From 968b207135bede702bcedd1f6398642fcc7547f6 Mon Sep 17 00:00:00 2001
From: Frank dellaert <dellaert@gmail.com>
Date: Sun, 12 Jul 2020 14:59:43 -0400
Subject: [PATCH] added printSignature and evaluate

---
 gtsam/discrete/DiscreteBayesTree.cpp | 10 ++++
 gtsam/discrete/DiscreteBayesTree.h   | 85 ++++++++++++++++------------
 gtsam/discrete/DiscreteConditional.h |  9 +++
 gtsam/inference/Conditional.h        |  3 +-
 4 files changed, 71 insertions(+), 36 deletions(-)

diff --git a/gtsam/discrete/DiscreteBayesTree.cpp b/gtsam/discrete/DiscreteBayesTree.cpp
index 8fcc34e25..990d10dbe 100644
--- a/gtsam/discrete/DiscreteBayesTree.cpp
+++ b/gtsam/discrete/DiscreteBayesTree.cpp
@@ -45,6 +45,16 @@ namespace gtsam {
     return Base::equals(other, tol);
   }
 
+  /* ************************************************************************* */
+  double DiscreteBayesTree::evaluate(
+      const DiscreteConditional::Values& values) const {
+    double result = 1.0;
+    for (const auto& root : roots_) {
+      result *= root->evaluate(values);
+    }
+    return result;
+  }
+
 } // \namespace gtsam
 
 
diff --git a/gtsam/discrete/DiscreteBayesTree.h b/gtsam/discrete/DiscreteBayesTree.h
index aa8f4657c..3d6e016fd 100644
--- a/gtsam/discrete/DiscreteBayesTree.h
+++ b/gtsam/discrete/DiscreteBayesTree.h
@@ -11,7 +11,8 @@
 
 /**
  * @file    DiscreteBayesTree.h
- * @brief   Discrete Bayes Tree, the result of eliminating a DiscreteJunctionTree
+ * @brief   Discrete Bayes Tree, the result of eliminating a
+ * DiscreteJunctionTree
  * @brief   DiscreteBayesTree
  * @author  Frank Dellaert
  * @author  Richard Roberts
@@ -22,48 +23,62 @@
 #include <gtsam/discrete/DiscreteBayesNet.h>
 #include <gtsam/discrete/DiscreteFactorGraph.h>
 #include <gtsam/inference/BayesTree.h>
+#include <gtsam/inference/Conditional.h>
 #include <gtsam/inference/BayesTreeCliqueBase.h>
 
+#include <string>
+
 namespace gtsam {
 
-  // Forward declarations
-  class DiscreteConditional;
-  class VectorValues;
+// Forward declarations
+class DiscreteConditional;
+class VectorValues;
 
-  /* ************************************************************************* */
-  /** A clique in a DiscreteBayesTree */
-  class GTSAM_EXPORT DiscreteBayesTreeClique :
-    public BayesTreeCliqueBase<DiscreteBayesTreeClique, DiscreteFactorGraph>
-  {
-  public:
-    typedef DiscreteBayesTreeClique This;
-    typedef BayesTreeCliqueBase<DiscreteBayesTreeClique, DiscreteFactorGraph> Base;
-    typedef boost::shared_ptr<This> shared_ptr;
-    typedef boost::weak_ptr<This> weak_ptr;
-    DiscreteBayesTreeClique() {}
-    DiscreteBayesTreeClique(const boost::shared_ptr<DiscreteConditional>& conditional) : Base(conditional) {}
+/* ************************************************************************* */
+/** A clique in a DiscreteBayesTree */
+class GTSAM_EXPORT DiscreteBayesTreeClique
+    : public BayesTreeCliqueBase<DiscreteBayesTreeClique, DiscreteFactorGraph> {
+ public:
+  typedef DiscreteBayesTreeClique This;
+  typedef BayesTreeCliqueBase<DiscreteBayesTreeClique, DiscreteFactorGraph>
+      Base;
+  typedef boost::shared_ptr<This> shared_ptr;
+  typedef boost::weak_ptr<This> weak_ptr;
+  DiscreteBayesTreeClique() {}
+  DiscreteBayesTreeClique(
+      const boost::shared_ptr<DiscreteConditional>& conditional)
+      : Base(conditional) {}
 
-    //** evaluate conditional probability of subtree for given Values */
-    double evaluate(const DiscreteConditional::Values & values) const;
-  };
+  /// print index signature only
+  void printSignature(
+      const std::string& s = "Clique: ",
+      const KeyFormatter& formatter = DefaultKeyFormatter) const {
+    conditional_->printSignature(s, formatter);
+  }
 
-  /* ************************************************************************* */
-  /** A Bayes tree representing a Discrete density */
-  class GTSAM_EXPORT DiscreteBayesTree :
-    public BayesTree<DiscreteBayesTreeClique>
-  {
-  private:
-    typedef BayesTree<DiscreteBayesTreeClique> Base;
+  //** evaluate conditional probability of subtree for given Values */
+  double evaluate(const DiscreteConditional::Values& values) const;
+};
 
-  public:
-    typedef DiscreteBayesTree This;
-    typedef boost::shared_ptr<This> shared_ptr;
+/* ************************************************************************* */
+/** A Bayes tree representing a Discrete density */
+class GTSAM_EXPORT DiscreteBayesTree
+    : public BayesTree<DiscreteBayesTreeClique> {
+ private:
+  typedef BayesTree<DiscreteBayesTreeClique> Base;
 
-    /** Default constructor, creates an empty Bayes tree */
-    DiscreteBayesTree() {}
+ public:
+  typedef DiscreteBayesTree This;
+  typedef boost::shared_ptr<This> shared_ptr;
 
-    /** Check equality */
-    bool equals(const This& other, double tol = 1e-9) const;
-  };
+  /** Default constructor, creates an empty Bayes tree */
+  DiscreteBayesTree() {}
 
-}
+  /** Check equality */
+  bool equals(const This& other, double tol = 1e-9) const;
+
+  //** evaluate probability for given Values */
+  double evaluate(const DiscreteConditional::Values& values) const;
+};
+
+}  // namespace gtsam
diff --git a/gtsam/discrete/DiscreteConditional.h b/gtsam/discrete/DiscreteConditional.h
index 3da8d0a82..225e6e1d3 100644
--- a/gtsam/discrete/DiscreteConditional.h
+++ b/gtsam/discrete/DiscreteConditional.h
@@ -24,6 +24,8 @@
 #include <boost/shared_ptr.hpp>
 #include <boost/make_shared.hpp>
 
+#include <string>
+
 namespace gtsam {
 
 /**
@@ -92,6 +94,13 @@ public:
   /// @name Standard Interface
   /// @{
 
+  /// print index signature only
+  void printSignature(
+      const std::string& s = "Discrete Conditional: ",
+      const KeyFormatter& formatter = DefaultKeyFormatter) const {
+    static_cast<const BaseConditional*>(this)->print(s, formatter);
+  }
+
   /// Evaluate, just look up in AlgebraicDecisonTree
   virtual double operator()(const Values& values) const {
     return Potentials::operator()(values);
diff --git a/gtsam/inference/Conditional.h b/gtsam/inference/Conditional.h
index 1d486030c..295122879 100644
--- a/gtsam/inference/Conditional.h
+++ b/gtsam/inference/Conditional.h
@@ -65,6 +65,8 @@ namespace gtsam {
     Conditional(size_t nrFrontals) : nrFrontals_(nrFrontals) {}
 
     /// @}
+
+  public:
     /// @name Testable
     /// @{
 
@@ -76,7 +78,6 @@ namespace gtsam {
 
     /// @}
 
-  public:
     /// @name Standard Interface
     /// @{