add override methods to DiscreteTableConditional

gtsam/discrete/DiscreteTableConditional.cpp

@@ -151,6 +151,33 @@ TableFactor::shared_ptr DiscreteTableConditional::likelihood(
   throw std::runtime_error("Likelihood not implemented");
 }
 
+/* ****************************************************************************/
+DiscreteConditional::shared_ptr DiscreteTableConditional::max(
+    const Ordering& keys) const override {
+  auto m = *table_.max(keys);
+
+  return std::make_shared<DiscreteTableConditional>(m.discreteKeys().size(), m);
+}
+
+/* ****************************************************************************/
+void DiscreteTableConditional::setData(
+    const DiscreteConditional::shared_ptr& dc) override {
+  if (auto dtc = std::dynamic_pointer_cast<DiscreteTableConditional>(dc)) {
+    this->table_ = dtc->table_;
+  } else {
+    this->table_ = TableFactor(dc->discreteKeys(), *dc);
+  }
+}
+
+/* ****************************************************************************/
+DiscreteConditional::shared_ptr DiscreteTableConditional::prune(
+    size_t maxNrAssignments) const {
+  TableFactor pruned = table_.prune(maxNrAssignments);
+
+  return std::make_shared<DiscreteTableConditional>(
+      this->nrFrontals(), this->discreteKeys(), pruned.sparseTable());
+}
+
 /* ************************************************************************** */
 size_t DiscreteTableConditional::argmax(
     const DiscreteValues& parentsValues) const {

gtsam/discrete/DiscreteTableConditional.h

@@ -181,6 +181,16 @@ class GTSAM_EXPORT DiscreteTableConditional : public DiscreteConditional {
    */
   size_t argmax(const DiscreteValues& parentsValues = DiscreteValues()) const;
 
+  /**
+   * @brief Create new conditional by maximizing over all
+   * values with the same separator.
+   *
+   * @param keys The keys to sum over.
+   * @return DiscreteConditional::shared_ptr
+   */
+  virtual DiscreteConditional::shared_ptr max(
+      const Ordering& keys) const override;
+
   /// @}
   /// @name Advanced Interface
   /// @{
@@ -213,6 +223,13 @@ class GTSAM_EXPORT DiscreteTableConditional : public DiscreteConditional {
     return table_.evaluate(values);
   }
 
+  /// Set the underlying data from the DiscreteConditional
+  virtual void setData(const DiscreteConditional::shared_ptr& dc) override;
+
+  /// Prune the conditional
+  virtual DiscreteConditional::shared_ptr prune(
+      size_t maxNrAssignments) const override;
+
   /// @}
 
  private: