implement evaluate in DiscreteFactor

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);
     }

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());
 }
 
 /* ************************************************************************* */

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
 

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;

gtsam/discrete/TableFactor.h

@@ -169,13 +169,7 @@ class GTSAM_EXPORT TableFactor : public DiscreteFactor {
   // /// @name Standard Interface
   // /// @{
 
-  /// Calculate probability for given values,
+  /// Evaluate probability distribution, is just look up in TableFactor.
-  /// is just look up in TableFactor.
-  double evaluate(const Assignment<Key>& values) const override {
-    return operator()(values);
-  }
-
-  /// Evaluate probability distribution, sugar.
   double operator()(const Assignment<Key>& values) const override;
 
   /// Calculate error for DiscreteValues `x`, is -log(probability).