From 77578512f80600d27f25cdfeb0c22526e64ce7b9 Mon Sep 17 00:00:00 2001
From: Varun Agrawal <varagrawal@gmail.com>
Date: Sat, 7 Dec 2024 21:45:22 -0500
Subject: [PATCH] timing

---
 gtsam/discrete/DiscreteFactorGraph.cpp | 11 +++++------
 gtsam/discrete/DiscreteLookupDAG.h     | 10 +++++++++-
 2 files changed, 14 insertions(+), 7 deletions(-)

diff --git a/gtsam/discrete/DiscreteFactorGraph.cpp b/gtsam/discrete/DiscreteFactorGraph.cpp
index c2a16159b..fa9d9bdc7 100644
--- a/gtsam/discrete/DiscreteFactorGraph.cpp
+++ b/gtsam/discrete/DiscreteFactorGraph.cpp
@@ -22,7 +22,6 @@
 #include <gtsam/discrete/DiscreteFactorGraph.h>
 #include <gtsam/discrete/DiscreteJunctionTree.h>
 #include <gtsam/discrete/DiscreteLookupDAG.h>
-#include <gtsam/discrete/TableFactor.h>
 #include <gtsam/inference/EliminateableFactorGraph-inst.h>
 #include <gtsam/inference/FactorGraph-inst.h>
 
@@ -127,14 +126,14 @@ namespace gtsam {
   static DiscreteFactor::shared_ptr Normalize(
       const DiscreteFactor::shared_ptr& product) {
     // Max over all the potentials by pretending all keys are frontal:
-    gttic(DiscreteFindMax);
+    gttic_(DiscreteFindMax);
     auto normalization = product->max(product->size());
-    gttoc(DiscreteFindMax);
+    gttoc_(DiscreteFindMax);
 
-    gttic(DiscreteNormalization);
+    gttic_(DiscreteNormalization);
     // Normalize the product factor to prevent underflow.
     auto normalized_product = product->operator/(normalization);
-    gttoc(DiscreteNormalization);
+    gttoc_(DiscreteNormalization);
 
     return normalized_product;
   }
@@ -260,7 +259,7 @@ namespace gtsam {
     gttic_(divide);
     auto conditional =
         std::make_shared<DiscreteConditional>(product, sum, orderedKeys);
-    gttoc(divide);
+    gttoc_(divide);
 
     return {conditional, sum};
   }
diff --git a/gtsam/discrete/DiscreteLookupDAG.h b/gtsam/discrete/DiscreteLookupDAG.h
index c811c4c49..21181d374 100644
--- a/gtsam/discrete/DiscreteLookupDAG.h
+++ b/gtsam/discrete/DiscreteLookupDAG.h
@@ -55,7 +55,15 @@ class GTSAM_EXPORT DiscreteLookupTable : public DiscreteConditional {
                       const ADT& potentials)
       : DiscreteConditional(nFrontals, keys, potentials) {}
 
-  //TODO(Varun): Should accept a DiscreteFactor::shared_ptr
+  /**
+   * @brief Construct a new Discrete Lookup Table object
+   *
+   * @param nFrontals number of frontal variables
+   * @param keys a sorted list of gtsam::Keys
+   * @param potentials Discrete potentials as a TableFactor.
+   *
+   * //TODO(Varun): Should accept a DiscreteFactor::shared_ptr
+   */
   DiscreteLookupTable(size_t nFrontals, const DiscreteKeys& keys,
                       const TableFactor& potentials)
       : DiscreteConditional(nFrontals, keys,