reintroduce vector based HybridGaussianConditional constructor

gtsam/hybrid/HybridGaussianConditional.cpp

@@ -55,6 +55,15 @@ HybridGaussianConditional::conditionals() const {
   return conditionals_;
 }
 
+/* *******************************************************************************/
+HybridGaussianConditional::HybridGaussianConditional(
+    const KeyVector &continuousFrontals, const KeyVector &continuousParents,
+    const DiscreteKeys &discreteParents,
+    const std::vector<GaussianConditional::shared_ptr> &conditionals)
+    : HybridGaussianConditional(continuousFrontals, continuousParents,
+                                discreteParents,
+                                Conditionals(discreteParents, conditionals)) {}
+
 /* *******************************************************************************/
 // TODO(dellaert): This is copy/paste: HybridGaussianConditional should be
 // derived from HybridGaussianFactor, no?

gtsam/hybrid/HybridGaussianConditional.h

@@ -106,6 +106,20 @@ class GTSAM_EXPORT HybridGaussianConditional
                             const DiscreteKeys &discreteParents,
                             const Conditionals &conditionals);
 
+  /**
+   * @brief Make a Gaussian Mixture from a vector of Gaussian conditionals.
+   * The DecisionTree-based constructor is preferred over this one.
+   *
+   * @param continuousFrontals The continuous frontal variables
+   * @param continuousParents The continuous parent variables
+   * @param discreteParents Discrete parents variables
+   * @param conditionals Vector of conditionals
+   */
+  HybridGaussianConditional(
+      const KeyVector &continuousFrontals, const KeyVector &continuousParents,
+      const DiscreteKeys &discreteParents,
+      const std::vector<GaussianConditional::shared_ptr> &conditionals);
+
   /// @}
   /// @name Testable
   /// @{
@@ -247,7 +261,7 @@ class GTSAM_EXPORT HybridGaussianConditional
 #endif
 };
 
-/// Return the DiscreteKeys vector as a set.
+/// Return the DiscreteKey vector as a set.
 std::set<DiscreteKey> DiscreteKeysAsSet(const DiscreteKeys &discreteKeys);
 
 // traits

gtsam/hybrid/hybrid.i

@@ -92,6 +92,11 @@ class HybridGaussianConditional : gtsam::HybridFactor {
       const gtsam::KeyVector& continuousParents,
       const gtsam::DiscreteKeys& discreteParents,
       const gtsam::HybridGaussianConditional::Conditionals& conditionals);
+  HybridGaussianConditional(
+      const gtsam::KeyVector& continuousFrontals,
+      const gtsam::KeyVector& continuousParents,
+      const gtsam::DiscreteKeys& discreteParents,
+      const std::vector<gtsam::GaussianConditional::shared_ptr>& conditionals);
 
   gtsam::HybridGaussianFactor* likelihood(
       const gtsam::VectorValues& frontals) const;