From 00d90f04127c7bd0b6c8005ea78ea4fb2f16a9c9 Mon Sep 17 00:00:00 2001
From: Varun Agrawal <varagrawal@gmail.com>
Date: Tue, 1 Feb 2022 20:38:55 -0500
Subject: [PATCH] Get matlab wrapping for discrete.i working

---
 gtsam/discrete/discrete.i | 18 +++++++++---------
 matlab/CMakeLists.txt     |  2 +-
 2 files changed, 10 insertions(+), 10 deletions(-)

diff --git a/gtsam/discrete/discrete.i b/gtsam/discrete/discrete.i
index 325a8a3ab..b3a12a8d5 100644
--- a/gtsam/discrete/discrete.i
+++ b/gtsam/discrete/discrete.i
@@ -70,7 +70,7 @@ virtual class DecisionTreeFactor : gtsam::DiscreteFactor {
   string dot(
       const gtsam::KeyFormatter& keyFormatter = gtsam::DefaultKeyFormatter,
       bool showZero = true) const;
-  std::vector<std::pair<DiscreteValues, double>> enumerate() const;
+  std::vector<std::pair<gtsam::DiscreteValues, double>> enumerate() const;
   string markdown(const gtsam::KeyFormatter& keyFormatter =
                       gtsam::DefaultKeyFormatter) const;
   string markdown(const gtsam::KeyFormatter& keyFormatter,
@@ -269,16 +269,16 @@ class DiscreteFactorGraph {
   gtsam::DiscreteLookupDAG maxProduct(gtsam::Ordering::OrderingType type);
   gtsam::DiscreteLookupDAG maxProduct(const gtsam::Ordering& ordering);
 
-  gtsam::DiscreteBayesNet eliminateSequential();
-  gtsam::DiscreteBayesNet eliminateSequential(gtsam::Ordering::OrderingType type);
-  gtsam::DiscreteBayesNet eliminateSequential(const gtsam::Ordering& ordering);
-  std::pair<gtsam::DiscreteBayesNet, gtsam::DiscreteFactorGraph>
+  gtsam::DiscreteBayesNet* eliminateSequential();
+  gtsam::DiscreteBayesNet* eliminateSequential(gtsam::Ordering::OrderingType type);
+  gtsam::DiscreteBayesNet* eliminateSequential(const gtsam::Ordering& ordering);
+  pair<gtsam::DiscreteBayesNet*, gtsam::DiscreteFactorGraph*>
       eliminatePartialSequential(const gtsam::Ordering& ordering);
 
-  gtsam::DiscreteBayesTree eliminateMultifrontal();
-  gtsam::DiscreteBayesTree eliminateMultifrontal(gtsam::Ordering::OrderingType type);  
-  gtsam::DiscreteBayesTree eliminateMultifrontal(const gtsam::Ordering& ordering);  
-  std::pair<gtsam::DiscreteBayesTree, gtsam::DiscreteFactorGraph>
+  gtsam::DiscreteBayesTree* eliminateMultifrontal();
+  gtsam::DiscreteBayesTree* eliminateMultifrontal(gtsam::Ordering::OrderingType type);  
+  gtsam::DiscreteBayesTree* eliminateMultifrontal(const gtsam::Ordering& ordering);  
+  pair<gtsam::DiscreteBayesTree*, gtsam::DiscreteFactorGraph*>
       eliminatePartialMultifrontal(const gtsam::Ordering& ordering);
 
   string dot(
diff --git a/matlab/CMakeLists.txt b/matlab/CMakeLists.txt
index a37b12f37..1755e2075 100644
--- a/matlab/CMakeLists.txt
+++ b/matlab/CMakeLists.txt
@@ -69,7 +69,7 @@ set(interface_files
     ${GTSAM_SOURCE_DIR}/gtsam/base/base.i
     ${GTSAM_SOURCE_DIR}/gtsam/basis/basis.i
     ${PROJECT_SOURCE_DIR}/gtsam/inference/inference.i
-    # ${PROJECT_SOURCE_DIR}/gtsam/discrete/discrete.i  #TODO Matlab wrapper has a bug for raw pointers
+    ${PROJECT_SOURCE_DIR}/gtsam/discrete/discrete.i
     ${GTSAM_SOURCE_DIR}/gtsam/geometry/geometry.i
     ${GTSAM_SOURCE_DIR}/gtsam/linear/linear.i
     ${GTSAM_SOURCE_DIR}/gtsam/nonlinear/nonlinear.i