From 1d7918841797e3e970587cbec1c60aeaafa21566 Mon Sep 17 00:00:00 2001
From: Varun Agrawal <varagrawal@gmail.com>
Date: Sat, 7 Dec 2024 19:40:20 -0500
Subject: [PATCH] compiles

---
 gtsam/discrete/DiscreteFactorGraph.cpp | 6 ++++--
 gtsam/discrete/DiscreteLookupDAG.h     | 7 +++++++
 2 files changed, 11 insertions(+), 2 deletions(-)

diff --git a/gtsam/discrete/DiscreteFactorGraph.cpp b/gtsam/discrete/DiscreteFactorGraph.cpp
index a4f92e267..c2a16159b 100644
--- a/gtsam/discrete/DiscreteFactorGraph.cpp
+++ b/gtsam/discrete/DiscreteFactorGraph.cpp
@@ -170,8 +170,10 @@ namespace gtsam {
     // Make lookup with product
     gttic(lookup);
     size_t nrFrontals = frontalKeys.size();
-    auto lookup = std::make_shared<DiscreteLookupTable>(nrFrontals,
-                                                          orderedKeys, product);
+    //TODO(Varun): Should accept a DiscreteFactor::shared_ptr
+    auto lookup = std::make_shared<DiscreteLookupTable>(
+        nrFrontals, orderedKeys,
+        *std::dynamic_pointer_cast<TableFactor>(product));
     gttoc(lookup);
 
     return {std::dynamic_pointer_cast<DiscreteConditional>(lookup), max};
diff --git a/gtsam/discrete/DiscreteLookupDAG.h b/gtsam/discrete/DiscreteLookupDAG.h
index f077a13d9..c811c4c49 100644
--- a/gtsam/discrete/DiscreteLookupDAG.h
+++ b/gtsam/discrete/DiscreteLookupDAG.h
@@ -18,6 +18,7 @@
 #pragma once
 
 #include <gtsam/discrete/DiscreteDistribution.h>
+#include <gtsam/discrete/TableFactor.h>
 #include <gtsam/inference/BayesNet.h>
 #include <gtsam/inference/FactorGraph.h>
 
@@ -54,6 +55,12 @@ class GTSAM_EXPORT DiscreteLookupTable : public DiscreteConditional {
                       const ADT& potentials)
       : DiscreteConditional(nFrontals, keys, potentials) {}
 
+  //TODO(Varun): Should accept a DiscreteFactor::shared_ptr
+  DiscreteLookupTable(size_t nFrontals, const DiscreteKeys& keys,
+                      const TableFactor& potentials)
+      : DiscreteConditional(nFrontals, keys,
+                            potentials.toDecisionTreeFactor()) {}
+
   /// GTSAM-style print
   void print(
       const std::string& s = "Discrete Lookup Table: ",