From 5913fd120d7b493ea02cc0563caf974d451c4c65 Mon Sep 17 00:00:00 2001
From: Varun Agrawal <varagrawal@gmail.com>
Date: Mon, 6 Jan 2025 21:06:22 -0500
Subject: [PATCH] updates to get things working

---
 gtsam/discrete/DiscreteConditional.h       | 2 +-
 gtsam/discrete/TableDistribution.cpp       | 3 ++-
 gtsam/discrete/TableDistribution.h         | 2 +-
 gtsam/hybrid/HybridGaussianFactorGraph.cpp | 4 ++--
 4 files changed, 6 insertions(+), 5 deletions(-)

diff --git a/gtsam/discrete/DiscreteConditional.h b/gtsam/discrete/DiscreteConditional.h
index 5a26c45e0..19cc3a798 100644
--- a/gtsam/discrete/DiscreteConditional.h
+++ b/gtsam/discrete/DiscreteConditional.h
@@ -221,7 +221,7 @@ class GTSAM_EXPORT DiscreteConditional
    * @param keys The keys to sum over.
    * @return DiscreteFactor::shared_ptr
    */
-  virtual DiscreteFactor::shared_ptr max(const Ordering& keys) const;
+  virtual DiscreteFactor::shared_ptr max(const Ordering& keys) const override;
 
   /// @}
   /// @name Advanced Interface
diff --git a/gtsam/discrete/TableDistribution.cpp b/gtsam/discrete/TableDistribution.cpp
index a7883571a..2a9c63d51 100644
--- a/gtsam/discrete/TableDistribution.cpp
+++ b/gtsam/discrete/TableDistribution.cpp
@@ -47,7 +47,8 @@ static Eigen::SparseVector<double> normalizeSparseTable(
 TableDistribution::TableDistribution(const TableFactor& f)
     : BaseConditional(f.keys().size(),
                       DecisionTreeFactor(f.discreteKeys(), ADT())),
-      table_(f / (*f.sum(f.keys().size()))) {}
+      table_(f / (*std::dynamic_pointer_cast<TableFactor>(
+                     f.sum(f.keys().size())))) {}
 
 /* ************************************************************************** */
 TableDistribution::TableDistribution(const DiscreteKeys& keys,
diff --git a/gtsam/discrete/TableDistribution.h b/gtsam/discrete/TableDistribution.h
index 39a1c481f..3aafdfda7 100644
--- a/gtsam/discrete/TableDistribution.h
+++ b/gtsam/discrete/TableDistribution.h
@@ -140,7 +140,7 @@ class GTSAM_EXPORT TableDistribution : public DiscreteConditional {
   }
 
   /// Get the number of non-zero values.
-  size_t nrValues() const { return table_.sparseTable().nonZeros(); }
+  uint64_t nrValues() const override { return table_.sparseTable().nonZeros(); }
 
   /// @}
 
diff --git a/gtsam/hybrid/HybridGaussianFactorGraph.cpp b/gtsam/hybrid/HybridGaussianFactorGraph.cpp
index 594aa5c40..d7813f1e5 100644
--- a/gtsam/hybrid/HybridGaussianFactorGraph.cpp
+++ b/gtsam/hybrid/HybridGaussianFactorGraph.cpp
@@ -284,7 +284,7 @@ TableFactor TableProduct(const DiscreteFactorGraph &factors) {
   // Max over all the potentials by pretending all keys are frontal:
   auto denominator = product.max(product.size());
   // Normalize the product factor to prevent underflow.
-  product = product / (*denominator);
+  product = product / *std::dynamic_pointer_cast<TableFactor>(denominator);
 #if GTSAM_HYBRID_TIMING
   gttoc_(DiscreteNormalize);
 #endif
@@ -367,7 +367,7 @@ discreteElimination(const HybridGaussianFactorGraph &factors,
     gttoc_(EliminateDiscreteFormDiscreteConditional);
 #endif
 
-    TableFactor::shared_ptr sum = product.sum(frontalKeys);
+    DiscreteFactor::shared_ptr sum = product.sum(frontalKeys);
 
     return {std::make_shared<HybridConditional>(conditional), sum};