compiles

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};

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: ",