undo TableFactor changes

gtsam/discrete/TableFactor.cpp

@@ -56,45 +56,9 @@ TableFactor::TableFactor(const DiscreteKeys& dkeys,
   sort(sorted_dkeys_.begin(), sorted_dkeys_.end());
 }
 
-/* ************************************************************************ */
-TableFactor::TableFactor(const DiscreteKeys& dkeys,
-                         const DecisionTree<Key, double>& dtree)
-    : TableFactor(dkeys, DecisionTreeFactor(dkeys, dtree)) {}
-
-/**
- * @brief Compute the correct ordering of the leaves in the decision tree.
- *
- * This is done by first taking all the values which have modulo 0 value with
- * the cardinality of the innermost key `n`, and we go up to modulo n.
- *
- * @param dt The DecisionTree
- * @return std::vector<double>
- */
-std::vector<double> ComputeLeafOrdering(const DiscreteKeys& dkeys,
-                                        const DecisionTreeFactor& dt) {
-  std::vector<double> probs = dt.probabilities();
-  std::vector<double> ordered;
-
-  size_t n = dkeys[0].second;
-
-  for (size_t k = 0; k < n; ++k) {
-    for (size_t idx = 0; idx < probs.size(); ++idx) {
-      if (idx % n == k) {
-        ordered.push_back(probs[idx]);
-      }
-    }
-  }
-  return ordered;
-}
-
-/* ************************************************************************ */
-TableFactor::TableFactor(const DiscreteKeys& dkeys,
-                         const DecisionTreeFactor& dtf)
-    : TableFactor(dkeys, ComputeLeafOrdering(dkeys, dtf)) {}
-
 /* ************************************************************************ */
 TableFactor::TableFactor(const DiscreteConditional& c)
-    : TableFactor(c.discreteKeys(), c) {}
+    : TableFactor(c.discreteKeys(), c.probabilities()) {}
 
 /* ************************************************************************ */
 Eigen::SparseVector<double> TableFactor::Convert(

gtsam/discrete/TableFactor.h

@@ -144,12 +144,6 @@ class GTSAM_EXPORT TableFactor : public DiscreteFactor {
   TableFactor(const DiscreteKey& key, const std::vector<double>& row)
       : TableFactor(DiscreteKeys{key}, row) {}
 
-  /// Constructor from DecisionTreeFactor
-  TableFactor(const DiscreteKeys& keys, const DecisionTreeFactor& dtf);
-
-  /// Constructor from DecisionTree<Key, double>/AlgebraicDecisionTree
-  TableFactor(const DiscreteKeys& keys, const DecisionTree<Key, double>& dtree);
-
   /** Construct from a DiscreteConditional type */
   explicit TableFactor(const DiscreteConditional& c);
 
@@ -181,7 +175,7 @@ class GTSAM_EXPORT TableFactor : public DiscreteFactor {
   /// Calculate error for DiscreteValues `x`, is -log(probability).
   double error(const DiscreteValues& values) const;
 
-  /// multiply two TableFactors
+  /// multiple two TableFactors
   TableFactor operator*(const TableFactor& f) const {
     return apply(f, Ring::mul);
   };

gtsam/discrete/tests/testTableFactor.cpp

@@ -132,16 +132,6 @@ TEST(TableFactor, constructors) {
   // Manually constructed via inspection and comparison to DecisionTreeFactor
   TableFactor expected(X & Y, "0.5 0.4 0.2 0.5 0.6 0.8");
   EXPECT(assert_equal(expected, f4));
-
-  // Test for 9=3x3 values.
-  DiscreteKey V(0, 3), W(1, 3);
-  DiscreteConditional conditional5(V | W = "1/2/3 5/6/7 9/10/11");
-  TableFactor f5(conditional5);
-  // GTSAM_PRINT(f5);
-  TableFactor expected_f5(
-      X & Y,
-      "0.166667 0.277778 0.3 0.333333 0.333333 0.333333 0.5 0.388889 0.366667");
-  EXPECT(assert_equal(expected_f5, f5, 1e-6));
 }
 
 /* ************************************************************************* */