From aa25ccfa6ecbaef12e549b3e0ac6a09d5c2d30de Mon Sep 17 00:00:00 2001
From: Varun Agrawal <varagrawal@gmail.com>
Date: Sun, 8 Dec 2024 11:15:57 -0500
Subject: [PATCH] implement evaluate in DiscreteFactor

---
 gtsam/discrete/DecisionTreeFactor.h    |  5 -----
 gtsam/discrete/DiscreteConditional.cpp |  2 +-
 gtsam/discrete/DiscreteConditional.h   |  5 -----
 gtsam/discrete/DiscreteFactor.h        | 14 ++++++++++++--
 gtsam/discrete/TableFactor.h           |  8 +-------
 5 files changed, 14 insertions(+), 20 deletions(-)

diff --git a/gtsam/discrete/DecisionTreeFactor.h b/gtsam/discrete/DecisionTreeFactor.h
index f8f2835e5..85491b909 100644
--- a/gtsam/discrete/DecisionTreeFactor.h
+++ b/gtsam/discrete/DecisionTreeFactor.h
@@ -131,11 +131,6 @@ namespace gtsam {
 
     /// Calculate probability for given values, 
     /// is just look up in AlgebraicDecisionTree.
-    double evaluate(const Assignment<Key>& values) const override {
-      return ADT::operator()(values);
-    }
-
-    /// Evaluate probability distribution, sugar.
     double operator()(const Assignment<Key>& values) const override {
       return ADT::operator()(values);
     }
diff --git a/gtsam/discrete/DiscreteConditional.cpp b/gtsam/discrete/DiscreteConditional.cpp
index 048f35e5b..c90f7f9a0 100644
--- a/gtsam/discrete/DiscreteConditional.cpp
+++ b/gtsam/discrete/DiscreteConditional.cpp
@@ -476,7 +476,7 @@ string DiscreteConditional::html(const KeyFormatter& keyFormatter,
 
 /* ************************************************************************* */
 double DiscreteConditional::evaluate(const HybridValues& x) const {
-  return this->evaluate(x.discrete());
+  return this->operator()(x.discrete());
 }
 
 /* ************************************************************************* */
diff --git a/gtsam/discrete/DiscreteConditional.h b/gtsam/discrete/DiscreteConditional.h
index 77003f232..29292f57e 100644
--- a/gtsam/discrete/DiscreteConditional.h
+++ b/gtsam/discrete/DiscreteConditional.h
@@ -168,11 +168,6 @@ class GTSAM_EXPORT DiscreteConditional
     static_cast<const BaseConditional*>(this)->print(s, formatter);
   }
 
-  /// Evaluate, just look up in AlgebraicDecisionTree
-  double evaluate(const Assignment<Key>& values) const override {
-    return ADT::operator()(values);
-  }
-
   using DecisionTreeFactor::error;       ///< DiscreteValues version
   using DecisionTreeFactor::operator();  ///< DiscreteValues version
 
diff --git a/gtsam/discrete/DiscreteFactor.h b/gtsam/discrete/DiscreteFactor.h
index 3151afe80..5b4665d4d 100644
--- a/gtsam/discrete/DiscreteFactor.h
+++ b/gtsam/discrete/DiscreteFactor.h
@@ -93,8 +93,18 @@ class GTSAM_EXPORT DiscreteFactor : public Factor {
 
   size_t cardinality(Key j) const { return cardinalities_.at(j); }
 
-  /// Calculate probability for given values
-  virtual double evaluate(const Assignment<Key>& values) const = 0;
+  /**
+   * @brief Calculate probability for given values.
+   * Calls specialized evaluation under the hood.
+   *
+   * Note: Uses Assignment<Key> as it is the base class of DiscreteValues.
+   *
+   * @param values Discrete assignment.
+   * @return double
+   */
+  double evaluate(const Assignment<Key>& values) const {
+    return operator()(values);
+  }
 
   /// Find value for given assignment of values to variables
   virtual double operator()(const Assignment<Key>& values) const = 0;
diff --git a/gtsam/discrete/TableFactor.h b/gtsam/discrete/TableFactor.h
index 47a7c6bbb..d8df12821 100644
--- a/gtsam/discrete/TableFactor.h
+++ b/gtsam/discrete/TableFactor.h
@@ -169,13 +169,7 @@ class GTSAM_EXPORT TableFactor : public DiscreteFactor {
   // /// @name Standard Interface
   // /// @{
 
-  /// Calculate probability for given values,
-  /// is just look up in TableFactor.
-  double evaluate(const Assignment<Key>& values) const override {
-    return operator()(values);
-  }
-
-  /// Evaluate probability distribution, sugar.
+  /// Evaluate probability distribution, is just look up in TableFactor.
   double operator()(const Assignment<Key>& values) const override;
 
   /// Calculate error for DiscreteValues `x`, is -log(probability).