From 1f5e924eac4d4beb3e5a380cd423684855f195c7 Mon Sep 17 00:00:00 2001
From: Frank Dellaert <dellaert@gmail.com>
Date: Mon, 5 Jun 2023 15:17:05 -0700
Subject: [PATCH] cartesianProduct

---
 gtsam/discrete/DiscreteValues.h | 5 +++++
 gtsam/discrete/discrete.i       | 2 ++
 2 files changed, 7 insertions(+)

diff --git a/gtsam/discrete/DiscreteValues.h b/gtsam/discrete/DiscreteValues.h
index 8a6d6f930..9ec08302b 100644
--- a/gtsam/discrete/DiscreteValues.h
+++ b/gtsam/discrete/DiscreteValues.h
@@ -120,6 +120,11 @@ class GTSAM_EXPORT DiscreteValues : public Assignment<Key> {
   /// @}
 };
 
+/// Free version of CartesianProduct.
+inline std::vector<DiscreteValues> cartesianProduct(const DiscreteKeys& keys) {
+  return DiscreteValues::CartesianProduct(keys);
+}
+
 /// Free version of markdown.
 std::string markdown(const DiscreteValues& values,
                      const KeyFormatter& keyFormatter = DefaultKeyFormatter,
diff --git a/gtsam/discrete/discrete.i b/gtsam/discrete/discrete.i
index 6df443300..158dc9016 100644
--- a/gtsam/discrete/discrete.i
+++ b/gtsam/discrete/discrete.i
@@ -17,6 +17,8 @@ class DiscreteKeys {
 };
 
 // DiscreteValues is added in specializations/discrete.h as a std::map
+std::vector<gtsam::DiscreteValues> cartesianProduct(
+    const gtsam::DiscreteKeys& keys);
 string markdown(
     const gtsam::DiscreteValues& values,
     const gtsam::KeyFormatter& keyFormatter = gtsam::DefaultKeyFormatter);