add probPrime to HybridBayesNet

gtsam/hybrid/HybridBayesNet.cpp

@@ -273,4 +273,10 @@ AlgebraicDecisionTree<Key> HybridBayesNet::error(
   return error_tree;
 }
 
+AlgebraicDecisionTree<Key> HybridBayesNet::probPrime(
+    const VectorValues &continuousValues) const {
+  AlgebraicDecisionTree<Key> error_tree = this->error(continuousValues);
+  return error_tree.apply([](double error) { return exp(-error); });
+}
+
 }  // namespace gtsam

gtsam/hybrid/HybridBayesNet.h

@@ -144,6 +144,17 @@ class GTSAM_EXPORT HybridBayesNet : public BayesNet<HybridConditional> {
    */
   AlgebraicDecisionTree<Key> error(const VectorValues &continuousValues) const;
 
+  /**
+   * @brief Compute unnormalized probability for each discrete assignment,
+   * and return as a tree.
+   *
+   * @param continuousValues Continuous values at which to compute the
+   * probability.
+   * @return AlgebraicDecisionTree<Key>
+   */
+  AlgebraicDecisionTree<Key> probPrime(
+      const VectorValues &continuousValues) const;
+
   /// @}
 
  private: