From 9cacb9876eae75551c5537f33ca43f01f275523a Mon Sep 17 00:00:00 2001
From: Varun Agrawal <varagrawal@gmail.com>
Date: Tue, 31 Dec 2024 13:27:55 -0500
Subject: [PATCH] undo changes to DiscreteFactorGraph

---
 gtsam/discrete/DiscreteFactorGraph.cpp | 35 +++++++++++---------------
 gtsam/discrete/DiscreteFactorGraph.h   |  3 +--
 2 files changed, 15 insertions(+), 23 deletions(-)

diff --git a/gtsam/discrete/DiscreteFactorGraph.cpp b/gtsam/discrete/DiscreteFactorGraph.cpp
index 338453404c..2037dd9514 100644
--- a/gtsam/discrete/DiscreteFactorGraph.cpp
+++ b/gtsam/discrete/DiscreteFactorGraph.cpp
@@ -19,7 +19,6 @@
 
 #include <gtsam/discrete/DiscreteBayesTree.h>
 #include <gtsam/discrete/DiscreteConditional.h>
-#include <gtsam/discrete/DiscreteTableConditional.h>
 #include <gtsam/discrete/DiscreteEliminationTree.h>
 #include <gtsam/discrete/DiscreteFactorGraph.h>
 #include <gtsam/discrete/DiscreteJunctionTree.h>
@@ -65,17 +64,10 @@ namespace gtsam {
   }
 
   /* ************************************************************************ */
-  TableFactor DiscreteFactorGraph::product() const {
-    TableFactor result;
+  DecisionTreeFactor DiscreteFactorGraph::product() const {
+    DecisionTreeFactor result;
     for (const sharedFactor& factor : *this) {
-      if (factor) {
-        if (auto f = std::dynamic_pointer_cast<TableFactor>(factor)) {
-          result = result * (*f);
-        } else if (auto dtf =
-                       std::dynamic_pointer_cast<DecisionTreeFactor>(factor)) {
-          result = TableFactor(result * (*dtf));
-        }
-      }
+      if (factor) result = (*factor) * result;
     }
     return result;
   }
@@ -124,14 +116,15 @@ namespace gtsam {
    * product to prevent underflow.
    *
    * @param factors The factors to multiply as a DiscreteFactorGraph.
-   * @return TableFactor
+   * @return DecisionTreeFactor
    */
-  static TableFactor ProductAndNormalize(const DiscreteFactorGraph& factors) {
+  static DecisionTreeFactor ProductAndNormalize(
+      const DiscreteFactorGraph& factors) {
     // PRODUCT: multiply all factors
 #if GTSAM_HYBRID_TIMING
     gttic_(DiscreteProduct);
 #endif
-    TableFactor product = factors.product();
+    DecisionTreeFactor product = factors.product();
 #if GTSAM_HYBRID_TIMING
     gttoc_(DiscreteProduct);
 #endif
@@ -156,11 +149,11 @@ namespace gtsam {
   std::pair<DiscreteConditional::shared_ptr, DiscreteFactor::shared_ptr>  //
   EliminateForMPE(const DiscreteFactorGraph& factors,
                   const Ordering& frontalKeys) {
-    TableFactor product = ProductAndNormalize(factors);
+    DecisionTreeFactor product = ProductAndNormalize(factors);
 
     // max out frontals, this is the factor on the separator
     gttic(max);
-    TableFactor::shared_ptr max = product.max(frontalKeys);
+    DecisionTreeFactor::shared_ptr max = product.max(frontalKeys);
     gttoc(max);
 
     // Ordering keys for the conditional so that frontalKeys are really in front
@@ -173,8 +166,8 @@ namespace gtsam {
     // Make lookup with product
     gttic(lookup);
     size_t nrFrontals = frontalKeys.size();
-    auto lookup = std::make_shared<DiscreteLookupTable>(
-        nrFrontals, orderedKeys, product.toDecisionTreeFactor());
+    auto lookup =
+        std::make_shared<DiscreteLookupTable>(nrFrontals, orderedKeys, product);
     gttoc(lookup);
 
     return {std::dynamic_pointer_cast<DiscreteConditional>(lookup), max};
@@ -234,13 +227,13 @@ namespace gtsam {
   std::pair<DiscreteConditional::shared_ptr, DiscreteFactor::shared_ptr>  //
   EliminateDiscrete(const DiscreteFactorGraph& factors,
                     const Ordering& frontalKeys) {
-    TableFactor product = ProductAndNormalize(factors);
+    DecisionTreeFactor product = ProductAndNormalize(factors);
 
     // sum out frontals, this is the factor on the separator
 #if GTSAM_HYBRID_TIMING
     gttic_(EliminateDiscreteSum);
 #endif
-    TableFactor::shared_ptr sum = product.sum(frontalKeys);
+    DecisionTreeFactor::shared_ptr sum = product.sum(frontalKeys);
 #if GTSAM_HYBRID_TIMING
     gttoc_(EliminateDiscreteSum);
 #endif
@@ -257,7 +250,7 @@ namespace gtsam {
     gttic_(EliminateDiscreteToDiscreteConditional);
 #endif
     auto conditional =
-        std::make_shared<DiscreteTableConditional>(product, *sum, orderedKeys);
+        std::make_shared<DiscreteConditional>(product, *sum, orderedKeys);
 #if GTSAM_HYBRID_TIMING
     gttoc_(EliminateDiscreteToDiscreteConditional);
 #endif
diff --git a/gtsam/discrete/DiscreteFactorGraph.h b/gtsam/discrete/DiscreteFactorGraph.h
index f1575cd7e1..c57d2258c2 100644
--- a/gtsam/discrete/DiscreteFactorGraph.h
+++ b/gtsam/discrete/DiscreteFactorGraph.h
@@ -25,7 +25,6 @@
 #include <gtsam/inference/FactorGraph.h>
 #include <gtsam/inference/Ordering.h>
 #include <gtsam/base/FastSet.h>
-#include <gtsam/discrete/TableFactor.h>
 
 #include <string>
 #include <utility>
@@ -148,7 +147,7 @@ class GTSAM_EXPORT DiscreteFactorGraph
   DiscreteKeys discreteKeys() const;
 
   /** return product of all factors as a single factor */
-  TableFactor product() const;
+  DecisionTreeFactor product() const;
 
   /** 
    * Evaluates the factor graph given values, returns the joint probability of