Merge branch 'discrete-multiply' into discrete-elimination-refactor

gtsam/discrete/DecisionTreeFactor.cpp

@@ -70,6 +70,9 @@ namespace gtsam {
       result = std::make_shared<TableFactor>((*tf) * TableFactor(*this));
     } else if (auto dtf = std::dynamic_pointer_cast<DecisionTreeFactor>(f)) {
       result = std::make_shared<DecisionTreeFactor>(this->operator*(*dtf));
+    } else {
+      // Simulate double dispatch in C++
+      result = std::make_shared<DecisionTreeFactor>(f->operator*(*this));
     }
     return result;
   }

gtsam/discrete/DiscreteFactorGraph.cpp

@@ -65,11 +65,18 @@ namespace gtsam {
 
   /* ************************************************************************ */
   DecisionTreeFactor DiscreteFactorGraph::product() const {
-    DecisionTreeFactor result;
+    DiscreteFactor::shared_ptr result;
-    for (const sharedFactor& factor : *this) {
+    for (auto it = this->begin(); it != this->end(); ++it) {
-      if (factor) result = (*factor) * result;
+      if (*it) {
+        if (result) {
+          result = result->multiply(*it);
+        } else {
+          // Assign to the first non-null factor
+          result = *it;
+        }
+      }
     }
-    return result;
+    return result->toDecisionTreeFactor();
   }
 
   /* ************************************************************************ */

gtsam/discrete/TableFactor.cpp

@@ -256,12 +256,16 @@ DecisionTreeFactor TableFactor::operator*(const DecisionTreeFactor& f) const {
 
 /* ************************************************************************ */
 DiscreteFactor::shared_ptr TableFactor::multiply(
-    const DiscreteFactor::shared_ptr& f) const override {
+    const DiscreteFactor::shared_ptr& f) const {
   DiscreteFactor::shared_ptr result;
   if (auto tf = std::dynamic_pointer_cast<TableFactor>(f)) {
     result = std::make_shared<TableFactor>(this->operator*(*tf));
   } else if (auto dtf = std::dynamic_pointer_cast<DecisionTreeFactor>(f)) {
     result = std::make_shared<TableFactor>(this->operator*(TableFactor(*dtf)));
+  } else {
+    // Simulate double dispatch in C++
+    result = std::make_shared<DecisionTreeFactor>(
+        f->operator*(this->toDecisionTreeFactor()));
   }
   return result;
 }

gtsam_unstable/discrete/AllDiff.h

@@ -53,6 +53,13 @@ class GTSAM_UNSTABLE_EXPORT AllDiff : public Constraint {
   /// Multiply into a decisiontree
   DecisionTreeFactor operator*(const DecisionTreeFactor& f) const override;
 
+  /// Multiply factors, DiscreteFactor::shared_ptr edition
+  DiscreteFactor::shared_ptr multiply(
+      const DiscreteFactor::shared_ptr& df) const override {
+    return std::make_shared<DecisionTreeFactor>(
+        this->operator*(df->toDecisionTreeFactor()));
+  }
+
   /// Compute error for each assignment and return as a tree
   AlgebraicDecisionTree<Key> errorTree() const override {
     throw std::runtime_error("AllDiff::error not implemented");

gtsam_unstable/discrete/BinaryAllDiff.h

@@ -69,6 +69,13 @@ class BinaryAllDiff : public Constraint {
     return toDecisionTreeFactor() * f;
   }
 
+  /// Multiply factors, DiscreteFactor::shared_ptr edition
+  DiscreteFactor::shared_ptr multiply(
+      const DiscreteFactor::shared_ptr& df) const override {
+    return std::make_shared<DecisionTreeFactor>(
+        this->operator*(df->toDecisionTreeFactor()));
+  }
+
   /*
    * Ensure Arc-consistency by checking every possible value of domain j.
    * @param j domain to be checked

gtsam_unstable/discrete/Domain.h

@@ -90,6 +90,13 @@ class GTSAM_UNSTABLE_EXPORT Domain : public Constraint {
   /// Multiply into a decisiontree
   DecisionTreeFactor operator*(const DecisionTreeFactor& f) const override;
 
+  /// Multiply factors, DiscreteFactor::shared_ptr edition
+  DiscreteFactor::shared_ptr multiply(
+      const DiscreteFactor::shared_ptr& df) const override {
+    return std::make_shared<DecisionTreeFactor>(
+        this->operator*(df->toDecisionTreeFactor()));
+  }
+
   /*
    * Ensure Arc-consistency by checking every possible value of domain j.
    * @param j domain to be checked

gtsam_unstable/discrete/SingleValue.h

@@ -63,6 +63,13 @@ class GTSAM_UNSTABLE_EXPORT SingleValue : public Constraint {
   /// Multiply into a decisiontree
   DecisionTreeFactor operator*(const DecisionTreeFactor& f) const override;
 
+  /// Multiply factors, DiscreteFactor::shared_ptr edition
+  DiscreteFactor::shared_ptr multiply(
+      const DiscreteFactor::shared_ptr& df) const override {
+    return std::make_shared<DecisionTreeFactor>(
+        this->operator*(df->toDecisionTreeFactor()));
+  }
+
   /*
    * Ensure Arc-consistency: just sets domain[j] to {value_}.
    * @param j domain to be checked