+(const C1 &, const C1 &) { return 11; }
 int operator+(const C2 &, const C2 &) { return 22; }
@@ -84,43 +114,41 @@ bool operator==(const HashMe &lhs, const HashMe &rhs) { return lhs.member == rhs
 // namespace instead, per this recommendation:
 // https://en.cppreference.com/w/cpp/language/extending_std#Adding_template_specializations
 namespace std {
-    template<>
-    struct hash<Vector2> {
-        // Not a good hash function, but easy to test
-        size_t operator()(const Vector2 &) { return 4; }
-    };
+template <>
+struct hash<Vector2> {
+    // Not a good hash function, but easy to test
+    size_t operator()(const Vector2 &) { return 4; }
+};
 
-    // HashMe has a hash function in C++ but no `__hash__` for Python.
-    template <>
-    struct hash<HashMe> {
-        std::size_t operator()(const HashMe &selector) const {
-            return std::hash<std::string>()(selector.member);
-        }
-    };
+// HashMe has a hash function in C++ but no `__hash__` for Python.
+template <>
+struct hash<HashMe> {
+    std::size_t operator()(const HashMe &selector) const {
+        return std::hash<std::string>()(selector.member);
+    }
+};
 } // namespace std
 
 // Not a good abs function, but easy to test.
-std::string abs(const Vector2&) {
-    return "abs(Vector2)";
-}
+std::string abs(const Vector2 &) { return "abs(Vector2)"; }
 
 // MSVC & Intel warns about unknown pragmas, and warnings are errors.
 #if !defined(_MSC_VER) && !defined(__INTEL_COMPILER)
-  #pragma GCC diagnostic push
-  // clang 7.0.0 and Apple LLVM 10.0.1 introduce `-Wself-assign-overloaded` to
-  // `-Wall`, which is used here for overloading (e.g. `py::self += py::self `).
-  // Here, we suppress the warning using `#pragma diagnostic`.
-  // Taken from: https://github.com/RobotLocomotion/drake/commit/aaf84b46
-  // TODO(eric): This could be resolved using a function / functor (e.g. `py::self()`).
-  #if defined(__APPLE__) && defined(__clang__)
-    #if (__clang_major__ >= 10)
-      #pragma GCC diagnostic ignored "-Wself-assign-overloaded"
-    #endif
-  #elif defined(__clang__)
-    #if (__clang_major__ >= 7)
-      #pragma GCC diagnostic ignored "-Wself-assign-overloaded"
-    #endif
-  #endif
+#    pragma GCC diagnostic push
+// clang 7.0.0 and Apple LLVM 10.0.1 introduce `-Wself-assign-overloaded` to
+// `-Wall`, which is used here for overloading (e.g. `py::self += py::self `).
+// Here, we suppress the warning using `#pragma diagnostic`.
+// Taken from: https://github.com/RobotLocomotion/drake/commit/aaf84b46
+// TODO(eric): This could be resolved using a function / functor (e.g. `py::self()`).
+#    if defined(__APPLE__) && defined(__clang__)
+#        if (__clang_major__ >= 10)
+#            pragma GCC diagnostic ignored "-Wself-assign-overloaded"
+#        endif
+#    elif defined(__clang__)
+#        if (__clang_major__ >= 7)
+#            pragma GCC diagnostic ignored "-Wself-assign-overloaded"
+#        endif
+#    endif
 #endif
 
 TEST_SUBMODULE(operators, m) {
@@ -154,46 +182,52 @@ TEST_SUBMODULE(operators, m) {
         .def(py::hash(py::self))
         // N.B. See warning about usage of `py::detail::abs(py::self)` in
         // `operators.h`.
-        .def("__abs__", [](const Vector2& v) { return abs(v); })
-        ;
+        .def("__abs__", [](const Vector2 &v) { return abs(v); });
 
     m.attr("Vector") = m.attr("Vector2");
 
     // test_operators_notimplemented
     // #393: need to return NotSupported to ensure correct arithmetic operator behavior
-    py::class_<C1>(m, "C1")
-        .def(py::init<>())
-        .def(py::self + py::self);
+    py::class_<C1>(m, "C1").def(py::init<>()).def(py::self + py::self);
 
     py::class_<C2>(m, "C2")
         .def(py::init<>())
         .def(py::self + py::self)
-        .def("__add__", [](const C2& c2, const C1& c1) { return c2 + c1; })
-        .def("__radd__", [](const C2& c2, const C1& c1) { return c1 + c2; });
+        .def("__add__", [](const C2 &c2, const C1 &c1) { return c2 + c1; })
+        .def("__radd__", [](const C2 &c2, const C1 &c1) { return c1 + c2; });
 
     // test_nested
     // #328: first member in a class can't be used in operators
-    struct NestABase { int value = -2; };
+    struct NestABase {
+        int value = -2;
+    };
     py::class_<NestABase>(m, "NestABase")
         .def(py::init<>())
         .def_readwrite("value", &NestABase::value);
 
     struct NestA : NestABase {
         int value = 3;
-        NestA& operator+=(int i) { value += i; return *this; }
+        NestA &operator+=(int i) {
+            value += i;
+            return *this;
+        }
     };
     py::class_<NestA>(m, "NestA")
         .def(py::init<>())
         .def(py::self += int())
-        .def("as_base", [](NestA &a) -> NestABase& {
-            return (NestABase&) a;
-        }, py::return_value_policy::reference_internal);
+        .def(
+            "as_base",
+            [](NestA &a) -> NestABase & { return (NestABase &) a; },
+            py::return_value_policy::reference_internal);
     m.def("get_NestA", [](const NestA &a) { return a.value; });
 
     struct NestB {
         NestA a;
         int value = 4;
-        NestB& operator-=(int i) { value -= i; return *this; }
+        NestB &operator-=(int i) {
+            value -= i;
+            return *this;
+        }
     };
     py::class_<NestB>(m, "NestB")
         .def(py::init<>())
@@ -204,7 +238,10 @@ TEST_SUBMODULE(operators, m) {
     struct NestC {
         NestB b;
         int value = 5;
-        NestC& operator*=(int i) { value *= i; return *this; }
+        NestC &operator*=(int i) {
+            value *= i;
+            return *this;
+        }
     };
     py::class_<NestC>(m, "NestC")
         .def(py::init<>())
@@ -212,16 +249,15 @@ TEST_SUBMODULE(operators, m) {
         .def_readwrite("b", &NestC::b);
     m.def("get_NestC", [](const NestC &c) { return c.value; });
 
-
     // test_overriding_eq_reset_hash
     // #2191 Overriding __eq__ should set __hash__ to None
     struct Comparable {
         int value;
-        bool operator==(const Comparable& rhs) const {return value == rhs.value;}
+        bool operator==(const Comparable &rhs) const { return value == rhs.value; }
     };
 
     struct Hashable : Comparable {
-        explicit Hashable(int value): Comparable{value}{};
+        explicit Hashable(int value) : Comparable{value} {};
         size_t hash() const { return static_cast<size_t>(value); }
     };
 
@@ -229,9 +265,7 @@ TEST_SUBMODULE(operators, m) {
         using Hashable::Hashable;
     };
 
-    py::class_<Comparable>(m, "Comparable")
-        .def(py::init<int>())
-        .def(py::self == py::self);
+    py::class_<Comparable>(m, "Comparable").def(py::init<int>()).def(py::self == py::self);
 
     py::class_<Hashable>(m, "Hashable")
         .def(py::init<int>())
@@ -250,5 +284,5 @@ TEST_SUBMODULE(operators, m) {
     m.def("get_unhashable_HashMe_set", []() { return std::unordered_set<HashMe>{{"one"}}; });
 }
 #if !defined(_MSC_VER) && !defined(__INTEL_COMPILER)
-  #pragma GCC diagnostic pop
+#    pragma GCC diagnostic pop
 #endif
diff --git a/pybind11/tests/test_operator_overloading.py b/pybind11/tests/test_operator_overloading.py
index 8cf375b6da..b228da3cc3 100644
--- a/pybind11/tests/test_operator_overloading.py
+++ b/pybind11/tests/test_operator_overloading.py
@@ -1,7 +1,5 @@
-# -*- coding: utf-8 -*-
 import pytest
 
-import env
 from pybind11_tests import ConstructorStats
 from pybind11_tests import operators as m
 
@@ -151,5 +149,4 @@ def test_overriding_eq_reset_hash():
 def test_return_set_of_unhashable():
     with pytest.raises(TypeError) as excinfo:
         m.get_unhashable_HashMe_set()
-    if not env.PY2:
-        assert str(excinfo.value.__cause__).startswith("unhashable type:")
+    assert str(excinfo.value.__cause__).startswith("unhashable type:")
diff --git a/pybind11/tests/test_pickling.cpp b/pybind11/tests/test_pickling.cpp
index b77636dd1a..e154bc483c 100644
--- a/pybind11/tests/test_pickling.cpp
+++ b/pybind11/tests/test_pickling.cpp
@@ -1,4 +1,3 @@
-// clang-format off
 /*
     tests/test_pickling.cpp -- pickle support
 
@@ -11,8 +10,6 @@
 
 #include "pybind11_tests.h"
 
-// clang-format on
-
 #include <memory>
 #include <stdexcept>
 #include <utility>
@@ -20,11 +17,11 @@
 namespace exercise_trampoline {
 
 struct SimpleBase {
-    int num               = 0;
+    int num = 0;
     virtual ~SimpleBase() = default;
 
     // For compatibility with old clang versions:
-    SimpleBase()                   = default;
+    SimpleBase() = default;
     SimpleBase(const SimpleBase &) = default;
 };
 
@@ -39,16 +36,18 @@ void wrap(py::module m) {
         .def(py::pickle(
             [](const py::object &self) {
                 py::dict d;
-                if (py::hasattr(self, "__dict__"))
+                if (py::hasattr(self, "__dict__")) {
                     d = self.attr("__dict__");
+                }
                 return py::make_tuple(self.attr("num"), d);
             },
             [](const py::tuple &t) {
-                if (t.size() != 2)
+                if (t.size() != 2) {
                     throw std::runtime_error("Invalid state!");
+                }
                 auto cpp_state = std::unique_ptr<SimpleBase>(new SimpleBaseTrampoline);
                 cpp_state->num = t[0].cast<int>();
-                auto py_state  = t[1].cast<py::dict>();
+                auto py_state = t[1].cast<py::dict>();
                 return std::make_pair(std::move(cpp_state), py_state);
             }));
 
@@ -61,19 +60,20 @@ void wrap(py::module m) {
 
 } // namespace exercise_trampoline
 
-// clang-format off
-
 TEST_SUBMODULE(pickling, m) {
+    m.def("simple_callable", []() { return 20220426; });
+
     // test_roundtrip
     class Pickleable {
     public:
-        explicit Pickleable(const std::string &value) : m_value(value) { }
+        explicit Pickleable(const std::string &value) : m_value(value) {}
         const std::string &value() const { return m_value; }
 
         void setExtra1(int extra1) { m_extra1 = extra1; }
         void setExtra2(int extra2) { m_extra2 = extra2; }
         int extra1() const { return m_extra1; }
         int extra2() const { return m_extra2; }
+
     private:
         std::string m_value;
         int m_extra1 = 0;
@@ -86,8 +86,7 @@ TEST_SUBMODULE(pickling, m) {
     };
 
     py::class_<Pickleable> pyPickleable(m, "Pickleable");
-    pyPickleable
-        .def(py::init<std::string>())
+    pyPickleable.def(py::init<std::string>())
         .def("value", &Pickleable::value)
         .def("extra1", &Pickleable::extra1)
         .def("extra2", &Pickleable::extra2)
@@ -101,8 +100,9 @@ TEST_SUBMODULE(pickling, m) {
         });
     ignoreOldStyleInitWarnings([&pyPickleable]() {
         pyPickleable.def("__setstate__", [](Pickleable &p, const py::tuple &t) {
-            if (t.size() != 3)
+            if (t.size() != 3) {
                 throw std::runtime_error("Invalid state!");
+            }
             /* Invoke the constructor (need to use in-place version) */
             new (&p) Pickleable(t[0].cast<std::string>());
 
@@ -119,8 +119,9 @@ TEST_SUBMODULE(pickling, m) {
                 return py::make_tuple(p.value(), p.extra1(), p.extra2());
             },
             [](const py::tuple &t) {
-                if (t.size() != 3)
+                if (t.size() != 3) {
                     throw std::runtime_error("Invalid state!");
+                }
                 auto p = PickleableNew(t[0].cast<std::string>());
 
                 p.setExtra1(t[1].cast<int>());
@@ -132,7 +133,7 @@ TEST_SUBMODULE(pickling, m) {
     // test_roundtrip_with_dict
     class PickleableWithDict {
     public:
-        explicit PickleableWithDict(const std::string &value) : value(value) { }
+        explicit PickleableWithDict(const std::string &value) : value(value) {}
 
         std::string value;
         int extra;
@@ -143,7 +144,8 @@ TEST_SUBMODULE(pickling, m) {
         using PickleableWithDict::PickleableWithDict;
     };
 
-    py::class_<PickleableWithDict> pyPickleableWithDict(m, "PickleableWithDict", py::dynamic_attr());
+    py::class_<PickleableWithDict> pyPickleableWithDict(
+        m, "PickleableWithDict", py::dynamic_attr());
     pyPickleableWithDict.def(py::init<std::string>())
         .def_readwrite("value", &PickleableWithDict::value)
         .def_readwrite("extra", &PickleableWithDict::extra)
@@ -153,8 +155,9 @@ TEST_SUBMODULE(pickling, m) {
         });
     ignoreOldStyleInitWarnings([&pyPickleableWithDict]() {
         pyPickleableWithDict.def("__setstate__", [](const py::object &self, const py::tuple &t) {
-            if (t.size() != 3)
+            if (t.size() != 3) {
                 throw std::runtime_error("Invalid state!");
+            }
             /* Cast and construct */
             auto &p = self.cast<PickleableWithDict &>();
             new (&p) PickleableWithDict(t[0].cast<std::string>());
@@ -171,11 +174,13 @@ TEST_SUBMODULE(pickling, m) {
         .def(py::init<std::string>())
         .def(py::pickle(
             [](const py::object &self) {
-                return py::make_tuple(self.attr("value"), self.attr("extra"), self.attr("__dict__"));
+                return py::make_tuple(
+                    self.attr("value"), self.attr("extra"), self.attr("__dict__"));
             },
             [](const py::tuple &t) {
-                if (t.size() != 3)
+                if (t.size() != 3) {
                     throw std::runtime_error("Invalid state!");
+                }
 
                 auto cpp_state = PickleableWithDictNew(t[0].cast<std::string>());
                 cpp_state.extra = t[1].cast<int>();
diff --git a/pybind11/tests/test_pickling.py b/pybind11/tests/test_pickling.py
index 9f68f37dcf..12361a661e 100644
--- a/pybind11/tests/test_pickling.py
+++ b/pybind11/tests/test_pickling.py
@@ -1,13 +1,24 @@
-# -*- coding: utf-8 -*-
+import pickle
+import re
+
 import pytest
 
 import env
 from pybind11_tests import pickling as m
 
-try:
-    import cPickle as pickle  # Use cPickle on Python 2.7
-except ImportError:
-    import pickle
+
+def test_pickle_simple_callable():
+    assert m.simple_callable() == 20220426
+    if env.PYPY:
+        serialized = pickle.dumps(m.simple_callable)
+        deserialized = pickle.loads(serialized)
+        assert deserialized() == 20220426
+    else:
+        # To document broken behavior: currently it fails universally with
+        # all C Python versions.
+        with pytest.raises(TypeError) as excinfo:
+            pickle.dumps(m.simple_callable)
+        assert re.search("can.*t pickle .*PyCapsule.* object", str(excinfo.value))
 
 
 @pytest.mark.parametrize("cls_name", ["Pickleable", "PickleableNew"])
diff --git a/pybind11/tests/test_pytypes.cpp b/pybind11/tests/test_pytypes.cpp
index 85cb98fcbf..f532e26085 100644
--- a/pybind11/tests/test_pytypes.cpp
+++ b/pybind11/tests/test_pytypes.cpp
@@ -7,22 +7,110 @@
     BSD-style license that can be found in the LICENSE file.
 */
 
+#include "pybind11_tests.h"
+
 #include <utility>
 
-#include "pybind11_tests.h"
+namespace external {
+namespace detail {
+bool check(PyObject *o) { return PyFloat_Check(o) != 0; }
 
+PyObject *conv(PyObject *o) {
+    PyObject *ret = nullptr;
+    if (PyLong_Check(o)) {
+        double v = PyLong_AsDouble(o);
+        if (!(v == -1.0 && PyErr_Occurred())) {
+            ret = PyFloat_FromDouble(v);
+        }
+    } else {
+        PyErr_SetString(PyExc_TypeError, "Unexpected type");
+    }
+    return ret;
+}
+
+PyObject *default_constructed() { return PyFloat_FromDouble(0.0); }
+} // namespace detail
+class float_ : public py::object {
+    PYBIND11_OBJECT_CVT(float_, py::object, external::detail::check, external::detail::conv)
+
+    float_() : py::object(external::detail::default_constructed(), stolen_t{}) {}
+
+    double get_value() const { return PyFloat_AsDouble(this->ptr()); }
+};
+} // namespace external
+
+namespace implicit_conversion_from_0_to_handle {
+// Uncomment to trigger compiler error. Note: Before PR #4008 this used to compile successfully.
+// void expected_to_trigger_compiler_error() { py::handle(0); }
+} // namespace implicit_conversion_from_0_to_handle
+
+// Used to validate systematically that PR #4008 does/did NOT change the behavior.
+void pure_compile_tests_for_handle_from_PyObject_pointers() {
+    {
+        PyObject *ptr = Py_None;
+        py::handle{ptr};
+    }
+    {
+        PyObject *const ptr = Py_None;
+        py::handle{ptr};
+    }
+    // Uncomment to trigger compiler errors.
+    // PyObject const *               ptr = Py_None; py::handle{ptr};
+    // PyObject const *const          ptr = Py_None; py::handle{ptr};
+    // PyObject volatile *            ptr = Py_None; py::handle{ptr};
+    // PyObject volatile *const       ptr = Py_None; py::handle{ptr};
+    // PyObject const volatile *      ptr = Py_None; py::handle{ptr};
+    // PyObject const volatile *const ptr = Py_None; py::handle{ptr};
+}
+
+namespace handle_from_move_only_type_with_operator_PyObject {
+
+// Reduced from
+// https://github.com/pytorch/pytorch/blob/279634f384662b7c3a9f8bf7ccc3a6afd2f05657/torch/csrc/utils/object_ptr.h
+struct operator_ncnst {
+    operator_ncnst() = default;
+    operator_ncnst(operator_ncnst &&) = default;
+    operator PyObject *() /* */ { return Py_None; } // NOLINT(google-explicit-constructor)
+};
+
+struct operator_const {
+    operator_const() = default;
+    operator_const(operator_const &&) = default;
+    operator PyObject *() const { return Py_None; } // NOLINT(google-explicit-constructor)
+};
+
+bool from_ncnst() {
+    operator_ncnst obj;
+    auto h = py::handle(obj);  // Critical part of test: does this compile?
+    return h.ptr() == Py_None; // Just something.
+}
+
+bool from_const() {
+    operator_const obj;
+    auto h = py::handle(obj);  // Critical part of test: does this compile?
+    return h.ptr() == Py_None; // Just something.
+}
+
+void m_defs(py::module_ &m) {
+    m.def("handle_from_move_only_type_with_operator_PyObject_ncnst", from_ncnst);
+    m.def("handle_from_move_only_type_with_operator_PyObject_const", from_const);
+}
+
+} // namespace handle_from_move_only_type_with_operator_PyObject
 
 TEST_SUBMODULE(pytypes, m) {
+    handle_from_move_only_type_with_operator_PyObject::m_defs(m);
+
     // test_bool
-    m.def("get_bool", []{return py::bool_(false);});
+    m.def("get_bool", [] { return py::bool_(false); });
     // test_int
-    m.def("get_int", []{return py::int_(0);});
+    m.def("get_int", [] { return py::int_(0); });
     // test_iterator
-    m.def("get_iterator", []{return py::iterator();});
+    m.def("get_iterator", [] { return py::iterator(); });
     // test_iterable
-    m.def("get_iterable", []{return py::iterable();});
+    m.def("get_iterable", [] { return py::iterable(); });
     // test_float
-    m.def("get_float", []{return py::float_(0.0f);});
+    m.def("get_float", [] { return py::float_(0.0f); });
     // test_list
     m.def("list_no_args", []() { return py::list{}; });
     m.def("list_ssize_t", []() { return py::list{(py::ssize_t) 0}; });
@@ -40,14 +128,15 @@ TEST_SUBMODULE(pytypes, m) {
     });
     m.def("print_list", [](const py::list &list) {
         int index = 0;
-        for (auto item : list)
+        for (auto item : list) {
             py::print("list item {}: {}"_s.format(index++, item));
+        }
     });
     // test_none
-    m.def("get_none", []{return py::none();});
+    m.def("get_none", [] { return py::none(); });
     m.def("print_none", [](const py::none &none) { py::print("none: {}"_s.format(none)); });
 
-    // test_set
+    // test_set, test_frozenset
     m.def("get_set", []() {
         py::set set;
         set.add(py::str("key1"));
@@ -55,23 +144,37 @@ TEST_SUBMODULE(pytypes, m) {
         set.add(std::string("key3"));
         return set;
     });
-    m.def("print_set", [](const py::set &set) {
-        for (auto item : set)
+    m.def("get_frozenset", []() {
+        py::set set;
+        set.add(py::str("key1"));
+        set.add("key2");
+        set.add(std::string("key3"));
+        return py::frozenset(set);
+    });
+    m.def("print_anyset", [](const py::anyset &set) {
+        for (auto item : set) {
             py::print("key:", item);
+        }
     });
-    m.def("set_contains",
-          [](const py::set &set, const py::object &key) { return set.contains(key); });
-    m.def("set_contains", [](const py::set &set, const char *key) { return set.contains(key); });
+    m.def("anyset_size", [](const py::anyset &set) { return set.size(); });
+    m.def("anyset_empty", [](const py::anyset &set) { return set.empty(); });
+    m.def("anyset_contains",
+          [](const py::anyset &set, const py::object &key) { return set.contains(key); });
+    m.def("anyset_contains",
+          [](const py::anyset &set, const char *key) { return set.contains(key); });
+    m.def("set_add", [](py::set &set, const py::object &key) { set.add(key); });
+    m.def("set_clear", [](py::set &set) { set.clear(); });
 
     // test_dict
-    m.def("get_dict", []() { return py::dict("key"_a="value"); });
+    m.def("get_dict", []() { return py::dict("key"_a = "value"); });
     m.def("print_dict", [](const py::dict &dict) {
-        for (auto item : dict)
+        for (auto item : dict) {
             py::print("key: {}, value={}"_s.format(item.first, item.second));
+        }
     });
     m.def("dict_keyword_constructor", []() {
-        auto d1 = py::dict("x"_a=1, "y"_a=2);
-        auto d2 = py::dict("z"_a=3, **d1);
+        auto d1 = py::dict("x"_a = 1, "y"_a = 2);
+        auto d2 = py::dict("z"_a = 3, **d1);
         return d2;
     });
     m.def("dict_contains",
@@ -85,31 +188,29 @@ TEST_SUBMODULE(pytypes, m) {
     m.def("tuple_size_t", []() { return py::tuple{(py::size_t) 0}; });
     m.def("get_tuple", []() { return py::make_tuple(42, py::none(), "spam"); });
 
-#if PY_VERSION_HEX >= 0x03030000
     // test_simple_namespace
     m.def("get_simple_namespace", []() {
-        auto ns = py::module_::import("types").attr("SimpleNamespace")("attr"_a=42, "x"_a="foo", "wrong"_a=1);
+        auto ns = py::module_::import("types").attr("SimpleNamespace")(
+            "attr"_a = 42, "x"_a = "foo", "wrong"_a = 1);
         py::delattr(ns, "wrong");
         py::setattr(ns, "right", py::int_(2));
         return ns;
     });
-#endif
 
     // test_str
     m.def("str_from_char_ssize_t", []() { return py::str{"red", (py::ssize_t) 3}; });
     m.def("str_from_char_size_t", []() { return py::str{"blue", (py::size_t) 4}; });
     m.def("str_from_string", []() { return py::str(std::string("baz")); });
     m.def("str_from_bytes", []() { return py::str(py::bytes("boo", 3)); });
-    m.def("str_from_object", [](const py::object& obj) { return py::str(obj); });
-    m.def("repr_from_object", [](const py::object& obj) { return py::repr(obj); });
+    m.def("str_from_object", [](const py::object &obj) { return py::str(obj); });
+    m.def("repr_from_object", [](const py::object &obj) { return py::repr(obj); });
     m.def("str_from_handle", [](py::handle h) { return py::str(h); });
-    m.def("str_from_string_from_str", [](const py::str& obj) {
-        return py::str(static_cast<std::string>(obj));
-    });
+    m.def("str_from_string_from_str",
+          [](const py::str &obj) { return py::str(static_cast<std::string>(obj)); });
 
     m.def("str_format", []() {
         auto s1 = "{} + {} = {}"_s.format(1, 2, 3);
-        auto s2 = "{a} + {b} = {c}"_s.format("a"_a=1, "b"_a=2, "c"_a=3);
+        auto s2 = "{a} + {b} = {c}"_s.format("a"_a = 1, "b"_a = 2, "c"_a = 3);
         return py::make_tuple(s1, s2);
     });
 
@@ -128,9 +229,16 @@ TEST_SUBMODULE(pytypes, m) {
     // test_capsule
     m.def("return_capsule_with_destructor", []() {
         py::print("creating capsule");
-        return py::capsule([]() {
-            py::print("destructing capsule");
-        });
+        return py::capsule([]() { py::print("destructing capsule"); });
+    });
+
+    m.def("return_renamed_capsule_with_destructor", []() {
+        py::print("creating capsule");
+        auto cap = py::capsule([]() { py::print("destructing capsule"); });
+        static const char *capsule_name = "test_name1";
+        py::print("renaming capsule");
+        cap.set_name(capsule_name);
+        return cap;
     });
 
     m.def("return_capsule_with_destructor_2", []() {
@@ -140,28 +248,39 @@ TEST_SUBMODULE(pytypes, m) {
         });
     });
 
+    m.def("return_renamed_capsule_with_destructor_2", []() {
+        py::print("creating capsule");
+        auto cap = py::capsule((void *) 1234, [](void *ptr) {
+            py::print("destructing capsule: {}"_s.format((size_t) ptr));
+        });
+        static const char *capsule_name = "test_name2";
+        py::print("renaming capsule");
+        cap.set_name(capsule_name);
+        return cap;
+    });
+
     m.def("return_capsule_with_name_and_destructor", []() {
         auto capsule = py::capsule((void *) 12345, "pointer type description", [](PyObject *ptr) {
             if (ptr) {
-                auto name = PyCapsule_GetName(ptr);
+                const auto *name = PyCapsule_GetName(ptr);
                 py::print("destructing capsule ({}, '{}')"_s.format(
-                    (size_t) PyCapsule_GetPointer(ptr, name), name
-                ));
+                    (size_t) PyCapsule_GetPointer(ptr, name), name));
             }
         });
 
         capsule.set_pointer((void *) 1234);
 
         // Using get_pointer<T>()
-        void* contents1 = static_cast<void*>(capsule);
-        void* contents2 = capsule.get_pointer();
-        void* contents3 = capsule.get_pointer<void>();
+        void *contents1 = static_cast<void *>(capsule);
+        void *contents2 = capsule.get_pointer();
+        void *contents3 = capsule.get_pointer<void>();
 
         auto result1 = reinterpret_cast<size_t>(contents1);
         auto result2 = reinterpret_cast<size_t>(contents2);
         auto result3 = reinterpret_cast<size_t>(contents3);
 
-        py::print("created capsule ({}, '{}')"_s.format(result1 & result2 & result3, capsule.name()));
+        py::print(
+            "created capsule ({}, '{}')"_s.format(result1 & result2 & result3, capsule.name()));
         return capsule;
     });
 
@@ -239,53 +358,98 @@ TEST_SUBMODULE(pytypes, m) {
         return d;
     });
 
+    m.def("accessor_moves", []() { // See PR #3970
+        py::list return_list;
+#ifdef PYBIND11_HANDLE_REF_DEBUG
+        py::int_ py_int_0(0);
+        py::int_ py_int_42(42);
+        py::str py_str_count("count");
+
+        auto tup = py::make_tuple(0);
+
+        py::sequence seq(tup);
+
+        py::list lst;
+        lst.append(0);
+
+#    define PYBIND11_LOCAL_DEF(...)                                                               \
+        {                                                                                         \
+            std::size_t inc_refs = py::handle::inc_ref_counter();                                 \
+            __VA_ARGS__;                                                                          \
+            inc_refs = py::handle::inc_ref_counter() - inc_refs;                                  \
+            return_list.append(inc_refs);                                                         \
+        }
+
+        PYBIND11_LOCAL_DEF(tup[py_int_0])    // l-value (to have a control)
+        PYBIND11_LOCAL_DEF(tup[py::int_(0)]) // r-value
+
+        PYBIND11_LOCAL_DEF(tup.attr(py_str_count))     // l-value
+        PYBIND11_LOCAL_DEF(tup.attr(py::str("count"))) // r-value
+
+        PYBIND11_LOCAL_DEF(seq[py_int_0])    // l-value
+        PYBIND11_LOCAL_DEF(seq[py::int_(0)]) // r-value
+
+        PYBIND11_LOCAL_DEF(seq.attr(py_str_count))     // l-value
+        PYBIND11_LOCAL_DEF(seq.attr(py::str("count"))) // r-value
+
+        PYBIND11_LOCAL_DEF(lst[py_int_0])    // l-value
+        PYBIND11_LOCAL_DEF(lst[py::int_(0)]) // r-value
+
+        PYBIND11_LOCAL_DEF(lst.attr(py_str_count))     // l-value
+        PYBIND11_LOCAL_DEF(lst.attr(py::str("count"))) // r-value
+
+        auto lst_acc = lst[py::int_(0)];
+        lst_acc = py::int_(42);                    // Detaches lst_acc from lst.
+        PYBIND11_LOCAL_DEF(lst_acc = py_int_42)    // l-value
+        PYBIND11_LOCAL_DEF(lst_acc = py::int_(42)) // r-value
+#    undef PYBIND11_LOCAL_DEF
+#endif
+        return return_list;
+    });
+
     // test_constructors
     m.def("default_constructors", []() {
-        return py::dict(
-            "bytes"_a=py::bytes(),
-            "bytearray"_a=py::bytearray(),
-            "str"_a=py::str(),
-            "bool"_a=py::bool_(),
-            "int"_a=py::int_(),
-            "float"_a=py::float_(),
-            "tuple"_a=py::tuple(),
-            "list"_a=py::list(),
-            "dict"_a=py::dict(),
-            "set"_a=py::set()
-        );
+        return py::dict("bytes"_a = py::bytes(),
+                        "bytearray"_a = py::bytearray(),
+                        "str"_a = py::str(),
+                        "bool"_a = py::bool_(),
+                        "int"_a = py::int_(),
+                        "float"_a = py::float_(),
+                        "tuple"_a = py::tuple(),
+                        "list"_a = py::list(),
+                        "dict"_a = py::dict(),
+                        "set"_a = py::set());
     });
 
     m.def("converting_constructors", [](const py::dict &d) {
-        return py::dict(
-            "bytes"_a=py::bytes(d["bytes"]),
-            "bytearray"_a=py::bytearray(d["bytearray"]),
-            "str"_a=py::str(d["str"]),
-            "bool"_a=py::bool_(d["bool"]),
-            "int"_a=py::int_(d["int"]),
-            "float"_a=py::float_(d["float"]),
-            "tuple"_a=py::tuple(d["tuple"]),
-            "list"_a=py::list(d["list"]),
-            "dict"_a=py::dict(d["dict"]),
-            "set"_a=py::set(d["set"]),
-            "memoryview"_a=py::memoryview(d["memoryview"])
-        );
+        return py::dict("bytes"_a = py::bytes(d["bytes"]),
+                        "bytearray"_a = py::bytearray(d["bytearray"]),
+                        "str"_a = py::str(d["str"]),
+                        "bool"_a = py::bool_(d["bool"]),
+                        "int"_a = py::int_(d["int"]),
+                        "float"_a = py::float_(d["float"]),
+                        "tuple"_a = py::tuple(d["tuple"]),
+                        "list"_a = py::list(d["list"]),
+                        "dict"_a = py::dict(d["dict"]),
+                        "set"_a = py::set(d["set"]),
+                        "frozenset"_a = py::frozenset(d["frozenset"]),
+                        "memoryview"_a = py::memoryview(d["memoryview"]));
     });
 
     m.def("cast_functions", [](const py::dict &d) {
         // When converting between Python types, obj.cast<T>() should be the same as T(obj)
-        return py::dict(
-            "bytes"_a=d["bytes"].cast<py::bytes>(),
-            "bytearray"_a=d["bytearray"].cast<py::bytearray>(),
-            "str"_a=d["str"].cast<py::str>(),
-            "bool"_a=d["bool"].cast<py::bool_>(),
-            "int"_a=d["int"].cast<py::int_>(),
-            "float"_a=d["float"].cast<py::float_>(),
-            "tuple"_a=d["tuple"].cast<py::tuple>(),
-            "list"_a=d["list"].cast<py::list>(),
-            "dict"_a=d["dict"].cast<py::dict>(),
-            "set"_a=d["set"].cast<py::set>(),
-            "memoryview"_a=d["memoryview"].cast<py::memoryview>()
-        );
+        return py::dict("bytes"_a = d["bytes"].cast<py::bytes>(),
+                        "bytearray"_a = d["bytearray"].cast<py::bytearray>(),
+                        "str"_a = d["str"].cast<py::str>(),
+                        "bool"_a = d["bool"].cast<py::bool_>(),
+                        "int"_a = d["int"].cast<py::int_>(),
+                        "float"_a = d["float"].cast<py::float_>(),
+                        "tuple"_a = d["tuple"].cast<py::tuple>(),
+                        "list"_a = d["list"].cast<py::list>(),
+                        "dict"_a = d["dict"].cast<py::dict>(),
+                        "set"_a = d["set"].cast<py::set>(),
+                        "frozenset"_a = d["frozenset"].cast<py::frozenset>(),
+                        "memoryview"_a = d["memoryview"].cast<py::memoryview>());
     });
 
     m.def("convert_to_pybind11_str", [](const py::object &o) { return py::str(o); });
@@ -338,10 +502,7 @@ TEST_SUBMODULE(pytypes, m) {
         l.append(py::cast(12));
         l.append(py::int_(15));
 
-        return py::dict(
-            "d"_a=d,
-            "l"_a=l
-        );
+        return py::dict("d"_a = d, "l"_a = l);
     });
 
     // test_print
@@ -349,16 +510,17 @@ TEST_SUBMODULE(pytypes, m) {
         py::print("Hello, World!");
         py::print(1, 2.0, "three", true, std::string("-- multiple args"));
         auto args = py::make_tuple("and", "a", "custom", "separator");
-        py::print("*args", *args, "sep"_a="-");
-        py::print("no new line here", "end"_a=" -- ");
+        py::print("*args", *args, "sep"_a = "-");
+        py::print("no new line here", "end"_a = " -- ");
         py::print("next print");
 
         auto py_stderr = py::module_::import("sys").attr("stderr");
-        py::print("this goes to stderr", "file"_a=py_stderr);
+        py::print("this goes to stderr", "file"_a = py_stderr);
 
-        py::print("flush", "flush"_a=true);
+        py::print("flush", "flush"_a = true);
 
-        py::print("{a} + {b} = {c}"_s.format("a"_a="py::print", "b"_a="str.format", "c"_a="this"));
+        py::print(
+            "{a} + {b} = {c}"_s.format("a"_a = "py::print", "b"_a = "str.format", "c"_a = "this"));
     });
 
     m.def("print_failure", []() { py::print(42, UnregisteredType()); });
@@ -403,43 +565,38 @@ TEST_SUBMODULE(pytypes, m) {
           [](const py::buffer &b) { return py::memoryview(b.request()); });
 
     m.def("test_memoryview_from_buffer", [](bool is_unsigned) {
-        static const int16_t si16[] = { 3, 1, 4, 1, 5 };
-        static const uint16_t ui16[] = { 2, 7, 1, 8 };
-        if (is_unsigned)
-            return py::memoryview::from_buffer(
-                ui16, { 4 }, { sizeof(uint16_t) });
+        static const int16_t si16[] = {3, 1, 4, 1, 5};
+        static const uint16_t ui16[] = {2, 7, 1, 8};
+        if (is_unsigned) {
+            return py::memoryview::from_buffer(ui16, {4}, {sizeof(uint16_t)});
+        }
         return py::memoryview::from_buffer(si16, {5}, {sizeof(int16_t)});
     });
 
     m.def("test_memoryview_from_buffer_nativeformat", []() {
-        static const char* format = "@i";
-        static const int32_t arr[] = { 4, 7, 5 };
-        return py::memoryview::from_buffer(
-            arr, sizeof(int32_t), format, { 3 }, { sizeof(int32_t) });
+        static const char *format = "@i";
+        static const int32_t arr[] = {4, 7, 5};
+        return py::memoryview::from_buffer(arr, sizeof(int32_t), format, {3}, {sizeof(int32_t)});
     });
 
     m.def("test_memoryview_from_buffer_empty_shape", []() {
-        static const char* buf = "";
-        return py::memoryview::from_buffer(buf, 1, "B", { }, { });
+        static const char *buf = "";
+        return py::memoryview::from_buffer(buf, 1, "B", {}, {});
     });
 
     m.def("test_memoryview_from_buffer_invalid_strides", []() {
-        static const char* buf = "\x02\x03\x04";
-        return py::memoryview::from_buffer(buf, 1, "B", { 3 }, { });
+        static const char *buf = "\x02\x03\x04";
+        return py::memoryview::from_buffer(buf, 1, "B", {3}, {});
     });
 
     m.def("test_memoryview_from_buffer_nullptr", []() {
-        return py::memoryview::from_buffer(
-            static_cast<void*>(nullptr), 1, "B", { }, { });
+        return py::memoryview::from_buffer(static_cast<void *>(nullptr), 1, "B", {}, {});
     });
 
-#if PY_MAJOR_VERSION >= 3
     m.def("test_memoryview_from_memory", []() {
-        const char* buf = "\xff\xe1\xab\x37";
-        return py::memoryview::from_memory(
-            buf, static_cast<py::ssize_t>(strlen(buf)));
+        const char *buf = "\xff\xe1\xab\x37";
+        return py::memoryview::from_memory(buf, static_cast<py::ssize_t>(strlen(buf)));
     });
-#endif
 
     // test_builtin_functions
     m.def("get_len", [](py::handle h) { return py::len(h); });
@@ -458,8 +615,7 @@ TEST_SUBMODULE(pytypes, m) {
     m.def("pass_to_std_string", [](const std::string &s) { return s.size(); });
 
     // test_weakref
-    m.def("weakref_from_handle",
-          [](py::handle h) { return py::weakref(h); });
+    m.def("weakref_from_handle", [](py::handle h) { return py::weakref(h); });
     m.def("weakref_from_handle_and_function",
           [](py::handle h, py::function f) { return py::weakref(h, std::move(f)); });
     m.def("weakref_from_object", [](const py::object &o) { return py::weakref(o); });
@@ -561,4 +717,43 @@ TEST_SUBMODULE(pytypes, m) {
         py::detail::accessor_policies::tuple_item::set(o, (py::size_t) 0, s0);
         return o;
     });
+
+    m.def("square_float_", [](const external::float_ &x) -> double {
+        double v = x.get_value();
+        return v * v;
+    });
+
+    m.def("tuple_rvalue_getter", [](const py::tuple &tup) {
+        // tests accessing tuple object with rvalue int
+        for (size_t i = 0; i < tup.size(); i++) {
+            auto o = py::handle(tup[py::int_(i)]);
+            if (!o) {
+                throw py::value_error("tuple is malformed");
+            }
+        }
+        return tup;
+    });
+    m.def("list_rvalue_getter", [](const py::list &l) {
+        // tests accessing list with rvalue int
+        for (size_t i = 0; i < l.size(); i++) {
+            auto o = py::handle(l[py::int_(i)]);
+            if (!o) {
+                throw py::value_error("list is malformed");
+            }
+        }
+        return l;
+    });
+    m.def("populate_dict_rvalue", [](int population) {
+        auto d = py::dict();
+        for (int i = 0; i < population; i++) {
+            d[py::int_(i)] = py::int_(i);
+        }
+        return d;
+    });
+    m.def("populate_obj_str_attrs", [](py::object &o, int population) {
+        for (int i = 0; i < population; i++) {
+            o.attr(py::str(py::int_(i))) = py::str(py::int_(i));
+        }
+        return o;
+    });
 }
diff --git a/pybind11/tests/test_pytypes.py b/pybind11/tests/test_pytypes.py
index 2cd6c3f03a..7a0a8b4aba 100644
--- a/pybind11/tests/test_pytypes.py
+++ b/pybind11/tests/test_pytypes.py
@@ -1,15 +1,19 @@
-# -*- coding: utf-8 -*-
-from __future__ import division
-
+import contextlib
 import sys
+import types
 
 import pytest
 
 import env
-from pybind11_tests import debug_enabled
+from pybind11_tests import detailed_error_messages_enabled
 from pybind11_tests import pytypes as m
 
 
+def test_handle_from_move_only_type_with_operator_PyObject():  # noqa: N802
+    assert m.handle_from_move_only_type_with_operator_PyObject_ncnst()
+    assert m.handle_from_move_only_type_with_operator_PyObject_const()
+
+
 def test_bool(doc):
     assert doc(m.get_bool) == "get_bool() -> bool"
 
@@ -68,11 +72,12 @@ def test_none(capture, doc):
 
 def test_set(capture, doc):
     s = m.get_set()
+    assert isinstance(s, set)
     assert s == {"key1", "key2", "key3"}
 
+    s.add("key4")
     with capture:
-        s.add("key4")
-        m.print_set(s)
+        m.print_anyset(s)
     assert (
         capture.unordered
         == """
@@ -83,12 +88,43 @@ def test_set(capture, doc):
     """
     )
 
-    assert not m.set_contains(set(), 42)
-    assert m.set_contains({42}, 42)
-    assert m.set_contains({"foo"}, "foo")
+    m.set_add(s, "key5")
+    assert m.anyset_size(s) == 5
 
-    assert doc(m.get_list) == "get_list() -> list"
-    assert doc(m.print_list) == "print_list(arg0: list) -> None"
+    m.set_clear(s)
+    assert m.anyset_empty(s)
+
+    assert not m.anyset_contains(set(), 42)
+    assert m.anyset_contains({42}, 42)
+    assert m.anyset_contains({"foo"}, "foo")
+
+    assert doc(m.get_set) == "get_set() -> set"
+    assert doc(m.print_anyset) == "print_anyset(arg0: anyset) -> None"
+
+
+def test_frozenset(capture, doc):
+    s = m.get_frozenset()
+    assert isinstance(s, frozenset)
+    assert s == frozenset({"key1", "key2", "key3"})
+
+    with capture:
+        m.print_anyset(s)
+    assert (
+        capture.unordered
+        == """
+        key: key1
+        key: key2
+        key: key3
+    """
+    )
+    assert m.anyset_size(s) == 3
+    assert not m.anyset_empty(s)
+
+    assert not m.anyset_contains(frozenset(), 42)
+    assert m.anyset_contains(frozenset({42}), 42)
+    assert m.anyset_contains(frozenset({"foo"}), "foo")
+
+    assert doc(m.get_frozenset) == "get_frozenset() -> frozenset"
 
 
 def test_dict(capture, doc):
@@ -123,7 +159,6 @@ def test_tuple():
     assert m.get_tuple() == (42, None, "spam")
 
 
-@pytest.mark.skipif("env.PY2")
 def test_simple_namespace():
     ns = m.get_simple_namespace()
     assert ns.attr == 42
@@ -140,7 +175,7 @@ def test_str(doc):
 
     assert doc(m.str_from_bytes) == "str_from_bytes() -> str"
 
-    class A(object):
+    class A:
         def __str__(self):
             return "this is a str"
 
@@ -158,24 +193,14 @@ def __repr__(self):
     malformed_utf8 = b"\x80"
     if hasattr(m, "PYBIND11_STR_LEGACY_PERMISSIVE"):
         assert m.str_from_object(malformed_utf8) is malformed_utf8
-    elif env.PY2:
-        with pytest.raises(UnicodeDecodeError):
-            m.str_from_object(malformed_utf8)
     else:
         assert m.str_from_object(malformed_utf8) == "b'\\x80'"
-    if env.PY2:
-        with pytest.raises(UnicodeDecodeError):
-            m.str_from_handle(malformed_utf8)
-    else:
-        assert m.str_from_handle(malformed_utf8) == "b'\\x80'"
+    assert m.str_from_handle(malformed_utf8) == "b'\\x80'"
 
     assert m.str_from_string_from_str("this is a str") == "this is a str"
-    ucs_surrogates_str = u"\udcc3"
-    if env.PY2:
-        assert u"\udcc3" == m.str_from_string_from_str(ucs_surrogates_str)
-    else:
-        with pytest.raises(UnicodeEncodeError):
-            m.str_from_string_from_str(ucs_surrogates_str)
+    ucs_surrogates_str = "\udcc3"
+    with pytest.raises(UnicodeEncodeError):
+        m.str_from_string_from_str(ucs_surrogates_str)
 
 
 def test_bytes(doc):
@@ -184,9 +209,7 @@ def test_bytes(doc):
     assert m.bytes_from_string().decode() == "foo"
     assert m.bytes_from_str().decode() == "bar"
 
-    assert doc(m.bytes_from_str) == "bytes_from_str() -> {}".format(
-        "str" if env.PY2 else "bytes"
-    )
+    assert doc(m.bytes_from_str) == "bytes_from_str() -> bytes"
 
 
 def test_bytearray(doc):
@@ -210,6 +233,19 @@ def test_capsule(capture):
     """
     )
 
+    with capture:
+        a = m.return_renamed_capsule_with_destructor()
+        del a
+        pytest.gc_collect()
+    assert (
+        capture.unordered
+        == """
+        creating capsule
+        renaming capsule
+        destructing capsule
+    """
+    )
+
     with capture:
         a = m.return_capsule_with_destructor_2()
         del a
@@ -222,6 +258,19 @@ def test_capsule(capture):
     """
     )
 
+    with capture:
+        a = m.return_renamed_capsule_with_destructor_2()
+        del a
+        pytest.gc_collect()
+    assert (
+        capture.unordered
+        == """
+        creating capsule
+        renaming capsule
+        destructing capsule: 1234
+    """
+    )
+
     with capture:
         a = m.return_capsule_with_name_and_destructor()
         del a
@@ -274,15 +323,18 @@ def func(self, x, *args):
     assert d["var"] == 99
 
 
+def test_accessor_moves():
+    inc_refs = m.accessor_moves()
+    if inc_refs:
+        assert inc_refs == [1, 0, 1, 0, 1, 0, 1, 0, 1, 0, 1, 0, 1, 0]
+    else:
+        pytest.skip("Not defined: PYBIND11_HANDLE_REF_DEBUG")
+
+
 def test_constructors():
     """C++ default and converting constructors are equivalent to type calls in Python"""
     types = [bytes, bytearray, str, bool, int, float, tuple, list, dict, set]
     expected = {t.__name__: t() for t in types}
-    if env.PY2:
-        # Note that bytes.__name__ == 'str' in Python 2.
-        # pybind11::str is unicode even under Python 2.
-        expected["bytes"] = bytes()
-        expected["str"] = unicode()  # noqa: F821
     assert m.default_constructors() == expected
 
     data = {
@@ -296,15 +348,11 @@ def test_constructors():
         list: range(3),
         dict: [("two", 2), ("one", 1), ("three", 3)],
         set: [4, 4, 5, 6, 6, 6],
+        frozenset: [4, 4, 5, 6, 6, 6],
         memoryview: b"abc",
     }
     inputs = {k.__name__: v for k, v in data.items()}
     expected = {k.__name__: k(v) for k, v in data.items()}
-    if env.PY2:  # Similar to the above. See comments above.
-        inputs["bytes"] = b"41"
-        inputs["str"] = 42
-        expected["bytes"] = b"41"
-        expected["str"] = u"42"
 
     assert m.converting_constructors(inputs) == expected
     assert m.cast_functions(inputs) == expected
@@ -331,8 +379,8 @@ def test_non_converting_constructors():
         for move in [True, False]:
             with pytest.raises(TypeError) as excinfo:
                 m.nonconverting_constructor(t, v, move)
-            expected_error = "Object of type '{}' is not an instance of '{}'".format(
-                type(v).__name__, t
+            expected_error = (
+                f"Object of type '{type(v).__name__}' is not an instance of '{t}'"
             )
             assert str(excinfo.value) == expected_error
 
@@ -340,46 +388,39 @@ def test_non_converting_constructors():
 def test_pybind11_str_raw_str():
     # specifically to exercise pybind11::str::raw_str
     cvt = m.convert_to_pybind11_str
-    assert cvt(u"Str") == u"Str"
-    assert cvt(b"Bytes") == u"Bytes" if env.PY2 else "b'Bytes'"
-    assert cvt(None) == u"None"
-    assert cvt(False) == u"False"
-    assert cvt(True) == u"True"
-    assert cvt(42) == u"42"
-    assert cvt(2 ** 65) == u"36893488147419103232"
-    assert cvt(-1.50) == u"-1.5"
-    assert cvt(()) == u"()"
-    assert cvt((18,)) == u"(18,)"
-    assert cvt([]) == u"[]"
-    assert cvt([28]) == u"[28]"
-    assert cvt({}) == u"{}"
-    assert cvt({3: 4}) == u"{3: 4}"
-    assert cvt(set()) == u"set([])" if env.PY2 else "set()"
-    assert cvt({3, 3}) == u"set([3])" if env.PY2 else "{3}"
-
-    valid_orig = u"DZ"
+    assert cvt("Str") == "Str"
+    assert cvt(b"Bytes") == "b'Bytes'"
+    assert cvt(None) == "None"
+    assert cvt(False) == "False"
+    assert cvt(True) == "True"
+    assert cvt(42) == "42"
+    assert cvt(2**65) == "36893488147419103232"
+    assert cvt(-1.50) == "-1.5"
+    assert cvt(()) == "()"
+    assert cvt((18,)) == "(18,)"
+    assert cvt([]) == "[]"
+    assert cvt([28]) == "[28]"
+    assert cvt({}) == "{}"
+    assert cvt({3: 4}) == "{3: 4}"
+    assert cvt(set()) == "set()"
+    assert cvt({3, 3}) == "{3}"
+
+    valid_orig = "DZ"
     valid_utf8 = valid_orig.encode("utf-8")
     valid_cvt = cvt(valid_utf8)
     if hasattr(m, "PYBIND11_STR_LEGACY_PERMISSIVE"):
         assert valid_cvt is valid_utf8
     else:
-        assert type(valid_cvt) is unicode if env.PY2 else str  # noqa: F821
-        if env.PY2:
-            assert valid_cvt == valid_orig
-        else:
-            assert valid_cvt == "b'\\xc7\\xb1'"
+        assert type(valid_cvt) is str
+        assert valid_cvt == "b'\\xc7\\xb1'"
 
     malformed_utf8 = b"\x80"
     if hasattr(m, "PYBIND11_STR_LEGACY_PERMISSIVE"):
         assert cvt(malformed_utf8) is malformed_utf8
     else:
-        if env.PY2:
-            with pytest.raises(UnicodeDecodeError):
-                cvt(malformed_utf8)
-        else:
-            malformed_cvt = cvt(malformed_utf8)
-            assert type(malformed_cvt) is str
-            assert malformed_cvt == "b'\\x80'"
+        malformed_cvt = cvt(malformed_utf8)
+        assert type(malformed_cvt) is str
+        assert malformed_cvt == "b'\\x80'"
 
 
 def test_implicit_casting():
@@ -422,20 +463,20 @@ def test_print(capture):
         m.print_failure()
     assert str(excinfo.value) == "Unable to convert call argument " + (
         "'1' of type 'UnregisteredType' to Python object"
-        if debug_enabled
-        else "to Python object (compile in debug mode for details)"
+        if detailed_error_messages_enabled
+        else "to Python object (#define PYBIND11_DETAILED_ERROR_MESSAGES or compile in debug mode for details)"
     )
 
 
 def test_hash():
-    class Hashable(object):
+    class Hashable:
         def __init__(self, value):
             self.value = value
 
         def __hash__(self):
             return self.value
 
-    class Unhashable(object):
+    class Unhashable:
         __hash__ = None
 
     assert m.hash_function(Hashable(42)) == 42
@@ -493,12 +534,7 @@ def test_memoryview(method, args, fmt, expected_view):
     view = method(*args)
     assert isinstance(view, memoryview)
     assert view.format == fmt
-    if isinstance(expected_view, bytes) or not env.PY2:
-        view_as_list = list(view)
-    else:
-        # Using max to pick non-zero byte (big-endian vs little-endian).
-        view_as_list = [max(ord(c) for c in s) for s in view]
-    assert view_as_list == list(expected_view)
+    assert list(view) == list(expected_view)
 
 
 @pytest.mark.xfail("env.PYPY", reason="getrefcount is not available")
@@ -522,12 +558,7 @@ def test_memoryview_from_buffer_empty_shape():
     view = m.test_memoryview_from_buffer_empty_shape()
     assert isinstance(view, memoryview)
     assert view.format == "B"
-    if env.PY2:
-        # Python 2 behavior is weird, but Python 3 (the future) is fine.
-        # PyPy3 has <memoryview, while CPython 2 has <memory
-        assert bytes(view).startswith(b"<memory")
-    else:
-        assert bytes(view) == b""
+    assert bytes(view) == b""
 
 
 def test_test_memoryview_from_buffer_invalid_strides():
@@ -536,14 +567,10 @@ def test_test_memoryview_from_buffer_invalid_strides():
 
 
 def test_test_memoryview_from_buffer_nullptr():
-    if env.PY2:
+    with pytest.raises(ValueError):
         m.test_memoryview_from_buffer_nullptr()
-    else:
-        with pytest.raises(ValueError):
-            m.test_memoryview_from_buffer_nullptr()
 
 
-@pytest.mark.skipif("env.PY2")
 def test_memoryview_from_memory():
     view = m.test_memoryview_from_memory()
     assert isinstance(view, memoryview)
@@ -563,9 +590,9 @@ def test_builtin_functions():
 
 def test_isinstance_string_types():
     assert m.isinstance_pybind11_bytes(b"")
-    assert not m.isinstance_pybind11_bytes(u"")
+    assert not m.isinstance_pybind11_bytes("")
 
-    assert m.isinstance_pybind11_str(u"")
+    assert m.isinstance_pybind11_str("")
     if hasattr(m, "PYBIND11_STR_LEGACY_PERMISSIVE"):
         assert m.isinstance_pybind11_str(b"")
     else:
@@ -575,24 +602,21 @@ def test_isinstance_string_types():
 def test_pass_bytes_or_unicode_to_string_types():
     assert m.pass_to_pybind11_bytes(b"Bytes") == 5
     with pytest.raises(TypeError):
-        m.pass_to_pybind11_bytes(u"Str")
+        m.pass_to_pybind11_bytes("Str")
 
-    if hasattr(m, "PYBIND11_STR_LEGACY_PERMISSIVE") or env.PY2:
+    if hasattr(m, "PYBIND11_STR_LEGACY_PERMISSIVE"):
         assert m.pass_to_pybind11_str(b"Bytes") == 5
     else:
         with pytest.raises(TypeError):
             m.pass_to_pybind11_str(b"Bytes")
-    assert m.pass_to_pybind11_str(u"Str") == 3
+    assert m.pass_to_pybind11_str("Str") == 3
 
     assert m.pass_to_std_string(b"Bytes") == 5
-    assert m.pass_to_std_string(u"Str") == 3
+    assert m.pass_to_std_string("Str") == 3
 
     malformed_utf8 = b"\x80"
     if hasattr(m, "PYBIND11_STR_LEGACY_PERMISSIVE"):
         assert m.pass_to_pybind11_str(malformed_utf8) == 1
-    elif env.PY2:
-        with pytest.raises(UnicodeDecodeError):
-            m.pass_to_pybind11_str(malformed_utf8)
     else:
         with pytest.raises(TypeError):
             m.pass_to_pybind11_str(malformed_utf8)
@@ -609,12 +633,14 @@ def test_weakref(create_weakref, create_weakref_with_callback):
     from weakref import getweakrefcount
 
     # Apparently, you cannot weakly reference an object()
-    class WeaklyReferenced(object):
+    class WeaklyReferenced:
         pass
 
+    callback_called = False
+
     def callback(wr):
-        # No `nonlocal` in Python 2
-        callback.called = True
+        nonlocal callback_called
+        callback_called = True
 
     obj = WeaklyReferenced()
     assert getweakrefcount(obj) == 0
@@ -623,13 +649,37 @@ def callback(wr):
 
     obj = WeaklyReferenced()
     assert getweakrefcount(obj) == 0
-    callback.called = False
     wr = create_weakref_with_callback(obj, callback)  # noqa: F841
     assert getweakrefcount(obj) == 1
-    assert not callback.called
+    assert not callback_called
     del obj
     pytest.gc_collect()
-    assert callback.called
+    assert callback_called
+
+
+@pytest.mark.parametrize(
+    "create_weakref, has_callback",
+    [
+        (m.weakref_from_handle, False),
+        (m.weakref_from_object, False),
+        (m.weakref_from_handle_and_function, True),
+        (m.weakref_from_object_and_function, True),
+    ],
+)
+def test_weakref_err(create_weakref, has_callback):
+    class C:
+        __slots__ = []
+
+    def callback(_):
+        pass
+
+    ob = C()
+    # Should raise TypeError on CPython
+    with pytest.raises(TypeError) if not env.PYPY else contextlib.nullcontext():
+        if has_callback:
+            _ = create_weakref(ob, callback)
+        else:
+            _ = create_weakref(ob)
 
 
 def test_cpp_iterators():
@@ -657,3 +707,35 @@ def test_implementation_details():
     assert m.tuple_item_set_ssize_t() == ("emely", "edmond")
     assert m.tuple_item_get_size_t(tup) == 93
     assert m.tuple_item_set_size_t() == ("candy", "cat")
+
+
+def test_external_float_():
+    r1 = m.square_float_(2.0)
+    assert r1 == 4.0
+
+
+def test_tuple_rvalue_getter():
+    pop = 1000
+    tup = tuple(range(pop))
+    m.tuple_rvalue_getter(tup)
+
+
+def test_list_rvalue_getter():
+    pop = 1000
+    my_list = list(range(pop))
+    m.list_rvalue_getter(my_list)
+
+
+def test_populate_dict_rvalue():
+    pop = 1000
+    my_dict = {i: i for i in range(pop)}
+    assert m.populate_dict_rvalue(pop) == my_dict
+
+
+def test_populate_obj_str_attrs():
+    pop = 1000
+    o = types.SimpleNamespace(**{str(i): i for i in range(pop)})
+    new_o = m.populate_obj_str_attrs(o, pop)
+    new_attrs = {k: v for k, v in new_o.__dict__.items() if not k.startswith("_")}
+    assert all(isinstance(v, str) for v in new_attrs.values())
+    assert len(new_attrs) == pop
diff --git a/pybind11/tests/test_sequences_and_iterators.cpp b/pybind11/tests/test_sequences_and_iterators.cpp
index a378128ae2..b867f49a25 100644
--- a/pybind11/tests/test_sequences_and_iterators.cpp
+++ b/pybind11/tests/test_sequences_and_iterators.cpp
@@ -8,44 +8,52 @@
     BSD-style license that can be found in the LICENSE file.
 */
 
-#include "pybind11_tests.h"
-#include "constructor_stats.h"
 #include <pybind11/operators.h>
 #include <pybind11/stl.h>
 
+#include "constructor_stats.h"
+#include "pybind11_tests.h"
+
 #include <algorithm>
 #include <utility>
 #include <vector>
 
 #ifdef PYBIND11_HAS_OPTIONAL
-#include <optional>
-#endif  // PYBIND11_HAS_OPTIONAL
-
+#    include <optional>
+#endif // PYBIND11_HAS_OPTIONAL
 
-template<typename T>
+template <typename T>
 class NonZeroIterator {
-    const T* ptr_;
+    const T *ptr_;
+
 public:
     explicit NonZeroIterator(const T *ptr) : ptr_(ptr) {}
-    const T& operator*() const { return *ptr_; }
-    NonZeroIterator& operator++() { ++ptr_; return *this; }
+    const T &operator*() const { return *ptr_; }
+    NonZeroIterator &operator++() {
+        ++ptr_;
+        return *this;
+    }
 };
 
 class NonZeroSentinel {};
 
-template<typename A, typename B>
-bool operator==(const NonZeroIterator<std::pair<A, B>>& it, const NonZeroSentinel&) {
+template <typename A, typename B>
+bool operator==(const NonZeroIterator<std::pair<A, B>> &it, const NonZeroSentinel &) {
     return !(*it).first || !(*it).second;
 }
 
 /* Iterator where dereferencing returns prvalues instead of references. */
-template<typename T>
+template <typename T>
 class NonRefIterator {
-    const T* ptr_;
+    const T *ptr_;
+
 public:
     explicit NonRefIterator(const T *ptr) : ptr_(ptr) {}
     T operator*() const { return T(*ptr_); }
-    NonRefIterator& operator++() { ++ptr_; return *this; }
+    NonRefIterator &operator++() {
+        ++ptr_;
+        return *this;
+    }
     bool operator==(const NonRefIterator &other) const { return ptr_ == other.ptr_; }
 };
 
@@ -54,17 +62,18 @@ class NonCopyableInt {
     explicit NonCopyableInt(int value) : value_(value) {}
     NonCopyableInt(const NonCopyableInt &) = delete;
     NonCopyableInt(NonCopyableInt &&other) noexcept : value_(other.value_) {
-        other.value_ = -1;  // detect when an unwanted move occurs
+        other.value_ = -1; // detect when an unwanted move occurs
     }
     NonCopyableInt &operator=(const NonCopyableInt &) = delete;
     NonCopyableInt &operator=(NonCopyableInt &&other) noexcept {
         value_ = other.value_;
-        other.value_ = -1;  // detect when an unwanted move occurs
+        other.value_ = -1; // detect when an unwanted move occurs
         return *this;
     }
     int get() const { return value_; }
     void set(int value) { value_ = value; }
     ~NonCopyableInt() = default;
+
 private:
     int value_;
 };
@@ -74,13 +83,16 @@ PYBIND11_MAKE_OPAQUE(std::vector<NonCopyableIntPair>);
 
 template <typename PythonType>
 py::list test_random_access_iterator(PythonType x) {
-    if (x.size() < 5)
+    if (x.size() < 5) {
         throw py::value_error("Please provide at least 5 elements for testing.");
+    }
 
     auto checks = py::list();
     auto assert_equal = [&checks](py::handle a, py::handle b) {
         auto result = PyObject_RichCompareBool(a.ptr(), b.ptr(), Py_EQ);
-        if (result == -1) { throw py::error_already_set(); }
+        if (result == -1) {
+            throw py::error_already_set();
+        }
         checks.append(result != 0);
     };
 
@@ -115,7 +127,7 @@ py::list test_random_access_iterator(PythonType x) {
 
 TEST_SUBMODULE(sequences_and_iterators, m) {
     // test_sliceable
-    class Sliceable{
+    class Sliceable {
     public:
         explicit Sliceable(int n) : size(n) {}
         int start, stop, step;
@@ -125,21 +137,24 @@ TEST_SUBMODULE(sequences_and_iterators, m) {
         .def(py::init<int>())
         .def("__getitem__", [](const Sliceable &s, const py::slice &slice) {
             py::ssize_t start = 0, stop = 0, step = 0, slicelength = 0;
-            if (!slice.compute(s.size, &start, &stop, &step, &slicelength))
+            if (!slice.compute(s.size, &start, &stop, &step, &slicelength)) {
                 throw py::error_already_set();
+            }
             int istart = static_cast<int>(start);
-            int istop  = static_cast<int>(stop);
-            int istep  = static_cast<int>(step);
+            int istop = static_cast<int>(stop);
+            int istep = static_cast<int>(step);
             return std::make_tuple(istart, istop, istep);
         });
 
     m.def("make_forward_slice_size_t", []() { return py::slice(0, -1, 1); });
-    m.def("make_reversed_slice_object", []() { return py::slice(py::none(), py::none(), py::int_(-1)); });
+    m.def("make_reversed_slice_object",
+          []() { return py::slice(py::none(), py::none(), py::int_(-1)); });
 #ifdef PYBIND11_HAS_OPTIONAL
     m.attr("has_optional") = true;
-    m.def("make_reversed_slice_size_t_optional_verbose", []() { return py::slice(std::nullopt, std::nullopt, -1); });
-    // Warning: The following spelling may still compile if optional<> is not present and give wrong answers.
-    // Please use with caution.
+    m.def("make_reversed_slice_size_t_optional_verbose",
+          []() { return py::slice(std::nullopt, std::nullopt, -1); });
+    // Warning: The following spelling may still compile if optional<> is not present and give
+    // wrong answers. Please use with caution.
     m.def("make_reversed_slice_size_t_optional", []() { return py::slice({}, {}, -1); });
 #else
     m.attr("has_optional") = false;
@@ -150,18 +165,21 @@ TEST_SUBMODULE(sequences_and_iterators, m) {
     public:
         explicit Sequence(size_t size) : m_size(size) {
             print_created(this, "of size", m_size);
+            // NOLINTNEXTLINE(cppcoreguidelines-prefer-member-initializer)
             m_data = new float[size];
             memset(m_data, 0, sizeof(float) * size);
         }
         explicit Sequence(const std::vector<float> &value) : m_size(value.size()) {
             print_created(this, "of size", m_size, "from std::vector");
+            // NOLINTNEXTLINE(cppcoreguidelines-prefer-member-initializer)
             m_data = new float[m_size];
             memcpy(m_data, &value[0], sizeof(float) * m_size);
         }
         Sequence(const Sequence &s) : m_size(s.m_size) {
             print_copy_created(this);
+            // NOLINTNEXTLINE(cppcoreguidelines-prefer-member-initializer)
             m_data = new float[m_size];
-            memcpy(m_data, s.m_data, sizeof(float)*m_size);
+            memcpy(m_data, s.m_data, sizeof(float) * m_size);
         }
         Sequence(Sequence &&s) noexcept : m_size(s.m_size), m_data(s.m_data) {
             print_move_created(this);
@@ -169,14 +187,17 @@ TEST_SUBMODULE(sequences_and_iterators, m) {
             s.m_data = nullptr;
         }
 
-        ~Sequence() { print_destroyed(this); delete[] m_data; }
+        ~Sequence() {
+            print_destroyed(this);
+            delete[] m_data;
+        }
 
         Sequence &operator=(const Sequence &s) {
             if (&s != this) {
                 delete[] m_data;
                 m_size = s.m_size;
                 m_data = new float[m_size];
-                memcpy(m_data, s.m_data, sizeof(float)*m_size);
+                memcpy(m_data, s.m_data, sizeof(float) * m_size);
             }
             print_copy_assigned(this);
             return *this;
@@ -195,10 +216,14 @@ TEST_SUBMODULE(sequences_and_iterators, m) {
         }
 
         bool operator==(const Sequence &s) const {
-            if (m_size != s.size()) return false;
-            for (size_t i = 0; i < m_size; ++i)
-                if (m_data[i] != s[i])
+            if (m_size != s.size()) {
+                return false;
+            }
+            for (size_t i = 0; i < m_size; ++i) {
+                if (m_data[i] != s[i]) {
                     return false;
+                }
+            }
             return true;
         }
         bool operator!=(const Sequence &s) const { return !operator==(s); }
@@ -207,23 +232,26 @@ TEST_SUBMODULE(sequences_and_iterators, m) {
         float &operator[](size_t index) { return m_data[index]; }
 
         bool contains(float v) const {
-            for (size_t i = 0; i < m_size; ++i)
-                if (v == m_data[i])
+            for (size_t i = 0; i < m_size; ++i) {
+                if (v == m_data[i]) {
                     return true;
+                }
+            }
             return false;
         }
 
         Sequence reversed() const {
             Sequence result(m_size);
-            for (size_t i = 0; i < m_size; ++i)
+            for (size_t i = 0; i < m_size; ++i) {
                 result[m_size - i - 1] = m_data[i];
+            }
             return result;
         }
 
         size_t size() const { return m_size; }
 
         const float *begin() const { return m_data; }
-        const float *end() const { return m_data+m_size; }
+        const float *end() const { return m_data + m_size; }
 
     private:
         size_t m_size;
@@ -235,14 +263,16 @@ TEST_SUBMODULE(sequences_and_iterators, m) {
         /// Bare bones interface
         .def("__getitem__",
              [](const Sequence &s, size_t i) {
-                 if (i >= s.size())
+                 if (i >= s.size()) {
                      throw py::index_error();
+                 }
                  return s[i];
              })
         .def("__setitem__",
              [](Sequence &s, size_t i, float v) {
-                 if (i >= s.size())
+                 if (i >= s.size()) {
                      throw py::index_error();
+                 }
                  s[i] = v;
              })
         .def("__len__", &Sequence::size)
@@ -257,8 +287,9 @@ TEST_SUBMODULE(sequences_and_iterators, m) {
         .def("__getitem__",
              [](const Sequence &s, const py::slice &slice) -> Sequence * {
                  size_t start = 0, stop = 0, step = 0, slicelength = 0;
-                 if (!slice.compute(s.size(), &start, &stop, &step, &slicelength))
+                 if (!slice.compute(s.size(), &start, &stop, &step, &slicelength)) {
                      throw py::error_already_set();
+                 }
                  auto *seq = new Sequence(slicelength);
                  for (size_t i = 0; i < slicelength; ++i) {
                      (*seq)[i] = s[start];
@@ -269,11 +300,13 @@ TEST_SUBMODULE(sequences_and_iterators, m) {
         .def("__setitem__",
              [](Sequence &s, const py::slice &slice, const Sequence &value) {
                  size_t start = 0, stop = 0, step = 0, slicelength = 0;
-                 if (!slice.compute(s.size(), &start, &stop, &step, &slicelength))
+                 if (!slice.compute(s.size(), &start, &stop, &step, &slicelength)) {
                      throw py::error_already_set();
-                 if (slicelength != value.size())
+                 }
+                 if (slicelength != value.size()) {
                      throw std::runtime_error(
                          "Left and right hand size of slice assignment have different sizes!");
+                 }
                  for (size_t i = 0; i < slicelength; ++i) {
                      s[start] = value[i];
                      start += step;
@@ -286,8 +319,8 @@ TEST_SUBMODULE(sequences_and_iterators, m) {
         ;
 
     // test_map_iterator
-    // Interface of a map-like object that isn't (directly) an unordered_map, but provides some basic
-    // map-like functionality.
+    // Interface of a map-like object that isn't (directly) an unordered_map, but provides some
+    // basic map-like functionality.
     class StringMap {
     public:
         StringMap() = default;
@@ -297,8 +330,10 @@ TEST_SUBMODULE(sequences_and_iterators, m) {
         void set(const std::string &key, std::string val) { map[key] = std::move(val); }
         std::string get(const std::string &key) const { return map.at(key); }
         size_t size() const { return map.size(); }
+
     private:
         std::unordered_map<std::string, std::string> map;
+
     public:
         decltype(map.cbegin()) begin() const { return map.cbegin(); }
         decltype(map.cend()) end() const { return map.cend(); }
@@ -333,90 +368,115 @@ TEST_SUBMODULE(sequences_and_iterators, m) {
     class IntPairs {
     public:
         explicit IntPairs(std::vector<std::pair<int, int>> data) : data_(std::move(data)) {}
-        const std::pair<int, int>* begin() const { return data_.data(); }
+        const std::pair<int, int> *begin() const { return data_.data(); }
         // .end() only required for py::make_iterator(self) overload
-        const std::pair<int, int>* end() const { return data_.data() + data_.size(); }
+        const std::pair<int, int> *end() const { return data_.data() + data_.size(); }
+
     private:
         std::vector<std::pair<int, int>> data_;
     };
     py::class_<IntPairs>(m, "IntPairs")
         .def(py::init<std::vector<std::pair<int, int>>>())
-        .def("nonzero", [](const IntPairs& s) {
-            return py::make_iterator(NonZeroIterator<std::pair<int, int>>(s.begin()), NonZeroSentinel());
-        }, py::keep_alive<0, 1>())
-        .def("nonzero_keys", [](const IntPairs& s) {
-            return py::make_key_iterator(NonZeroIterator<std::pair<int, int>>(s.begin()), NonZeroSentinel());
-        }, py::keep_alive<0, 1>())
-        .def("nonzero_values", [](const IntPairs& s) {
-            return py::make_value_iterator(NonZeroIterator<std::pair<int, int>>(s.begin()), NonZeroSentinel());
-        }, py::keep_alive<0, 1>())
+        .def(
+            "nonzero",
+            [](const IntPairs &s) {
+                return py::make_iterator(NonZeroIterator<std::pair<int, int>>(s.begin()),
+                                         NonZeroSentinel());
+            },
+            py::keep_alive<0, 1>())
+        .def(
+            "nonzero_keys",
+            [](const IntPairs &s) {
+                return py::make_key_iterator(NonZeroIterator<std::pair<int, int>>(s.begin()),
+                                             NonZeroSentinel());
+            },
+            py::keep_alive<0, 1>())
+        .def(
+            "nonzero_values",
+            [](const IntPairs &s) {
+                return py::make_value_iterator(NonZeroIterator<std::pair<int, int>>(s.begin()),
+                                               NonZeroSentinel());
+            },
+            py::keep_alive<0, 1>())
 
         // test iterator that returns values instead of references
-        .def("nonref", [](const IntPairs& s) {
-             return py::make_iterator(NonRefIterator<std::pair<int, int>>(s.begin()),
-                                      NonRefIterator<std::pair<int, int>>(s.end()));
-        }, py::keep_alive<0, 1>())
-        .def("nonref_keys", [](const IntPairs& s) {
-             return py::make_key_iterator(NonRefIterator<std::pair<int, int>>(s.begin()),
-                                          NonRefIterator<std::pair<int, int>>(s.end()));
-        }, py::keep_alive<0, 1>())
-        .def("nonref_values", [](const IntPairs& s) {
-             return py::make_value_iterator(NonRefIterator<std::pair<int, int>>(s.begin()),
-                                            NonRefIterator<std::pair<int, int>>(s.end()));
-        }, py::keep_alive<0, 1>())
+        .def(
+            "nonref",
+            [](const IntPairs &s) {
+                return py::make_iterator(NonRefIterator<std::pair<int, int>>(s.begin()),
+                                         NonRefIterator<std::pair<int, int>>(s.end()));
+            },
+            py::keep_alive<0, 1>())
+        .def(
+            "nonref_keys",
+            [](const IntPairs &s) {
+                return py::make_key_iterator(NonRefIterator<std::pair<int, int>>(s.begin()),
+                                             NonRefIterator<std::pair<int, int>>(s.end()));
+            },
+            py::keep_alive<0, 1>())
+        .def(
+            "nonref_values",
+            [](const IntPairs &s) {
+                return py::make_value_iterator(NonRefIterator<std::pair<int, int>>(s.begin()),
+                                               NonRefIterator<std::pair<int, int>>(s.end()));
+            },
+            py::keep_alive<0, 1>())
 
         // test single-argument make_iterator
-        .def("simple_iterator", [](IntPairs& self) {
-            return py::make_iterator(self);
-        }, py::keep_alive<0, 1>())
-        .def("simple_keys", [](IntPairs& self) {
-            return py::make_key_iterator(self);
-        }, py::keep_alive<0, 1>())
-        .def("simple_values", [](IntPairs& self) {
-            return py::make_value_iterator(self);
-        }, py::keep_alive<0, 1>())
+        .def(
+            "simple_iterator",
+            [](IntPairs &self) { return py::make_iterator(self); },
+            py::keep_alive<0, 1>())
+        .def(
+            "simple_keys",
+            [](IntPairs &self) { return py::make_key_iterator(self); },
+            py::keep_alive<0, 1>())
+        .def(
+            "simple_values",
+            [](IntPairs &self) { return py::make_value_iterator(self); },
+            py::keep_alive<0, 1>())
 
         // Test iterator with an Extra (doesn't do anything useful, so not used
         // at runtime, but tests need to be able to compile with the correct
         // overload. See PR #3293.
-        .def("_make_iterator_extras", [](IntPairs& self) {
-            return py::make_iterator(self, py::call_guard<int>());
-        }, py::keep_alive<0, 1>())
-        .def("_make_key_extras", [](IntPairs& self) {
-            return py::make_key_iterator(self, py::call_guard<int>());
-        }, py::keep_alive<0, 1>())
-        .def("_make_value_extras", [](IntPairs& self) {
-            return py::make_value_iterator(self, py::call_guard<int>());
-        }, py::keep_alive<0, 1>())
-        ;
+        .def(
+            "_make_iterator_extras",
+            [](IntPairs &self) { return py::make_iterator(self, py::call_guard<int>()); },
+            py::keep_alive<0, 1>())
+        .def(
+            "_make_key_extras",
+            [](IntPairs &self) { return py::make_key_iterator(self, py::call_guard<int>()); },
+            py::keep_alive<0, 1>())
+        .def(
+            "_make_value_extras",
+            [](IntPairs &self) { return py::make_value_iterator(self, py::call_guard<int>()); },
+            py::keep_alive<0, 1>());
 
-    // test_iterater_referencing
+    // test_iterator_referencing
     py::class_<NonCopyableInt>(m, "NonCopyableInt")
         .def(py::init<int>())
         .def("set", &NonCopyableInt::set)
-        .def("__int__", &NonCopyableInt::get)
-        ;
+        .def("__int__", &NonCopyableInt::get);
     py::class_<std::vector<NonCopyableInt>>(m, "VectorNonCopyableInt")
         .def(py::init<>())
-        .def("append", [](std::vector<NonCopyableInt> &vec, int value) {
-            vec.emplace_back(value);
-        })
+        .def("append",
+             [](std::vector<NonCopyableInt> &vec, int value) { vec.emplace_back(value); })
         .def("__iter__", [](std::vector<NonCopyableInt> &vec) {
             return py::make_iterator(vec.begin(), vec.end());
-        })
-        ;
+        });
     py::class_<std::vector<NonCopyableIntPair>>(m, "VectorNonCopyableIntPair")
         .def(py::init<>())
-        .def("append", [](std::vector<NonCopyableIntPair> &vec, const std::pair<int, int> &value) {
-            vec.emplace_back(NonCopyableInt(value.first), NonCopyableInt(value.second));
-        })
-        .def("keys", [](std::vector<NonCopyableIntPair> &vec) {
-            return py::make_key_iterator(vec.begin(), vec.end());
-        })
+        .def("append",
+             [](std::vector<NonCopyableIntPair> &vec, const std::pair<int, int> &value) {
+                 vec.emplace_back(NonCopyableInt(value.first), NonCopyableInt(value.second));
+             })
+        .def("keys",
+             [](std::vector<NonCopyableIntPair> &vec) {
+                 return py::make_key_iterator(vec.begin(), vec.end());
+             })
         .def("values", [](std::vector<NonCopyableIntPair> &vec) {
             return py::make_value_iterator(vec.begin(), vec.end());
-        })
-        ;
+        });
 
 #if 0
     // Obsolete: special data structure for exposing custom iterator types to python
@@ -494,7 +554,9 @@ TEST_SUBMODULE(sequences_and_iterators, m) {
 
     // test_iterator_rvp
     // #388: Can't make iterators via make_iterator() with different r/v policies
-    static std::vector<int> list = { 1, 2, 3 };
-    m.def("make_iterator_1", []() { return py::make_iterator<py::return_value_policy::copy>(list); });
-    m.def("make_iterator_2", []() { return py::make_iterator<py::return_value_policy::automatic>(list); });
+    static std::vector<int> list = {1, 2, 3};
+    m.def("make_iterator_1",
+          []() { return py::make_iterator<py::return_value_policy::copy>(list); });
+    m.def("make_iterator_2",
+          []() { return py::make_iterator<py::return_value_policy::automatic>(list); });
 }
diff --git a/pybind11/tests/test_sequences_and_iterators.py b/pybind11/tests/test_sequences_and_iterators.py
index 6985918a11..062e3b3d30 100644
--- a/pybind11/tests/test_sequences_and_iterators.py
+++ b/pybind11/tests/test_sequences_and_iterators.py
@@ -1,21 +1,10 @@
-# -*- coding: utf-8 -*-
 import pytest
+from pytest import approx
 
 from pybind11_tests import ConstructorStats
 from pybind11_tests import sequences_and_iterators as m
 
 
-def isclose(a, b, rel_tol=1e-05, abs_tol=0.0):
-    """Like math.isclose() from Python 3.5"""
-    return abs(a - b) <= max(rel_tol * max(abs(a), abs(b)), abs_tol)
-
-
-def allclose(a_list, b_list, rel_tol=1e-05, abs_tol=0.0):
-    return all(
-        isclose(a, b, rel_tol=rel_tol, abs_tol=abs_tol) for a, b in zip(a_list, b_list)
-    )
-
-
 def test_slice_constructors():
     assert m.make_forward_slice_size_t() == slice(0, -1, 1)
     assert m.make_reversed_slice_object() == slice(None, None, -1)
@@ -118,7 +107,8 @@ def test_sequence():
     assert 12.34 not in s
     s[0], s[3] = 12.34, 56.78
     assert 12.34 in s
-    assert isclose(s[0], 12.34) and isclose(s[3], 56.78)
+    assert s[0] == approx(12.34, rel=1e-05)
+    assert s[3] == approx(56.78, rel=1e-05)
 
     rev = reversed(s)
     assert cstats.values() == ["of size", "5"]
@@ -133,14 +123,14 @@ def test_sequence():
     assert cstats.values() == ["of size", "0"]
 
     expected = [0, 56.78, 0, 0, 12.34]
-    assert allclose(rev, expected)
-    assert allclose(rev2, expected)
+    assert rev == approx(expected, rel=1e-05)
+    assert rev2 == approx(expected, rel=1e-05)
     assert rev == rev2
 
     rev[0::2] = m.Sequence([2.0, 2.0, 2.0])
     assert cstats.values() == ["of size", "3", "from std::vector"]
 
-    assert allclose(rev, [2, 56.78, 2, 0, 2])
+    assert rev == approx([2, 56.78, 2, 0, 2], rel=1e-05)
 
     assert cstats.alive() == 4
     del it
diff --git a/pybind11/tests/test_smart_ptr.cpp b/pybind11/tests/test_smart_ptr.cpp
index 94f04330a2..2c23a9a197 100644
--- a/pybind11/tests/test_smart_ptr.cpp
+++ b/pybind11/tests/test_smart_ptr.cpp
@@ -8,21 +8,19 @@
     BSD-style license that can be found in the LICENSE file.
 */
 
-#if defined(_MSC_VER) && _MSC_VER < 1910  // VS 2015's MSVC
-#  pragma warning(disable: 4702) // unreachable code in system header (xatomic.h(382))
-#endif
-
-#include "pybind11_tests.h"
 #include "object.h"
+#include "pybind11_tests.h"
 
 namespace {
 
 // This is just a wrapper around unique_ptr, but with extra fields to deliberately bloat up the
-// holder size to trigger the non-simple-layout internal instance layout for single inheritance with
-// large holder type:
-template <typename T> class huge_unique_ptr {
+// holder size to trigger the non-simple-layout internal instance layout for single inheritance
+// with large holder type:
+template <typename T>
+class huge_unique_ptr {
     std::unique_ptr<T> ptr;
     uint64_t padding[10];
+
 public:
     explicit huge_unique_ptr(T *p) : ptr(p) {}
     T *get() { return ptr.get(); }
@@ -32,10 +30,11 @@ template <typename T> class huge_unique_ptr {
 template <typename T>
 class custom_unique_ptr {
     std::unique_ptr<T> impl;
+
 public:
     explicit custom_unique_ptr(T *p) : impl(p) {}
-    T* get() const { return impl.get(); }
-    T* release_ptr() { return impl.release(); }
+    T *get() const { return impl.get(); }
+    T *release_ptr() { return impl.release(); }
 };
 
 // Simple custom holder that works like shared_ptr and has operator& overload
@@ -44,11 +43,12 @@ class custom_unique_ptr {
 template <typename T>
 class shared_ptr_with_addressof_operator {
     std::shared_ptr<T> impl;
+
 public:
-    shared_ptr_with_addressof_operator( ) = default;
+    shared_ptr_with_addressof_operator() = default;
     explicit shared_ptr_with_addressof_operator(T *p) : impl(p) {}
-    T* get() const { return impl.get(); }
-    T** operator&() { throw std::logic_error("Call of overloaded operator& is not expected"); }
+    T *get() const { return impl.get(); }
+    T **operator&() { throw std::logic_error("Call of overloaded operator& is not expected"); }
 };
 
 // Simple custom holder that works like unique_ptr and has operator& overload
@@ -57,12 +57,13 @@ class shared_ptr_with_addressof_operator {
 template <typename T>
 class unique_ptr_with_addressof_operator {
     std::unique_ptr<T> impl;
+
 public:
     unique_ptr_with_addressof_operator() = default;
     explicit unique_ptr_with_addressof_operator(T *p) : impl(p) {}
-    T* get() const { return impl.get(); }
-    T* release_ptr() { return impl.release(); }
-    T** operator&() { throw std::logic_error("Call of overloaded operator& is not expected"); }
+    T *get() const { return impl.get(); }
+    T *release_ptr() { return impl.release(); }
+    T **operator&() { throw std::logic_error("Call of overloaded operator& is not expected"); }
 };
 
 // Custom object with builtin reference counting (see 'object.h' for the implementation)
@@ -70,8 +71,10 @@ class MyObject1 : public Object {
 public:
     explicit MyObject1(int value) : value(value) { print_created(this, toString()); }
     std::string toString() const override { return "MyObject1[" + std::to_string(value) + "]"; }
+
 protected:
     ~MyObject1() override { print_destroyed(this); }
+
 private:
     int value;
 };
@@ -83,6 +86,7 @@ class MyObject2 {
     explicit MyObject2(int value) : value(value) { print_created(this, toString()); }
     std::string toString() const { return "MyObject2[" + std::to_string(value) + "]"; }
     virtual ~MyObject2() { print_destroyed(this); }
+
 private:
     int value;
 };
@@ -94,6 +98,7 @@ class MyObject3 : public std::enable_shared_from_this<MyObject3> {
     explicit MyObject3(int value) : value(value) { print_created(this, toString()); }
     std::string toString() const { return "MyObject3[" + std::to_string(value) + "]"; }
     virtual ~MyObject3() { print_destroyed(this); }
+
 private:
     int value;
 };
@@ -113,9 +118,11 @@ class MyObject4 {
     static void cleanupAllInstances() {
         auto tmp = std::move(myobject4_instances);
         myobject4_instances.clear();
-        for (auto o : tmp)
+        for (auto *o : tmp) {
             delete o;
+        }
     }
+
 private:
     ~MyObject4() {
         myobject4_instances.erase(this);
@@ -130,8 +137,7 @@ class MyObject4a;
 std::unordered_set<MyObject4a *> myobject4a_instances;
 class MyObject4a {
 public:
-    explicit MyObject4a(int i) {
-        value = i;
+    explicit MyObject4a(int i) : value{i} {
         print_created(this);
         myobject4a_instances.insert(this);
     };
@@ -140,9 +146,11 @@ class MyObject4a {
     static void cleanupAllInstances() {
         auto tmp = std::move(myobject4a_instances);
         myobject4a_instances.clear();
-        for (auto o : tmp)
+        for (auto *o : tmp) {
             delete o;
+        }
     }
+
 protected:
     virtual ~MyObject4a() {
         myobject4a_instances.erase(this);
@@ -231,14 +239,14 @@ struct TypeForMoveOnlyHolderWithAddressOf {
 };
 
 // test_smart_ptr_from_default
-struct HeldByDefaultHolder { };
+struct HeldByDefaultHolder {};
 
 // test_shared_ptr_gc
 // #187: issue involving std::shared_ptr<> return value policy & garbage collection
 struct ElementBase {
     virtual ~ElementBase() = default; /* Force creation of virtual table */
     ElementBase() = default;
-    ElementBase(const ElementBase&) = delete;
+    ElementBase(const ElementBase &) = delete;
 };
 
 struct ElementA : ElementBase {
@@ -258,11 +266,12 @@ struct ElementList {
 // It is always possible to construct a ref<T> from an Object* pointer without
 // possible inconsistencies, hence the 'true' argument at the end.
 // Make pybind11 aware of the non-standard getter member function
-namespace pybind11 { namespace detail {
-    template <typename T>
-    struct holder_helper<ref<T>> {
-        static const T *get(const ref<T> &p) { return p.get_ptr(); }
-    };
+namespace pybind11 {
+namespace detail {
+template <typename T>
+struct holder_helper<ref<T>> {
+    static const T *get(const ref<T> &p) { return p.get_ptr(); }
+};
 } // namespace detail
 } // namespace pybind11
 
@@ -286,8 +295,7 @@ TEST_SUBMODULE(smart_ptr, m) {
     py::class_<Object, ref<Object>> obj(m, "Object");
     obj.def("getRefCount", &Object::getRefCount);
 
-    py::class_<MyObject1, ref<MyObject1>>(m, "MyObject1", obj)
-        .def(py::init<int>());
+    py::class_<MyObject1, ref<MyObject1>>(m, "MyObject1", obj).def(py::init<int>());
     py::implicitly_convertible<py::int_, MyObject1>();
 
     m.def("make_object_1", []() -> Object * { return new MyObject1(1); });
@@ -306,25 +314,27 @@ TEST_SUBMODULE(smart_ptr, m) {
     // Expose constructor stats for the ref type
     m.def("cstats_ref", &ConstructorStats::get<ref_tag>);
 
-    py::class_<MyObject2, std::shared_ptr<MyObject2>>(m, "MyObject2")
-        .def(py::init<int>());
+    py::class_<MyObject2, std::shared_ptr<MyObject2>>(m, "MyObject2").def(py::init<int>());
     m.def("make_myobject2_1", []() { return new MyObject2(6); });
     m.def("make_myobject2_2", []() { return std::make_shared<MyObject2>(7); });
     m.def("print_myobject2_1", [](const MyObject2 *obj) { py::print(obj->toString()); });
     // NOLINTNEXTLINE(performance-unnecessary-value-param)
     m.def("print_myobject2_2", [](std::shared_ptr<MyObject2> obj) { py::print(obj->toString()); });
-    m.def("print_myobject2_3", [](const std::shared_ptr<MyObject2> &obj) { py::print(obj->toString()); });
-    m.def("print_myobject2_4", [](const std::shared_ptr<MyObject2> *obj) { py::print((*obj)->toString()); });
+    m.def("print_myobject2_3",
+          [](const std::shared_ptr<MyObject2> &obj) { py::print(obj->toString()); });
+    m.def("print_myobject2_4",
+          [](const std::shared_ptr<MyObject2> *obj) { py::print((*obj)->toString()); });
 
-    py::class_<MyObject3, std::shared_ptr<MyObject3>>(m, "MyObject3")
-        .def(py::init<int>());
+    py::class_<MyObject3, std::shared_ptr<MyObject3>>(m, "MyObject3").def(py::init<int>());
     m.def("make_myobject3_1", []() { return new MyObject3(8); });
     m.def("make_myobject3_2", []() { return std::make_shared<MyObject3>(9); });
     m.def("print_myobject3_1", [](const MyObject3 *obj) { py::print(obj->toString()); });
     // NOLINTNEXTLINE(performance-unnecessary-value-param)
     m.def("print_myobject3_2", [](std::shared_ptr<MyObject3> obj) { py::print(obj->toString()); });
-    m.def("print_myobject3_3", [](const std::shared_ptr<MyObject3> &obj) { py::print(obj->toString()); });
-    m.def("print_myobject3_4", [](const std::shared_ptr<MyObject3> *obj) { py::print((*obj)->toString()); });
+    m.def("print_myobject3_3",
+          [](const std::shared_ptr<MyObject3> &obj) { py::print(obj->toString()); });
+    m.def("print_myobject3_4",
+          [](const std::shared_ptr<MyObject3> *obj) { py::print((*obj)->toString()); });
 
     // test_smart_ptr_refcounting
     m.def("test_object1_refcounting", []() {
@@ -420,11 +430,18 @@ TEST_SUBMODULE(smart_ptr, m) {
              [](const HolderWithAddressOf *obj) { py::print((*obj).get()->toString()); });
 
     // test_move_only_holder_with_addressof_operator
-    using MoveOnlyHolderWithAddressOf = unique_ptr_with_addressof_operator<TypeForMoveOnlyHolderWithAddressOf>;
-    py::class_<TypeForMoveOnlyHolderWithAddressOf, MoveOnlyHolderWithAddressOf>(m, "TypeForMoveOnlyHolderWithAddressOf")
-        .def_static("make", []() { return MoveOnlyHolderWithAddressOf(new TypeForMoveOnlyHolderWithAddressOf(0)); })
+    using MoveOnlyHolderWithAddressOf
+        = unique_ptr_with_addressof_operator<TypeForMoveOnlyHolderWithAddressOf>;
+    py::class_<TypeForMoveOnlyHolderWithAddressOf, MoveOnlyHolderWithAddressOf>(
+        m, "TypeForMoveOnlyHolderWithAddressOf")
+        .def_static("make",
+                    []() {
+                        return MoveOnlyHolderWithAddressOf(
+                            new TypeForMoveOnlyHolderWithAddressOf(0));
+                    })
         .def_readwrite("value", &TypeForMoveOnlyHolderWithAddressOf::value)
-        .def("print_object", [](const TypeForMoveOnlyHolderWithAddressOf *obj) { py::print(obj->toString()); });
+        .def("print_object",
+             [](const TypeForMoveOnlyHolderWithAddressOf *obj) { py::print(obj->toString()); });
 
     // test_smart_ptr_from_default
     py::class_<HeldByDefaultHolder, std::unique_ptr<HeldByDefaultHolder>>(m, "HeldByDefaultHolder")
@@ -445,8 +462,9 @@ TEST_SUBMODULE(smart_ptr, m) {
         .def("add", &ElementList::add)
         .def("get", [](ElementList &el) {
             py::list list;
-            for (auto &e : el.l)
+            for (auto &e : el.l) {
                 list.append(py::cast(e));
+            }
             return list;
         });
 }
diff --git a/pybind11/tests/test_smart_ptr.py b/pybind11/tests/test_smart_ptr.py
index 85f61a3223..2f204e01b1 100644
--- a/pybind11/tests/test_smart_ptr.py
+++ b/pybind11/tests/test_smart_ptr.py
@@ -1,4 +1,3 @@
-# -*- coding: utf-8 -*-
 import pytest
 
 m = pytest.importorskip("pybind11_tests.smart_ptr")
@@ -16,7 +15,7 @@ def test_smart_ptr(capture):
             m.print_object_2(o)
             m.print_object_3(o)
             m.print_object_4(o)
-        assert capture == "MyObject1[{i}]\n".format(i=i) * 4
+        assert capture == f"MyObject1[{i}]\n" * 4
 
     for i, o in enumerate(
         [m.make_myobject1_1(), m.make_myobject1_2(), m.MyObject1(6), 7], start=4
@@ -34,13 +33,11 @@ def test_smart_ptr(capture):
             m.print_myobject1_4(o)
 
         times = 4 if isinstance(o, int) else 8
-        assert capture == "MyObject1[{i}]\n".format(i=i) * times
+        assert capture == f"MyObject1[{i}]\n" * times
 
     cstats = ConstructorStats.get(m.MyObject1)
     assert cstats.alive() == 0
-    expected_values = ["MyObject1[{}]".format(i) for i in range(1, 7)] + [
-        "MyObject1[7]"
-    ] * 4
+    expected_values = [f"MyObject1[{i}]" for i in range(1, 7)] + ["MyObject1[7]"] * 4
     assert cstats.values() == expected_values
     assert cstats.default_constructions == 0
     assert cstats.copy_constructions == 0
@@ -58,7 +55,7 @@ def test_smart_ptr(capture):
             m.print_myobject2_2(o)
             m.print_myobject2_3(o)
             m.print_myobject2_4(o)
-        assert capture == "MyObject2[{i}]\n".format(i=i) * 4
+        assert capture == f"MyObject2[{i}]\n" * 4
 
     cstats = ConstructorStats.get(m.MyObject2)
     assert cstats.alive() == 1
@@ -81,7 +78,7 @@ def test_smart_ptr(capture):
             m.print_myobject3_2(o)
             m.print_myobject3_3(o)
             m.print_myobject3_4(o)
-        assert capture == "MyObject3[{i}]\n".format(i=i) * 4
+        assert capture == f"MyObject3[{i}]\n" * 4
 
     cstats = ConstructorStats.get(m.MyObject3)
     assert cstats.alive() == 1
diff --git a/pybind11/tests/test_stl.cpp b/pybind11/tests/test_stl.cpp
index bc5c6553a2..38d32fda93 100644
--- a/pybind11/tests/test_stl.cpp
+++ b/pybind11/tests/test_stl.cpp
@@ -7,39 +7,44 @@
     BSD-style license that can be found in the LICENSE file.
 */
 
-#include "pybind11_tests.h"
-#include "constructor_stats.h"
 #include <pybind11/stl.h>
 
+#include "constructor_stats.h"
+#include "pybind11_tests.h"
+
 #ifndef PYBIND11_HAS_FILESYSTEM_IS_OPTIONAL
-#define PYBIND11_HAS_FILESYSTEM_IS_OPTIONAL
+#    define PYBIND11_HAS_FILESYSTEM_IS_OPTIONAL
 #endif
 #include <pybind11/stl/filesystem.h>
 
-#include <vector>
 #include <string>
+#include <vector>
 
 #if defined(PYBIND11_TEST_BOOST)
-#include <boost/optional.hpp>
+#    include <boost/optional.hpp>
 
-namespace pybind11 { namespace detail {
+namespace pybind11 {
+namespace detail {
 template <typename T>
 struct type_caster<boost::optional<T>> : optional_caster<boost::optional<T>> {};
 
 template <>
 struct type_caster<boost::none_t> : void_caster<boost::none_t> {};
-}} // namespace pybind11::detail
+} // namespace detail
+} // namespace pybind11
 #endif
 
 // Test with `std::variant` in C++17 mode, or with `boost::variant` in C++11/14
 #if defined(PYBIND11_HAS_VARIANT)
 using std::variant;
-#elif defined(PYBIND11_TEST_BOOST) && (!defined(_MSC_VER) || _MSC_VER >= 1910)
-#  include <boost/variant.hpp>
-#  define PYBIND11_HAS_VARIANT 1
+#    define PYBIND11_TEST_VARIANT 1
+#elif defined(PYBIND11_TEST_BOOST)
+#    include <boost/variant.hpp>
+#    define PYBIND11_TEST_VARIANT 1
 using boost::variant;
 
-namespace pybind11 { namespace detail {
+namespace pybind11 {
+namespace detail {
 template <typename... Ts>
 struct type_caster<boost::variant<Ts...>> : variant_caster<boost::variant<Ts...>> {};
 
@@ -50,7 +55,8 @@ struct visit_helper<boost::variant> {
         return boost::apply_visitor(args...);
     }
 };
-}} // namespace pybind11::detail
+} // namespace detail
+} // namespace pybind11
 #endif
 
 PYBIND11_MAKE_OPAQUE(std::vector<std::string, std::allocator<std::string>>);
@@ -63,26 +69,23 @@ struct TplCtorClass {
 };
 
 namespace std {
-    template <>
-    struct hash<TplCtorClass> { size_t operator()(const TplCtorClass &) const { return 0; } };
+template <>
+struct hash<TplCtorClass> {
+    size_t operator()(const TplCtorClass &) const { return 0; }
+};
 } // namespace std
 
-
 template <template <typename> class OptionalImpl, typename T>
-struct OptionalHolder
-{
+struct OptionalHolder {
     // NOLINTNEXTLINE(modernize-use-equals-default): breaks GCC 4.8
-    OptionalHolder() {};
-    bool member_initialized() const {
-        return member && member->initialized;
-    }
+    OptionalHolder(){};
+    bool member_initialized() const { return member && member->initialized; }
     OptionalImpl<T> member = T{};
 };
 
-
 enum class EnumType {
-  kSet = 42,
-  kUnset = 85,
+    kSet = 42,
+    kUnset = 85,
 };
 
 // This is used to test that return-by-ref and return-by-copy policies are
@@ -102,7 +105,7 @@ class OptionalProperties {
         value = EnumType::kUnset;
     }
 
-    OptionalEnumValue& access_by_ref() { return value; }
+    OptionalEnumValue &access_by_ref() { return value; }
     OptionalEnumValue access_by_copy() { return value; }
 
 private:
@@ -122,77 +125,72 @@ class ReferenceSensitiveOptional {
 
     ReferenceSensitiveOptional() = default;
     // NOLINTNEXTLINE(google-explicit-constructor)
-    ReferenceSensitiveOptional(const T& value) : storage{value} {}
+    ReferenceSensitiveOptional(const T &value) : storage{value} {}
     // NOLINTNEXTLINE(google-explicit-constructor)
-    ReferenceSensitiveOptional(T&& value) : storage{std::move(value)} {}
-    ReferenceSensitiveOptional& operator=(const T& value) {
+    ReferenceSensitiveOptional(T &&value) : storage{std::move(value)} {}
+    ReferenceSensitiveOptional &operator=(const T &value) {
         storage = {value};
         return *this;
     }
-    ReferenceSensitiveOptional& operator=(T&& value) {
+    ReferenceSensitiveOptional &operator=(T &&value) {
         storage = {std::move(value)};
         return *this;
     }
 
     template <typename... Args>
-    T& emplace(Args&&... args) {
+    T &emplace(Args &&...args) {
         storage.clear();
         storage.emplace_back(std::forward<Args>(args)...);
         return storage.back();
     }
 
-    const T& value() const noexcept {
+    const T &value() const noexcept {
         assert(!storage.empty());
         return storage[0];
     }
 
-    const T& operator*() const noexcept {
-        return value();
-    }
+    const T &operator*() const noexcept { return value(); }
 
-    const T* operator->() const noexcept {
-        return &value();
-    }
+    const T *operator->() const noexcept { return &value(); }
 
-    explicit operator bool() const noexcept {
-        return !storage.empty();
-    }
+    explicit operator bool() const noexcept { return !storage.empty(); }
 
 private:
     std::vector<T> storage;
 };
 
-namespace pybind11 { namespace detail {
+namespace pybind11 {
+namespace detail {
 template <typename T>
-struct type_caster<ReferenceSensitiveOptional<T>> : optional_caster<ReferenceSensitiveOptional<T>> {};
+struct type_caster<ReferenceSensitiveOptional<T>>
+    : optional_caster<ReferenceSensitiveOptional<T>> {};
 } // namespace detail
 } // namespace pybind11
 
-
 TEST_SUBMODULE(stl, m) {
     // test_vector
     m.def("cast_vector", []() { return std::vector<int>{1}; });
     m.def("load_vector", [](const std::vector<int> &v) { return v.at(0) == 1 && v.at(1) == 2; });
     // `std::vector<bool>` is special because it returns proxy objects instead of references
     m.def("cast_bool_vector", []() { return std::vector<bool>{true, false}; });
-    m.def("load_bool_vector", [](const std::vector<bool> &v) {
-        return v.at(0) == true && v.at(1) == false;
-    });
+    m.def("load_bool_vector",
+          [](const std::vector<bool> &v) { return v.at(0) == true && v.at(1) == false; });
     // Unnumbered regression (caused by #936): pointers to stl containers aren't castable
     static std::vector<RValueCaster> lvv{2};
-    m.def("cast_ptr_vector", []() { return &lvv; });
+    m.def(
+        "cast_ptr_vector", []() { return &lvv; }, py::return_value_policy::reference);
 
     // test_deque
     m.def("cast_deque", []() { return std::deque<int>{1}; });
     m.def("load_deque", [](const std::deque<int> &v) { return v.at(0) == 1 && v.at(1) == 2; });
 
     // test_array
-    m.def("cast_array", []() { return std::array<int, 2> {{1 , 2}}; });
+    m.def("cast_array", []() { return std::array<int, 2>{{1, 2}}; });
     m.def("load_array", [](const std::array<int, 2> &a) { return a[0] == 1 && a[1] == 2; });
 
     // test_valarray
     m.def("cast_valarray", []() { return std::valarray<int>{1, 4, 9}; });
-    m.def("load_valarray", [](const std::valarray<int>& v) {
+    m.def("load_valarray", [](const std::valarray<int> &v) {
         return v.size() == 3 && v[0] == 1 && v[1] == 4 && v[2] == 9;
     });
 
@@ -214,10 +212,12 @@ TEST_SUBMODULE(stl, m) {
     // NB: map and set keys are `const`, so while we technically do move them (as `const Type &&`),
     // casters don't typically do anything with that, which means they fall to the `const Type &`
     // caster.
-    m.def("cast_rv_map", []() { return std::unordered_map<std::string, RValueCaster>{{"a", RValueCaster{}}}; });
+    m.def("cast_rv_map", []() {
+        return std::unordered_map<std::string, RValueCaster>{{"a", RValueCaster{}}};
+    });
     m.def("cast_rv_nested", []() {
         std::vector<std::array<std::list<std::unordered_map<std::string, RValueCaster>>, 2>> v;
-        v.emplace_back(); // add an array
+        v.emplace_back();           // add an array
         v.back()[0].emplace_back(); // add a map to the array
         v.back()[0].back().emplace("b", RValueCaster{});
         v.back()[0].back().emplace("c", RValueCaster{});
@@ -226,13 +226,15 @@ TEST_SUBMODULE(stl, m) {
         return v;
     });
     static std::array<RValueCaster, 2> lva;
-    static std::unordered_map<std::string, RValueCaster> lvm{{"a", RValueCaster{}}, {"b", RValueCaster{}}};
-    static std::unordered_map<std::string, std::vector<std::list<std::array<RValueCaster, 2>>>> lvn;
-    lvn["a"].emplace_back(); // add a list
+    static std::unordered_map<std::string, RValueCaster> lvm{{"a", RValueCaster{}},
+                                                             {"b", RValueCaster{}}};
+    static std::unordered_map<std::string, std::vector<std::list<std::array<RValueCaster, 2>>>>
+        lvn;
+    lvn["a"].emplace_back();        // add a list
     lvn["a"].back().emplace_back(); // add an array
-    lvn["a"].emplace_back(); // another list
+    lvn["a"].emplace_back();        // another list
     lvn["a"].back().emplace_back(); // add an array
-    lvn["b"].emplace_back(); // add a list
+    lvn["b"].emplace_back();        // add a list
     lvn["b"].back().emplace_back(); // add an array
     lvn["b"].back().emplace_back(); // add another array
     m.def("cast_lv_vector", []() -> const decltype(lvv) & { return lvv; });
@@ -253,7 +255,9 @@ TEST_SUBMODULE(stl, m) {
 
     // test_move_out_container
     struct MoveOutContainer {
-        struct Value { int value; };
+        struct Value {
+            int value;
+        };
         std::list<Value> move_list() const { return {{0}, {1}, {2}}; }
     };
     py::class_<MoveOutContainer::Value>(m, "MoveOutContainerValue")
@@ -266,7 +270,7 @@ TEST_SUBMODULE(stl, m) {
     struct NoAssign {
         int value;
 
-        explicit NoAssign(int value = 0) : value(value) { }
+        explicit NoAssign(int value = 0) : value(value) {}
         NoAssign(const NoAssign &) = default;
         NoAssign(NoAssign &&) = default;
 
@@ -277,13 +281,10 @@ TEST_SUBMODULE(stl, m) {
         .def(py::init<>())
         .def(py::init<int>());
 
-
-    struct MoveOutDetector
-    {
+    struct MoveOutDetector {
         MoveOutDetector() = default;
-        MoveOutDetector(const MoveOutDetector&) = default;
-        MoveOutDetector(MoveOutDetector&& other) noexcept
-         : initialized(other.initialized) {
+        MoveOutDetector(const MoveOutDetector &) = default;
+        MoveOutDetector(MoveOutDetector &&other) noexcept : initialized(other.initialized) {
             // steal underlying resource
             other.initialized = false;
         }
@@ -293,23 +294,22 @@ TEST_SUBMODULE(stl, m) {
         .def(py::init<>())
         .def_readonly("initialized", &MoveOutDetector::initialized);
 
-
 #ifdef PYBIND11_HAS_OPTIONAL
     // test_optional
     m.attr("has_optional") = true;
 
     using opt_int = std::optional<int>;
     using opt_no_assign = std::optional<NoAssign>;
-    m.def("double_or_zero", [](const opt_int& x) -> int {
-        return x.value_or(0) * 2;
-    });
+    m.def("double_or_zero", [](const opt_int &x) -> int { return x.value_or(0) * 2; });
     m.def("half_or_none", [](int x) -> opt_int { return x != 0 ? opt_int(x / 2) : opt_int(); });
-    m.def("test_nullopt", [](opt_int x) {
-        return x.value_or(42);
-    }, py::arg_v("x", std::nullopt, "None"));
-    m.def("test_no_assign", [](const opt_no_assign &x) {
-        return x ? x->value : 42;
-    }, py::arg_v("x", std::nullopt, "None"));
+    m.def(
+        "test_nullopt",
+        [](opt_int x) { return x.value_or(42); },
+        py::arg_v("x", std::nullopt, "None"));
+    m.def(
+        "test_no_assign",
+        [](const opt_no_assign &x) { return x ? x->value : 42; },
+        py::arg_v("x", std::nullopt, "None"));
 
     m.def("nodefer_none_optional", [](std::optional<int>) { return true; });
     m.def("nodefer_none_optional", [](const py::none &) { return false; });
@@ -333,18 +333,17 @@ TEST_SUBMODULE(stl, m) {
 
     using exp_opt_int = std::experimental::optional<int>;
     using exp_opt_no_assign = std::experimental::optional<NoAssign>;
-    m.def("double_or_zero_exp", [](const exp_opt_int& x) -> int {
-        return x.value_or(0) * 2;
-    });
-    m.def("half_or_none_exp", [](int x) -> exp_opt_int {
-        return x ? exp_opt_int(x / 2) : exp_opt_int();
-    });
-    m.def("test_nullopt_exp", [](exp_opt_int x) {
-        return x.value_or(42);
-    }, py::arg_v("x", std::experimental::nullopt, "None"));
-    m.def("test_no_assign_exp", [](const exp_opt_no_assign &x) {
-        return x ? x->value : 42;
-    }, py::arg_v("x", std::experimental::nullopt, "None"));
+    m.def("double_or_zero_exp", [](const exp_opt_int &x) -> int { return x.value_or(0) * 2; });
+    m.def("half_or_none_exp",
+          [](int x) -> exp_opt_int { return x ? exp_opt_int(x / 2) : exp_opt_int(); });
+    m.def(
+        "test_nullopt_exp",
+        [](exp_opt_int x) { return x.value_or(42); },
+        py::arg_v("x", std::experimental::nullopt, "None"));
+    m.def(
+        "test_no_assign_exp",
+        [](const exp_opt_no_assign &x) { return x ? x->value : 42; },
+        py::arg_v("x", std::experimental::nullopt, "None"));
 
     using opt_exp_holder = OptionalHolder<std::experimental::optional, MoveOutDetector>;
     py::class_<opt_exp_holder>(m, "OptionalExpHolder", "Class with optional member")
@@ -365,18 +364,17 @@ TEST_SUBMODULE(stl, m) {
 
     using boost_opt_int = boost::optional<int>;
     using boost_opt_no_assign = boost::optional<NoAssign>;
-    m.def("double_or_zero_boost", [](const boost_opt_int& x) -> int {
-        return x.value_or(0) * 2;
-    });
-    m.def("half_or_none_boost", [](int x) -> boost_opt_int {
-        return x != 0 ? boost_opt_int(x / 2) : boost_opt_int();
-    });
-    m.def("test_nullopt_boost", [](boost_opt_int x) {
-        return x.value_or(42);
-    }, py::arg_v("x", boost::none, "None"));
-    m.def("test_no_assign_boost", [](const boost_opt_no_assign &x) {
-        return x ? x->value : 42;
-    }, py::arg_v("x", boost::none, "None"));
+    m.def("double_or_zero_boost", [](const boost_opt_int &x) -> int { return x.value_or(0) * 2; });
+    m.def("half_or_none_boost",
+          [](int x) -> boost_opt_int { return x != 0 ? boost_opt_int(x / 2) : boost_opt_int(); });
+    m.def(
+        "test_nullopt_boost",
+        [](boost_opt_int x) { return x.value_or(42); },
+        py::arg_v("x", boost::none, "None"));
+    m.def(
+        "test_no_assign_boost",
+        [](const boost_opt_no_assign &x) { return x ? x->value : 42; },
+        py::arg_v("x", boost::none, "None"));
 
     using opt_boost_holder = OptionalHolder<boost::optional, MoveOutDetector>;
     py::class_<opt_boost_holder>(m, "OptionalBoostHolder", "Class with optional member")
@@ -394,22 +392,24 @@ TEST_SUBMODULE(stl, m) {
     // test_refsensitive_optional
     using refsensitive_opt_int = ReferenceSensitiveOptional<int>;
     using refsensitive_opt_no_assign = ReferenceSensitiveOptional<NoAssign>;
-    m.def("double_or_zero_refsensitive", [](const refsensitive_opt_int& x) -> int {
-        return (x ? x.value() : 0) * 2;
-    });
+    m.def("double_or_zero_refsensitive",
+          [](const refsensitive_opt_int &x) -> int { return (x ? x.value() : 0) * 2; });
     m.def("half_or_none_refsensitive", [](int x) -> refsensitive_opt_int {
         return x != 0 ? refsensitive_opt_int(x / 2) : refsensitive_opt_int();
     });
-    // NOLINTNEXTLINE(performance-unnecessary-value-param)
-    m.def("test_nullopt_refsensitive", [](refsensitive_opt_int x) {
-        return x ? x.value() : 42;
-    }, py::arg_v("x", refsensitive_opt_int(), "None"));
-    m.def("test_no_assign_refsensitive", [](const refsensitive_opt_no_assign &x) {
-        return x ? x->value : 42;
-    }, py::arg_v("x", refsensitive_opt_no_assign(), "None"));
+    m.def(
+        "test_nullopt_refsensitive",
+        // NOLINTNEXTLINE(performance-unnecessary-value-param)
+        [](refsensitive_opt_int x) { return x ? x.value() : 42; },
+        py::arg_v("x", refsensitive_opt_int(), "None"));
+    m.def(
+        "test_no_assign_refsensitive",
+        [](const refsensitive_opt_no_assign &x) { return x ? x->value : 42; },
+        py::arg_v("x", refsensitive_opt_no_assign(), "None"));
 
     using opt_refsensitive_holder = OptionalHolder<ReferenceSensitiveOptional, MoveOutDetector>;
-    py::class_<opt_refsensitive_holder>(m, "OptionalRefSensitiveHolder", "Class with optional member")
+    py::class_<opt_refsensitive_holder>(
+        m, "OptionalRefSensitiveHolder", "Class with optional member")
         .def(py::init<>())
         .def_readonly("member", &opt_refsensitive_holder::member)
         .def("member_initialized", &opt_refsensitive_holder::member_initialized);
@@ -423,10 +423,10 @@ TEST_SUBMODULE(stl, m) {
 #ifdef PYBIND11_HAS_FILESYSTEM
     // test_fs_path
     m.attr("has_filesystem") = true;
-    m.def("parent_path", [](const std::filesystem::path& p) { return p.parent_path(); });
+    m.def("parent_path", [](const std::filesystem::path &p) { return p.parent_path(); });
 #endif
 
-#ifdef PYBIND11_HAS_VARIANT
+#ifdef PYBIND11_TEST_VARIANT
     static_assert(std::is_same<py::detail::variant_caster_visitor::result_type, py::handle>::value,
                   "visitor::result_type is required by boost::variant in C++11 mode");
 
@@ -437,6 +437,9 @@ TEST_SUBMODULE(stl, m) {
         result_type operator()(const std::string &) { return "std::string"; }
         result_type operator()(double) { return "double"; }
         result_type operator()(std::nullptr_t) { return "std::nullptr_t"; }
+#    if defined(PYBIND11_HAS_VARIANT)
+        result_type operator()(std::monostate) { return "std::monostate"; }
+#    endif
     };
 
     // test_variant
@@ -450,6 +453,18 @@ TEST_SUBMODULE(stl, m) {
         using V = variant<int, std::string>;
         return py::make_tuple(V(5), V("Hello"));
     });
+
+#    if defined(PYBIND11_HAS_VARIANT)
+    // std::monostate tests.
+    m.def("load_monostate_variant",
+          [](const variant<std::monostate, int, std::string> &v) -> const char * {
+              return py::detail::visit_helper<variant>::call(visitor(), v);
+          });
+    m.def("cast_monostate_variant", []() {
+        using V = variant<std::monostate, int, std::string>;
+        return py::make_tuple(V{}, V(5), V("Hello"));
+    });
+#    endif
 #endif
 
     // #528: templated constructor
@@ -471,13 +486,13 @@ TEST_SUBMODULE(stl, m) {
     // #171: Can't return STL structures containing reference wrapper
     m.def("return_vec_of_reference_wrapper", [](std::reference_wrapper<UserType> p4) {
         static UserType p1{1}, p2{2}, p3{3};
-        return std::vector<std::reference_wrapper<UserType>> {
-            std::ref(p1), std::ref(p2), std::ref(p3), p4
-        };
+        return std::vector<std::reference_wrapper<UserType>>{
+            std::ref(p1), std::ref(p2), std::ref(p3), p4};
     });
 
     // test_stl_pass_by_pointer
-    m.def("stl_pass_by_pointer", [](std::vector<int>* v) { return *v; }, "v"_a=nullptr);
+    m.def(
+        "stl_pass_by_pointer", [](std::vector<int> *v) { return *v; }, "v"_a = nullptr);
 
     // #1258: pybind11/stl.h converts string to vector<string>
     m.def("func_with_string_or_vector_string_arg_overload",
@@ -495,19 +510,24 @@ TEST_SUBMODULE(stl, m) {
     py::class_<Placeholder>(m, "Placeholder");
 
     /// test_stl_vector_ownership
-    m.def("test_stl_ownership",
-          []() {
-              std::vector<Placeholder *> result;
-              result.push_back(new Placeholder());
-              return result;
-          },
-          py::return_value_policy::take_ownership);
+    m.def(
+        "test_stl_ownership",
+        []() {
+            std::vector<Placeholder *> result;
+            result.push_back(new Placeholder());
+            return result;
+        },
+        py::return_value_policy::take_ownership);
 
     m.def("array_cast_sequence", [](std::array<int, 3> x) { return x; });
 
     /// test_issue_1561
-    struct Issue1561Inner { std::string data; };
-    struct Issue1561Outer { std::vector<Issue1561Inner> list; };
+    struct Issue1561Inner {
+        std::string data;
+    };
+    struct Issue1561Outer {
+        std::vector<Issue1561Inner> list;
+    };
 
     py::class_<Issue1561Inner>(m, "Issue1561Inner")
         .def(py::init<std::string>())
diff --git a/pybind11/tests/test_stl.py b/pybind11/tests/test_stl.py
index e217975944..d30c382113 100644
--- a/pybind11/tests/test_stl.py
+++ b/pybind11/tests/test_stl.py
@@ -1,4 +1,3 @@
-# -*- coding: utf-8 -*-
 import pytest
 
 from pybind11_tests import ConstructorStats, UserType
@@ -15,6 +14,7 @@ def test_vector(doc):
 
     assert m.cast_bool_vector() == [True, False]
     assert m.load_bool_vector([True, False])
+    assert m.load_bool_vector(tuple([True, False]))
 
     assert doc(m.cast_vector) == "cast_vector() -> List[int]"
     assert doc(m.load_vector) == "load_vector(arg0: List[int]) -> bool"
@@ -37,6 +37,7 @@ def test_array(doc):
     lst = m.cast_array()
     assert lst == [1, 2]
     assert m.load_array(lst)
+    assert m.load_array(tuple(lst))
 
     assert doc(m.cast_array) == "cast_array() -> List[int[2]]"
     assert doc(m.load_array) == "load_array(arg0: List[int[2]]) -> bool"
@@ -47,6 +48,7 @@ def test_valarray(doc):
     lst = m.cast_valarray()
     assert lst == [1, 4, 9]
     assert m.load_valarray(lst)
+    assert m.load_valarray(tuple(lst))
 
     assert doc(m.cast_valarray) == "cast_valarray() -> List[int]"
     assert doc(m.load_valarray) == "load_valarray(arg0: List[int]) -> bool"
@@ -71,6 +73,7 @@ def test_set(doc):
     assert s == {"key1", "key2"}
     s.add("key3")
     assert m.load_set(s)
+    assert m.load_set(frozenset(s))
 
     assert doc(m.cast_set) == "cast_set() -> Set[str]"
     assert doc(m.load_set) == "load_set(arg0: Set[str]) -> bool"
@@ -264,6 +267,22 @@ def test_variant(doc):
     )
 
 
+@pytest.mark.skipif(
+    not hasattr(m, "load_monostate_variant"), reason="no std::monostate"
+)
+def test_variant_monostate(doc):
+    assert m.load_monostate_variant(None) == "std::monostate"
+    assert m.load_monostate_variant(1) == "int"
+    assert m.load_monostate_variant("1") == "std::string"
+
+    assert m.cast_monostate_variant() == (None, 5, "Hello")
+
+    assert (
+        doc(m.load_monostate_variant)
+        == "load_monostate_variant(arg0: Union[None, int, str]) -> str"
+    )
+
+
 def test_vec_of_reference_wrapper():
     """#171: Can't return reference wrappers (or STL structures containing them)"""
     assert (
@@ -283,7 +302,7 @@ def test_stl_pass_by_pointer(msg):
             1. (v: List[int] = None) -> List[int]
 
         Invoked with:
-    """  # noqa: E501 line too long
+    """
     )
 
     with pytest.raises(TypeError) as excinfo:
@@ -295,7 +314,7 @@ def test_stl_pass_by_pointer(msg):
             1. (v: List[int] = None) -> List[int]
 
         Invoked with: None
-    """  # noqa: E501 line too long
+    """
     )
 
     assert m.stl_pass_by_pointer([1, 2, 3]) == [1, 2, 3]
diff --git a/pybind11/tests/test_stl_binders.cpp b/pybind11/tests/test_stl_binders.cpp
index 6b23e3529f..ca9630bd19 100644
--- a/pybind11/tests/test_stl_binders.cpp
+++ b/pybind11/tests/test_stl_binders.cpp
@@ -7,12 +7,13 @@
     BSD-style license that can be found in the LICENSE file.
 */
 
+#include <pybind11/numpy.h>
+#include <pybind11/stl_bind.h>
+
 #include "pybind11_tests.h"
 
-#include <pybind11/stl_bind.h>
-#include <pybind11/numpy.h>
-#include <map>
 #include <deque>
+#include <map>
 #include <unordered_map>
 
 class El {
@@ -23,7 +24,7 @@ class El {
     int a;
 };
 
-std::ostream & operator<<(std::ostream &s, El const&v) {
+std::ostream &operator<<(std::ostream &s, El const &v) {
     s << "El{" << v.a << '}';
     return s;
 }
@@ -40,25 +41,32 @@ class E_nc {
     int value;
 };
 
-template <class Container> Container *one_to_n(int n) {
-    auto v = new Container();
-    for (int i = 1; i <= n; i++)
+template <class Container>
+Container *one_to_n(int n) {
+    auto *v = new Container();
+    for (int i = 1; i <= n; i++) {
         v->emplace_back(i);
+    }
     return v;
 }
 
-template <class Map> Map *times_ten(int n) {
-    auto m = new Map();
-    for (int i = 1; i <= n; i++)
-        m->emplace(int(i), E_nc(10*i));
+template <class Map>
+Map *times_ten(int n) {
+    auto *m = new Map();
+    for (int i = 1; i <= n; i++) {
+        m->emplace(int(i), E_nc(10 * i));
+    }
     return m;
 }
 
-template <class NestMap> NestMap *times_hundred(int n) {
-    auto m = new NestMap();
-    for (int i = 1; i <= n; i++)
-        for (int j = 1; j <= n; j++)
-            (*m)[i].emplace(int(j*10), E_nc(100*j));
+template <class NestMap>
+NestMap *times_hundred(int n) {
+    auto *m = new NestMap();
+    for (int i = 1; i <= n; i++) {
+        for (int j = 1; j <= n; j++) {
+            (*m)[i].emplace(int(j * 10), E_nc(100 * j));
+        }
+    }
     return m;
 }
 
@@ -67,8 +75,7 @@ TEST_SUBMODULE(stl_binders, m) {
     py::bind_vector<std::vector<unsigned int>>(m, "VectorInt", py::buffer_protocol());
 
     // test_vector_custom
-    py::class_<El>(m, "El")
-        .def(py::init<int>());
+    py::class_<El>(m, "El").def(py::init<int>());
     py::bind_vector<std::vector<El>>(m, "VectorEl");
     py::bind_vector<std::vector<std::vector<El>>>(m, "VectorVectorEl");
 
@@ -78,11 +85,10 @@ TEST_SUBMODULE(stl_binders, m) {
 
     // test_map_string_double_const
     py::bind_map<std::map<std::string, double const>>(m, "MapStringDoubleConst");
-    py::bind_map<std::unordered_map<std::string, double const>>(m, "UnorderedMapStringDoubleConst");
+    py::bind_map<std::unordered_map<std::string, double const>>(m,
+                                                                "UnorderedMapStringDoubleConst");
 
-    py::class_<E_nc>(m, "ENC")
-        .def(py::init<int>())
-        .def_readwrite("value", &E_nc::value);
+    py::class_<E_nc>(m, "ENC").def(py::init<int>()).def_readwrite("value", &E_nc::value);
 
     // test_noncopyable_containers
     py::bind_vector<std::vector<E_nc>>(m, "VectorENC");
@@ -95,14 +101,15 @@ TEST_SUBMODULE(stl_binders, m) {
     m.def("get_umnc", &times_ten<std::unordered_map<int, E_nc>>);
     // Issue #1885: binding nested std::map<X, Container<E>> with E non-copyable
     py::bind_map<std::map<int, std::vector<E_nc>>>(m, "MapVecENC");
-    m.def("get_nvnc", [](int n)
-        {
-            auto m = new std::map<int, std::vector<E_nc>>();
-            for (int i = 1; i <= n; i++)
-                for (int j = 1; j <= n; j++)
-                    (*m)[i].emplace_back(j);
-            return m;
-        });
+    m.def("get_nvnc", [](int n) {
+        auto *m = new std::map<int, std::vector<E_nc>>();
+        for (int i = 1; i <= n; i++) {
+            for (int j = 1; j <= n; j++) {
+                (*m)[i].emplace_back(j);
+            }
+        }
+        return m;
+    });
     py::bind_map<std::map<int, std::map<int, E_nc>>>(m, "MapMapENC");
     m.def("get_nmnc", &times_hundred<std::map<int, std::map<int, E_nc>>>);
     py::bind_map<std::unordered_map<int, std::unordered_map<int, E_nc>>>(m, "UmapUmapENC");
@@ -111,17 +118,31 @@ TEST_SUBMODULE(stl_binders, m) {
     // test_vector_buffer
     py::bind_vector<std::vector<unsigned char>>(m, "VectorUChar", py::buffer_protocol());
     // no dtype declared for this version:
-    struct VUndeclStruct { bool w; uint32_t x; double y; bool z; };
-    m.def("create_undeclstruct", [m] () mutable {
-        py::bind_vector<std::vector<VUndeclStruct>>(m, "VectorUndeclStruct", py::buffer_protocol());
+    struct VUndeclStruct {
+        bool w;
+        uint32_t x;
+        double y;
+        bool z;
+    };
+    m.def("create_undeclstruct", [m]() mutable {
+        py::bind_vector<std::vector<VUndeclStruct>>(
+            m, "VectorUndeclStruct", py::buffer_protocol());
     });
 
     // The rest depends on numpy:
-    try { py::module_::import("numpy"); }
-    catch (...) { return; }
+    try {
+        py::module_::import("numpy");
+    } catch (...) {
+        return;
+    }
 
     // test_vector_buffer_numpy
-    struct VStruct { bool w; uint32_t x; double y; bool z; };
+    struct VStruct {
+        bool w;
+        uint32_t x;
+        double y;
+        bool z;
+    };
     PYBIND11_NUMPY_DTYPE(VStruct, w, x, y, z);
     py::class_<VStruct>(m, "VStruct").def_readwrite("x", &VStruct::x);
     py::bind_vector<std::vector<VStruct>>(m, "VectorStruct", py::buffer_protocol());
diff --git a/pybind11/tests/test_stl_binders.py b/pybind11/tests/test_stl_binders.py
index 59c5ab6b5d..d5e9ccced7 100644
--- a/pybind11/tests/test_stl_binders.py
+++ b/pybind11/tests/test_stl_binders.py
@@ -1,7 +1,5 @@
-# -*- coding: utf-8 -*-
 import pytest
 
-import env
 from pybind11_tests import stl_binders as m
 
 
@@ -74,18 +72,13 @@ def test_vector_buffer():
     assert v[1] == 2
     v[2] = 5
     mv = memoryview(v)  # We expose the buffer interface
-    if not env.PY2:
-        assert mv[2] == 5
-        mv[2] = 6
-    else:
-        assert mv[2] == "\x05"
-        mv[2] = "\x06"
+    assert mv[2] == 5
+    mv[2] = 6
     assert v[2] == 6
 
-    if not env.PY2:
-        mv = memoryview(b)
-        v = m.VectorUChar(mv[::2])
-        assert v[1] == 3
+    mv = memoryview(b)
+    v = m.VectorUChar(mv[::2])
+    assert v[1] == 3
 
     with pytest.raises(RuntimeError) as excinfo:
         m.create_undeclstruct()  # Undeclared struct contents, no buffer interface
diff --git a/pybind11/tests/test_tagbased_polymorphic.cpp b/pybind11/tests/test_tagbased_polymorphic.cpp
index 2c7bad8bbc..2807e86ba3 100644
--- a/pybind11/tests/test_tagbased_polymorphic.cpp
+++ b/pybind11/tests/test_tagbased_polymorphic.cpp
@@ -7,11 +7,11 @@
     BSD-style license that can be found in the LICENSE file.
 */
 
-#include "pybind11_tests.h"
 #include <pybind11/stl.h>
 
-struct Animal
-{
+#include "pybind11_tests.h"
+
+struct Animal {
     // Make this type also a "standard" polymorphic type, to confirm that
     // specializing polymorphic_type_hook using enable_if_t still works
     // (https://github.com/pybind/pybind11/pull/2016/).
@@ -20,57 +20,54 @@ struct Animal
     // Enum for tag-based polymorphism.
     enum class Kind {
         Unknown = 0,
-        Dog = 100, Labrador, Chihuahua, LastDog = 199,
-        Cat = 200, Panther, LastCat = 299
+        Dog = 100,
+        Labrador,
+        Chihuahua,
+        LastDog = 199,
+        Cat = 200,
+        Panther,
+        LastCat = 299
     };
-    static const std::type_info* type_of_kind(Kind kind);
+    static const std::type_info *type_of_kind(Kind kind);
     static std::string name_of_kind(Kind kind);
 
     const Kind kind;
     const std::string name;
 
-  protected:
-    Animal(const std::string& _name, Kind _kind)
-        : kind(_kind), name(_name)
-    {}
+protected:
+    Animal(const std::string &_name, Kind _kind) : kind(_kind), name(_name) {}
 };
 
-struct Dog : Animal
-{
+struct Dog : Animal {
     explicit Dog(const std::string &_name, Kind _kind = Kind::Dog) : Animal(_name, _kind) {}
     std::string bark() const { return name_of_kind(kind) + " " + name + " goes " + sound; }
     std::string sound = "WOOF!";
 };
 
-struct Labrador : Dog
-{
+struct Labrador : Dog {
     explicit Labrador(const std::string &_name, int _excitement = 9001)
         : Dog(_name, Kind::Labrador), excitement(_excitement) {}
     int excitement;
 };
 
-struct Chihuahua : Dog
-{
+struct Chihuahua : Dog {
     explicit Chihuahua(const std::string &_name) : Dog(_name, Kind::Chihuahua) {
         sound = "iyiyiyiyiyi";
     }
     std::string bark() const { return Dog::bark() + " and runs in circles"; }
 };
 
-struct Cat : Animal
-{
+struct Cat : Animal {
     explicit Cat(const std::string &_name, Kind _kind = Kind::Cat) : Animal(_name, _kind) {}
     std::string purr() const { return "mrowr"; }
 };
 
-struct Panther : Cat
-{
+struct Panther : Cat {
     explicit Panther(const std::string &_name) : Cat(_name, Kind::Panther) {}
     std::string purr() const { return "mrrrRRRRRR"; }
 };
 
-std::vector<std::unique_ptr<Animal>> create_zoo()
-{
+std::vector<std::unique_ptr<Animal>> create_zoo() {
     std::vector<std::unique_ptr<Animal>> ret;
     ret.emplace_back(new Labrador("Fido", 15000));
 
@@ -85,45 +82,53 @@ std::vector<std::unique_ptr<Animal>> create_zoo()
     return ret;
 }
 
-const std::type_info* Animal::type_of_kind(Kind kind)
-{
+const std::type_info *Animal::type_of_kind(Kind kind) {
     switch (kind) {
         case Kind::Unknown:
-        case Kind::Dog: break;
+        case Kind::Dog:
+            break;
 
-        case Kind::Labrador: return &typeid(Labrador);
-        case Kind::Chihuahua: return &typeid(Chihuahua);
+        case Kind::Labrador:
+            return &typeid(Labrador);
+        case Kind::Chihuahua:
+            return &typeid(Chihuahua);
 
         case Kind::LastDog:
-        case Kind::Cat: break;
-        case Kind::Panther: return &typeid(Panther);
-        case Kind::LastCat: break;
+        case Kind::Cat:
+            break;
+        case Kind::Panther:
+            return &typeid(Panther);
+        case Kind::LastCat:
+            break;
     }
 
-    if (kind >= Kind::Dog && kind <= Kind::LastDog) return &typeid(Dog);
-    if (kind >= Kind::Cat && kind <= Kind::LastCat) return &typeid(Cat);
+    if (kind >= Kind::Dog && kind <= Kind::LastDog) {
+        return &typeid(Dog);
+    }
+    if (kind >= Kind::Cat && kind <= Kind::LastCat) {
+        return &typeid(Cat);
+    }
     return nullptr;
 }
 
-std::string Animal::name_of_kind(Kind kind)
-{
+std::string Animal::name_of_kind(Kind kind) {
     std::string raw_name = type_of_kind(kind)->name();
     py::detail::clean_type_id(raw_name);
     return raw_name;
 }
 
 namespace pybind11 {
-    template <typename itype>
-    struct polymorphic_type_hook<itype, detail::enable_if_t<std::is_base_of<Animal, itype>::value>>
-    {
-        static const void *get(const itype *src, const std::type_info*& type)
-        { type = src ? Animal::type_of_kind(src->kind) : nullptr; return src; }
-    };
+template <typename itype>
+struct polymorphic_type_hook<itype, detail::enable_if_t<std::is_base_of<Animal, itype>::value>> {
+    static const void *get(const itype *src, const std::type_info *&type) {
+        type = src ? Animal::type_of_kind(src->kind) : nullptr;
+        return src;
+    }
+};
 } // namespace pybind11
 
 TEST_SUBMODULE(tagbased_polymorphic, m) {
-    py::class_<Animal>(m, "Animal")
-        .def_readonly("name", &Animal::name);
+    py::class_<Animal>(m, "Animal").def_readonly("name", &Animal::name);
     py::class_<Dog, Animal>(m, "Dog")
         .def(py::init<std::string>())
         .def_readwrite("sound", &Dog::sound)
@@ -134,9 +139,7 @@ TEST_SUBMODULE(tagbased_polymorphic, m) {
     py::class_<Chihuahua, Dog>(m, "Chihuahua")
         .def(py::init<std::string>())
         .def("bark", &Chihuahua::bark);
-    py::class_<Cat, Animal>(m, "Cat")
-        .def(py::init<std::string>())
-        .def("purr", &Cat::purr);
+    py::class_<Cat, Animal>(m, "Cat").def(py::init<std::string>()).def("purr", &Cat::purr);
     py::class_<Panther, Cat>(m, "Panther")
         .def(py::init<std::string>())
         .def("purr", &Panther::purr);
diff --git a/pybind11/tests/test_tagbased_polymorphic.py b/pybind11/tests/test_tagbased_polymorphic.py
index 64eb8a3c1b..84f0ea7178 100644
--- a/pybind11/tests/test_tagbased_polymorphic.py
+++ b/pybind11/tests/test_tagbased_polymorphic.py
@@ -1,4 +1,3 @@
-# -*- coding: utf-8 -*-
 from pybind11_tests import tagbased_polymorphic as m
 
 
diff --git a/pybind11/tests/test_thread.cpp b/pybind11/tests/test_thread.cpp
index 19d91768b3..1536503b6b 100644
--- a/pybind11/tests/test_thread.cpp
+++ b/pybind11/tests/test_thread.cpp
@@ -10,20 +10,20 @@
 #include <pybind11/cast.h>
 #include <pybind11/pybind11.h>
 
+#include "pybind11_tests.h"
+
 #include <chrono>
 #include <thread>
 
-#include "pybind11_tests.h"
-
 namespace py = pybind11;
 
 namespace {
 
 struct IntStruct {
-    explicit IntStruct(int v) : value(v) {};
+    explicit IntStruct(int v) : value(v){};
     ~IntStruct() { value = -value; }
-    IntStruct(const IntStruct&) = default;
-    IntStruct& operator=(const IntStruct&) = default;
+    IntStruct(const IntStruct &) = default;
+    IntStruct &operator=(const IntStruct &) = default;
 
     int value;
 };
diff --git a/pybind11/tests/test_thread.py b/pybind11/tests/test_thread.py
index f9db1babaf..e89991f9d6 100644
--- a/pybind11/tests/test_thread.py
+++ b/pybind11/tests/test_thread.py
@@ -1,5 +1,3 @@
-# -*- coding: utf-8 -*-
-
 import threading
 
 from pybind11_tests import thread as m
@@ -7,7 +5,7 @@
 
 class Thread(threading.Thread):
     def __init__(self, fn):
-        super(Thread, self).__init__()
+        super().__init__()
         self.fn = fn
         self.e = None
 
@@ -19,7 +17,7 @@ def run(self):
             self.e = e
 
     def join(self):
-        super(Thread, self).join()
+        super().join()
         if self.e:
             raise self.e
 
diff --git a/pybind11/tests/test_union.py b/pybind11/tests/test_union.py
index 2a2c12fb48..e1866e701d 100644
--- a/pybind11/tests/test_union.py
+++ b/pybind11/tests/test_union.py
@@ -1,4 +1,3 @@
-# -*- coding: utf-8 -*-
 from pybind11_tests import union_ as m
 
 
diff --git a/pybind11/tests/test_virtual_functions.cpp b/pybind11/tests/test_virtual_functions.cpp
index d98b57f174..323aa0d22d 100644
--- a/pybind11/tests/test_virtual_functions.cpp
+++ b/pybind11/tests/test_virtual_functions.cpp
@@ -7,13 +7,15 @@
     BSD-style license that can be found in the LICENSE file.
 */
 
-#include "pybind11_tests.h"
-#include "constructor_stats.h"
 #include <pybind11/functional.h>
+
+#include "constructor_stats.h"
+#include "pybind11_tests.h"
+
 #include <thread>
 
 /* This is an example class that we'll want to be able to extend from Python */
-class ExampleVirt  {
+class ExampleVirt {
 public:
     explicit ExampleVirt(int state) : state(state) { print_created(this, state); }
     ExampleVirt(const ExampleVirt &e) : state(e.state) { print_copy_created(this); }
@@ -25,7 +27,8 @@ class ExampleVirt  {
 
     virtual int run(int value) {
         py::print("Original implementation of "
-                  "ExampleVirt::run(state={}, value={}, str1={}, str2={})"_s.format(state, value, get_string1(), *get_string2()));
+                  "ExampleVirt::run(state={}, value={}, str1={}, str2={})"_s.format(
+                      state, value, get_string1(), *get_string2()));
         return state + value;
     }
 
@@ -33,8 +36,8 @@ class ExampleVirt  {
     virtual void pure_virtual() = 0;
 
     // Returning a reference/pointer to a type converted from python (numbers, strings, etc.) is a
-    // bit trickier, because the actual int& or std::string& or whatever only exists temporarily, so
-    // we have to handle it specially in the trampoline class (see below).
+    // bit trickier, because the actual int& or std::string& or whatever only exists temporarily,
+    // so we have to handle it specially in the trampoline class (see below).
     virtual const std::string &get_string1() { return str1; }
     virtual const std::string *get_string2() { return &str2; }
 
@@ -50,70 +53,62 @@ class PyExampleVirt : public ExampleVirt {
 
     int run(int value) override {
         /* Generate wrapping code that enables native function overloading */
-        PYBIND11_OVERRIDE(
-            int,         /* Return type */
-            ExampleVirt, /* Parent class */
-            run,         /* Name of function */
-            value        /* Argument(s) */
+        PYBIND11_OVERRIDE(int,         /* Return type */
+                          ExampleVirt, /* Parent class */
+                          run,         /* Name of function */
+                          value        /* Argument(s) */
         );
     }
 
     bool run_bool() override {
-        PYBIND11_OVERRIDE_PURE(
-            bool,         /* Return type */
-            ExampleVirt,  /* Parent class */
-            run_bool,     /* Name of function */
-                          /* This function has no arguments. The trailing comma
-                             in the previous line is needed for some compilers */
+        PYBIND11_OVERRIDE_PURE(bool,        /* Return type */
+                               ExampleVirt, /* Parent class */
+                               run_bool,    /* Name of function */
+                                            /* This function has no arguments. The trailing comma
+                                               in the previous line is needed for some compilers */
         );
     }
 
     void pure_virtual() override {
-        PYBIND11_OVERRIDE_PURE(
-            void,         /* Return type */
-            ExampleVirt,  /* Parent class */
-            pure_virtual, /* Name of function */
-                          /* This function has no arguments. The trailing comma
-                             in the previous line is needed for some compilers */
+        PYBIND11_OVERRIDE_PURE(void,         /* Return type */
+                               ExampleVirt,  /* Parent class */
+                               pure_virtual, /* Name of function */
+                                             /* This function has no arguments. The trailing comma
+                                                in the previous line is needed for some compilers */
         );
     }
 
     // We can return reference types for compatibility with C++ virtual interfaces that do so, but
     // note they have some significant limitations (see the documentation).
     const std::string &get_string1() override {
-        PYBIND11_OVERRIDE(
-            const std::string &, /* Return type */
-            ExampleVirt,         /* Parent class */
-            get_string1,         /* Name of function */
-                                 /* (no arguments) */
+        PYBIND11_OVERRIDE(const std::string &, /* Return type */
+                          ExampleVirt,         /* Parent class */
+                          get_string1,         /* Name of function */
+                                               /* (no arguments) */
         );
     }
 
     const std::string *get_string2() override {
-        PYBIND11_OVERRIDE(
-            const std::string *, /* Return type */
-            ExampleVirt,         /* Parent class */
-            get_string2,         /* Name of function */
-                                 /* (no arguments) */
+        PYBIND11_OVERRIDE(const std::string *, /* Return type */
+                          ExampleVirt,         /* Parent class */
+                          get_string2,         /* Name of function */
+                                               /* (no arguments) */
         );
     }
-
 };
 
 class NonCopyable {
 public:
-    NonCopyable(int a, int b) : value{new int(a*b)} { print_created(this, a, b); }
-    NonCopyable(NonCopyable &&o) noexcept {
-        value = std::move(o.value);
-        print_move_created(this);
-    }
+    NonCopyable(int a, int b) : value{new int(a * b)} { print_created(this, a, b); }
+    NonCopyable(NonCopyable &&o) noexcept : value{std::move(o.value)} { print_move_created(this); }
     NonCopyable(const NonCopyable &) = delete;
     NonCopyable() = delete;
     void operator=(const NonCopyable &) = delete;
     void operator=(NonCopyable &&) = delete;
     std::string get_value() const {
-        if (value)
+        if (value) {
             return std::to_string(*value);
+        }
         return "(null)";
     }
     ~NonCopyable() { print_destroyed(this); }
@@ -126,14 +121,12 @@ class NonCopyable {
 // when it is not referenced elsewhere, but copied if it is still referenced.
 class Movable {
 public:
-    Movable(int a, int b) : value{a+b} { print_created(this, a, b); }
-    Movable(const Movable &m) { value = m.value; print_copy_created(this); }
-    Movable(Movable &&m) noexcept {
-        value = m.value;
-        print_move_created(this);
-    }
+    Movable(int a, int b) : value{a + b} { print_created(this, a, b); }
+    Movable(const Movable &m) : value{m.value} { print_copy_created(this); }
+    Movable(Movable &&m) noexcept : value{m.value} { print_move_created(this); }
     std::string get_value() const { return std::to_string(value); }
     ~Movable() { print_destroyed(this); }
+
 private:
     int value;
 };
@@ -142,7 +135,7 @@ class NCVirt {
 public:
     virtual ~NCVirt() = default;
     NCVirt() = default;
-    NCVirt(const NCVirt&) = delete;
+    NCVirt(const NCVirt &) = delete;
     virtual NonCopyable get_noncopyable(int a, int b) { return NonCopyable(a, b); }
     virtual Movable get_movable(int a, int b) = 0;
 
@@ -161,11 +154,10 @@ class NCVirtTrampoline : public NCVirt {
 };
 
 struct Base {
-    /* for some reason MSVC2015 can't compile this if the function is pure virtual */
-    virtual std::string dispatch() const { return {}; };
+    virtual std::string dispatch() const = 0;
     virtual ~Base() = default;
     Base() = default;
-    Base(const Base&) = delete;
+    Base(const Base &) = delete;
 };
 
 struct DispatchIssue : Base {
@@ -178,33 +170,33 @@ struct DispatchIssue : Base {
 // objects and send the result to the visitor functor
 struct AdderBase {
     struct Data {};
-    using DataVisitor = std::function<void (const Data&)>;
+    using DataVisitor = std::function<void(const Data &)>;
 
-    virtual void operator()(const Data& first, const Data& second, const DataVisitor& visitor) const = 0;
+    virtual void
+    operator()(const Data &first, const Data &second, const DataVisitor &visitor) const = 0;
     virtual ~AdderBase() = default;
     AdderBase() = default;
-    AdderBase(const AdderBase&) = delete;
+    AdderBase(const AdderBase &) = delete;
 };
 
 struct Adder : AdderBase {
-    void operator()(const Data& first, const Data& second, const DataVisitor& visitor) const override {
-        PYBIND11_OVERRIDE_PURE_NAME(void, AdderBase, "__call__", operator(), first, second, visitor);
+    void
+    operator()(const Data &first, const Data &second, const DataVisitor &visitor) const override {
+        PYBIND11_OVERRIDE_PURE_NAME(
+            void, AdderBase, "__call__", operator(), first, second, visitor);
     }
 };
 
-
 static void test_gil() {
     {
         py::gil_scoped_acquire lock;
         py::print("1st lock acquired");
-
     }
 
     {
         py::gil_scoped_acquire lock;
         py::print("2nd lock acquired");
     }
-
 }
 
 static void test_gil_from_thread() {
@@ -230,12 +222,12 @@ class test_override_cache_helper_trampoline : public test_override_cache_helper
     int func() override { PYBIND11_OVERRIDE(int, test_override_cache_helper, func); }
 };
 
-inline int test_override_cache(std::shared_ptr<test_override_cache_helper> const &instance) { return instance->func(); }
-
-
+inline int test_override_cache(std::shared_ptr<test_override_cache_helper> const &instance) {
+    return instance->func();
+}
 
-// Forward declaration (so that we can put the main tests here; the inherited virtual approaches are
-// rather long).
+// Forward declaration (so that we can put the main tests here; the inherited virtual approaches
+// are rather long).
 void initialize_inherited_virtuals(py::module_ &m);
 
 TEST_SUBMODULE(virtual_functions, m) {
@@ -247,11 +239,9 @@ TEST_SUBMODULE(virtual_functions, m) {
         .def("run_bool", &ExampleVirt::run_bool)
         .def("pure_virtual", &ExampleVirt::pure_virtual);
 
-    py::class_<NonCopyable>(m, "NonCopyable")
-        .def(py::init<int, int>());
+    py::class_<NonCopyable>(m, "NonCopyable").def(py::init<int, int>());
 
-    py::class_<Movable>(m, "Movable")
-        .def(py::init<int, int>());
+    py::class_<Movable>(m, "Movable").def(py::init<int, int>());
 
     // test_move_support
 #if !defined(__INTEL_COMPILER) && !defined(__CUDACC__) && !defined(__PGIC__)
@@ -264,7 +254,7 @@ TEST_SUBMODULE(virtual_functions, m) {
 #endif
 
     m.def("runExampleVirt", [](ExampleVirt *ex, int value) { return ex->run(value); });
-    m.def("runExampleVirtBool", [](ExampleVirt* ex) { return ex->run_bool(); });
+    m.def("runExampleVirtBool", [](ExampleVirt *ex) { return ex->run_bool(); });
     m.def("runExampleVirtVirtual", [](ExampleVirt *ex) { ex->pure_virtual(); });
 
     m.def("cstats_debug", &ConstructorStats::get<ExampleVirt>);
@@ -275,27 +265,25 @@ TEST_SUBMODULE(virtual_functions, m) {
     // that were not extended on the Python side
     struct A {
         A() = default;
-        A(const A&) = delete;
+        A(const A &) = delete;
         virtual ~A() = default;
         virtual void f() { py::print("A.f()"); }
     };
 
     struct PyA : A {
         PyA() { py::print("PyA.PyA()"); }
-        PyA(const PyA&) = delete;
+        PyA(const PyA &) = delete;
         ~PyA() override { py::print("PyA.~PyA()"); }
 
         void f() override {
             py::print("PyA.f()");
-            // This convolution just gives a `void`, but tests that PYBIND11_TYPE() works to protect
-            // a type containing a ,
+            // This convolution just gives a `void`, but tests that PYBIND11_TYPE() works to
+            // protect a type containing a ,
             PYBIND11_OVERRIDE(PYBIND11_TYPE(typename std::enable_if<true, void>::type), A, f);
         }
     };
 
-    py::class_<A, PyA>(m, "A")
-        .def(py::init<>())
-        .def("f", &A::f);
+    py::class_<A, PyA>(m, "A").def(py::init<>()).def("f", &A::f);
 
     m.def("call_f", [](A *a) { a->f(); });
 
@@ -303,14 +291,14 @@ TEST_SUBMODULE(virtual_functions, m) {
     // ... unless we explicitly request it, as in this example:
     struct A2 {
         A2() = default;
-        A2(const A2&) = delete;
+        A2(const A2 &) = delete;
         virtual ~A2() = default;
         virtual void f() { py::print("A2.f()"); }
     };
 
     struct PyA2 : A2 {
         PyA2() { py::print("PyA2.PyA2()"); }
-        PyA2(const PyA2&) = delete;
+        PyA2(const PyA2 &) = delete;
         ~PyA2() override { py::print("PyA2.~PyA2()"); }
         void f() override {
             py::print("PyA2.f()");
@@ -331,7 +319,7 @@ TEST_SUBMODULE(virtual_functions, m) {
         .def(py::init<>())
         .def("dispatch", &Base::dispatch);
 
-    m.def("dispatch_issue_go", [](const Base * b) { return b->dispatch(); });
+    m.def("dispatch_issue_go", [](const Base *b) { return b->dispatch(); });
 
     // test_recursive_dispatch_issue
     // #3357: Recursive dispatch fails to find python function override
@@ -339,31 +327,38 @@ TEST_SUBMODULE(virtual_functions, m) {
         .def(pybind11::init<>())
         .def("__call__", &AdderBase::operator());
 
-    pybind11::class_<AdderBase::Data>(m, "Data")
-        .def(pybind11::init<>());
-
-    m.def("add2", [](const AdderBase::Data& first, const AdderBase::Data& second,
-                     const AdderBase& adder, const AdderBase::DataVisitor& visitor) {
-        adder(first, second, visitor);
-    });
-
-    m.def("add3", [](const AdderBase::Data& first, const AdderBase::Data& second, const AdderBase::Data& third,
-                     const AdderBase& adder, const AdderBase::DataVisitor& visitor) {
-        adder(first, second, [&] (const AdderBase::Data& first_plus_second) {
-            adder(first_plus_second, third, visitor); // NOLINT(readability-suspicious-call-argument)
-        });
-    });
+    pybind11::class_<AdderBase::Data>(m, "Data").def(pybind11::init<>());
+
+    m.def("add2",
+          [](const AdderBase::Data &first,
+             const AdderBase::Data &second,
+             const AdderBase &adder,
+             const AdderBase::DataVisitor &visitor) { adder(first, second, visitor); });
+
+    m.def("add3",
+          [](const AdderBase::Data &first,
+             const AdderBase::Data &second,
+             const AdderBase::Data &third,
+             const AdderBase &adder,
+             const AdderBase::DataVisitor &visitor) {
+              adder(first, second, [&](const AdderBase::Data &first_plus_second) {
+                  // NOLINTNEXTLINE(readability-suspicious-call-argument)
+                  adder(first_plus_second, third, visitor);
+              });
+          });
 
     // test_override_ref
     // #392/397: overriding reference-returning functions
     class OverrideTest {
     public:
-        struct A { std::string value = "hi"; };
+        struct A {
+            std::string value = "hi";
+        };
         std::string v;
         A a;
         explicit OverrideTest(const std::string &v) : v{v} {}
         OverrideTest() = default;
-        OverrideTest(const OverrideTest&) = delete;
+        OverrideTest(const OverrideTest &) = delete;
         virtual std::string str_value() { return v; }
         virtual std::string &str_ref() { return v; }
         virtual A A_value() { return a; }
@@ -374,14 +369,22 @@ TEST_SUBMODULE(virtual_functions, m) {
     class PyOverrideTest : public OverrideTest {
     public:
         using OverrideTest::OverrideTest;
-        std::string str_value() override { PYBIND11_OVERRIDE(std::string, OverrideTest, str_value); }
-        // Not allowed (uncommenting should hit a static_assert failure): we can't get a reference
-        // to a python numeric value, since we only copy values in the numeric type caster:
-//      std::string &str_ref() override { PYBIND11_OVERRIDE(std::string &, OverrideTest, str_ref); }
+        std::string str_value() override {
+            PYBIND11_OVERRIDE(std::string, OverrideTest, str_value);
+        }
+        // Not allowed (enabling the below should hit a static_assert failure): we can't get a
+        // reference to a python numeric value, since we only copy values in the numeric type
+        // caster:
+#ifdef PYBIND11_NEVER_DEFINED_EVER
+        std::string &str_ref() override {
+            PYBIND11_OVERRIDE(std::string &, OverrideTest, str_ref);
+        }
+#endif
         // But we can work around it like this:
     private:
         std::string _tmp;
         std::string str_ref_helper() { PYBIND11_OVERRIDE(std::string, OverrideTest, str_ref); }
+
     public:
         std::string &str_ref() override { return _tmp = str_ref_helper(); }
 
@@ -394,18 +397,21 @@ TEST_SUBMODULE(virtual_functions, m) {
     py::class_<OverrideTest, PyOverrideTest>(m, "OverrideTest")
         .def(py::init<const std::string &>())
         .def("str_value", &OverrideTest::str_value)
-//      .def("str_ref", &OverrideTest::str_ref)
+#ifdef PYBIND11_NEVER_DEFINED_EVER
+        .def("str_ref", &OverrideTest::str_ref)
+#endif
         .def("A_value", &OverrideTest::A_value)
         .def("A_ref", &OverrideTest::A_ref);
 
-    py::class_<test_override_cache_helper, test_override_cache_helper_trampoline, std::shared_ptr<test_override_cache_helper>>(m, "test_override_cache_helper")
+    py::class_<test_override_cache_helper,
+               test_override_cache_helper_trampoline,
+               std::shared_ptr<test_override_cache_helper>>(m, "test_override_cache_helper")
         .def(py::init_alias<>())
         .def("func", &test_override_cache_helper::func);
 
     m.def("test_override_cache", test_override_cache);
 }
 
-
 // Inheriting virtual methods.  We do two versions here: the repeat-everything version and the
 // templated trampoline versions mentioned in docs/advanced.rst.
 //
@@ -414,94 +420,107 @@ TEST_SUBMODULE(virtual_functions, m) {
 // properly (pybind11, sensibly, doesn't allow us to bind the same C++ class to
 // multiple python classes).
 class A_Repeat {
-#define A_METHODS \
-public: \
-    virtual int unlucky_number() = 0; \
-    virtual std::string say_something(unsigned times) { \
-        std::string s = ""; \
-        for (unsigned i = 0; i < times; ++i) \
-            s += "hi"; \
-        return s; \
-    } \
-    std::string say_everything() { \
-        return say_something(1) + " " + std::to_string(unlucky_number()); \
+#define A_METHODS                                                                                 \
+public:                                                                                           \
+    virtual int unlucky_number() = 0;                                                             \
+    virtual std::string say_something(unsigned times) {                                           \
+        std::string s = "";                                                                       \
+        for (unsigned i = 0; i < times; ++i)                                                      \
+            s += "hi";                                                                            \
+        return s;                                                                                 \
+    }                                                                                             \
+    std::string say_everything() {                                                                \
+        return say_something(1) + " " + std::to_string(unlucky_number());                         \
     }
-A_METHODS
+    A_METHODS
     A_Repeat() = default;
-    A_Repeat(const A_Repeat&) = delete;
+    A_Repeat(const A_Repeat &) = delete;
     virtual ~A_Repeat() = default;
 };
 class B_Repeat : public A_Repeat {
-#define B_METHODS \
-public: \
-    int unlucky_number() override { return 13; } \
-    std::string say_something(unsigned times) override { \
-        return "B says hi " + std::to_string(times) + " times"; \
-    } \
+#define B_METHODS                                                                                 \
+public:                                                                                           \
+    int unlucky_number() override { return 13; }                                                  \
+    std::string say_something(unsigned times) override {                                          \
+        return "B says hi " + std::to_string(times) + " times";                                   \
+    }                                                                                             \
     virtual double lucky_number() { return 7.0; }
-B_METHODS
+    B_METHODS
 };
 class C_Repeat : public B_Repeat {
-#define C_METHODS \
-public: \
-    int unlucky_number() override { return 4444; } \
+#define C_METHODS                                                                                 \
+public:                                                                                           \
+    int unlucky_number() override { return 4444; }                                                \
     double lucky_number() override { return 888; }
-C_METHODS
+    C_METHODS
 };
 class D_Repeat : public C_Repeat {
 #define D_METHODS // Nothing overridden.
-D_METHODS
+    D_METHODS
 };
 
 // Base classes for templated inheritance trampolines.  Identical to the repeat-everything version:
 class A_Tpl {
     A_METHODS;
     A_Tpl() = default;
-    A_Tpl(const A_Tpl&) = delete;
+    A_Tpl(const A_Tpl &) = delete;
     virtual ~A_Tpl() = default;
 };
-class B_Tpl : public A_Tpl { B_METHODS };
-class C_Tpl : public B_Tpl { C_METHODS };
-class D_Tpl : public C_Tpl { D_METHODS };
-
+class B_Tpl : public A_Tpl {
+    B_METHODS
+};
+class C_Tpl : public B_Tpl {
+    C_METHODS
+};
+class D_Tpl : public C_Tpl {
+    D_METHODS
+};
 
 // Inheritance approach 1: each trampoline gets every virtual method (11 in total)
 class PyA_Repeat : public A_Repeat {
 public:
     using A_Repeat::A_Repeat;
     int unlucky_number() override { PYBIND11_OVERRIDE_PURE(int, A_Repeat, unlucky_number, ); }
-    std::string say_something(unsigned times) override { PYBIND11_OVERRIDE(std::string, A_Repeat, say_something, times); }
+    std::string say_something(unsigned times) override {
+        PYBIND11_OVERRIDE(std::string, A_Repeat, say_something, times);
+    }
 };
 class PyB_Repeat : public B_Repeat {
 public:
     using B_Repeat::B_Repeat;
     int unlucky_number() override { PYBIND11_OVERRIDE(int, B_Repeat, unlucky_number, ); }
-    std::string say_something(unsigned times) override { PYBIND11_OVERRIDE(std::string, B_Repeat, say_something, times); }
+    std::string say_something(unsigned times) override {
+        PYBIND11_OVERRIDE(std::string, B_Repeat, say_something, times);
+    }
     double lucky_number() override { PYBIND11_OVERRIDE(double, B_Repeat, lucky_number, ); }
 };
 class PyC_Repeat : public C_Repeat {
 public:
     using C_Repeat::C_Repeat;
     int unlucky_number() override { PYBIND11_OVERRIDE(int, C_Repeat, unlucky_number, ); }
-    std::string say_something(unsigned times) override { PYBIND11_OVERRIDE(std::string, C_Repeat, say_something, times); }
+    std::string say_something(unsigned times) override {
+        PYBIND11_OVERRIDE(std::string, C_Repeat, say_something, times);
+    }
     double lucky_number() override { PYBIND11_OVERRIDE(double, C_Repeat, lucky_number, ); }
 };
 class PyD_Repeat : public D_Repeat {
 public:
     using D_Repeat::D_Repeat;
     int unlucky_number() override { PYBIND11_OVERRIDE(int, D_Repeat, unlucky_number, ); }
-    std::string say_something(unsigned times) override { PYBIND11_OVERRIDE(std::string, D_Repeat, say_something, times); }
+    std::string say_something(unsigned times) override {
+        PYBIND11_OVERRIDE(std::string, D_Repeat, say_something, times);
+    }
     double lucky_number() override { PYBIND11_OVERRIDE(double, D_Repeat, lucky_number, ); }
 };
 
 // Inheritance approach 2: templated trampoline classes.
 //
 // Advantages:
-// - we have only 2 (template) class and 4 method declarations (one per virtual method, plus one for
-//   any override of a pure virtual method), versus 4 classes and 6 methods (MI) or 4 classes and 11
-//   methods (repeat).
-// - Compared to MI, we also don't have to change the non-trampoline inheritance to virtual, and can
-//   properly inherit constructors.
+// - we have only 2 (template) class and 4 method declarations (one per virtual method, plus one
+//   for any override of a pure virtual method), versus 4 classes and 6 methods (MI) or 4 classes
+//   and 11 methods (repeat).
+// - Compared to MI, we also don't have to change the non-trampoline inheritance to virtual, and
+//   can properly inherit constructors.
 //
 // Disadvantage:
 // - the compiler must still generate and compile 14 different methods (more, even, than the 11
@@ -513,7 +532,9 @@ class PyA_Tpl : public Base {
 public:
     using Base::Base; // Inherit constructors
     int unlucky_number() override { PYBIND11_OVERRIDE_PURE(int, Base, unlucky_number, ); }
-    std::string say_something(unsigned times) override { PYBIND11_OVERRIDE(std::string, Base, say_something, times); }
+    std::string say_something(unsigned times) override {
+        PYBIND11_OVERRIDE(std::string, Base, say_something, times);
+    }
 };
 template <class Base = B_Tpl>
 class PyB_Tpl : public PyA_Tpl<Base> {
@@ -523,8 +544,8 @@ class PyB_Tpl : public PyA_Tpl<Base> {
     int unlucky_number() override { PYBIND11_OVERRIDE(int, Base, unlucky_number, ); }
     double lucky_number() override { PYBIND11_OVERRIDE(double, Base, lucky_number, ); }
 };
-// Since C_Tpl and D_Tpl don't declare any new virtual methods, we don't actually need these (we can
-// use PyB_Tpl<C_Tpl> and PyB_Tpl<D_Tpl> for the trampoline classes instead):
+// Since C_Tpl and D_Tpl don't declare any new virtual methods, we don't actually need these
+// (we can use PyB_Tpl<C_Tpl> and PyB_Tpl<D_Tpl> for the trampoline classes instead):
 /*
 template <class Base = C_Tpl> class PyC_Tpl : public PyB_Tpl<Base> {
 public:
@@ -548,10 +569,8 @@ void initialize_inherited_virtuals(py::module_ &m) {
     py::class_<B_Repeat, A_Repeat, PyB_Repeat>(m, "B_Repeat")
         .def(py::init<>())
         .def("lucky_number", &B_Repeat::lucky_number);
-    py::class_<C_Repeat, B_Repeat, PyC_Repeat>(m, "C_Repeat")
-        .def(py::init<>());
-    py::class_<D_Repeat, C_Repeat, PyD_Repeat>(m, "D_Repeat")
-        .def(py::init<>());
+    py::class_<C_Repeat, B_Repeat, PyC_Repeat>(m, "C_Repeat").def(py::init<>());
+    py::class_<D_Repeat, C_Repeat, PyD_Repeat>(m, "D_Repeat").def(py::init<>());
 
     // test_
     // Method 2: Templated trampolines
@@ -563,11 +582,8 @@ void initialize_inherited_virtuals(py::module_ &m) {
     py::class_<B_Tpl, A_Tpl, PyB_Tpl<>>(m, "B_Tpl")
         .def(py::init<>())
         .def("lucky_number", &B_Tpl::lucky_number);
-    py::class_<C_Tpl, B_Tpl, PyB_Tpl<C_Tpl>>(m, "C_Tpl")
-        .def(py::init<>());
-    py::class_<D_Tpl, C_Tpl, PyB_Tpl<D_Tpl>>(m, "D_Tpl")
-        .def(py::init<>());
-
+    py::class_<C_Tpl, B_Tpl, PyB_Tpl<C_Tpl>>(m, "C_Tpl").def(py::init<>());
+    py::class_<D_Tpl, C_Tpl, PyB_Tpl<D_Tpl>>(m, "D_Tpl").def(py::init<>());
 
     // Fix issue #1454 (crash when acquiring/releasing GIL on another thread in Python 2.7)
     m.def("test_gil", &test_gil);
diff --git a/pybind11/tests/test_virtual_functions.py b/pybind11/tests/test_virtual_functions.py
index 4f25cac4a3..4d00d3690d 100644
--- a/pybind11/tests/test_virtual_functions.py
+++ b/pybind11/tests/test_virtual_functions.py
@@ -1,4 +1,3 @@
-# -*- coding: utf-8 -*-
 import pytest
 
 import env  # noqa: F401
@@ -10,12 +9,12 @@
 def test_override(capture, msg):
     class ExtendedExampleVirt(m.ExampleVirt):
         def __init__(self, state):
-            super(ExtendedExampleVirt, self).__init__(state + 1)
+            super().__init__(state + 1)
             self.data = "Hello world"
 
         def run(self, value):
-            print("ExtendedExampleVirt::run(%i), calling parent.." % value)
-            return super(ExtendedExampleVirt, self).run(value + 1)
+            print(f"ExtendedExampleVirt::run({value}), calling parent..")
+            return super().run(value + 1)
 
         def run_bool(self):
             print("ExtendedExampleVirt::run_bool()")
@@ -25,11 +24,11 @@ def get_string1(self):
             return "override1"
 
         def pure_virtual(self):
-            print("ExtendedExampleVirt::pure_virtual(): %s" % self.data)
+            print(f"ExtendedExampleVirt::pure_virtual(): {self.data}")
 
     class ExtendedExampleVirt2(ExtendedExampleVirt):
         def __init__(self, state):
-            super(ExtendedExampleVirt2, self).__init__(state + 1)
+            super().__init__(state + 1)
 
         def get_string2(self):
             return "override2"
@@ -41,7 +40,7 @@ def get_string2(self):
         capture
         == """
         Original implementation of ExampleVirt::run(state=10, value=20, str1=default1, str2=default2)
-    """  # noqa: E501 line too long
+    """
     )
 
     with pytest.raises(RuntimeError) as excinfo:
@@ -59,7 +58,7 @@ def get_string2(self):
         == """
         ExtendedExampleVirt::run(20), calling parent..
         Original implementation of ExampleVirt::run(state=11, value=21, str1=override1, str2=default2)
-    """  # noqa: E501 line too long
+    """
     )
     with capture:
         assert m.runExampleVirtBool(ex12p) is False
@@ -76,7 +75,7 @@ def get_string2(self):
         == """
         ExtendedExampleVirt::run(50), calling parent..
         Original implementation of ExampleVirt::run(state=17, value=51, str1=override1, str2=override2)
-    """  # noqa: E501 line too long
+    """
     )
 
     cstats = ConstructorStats.get(m.ExampleVirt)
@@ -97,7 +96,7 @@ def test_alias_delay_initialization1(capture):
 
     class B(m.A):
         def __init__(self):
-            super(B, self).__init__()
+            super().__init__()
 
         def f(self):
             print("In python f()")
@@ -137,7 +136,7 @@ class such as defining local variables and performing construction/destruction.
 
     class B2(m.A2):
         def __init__(self):
-            super(B2, self).__init__()
+            super().__init__()
 
         def f(self):
             print("In python B2.f()")
@@ -245,7 +244,7 @@ def dispatch(self):
     class PyClass2(m.DispatchIssue):
         def dispatch(self):
             with pytest.raises(RuntimeError) as excinfo:
-                super(PyClass2, self).dispatch()
+                super().dispatch()
             assert (
                 msg(excinfo.value)
                 == 'Tried to call pure virtual function "Base::dispatch"'
@@ -262,7 +261,7 @@ def test_recursive_dispatch_issue(msg):
 
     class Data(m.Data):
         def __init__(self, value):
-            super(Data, self).__init__()
+            super().__init__()
             self.value = value
 
     class Adder(m.Adder):
diff --git a/pybind11/tools/FindCatch.cmake b/pybind11/tools/FindCatch.cmake
index 4d6bffcf68..57bba58b30 100644
--- a/pybind11/tools/FindCatch.cmake
+++ b/pybind11/tools/FindCatch.cmake
@@ -9,6 +9,8 @@
 #  CATCH_INCLUDE_DIR      - path to catch.hpp
 #  CATCH_VERSION          - version number
 
+option(DOWNLOAD_CATCH "Download catch2 if not found")
+
 if(NOT Catch_FIND_VERSION)
   message(FATAL_ERROR "A version number must be specified.")
 elseif(Catch_FIND_REQUIRED)
diff --git a/pybind11/tools/FindPythonLibsNew.cmake b/pybind11/tools/FindPythonLibsNew.cmake
index 3605aebcf3..a5a628fd7a 100644
--- a/pybind11/tools/FindPythonLibsNew.cmake
+++ b/pybind11/tools/FindPythonLibsNew.cmake
@@ -92,7 +92,7 @@ endif()
 
 # Use the Python interpreter to find the libs.
 if(NOT PythonLibsNew_FIND_VERSION)
-  set(PythonLibsNew_FIND_VERSION "")
+  set(PythonLibsNew_FIND_VERSION "3.6")
 endif()
 
 find_package(PythonInterp ${PythonLibsNew_FIND_VERSION} ${_pythonlibs_required}
@@ -112,12 +112,26 @@ endif()
 # VERSION. VERSION will typically be like "2.7" on unix, and "27" on windows.
 execute_process(
   COMMAND
-    "${PYTHON_EXECUTABLE}" "-c" "from distutils import sysconfig as s;import sys;import struct;
+    "${PYTHON_EXECUTABLE}" "-c" "
+import sys;import struct;
+import sysconfig as s
+USE_SYSCONFIG = sys.version_info >= (3, 10)
+if not USE_SYSCONFIG:
+    from distutils import sysconfig as ds
 print('.'.join(str(v) for v in sys.version_info));
 print(sys.prefix);
-print(s.get_python_inc(plat_specific=True));
-print(s.get_python_lib(plat_specific=True));
-print(s.get_config_var('EXT_SUFFIX') or s.get_config_var('SO'));
+if USE_SYSCONFIG:
+    scheme = s.get_default_scheme()
+    if scheme == 'posix_local':
+        # Debian's default scheme installs to /usr/local/ but we want to find headers in /usr/
+        scheme = 'posix_prefix'
+    print(s.get_path('platinclude', scheme))
+    print(s.get_path('platlib'))
+    print(s.get_config_var('EXT_SUFFIX') or s.get_config_var('SO'))
+else:
+    print(ds.get_python_inc(plat_specific=True));
+    print(ds.get_python_lib(plat_specific=True));
+    print(ds.get_config_var('EXT_SUFFIX') or ds.get_config_var('SO'));
 print(hasattr(sys, 'gettotalrefcount')+0);
 print(struct.calcsize('@P'));
 print(s.get_config_var('LDVERSION') or s.get_config_var('VERSION'));
@@ -137,26 +151,36 @@ if(NOT _PYTHON_SUCCESS MATCHES 0)
   return()
 endif()
 
+# Can manually set values when cross-compiling
+macro(_PYBIND11_GET_IF_UNDEF lst index name)
+  if(NOT DEFINED "${name}")
+    list(GET "${lst}" "${index}" "${name}")
+  endif()
+endmacro()
+
 # Convert the process output into a list
 if(WIN32)
   string(REGEX REPLACE "\\\\" "/" _PYTHON_VALUES ${_PYTHON_VALUES})
 endif()
 string(REGEX REPLACE ";" "\\\\;" _PYTHON_VALUES ${_PYTHON_VALUES})
 string(REGEX REPLACE "\n" ";" _PYTHON_VALUES ${_PYTHON_VALUES})
-list(GET _PYTHON_VALUES 0 _PYTHON_VERSION_LIST)
-list(GET _PYTHON_VALUES 1 PYTHON_PREFIX)
-list(GET _PYTHON_VALUES 2 PYTHON_INCLUDE_DIR)
-list(GET _PYTHON_VALUES 3 PYTHON_SITE_PACKAGES)
-list(GET _PYTHON_VALUES 4 PYTHON_MODULE_EXTENSION)
-list(GET _PYTHON_VALUES 5 PYTHON_IS_DEBUG)
-list(GET _PYTHON_VALUES 6 PYTHON_SIZEOF_VOID_P)
-list(GET _PYTHON_VALUES 7 PYTHON_LIBRARY_SUFFIX)
-list(GET _PYTHON_VALUES 8 PYTHON_LIBDIR)
-list(GET _PYTHON_VALUES 9 PYTHON_MULTIARCH)
+_pybind11_get_if_undef(_PYTHON_VALUES 0 _PYTHON_VERSION_LIST)
+_pybind11_get_if_undef(_PYTHON_VALUES 1 PYTHON_PREFIX)
+_pybind11_get_if_undef(_PYTHON_VALUES 2 PYTHON_INCLUDE_DIR)
+_pybind11_get_if_undef(_PYTHON_VALUES 3 PYTHON_SITE_PACKAGES)
+_pybind11_get_if_undef(_PYTHON_VALUES 4 PYTHON_MODULE_EXTENSION)
+_pybind11_get_if_undef(_PYTHON_VALUES 5 PYTHON_IS_DEBUG)
+_pybind11_get_if_undef(_PYTHON_VALUES 6 PYTHON_SIZEOF_VOID_P)
+_pybind11_get_if_undef(_PYTHON_VALUES 7 PYTHON_LIBRARY_SUFFIX)
+_pybind11_get_if_undef(_PYTHON_VALUES 8 PYTHON_LIBDIR)
+_pybind11_get_if_undef(_PYTHON_VALUES 9 PYTHON_MULTIARCH)
 
 # Make sure the Python has the same pointer-size as the chosen compiler
 # Skip if CMAKE_SIZEOF_VOID_P is not defined
-if(CMAKE_SIZEOF_VOID_P AND (NOT "${PYTHON_SIZEOF_VOID_P}" STREQUAL "${CMAKE_SIZEOF_VOID_P}"))
+# This should be skipped for (non-Apple) cross-compiles (like EMSCRIPTEN)
+if(NOT CMAKE_CROSSCOMPILING
+   AND CMAKE_SIZEOF_VOID_P
+   AND (NOT "${PYTHON_SIZEOF_VOID_P}" STREQUAL "${CMAKE_SIZEOF_VOID_P}"))
   if(PythonLibsNew_FIND_REQUIRED)
     math(EXPR _PYTHON_BITS "${PYTHON_SIZEOF_VOID_P} * 8")
     math(EXPR _CMAKE_BITS "${CMAKE_SIZEOF_VOID_P} * 8")
diff --git a/pybind11/tools/libsize.py b/pybind11/tools/libsize.py
index 1551477e66..1ac9afbe81 100644
--- a/pybind11/tools/libsize.py
+++ b/pybind11/tools/libsize.py
@@ -1,6 +1,3 @@
-# -*- coding: utf-8 -*-
-from __future__ import division, print_function
-
 import os
 import sys
 
@@ -16,7 +13,7 @@
 save = sys.argv[2]
 
 if not os.path.exists(lib):
-    sys.exit("Error: requested file ({}) does not exist".format(lib))
+    sys.exit(f"Error: requested file ({lib}) does not exist")
 
 libsize = os.path.getsize(lib)
 
@@ -31,7 +28,7 @@
         if change == 0:
             print(" (no change)")
         else:
-            print(" (change of {:+} bytes = {:+.2%})".format(change, change / oldsize))
+            print(f" (change of {change:+} bytes = {change / oldsize:+.2%})")
 else:
     print()
 
diff --git a/pybind11/tools/make_changelog.py b/pybind11/tools/make_changelog.py
index 629c284d39..839040a938 100755
--- a/pybind11/tools/make_changelog.py
+++ b/pybind11/tools/make_changelog.py
@@ -1,5 +1,4 @@
 #!/usr/bin/env python3
-# -*- coding: utf-8 -*-
 
 import re
 
diff --git a/pybind11/tools/pybind11Common.cmake b/pybind11/tools/pybind11Common.cmake
index df24781213..e1fb601acc 100644
--- a/pybind11/tools/pybind11Common.cmake
+++ b/pybind11/tools/pybind11Common.cmake
@@ -8,7 +8,6 @@ Adds the following targets::
     pybind11::lto - Link time optimizations (manual selection)
     pybind11::thin_lto - Link time optimizations (manual selection)
     pybind11::python_link_helper - Adds link to Python libraries
-    pybind11::python2_no_register - Avoid warning/error with Python 2 + C++14/7
     pybind11::windows_extras - MSVC bigobj and mp for building multithreaded
     pybind11::opt_size - avoid optimizations that increase code size
 
@@ -66,31 +65,6 @@ set_property(
   APPEND
   PROPERTY INTERFACE_LINK_LIBRARIES pybind11::pybind11)
 
-# ----------------------- no register ----------------------
-
-# Workaround for Python 2.7 and C++17 (C++14 as a warning) incompatibility
-# This adds the flags -Wno-register and -Wno-deprecated-register if the compiler
-# is Clang 3.9+ or AppleClang and the compile language is CXX, or /wd5033 for MSVC (all languages,
-# since MSVC didn't recognize COMPILE_LANGUAGE until CMake 3.11+).
-
-add_library(pybind11::python2_no_register INTERFACE IMPORTED ${optional_global})
-set(clang_4plus
-    "$<AND:$<CXX_COMPILER_ID:Clang>,$<NOT:$<VERSION_LESS:$<CXX_COMPILER_VERSION>,3.9>>>")
-set(no_register "$<OR:${clang_4plus},$<CXX_COMPILER_ID:AppleClang>>")
-
-if(MSVC AND CMAKE_VERSION VERSION_LESS 3.11)
-  set(cxx_no_register "${no_register}")
-else()
-  set(cxx_no_register "$<AND:$<COMPILE_LANGUAGE:CXX>,${no_register}>")
-endif()
-
-set(msvc "$<CXX_COMPILER_ID:MSVC>")
-
-set_property(
-  TARGET pybind11::python2_no_register
-  PROPERTY INTERFACE_COMPILE_OPTIONS
-           "$<${cxx_no_register}:-Wno-register;-Wno-deprecated-register>" "$<${msvc}:/wd5033>")
-
 # --------------------------- link helper ---------------------------
 
 add_library(pybind11::python_link_helper IMPORTED INTERFACE ${optional_global})
@@ -122,7 +96,7 @@ if(MSVC) # That's also clang-cl
   set_property(
     TARGET pybind11::windows_extras
     APPEND
-    PROPERTY INTERFACE_COMPILE_OPTIONS /bigobj)
+    PROPERTY INTERFACE_COMPILE_OPTIONS $<$<COMPILE_LANGUAGE:CXX>:/bigobj>)
 
   # /MP enables multithreaded builds (relevant when there are many files) for MSVC
   if("${CMAKE_CXX_COMPILER_ID}" STREQUAL "MSVC") # no Clang no Intel
diff --git a/pybind11/tools/pybind11Config.cmake.in b/pybind11/tools/pybind11Config.cmake.in
index 262020d14a..9383e8c671 100644
--- a/pybind11/tools/pybind11Config.cmake.in
+++ b/pybind11/tools/pybind11Config.cmake.in
@@ -51,8 +51,6 @@ complex applications, and they are available in all modes:
   Python headers too.
 ``pybind11::python_link_helper``
   Just the "linking" part of ``pybind11:module``, for CMake < 3.15.
-``pybind11::python2_no_register``
-  Quiets the warning/error when mixing C++14+ and Python 2, also included in ``pybind11::module``.
 ``pybind11::thin_lto``
   An alternative to ``INTERPROCEDURAL_OPTIMIZATION``.
 ``pybind11::lto``
@@ -88,7 +86,7 @@ you can either use the basic targets, or use the FindPython tools:
   set_target_properties(MyModule2 PROPERTIES
                                   INTERPROCEDURAL_OPTIMIZATION ON
                                   CXX_VISIBILITY_PRESET ON
-                                  VISIBLITY_INLINES_HIDDEN ON)
+                                  VISIBILITY_INLINES_HIDDEN ON)
 
 If you build targets yourself, you may be interested in stripping the output
 for reduced size; this is the one other feature that the helper function gives you.
@@ -195,7 +193,7 @@ Using ``find_package`` with version info is not recommended except for release v
 .. code-block:: cmake
 
   find_package(pybind11 CONFIG)
-  find_package(pybind11 2.0 EXACT CONFIG REQUIRED)
+  find_package(pybind11 2.9 EXACT CONFIG REQUIRED)
 
 #]=============================================================================]
 @PACKAGE_INIT@
diff --git a/pybind11/tools/pybind11NewTools.cmake b/pybind11/tools/pybind11NewTools.cmake
index 0b4e21ccef..abba0fe0e2 100644
--- a/pybind11/tools/pybind11NewTools.cmake
+++ b/pybind11/tools/pybind11NewTools.cmake
@@ -22,9 +22,7 @@ else()
   set(_pybind11_quiet "")
 endif()
 
-if(NOT Python_FOUND
-   AND NOT Python3_FOUND
-   AND NOT Python2_FOUND)
+if(NOT Python_FOUND AND NOT Python3_FOUND)
   if(NOT DEFINED Python_FIND_IMPLEMENTATIONS)
     set(Python_FIND_IMPLEMENTATIONS CPython PyPy)
   endif()
@@ -34,7 +32,7 @@ if(NOT Python_FOUND
     set(Python_ROOT_DIR "$ENV{pythonLocation}")
   endif()
 
-  find_package(Python REQUIRED COMPONENTS Interpreter Development ${_pybind11_quiet})
+  find_package(Python 3.6 REQUIRED COMPONENTS Interpreter Development ${_pybind11_quiet})
 
   # If we are in submodule mode, export the Python targets to global targets.
   # If this behavior is not desired, FindPython _before_ pybind11.
@@ -51,19 +49,10 @@ if(Python_FOUND)
   set(_Python
       Python
       CACHE INTERNAL "" FORCE)
-elseif(Python3_FOUND AND NOT Python2_FOUND)
+elseif(Python3_FOUND)
   set(_Python
       Python3
       CACHE INTERNAL "" FORCE)
-elseif(Python2_FOUND AND NOT Python3_FOUND)
-  set(_Python
-      Python2
-      CACHE INTERNAL "" FORCE)
-else()
-  message(AUTHOR_WARNING "Python2 and Python3 both present, pybind11 in "
-                         "PYBIND11_NOPYTHON mode (manually activate to silence warning)")
-  set(_pybind11_nopython ON)
-  return()
 endif()
 
 if(PYBIND11_MASTER_PROJECT)
@@ -137,7 +126,7 @@ if(PYTHON_IS_DEBUG)
     PROPERTY INTERFACE_COMPILE_DEFINITIONS Py_DEBUG)
 endif()
 
-# Check on every access - since Python2 and Python3 could have been used - do nothing in that case.
+# Check on every access - since Python can change - do nothing in that case.
 
 if(DEFINED ${_Python}_INCLUDE_DIRS)
   # Only add Python for build - must be added during the import for config
@@ -159,13 +148,6 @@ if(DEFINED ${_Python}_INCLUDE_DIRS)
       CACHE INTERNAL "Directories where pybind11 and possibly Python headers are located")
 endif()
 
-if(DEFINED ${_Python}_VERSION AND ${_Python}_VERSION VERSION_LESS 3)
-  set_property(
-    TARGET pybind11::pybind11
-    APPEND
-    PROPERTY INTERFACE_LINK_LIBRARIES pybind11::python2_no_register)
-endif()
-
 # In CMake 3.18+, you can find these separately, so include an if
 if(TARGET ${_Python}::Python)
   set_property(
@@ -205,8 +187,6 @@ function(pybind11_add_module target_name)
     python_add_library(${target_name} ${lib_type} ${ARG_UNPARSED_ARGUMENTS})
   elseif("${_Python}" STREQUAL "Python3")
     python3_add_library(${target_name} ${lib_type} ${ARG_UNPARSED_ARGUMENTS})
-  elseif("${_Python}" STREQUAL "Python2")
-    python2_add_library(${target_name} ${lib_type} ${ARG_UNPARSED_ARGUMENTS})
   else()
     message(FATAL_ERROR "Cannot detect FindPython version: ${_Python}")
   endif()
@@ -223,10 +203,6 @@ function(pybind11_add_module target_name)
     target_link_libraries(${target_name} PRIVATE pybind11::windows_extras)
   endif()
 
-  if(DEFINED ${_Python}_VERSION AND ${_Python}_VERSION VERSION_LESS 3)
-    target_link_libraries(${target_name} PRIVATE pybind11::python2_no_register)
-  endif()
-
   # -fvisibility=hidden is required to allow multiple modules compiled against
   # different pybind versions to work properly, and for some features (e.g.
   # py::module_local).  We force it on everything inside the `pybind11`
diff --git a/pybind11/tools/pybind11Tools.cmake b/pybind11/tools/pybind11Tools.cmake
index c255e5cfd8..5535e872f3 100644
--- a/pybind11/tools/pybind11Tools.cmake
+++ b/pybind11/tools/pybind11Tools.cmake
@@ -43,7 +43,7 @@ endif()
 
 # A user can set versions manually too
 set(Python_ADDITIONAL_VERSIONS
-    "3.11;3.10;3.9;3.8;3.7;3.6;3.5;3.4"
+    "3.11;3.10;3.9;3.8;3.7;3.6"
     CACHE INTERNAL "")
 
 list(APPEND CMAKE_MODULE_PATH "${CMAKE_CURRENT_LIST_DIR}")
@@ -115,24 +115,32 @@ if(PYTHON_IS_DEBUG)
     PROPERTY INTERFACE_COMPILE_DEFINITIONS Py_DEBUG)
 endif()
 
-set_property(
-  TARGET pybind11::module
-  APPEND
-  PROPERTY
-    INTERFACE_LINK_LIBRARIES pybind11::python_link_helper
-    "$<$<OR:$<PLATFORM_ID:Windows>,$<PLATFORM_ID:Cygwin>>:$<BUILD_INTERFACE:${PYTHON_LIBRARIES}>>")
+if(CMAKE_VERSION VERSION_LESS 3.11)
+  set_property(
+    TARGET pybind11::module
+    APPEND
+    PROPERTY
+      INTERFACE_LINK_LIBRARIES
+      pybind11::python_link_helper
+      "$<$<OR:$<PLATFORM_ID:Windows>,$<PLATFORM_ID:Cygwin>>:$<BUILD_INTERFACE:${PYTHON_LIBRARIES}>>"
+  )
 
-if(PYTHON_VERSION VERSION_LESS 3)
   set_property(
-    TARGET pybind11::pybind11
+    TARGET pybind11::embed
     APPEND
-    PROPERTY INTERFACE_LINK_LIBRARIES pybind11::python2_no_register)
-endif()
+    PROPERTY INTERFACE_LINK_LIBRARIES pybind11::pybind11 $<BUILD_INTERFACE:${PYTHON_LIBRARIES}>)
+else()
+  target_link_libraries(
+    pybind11::module
+    INTERFACE
+      pybind11::python_link_helper
+      "$<$<OR:$<PLATFORM_ID:Windows>,$<PLATFORM_ID:Cygwin>>:$<BUILD_INTERFACE:${PYTHON_LIBRARIES}>>"
+  )
 
-set_property(
-  TARGET pybind11::embed
-  APPEND
-  PROPERTY INTERFACE_LINK_LIBRARIES pybind11::pybind11 $<BUILD_INTERFACE:${PYTHON_LIBRARIES}>)
+  target_link_libraries(pybind11::embed INTERFACE pybind11::pybind11
+                                                  $<BUILD_INTERFACE:${PYTHON_LIBRARIES}>)
+
+endif()
 
 function(pybind11_extension name)
   # The prefix and extension are provided by FindPythonLibsNew.cmake
diff --git a/pybind11/tools/setup_global.py.in b/pybind11/tools/setup_global.py.in
index 8b7e538714..8aa3871783 100644
--- a/pybind11/tools/setup_global.py.in
+++ b/pybind11/tools/setup_global.py.in
@@ -1,17 +1,11 @@
-#!/usr/bin/env python
-# -*- coding: utf-8 -*-
+#!/usr/bin/env python3
 
 # Setup script for pybind11-global (in the sdist or in tools/setup_global.py in the repository)
 # This package is targeted for easy use from CMake.
 
-import contextlib
 import glob
 import os
 import re
-import shutil
-import subprocess
-import sys
-import tempfile
 
 # Setuptools has to be before distutils
 from setuptools import setup
diff --git a/pybind11/tools/setup_main.py.in b/pybind11/tools/setup_main.py.in
index 533a75ae71..738d73faad 100644
--- a/pybind11/tools/setup_main.py.in
+++ b/pybind11/tools/setup_main.py.in
@@ -1,5 +1,4 @@
-#!/usr/bin/env python
-# -*- coding: utf-8 -*-
+#!/usr/bin/env python3
 
 # Setup script (in the sdist or in tools/setup_main.py in the repository)
 
@@ -20,7 +19,7 @@ setup(
         "pybind11.share.cmake.pybind11",
     ],
     package_data={
-        "pybind11": ["py.typed", "*.pyi"],
+        "pybind11": ["py.typed"],
         "pybind11.include.pybind11": ["*.h"],
         "pybind11.include.pybind11.detail": ["*.h"],
         "pybind11.include.pybind11.stl": ["*.h"],
diff --git a/tests/expected/matlab/+gtsam/GeneralSFMFactorCal3Bundler.m b/tests/expected/matlab/+gtsam/GeneralSFMFactorCal3Bundler.m
index 0ce4051afc..743f881866 100644
--- a/tests/expected/matlab/+gtsam/GeneralSFMFactorCal3Bundler.m
+++ b/tests/expected/matlab/+gtsam/GeneralSFMFactorCal3Bundler.m
@@ -9,7 +9,7 @@
     function obj = GeneralSFMFactorCal3Bundler(varargin)
       if nargin == 2 && isa(varargin{1}, 'uint64') && varargin{1} == uint64(5139824614673773682)
         my_ptr = varargin{2};
-        special_cases_wrapper(7, my_ptr);
+        special_cases_wrapper(9, my_ptr);
       else
         error('Arguments do not match any overload of gtsam.GeneralSFMFactorCal3Bundler constructor');
       end
@@ -17,7 +17,7 @@
     end
 
     function delete(obj)
-      special_cases_wrapper(8, obj.ptr_gtsamGeneralSFMFactorCal3Bundler);
+      special_cases_wrapper(10, obj.ptr_gtsamGeneralSFMFactorCal3Bundler);
     end
 
     function display(obj), obj.print(''); end
diff --git a/tests/expected/matlab/+gtsam/PinholeCameraCal3Bundler.m b/tests/expected/matlab/+gtsam/PinholeCameraCal3Bundler.m
index f5b84943ad..0282daa546 100644
--- a/tests/expected/matlab/+gtsam/PinholeCameraCal3Bundler.m
+++ b/tests/expected/matlab/+gtsam/PinholeCameraCal3Bundler.m
@@ -9,7 +9,7 @@
     function obj = PinholeCameraCal3Bundler(varargin)
       if nargin == 2 && isa(varargin{1}, 'uint64') && varargin{1} == uint64(5139824614673773682)
         my_ptr = varargin{2};
-        special_cases_wrapper(5, my_ptr);
+        special_cases_wrapper(7, my_ptr);
       else
         error('Arguments do not match any overload of gtsam.PinholeCameraCal3Bundler constructor');
       end
@@ -17,7 +17,7 @@
     end
 
     function delete(obj)
-      special_cases_wrapper(6, obj.ptr_gtsamPinholeCameraCal3Bundler);
+      special_cases_wrapper(8, obj.ptr_gtsamPinholeCameraCal3Bundler);
     end
 
     function display(obj), obj.print(''); end
diff --git a/tests/expected/matlab/+gtsam/SfmTrack.m b/tests/expected/matlab/+gtsam/SfmTrack.m
index 428da2706d..0b06338572 100644
--- a/tests/expected/matlab/+gtsam/SfmTrack.m
+++ b/tests/expected/matlab/+gtsam/SfmTrack.m
@@ -1,9 +1,13 @@
 %class SfmTrack, see Doxygen page for details
 %at https://gtsam.org/doxygen/
 %
+%-------Properties-------
+%measurements
+%
 classdef SfmTrack < handle
   properties
     ptr_gtsamSfmTrack = 0
+    measurements
   end
   methods
     function obj = SfmTrack(varargin)
@@ -24,6 +28,16 @@ function delete(obj)
     %DISPLAY Calls print on the object
     function disp(obj), obj.display; end
     %DISP Calls print on the object
+
+    function varargout = get.measurements(this)
+        varargout{1} = special_cases_wrapper(5, this);
+        this.measurements = varargout{1};
+    end
+
+    function set.measurements(this, value)
+        obj.measurements = value;
+        special_cases_wrapper(6, this, value);
+    end
   end
 
   methods(Static = true)
diff --git a/tests/expected/matlab/+ns1/aGlobalFunction.m b/tests/expected/matlab/+ns1/aGlobalFunction.m
index b57f727bda..7dedf06cf7 100644
--- a/tests/expected/matlab/+ns1/aGlobalFunction.m
+++ b/tests/expected/matlab/+ns1/aGlobalFunction.m
@@ -4,3 +4,4 @@
       else
         error('Arguments do not match any overload of function aGlobalFunction');
       end
+end
diff --git a/tests/expected/matlab/+ns2/aGlobalFunction.m b/tests/expected/matlab/+ns2/aGlobalFunction.m
index b8c5a339bb..3b2d821999 100644
--- a/tests/expected/matlab/+ns2/aGlobalFunction.m
+++ b/tests/expected/matlab/+ns2/aGlobalFunction.m
@@ -4,3 +4,4 @@
       else
         error('Arguments do not match any overload of function aGlobalFunction');
       end
+end
diff --git a/tests/expected/matlab/+ns2/overloadedGlobalFunction.m b/tests/expected/matlab/+ns2/overloadedGlobalFunction.m
index 2ba3a9c74d..5ceaf87faf 100644
--- a/tests/expected/matlab/+ns2/overloadedGlobalFunction.m
+++ b/tests/expected/matlab/+ns2/overloadedGlobalFunction.m
@@ -6,3 +6,4 @@
       else
         error('Arguments do not match any overload of function overloadedGlobalFunction');
       end
+end
diff --git a/tests/expected/matlab/DefaultFuncInt.m b/tests/expected/matlab/DefaultFuncInt.m
index 6c9c4116bc..8924143d78 100644
--- a/tests/expected/matlab/DefaultFuncInt.m
+++ b/tests/expected/matlab/DefaultFuncInt.m
@@ -8,3 +8,4 @@
       else
         error('Arguments do not match any overload of function DefaultFuncInt');
       end
+end
diff --git a/tests/expected/matlab/DefaultFuncObj.m b/tests/expected/matlab/DefaultFuncObj.m
index 15d9ba0fa3..51cc6b7cd4 100644
--- a/tests/expected/matlab/DefaultFuncObj.m
+++ b/tests/expected/matlab/DefaultFuncObj.m
@@ -6,3 +6,4 @@
       else
         error('Arguments do not match any overload of function DefaultFuncObj');
       end
+end
diff --git a/tests/expected/matlab/DefaultFuncString.m b/tests/expected/matlab/DefaultFuncString.m
index d26201c152..48e4b97ea0 100644
--- a/tests/expected/matlab/DefaultFuncString.m
+++ b/tests/expected/matlab/DefaultFuncString.m
@@ -8,3 +8,4 @@
       else
         error('Arguments do not match any overload of function DefaultFuncString');
       end
+end
diff --git a/tests/expected/matlab/DefaultFuncVector.m b/tests/expected/matlab/DefaultFuncVector.m
index 344533fad0..5789510a8b 100644
--- a/tests/expected/matlab/DefaultFuncVector.m
+++ b/tests/expected/matlab/DefaultFuncVector.m
@@ -8,3 +8,4 @@
       else
         error('Arguments do not match any overload of function DefaultFuncVector');
       end
+end
diff --git a/tests/expected/matlab/DefaultFuncZero.m b/tests/expected/matlab/DefaultFuncZero.m
index 0ebba2e5c7..ab39582a6c 100644
--- a/tests/expected/matlab/DefaultFuncZero.m
+++ b/tests/expected/matlab/DefaultFuncZero.m
@@ -10,3 +10,4 @@
       else
         error('Arguments do not match any overload of function DefaultFuncZero');
       end
+end
diff --git a/tests/expected/matlab/ForwardKinematics.m b/tests/expected/matlab/ForwardKinematics.m
index c2ff701c74..50f347a797 100644
--- a/tests/expected/matlab/ForwardKinematics.m
+++ b/tests/expected/matlab/ForwardKinematics.m
@@ -12,11 +12,11 @@
     function obj = ForwardKinematics(varargin)
       if nargin == 2 && isa(varargin{1}, 'uint64') && varargin{1} == uint64(5139824614673773682)
         my_ptr = varargin{2};
-        class_wrapper(57, my_ptr);
+        class_wrapper(59, my_ptr);
       elseif nargin == 5 && isa(varargin{1},'gtdynamics.Robot') && isa(varargin{2},'char') && isa(varargin{3},'char') && isa(varargin{4},'gtsam.Values') && isa(varargin{5},'gtsam.Pose3')
-        my_ptr = class_wrapper(58, varargin{1}, varargin{2}, varargin{3}, varargin{4}, varargin{5});
+        my_ptr = class_wrapper(60, varargin{1}, varargin{2}, varargin{3}, varargin{4}, varargin{5});
       elseif nargin == 4 && isa(varargin{1},'gtdynamics.Robot') && isa(varargin{2},'char') && isa(varargin{3},'char') && isa(varargin{4},'gtsam.Values')
-        my_ptr = class_wrapper(59, varargin{1}, varargin{2}, varargin{3}, varargin{4});
+        my_ptr = class_wrapper(61, varargin{1}, varargin{2}, varargin{3}, varargin{4});
       else
         error('Arguments do not match any overload of ForwardKinematics constructor');
       end
@@ -24,7 +24,7 @@
     end
 
     function delete(obj)
-      class_wrapper(60, obj.ptr_ForwardKinematics);
+      class_wrapper(62, obj.ptr_ForwardKinematics);
     end
 
     function display(obj), obj.print(''); end
diff --git a/tests/expected/matlab/MultiTemplatedFunctionDoubleSize_tDouble.m b/tests/expected/matlab/MultiTemplatedFunctionDoubleSize_tDouble.m
index e106ad4d29..11785c1e1c 100644
--- a/tests/expected/matlab/MultiTemplatedFunctionDoubleSize_tDouble.m
+++ b/tests/expected/matlab/MultiTemplatedFunctionDoubleSize_tDouble.m
@@ -4,3 +4,4 @@
       else
         error('Arguments do not match any overload of function MultiTemplatedFunctionDoubleSize_tDouble');
       end
+end
diff --git a/tests/expected/matlab/MultiTemplatedFunctionStringSize_tDouble.m b/tests/expected/matlab/MultiTemplatedFunctionStringSize_tDouble.m
index 70557f3aa2..1dae96c40d 100644
--- a/tests/expected/matlab/MultiTemplatedFunctionStringSize_tDouble.m
+++ b/tests/expected/matlab/MultiTemplatedFunctionStringSize_tDouble.m
@@ -4,3 +4,4 @@
       else
         error('Arguments do not match any overload of function MultiTemplatedFunctionStringSize_tDouble');
       end
+end
diff --git a/tests/expected/matlab/MultipleTemplatesIntDouble.m b/tests/expected/matlab/MultipleTemplatesIntDouble.m
index ebf263bcb9..bd6805cfb2 100644
--- a/tests/expected/matlab/MultipleTemplatesIntDouble.m
+++ b/tests/expected/matlab/MultipleTemplatesIntDouble.m
@@ -9,7 +9,7 @@
     function obj = MultipleTemplatesIntDouble(varargin)
       if nargin == 2 && isa(varargin{1}, 'uint64') && varargin{1} == uint64(5139824614673773682)
         my_ptr = varargin{2};
-        class_wrapper(53, my_ptr);
+        class_wrapper(55, my_ptr);
       else
         error('Arguments do not match any overload of MultipleTemplatesIntDouble constructor');
       end
@@ -17,7 +17,7 @@
     end
 
     function delete(obj)
-      class_wrapper(54, obj.ptr_MultipleTemplatesIntDouble);
+      class_wrapper(56, obj.ptr_MultipleTemplatesIntDouble);
     end
 
     function display(obj), obj.print(''); end
diff --git a/tests/expected/matlab/MultipleTemplatesIntFloat.m b/tests/expected/matlab/MultipleTemplatesIntFloat.m
index 02290f0323..f5199a77e9 100644
--- a/tests/expected/matlab/MultipleTemplatesIntFloat.m
+++ b/tests/expected/matlab/MultipleTemplatesIntFloat.m
@@ -9,7 +9,7 @@
     function obj = MultipleTemplatesIntFloat(varargin)
       if nargin == 2 && isa(varargin{1}, 'uint64') && varargin{1} == uint64(5139824614673773682)
         my_ptr = varargin{2};
-        class_wrapper(55, my_ptr);
+        class_wrapper(57, my_ptr);
       else
         error('Arguments do not match any overload of MultipleTemplatesIntFloat constructor');
       end
@@ -17,7 +17,7 @@
     end
 
     function delete(obj)
-      class_wrapper(56, obj.ptr_MultipleTemplatesIntFloat);
+      class_wrapper(58, obj.ptr_MultipleTemplatesIntFloat);
     end
 
     function display(obj), obj.print(''); end
diff --git a/tests/expected/matlab/MyFactorPosePoint2.m b/tests/expected/matlab/MyFactorPosePoint2.m
index 7457fe749b..f24a449a55 100644
--- a/tests/expected/matlab/MyFactorPosePoint2.m
+++ b/tests/expected/matlab/MyFactorPosePoint2.m
@@ -15,9 +15,9 @@
     function obj = MyFactorPosePoint2(varargin)
       if nargin == 2 && isa(varargin{1}, 'uint64') && varargin{1} == uint64(5139824614673773682)
         my_ptr = varargin{2};
-        class_wrapper(67, my_ptr);
+        class_wrapper(69, my_ptr);
       elseif nargin == 4 && isa(varargin{1},'numeric') && isa(varargin{2},'numeric') && isa(varargin{3},'double') && isa(varargin{4},'gtsam.noiseModel.Base')
-        my_ptr = class_wrapper(68, varargin{1}, varargin{2}, varargin{3}, varargin{4});
+        my_ptr = class_wrapper(70, varargin{1}, varargin{2}, varargin{3}, varargin{4});
       else
         error('Arguments do not match any overload of MyFactorPosePoint2 constructor');
       end
@@ -25,7 +25,7 @@
     end
 
     function delete(obj)
-      class_wrapper(69, obj.ptr_MyFactorPosePoint2);
+      class_wrapper(71, obj.ptr_MyFactorPosePoint2);
     end
 
     function display(obj), obj.print(''); end
@@ -36,19 +36,19 @@ function delete(obj)
       % PRINT usage: print(string s, KeyFormatter keyFormatter) : returns void
       % Doxygen can be found at https://gtsam.org/doxygen/
       if length(varargin) == 2 && isa(varargin{1},'char') && isa(varargin{2},'gtsam.KeyFormatter')
-        class_wrapper(70, this, varargin{:});
+        class_wrapper(72, this, varargin{:});
         return
       end
       % PRINT usage: print(string s) : returns void
       % Doxygen can be found at https://gtsam.org/doxygen/
       if length(varargin) == 1 && isa(varargin{1},'char')
-        class_wrapper(71, this, varargin{:});
+        class_wrapper(73, this, varargin{:});
         return
       end
       % PRINT usage: print() : returns void
       % Doxygen can be found at https://gtsam.org/doxygen/
       if length(varargin) == 0
-        class_wrapper(72, this, varargin{:});
+        class_wrapper(74, this, varargin{:});
         return
       end
       error('Arguments do not match any overload of function MyFactorPosePoint2.print');
diff --git a/tests/expected/matlab/MyVector12.m b/tests/expected/matlab/MyVector12.m
index 53e554a100..33fa4802a1 100644
--- a/tests/expected/matlab/MyVector12.m
+++ b/tests/expected/matlab/MyVector12.m
@@ -12,9 +12,9 @@
     function obj = MyVector12(varargin)
       if nargin == 2 && isa(varargin{1}, 'uint64') && varargin{1} == uint64(5139824614673773682)
         my_ptr = varargin{2};
-        class_wrapper(50, my_ptr);
+        class_wrapper(52, my_ptr);
       elseif nargin == 0
-        my_ptr = class_wrapper(51);
+        my_ptr = class_wrapper(53);
       else
         error('Arguments do not match any overload of MyVector12 constructor');
       end
@@ -22,7 +22,7 @@
     end
 
     function delete(obj)
-      class_wrapper(52, obj.ptr_MyVector12);
+      class_wrapper(54, obj.ptr_MyVector12);
     end
 
     function display(obj), obj.print(''); end
diff --git a/tests/expected/matlab/MyVector3.m b/tests/expected/matlab/MyVector3.m
index 0f6ea84aba..35d1357c72 100644
--- a/tests/expected/matlab/MyVector3.m
+++ b/tests/expected/matlab/MyVector3.m
@@ -12,9 +12,9 @@
     function obj = MyVector3(varargin)
       if nargin == 2 && isa(varargin{1}, 'uint64') && varargin{1} == uint64(5139824614673773682)
         my_ptr = varargin{2};
-        class_wrapper(47, my_ptr);
+        class_wrapper(49, my_ptr);
       elseif nargin == 0
-        my_ptr = class_wrapper(48);
+        my_ptr = class_wrapper(50);
       else
         error('Arguments do not match any overload of MyVector3 constructor');
       end
@@ -22,7 +22,7 @@
     end
 
     function delete(obj)
-      class_wrapper(49, obj.ptr_MyVector3);
+      class_wrapper(51, obj.ptr_MyVector3);
     end
 
     function display(obj), obj.print(''); end
diff --git a/tests/expected/matlab/PrimitiveRefDouble.m b/tests/expected/matlab/PrimitiveRefDouble.m
index e1039e567d..22afdd9e69 100644
--- a/tests/expected/matlab/PrimitiveRefDouble.m
+++ b/tests/expected/matlab/PrimitiveRefDouble.m
@@ -19,9 +19,9 @@
     function obj = PrimitiveRefDouble(varargin)
       if nargin == 2 && isa(varargin{1}, 'uint64') && varargin{1} == uint64(5139824614673773682)
         my_ptr = varargin{2};
-        class_wrapper(43, my_ptr);
+        class_wrapper(45, my_ptr);
       elseif nargin == 0
-        my_ptr = class_wrapper(44);
+        my_ptr = class_wrapper(46);
       else
         error('Arguments do not match any overload of PrimitiveRefDouble constructor');
       end
@@ -29,7 +29,7 @@
     end
 
     function delete(obj)
-      class_wrapper(45, obj.ptr_PrimitiveRefDouble);
+      class_wrapper(47, obj.ptr_PrimitiveRefDouble);
     end
 
     function display(obj), obj.print(''); end
@@ -43,7 +43,7 @@ function delete(obj)
       % BRUTAL usage: Brutal(double t) : returns PrimitiveRefdouble
       % Doxygen can be found at https://gtsam.org/doxygen/
       if length(varargin) == 1 && isa(varargin{1},'double')
-        varargout{1} = class_wrapper(46, varargin{:});
+        varargout{1} = class_wrapper(48, varargin{:});
         return
       end
 
diff --git a/tests/expected/matlab/TemplatedFunctionRot3.m b/tests/expected/matlab/TemplatedFunctionRot3.m
index eb5cb4abea..13f6613424 100644
--- a/tests/expected/matlab/TemplatedFunctionRot3.m
+++ b/tests/expected/matlab/TemplatedFunctionRot3.m
@@ -4,3 +4,4 @@
       else
         error('Arguments do not match any overload of function TemplatedFunctionRot3');
       end
+end
diff --git a/tests/expected/matlab/Test.m b/tests/expected/matlab/Test.m
index 66ba4721c0..91a0269b55 100644
--- a/tests/expected/matlab/Test.m
+++ b/tests/expected/matlab/Test.m
@@ -5,6 +5,9 @@
 %Test()
 %Test(double a, Matrix b)
 %
+%-------Properties-------
+%model_ptr
+%
 %-------Methods-------
 %arg_EigenConstRef(Matrix value) : returns void
 %create_MixedPtrs() : returns pair< Test, Test >
@@ -36,6 +39,7 @@
 classdef Test < handle
   properties
     ptr_Test = 0
+    model_ptr
   end
   methods
     function obj = Test(varargin)
@@ -314,6 +318,16 @@ function delete(obj)
       error('Arguments do not match any overload of function Test.set_container');
     end
 
+
+    function varargout = get.model_ptr(this)
+        varargout{1} = class_wrapper(43, this);
+        this.model_ptr = varargout{1};
+    end
+
+    function set.model_ptr(this, value)
+        obj.model_ptr = value;
+        class_wrapper(44, this, value);
+    end
   end
 
   methods(Static = true)
diff --git a/tests/expected/matlab/aGlobalFunction.m b/tests/expected/matlab/aGlobalFunction.m
index 49850fc3e1..b6d3414855 100644
--- a/tests/expected/matlab/aGlobalFunction.m
+++ b/tests/expected/matlab/aGlobalFunction.m
@@ -4,3 +4,4 @@
       else
         error('Arguments do not match any overload of function aGlobalFunction');
       end
+end
diff --git a/tests/expected/matlab/class_wrapper.cpp b/tests/expected/matlab/class_wrapper.cpp
index 03a25c358f..1aaefe725b 100644
--- a/tests/expected/matlab/class_wrapper.cpp
+++ b/tests/expected/matlab/class_wrapper.cpp
@@ -531,7 +531,22 @@ void Test_set_container_42(int nargout, mxArray *out[], int nargin, const mxArra
   obj->set_container(*container);
 }
 
-void PrimitiveRefDouble_collectorInsertAndMakeBase_43(int nargout, mxArray *out[], int nargin, const mxArray *in[])
+void Test_get_model_ptr_43(int nargout, mxArray *out[], int nargin, const mxArray *in[])
+{
+  checkArguments("model_ptr",nargout,nargin-1,0);
+  auto obj = unwrap_shared_ptr<Test>(in[0], "ptr_Test");
+  out[0] = wrap_shared_ptr(obj->model_ptr,"gtsam.noiseModel.Base", false);
+}
+
+void Test_set_model_ptr_44(int nargout, mxArray *out[], int nargin, const mxArray *in[])
+{
+  checkArguments("model_ptr",nargout,nargin-1,1);
+  auto obj = unwrap_shared_ptr<Test>(in[0], "ptr_Test");
+  boost::shared_ptr<gtsam::noiseModel::Base> model_ptr = unwrap_shared_ptr< gtsam::noiseModel::Base >(in[1], "ptr_gtsamnoiseModelBase");
+  obj->model_ptr = *model_ptr;
+}
+
+void PrimitiveRefDouble_collectorInsertAndMakeBase_45(int nargout, mxArray *out[], int nargin, const mxArray *in[])
 {
   mexAtExit(&_deleteAllObjects);
   typedef boost::shared_ptr<PrimitiveRef<double>> Shared;
@@ -540,7 +555,7 @@ void PrimitiveRefDouble_collectorInsertAndMakeBase_43(int nargout, mxArray *out[
   collector_PrimitiveRefDouble.insert(self);
 }
 
-void PrimitiveRefDouble_constructor_44(int nargout, mxArray *out[], int nargin, const mxArray *in[])
+void PrimitiveRefDouble_constructor_46(int nargout, mxArray *out[], int nargin, const mxArray *in[])
 {
   mexAtExit(&_deleteAllObjects);
   typedef boost::shared_ptr<PrimitiveRef<double>> Shared;
@@ -551,7 +566,7 @@ void PrimitiveRefDouble_constructor_44(int nargout, mxArray *out[], int nargin,
   *reinterpret_cast<Shared**> (mxGetData(out[0])) = self;
 }
 
-void PrimitiveRefDouble_deconstructor_45(int nargout, mxArray *out[], int nargin, const mxArray *in[])
+void PrimitiveRefDouble_deconstructor_47(int nargout, mxArray *out[], int nargin, const mxArray *in[])
 {
   typedef boost::shared_ptr<PrimitiveRef<double>> Shared;
   checkArguments("delete_PrimitiveRefDouble",nargout,nargin,1);
@@ -564,14 +579,14 @@ void PrimitiveRefDouble_deconstructor_45(int nargout, mxArray *out[], int nargin
   delete self;
 }
 
-void PrimitiveRefDouble_Brutal_46(int nargout, mxArray *out[], int nargin, const mxArray *in[])
+void PrimitiveRefDouble_Brutal_48(int nargout, mxArray *out[], int nargin, const mxArray *in[])
 {
   checkArguments("PrimitiveRef<double>.Brutal",nargout,nargin,1);
   double t = unwrap< double >(in[0]);
   out[0] = wrap_shared_ptr(boost::make_shared<PrimitiveRef<double>>(PrimitiveRef<double>::Brutal(t)),"PrimitiveRefdouble", false);
 }
 
-void MyVector3_collectorInsertAndMakeBase_47(int nargout, mxArray *out[], int nargin, const mxArray *in[])
+void MyVector3_collectorInsertAndMakeBase_49(int nargout, mxArray *out[], int nargin, const mxArray *in[])
 {
   mexAtExit(&_deleteAllObjects);
   typedef boost::shared_ptr<MyVector<3>> Shared;
@@ -580,7 +595,7 @@ void MyVector3_collectorInsertAndMakeBase_47(int nargout, mxArray *out[], int na
   collector_MyVector3.insert(self);
 }
 
-void MyVector3_constructor_48(int nargout, mxArray *out[], int nargin, const mxArray *in[])
+void MyVector3_constructor_50(int nargout, mxArray *out[], int nargin, const mxArray *in[])
 {
   mexAtExit(&_deleteAllObjects);
   typedef boost::shared_ptr<MyVector<3>> Shared;
@@ -591,7 +606,7 @@ void MyVector3_constructor_48(int nargout, mxArray *out[], int nargin, const mxA
   *reinterpret_cast<Shared**> (mxGetData(out[0])) = self;
 }
 
-void MyVector3_deconstructor_49(int nargout, mxArray *out[], int nargin, const mxArray *in[])
+void MyVector3_deconstructor_51(int nargout, mxArray *out[], int nargin, const mxArray *in[])
 {
   typedef boost::shared_ptr<MyVector<3>> Shared;
   checkArguments("delete_MyVector3",nargout,nargin,1);
@@ -604,7 +619,7 @@ void MyVector3_deconstructor_49(int nargout, mxArray *out[], int nargin, const m
   delete self;
 }
 
-void MyVector12_collectorInsertAndMakeBase_50(int nargout, mxArray *out[], int nargin, const mxArray *in[])
+void MyVector12_collectorInsertAndMakeBase_52(int nargout, mxArray *out[], int nargin, const mxArray *in[])
 {
   mexAtExit(&_deleteAllObjects);
   typedef boost::shared_ptr<MyVector<12>> Shared;
@@ -613,7 +628,7 @@ void MyVector12_collectorInsertAndMakeBase_50(int nargout, mxArray *out[], int n
   collector_MyVector12.insert(self);
 }
 
-void MyVector12_constructor_51(int nargout, mxArray *out[], int nargin, const mxArray *in[])
+void MyVector12_constructor_53(int nargout, mxArray *out[], int nargin, const mxArray *in[])
 {
   mexAtExit(&_deleteAllObjects);
   typedef boost::shared_ptr<MyVector<12>> Shared;
@@ -624,7 +639,7 @@ void MyVector12_constructor_51(int nargout, mxArray *out[], int nargin, const mx
   *reinterpret_cast<Shared**> (mxGetData(out[0])) = self;
 }
 
-void MyVector12_deconstructor_52(int nargout, mxArray *out[], int nargin, const mxArray *in[])
+void MyVector12_deconstructor_54(int nargout, mxArray *out[], int nargin, const mxArray *in[])
 {
   typedef boost::shared_ptr<MyVector<12>> Shared;
   checkArguments("delete_MyVector12",nargout,nargin,1);
@@ -637,7 +652,7 @@ void MyVector12_deconstructor_52(int nargout, mxArray *out[], int nargin, const
   delete self;
 }
 
-void MultipleTemplatesIntDouble_collectorInsertAndMakeBase_53(int nargout, mxArray *out[], int nargin, const mxArray *in[])
+void MultipleTemplatesIntDouble_collectorInsertAndMakeBase_55(int nargout, mxArray *out[], int nargin, const mxArray *in[])
 {
   mexAtExit(&_deleteAllObjects);
   typedef boost::shared_ptr<MultipleTemplates<int, double>> Shared;
@@ -646,7 +661,7 @@ void MultipleTemplatesIntDouble_collectorInsertAndMakeBase_53(int nargout, mxArr
   collector_MultipleTemplatesIntDouble.insert(self);
 }
 
-void MultipleTemplatesIntDouble_deconstructor_54(int nargout, mxArray *out[], int nargin, const mxArray *in[])
+void MultipleTemplatesIntDouble_deconstructor_56(int nargout, mxArray *out[], int nargin, const mxArray *in[])
 {
   typedef boost::shared_ptr<MultipleTemplates<int, double>> Shared;
   checkArguments("delete_MultipleTemplatesIntDouble",nargout,nargin,1);
@@ -659,7 +674,7 @@ void MultipleTemplatesIntDouble_deconstructor_54(int nargout, mxArray *out[], in
   delete self;
 }
 
-void MultipleTemplatesIntFloat_collectorInsertAndMakeBase_55(int nargout, mxArray *out[], int nargin, const mxArray *in[])
+void MultipleTemplatesIntFloat_collectorInsertAndMakeBase_57(int nargout, mxArray *out[], int nargin, const mxArray *in[])
 {
   mexAtExit(&_deleteAllObjects);
   typedef boost::shared_ptr<MultipleTemplates<int, float>> Shared;
@@ -668,7 +683,7 @@ void MultipleTemplatesIntFloat_collectorInsertAndMakeBase_55(int nargout, mxArra
   collector_MultipleTemplatesIntFloat.insert(self);
 }
 
-void MultipleTemplatesIntFloat_deconstructor_56(int nargout, mxArray *out[], int nargin, const mxArray *in[])
+void MultipleTemplatesIntFloat_deconstructor_58(int nargout, mxArray *out[], int nargin, const mxArray *in[])
 {
   typedef boost::shared_ptr<MultipleTemplates<int, float>> Shared;
   checkArguments("delete_MultipleTemplatesIntFloat",nargout,nargin,1);
@@ -681,7 +696,7 @@ void MultipleTemplatesIntFloat_deconstructor_56(int nargout, mxArray *out[], int
   delete self;
 }
 
-void ForwardKinematics_collectorInsertAndMakeBase_57(int nargout, mxArray *out[], int nargin, const mxArray *in[])
+void ForwardKinematics_collectorInsertAndMakeBase_59(int nargout, mxArray *out[], int nargin, const mxArray *in[])
 {
   mexAtExit(&_deleteAllObjects);
   typedef boost::shared_ptr<ForwardKinematics> Shared;
@@ -690,7 +705,7 @@ void ForwardKinematics_collectorInsertAndMakeBase_57(int nargout, mxArray *out[]
   collector_ForwardKinematics.insert(self);
 }
 
-void ForwardKinematics_constructor_58(int nargout, mxArray *out[], int nargin, const mxArray *in[])
+void ForwardKinematics_constructor_60(int nargout, mxArray *out[], int nargin, const mxArray *in[])
 {
   mexAtExit(&_deleteAllObjects);
   typedef boost::shared_ptr<ForwardKinematics> Shared;
@@ -706,7 +721,7 @@ void ForwardKinematics_constructor_58(int nargout, mxArray *out[], int nargin, c
   *reinterpret_cast<Shared**> (mxGetData(out[0])) = self;
 }
 
-void ForwardKinematics_constructor_59(int nargout, mxArray *out[], int nargin, const mxArray *in[])
+void ForwardKinematics_constructor_61(int nargout, mxArray *out[], int nargin, const mxArray *in[])
 {
   mexAtExit(&_deleteAllObjects);
   typedef boost::shared_ptr<ForwardKinematics> Shared;
@@ -721,7 +736,7 @@ void ForwardKinematics_constructor_59(int nargout, mxArray *out[], int nargin, c
   *reinterpret_cast<Shared**> (mxGetData(out[0])) = self;
 }
 
-void ForwardKinematics_deconstructor_60(int nargout, mxArray *out[], int nargin, const mxArray *in[])
+void ForwardKinematics_deconstructor_62(int nargout, mxArray *out[], int nargin, const mxArray *in[])
 {
   typedef boost::shared_ptr<ForwardKinematics> Shared;
   checkArguments("delete_ForwardKinematics",nargout,nargin,1);
@@ -734,7 +749,7 @@ void ForwardKinematics_deconstructor_60(int nargout, mxArray *out[], int nargin,
   delete self;
 }
 
-void TemplatedConstructor_collectorInsertAndMakeBase_61(int nargout, mxArray *out[], int nargin, const mxArray *in[])
+void TemplatedConstructor_collectorInsertAndMakeBase_63(int nargout, mxArray *out[], int nargin, const mxArray *in[])
 {
   mexAtExit(&_deleteAllObjects);
   typedef boost::shared_ptr<TemplatedConstructor> Shared;
@@ -743,7 +758,7 @@ void TemplatedConstructor_collectorInsertAndMakeBase_61(int nargout, mxArray *ou
   collector_TemplatedConstructor.insert(self);
 }
 
-void TemplatedConstructor_constructor_62(int nargout, mxArray *out[], int nargin, const mxArray *in[])
+void TemplatedConstructor_constructor_64(int nargout, mxArray *out[], int nargin, const mxArray *in[])
 {
   mexAtExit(&_deleteAllObjects);
   typedef boost::shared_ptr<TemplatedConstructor> Shared;
@@ -754,7 +769,7 @@ void TemplatedConstructor_constructor_62(int nargout, mxArray *out[], int nargin
   *reinterpret_cast<Shared**> (mxGetData(out[0])) = self;
 }
 
-void TemplatedConstructor_constructor_63(int nargout, mxArray *out[], int nargin, const mxArray *in[])
+void TemplatedConstructor_constructor_65(int nargout, mxArray *out[], int nargin, const mxArray *in[])
 {
   mexAtExit(&_deleteAllObjects);
   typedef boost::shared_ptr<TemplatedConstructor> Shared;
@@ -766,7 +781,7 @@ void TemplatedConstructor_constructor_63(int nargout, mxArray *out[], int nargin
   *reinterpret_cast<Shared**> (mxGetData(out[0])) = self;
 }
 
-void TemplatedConstructor_constructor_64(int nargout, mxArray *out[], int nargin, const mxArray *in[])
+void TemplatedConstructor_constructor_66(int nargout, mxArray *out[], int nargin, const mxArray *in[])
 {
   mexAtExit(&_deleteAllObjects);
   typedef boost::shared_ptr<TemplatedConstructor> Shared;
@@ -778,7 +793,7 @@ void TemplatedConstructor_constructor_64(int nargout, mxArray *out[], int nargin
   *reinterpret_cast<Shared**> (mxGetData(out[0])) = self;
 }
 
-void TemplatedConstructor_constructor_65(int nargout, mxArray *out[], int nargin, const mxArray *in[])
+void TemplatedConstructor_constructor_67(int nargout, mxArray *out[], int nargin, const mxArray *in[])
 {
   mexAtExit(&_deleteAllObjects);
   typedef boost::shared_ptr<TemplatedConstructor> Shared;
@@ -790,7 +805,7 @@ void TemplatedConstructor_constructor_65(int nargout, mxArray *out[], int nargin
   *reinterpret_cast<Shared**> (mxGetData(out[0])) = self;
 }
 
-void TemplatedConstructor_deconstructor_66(int nargout, mxArray *out[], int nargin, const mxArray *in[])
+void TemplatedConstructor_deconstructor_68(int nargout, mxArray *out[], int nargin, const mxArray *in[])
 {
   typedef boost::shared_ptr<TemplatedConstructor> Shared;
   checkArguments("delete_TemplatedConstructor",nargout,nargin,1);
@@ -803,7 +818,7 @@ void TemplatedConstructor_deconstructor_66(int nargout, mxArray *out[], int narg
   delete self;
 }
 
-void MyFactorPosePoint2_collectorInsertAndMakeBase_67(int nargout, mxArray *out[], int nargin, const mxArray *in[])
+void MyFactorPosePoint2_collectorInsertAndMakeBase_69(int nargout, mxArray *out[], int nargin, const mxArray *in[])
 {
   mexAtExit(&_deleteAllObjects);
   typedef boost::shared_ptr<MyFactor<gtsam::Pose2, gtsam::Matrix>> Shared;
@@ -812,7 +827,7 @@ void MyFactorPosePoint2_collectorInsertAndMakeBase_67(int nargout, mxArray *out[
   collector_MyFactorPosePoint2.insert(self);
 }
 
-void MyFactorPosePoint2_constructor_68(int nargout, mxArray *out[], int nargin, const mxArray *in[])
+void MyFactorPosePoint2_constructor_70(int nargout, mxArray *out[], int nargin, const mxArray *in[])
 {
   mexAtExit(&_deleteAllObjects);
   typedef boost::shared_ptr<MyFactor<gtsam::Pose2, gtsam::Matrix>> Shared;
@@ -827,7 +842,7 @@ void MyFactorPosePoint2_constructor_68(int nargout, mxArray *out[], int nargin,
   *reinterpret_cast<Shared**> (mxGetData(out[0])) = self;
 }
 
-void MyFactorPosePoint2_deconstructor_69(int nargout, mxArray *out[], int nargin, const mxArray *in[])
+void MyFactorPosePoint2_deconstructor_71(int nargout, mxArray *out[], int nargin, const mxArray *in[])
 {
   typedef boost::shared_ptr<MyFactor<gtsam::Pose2, gtsam::Matrix>> Shared;
   checkArguments("delete_MyFactorPosePoint2",nargout,nargin,1);
@@ -840,7 +855,7 @@ void MyFactorPosePoint2_deconstructor_69(int nargout, mxArray *out[], int nargin
   delete self;
 }
 
-void MyFactorPosePoint2_print_70(int nargout, mxArray *out[], int nargin, const mxArray *in[])
+void MyFactorPosePoint2_print_72(int nargout, mxArray *out[], int nargin, const mxArray *in[])
 {
   checkArguments("print",nargout,nargin-1,2);
   auto obj = unwrap_shared_ptr<MyFactor<gtsam::Pose2, gtsam::Matrix>>(in[0], "ptr_MyFactorPosePoint2");
@@ -849,7 +864,7 @@ void MyFactorPosePoint2_print_70(int nargout, mxArray *out[], int nargin, const
   obj->print(s,keyFormatter);
 }
 
-void MyFactorPosePoint2_print_71(int nargout, mxArray *out[], int nargin, const mxArray *in[])
+void MyFactorPosePoint2_print_73(int nargout, mxArray *out[], int nargin, const mxArray *in[])
 {
   checkArguments("print",nargout,nargin-1,1);
   auto obj = unwrap_shared_ptr<MyFactor<gtsam::Pose2, gtsam::Matrix>>(in[0], "ptr_MyFactorPosePoint2");
@@ -857,7 +872,7 @@ void MyFactorPosePoint2_print_71(int nargout, mxArray *out[], int nargin, const
   obj->print(s,gtsam::DefaultKeyFormatter);
 }
 
-void MyFactorPosePoint2_print_72(int nargout, mxArray *out[], int nargin, const mxArray *in[])
+void MyFactorPosePoint2_print_74(int nargout, mxArray *out[], int nargin, const mxArray *in[])
 {
   checkArguments("print",nargout,nargin-1,0);
   auto obj = unwrap_shared_ptr<MyFactor<gtsam::Pose2, gtsam::Matrix>>(in[0], "ptr_MyFactorPosePoint2");
@@ -1006,67 +1021,67 @@ void mexFunction(int nargout, mxArray *out[], int nargin, const mxArray *in[])
       Test_set_container_42(nargout, out, nargin-1, in+1);
       break;
     case 43:
-      PrimitiveRefDouble_collectorInsertAndMakeBase_43(nargout, out, nargin-1, in+1);
+      Test_get_model_ptr_43(nargout, out, nargin-1, in+1);
       break;
     case 44:
-      PrimitiveRefDouble_constructor_44(nargout, out, nargin-1, in+1);
+      Test_set_model_ptr_44(nargout, out, nargin-1, in+1);
       break;
     case 45:
-      PrimitiveRefDouble_deconstructor_45(nargout, out, nargin-1, in+1);
+      PrimitiveRefDouble_collectorInsertAndMakeBase_45(nargout, out, nargin-1, in+1);
       break;
     case 46:
-      PrimitiveRefDouble_Brutal_46(nargout, out, nargin-1, in+1);
+      PrimitiveRefDouble_constructor_46(nargout, out, nargin-1, in+1);
       break;
     case 47:
-      MyVector3_collectorInsertAndMakeBase_47(nargout, out, nargin-1, in+1);
+      PrimitiveRefDouble_deconstructor_47(nargout, out, nargin-1, in+1);
       break;
     case 48:
-      MyVector3_constructor_48(nargout, out, nargin-1, in+1);
+      PrimitiveRefDouble_Brutal_48(nargout, out, nargin-1, in+1);
       break;
     case 49:
-      MyVector3_deconstructor_49(nargout, out, nargin-1, in+1);
+      MyVector3_collectorInsertAndMakeBase_49(nargout, out, nargin-1, in+1);
       break;
     case 50:
-      MyVector12_collectorInsertAndMakeBase_50(nargout, out, nargin-1, in+1);
+      MyVector3_constructor_50(nargout, out, nargin-1, in+1);
       break;
     case 51:
-      MyVector12_constructor_51(nargout, out, nargin-1, in+1);
+      MyVector3_deconstructor_51(nargout, out, nargin-1, in+1);
       break;
     case 52:
-      MyVector12_deconstructor_52(nargout, out, nargin-1, in+1);
+      MyVector12_collectorInsertAndMakeBase_52(nargout, out, nargin-1, in+1);
       break;
     case 53:
-      MultipleTemplatesIntDouble_collectorInsertAndMakeBase_53(nargout, out, nargin-1, in+1);
+      MyVector12_constructor_53(nargout, out, nargin-1, in+1);
       break;
     case 54:
-      MultipleTemplatesIntDouble_deconstructor_54(nargout, out, nargin-1, in+1);
+      MyVector12_deconstructor_54(nargout, out, nargin-1, in+1);
       break;
     case 55:
-      MultipleTemplatesIntFloat_collectorInsertAndMakeBase_55(nargout, out, nargin-1, in+1);
+      MultipleTemplatesIntDouble_collectorInsertAndMakeBase_55(nargout, out, nargin-1, in+1);
       break;
     case 56:
-      MultipleTemplatesIntFloat_deconstructor_56(nargout, out, nargin-1, in+1);
+      MultipleTemplatesIntDouble_deconstructor_56(nargout, out, nargin-1, in+1);
       break;
     case 57:
-      ForwardKinematics_collectorInsertAndMakeBase_57(nargout, out, nargin-1, in+1);
+      MultipleTemplatesIntFloat_collectorInsertAndMakeBase_57(nargout, out, nargin-1, in+1);
       break;
     case 58:
-      ForwardKinematics_constructor_58(nargout, out, nargin-1, in+1);
+      MultipleTemplatesIntFloat_deconstructor_58(nargout, out, nargin-1, in+1);
       break;
     case 59:
-      ForwardKinematics_constructor_59(nargout, out, nargin-1, in+1);
+      ForwardKinematics_collectorInsertAndMakeBase_59(nargout, out, nargin-1, in+1);
       break;
     case 60:
-      ForwardKinematics_deconstructor_60(nargout, out, nargin-1, in+1);
+      ForwardKinematics_constructor_60(nargout, out, nargin-1, in+1);
       break;
     case 61:
-      TemplatedConstructor_collectorInsertAndMakeBase_61(nargout, out, nargin-1, in+1);
+      ForwardKinematics_constructor_61(nargout, out, nargin-1, in+1);
       break;
     case 62:
-      TemplatedConstructor_constructor_62(nargout, out, nargin-1, in+1);
+      ForwardKinematics_deconstructor_62(nargout, out, nargin-1, in+1);
       break;
     case 63:
-      TemplatedConstructor_constructor_63(nargout, out, nargin-1, in+1);
+      TemplatedConstructor_collectorInsertAndMakeBase_63(nargout, out, nargin-1, in+1);
       break;
     case 64:
       TemplatedConstructor_constructor_64(nargout, out, nargin-1, in+1);
@@ -1075,26 +1090,32 @@ void mexFunction(int nargout, mxArray *out[], int nargin, const mxArray *in[])
       TemplatedConstructor_constructor_65(nargout, out, nargin-1, in+1);
       break;
     case 66:
-      TemplatedConstructor_deconstructor_66(nargout, out, nargin-1, in+1);
+      TemplatedConstructor_constructor_66(nargout, out, nargin-1, in+1);
       break;
     case 67:
-      MyFactorPosePoint2_collectorInsertAndMakeBase_67(nargout, out, nargin-1, in+1);
+      TemplatedConstructor_constructor_67(nargout, out, nargin-1, in+1);
       break;
     case 68:
-      MyFactorPosePoint2_constructor_68(nargout, out, nargin-1, in+1);
+      TemplatedConstructor_deconstructor_68(nargout, out, nargin-1, in+1);
       break;
     case 69:
-      MyFactorPosePoint2_deconstructor_69(nargout, out, nargin-1, in+1);
+      MyFactorPosePoint2_collectorInsertAndMakeBase_69(nargout, out, nargin-1, in+1);
       break;
     case 70:
-      MyFactorPosePoint2_print_70(nargout, out, nargin-1, in+1);
+      MyFactorPosePoint2_constructor_70(nargout, out, nargin-1, in+1);
       break;
     case 71:
-      MyFactorPosePoint2_print_71(nargout, out, nargin-1, in+1);
+      MyFactorPosePoint2_deconstructor_71(nargout, out, nargin-1, in+1);
       break;
     case 72:
       MyFactorPosePoint2_print_72(nargout, out, nargin-1, in+1);
       break;
+    case 73:
+      MyFactorPosePoint2_print_73(nargout, out, nargin-1, in+1);
+      break;
+    case 74:
+      MyFactorPosePoint2_print_74(nargout, out, nargin-1, in+1);
+      break;
     }
   } catch(const std::exception& e) {
     mexErrMsgTxt(("Exception from gtsam:\n" + std::string(e.what()) + "\n").c_str());
diff --git a/tests/expected/matlab/inheritance_wrapper.cpp b/tests/expected/matlab/inheritance_wrapper.cpp
index 9c45ca55ff..b882b1d01c 100644
--- a/tests/expected/matlab/inheritance_wrapper.cpp
+++ b/tests/expected/matlab/inheritance_wrapper.cpp
@@ -10,6 +10,7 @@
 typedef MyTemplate<gtsam::Point2> MyTemplatePoint2;
 typedef MyTemplate<gtsam::Matrix> MyTemplateMatrix;
 typedef MyTemplate<A> MyTemplateA;
+typedef ParentHasTemplate<double> ParentHasTemplateDouble;
 
 typedef std::set<boost::shared_ptr<MyBase>*> Collector_MyBase;
 static Collector_MyBase collector_MyBase;
@@ -21,6 +22,8 @@ typedef std::set<boost::shared_ptr<MyTemplateA>*> Collector_MyTemplateA;
 static Collector_MyTemplateA collector_MyTemplateA;
 typedef std::set<boost::shared_ptr<ForwardKinematicsFactor>*> Collector_ForwardKinematicsFactor;
 static Collector_ForwardKinematicsFactor collector_ForwardKinematicsFactor;
+typedef std::set<boost::shared_ptr<ParentHasTemplateDouble>*> Collector_ParentHasTemplateDouble;
+static Collector_ParentHasTemplateDouble collector_ParentHasTemplateDouble;
 
 
 void _deleteAllObjects()
@@ -59,6 +62,12 @@ void _deleteAllObjects()
     collector_ForwardKinematicsFactor.erase(iter++);
     anyDeleted = true;
   } }
+  { for(Collector_ParentHasTemplateDouble::iterator iter = collector_ParentHasTemplateDouble.begin();
+      iter != collector_ParentHasTemplateDouble.end(); ) {
+    delete *iter;
+    collector_ParentHasTemplateDouble.erase(iter++);
+    anyDeleted = true;
+  } }
 
   if(anyDeleted)
     cout <<
@@ -78,6 +87,7 @@ void _inheritance_RTTIRegister() {
     types.insert(std::make_pair(typeid(MyTemplateMatrix).name(), "MyTemplateMatrix"));
     types.insert(std::make_pair(typeid(MyTemplateA).name(), "MyTemplateA"));
     types.insert(std::make_pair(typeid(ForwardKinematicsFactor).name(), "ForwardKinematicsFactor"));
+    types.insert(std::make_pair(typeid(ParentHasTemplateDouble).name(), "ParentHasTemplateDouble"));
 
 
     mxArray *registry = mexGetVariable("global", "gtsamwrap_rttiRegistry");
@@ -657,6 +667,41 @@ void ForwardKinematicsFactor_deconstructor_53(int nargout, mxArray *out[], int n
   delete self;
 }
 
+void ParentHasTemplateDouble_collectorInsertAndMakeBase_54(int nargout, mxArray *out[], int nargin, const mxArray *in[])
+{
+  mexAtExit(&_deleteAllObjects);
+  typedef boost::shared_ptr<ParentHasTemplate<double>> Shared;
+
+  Shared *self = *reinterpret_cast<Shared**> (mxGetData(in[0]));
+  collector_ParentHasTemplateDouble.insert(self);
+
+  typedef boost::shared_ptr<MyTemplate<double>> SharedBase;
+  out[0] = mxCreateNumericMatrix(1, 1, mxUINT32OR64_CLASS, mxREAL);
+  *reinterpret_cast<SharedBase**>(mxGetData(out[0])) = new SharedBase(*self);
+}
+
+void ParentHasTemplateDouble_upcastFromVoid_55(int nargout, mxArray *out[], int nargin, const mxArray *in[]) {
+  mexAtExit(&_deleteAllObjects);
+  typedef boost::shared_ptr<ParentHasTemplate<double>> Shared;
+  boost::shared_ptr<void> *asVoid = *reinterpret_cast<boost::shared_ptr<void>**> (mxGetData(in[0]));
+  out[0] = mxCreateNumericMatrix(1, 1, mxUINT32OR64_CLASS, mxREAL);
+  Shared *self = new Shared(boost::static_pointer_cast<ParentHasTemplate<double>>(*asVoid));
+  *reinterpret_cast<Shared**>(mxGetData(out[0])) = self;
+}
+
+void ParentHasTemplateDouble_deconstructor_56(int nargout, mxArray *out[], int nargin, const mxArray *in[])
+{
+  typedef boost::shared_ptr<ParentHasTemplate<double>> Shared;
+  checkArguments("delete_ParentHasTemplateDouble",nargout,nargin,1);
+  Shared *self = *reinterpret_cast<Shared**>(mxGetData(in[0]));
+  Collector_ParentHasTemplateDouble::iterator item;
+  item = collector_ParentHasTemplateDouble.find(self);
+  if(item != collector_ParentHasTemplateDouble.end()) {
+    collector_ParentHasTemplateDouble.erase(item);
+  }
+  delete self;
+}
+
 
 void mexFunction(int nargout, mxArray *out[], int nargin, const mxArray *in[])
 {
@@ -831,6 +876,15 @@ void mexFunction(int nargout, mxArray *out[], int nargin, const mxArray *in[])
     case 53:
       ForwardKinematicsFactor_deconstructor_53(nargout, out, nargin-1, in+1);
       break;
+    case 54:
+      ParentHasTemplateDouble_collectorInsertAndMakeBase_54(nargout, out, nargin-1, in+1);
+      break;
+    case 55:
+      ParentHasTemplateDouble_upcastFromVoid_55(nargout, out, nargin-1, in+1);
+      break;
+    case 56:
+      ParentHasTemplateDouble_deconstructor_56(nargout, out, nargin-1, in+1);
+      break;
     }
   } catch(const std::exception& e) {
     mexErrMsgTxt(("Exception from gtsam:\n" + std::string(e.what()) + "\n").c_str());
diff --git a/tests/expected/matlab/load2D.m b/tests/expected/matlab/load2D.m
index eebb4a5bf5..7fe9706ca0 100644
--- a/tests/expected/matlab/load2D.m
+++ b/tests/expected/matlab/load2D.m
@@ -8,3 +8,4 @@
       else
         error('Arguments do not match any overload of function load2D');
       end
+end
diff --git a/tests/expected/matlab/overloadedGlobalFunction.m b/tests/expected/matlab/overloadedGlobalFunction.m
index e916c0adb6..d9ded08303 100644
--- a/tests/expected/matlab/overloadedGlobalFunction.m
+++ b/tests/expected/matlab/overloadedGlobalFunction.m
@@ -6,3 +6,4 @@
       else
         error('Arguments do not match any overload of function overloadedGlobalFunction');
       end
+end
diff --git a/tests/expected/matlab/setPose.m b/tests/expected/matlab/setPose.m
index d45cc56921..ebe36dc8a7 100644
--- a/tests/expected/matlab/setPose.m
+++ b/tests/expected/matlab/setPose.m
@@ -6,3 +6,4 @@
       else
         error('Arguments do not match any overload of function setPose');
       end
+end
diff --git a/tests/expected/matlab/special_cases_wrapper.cpp b/tests/expected/matlab/special_cases_wrapper.cpp
index c6704c20f8..168ba07a87 100644
--- a/tests/expected/matlab/special_cases_wrapper.cpp
+++ b/tests/expected/matlab/special_cases_wrapper.cpp
@@ -145,7 +145,22 @@ void gtsamSfmTrack_deconstructor_4(int nargout, mxArray *out[], int nargin, cons
   delete self;
 }
 
-void gtsamPinholeCameraCal3Bundler_collectorInsertAndMakeBase_5(int nargout, mxArray *out[], int nargin, const mxArray *in[])
+void gtsamSfmTrack_get_measurements_5(int nargout, mxArray *out[], int nargin, const mxArray *in[])
+{
+  checkArguments("measurements",nargout,nargin-1,0);
+  auto obj = unwrap_shared_ptr<gtsam::SfmTrack>(in[0], "ptr_gtsamSfmTrack");
+  out[0] = wrap_shared_ptr(boost::make_shared<std::vector<std::pair<size_t,Point2>>>(obj->measurements),"std.vectorpairsize_tPoint2", false);
+}
+
+void gtsamSfmTrack_set_measurements_6(int nargout, mxArray *out[], int nargin, const mxArray *in[])
+{
+  checkArguments("measurements",nargout,nargin-1,1);
+  auto obj = unwrap_shared_ptr<gtsam::SfmTrack>(in[0], "ptr_gtsamSfmTrack");
+  boost::shared_ptr<std::vector<std::pair<size_t,Point2>>> measurements = unwrap_shared_ptr< std::vector<std::pair<size_t,Point2>> >(in[1], "ptr_stdvectorpairsize_tPoint2");
+  obj->measurements = *measurements;
+}
+
+void gtsamPinholeCameraCal3Bundler_collectorInsertAndMakeBase_7(int nargout, mxArray *out[], int nargin, const mxArray *in[])
 {
   mexAtExit(&_deleteAllObjects);
   typedef boost::shared_ptr<gtsam::PinholeCamera<gtsam::Cal3Bundler>> Shared;
@@ -154,7 +169,7 @@ void gtsamPinholeCameraCal3Bundler_collectorInsertAndMakeBase_5(int nargout, mxA
   collector_gtsamPinholeCameraCal3Bundler.insert(self);
 }
 
-void gtsamPinholeCameraCal3Bundler_deconstructor_6(int nargout, mxArray *out[], int nargin, const mxArray *in[])
+void gtsamPinholeCameraCal3Bundler_deconstructor_8(int nargout, mxArray *out[], int nargin, const mxArray *in[])
 {
   typedef boost::shared_ptr<gtsam::PinholeCamera<gtsam::Cal3Bundler>> Shared;
   checkArguments("delete_gtsamPinholeCameraCal3Bundler",nargout,nargin,1);
@@ -167,7 +182,7 @@ void gtsamPinholeCameraCal3Bundler_deconstructor_6(int nargout, mxArray *out[],
   delete self;
 }
 
-void gtsamGeneralSFMFactorCal3Bundler_collectorInsertAndMakeBase_7(int nargout, mxArray *out[], int nargin, const mxArray *in[])
+void gtsamGeneralSFMFactorCal3Bundler_collectorInsertAndMakeBase_9(int nargout, mxArray *out[], int nargin, const mxArray *in[])
 {
   mexAtExit(&_deleteAllObjects);
   typedef boost::shared_ptr<gtsam::GeneralSFMFactor<gtsam::PinholeCamera<gtsam::Cal3Bundler>, gtsam::Point3>> Shared;
@@ -176,7 +191,7 @@ void gtsamGeneralSFMFactorCal3Bundler_collectorInsertAndMakeBase_7(int nargout,
   collector_gtsamGeneralSFMFactorCal3Bundler.insert(self);
 }
 
-void gtsamGeneralSFMFactorCal3Bundler_deconstructor_8(int nargout, mxArray *out[], int nargin, const mxArray *in[])
+void gtsamGeneralSFMFactorCal3Bundler_deconstructor_10(int nargout, mxArray *out[], int nargin, const mxArray *in[])
 {
   typedef boost::shared_ptr<gtsam::GeneralSFMFactor<gtsam::PinholeCamera<gtsam::Cal3Bundler>, gtsam::Point3>> Shared;
   checkArguments("delete_gtsamGeneralSFMFactorCal3Bundler",nargout,nargin,1);
@@ -217,16 +232,22 @@ void mexFunction(int nargout, mxArray *out[], int nargin, const mxArray *in[])
       gtsamSfmTrack_deconstructor_4(nargout, out, nargin-1, in+1);
       break;
     case 5:
-      gtsamPinholeCameraCal3Bundler_collectorInsertAndMakeBase_5(nargout, out, nargin-1, in+1);
+      gtsamSfmTrack_get_measurements_5(nargout, out, nargin-1, in+1);
       break;
     case 6:
-      gtsamPinholeCameraCal3Bundler_deconstructor_6(nargout, out, nargin-1, in+1);
+      gtsamSfmTrack_set_measurements_6(nargout, out, nargin-1, in+1);
       break;
     case 7:
-      gtsamGeneralSFMFactorCal3Bundler_collectorInsertAndMakeBase_7(nargout, out, nargin-1, in+1);
+      gtsamPinholeCameraCal3Bundler_collectorInsertAndMakeBase_7(nargout, out, nargin-1, in+1);
       break;
     case 8:
-      gtsamGeneralSFMFactorCal3Bundler_deconstructor_8(nargout, out, nargin-1, in+1);
+      gtsamPinholeCameraCal3Bundler_deconstructor_8(nargout, out, nargin-1, in+1);
+      break;
+    case 9:
+      gtsamGeneralSFMFactorCal3Bundler_collectorInsertAndMakeBase_9(nargout, out, nargin-1, in+1);
+      break;
+    case 10:
+      gtsamGeneralSFMFactorCal3Bundler_deconstructor_10(nargout, out, nargin-1, in+1);
       break;
     }
   } catch(const std::exception& e) {
diff --git a/tests/expected/python/functions_pybind.cpp b/tests/expected/python/functions_pybind.cpp
index 8511b5d3cd..56ab66bf5c 100644
--- a/tests/expected/python/functions_pybind.cpp
+++ b/tests/expected/python/functions_pybind.cpp
@@ -36,7 +36,7 @@ PYBIND11_MODULE(functions_py, m_) {
     m_.def("DefaultFuncZero",[](int a, int b, double c, int d, bool e){ ::DefaultFuncZero(a, b, c, d, e);}, py::arg("a"), py::arg("b"), py::arg("c") = 0.0, py::arg("d") = 0, py::arg("e") = false);
     m_.def("DefaultFuncVector",[](const std::vector<int>& i, const std::vector<string>& s){ ::DefaultFuncVector(i, s);}, py::arg("i") = {1, 2, 3}, py::arg("s") = {"borglab", "gtsam"});
     m_.def("setPose",[](const gtsam::Pose3& pose){ ::setPose(pose);}, py::arg("pose") = gtsam::Pose3());
-    m_.def("TemplatedFunctionRot3",[](const gtsam::Rot3& t){ ::TemplatedFunction<Rot3>(t);}, py::arg("t"));
+    m_.def("TemplatedFunctionRot3",[](const gtsam::Rot3& t){ ::TemplatedFunction<gtsam::Rot3>(t);}, py::arg("t"));
 
 #include "python/specializations.h"
 
diff --git a/tests/expected/python/inheritance_pybind.cpp b/tests/expected/python/inheritance_pybind.cpp
index fdb29b5cef..3aa3b918ad 100644
--- a/tests/expected/python/inheritance_pybind.cpp
+++ b/tests/expected/python/inheritance_pybind.cpp
@@ -71,6 +71,8 @@ PYBIND11_MODULE(inheritance_py, m_) {
 
     py::class_<ForwardKinematicsFactor, gtsam::BetweenFactor<gtsam::Pose3>, std::shared_ptr<ForwardKinematicsFactor>>(m_, "ForwardKinematicsFactor");
 
+    py::class_<ParentHasTemplate<double>, MyTemplate<double>, std::shared_ptr<ParentHasTemplate<double>>>(m_, "ParentHasTemplateDouble");
+
 
 #include "python/specializations.h"
 
diff --git a/tests/fixtures/inheritance.i b/tests/fixtures/inheritance.i
index a3b64ed4ba..ac3e9c7d1f 100644
--- a/tests/fixtures/inheritance.i
+++ b/tests/fixtures/inheritance.i
@@ -24,3 +24,6 @@ virtual class MyTemplate : MyBase {
 
 
 virtual class ForwardKinematicsFactor : gtsam::BetweenFactor<gtsam::Pose3> {};
+
+template <T = {double}>
+virtual class ParentHasTemplate : MyTemplate<T> {};
diff --git a/tests/test_interface_parser.py b/tests/test_interface_parser.py
index 2603e9db4a..ae941bf963 100644
--- a/tests/test_interface_parser.py
+++ b/tests/test_interface_parser.py
@@ -26,6 +26,8 @@
                                      TypedefTemplateInstantiation, Typename,
                                      Variable)
 
+from gtwrap.template_instantiator.classes import InstantiatedClass
+
 
 class TestInterfaceParser(unittest.TestCase):
     """Test driver for all classes in interface_parser.py."""
@@ -501,6 +503,7 @@ def test_class_inheritance(self):
         ret = Class.rule.parseString(
             "class ForwardKinematicsFactor : gtsam::BetweenFactor<gtsam::Pose3> {};"
         )[0]
+        ret = InstantiatedClass(ret, [])  # Needed to correctly parse parent class
         self.assertEqual("ForwardKinematicsFactor", ret.name)
         self.assertEqual("BetweenFactor", ret.parent_class.name)
         self.assertEqual(["gtsam"], ret.parent_class.namespaces)

From e5ef9c2cc0f907e3b7d9ad436660cf980affe089 Mon Sep 17 00:00:00 2001
From: Varun Agrawal <varagrawal@gmail.com>
Date: Fri, 28 Oct 2022 13:21:33 -0400
Subject: [PATCH 421/433] Fix return type wrapping for Matlab wrapper

---
 gtsam/geometry/geometry.i   |  4 ++--
 gtsam/inference/inference.i |  2 +-
 gtsam/nonlinear/nonlinear.i | 10 +++++-----
 3 files changed, 8 insertions(+), 8 deletions(-)

diff --git a/gtsam/geometry/geometry.i b/gtsam/geometry/geometry.i
index 988727b98d..2171e18828 100644
--- a/gtsam/geometry/geometry.i
+++ b/gtsam/geometry/geometry.i
@@ -1123,7 +1123,7 @@ class StereoCamera {
 #include <gtsam/geometry/triangulation.h>
 class TriangulationResult {
   enum Status { VALID, DEGENERATE, BEHIND_CAMERA, OUTLIER, FAR_POINT };
-  Status status;
+  gtsam::TriangulationResult::Status status;
   TriangulationResult(const gtsam::Point3& p);
   const gtsam::Point3& get() const;
   static gtsam::TriangulationResult Degenerate();
@@ -1142,7 +1142,7 @@ class TriangulationParameters {
   bool enableEPI;
   double landmarkDistanceThreshold;
   double dynamicOutlierRejectionThreshold;
-  SharedNoiseModel noiseModel;
+  gtsam::SharedNoiseModel noiseModel;
   TriangulationParameters(const double rankTolerance = 1.0,
                           const bool enableEPI = false,
                           double landmarkDistanceThreshold = -1,
diff --git a/gtsam/inference/inference.i b/gtsam/inference/inference.i
index fbdd70fdfb..d4c90e3562 100644
--- a/gtsam/inference/inference.i
+++ b/gtsam/inference/inference.i
@@ -168,7 +168,7 @@ class DotWriter {
 
   std::map<gtsam::Key, gtsam::Vector2> variablePositions;
   std::map<char, double> positionHints;
-  std::set<Key> boxes;
+  std::set<gtsam::Key> boxes;
   std::map<size_t, gtsam::Vector2> factorPositions;
 };
 
diff --git a/gtsam/nonlinear/nonlinear.i b/gtsam/nonlinear/nonlinear.i
index 55966ee840..ae72f5d7eb 100644
--- a/gtsam/nonlinear/nonlinear.i
+++ b/gtsam/nonlinear/nonlinear.i
@@ -32,8 +32,8 @@ class GraphvizFormatting : gtsam::DotWriter {
   GraphvizFormatting();
 
   enum Axis { X, Y, Z, NEGX, NEGY, NEGZ };
-  Axis paperHorizontalAxis;
-  Axis paperVerticalAxis;
+  gtsam::GraphvizFormatting::Axis paperHorizontalAxis;
+  gtsam::GraphvizFormatting::Axis paperVerticalAxis;
 
   double scale;
   bool mergeSimilarFactors;
@@ -522,13 +522,13 @@ template<PARAMS>
 virtual class GncParams {
   GncParams(const PARAMS& baseOptimizerParams);
   GncParams();
-  BaseOptimizerParameters baseOptimizerParams;
+  PARAMS baseOptimizerParams;
   gtsam::GncLossType lossType;
   size_t maxIterations;
   double muStep;
   double relativeCostTol;
   double weightsTol;
-  Verbosity verbosity;
+  This::Verbosity verbosity;
   gtsam::KeyVector knownInliers;
   gtsam::KeyVector knownOutliers;
 
@@ -680,7 +680,7 @@ class ISAM2Params {
   bool findUnusedFactorSlots;
 
   enum Factorization { CHOLESKY, QR };
-  Factorization factorization;
+  gtsam::ISAM2Params::Factorization factorization;
 };
 
 class ISAM2Clique {

From d3102a1ae137102f94f366d7167fc7695f322f8e Mon Sep 17 00:00:00 2001
From: Varun Agrawal <varagrawal@gmail.com>
Date: Fri, 28 Oct 2022 13:21:49 -0400
Subject: [PATCH 422/433] add matlab test for class property variables

---
 matlab/gtsam_tests/testProperties.m | 12 ++++++++++++
 matlab/gtsam_tests/test_gtsam.m     |  3 +++
 2 files changed, 15 insertions(+)
 create mode 100644 matlab/gtsam_tests/testProperties.m

diff --git a/matlab/gtsam_tests/testProperties.m b/matlab/gtsam_tests/testProperties.m
new file mode 100644
index 0000000000..56f6ab8a62
--- /dev/null
+++ b/matlab/gtsam_tests/testProperties.m
@@ -0,0 +1,12 @@
+% test property reading and writing
+import gtsam.*;
+
+isamParams = ISAM2Params;
+
+isamParams.relinearizeSkip = 123;
+EXPECT('isamParams.relinearizeSkip',isamParams.relinearizeSkip==123);
+
+isamParams.enableRelinearization = false;
+EXPECT('isamParams.enableRelinearization_false',isamParams.enableRelinearization==false);
+isamParams.enableRelinearization = true;
+EXPECT('isamParams.enableRelinearization_true',isamParams.enableRelinearization==true);
diff --git a/matlab/gtsam_tests/test_gtsam.m b/matlab/gtsam_tests/test_gtsam.m
index e43fbcf764..bf4e9a9542 100644
--- a/matlab/gtsam_tests/test_gtsam.m
+++ b/matlab/gtsam_tests/test_gtsam.m
@@ -44,6 +44,9 @@
 display 'Starting: testVisualISAMExample'
 testVisualISAMExample
 
+display 'Starting: testProperties'
+testProperties
+
 %% MATLAB specific
 display 'Starting: testUtilities'
 testUtilities

From e5dac42735cb72f22d03dc7f1af8465bc08b8dc7 Mon Sep 17 00:00:00 2001
From: Varun Agrawal <varagrawal@gmail.com>
Date: Fri, 28 Oct 2022 17:56:52 -0400
Subject: [PATCH 423/433] Squashed 'wrap/' changes from b37a1fec6..b3faf3fcd

b3faf3fcd Merge pull request #155 from borglab/fix/matlab-properties
292b35440 fix python test
53053173e fix properties block bug in Matlab and add test to capture it

git-subtree-dir: wrap
git-subtree-split: b3faf3fcd1e805828decf67fc32814f104c3c1c2
---
 gtwrap/matlab_wrapper/wrapper.py              |  20 +--
 tests/expected/matlab/ForwardKinematics.m     |   8 +-
 .../matlab/MultipleTemplatesIntDouble.m       |   4 +-
 .../matlab/MultipleTemplatesIntFloat.m        |   4 +-
 tests/expected/matlab/MyFactorPosePoint2.m    |  12 +-
 tests/expected/matlab/MyVector12.m            |   6 +-
 tests/expected/matlab/MyVector3.m             |   6 +-
 tests/expected/matlab/PrimitiveRefDouble.m    |   8 +-
 tests/expected/matlab/Test.m                  |  24 +++
 tests/expected/matlab/class_wrapper.cpp       | 162 +++++++++++-------
 tests/expected/python/class_pybind.cpp        |   4 +-
 tests/fixtures/class.i                        |   4 +
 12 files changed, 167 insertions(+), 95 deletions(-)

diff --git a/gtwrap/matlab_wrapper/wrapper.py b/gtwrap/matlab_wrapper/wrapper.py
index c8aef43080..754590af32 100755
--- a/gtwrap/matlab_wrapper/wrapper.py
+++ b/gtwrap/matlab_wrapper/wrapper.py
@@ -483,8 +483,8 @@ def class_comment(self, instantiated_class):
         if len(properties) != 0:
             comment += '%\n' \
                        '%-------Properties-------\n'
-            for property in properties:
-                comment += '%{}\n'.format(property.name)
+            for propty in properties:
+                comment += '%{}\n'.format(propty.name)
 
         if len(methods) != 0:
             comment += '%\n' \
@@ -733,7 +733,7 @@ def wrap_properties_block(self, class_name, inst_class):
         class_pointer = "  ptr_{class_name} = 0".format(class_name=class_name)
 
         if len(inst_class.properties) > 0:
-            properties = '\n' + "".join(
+            properties = '\n' + "\n".join(
                 ["  {}".format(p.name) for p in inst_class.properties])
         else:
             properties = ''
@@ -754,35 +754,35 @@ def wrap_class_properties(self, namespace_name: str,
             inst_class: The instantiated class whose properties we wish to wrap.
         """
         properties = []
-        for property in inst_class.properties:
+        for propty in inst_class.properties:
             # These are the setters and getters in the .m file
-            function_name = namespace_name + inst_class.name + '_get_' + property.name
+            function_name = namespace_name + inst_class.name + '_get_' + propty.name
             getter = """
             function varargout = get.{name}(this)
                 {varargout} = {wrapper}({num}, this);
                 this.{name} = {varargout};
             end
             """.format(
-                name=property.name,
+                name=propty.name,
                 varargout='varargout{1}',
                 wrapper=self._wrapper_name(),
                 num=self._update_wrapper_id(
-                    (namespace_name, inst_class, property.name, property),
+                    (namespace_name, inst_class, propty.name, propty),
                     function_name=function_name))
             properties.append(getter)
 
             # Setter doesn't need varargin since it needs just one input.
-            function_name = namespace_name + inst_class.name + '_set_' + property.name
+            function_name = namespace_name + inst_class.name + '_set_' + propty.name
             setter = """
             function set.{name}(this, value)
                 obj.{name} = value;
                 {wrapper}({num}, this, value);
             end
             """.format(
-                name=property.name,
+                name=propty.name,
                 wrapper=self._wrapper_name(),
                 num=self._update_wrapper_id(
-                    (namespace_name, inst_class, property.name, property),
+                    (namespace_name, inst_class, propty.name, propty),
                     function_name=function_name))
             properties.append(setter)
 
diff --git a/tests/expected/matlab/ForwardKinematics.m b/tests/expected/matlab/ForwardKinematics.m
index 50f347a797..1554df3d30 100644
--- a/tests/expected/matlab/ForwardKinematics.m
+++ b/tests/expected/matlab/ForwardKinematics.m
@@ -12,11 +12,11 @@
     function obj = ForwardKinematics(varargin)
       if nargin == 2 && isa(varargin{1}, 'uint64') && varargin{1} == uint64(5139824614673773682)
         my_ptr = varargin{2};
-        class_wrapper(59, my_ptr);
+        class_wrapper(63, my_ptr);
       elseif nargin == 5 && isa(varargin{1},'gtdynamics.Robot') && isa(varargin{2},'char') && isa(varargin{3},'char') && isa(varargin{4},'gtsam.Values') && isa(varargin{5},'gtsam.Pose3')
-        my_ptr = class_wrapper(60, varargin{1}, varargin{2}, varargin{3}, varargin{4}, varargin{5});
+        my_ptr = class_wrapper(64, varargin{1}, varargin{2}, varargin{3}, varargin{4}, varargin{5});
       elseif nargin == 4 && isa(varargin{1},'gtdynamics.Robot') && isa(varargin{2},'char') && isa(varargin{3},'char') && isa(varargin{4},'gtsam.Values')
-        my_ptr = class_wrapper(61, varargin{1}, varargin{2}, varargin{3}, varargin{4});
+        my_ptr = class_wrapper(65, varargin{1}, varargin{2}, varargin{3}, varargin{4});
       else
         error('Arguments do not match any overload of ForwardKinematics constructor');
       end
@@ -24,7 +24,7 @@
     end
 
     function delete(obj)
-      class_wrapper(62, obj.ptr_ForwardKinematics);
+      class_wrapper(66, obj.ptr_ForwardKinematics);
     end
 
     function display(obj), obj.print(''); end
diff --git a/tests/expected/matlab/MultipleTemplatesIntDouble.m b/tests/expected/matlab/MultipleTemplatesIntDouble.m
index bd6805cfb2..c726732406 100644
--- a/tests/expected/matlab/MultipleTemplatesIntDouble.m
+++ b/tests/expected/matlab/MultipleTemplatesIntDouble.m
@@ -9,7 +9,7 @@
     function obj = MultipleTemplatesIntDouble(varargin)
       if nargin == 2 && isa(varargin{1}, 'uint64') && varargin{1} == uint64(5139824614673773682)
         my_ptr = varargin{2};
-        class_wrapper(55, my_ptr);
+        class_wrapper(59, my_ptr);
       else
         error('Arguments do not match any overload of MultipleTemplatesIntDouble constructor');
       end
@@ -17,7 +17,7 @@
     end
 
     function delete(obj)
-      class_wrapper(56, obj.ptr_MultipleTemplatesIntDouble);
+      class_wrapper(60, obj.ptr_MultipleTemplatesIntDouble);
     end
 
     function display(obj), obj.print(''); end
diff --git a/tests/expected/matlab/MultipleTemplatesIntFloat.m b/tests/expected/matlab/MultipleTemplatesIntFloat.m
index f5199a77e9..f3c1188ce8 100644
--- a/tests/expected/matlab/MultipleTemplatesIntFloat.m
+++ b/tests/expected/matlab/MultipleTemplatesIntFloat.m
@@ -9,7 +9,7 @@
     function obj = MultipleTemplatesIntFloat(varargin)
       if nargin == 2 && isa(varargin{1}, 'uint64') && varargin{1} == uint64(5139824614673773682)
         my_ptr = varargin{2};
-        class_wrapper(57, my_ptr);
+        class_wrapper(61, my_ptr);
       else
         error('Arguments do not match any overload of MultipleTemplatesIntFloat constructor');
       end
@@ -17,7 +17,7 @@
     end
 
     function delete(obj)
-      class_wrapper(58, obj.ptr_MultipleTemplatesIntFloat);
+      class_wrapper(62, obj.ptr_MultipleTemplatesIntFloat);
     end
 
     function display(obj), obj.print(''); end
diff --git a/tests/expected/matlab/MyFactorPosePoint2.m b/tests/expected/matlab/MyFactorPosePoint2.m
index f24a449a55..4a30bd4894 100644
--- a/tests/expected/matlab/MyFactorPosePoint2.m
+++ b/tests/expected/matlab/MyFactorPosePoint2.m
@@ -15,9 +15,9 @@
     function obj = MyFactorPosePoint2(varargin)
       if nargin == 2 && isa(varargin{1}, 'uint64') && varargin{1} == uint64(5139824614673773682)
         my_ptr = varargin{2};
-        class_wrapper(69, my_ptr);
+        class_wrapper(73, my_ptr);
       elseif nargin == 4 && isa(varargin{1},'numeric') && isa(varargin{2},'numeric') && isa(varargin{3},'double') && isa(varargin{4},'gtsam.noiseModel.Base')
-        my_ptr = class_wrapper(70, varargin{1}, varargin{2}, varargin{3}, varargin{4});
+        my_ptr = class_wrapper(74, varargin{1}, varargin{2}, varargin{3}, varargin{4});
       else
         error('Arguments do not match any overload of MyFactorPosePoint2 constructor');
       end
@@ -25,7 +25,7 @@
     end
 
     function delete(obj)
-      class_wrapper(71, obj.ptr_MyFactorPosePoint2);
+      class_wrapper(75, obj.ptr_MyFactorPosePoint2);
     end
 
     function display(obj), obj.print(''); end
@@ -36,19 +36,19 @@ function delete(obj)
       % PRINT usage: print(string s, KeyFormatter keyFormatter) : returns void
       % Doxygen can be found at https://gtsam.org/doxygen/
       if length(varargin) == 2 && isa(varargin{1},'char') && isa(varargin{2},'gtsam.KeyFormatter')
-        class_wrapper(72, this, varargin{:});
+        class_wrapper(76, this, varargin{:});
         return
       end
       % PRINT usage: print(string s) : returns void
       % Doxygen can be found at https://gtsam.org/doxygen/
       if length(varargin) == 1 && isa(varargin{1},'char')
-        class_wrapper(73, this, varargin{:});
+        class_wrapper(77, this, varargin{:});
         return
       end
       % PRINT usage: print() : returns void
       % Doxygen can be found at https://gtsam.org/doxygen/
       if length(varargin) == 0
-        class_wrapper(74, this, varargin{:});
+        class_wrapper(78, this, varargin{:});
         return
       end
       error('Arguments do not match any overload of function MyFactorPosePoint2.print');
diff --git a/tests/expected/matlab/MyVector12.m b/tests/expected/matlab/MyVector12.m
index 33fa4802a1..6b27e18dc0 100644
--- a/tests/expected/matlab/MyVector12.m
+++ b/tests/expected/matlab/MyVector12.m
@@ -12,9 +12,9 @@
     function obj = MyVector12(varargin)
       if nargin == 2 && isa(varargin{1}, 'uint64') && varargin{1} == uint64(5139824614673773682)
         my_ptr = varargin{2};
-        class_wrapper(52, my_ptr);
+        class_wrapper(56, my_ptr);
       elseif nargin == 0
-        my_ptr = class_wrapper(53);
+        my_ptr = class_wrapper(57);
       else
         error('Arguments do not match any overload of MyVector12 constructor');
       end
@@ -22,7 +22,7 @@
     end
 
     function delete(obj)
-      class_wrapper(54, obj.ptr_MyVector12);
+      class_wrapper(58, obj.ptr_MyVector12);
     end
 
     function display(obj), obj.print(''); end
diff --git a/tests/expected/matlab/MyVector3.m b/tests/expected/matlab/MyVector3.m
index 35d1357c72..2c2f71c55a 100644
--- a/tests/expected/matlab/MyVector3.m
+++ b/tests/expected/matlab/MyVector3.m
@@ -12,9 +12,9 @@
     function obj = MyVector3(varargin)
       if nargin == 2 && isa(varargin{1}, 'uint64') && varargin{1} == uint64(5139824614673773682)
         my_ptr = varargin{2};
-        class_wrapper(49, my_ptr);
+        class_wrapper(53, my_ptr);
       elseif nargin == 0
-        my_ptr = class_wrapper(50);
+        my_ptr = class_wrapper(54);
       else
         error('Arguments do not match any overload of MyVector3 constructor');
       end
@@ -22,7 +22,7 @@
     end
 
     function delete(obj)
-      class_wrapper(51, obj.ptr_MyVector3);
+      class_wrapper(55, obj.ptr_MyVector3);
     end
 
     function display(obj), obj.print(''); end
diff --git a/tests/expected/matlab/PrimitiveRefDouble.m b/tests/expected/matlab/PrimitiveRefDouble.m
index 22afdd9e69..07810d128b 100644
--- a/tests/expected/matlab/PrimitiveRefDouble.m
+++ b/tests/expected/matlab/PrimitiveRefDouble.m
@@ -19,9 +19,9 @@
     function obj = PrimitiveRefDouble(varargin)
       if nargin == 2 && isa(varargin{1}, 'uint64') && varargin{1} == uint64(5139824614673773682)
         my_ptr = varargin{2};
-        class_wrapper(45, my_ptr);
+        class_wrapper(49, my_ptr);
       elseif nargin == 0
-        my_ptr = class_wrapper(46);
+        my_ptr = class_wrapper(50);
       else
         error('Arguments do not match any overload of PrimitiveRefDouble constructor');
       end
@@ -29,7 +29,7 @@
     end
 
     function delete(obj)
-      class_wrapper(47, obj.ptr_PrimitiveRefDouble);
+      class_wrapper(51, obj.ptr_PrimitiveRefDouble);
     end
 
     function display(obj), obj.print(''); end
@@ -43,7 +43,7 @@ function delete(obj)
       % BRUTAL usage: Brutal(double t) : returns PrimitiveRefdouble
       % Doxygen can be found at https://gtsam.org/doxygen/
       if length(varargin) == 1 && isa(varargin{1},'double')
-        varargout{1} = class_wrapper(48, varargin{:});
+        varargout{1} = class_wrapper(52, varargin{:});
         return
       end
 
diff --git a/tests/expected/matlab/Test.m b/tests/expected/matlab/Test.m
index 91a0269b55..947ff41cce 100644
--- a/tests/expected/matlab/Test.m
+++ b/tests/expected/matlab/Test.m
@@ -7,6 +7,8 @@
 %
 %-------Properties-------
 %model_ptr
+%value
+%name
 %
 %-------Methods-------
 %arg_EigenConstRef(Matrix value) : returns void
@@ -40,6 +42,8 @@
   properties
     ptr_Test = 0
     model_ptr
+    value
+    name
   end
   methods
     function obj = Test(varargin)
@@ -328,6 +332,26 @@ function delete(obj)
         obj.model_ptr = value;
         class_wrapper(44, this, value);
     end
+
+    function varargout = get.value(this)
+        varargout{1} = class_wrapper(45, this);
+        this.value = varargout{1};
+    end
+
+    function set.value(this, value)
+        obj.value = value;
+        class_wrapper(46, this, value);
+    end
+
+    function varargout = get.name(this)
+        varargout{1} = class_wrapper(47, this);
+        this.name = varargout{1};
+    end
+
+    function set.name(this, value)
+        obj.name = value;
+        class_wrapper(48, this, value);
+    end
   end
 
   methods(Static = true)
diff --git a/tests/expected/matlab/class_wrapper.cpp b/tests/expected/matlab/class_wrapper.cpp
index 1aaefe725b..7cbdd70685 100644
--- a/tests/expected/matlab/class_wrapper.cpp
+++ b/tests/expected/matlab/class_wrapper.cpp
@@ -546,7 +546,37 @@ void Test_set_model_ptr_44(int nargout, mxArray *out[], int nargin, const mxArra
   obj->model_ptr = *model_ptr;
 }
 
-void PrimitiveRefDouble_collectorInsertAndMakeBase_45(int nargout, mxArray *out[], int nargin, const mxArray *in[])
+void Test_get_value_45(int nargout, mxArray *out[], int nargin, const mxArray *in[])
+{
+  checkArguments("value",nargout,nargin-1,0);
+  auto obj = unwrap_shared_ptr<Test>(in[0], "ptr_Test");
+  out[0] = wrap< double >(obj->value);
+}
+
+void Test_set_value_46(int nargout, mxArray *out[], int nargin, const mxArray *in[])
+{
+  checkArguments("value",nargout,nargin-1,1);
+  auto obj = unwrap_shared_ptr<Test>(in[0], "ptr_Test");
+  double value = unwrap< double >(in[1]);
+  obj->value = value;
+}
+
+void Test_get_name_47(int nargout, mxArray *out[], int nargin, const mxArray *in[])
+{
+  checkArguments("name",nargout,nargin-1,0);
+  auto obj = unwrap_shared_ptr<Test>(in[0], "ptr_Test");
+  out[0] = wrap< string >(obj->name);
+}
+
+void Test_set_name_48(int nargout, mxArray *out[], int nargin, const mxArray *in[])
+{
+  checkArguments("name",nargout,nargin-1,1);
+  auto obj = unwrap_shared_ptr<Test>(in[0], "ptr_Test");
+  string name = unwrap< string >(in[1]);
+  obj->name = name;
+}
+
+void PrimitiveRefDouble_collectorInsertAndMakeBase_49(int nargout, mxArray *out[], int nargin, const mxArray *in[])
 {
   mexAtExit(&_deleteAllObjects);
   typedef boost::shared_ptr<PrimitiveRef<double>> Shared;
@@ -555,7 +585,7 @@ void PrimitiveRefDouble_collectorInsertAndMakeBase_45(int nargout, mxArray *out[
   collector_PrimitiveRefDouble.insert(self);
 }
 
-void PrimitiveRefDouble_constructor_46(int nargout, mxArray *out[], int nargin, const mxArray *in[])
+void PrimitiveRefDouble_constructor_50(int nargout, mxArray *out[], int nargin, const mxArray *in[])
 {
   mexAtExit(&_deleteAllObjects);
   typedef boost::shared_ptr<PrimitiveRef<double>> Shared;
@@ -566,7 +596,7 @@ void PrimitiveRefDouble_constructor_46(int nargout, mxArray *out[], int nargin,
   *reinterpret_cast<Shared**> (mxGetData(out[0])) = self;
 }
 
-void PrimitiveRefDouble_deconstructor_47(int nargout, mxArray *out[], int nargin, const mxArray *in[])
+void PrimitiveRefDouble_deconstructor_51(int nargout, mxArray *out[], int nargin, const mxArray *in[])
 {
   typedef boost::shared_ptr<PrimitiveRef<double>> Shared;
   checkArguments("delete_PrimitiveRefDouble",nargout,nargin,1);
@@ -579,14 +609,14 @@ void PrimitiveRefDouble_deconstructor_47(int nargout, mxArray *out[], int nargin
   delete self;
 }
 
-void PrimitiveRefDouble_Brutal_48(int nargout, mxArray *out[], int nargin, const mxArray *in[])
+void PrimitiveRefDouble_Brutal_52(int nargout, mxArray *out[], int nargin, const mxArray *in[])
 {
   checkArguments("PrimitiveRef<double>.Brutal",nargout,nargin,1);
   double t = unwrap< double >(in[0]);
   out[0] = wrap_shared_ptr(boost::make_shared<PrimitiveRef<double>>(PrimitiveRef<double>::Brutal(t)),"PrimitiveRefdouble", false);
 }
 
-void MyVector3_collectorInsertAndMakeBase_49(int nargout, mxArray *out[], int nargin, const mxArray *in[])
+void MyVector3_collectorInsertAndMakeBase_53(int nargout, mxArray *out[], int nargin, const mxArray *in[])
 {
   mexAtExit(&_deleteAllObjects);
   typedef boost::shared_ptr<MyVector<3>> Shared;
@@ -595,7 +625,7 @@ void MyVector3_collectorInsertAndMakeBase_49(int nargout, mxArray *out[], int na
   collector_MyVector3.insert(self);
 }
 
-void MyVector3_constructor_50(int nargout, mxArray *out[], int nargin, const mxArray *in[])
+void MyVector3_constructor_54(int nargout, mxArray *out[], int nargin, const mxArray *in[])
 {
   mexAtExit(&_deleteAllObjects);
   typedef boost::shared_ptr<MyVector<3>> Shared;
@@ -606,7 +636,7 @@ void MyVector3_constructor_50(int nargout, mxArray *out[], int nargin, const mxA
   *reinterpret_cast<Shared**> (mxGetData(out[0])) = self;
 }
 
-void MyVector3_deconstructor_51(int nargout, mxArray *out[], int nargin, const mxArray *in[])
+void MyVector3_deconstructor_55(int nargout, mxArray *out[], int nargin, const mxArray *in[])
 {
   typedef boost::shared_ptr<MyVector<3>> Shared;
   checkArguments("delete_MyVector3",nargout,nargin,1);
@@ -619,7 +649,7 @@ void MyVector3_deconstructor_51(int nargout, mxArray *out[], int nargin, const m
   delete self;
 }
 
-void MyVector12_collectorInsertAndMakeBase_52(int nargout, mxArray *out[], int nargin, const mxArray *in[])
+void MyVector12_collectorInsertAndMakeBase_56(int nargout, mxArray *out[], int nargin, const mxArray *in[])
 {
   mexAtExit(&_deleteAllObjects);
   typedef boost::shared_ptr<MyVector<12>> Shared;
@@ -628,7 +658,7 @@ void MyVector12_collectorInsertAndMakeBase_52(int nargout, mxArray *out[], int n
   collector_MyVector12.insert(self);
 }
 
-void MyVector12_constructor_53(int nargout, mxArray *out[], int nargin, const mxArray *in[])
+void MyVector12_constructor_57(int nargout, mxArray *out[], int nargin, const mxArray *in[])
 {
   mexAtExit(&_deleteAllObjects);
   typedef boost::shared_ptr<MyVector<12>> Shared;
@@ -639,7 +669,7 @@ void MyVector12_constructor_53(int nargout, mxArray *out[], int nargin, const mx
   *reinterpret_cast<Shared**> (mxGetData(out[0])) = self;
 }
 
-void MyVector12_deconstructor_54(int nargout, mxArray *out[], int nargin, const mxArray *in[])
+void MyVector12_deconstructor_58(int nargout, mxArray *out[], int nargin, const mxArray *in[])
 {
   typedef boost::shared_ptr<MyVector<12>> Shared;
   checkArguments("delete_MyVector12",nargout,nargin,1);
@@ -652,7 +682,7 @@ void MyVector12_deconstructor_54(int nargout, mxArray *out[], int nargin, const
   delete self;
 }
 
-void MultipleTemplatesIntDouble_collectorInsertAndMakeBase_55(int nargout, mxArray *out[], int nargin, const mxArray *in[])
+void MultipleTemplatesIntDouble_collectorInsertAndMakeBase_59(int nargout, mxArray *out[], int nargin, const mxArray *in[])
 {
   mexAtExit(&_deleteAllObjects);
   typedef boost::shared_ptr<MultipleTemplates<int, double>> Shared;
@@ -661,7 +691,7 @@ void MultipleTemplatesIntDouble_collectorInsertAndMakeBase_55(int nargout, mxArr
   collector_MultipleTemplatesIntDouble.insert(self);
 }
 
-void MultipleTemplatesIntDouble_deconstructor_56(int nargout, mxArray *out[], int nargin, const mxArray *in[])
+void MultipleTemplatesIntDouble_deconstructor_60(int nargout, mxArray *out[], int nargin, const mxArray *in[])
 {
   typedef boost::shared_ptr<MultipleTemplates<int, double>> Shared;
   checkArguments("delete_MultipleTemplatesIntDouble",nargout,nargin,1);
@@ -674,7 +704,7 @@ void MultipleTemplatesIntDouble_deconstructor_56(int nargout, mxArray *out[], in
   delete self;
 }
 
-void MultipleTemplatesIntFloat_collectorInsertAndMakeBase_57(int nargout, mxArray *out[], int nargin, const mxArray *in[])
+void MultipleTemplatesIntFloat_collectorInsertAndMakeBase_61(int nargout, mxArray *out[], int nargin, const mxArray *in[])
 {
   mexAtExit(&_deleteAllObjects);
   typedef boost::shared_ptr<MultipleTemplates<int, float>> Shared;
@@ -683,7 +713,7 @@ void MultipleTemplatesIntFloat_collectorInsertAndMakeBase_57(int nargout, mxArra
   collector_MultipleTemplatesIntFloat.insert(self);
 }
 
-void MultipleTemplatesIntFloat_deconstructor_58(int nargout, mxArray *out[], int nargin, const mxArray *in[])
+void MultipleTemplatesIntFloat_deconstructor_62(int nargout, mxArray *out[], int nargin, const mxArray *in[])
 {
   typedef boost::shared_ptr<MultipleTemplates<int, float>> Shared;
   checkArguments("delete_MultipleTemplatesIntFloat",nargout,nargin,1);
@@ -696,7 +726,7 @@ void MultipleTemplatesIntFloat_deconstructor_58(int nargout, mxArray *out[], int
   delete self;
 }
 
-void ForwardKinematics_collectorInsertAndMakeBase_59(int nargout, mxArray *out[], int nargin, const mxArray *in[])
+void ForwardKinematics_collectorInsertAndMakeBase_63(int nargout, mxArray *out[], int nargin, const mxArray *in[])
 {
   mexAtExit(&_deleteAllObjects);
   typedef boost::shared_ptr<ForwardKinematics> Shared;
@@ -705,7 +735,7 @@ void ForwardKinematics_collectorInsertAndMakeBase_59(int nargout, mxArray *out[]
   collector_ForwardKinematics.insert(self);
 }
 
-void ForwardKinematics_constructor_60(int nargout, mxArray *out[], int nargin, const mxArray *in[])
+void ForwardKinematics_constructor_64(int nargout, mxArray *out[], int nargin, const mxArray *in[])
 {
   mexAtExit(&_deleteAllObjects);
   typedef boost::shared_ptr<ForwardKinematics> Shared;
@@ -721,7 +751,7 @@ void ForwardKinematics_constructor_60(int nargout, mxArray *out[], int nargin, c
   *reinterpret_cast<Shared**> (mxGetData(out[0])) = self;
 }
 
-void ForwardKinematics_constructor_61(int nargout, mxArray *out[], int nargin, const mxArray *in[])
+void ForwardKinematics_constructor_65(int nargout, mxArray *out[], int nargin, const mxArray *in[])
 {
   mexAtExit(&_deleteAllObjects);
   typedef boost::shared_ptr<ForwardKinematics> Shared;
@@ -736,7 +766,7 @@ void ForwardKinematics_constructor_61(int nargout, mxArray *out[], int nargin, c
   *reinterpret_cast<Shared**> (mxGetData(out[0])) = self;
 }
 
-void ForwardKinematics_deconstructor_62(int nargout, mxArray *out[], int nargin, const mxArray *in[])
+void ForwardKinematics_deconstructor_66(int nargout, mxArray *out[], int nargin, const mxArray *in[])
 {
   typedef boost::shared_ptr<ForwardKinematics> Shared;
   checkArguments("delete_ForwardKinematics",nargout,nargin,1);
@@ -749,7 +779,7 @@ void ForwardKinematics_deconstructor_62(int nargout, mxArray *out[], int nargin,
   delete self;
 }
 
-void TemplatedConstructor_collectorInsertAndMakeBase_63(int nargout, mxArray *out[], int nargin, const mxArray *in[])
+void TemplatedConstructor_collectorInsertAndMakeBase_67(int nargout, mxArray *out[], int nargin, const mxArray *in[])
 {
   mexAtExit(&_deleteAllObjects);
   typedef boost::shared_ptr<TemplatedConstructor> Shared;
@@ -758,7 +788,7 @@ void TemplatedConstructor_collectorInsertAndMakeBase_63(int nargout, mxArray *ou
   collector_TemplatedConstructor.insert(self);
 }
 
-void TemplatedConstructor_constructor_64(int nargout, mxArray *out[], int nargin, const mxArray *in[])
+void TemplatedConstructor_constructor_68(int nargout, mxArray *out[], int nargin, const mxArray *in[])
 {
   mexAtExit(&_deleteAllObjects);
   typedef boost::shared_ptr<TemplatedConstructor> Shared;
@@ -769,7 +799,7 @@ void TemplatedConstructor_constructor_64(int nargout, mxArray *out[], int nargin
   *reinterpret_cast<Shared**> (mxGetData(out[0])) = self;
 }
 
-void TemplatedConstructor_constructor_65(int nargout, mxArray *out[], int nargin, const mxArray *in[])
+void TemplatedConstructor_constructor_69(int nargout, mxArray *out[], int nargin, const mxArray *in[])
 {
   mexAtExit(&_deleteAllObjects);
   typedef boost::shared_ptr<TemplatedConstructor> Shared;
@@ -781,7 +811,7 @@ void TemplatedConstructor_constructor_65(int nargout, mxArray *out[], int nargin
   *reinterpret_cast<Shared**> (mxGetData(out[0])) = self;
 }
 
-void TemplatedConstructor_constructor_66(int nargout, mxArray *out[], int nargin, const mxArray *in[])
+void TemplatedConstructor_constructor_70(int nargout, mxArray *out[], int nargin, const mxArray *in[])
 {
   mexAtExit(&_deleteAllObjects);
   typedef boost::shared_ptr<TemplatedConstructor> Shared;
@@ -793,7 +823,7 @@ void TemplatedConstructor_constructor_66(int nargout, mxArray *out[], int nargin
   *reinterpret_cast<Shared**> (mxGetData(out[0])) = self;
 }
 
-void TemplatedConstructor_constructor_67(int nargout, mxArray *out[], int nargin, const mxArray *in[])
+void TemplatedConstructor_constructor_71(int nargout, mxArray *out[], int nargin, const mxArray *in[])
 {
   mexAtExit(&_deleteAllObjects);
   typedef boost::shared_ptr<TemplatedConstructor> Shared;
@@ -805,7 +835,7 @@ void TemplatedConstructor_constructor_67(int nargout, mxArray *out[], int nargin
   *reinterpret_cast<Shared**> (mxGetData(out[0])) = self;
 }
 
-void TemplatedConstructor_deconstructor_68(int nargout, mxArray *out[], int nargin, const mxArray *in[])
+void TemplatedConstructor_deconstructor_72(int nargout, mxArray *out[], int nargin, const mxArray *in[])
 {
   typedef boost::shared_ptr<TemplatedConstructor> Shared;
   checkArguments("delete_TemplatedConstructor",nargout,nargin,1);
@@ -818,7 +848,7 @@ void TemplatedConstructor_deconstructor_68(int nargout, mxArray *out[], int narg
   delete self;
 }
 
-void MyFactorPosePoint2_collectorInsertAndMakeBase_69(int nargout, mxArray *out[], int nargin, const mxArray *in[])
+void MyFactorPosePoint2_collectorInsertAndMakeBase_73(int nargout, mxArray *out[], int nargin, const mxArray *in[])
 {
   mexAtExit(&_deleteAllObjects);
   typedef boost::shared_ptr<MyFactor<gtsam::Pose2, gtsam::Matrix>> Shared;
@@ -827,7 +857,7 @@ void MyFactorPosePoint2_collectorInsertAndMakeBase_69(int nargout, mxArray *out[
   collector_MyFactorPosePoint2.insert(self);
 }
 
-void MyFactorPosePoint2_constructor_70(int nargout, mxArray *out[], int nargin, const mxArray *in[])
+void MyFactorPosePoint2_constructor_74(int nargout, mxArray *out[], int nargin, const mxArray *in[])
 {
   mexAtExit(&_deleteAllObjects);
   typedef boost::shared_ptr<MyFactor<gtsam::Pose2, gtsam::Matrix>> Shared;
@@ -842,7 +872,7 @@ void MyFactorPosePoint2_constructor_70(int nargout, mxArray *out[], int nargin,
   *reinterpret_cast<Shared**> (mxGetData(out[0])) = self;
 }
 
-void MyFactorPosePoint2_deconstructor_71(int nargout, mxArray *out[], int nargin, const mxArray *in[])
+void MyFactorPosePoint2_deconstructor_75(int nargout, mxArray *out[], int nargin, const mxArray *in[])
 {
   typedef boost::shared_ptr<MyFactor<gtsam::Pose2, gtsam::Matrix>> Shared;
   checkArguments("delete_MyFactorPosePoint2",nargout,nargin,1);
@@ -855,7 +885,7 @@ void MyFactorPosePoint2_deconstructor_71(int nargout, mxArray *out[], int nargin
   delete self;
 }
 
-void MyFactorPosePoint2_print_72(int nargout, mxArray *out[], int nargin, const mxArray *in[])
+void MyFactorPosePoint2_print_76(int nargout, mxArray *out[], int nargin, const mxArray *in[])
 {
   checkArguments("print",nargout,nargin-1,2);
   auto obj = unwrap_shared_ptr<MyFactor<gtsam::Pose2, gtsam::Matrix>>(in[0], "ptr_MyFactorPosePoint2");
@@ -864,7 +894,7 @@ void MyFactorPosePoint2_print_72(int nargout, mxArray *out[], int nargin, const
   obj->print(s,keyFormatter);
 }
 
-void MyFactorPosePoint2_print_73(int nargout, mxArray *out[], int nargin, const mxArray *in[])
+void MyFactorPosePoint2_print_77(int nargout, mxArray *out[], int nargin, const mxArray *in[])
 {
   checkArguments("print",nargout,nargin-1,1);
   auto obj = unwrap_shared_ptr<MyFactor<gtsam::Pose2, gtsam::Matrix>>(in[0], "ptr_MyFactorPosePoint2");
@@ -872,7 +902,7 @@ void MyFactorPosePoint2_print_73(int nargout, mxArray *out[], int nargin, const
   obj->print(s,gtsam::DefaultKeyFormatter);
 }
 
-void MyFactorPosePoint2_print_74(int nargout, mxArray *out[], int nargin, const mxArray *in[])
+void MyFactorPosePoint2_print_78(int nargout, mxArray *out[], int nargin, const mxArray *in[])
 {
   checkArguments("print",nargout,nargin-1,0);
   auto obj = unwrap_shared_ptr<MyFactor<gtsam::Pose2, gtsam::Matrix>>(in[0], "ptr_MyFactorPosePoint2");
@@ -1027,94 +1057,106 @@ void mexFunction(int nargout, mxArray *out[], int nargin, const mxArray *in[])
       Test_set_model_ptr_44(nargout, out, nargin-1, in+1);
       break;
     case 45:
-      PrimitiveRefDouble_collectorInsertAndMakeBase_45(nargout, out, nargin-1, in+1);
+      Test_get_value_45(nargout, out, nargin-1, in+1);
       break;
     case 46:
-      PrimitiveRefDouble_constructor_46(nargout, out, nargin-1, in+1);
+      Test_set_value_46(nargout, out, nargin-1, in+1);
       break;
     case 47:
-      PrimitiveRefDouble_deconstructor_47(nargout, out, nargin-1, in+1);
+      Test_get_name_47(nargout, out, nargin-1, in+1);
       break;
     case 48:
-      PrimitiveRefDouble_Brutal_48(nargout, out, nargin-1, in+1);
+      Test_set_name_48(nargout, out, nargin-1, in+1);
       break;
     case 49:
-      MyVector3_collectorInsertAndMakeBase_49(nargout, out, nargin-1, in+1);
+      PrimitiveRefDouble_collectorInsertAndMakeBase_49(nargout, out, nargin-1, in+1);
       break;
     case 50:
-      MyVector3_constructor_50(nargout, out, nargin-1, in+1);
+      PrimitiveRefDouble_constructor_50(nargout, out, nargin-1, in+1);
       break;
     case 51:
-      MyVector3_deconstructor_51(nargout, out, nargin-1, in+1);
+      PrimitiveRefDouble_deconstructor_51(nargout, out, nargin-1, in+1);
       break;
     case 52:
-      MyVector12_collectorInsertAndMakeBase_52(nargout, out, nargin-1, in+1);
+      PrimitiveRefDouble_Brutal_52(nargout, out, nargin-1, in+1);
       break;
     case 53:
-      MyVector12_constructor_53(nargout, out, nargin-1, in+1);
+      MyVector3_collectorInsertAndMakeBase_53(nargout, out, nargin-1, in+1);
       break;
     case 54:
-      MyVector12_deconstructor_54(nargout, out, nargin-1, in+1);
+      MyVector3_constructor_54(nargout, out, nargin-1, in+1);
       break;
     case 55:
-      MultipleTemplatesIntDouble_collectorInsertAndMakeBase_55(nargout, out, nargin-1, in+1);
+      MyVector3_deconstructor_55(nargout, out, nargin-1, in+1);
       break;
     case 56:
-      MultipleTemplatesIntDouble_deconstructor_56(nargout, out, nargin-1, in+1);
+      MyVector12_collectorInsertAndMakeBase_56(nargout, out, nargin-1, in+1);
       break;
     case 57:
-      MultipleTemplatesIntFloat_collectorInsertAndMakeBase_57(nargout, out, nargin-1, in+1);
+      MyVector12_constructor_57(nargout, out, nargin-1, in+1);
       break;
     case 58:
-      MultipleTemplatesIntFloat_deconstructor_58(nargout, out, nargin-1, in+1);
+      MyVector12_deconstructor_58(nargout, out, nargin-1, in+1);
       break;
     case 59:
-      ForwardKinematics_collectorInsertAndMakeBase_59(nargout, out, nargin-1, in+1);
+      MultipleTemplatesIntDouble_collectorInsertAndMakeBase_59(nargout, out, nargin-1, in+1);
       break;
     case 60:
-      ForwardKinematics_constructor_60(nargout, out, nargin-1, in+1);
+      MultipleTemplatesIntDouble_deconstructor_60(nargout, out, nargin-1, in+1);
       break;
     case 61:
-      ForwardKinematics_constructor_61(nargout, out, nargin-1, in+1);
+      MultipleTemplatesIntFloat_collectorInsertAndMakeBase_61(nargout, out, nargin-1, in+1);
       break;
     case 62:
-      ForwardKinematics_deconstructor_62(nargout, out, nargin-1, in+1);
+      MultipleTemplatesIntFloat_deconstructor_62(nargout, out, nargin-1, in+1);
       break;
     case 63:
-      TemplatedConstructor_collectorInsertAndMakeBase_63(nargout, out, nargin-1, in+1);
+      ForwardKinematics_collectorInsertAndMakeBase_63(nargout, out, nargin-1, in+1);
       break;
     case 64:
-      TemplatedConstructor_constructor_64(nargout, out, nargin-1, in+1);
+      ForwardKinematics_constructor_64(nargout, out, nargin-1, in+1);
       break;
     case 65:
-      TemplatedConstructor_constructor_65(nargout, out, nargin-1, in+1);
+      ForwardKinematics_constructor_65(nargout, out, nargin-1, in+1);
       break;
     case 66:
-      TemplatedConstructor_constructor_66(nargout, out, nargin-1, in+1);
+      ForwardKinematics_deconstructor_66(nargout, out, nargin-1, in+1);
       break;
     case 67:
-      TemplatedConstructor_constructor_67(nargout, out, nargin-1, in+1);
+      TemplatedConstructor_collectorInsertAndMakeBase_67(nargout, out, nargin-1, in+1);
       break;
     case 68:
-      TemplatedConstructor_deconstructor_68(nargout, out, nargin-1, in+1);
+      TemplatedConstructor_constructor_68(nargout, out, nargin-1, in+1);
       break;
     case 69:
-      MyFactorPosePoint2_collectorInsertAndMakeBase_69(nargout, out, nargin-1, in+1);
+      TemplatedConstructor_constructor_69(nargout, out, nargin-1, in+1);
       break;
     case 70:
-      MyFactorPosePoint2_constructor_70(nargout, out, nargin-1, in+1);
+      TemplatedConstructor_constructor_70(nargout, out, nargin-1, in+1);
       break;
     case 71:
-      MyFactorPosePoint2_deconstructor_71(nargout, out, nargin-1, in+1);
+      TemplatedConstructor_constructor_71(nargout, out, nargin-1, in+1);
       break;
     case 72:
-      MyFactorPosePoint2_print_72(nargout, out, nargin-1, in+1);
+      TemplatedConstructor_deconstructor_72(nargout, out, nargin-1, in+1);
       break;
     case 73:
-      MyFactorPosePoint2_print_73(nargout, out, nargin-1, in+1);
+      MyFactorPosePoint2_collectorInsertAndMakeBase_73(nargout, out, nargin-1, in+1);
       break;
     case 74:
-      MyFactorPosePoint2_print_74(nargout, out, nargin-1, in+1);
+      MyFactorPosePoint2_constructor_74(nargout, out, nargin-1, in+1);
+      break;
+    case 75:
+      MyFactorPosePoint2_deconstructor_75(nargout, out, nargin-1, in+1);
+      break;
+    case 76:
+      MyFactorPosePoint2_print_76(nargout, out, nargin-1, in+1);
+      break;
+    case 77:
+      MyFactorPosePoint2_print_77(nargout, out, nargin-1, in+1);
+      break;
+    case 78:
+      MyFactorPosePoint2_print_78(nargout, out, nargin-1, in+1);
       break;
     }
   } catch(const std::exception& e) {
diff --git a/tests/expected/python/class_pybind.cpp b/tests/expected/python/class_pybind.cpp
index 95171def48..92ab8b1e77 100644
--- a/tests/expected/python/class_pybind.cpp
+++ b/tests/expected/python/class_pybind.cpp
@@ -70,7 +70,9 @@ PYBIND11_MODULE(class_py, m_) {
         .def("set_container",[](Test* self, std::vector<testing::Test&> container){ self->set_container(container);}, py::arg("container"))
         .def("get_container",[](Test* self){return self->get_container();})
         .def("_repr_markdown_",[](Test* self, const gtsam::KeyFormatter& keyFormatter){return self->markdown(keyFormatter);}, py::arg("keyFormatter") = gtsam::DefaultKeyFormatter)
-        .def_readwrite("model_ptr", &Test::model_ptr);
+        .def_readwrite("model_ptr", &Test::model_ptr)
+        .def_readwrite("value", &Test::value)
+        .def_readwrite("name", &Test::name);
 
     py::class_<PrimitiveRef<double>, std::shared_ptr<PrimitiveRef<double>>>(m_, "PrimitiveRefDouble")
         .def(py::init<>())
diff --git a/tests/fixtures/class.i b/tests/fixtures/class.i
index f38c27411d..573d1f686e 100644
--- a/tests/fixtures/class.i
+++ b/tests/fixtures/class.i
@@ -35,6 +35,10 @@ class Test {
   // Test a shared ptr property
   gtsam::noiseModel::Base* model_ptr;
 
+  // Test adding more than 1 property
+  double value;
+  string name;
+
   pair<Vector,Matrix> return_pair (Vector v, Matrix A) const; // intentionally the first method
   pair<Vector,Matrix> return_pair (Vector v) const; // overload
 

From e8c365999c3f6281a6a39818fd63c2f0aa1b9f6a Mon Sep 17 00:00:00 2001
From: Varun Agrawal <varagrawal@gmail.com>
Date: Fri, 28 Oct 2022 22:43:36 -0400
Subject: [PATCH 424/433] update namespace for templated class property

---
 gtsam/nonlinear/nonlinear.i | 2 +-
 1 file changed, 1 insertion(+), 1 deletion(-)

diff --git a/gtsam/nonlinear/nonlinear.i b/gtsam/nonlinear/nonlinear.i
index ae72f5d7eb..80e87a5faa 100644
--- a/gtsam/nonlinear/nonlinear.i
+++ b/gtsam/nonlinear/nonlinear.i
@@ -528,7 +528,7 @@ virtual class GncParams {
   double muStep;
   double relativeCostTol;
   double weightsTol;
-  This::Verbosity verbosity;
+  gtsam::This::Verbosity verbosity;
   gtsam::KeyVector knownInliers;
   gtsam::KeyVector knownOutliers;
 

From 470f1a063e6c59e41624f805f3576aa414451486 Mon Sep 17 00:00:00 2001
From: Varun Agrawal <varagrawal@gmail.com>
Date: Fri, 28 Oct 2022 22:43:46 -0400
Subject: [PATCH 425/433] Squashed 'wrap/' changes from b3faf3fcd..ba3dcab16

ba3dcab16 Merge pull request #156 from borglab/fix/matlab-properties
feb4ee1b9 update docs
e57fec56b add unit test for templated class property

git-subtree-dir: wrap
git-subtree-split: ba3dcab16a8316634b56e3c4c6061531c91eb36c
---
 DOCS.md                                       | 26 +++++++++++++++++++
 gtwrap/matlab_wrapper/wrapper.py              |  6 ++---
 .../+gtsam/GeneralSFMFactorCal3Bundler.m      | 14 ++++++++++
 .../expected/matlab/special_cases_wrapper.cpp | 21 +++++++++++++++
 .../expected/python/special_cases_pybind.cpp  | 10 ++++++-
 tests/fixtures/special_cases.i                | 11 +++++++-
 6 files changed, 83 insertions(+), 5 deletions(-)

diff --git a/DOCS.md b/DOCS.md
index f08f741ff0..8b0df86c38 100644
--- a/DOCS.md
+++ b/DOCS.md
@@ -50,6 +50,32 @@ The python wrapper supports keyword arguments for functions/methods. Hence, the
     ```
 
     - Class variables are read-write so they can be updated directly in Python.
+    - For the Matlab wrapper, specifying the full property type (including namespaces) is required.
+
+    ```cpp
+    class TriangulationResult {
+      gtsam::SharedNoiseModel noiseModel;
+    };
+    ```
+
+    - If the property is part of an enum within the class, the type should be specified as `gtsam::Class::Enum`. Similarly for templated types where `This` is used, e.g. `gtsam::This::Enum`.
+
+    ```cpp
+    class TriangulationResult {
+      enum Status { VALID, DEGENERATE, BEHIND_CAMERA, OUTLIER, FAR_POINT };
+      gtsam::TriangulationResult::Status status;
+    };
+
+    template<PARAMS>
+    virtual class GncParams {
+      enum Verbosity {
+        SILENT,
+        SUMMARY,
+        VALUES
+      };
+      gtsam::This::Verbosity verbosity;
+    };
+    ```
 
 - Operator Overloading (Python only)
     - You can overload operators just like in C++.
diff --git a/gtwrap/matlab_wrapper/wrapper.py b/gtwrap/matlab_wrapper/wrapper.py
index 754590af32..4c84da84e8 100755
--- a/gtwrap/matlab_wrapper/wrapper.py
+++ b/gtwrap/matlab_wrapper/wrapper.py
@@ -1181,7 +1181,7 @@ def wrap_collector_function_shared_return(self,
 
     def wrap_collector_function_return_types(self, return_type, func_id):
         """
-        Wrap the return type of the collector function.
+        Wrap the return type of the collector function when a std::pair is returned.
         """
         return_type_text = '  out[' + str(func_id) + '] = '
         pair_value = 'first' if func_id == 0 else 'second'
@@ -1239,10 +1239,10 @@ def _collector_return(self, obj: str, ctype: parser.Type):
 
             if ctype.typename.name not in self.ignore_namespace:
                 expanded += textwrap.indent(
-                    'out[0] = wrap_shared_ptr({}, false);'.format(shared_obj),
+                    'out[0] = wrap_shared_ptr({0}, false);'.format(shared_obj),
                     prefix='  ')
         else:
-            expanded += '  out[0] = wrap< {} >({});'.format(
+            expanded += '  out[0] = wrap< {0} >({1});'.format(
                 ctype.typename.name, obj)
 
         return expanded
diff --git a/tests/expected/matlab/+gtsam/GeneralSFMFactorCal3Bundler.m b/tests/expected/matlab/+gtsam/GeneralSFMFactorCal3Bundler.m
index 743f881866..9133e3921d 100644
--- a/tests/expected/matlab/+gtsam/GeneralSFMFactorCal3Bundler.m
+++ b/tests/expected/matlab/+gtsam/GeneralSFMFactorCal3Bundler.m
@@ -1,9 +1,13 @@
 %class GeneralSFMFactorCal3Bundler, see Doxygen page for details
 %at https://gtsam.org/doxygen/
 %
+%-------Properties-------
+%verbosity
+%
 classdef GeneralSFMFactorCal3Bundler < handle
   properties
     ptr_gtsamGeneralSFMFactorCal3Bundler = 0
+    verbosity
   end
   methods
     function obj = GeneralSFMFactorCal3Bundler(varargin)
@@ -24,6 +28,16 @@ function delete(obj)
     %DISPLAY Calls print on the object
     function disp(obj), obj.display; end
     %DISP Calls print on the object
+
+    function varargout = get.verbosity(this)
+        varargout{1} = special_cases_wrapper(11, this);
+        this.verbosity = varargout{1};
+    end
+
+    function set.verbosity(this, value)
+        obj.verbosity = value;
+        special_cases_wrapper(12, this, value);
+    end
   end
 
   methods(Static = true)
diff --git a/tests/expected/matlab/special_cases_wrapper.cpp b/tests/expected/matlab/special_cases_wrapper.cpp
index 168ba07a87..1c228e6378 100644
--- a/tests/expected/matlab/special_cases_wrapper.cpp
+++ b/tests/expected/matlab/special_cases_wrapper.cpp
@@ -204,6 +204,21 @@ void gtsamGeneralSFMFactorCal3Bundler_deconstructor_10(int nargout, mxArray *out
   delete self;
 }
 
+void gtsamGeneralSFMFactorCal3Bundler_get_verbosity_11(int nargout, mxArray *out[], int nargin, const mxArray *in[])
+{
+  checkArguments("verbosity",nargout,nargin-1,0);
+  auto obj = unwrap_shared_ptr<gtsam::GeneralSFMFactor<gtsam::PinholeCamera<gtsam::Cal3Bundler>, gtsam::Point3>>(in[0], "ptr_gtsamGeneralSFMFactorCal3Bundler");
+  out[0] = wrap_shared_ptr(boost::make_shared<gtsam::GeneralSFMFactor<gtsam::PinholeCamera<gtsam::Cal3Bundler>, gtsam::Point3>::Verbosity>(obj->verbosity),"gtsam.GeneralSFMFactor<gtsam::PinholeCamera<gtsam::Cal3Bundler>, gtsam::Point3>.Verbosity", false);
+}
+
+void gtsamGeneralSFMFactorCal3Bundler_set_verbosity_12(int nargout, mxArray *out[], int nargin, const mxArray *in[])
+{
+  checkArguments("verbosity",nargout,nargin-1,1);
+  auto obj = unwrap_shared_ptr<gtsam::GeneralSFMFactor<gtsam::PinholeCamera<gtsam::Cal3Bundler>, gtsam::Point3>>(in[0], "ptr_gtsamGeneralSFMFactorCal3Bundler");
+  boost::shared_ptr<gtsam::GeneralSFMFactor<gtsam::PinholeCamera<gtsam::Cal3Bundler>, gtsam::Point3>::Verbosity> verbosity = unwrap_shared_ptr< gtsam::GeneralSFMFactor<gtsam::PinholeCamera<gtsam::Cal3Bundler>, gtsam::Point3>::Verbosity >(in[1], "ptr_gtsamGeneralSFMFactor<gtsam::PinholeCamera<gtsam::Cal3Bundler>, gtsam::Point3>Verbosity");
+  obj->verbosity = *verbosity;
+}
+
 
 void mexFunction(int nargout, mxArray *out[], int nargin, const mxArray *in[])
 {
@@ -249,6 +264,12 @@ void mexFunction(int nargout, mxArray *out[], int nargin, const mxArray *in[])
     case 10:
       gtsamGeneralSFMFactorCal3Bundler_deconstructor_10(nargout, out, nargin-1, in+1);
       break;
+    case 11:
+      gtsamGeneralSFMFactorCal3Bundler_get_verbosity_11(nargout, out, nargin-1, in+1);
+      break;
+    case 12:
+      gtsamGeneralSFMFactorCal3Bundler_set_verbosity_12(nargout, out, nargin-1, in+1);
+      break;
     }
   } catch(const std::exception& e) {
     mexErrMsgTxt(("Exception from gtsam:\n" + std::string(e.what()) + "\n").c_str());
diff --git a/tests/expected/python/special_cases_pybind.cpp b/tests/expected/python/special_cases_pybind.cpp
index d436cdb065..e19b2eb95e 100644
--- a/tests/expected/python/special_cases_pybind.cpp
+++ b/tests/expected/python/special_cases_pybind.cpp
@@ -32,7 +32,15 @@ PYBIND11_MODULE(special_cases_py, m_) {
 
     py::class_<gtsam::PinholeCamera<gtsam::Cal3Bundler>, std::shared_ptr<gtsam::PinholeCamera<gtsam::Cal3Bundler>>>(m_gtsam, "PinholeCameraCal3Bundler");
 
-    py::class_<gtsam::GeneralSFMFactor<gtsam::PinholeCamera<gtsam::Cal3Bundler>, gtsam::Point3>, std::shared_ptr<gtsam::GeneralSFMFactor<gtsam::PinholeCamera<gtsam::Cal3Bundler>, gtsam::Point3>>>(m_gtsam, "GeneralSFMFactorCal3Bundler");
+    py::class_<gtsam::GeneralSFMFactor<gtsam::PinholeCamera<gtsam::Cal3Bundler>, gtsam::Point3>, std::shared_ptr<gtsam::GeneralSFMFactor<gtsam::PinholeCamera<gtsam::Cal3Bundler>, gtsam::Point3>>> generalsfmfactorcal3bundler(m_gtsam, "GeneralSFMFactorCal3Bundler");
+    generalsfmfactorcal3bundler
+        .def_readwrite("verbosity", &gtsam::GeneralSFMFactor<gtsam::PinholeCamera<gtsam::Cal3Bundler>, gtsam::Point3>::verbosity);
+
+    py::enum_<gtsam::GeneralSFMFactor<gtsam::PinholeCamera<gtsam::Cal3Bundler>, gtsam::Point3>::Verbosity>(generalsfmfactorcal3bundler, "Verbosity", py::arithmetic())
+        .value("SILENT", gtsam::GeneralSFMFactor<gtsam::PinholeCamera<gtsam::Cal3Bundler>, gtsam::Point3>::Verbosity::SILENT)
+        .value("SUMMARY", gtsam::GeneralSFMFactor<gtsam::PinholeCamera<gtsam::Cal3Bundler>, gtsam::Point3>::Verbosity::SUMMARY)
+        .value("VALUES", gtsam::GeneralSFMFactor<gtsam::PinholeCamera<gtsam::Cal3Bundler>, gtsam::Point3>::Verbosity::VALUES);
+
 
 
 #include "python/specializations.h"
diff --git a/tests/fixtures/special_cases.i b/tests/fixtures/special_cases.i
index 87efca54c7..ac862f8404 100644
--- a/tests/fixtures/special_cases.i
+++ b/tests/fixtures/special_cases.i
@@ -17,7 +17,16 @@ class NonlinearFactorGraph {
 
 // Typedef with template as template arg.
 template<CALIBRATION, POINT>
-class GeneralSFMFactor {};
+class GeneralSFMFactor {
+  gtsam::This::Verbosity verbosity;
+
+  enum Verbosity {
+    SILENT,
+    SUMMARY,
+    VALUES
+  };
+};
+
 typedef gtsam::GeneralSFMFactor<gtsam::PinholeCamera<gtsam::Cal3Bundler>, gtsam::Point3> GeneralSFMFactorCal3Bundler;
 
 // Template as template arg for class property.

From d57fffb703770fe2f9b4588a558637fce8bb5ae9 Mon Sep 17 00:00:00 2001
From: Varun Agrawal <varagrawal@gmail.com>
Date: Mon, 7 Nov 2022 18:31:15 -0500
Subject: [PATCH 426/433] allow examples to link to gtsam_unstable

---
 examples/CMakeLists.txt | 2 +-
 1 file changed, 1 insertion(+), 1 deletion(-)

diff --git a/examples/CMakeLists.txt b/examples/CMakeLists.txt
index 476f4ae215..7fc33f9210 100644
--- a/examples/CMakeLists.txt
+++ b/examples/CMakeLists.txt
@@ -2,4 +2,4 @@ set (excluded_examples
     elaboratePoint2KalmanFilter.cpp
 )
 
-gtsamAddExamplesGlob("*.cpp" "${excluded_examples}" "gtsam;${Boost_PROGRAM_OPTIONS_LIBRARY}")
+gtsamAddExamplesGlob("*.cpp" "${excluded_examples}" "gtsam;gtsam_unstable;${Boost_PROGRAM_OPTIONS_LIBRARY}")

From 4c7dcb3efd96f2f9948d310fe8b4820758957356 Mon Sep 17 00:00:00 2001
From: Varun Agrawal <varagrawal@gmail.com>
Date: Mon, 7 Nov 2022 18:31:29 -0500
Subject: [PATCH 427/433] better error messages from Pybind

---
 python/gtsam/gtsam.tpl | 2 ++
 1 file changed, 2 insertions(+)

diff --git a/python/gtsam/gtsam.tpl b/python/gtsam/gtsam.tpl
index b760e4eb5a..a56f681766 100644
--- a/python/gtsam/gtsam.tpl
+++ b/python/gtsam/gtsam.tpl
@@ -7,6 +7,8 @@
  * ** THIS FILE IS AUTO-GENERATED, DO NOT MODIFY! **
  */
 
+#define PYBIND11_DETAILED_ERROR_MESSAGES
+
 // Include relevant boost libraries required by GTSAM
 {include_boost}
 

From 193ee66e8f482cffd16f34d4ac109360fa0457e4 Mon Sep 17 00:00:00 2001
From: Tae Young Kim <tyoung96@yonsei.ac.kr>
Date: Sun, 13 Nov 2022 16:57:16 +0900
Subject: [PATCH 428/433] Remove unnecessary functions in ImuFactorsExample.cpp

---
 examples/ImuFactorsExample.cpp | 1 -
 1 file changed, 1 deletion(-)

diff --git a/examples/ImuFactorsExample.cpp b/examples/ImuFactorsExample.cpp
index c176318642..ba4d5c9744 100644
--- a/examples/ImuFactorsExample.cpp
+++ b/examples/ImuFactorsExample.cpp
@@ -267,7 +267,6 @@ int main(int argc, char* argv[]) {
 
       if (use_isam) {
         isam2->update(*graph, initial_values);
-        isam2->update();
         result = isam2->calculateEstimate();
 
         // reset the graph

From c709932f9807ddc02a696ec689965cc31da8a416 Mon Sep 17 00:00:00 2001
From: Varun Agrawal <varagrawal@gmail.com>
Date: Mon, 14 Nov 2022 10:46:38 -0500
Subject: [PATCH 429/433] Add unit test exposing GaussianBayesTree determinant
 bug

---
 gtsam/linear/tests/testGaussianBayesTree.cpp | 43 ++++++++++++++++----
 1 file changed, 36 insertions(+), 7 deletions(-)

diff --git a/gtsam/linear/tests/testGaussianBayesTree.cpp b/gtsam/linear/tests/testGaussianBayesTree.cpp
index c5601af271..3b960508dc 100644
--- a/gtsam/linear/tests/testGaussianBayesTree.cpp
+++ b/gtsam/linear/tests/testGaussianBayesTree.cpp
@@ -15,18 +15,18 @@
  * @author Kai Ni
  */
 
-#include <iostream>
 #include <CppUnitLite/TestHarness.h>
-
-#include <boost/assign/list_of.hpp>
-#include <boost/assign/std/list.hpp> // for operator +=
-#include <boost/assign/std/set.hpp> // for operator +=
-
 #include <gtsam/base/debug.h>
 #include <gtsam/base/numericalDerivative.h>
-#include <gtsam/linear/GaussianJunctionTree.h>
+#include <gtsam/inference/Symbol.h>
 #include <gtsam/linear/GaussianBayesTree.h>
 #include <gtsam/linear/GaussianConditional.h>
+#include <gtsam/linear/GaussianJunctionTree.h>
+
+#include <boost/assign/list_of.hpp>
+#include <boost/assign/std/list.hpp>  // for operator +=
+#include <boost/assign/std/set.hpp>   // for operator +=
+#include <iostream>
 
 using namespace boost::assign;
 using namespace std::placeholders;
@@ -321,6 +321,35 @@ TEST(GaussianBayesTree, determinant_and_smallestEigenvalue) {
   EXPECT_DOUBLES_EQUAL(expectedDeterminant,actualDeterminant,expectedDeterminant*1e-6);// relative tolerance
 }
 
+/* ************************************************************************* */
+/** Test to expose bug in GaussianBayesTree::logDeterminant */
+TEST(GaussianBayesTree, LogDeterminant) {
+  using symbol_shorthand::L;
+  using symbol_shorthand::X;
+
+  // Create a factor graph that will result in a bayes tree with at least 2
+  // nodes
+  GaussianFactorGraph fg;
+  Key x1 = X(1), x2 = X(2), l1 = L(1);
+  SharedDiagonal unit2 = noiseModel::Unit::Create(2);
+  fg += JacobianFactor(x1, 10 * I_2x2, -1.0 * Vector2::Ones(), unit2);
+  fg += JacobianFactor(x2, 10 * I_2x2, x1, -10 * I_2x2, Vector2(2.0, -1.0),
+                       unit2);
+  fg += JacobianFactor(l1, 5 * I_2x2, x1, -5 * I_2x2, Vector2(0.0, 1.0), unit2);
+  fg +=
+      JacobianFactor(x2, -5 * I_2x2, l1, 5 * I_2x2, Vector2(-1.0, 1.5), unit2);
+  fg += JacobianFactor(x3, 10 * I_2x2, x2, -10 * I_2x2, Vector2(2.0, -1.0),
+                       unit2);
+  fg += JacobianFactor(x3, 10 * I_2x2, -1.0 * Vector2::Ones(), unit2);
+
+  // create corresponding Bayes net and Bayes tree:
+  boost::shared_ptr<gtsam::GaussianBayesNet> bn = fg.eliminateSequential();
+  boost::shared_ptr<gtsam::GaussianBayesTree> bt = fg.eliminateMultifrontal();
+
+  // Test logDeterminant
+  EXPECT_DOUBLES_EQUAL(bn->logDeterminant(), bt->logDeterminant(), 1e-9);
+}
+
 /* ************************************************************************* */
 int main() { TestResult tr; return TestRegistry::runAllTests(tr);}
 /* ************************************************************************* */

From 3dcf9d8da810cb4225a2c242dd82de343d55cf2a Mon Sep 17 00:00:00 2001
From: Varun Agrawal <varagrawal@gmail.com>
Date: Mon, 14 Nov 2022 10:54:03 -0500
Subject: [PATCH 430/433] fix bug in GaussianBayesTree::logDeterminant

---
 gtsam/linear/GaussianBayesTree.cpp | 56 +++++++++++++++++++++---------
 1 file changed, 39 insertions(+), 17 deletions(-)

diff --git a/gtsam/linear/GaussianBayesTree.cpp b/gtsam/linear/GaussianBayesTree.cpp
index 13c19bce65..a83475e26b 100644
--- a/gtsam/linear/GaussianBayesTree.cpp
+++ b/gtsam/linear/GaussianBayesTree.cpp
@@ -31,18 +31,37 @@ namespace gtsam {
   template class BayesTreeCliqueBase<GaussianBayesTreeClique, GaussianFactorGraph>;
   template class BayesTree<GaussianBayesTreeClique>;
 
-  /* ************************************************************************* */
-  namespace internal
-  {
-    /* ************************************************************************* */
-  double logDeterminant(const GaussianBayesTreeClique::shared_ptr& clique,
-                        double& parentSum) {
-    parentSum += clique->conditional()
-                     ->R()
-                     .diagonal()
-                     .unaryExpr([](double x) { return log(x); })
-                     .sum();
-    return 0;
+  /* ************************************************************************ */
+  namespace internal {
+
+  /**
+   * @brief Struct to help with traversing the Bayes Tree
+   * for log-determinant computation.
+   * Records the data which is passed to the child nodes in pre-order visit.
+   */
+  struct LogDeterminantData {
+    // Use pointer so we can get the full result after tree traversal
+    double* logDet;
+    LogDeterminantData(double* logDet)
+        : logDet(logDet) {}
+  };
+  /* ************************************************************************ */
+  LogDeterminantData& logDeterminant(
+      const GaussianBayesTreeClique::shared_ptr& clique,
+      LogDeterminantData& parentSum) {
+    auto cg = clique->conditional();
+    double logDet;
+    if (cg->get_model()) {
+      Vector diag = cg->R().diagonal();
+      cg->get_model()->whitenInPlace(diag);
+      logDet = diag.unaryExpr([](double x) { return log(x); }).sum();
+    } else {
+      logDet =
+          cg->R().diagonal().unaryExpr([](double x) { return log(x); }).sum();
+    }
+    // Add the current clique's log-determinant to the overall sum
+    (*parentSum.logDet) += logDet;
+    return parentSum;
   }
   }  // namespace internal
 
@@ -87,7 +106,14 @@ namespace gtsam {
       return 0.0;
     } else {
       double sum = 0.0;
-      treeTraversal::DepthFirstForest(*this, sum, internal::logDeterminant);
+      // Store the log-determinant in this struct.
+      internal::LogDeterminantData rootData(&sum);
+      // No need to do anything for post-operation.
+      treeTraversal::no_op visitorPost;
+      // Limits OpenMP threads if we're mixing TBB and OpenMP
+      TbbOpenMPMixedScope threadLimiter;
+      // Traverse the GaussianBayesTree depth first and call logDeterminant on each node.
+      treeTraversal::DepthFirstForestParallel(*this, rootData, internal::logDeterminant, visitorPost);
       return sum;
     }
   }
@@ -106,7 +132,3 @@ namespace gtsam {
 
 
 } // \namespace gtsam
-
-
-
-

From 93079f32e1b2a13a9dd06433f8489882cf7a10b0 Mon Sep 17 00:00:00 2001
From: Varun Agrawal <varagrawal@gmail.com>
Date: Mon, 14 Nov 2022 10:58:02 -0500
Subject: [PATCH 431/433] docstring updates

---
 gtsam/linear/tests/testGaussianBayesTree.cpp | 6 +++---
 1 file changed, 3 insertions(+), 3 deletions(-)

diff --git a/gtsam/linear/tests/testGaussianBayesTree.cpp b/gtsam/linear/tests/testGaussianBayesTree.cpp
index 3b960508dc..18b4674b5e 100644
--- a/gtsam/linear/tests/testGaussianBayesTree.cpp
+++ b/gtsam/linear/tests/testGaussianBayesTree.cpp
@@ -322,13 +322,13 @@ TEST(GaussianBayesTree, determinant_and_smallestEigenvalue) {
 }
 
 /* ************************************************************************* */
-/** Test to expose bug in GaussianBayesTree::logDeterminant */
+/// Test to expose bug in GaussianBayesTree::logDeterminant.
 TEST(GaussianBayesTree, LogDeterminant) {
   using symbol_shorthand::L;
   using symbol_shorthand::X;
 
-  // Create a factor graph that will result in a bayes tree with at least 2
-  // nodes
+  // Create a factor graph that will result in
+  // a bayes tree with at least 2 nodes.
   GaussianFactorGraph fg;
   Key x1 = X(1), x2 = X(2), l1 = L(1);
   SharedDiagonal unit2 = noiseModel::Unit::Create(2);

From 10e03063b312a7c2ca12494bba94f594a19c40a6 Mon Sep 17 00:00:00 2001
From: Bernd Pfrommer <bernd.pfrommer@gmail.com>
Date: Tue, 15 Nov 2022 11:46:06 -0500
Subject: [PATCH 432/433] add workflow to trigger ubuntu packaging

---
 .github/workflows/trigger-packaging.yml | 21 +++++++++++++++++++++
 1 file changed, 21 insertions(+)
 create mode 100644 .github/workflows/trigger-packaging.yml

diff --git a/.github/workflows/trigger-packaging.yml b/.github/workflows/trigger-packaging.yml
new file mode 100644
index 0000000000..1f24db5032
--- /dev/null
+++ b/.github/workflows/trigger-packaging.yml
@@ -0,0 +1,21 @@
+# This triggers building of packages
+name: Trigger Package Builds
+on:
+  push:
+    branches:
+      - develop
+jobs:
+  trigger-package-build:
+    runs-on: ubuntu-latest
+    steps:
+      - name: Trigger Package Rebuild
+        uses: actions/github-script@v6
+        with:
+          github-token: ${{ secrets.PACKAGING_REPO_ACCESS_TOKEN }}
+          script: |
+            await github.rest.actions.createWorkflowDispatch({
+              owner: 'borglab-launchpad',
+              repo: 'gtsam-packaging',
+              workflow_id: 'main.yaml',
+              ref: 'master'
+            })

From f9a5313ff82c20d85d80e5a5ea4038dcd3da0736 Mon Sep 17 00:00:00 2001
From: John Lambert <johnlambert@gatech.edu>
Date: Tue, 29 Nov 2022 00:48:03 -0500
Subject: [PATCH 433/433] Update prerelease version cmake

---
 CMakeLists.txt | 2 +-
 1 file changed, 1 insertion(+), 1 deletion(-)

diff --git a/CMakeLists.txt b/CMakeLists.txt
index 39d1e4307e..b81479cb84 100644
--- a/CMakeLists.txt
+++ b/CMakeLists.txt
@@ -10,7 +10,7 @@ endif()
 set (GTSAM_VERSION_MAJOR 4)
 set (GTSAM_VERSION_MINOR 2)
 set (GTSAM_VERSION_PATCH 0)
-set (GTSAM_PRERELEASE_VERSION "a7")
+set (GTSAM_PRERELEASE_VERSION "a8")
 math (EXPR GTSAM_VERSION_NUMERIC "10000 * ${GTSAM_VERSION_MAJOR} + 100 * ${GTSAM_VERSION_MINOR} + ${GTSAM_VERSION_PATCH}")
 
 if (${GTSAM_VERSION_PATCH} EQUAL 0)