Expose all needed versions of evaluate, operator(), error

gtsam/discrete/DiscreteConditional.cpp

@@ -20,7 +20,7 @@
 #include <gtsam/base/debug.h>
 #include <gtsam/discrete/DiscreteConditional.h>
 #include <gtsam/discrete/Signature.h>
-#include <gtsam/inference/Conditional-inst.h>
+#include <gtsam/hybrid/HybridValues.h>
 
 #include <algorithm>
 #include <boost/make_shared.hpp>
@@ -510,6 +510,10 @@ string DiscreteConditional::html(const KeyFormatter& keyFormatter,
   return ss.str();
 }
 
+/* ************************************************************************* */
+double DiscreteConditional::evaluate(const HybridValues& x) const{
+  return this->evaluate(x.discrete());
+}
 /* ************************************************************************* */
 
 }  // namespace gtsam

gtsam/discrete/DiscreteConditional.h

@@ -160,10 +160,13 @@ class GTSAM_EXPORT DiscreteConditional
   }
 
   /// Evaluate, just look up in AlgebraicDecisonTree
-  double operator()(const DiscreteValues& values) const override {
+  double evaluate(const DiscreteValues& values) const {
     return ADT::operator()(values);
   }
 
+  using DecisionTreeFactor::error;       ///< DiscreteValues version
+  using DecisionTreeFactor::operator();  ///< DiscreteValues version
+
   /**
    * @brief restrict to given *parent* values.
    *
@@ -235,6 +238,14 @@ class GTSAM_EXPORT DiscreteConditional
   /// @name HybridValues methods.
   /// @{
 
+  /**
+   * Calculate probability for HybridValues `x`.
+   * Dispatches to DiscreteValues version.
+   */
+  double evaluate(const HybridValues& x) const override;
+
+  using BaseConditional::operator();  ///< HybridValues version
+
   /**
    * Calculate log-probability log(evaluate(x)) for HybridValues `x`.
    * This is actually just -error(x).
@@ -243,9 +254,6 @@ class GTSAM_EXPORT DiscreteConditional
     return -error(x);
   }
 
-  using DecisionTreeFactor::error;     ///< HybridValues version
-  using DecisionTreeFactor::evaluate;  ///< HybridValues version
-
   /// @}
 
 #ifdef GTSAM_ALLOW_DEPRECATED_SINCE_V42