From f95ae52aff0385b947a878beb3c3eb6258ddc2dd Mon Sep 17 00:00:00 2001
From: Varun Agrawal <varagrawal@gmail.com>
Date: Tue, 31 Dec 2024 14:16:00 -0500
Subject: [PATCH 1/2] Use TableFactor everywhere in hybrid elimination

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

diff --git a/gtsam/hybrid/HybridGaussianFactorGraph.cpp b/gtsam/hybrid/HybridGaussianFactorGraph.cpp
index 703684c788..4fcd420b19 100644
--- a/gtsam/hybrid/HybridGaussianFactorGraph.cpp
+++ b/gtsam/hybrid/HybridGaussianFactorGraph.cpp
@@ -20,12 +20,12 @@
 
 #include <gtsam/base/utilities.h>
 #include <gtsam/discrete/Assignment.h>
-#include <gtsam/discrete/DecisionTreeFactor.h>
 #include <gtsam/discrete/DiscreteEliminationTree.h>
 #include <gtsam/discrete/DiscreteFactorGraph.h>
 #include <gtsam/discrete/DiscreteJunctionTree.h>
 #include <gtsam/discrete/DiscreteKey.h>
 #include <gtsam/discrete/DiscreteValues.h>
+#include <gtsam/discrete/TableFactor.h>
 #include <gtsam/hybrid/HybridConditional.h>
 #include <gtsam/hybrid/HybridEliminationTree.h>
 #include <gtsam/hybrid/HybridFactor.h>
@@ -241,18 +241,18 @@ continuousElimination(const HybridGaussianFactorGraph &factors,
 /* ************************************************************************ */
 /**
  * @brief Take negative log-values, shift them so that the minimum value is 0,
- * and then exponentiate to create a DecisionTreeFactor (not normalized yet!).
+ * and then exponentiate to create a TableFactor (not normalized yet!).
  *
  * @param errors DecisionTree of (unnormalized) errors.
- * @return DecisionTreeFactor::shared_ptr
+ * @return TableFactor::shared_ptr
  */
-static DecisionTreeFactor::shared_ptr DiscreteFactorFromErrors(
+static TableFactor::shared_ptr DiscreteFactorFromErrors(
     const DiscreteKeys &discreteKeys,
     const AlgebraicDecisionTree<Key> &errors) {
   double min_log = errors.min();
   AlgebraicDecisionTree<Key> potentials(
       errors, [&min_log](const double x) { return exp(-(x - min_log)); });
-  return std::make_shared<DecisionTreeFactor>(discreteKeys, potentials);
+  return std::make_shared<TableFactor>(discreteKeys, potentials);
 }
 
 /* ************************************************************************ */

From 71ea8c5d4c22289c328c5bdad054037a9793b679 Mon Sep 17 00:00:00 2001
From: Varun Agrawal <varagrawal@gmail.com>
Date: Tue, 31 Dec 2024 14:55:56 -0500
Subject: [PATCH 2/2] fix tests

---
 gtsam/hybrid/tests/testHybridGaussianFactorGraph.cpp  | 6 +++---
 gtsam/hybrid/tests/testHybridNonlinearFactorGraph.cpp | 3 +--
 2 files changed, 4 insertions(+), 5 deletions(-)

diff --git a/gtsam/hybrid/tests/testHybridGaussianFactorGraph.cpp b/gtsam/hybrid/tests/testHybridGaussianFactorGraph.cpp
index 31e36101b2..1942e92347 100644
--- a/gtsam/hybrid/tests/testHybridGaussianFactorGraph.cpp
+++ b/gtsam/hybrid/tests/testHybridGaussianFactorGraph.cpp
@@ -114,10 +114,10 @@ TEST(HybridGaussianFactorGraph, hybridEliminationOneFactor) {
   EXPECT(HybridConditional::CheckInvariants(*result.first, values));
 
   // Check that factor is discrete and correct
-  auto factor = std::dynamic_pointer_cast<DecisionTreeFactor>(result.second);
+  auto factor = std::dynamic_pointer_cast<TableFactor>(result.second);
   CHECK(factor);
   // regression test
-  EXPECT(assert_equal(DecisionTreeFactor{m1, "1 1"}, *factor, 1e-5));
+  EXPECT(assert_equal(TableFactor{m1, "1 1"}, *factor, 1e-5));
 }
 
 /* ************************************************************************* */
@@ -329,7 +329,7 @@ TEST(HybridBayesNet, Switching) {
 
   // Check the remaining factor for x1
   CHECK(factor_x1);
-  auto phi_x1 = std::dynamic_pointer_cast<DecisionTreeFactor>(factor_x1);
+  auto phi_x1 = std::dynamic_pointer_cast<TableFactor>(factor_x1);
   CHECK(phi_x1);
   EXPECT_LONGS_EQUAL(1, phi_x1->keys().size());  // m0
   // We can't really check the error of the decision tree factor phi_x1, because
diff --git a/gtsam/hybrid/tests/testHybridNonlinearFactorGraph.cpp b/gtsam/hybrid/tests/testHybridNonlinearFactorGraph.cpp
index 07f70e95c4..6e844dbcbf 100644
--- a/gtsam/hybrid/tests/testHybridNonlinearFactorGraph.cpp
+++ b/gtsam/hybrid/tests/testHybridNonlinearFactorGraph.cpp
@@ -368,10 +368,9 @@ TEST(HybridGaussianElimination, EliminateHybrid_2_Variable) {
   EXPECT_LONGS_EQUAL(1, hybridGaussianConditional->nrParents());
 
   // This is now a discreteFactor
-  auto discreteFactor = dynamic_pointer_cast<DecisionTreeFactor>(factorOnModes);
+  auto discreteFactor = dynamic_pointer_cast<TableFactor>(factorOnModes);
   CHECK(discreteFactor);
   EXPECT_LONGS_EQUAL(1, discreteFactor->discreteKeys().size());
-  EXPECT(discreteFactor->root_->isLeaf() == false);
 }
 
 /****************************************************************************