From 03314ed781fccd71bc98985d556d7f334b7dac24 Mon Sep 17 00:00:00 2001
From: Frank Dellaert <dellaert@gmail.com>
Date: Fri, 21 Jan 2022 17:39:06 -0500
Subject: [PATCH] updates to fix various issues

---
 gtsam/discrete/DiscreteConditional.cpp |  6 ++----
 gtsam/discrete/DiscreteFactorGraph.h   |  8 --------
 gtsam/discrete/DiscreteLookupDAG.cpp   |  8 +-------
 gtsam/discrete/DiscreteLookupDAG.h     | 26 +++++++++-----------------
 4 files changed, 12 insertions(+), 36 deletions(-)

diff --git a/gtsam/discrete/DiscreteConditional.cpp b/gtsam/discrete/DiscreteConditional.cpp
index 164a45f40..9a4897b72 100644
--- a/gtsam/discrete/DiscreteConditional.cpp
+++ b/gtsam/discrete/DiscreteConditional.cpp
@@ -322,8 +322,7 @@ size_t DiscreteConditional::sample(const DiscreteValues& parentsValues) const {
   return distribution(rng);
 }
 
-/* ********************************************************************************
- */
+/* ************************************************************************** */
 size_t DiscreteConditional::sample(size_t parent_value) const {
   if (nrParents() != 1)
     throw std::invalid_argument(
@@ -334,8 +333,7 @@ size_t DiscreteConditional::sample(size_t parent_value) const {
   return sample(values);
 }
 
-/* ********************************************************************************
- */
+/* ************************************************************************** */
 size_t DiscreteConditional::sample() const {
   if (nrParents() != 0)
     throw std::invalid_argument(
diff --git a/gtsam/discrete/DiscreteFactorGraph.h b/gtsam/discrete/DiscreteFactorGraph.h
index 59827f9a5..e0f0a104b 100644
--- a/gtsam/discrete/DiscreteFactorGraph.h
+++ b/gtsam/discrete/DiscreteFactorGraph.h
@@ -163,14 +163,6 @@ class GTSAM_EXPORT DiscreteFactorGraph
    */
   DiscreteValues optimize(const Ordering& ordering) const;
 
-  //  /** Permute the variables in the factors */
-  //  GTSAM_EXPORT void permuteWithInverse(const Permutation&
-  //  inversePermutation);
-  //
-  //  /** Apply a reduction, which is a remapping of variable indices. */
-  //  GTSAM_EXPORT void reduceWithInverse(const internal::Reduction&
-  //  inverseReduction);
-
   /// @name Wrapper support
   /// @{
 
diff --git a/gtsam/discrete/DiscreteLookupDAG.cpp b/gtsam/discrete/DiscreteLookupDAG.cpp
index 16620cc24..d96b38b0e 100644
--- a/gtsam/discrete/DiscreteLookupDAG.cpp
+++ b/gtsam/discrete/DiscreteLookupDAG.cpp
@@ -10,7 +10,7 @@
  * -------------------------------------------------------------------------- */
 
 /**
- *  @file DiscreteLookupTable.cpp
+ *  @file DiscreteLookupDAG.cpp
  *  @date Feb 14, 2011
  *  @author Duy-Nguyen Ta
  *  @author Frank Dellaert
@@ -116,12 +116,6 @@ DiscreteLookupDAG DiscreteLookupDAG::FromBayesNet(
   return dag;
 }
 
-/* ************************************************************************** */
-DiscreteValues DiscreteLookupDAG::argmax() const {
-  DiscreteValues result;
-  return argmax(result);
-}
-
 DiscreteValues DiscreteLookupDAG::argmax(DiscreteValues result) const {
   // Argmax each node in turn in topological sort order (parents first).
   for (auto lookupTable : boost::adaptors::reverse(*this))
diff --git a/gtsam/discrete/DiscreteLookupDAG.h b/gtsam/discrete/DiscreteLookupDAG.h
index f1eb24ec3..8cb651f28 100644
--- a/gtsam/discrete/DiscreteLookupDAG.h
+++ b/gtsam/discrete/DiscreteLookupDAG.h
@@ -11,7 +11,7 @@
 
 /**
  * @file DiscreteLookupDAG.h
- * @date JAnuary, 2022
+ * @date January, 2022
  * @author Frank dellaert
  */
 
@@ -34,7 +34,7 @@ class DiscreteBayesNet;
  * @brief DiscreteLookupTable table for max-product
  *
  * Inherits from discrete conditional for convenience, but is not normalized.
- * Is used in pax-product algorithm.
+ * Is used in the max-product algorithm.
  */
 class DiscreteLookupTable : public DiscreteConditional {
  public:
@@ -85,7 +85,7 @@ class GTSAM_EXPORT DiscreteLookupDAG : public BayesNet<DiscreteLookupTable> {
   /// Construct empty DAG.
   DiscreteLookupDAG() {}
 
-  // Create from BayesNet with LookupTables
+  /// Create from BayesNet with LookupTables
   static DiscreteLookupDAG FromBayesNet(const DiscreteBayesNet& bayesNet);
 
   /// Destructor
@@ -111,25 +111,17 @@ class GTSAM_EXPORT DiscreteLookupDAG : public BayesNet<DiscreteLookupTable> {
   }
 
   /**
-   * @brief argmax by back-substitution.
+   * @brief argmax by back-substitution, optionally given certain variables.
    *
    * Assumes the DAG is reverse topologically sorted, i.e. last
-   * conditional will be optimized first. If the DAG resulted from
-   * eliminating a factor graph, this is true for the elimination ordering.
-   *
-   * @return optimal assignment for all variables.
-   */
-  DiscreteValues argmax() const;
-
-  /**
-   * @brief argmax by back-substitution, given certain variables.
-   *
-   * Assumes the DAG is reverse topologically sorted *and* that the
-   * DAG does not contain any conditionals for the given variables.
+   * 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.
    */
-  DiscreteValues argmax(DiscreteValues given) const;
+  DiscreteValues argmax(DiscreteValues given = DiscreteValues()) const;
   /// @}
 
  private: