From 4d62b87e3536b97fb86a5994ed793ba20a07e18b Mon Sep 17 00:00:00 2001
From: Varun Agrawal <varagrawal@gmail.com>
Date: Sun, 21 Jul 2024 11:44:21 -0400
Subject: [PATCH] kill DiscreteConditional::argmaxInPlace

---
 gtsam/discrete/DiscreteConditional.cpp | 27 --------------------------
 gtsam/discrete/DiscreteConditional.h   |  6 ------
 2 files changed, 33 deletions(-)

diff --git a/gtsam/discrete/DiscreteConditional.cpp b/gtsam/discrete/DiscreteConditional.cpp
index ec17e22f6..9cf19638c 100644
--- a/gtsam/discrete/DiscreteConditional.cpp
+++ b/gtsam/discrete/DiscreteConditional.cpp
@@ -257,33 +257,6 @@ size_t DiscreteConditional::argmax(const DiscreteValues& parentsValues) const {
   return maxValue;
 }
 
-/* ************************************************************************** */
-void DiscreteConditional::argmaxInPlace(DiscreteValues* values) const {
-  ADT pFS = choose(*values, true);  // P(F|S=parentsValues)
-
-  // Initialize
-  DiscreteValues mpe;
-  double maxP = 0;
-
-  // Get all Possible Configurations
-  const auto allPosbValues = frontalAssignments();
-
-  // Find the maximum
-  for (const auto& frontalVals : allPosbValues) {
-    double pValueS = pFS(frontalVals);  // P(F=value|S=parentsValues)
-    // Update maximum solution if better
-    if (pValueS > maxP) {
-      maxP = pValueS;
-      mpe = frontalVals;
-    }
-  }
-
-  // set values (inPlace) to maximum
-  for (Key j : frontals()) {
-    (*values)[j] = mpe[j];
-  }
-}
-
 /* ************************************************************************** */
 void DiscreteConditional::sampleInPlace(DiscreteValues* values) const {
   assert(nrFrontals() == 1);
diff --git a/gtsam/discrete/DiscreteConditional.h b/gtsam/discrete/DiscreteConditional.h
index eda838e91..4c7af1489 100644
--- a/gtsam/discrete/DiscreteConditional.h
+++ b/gtsam/discrete/DiscreteConditional.h
@@ -218,12 +218,6 @@ class GTSAM_EXPORT DiscreteConditional
    */
   size_t argmax(const DiscreteValues& parentsValues = DiscreteValues()) const;
 
-  /**
-   * @brief Calculate assignment for frontal variables that maximizes value.
-   * @param (in/out) parentsValues Known assignments for the parents.
-   */
-  void argmaxInPlace(DiscreteValues* parentsValues) const;
-
   /// @}
   /// @name Advanced Interface
   /// @{