From 9f88a360dfd54f1e00361344f24d9d2ef085b50f Mon Sep 17 00:00:00 2001
From: Varun Agrawal <varagrawal@gmail.com>
Date: Sat, 7 Dec 2024 18:29:13 -0500
Subject: [PATCH] make evaluate use the Assignment<Key> base class

---
 gtsam/discrete/DecisionTreeFactor.h | 4 ++--
 gtsam/discrete/DiscreteFactor.h     | 3 +++
 gtsam/discrete/TableFactor.cpp      | 2 +-
 gtsam/discrete/TableFactor.h        | 9 ++++++---
 4 files changed, 12 insertions(+), 6 deletions(-)

diff --git a/gtsam/discrete/DecisionTreeFactor.h b/gtsam/discrete/DecisionTreeFactor.h
index 642187ff1..bf0e23b50 100644
--- a/gtsam/discrete/DecisionTreeFactor.h
+++ b/gtsam/discrete/DecisionTreeFactor.h
@@ -129,9 +129,9 @@ namespace gtsam {
     /// @name Standard Interface
     /// @{
 
-    /// Calculate probability for given values `x`, 
+    /// Calculate probability for given values, 
     /// is just look up in AlgebraicDecisionTree.
-    double evaluate(const Assignment<Key>& values) const  {
+    double evaluate(const Assignment<Key>& values) const override {
       return ADT::operator()(values);
     }
 
diff --git a/gtsam/discrete/DiscreteFactor.h b/gtsam/discrete/DiscreteFactor.h
index 29984d795..23abf725e 100644
--- a/gtsam/discrete/DiscreteFactor.h
+++ b/gtsam/discrete/DiscreteFactor.h
@@ -129,6 +129,9 @@ class GTSAM_EXPORT DiscreteFactor : public Factor {
   virtual DiscreteFactor::shared_ptr operator/(
       const DiscreteFactor::shared_ptr& f) const = 0;
 
+  /// Calculate probability for given values
+  virtual double evaluate(const Assignment<Key>& values) const = 0;
+
   /**
    * Get the number of non-zero values contained in this factor.
    * It could be much smaller than `prod_{key}(cardinality(key))`.
diff --git a/gtsam/discrete/TableFactor.cpp b/gtsam/discrete/TableFactor.cpp
index a8adf0918..727c96ce4 100644
--- a/gtsam/discrete/TableFactor.cpp
+++ b/gtsam/discrete/TableFactor.cpp
@@ -135,7 +135,7 @@ bool TableFactor::equals(const DiscreteFactor& other, double tol) const {
 }
 
 /* ************************************************************************ */
-double TableFactor::operator()(const DiscreteValues& values) const {
+double TableFactor::operator()(const Assignment<Key>& values) const {
   // a b c d => D * (C * (B * (a) + b) + c) + d
   uint64_t idx = 0, card = 1;
   for (auto it = sorted_dkeys_.rbegin(); it != sorted_dkeys_.rend(); ++it) {
diff --git a/gtsam/discrete/TableFactor.h b/gtsam/discrete/TableFactor.h
index 12266b2a5..ea222ca5c 100644
--- a/gtsam/discrete/TableFactor.h
+++ b/gtsam/discrete/TableFactor.h
@@ -169,14 +169,17 @@ class GTSAM_EXPORT TableFactor : public DiscreteFactor {
   // /// @name Standard Interface
   // /// @{
 
-  /// Calculate probability for given values `x`,
+  /// Calculate probability for given values,
   /// is just look up in TableFactor.
-  double evaluate(const DiscreteValues& values) const {
+  double evaluate(const Assignment<Key>& values) const override {
     return operator()(values);
   }
 
   /// Evaluate probability distribution, sugar.
-  double operator()(const DiscreteValues& values) const override;
+  double operator()(const Assignment<Key>& values) const;
+  double operator()(const DiscreteValues& values) const override {
+    return operator()(Assignment<Key>(values));
+  }
 
   /// Calculate error for DiscreteValues `x`, is -log(probability).
   double error(const DiscreteValues& values) const override;