add evaluate and getter

gtsam/discrete/DiscreteConditional.cpp

@@ -488,6 +488,20 @@ void DiscreteConditional::setData(const DiscreteConditional::shared_ptr& dc) {
   this->root_ = dc->root_;
 }
 
+/* ************************************************************************* */
+DiscreteConditional::shared_ptr DiscreteConditional::max(
+    const Ordering& keys) const {
+  auto m = *BaseFactor::max(keys);
+  return std::make_shared<DiscreteConditional>(m.discreteKeys().size(), m);
+}
+
+/* ************************************************************************* */
+DiscreteConditional::shared_ptr DiscreteConditional::prune(
+    size_t maxNrAssignments) const {
+  return std::make_shared<DiscreteConditional>(
+      this->nrFrontals(), BaseFactor::prune(maxNrAssignments));
+}
+
 /* ************************************************************************* */
 double DiscreteConditional::negLogConstant() const { return 0.0; }
 

gtsam/discrete/DiscreteConditional.h

@@ -214,6 +214,15 @@ class GTSAM_EXPORT DiscreteConditional
    */
   size_t argmax(const DiscreteValues& parentsValues = DiscreteValues()) const;
 
+  /**
+   * @brief Create new conditional by maximizing over all
+   * values with the same separator.
+   *
+   * @param keys The keys to sum over.
+   * @return DiscreteConditional::shared_ptr
+   */
+  virtual DiscreteConditional::shared_ptr max(const Ordering& keys) const;
+
   /// @}
   /// @name Advanced Interface
   /// @{
@@ -273,6 +282,9 @@ class GTSAM_EXPORT DiscreteConditional
   /// Set the data from another DiscreteConditional.
   virtual void setData(const DiscreteConditional::shared_ptr& dc);
 
+  /// Prune the conditional
+  virtual DiscreteConditional::shared_ptr prune(size_t maxNrAssignments) const;
+
   /// @}
 
  protected:

gtsam/discrete/DiscreteTableConditional.h

@@ -205,6 +205,14 @@ class GTSAM_EXPORT DiscreteTableConditional : public DiscreteConditional {
     return -error(x);
   }
 
+  /// Return the underlying TableFactor
+  TableFactor table() const { return table_; }
+
+  /// Evaluate the conditional given the values.
+  virtual double evaluate(const Assignment<Key>& values) const override {
+    return table_.evaluate(values);
+  }
+
   /// @}
 
  private: