From 0afc1984118d8bec1c2327f542cac8b22d11b96f Mon Sep 17 00:00:00 2001
From: Varun Agrawal <varagrawal@gmail.com>
Date: Sun, 8 Dec 2024 16:26:03 -0500
Subject: [PATCH] revert some DiscreteFactorGraph changes

---
 gtsam/discrete/DiscreteFactorGraph.cpp | 29 +++++++++++++-------------
 1 file changed, 15 insertions(+), 14 deletions(-)

diff --git a/gtsam/discrete/DiscreteFactorGraph.cpp b/gtsam/discrete/DiscreteFactorGraph.cpp
index 9e64b0f6d..04849985f 100644
--- a/gtsam/discrete/DiscreteFactorGraph.cpp
+++ b/gtsam/discrete/DiscreteFactorGraph.cpp
@@ -118,16 +118,17 @@ namespace gtsam {
    * @param product The product discrete factor.
    * @return DiscreteFactor::shared_ptr
    */
-  static DiscreteFactor::shared_ptr Normalize(
-      const DiscreteFactor::shared_ptr& product) {
+  static DecisionTreeFactor Normalize(const DecisionTreeFactor& product) {
     // Max over all the potentials by pretending all keys are frontal:
     gttic_(DiscreteFindMax);
-    auto normalization = product->max(product->size());
+    auto normalization = product.max(product.size());
     gttoc_(DiscreteFindMax);
 
     gttic_(DiscreteNormalization);
     // Normalize the product factor to prevent underflow.
-    auto normalized_product = product->operator/(normalization);
+    auto normalized_product =
+        product /
+        (*std::dynamic_pointer_cast<DecisionTreeFactor>(normalization));
     gttoc_(DiscreteNormalization);
 
     return normalized_product;
@@ -140,7 +141,7 @@ namespace gtsam {
                   const Ordering& frontalKeys) {
     // PRODUCT: multiply all factors
     gttic_(MPEProduct);
-    DiscreteFactor::shared_ptr product = factors.product();
+    DecisionTreeFactor product = factors.product();
     gttoc_(MPEProduct);
 
     gttic_(Normalize);
@@ -151,23 +152,22 @@ namespace gtsam {
 
     // max out frontals, this is the factor on the separator
     gttic(max);
-    DiscreteFactor::shared_ptr max = product->max(frontalKeys);
+    DecisionTreeFactor::shared_ptr max =
+        std::dynamic_pointer_cast<DecisionTreeFactor>(product.max(frontalKeys));
     gttoc(max);
 
     // Ordering keys for the conditional so that frontalKeys are really in front
     DiscreteKeys orderedKeys;
     for (auto&& key : frontalKeys)
-      orderedKeys.emplace_back(key, product->cardinality(key));
+      orderedKeys.emplace_back(key, product.cardinality(key));
     for (auto&& key : max->keys())
-      orderedKeys.emplace_back(key, product->cardinality(key));
+      orderedKeys.emplace_back(key, product.cardinality(key));
 
     // Make lookup with product
     gttic(lookup);
     size_t nrFrontals = frontalKeys.size();
-    //TODO(Varun): Should accept a DiscreteFactor::shared_ptr
-    auto lookup = std::make_shared<DiscreteLookupTable>(
-        nrFrontals, orderedKeys,
-        *std::dynamic_pointer_cast<TableFactor>(product));
+    auto lookup =
+        std::make_shared<DiscreteLookupTable>(nrFrontals, orderedKeys, product);
     gttoc(lookup);
 
     return {std::dynamic_pointer_cast<DiscreteConditional>(lookup), max};
@@ -230,7 +230,7 @@ namespace gtsam {
                     const Ordering& frontalKeys) {
     // PRODUCT: multiply all factors
     gttic_(product);
-    DiscreteFactor::shared_ptr product = factors.product();
+    DecisionTreeFactor product = factors.product();
     gttoc_(product);
 
     gttic_(Normalize);
@@ -240,7 +240,8 @@ namespace gtsam {
 
     // sum out frontals, this is the factor on the separator
     gttic_(sum);
-    DiscreteFactor::shared_ptr sum = product->sum(frontalKeys);
+    DecisionTreeFactor::shared_ptr sum = std::dynamic_pointer_cast<DecisionTreeFactor>(
+        product.sum(frontalKeys));
     gttoc_(sum);
 
     // Ordering keys for the conditional so that frontalKeys are really in front