From e46e9d67c56a99e196de79853bde6b5f29c63a02 Mon Sep 17 00:00:00 2001
From: Varun Agrawal <varagrawal@gmail.com>
Date: Tue, 31 Dec 2024 00:20:09 -0500
Subject: [PATCH] use DiscreteTableConditional in EliminateDiscrete

---
 gtsam/discrete/DiscreteFactorGraph.cpp | 17 ++++++-----------
 1 file changed, 6 insertions(+), 11 deletions(-)

diff --git a/gtsam/discrete/DiscreteFactorGraph.cpp b/gtsam/discrete/DiscreteFactorGraph.cpp
index 68892b1a4..3fcdf7bc6 100644
--- a/gtsam/discrete/DiscreteFactorGraph.cpp
+++ b/gtsam/discrete/DiscreteFactorGraph.cpp
@@ -19,6 +19,7 @@
 
 #include <gtsam/discrete/DiscreteBayesTree.h>
 #include <gtsam/discrete/DiscreteConditional.h>
+#include <gtsam/discrete/DiscreteTableConditional.h>
 #include <gtsam/discrete/DiscreteEliminationTree.h>
 #include <gtsam/discrete/DiscreteFactorGraph.h>
 #include <gtsam/discrete/DiscreteJunctionTree.h>
@@ -70,8 +71,7 @@ namespace gtsam {
       if (factor) {
         if (auto f = std::dynamic_pointer_cast<TableFactor>(factor)) {
           result = result * (*f);
-        }
-        else if (auto dtf =
+        } else if (auto dtf =
                        std::dynamic_pointer_cast<DecisionTreeFactor>(factor)) {
           result = TableFactor(result * (*dtf));
         }
@@ -253,18 +253,13 @@ namespace gtsam {
                        sum->keys().end());
 
     // now divide product/sum to get conditional
-#if GTSAM_HYBRID_TIMING
-    gttic_(EliminateDiscreteDivide);
-#endif
-    auto c = product / (*sum);
-#if GTSAM_HYBRID_TIMING
-    gttoc_(EliminateDiscreteDivide);
-#endif
 #if GTSAM_HYBRID_TIMING
     gttic_(EliminateDiscreteToDiscreteConditional);
 #endif
-    auto conditional = std::make_shared<DiscreteConditional>(
-        orderedKeys.size(), c.toDecisionTreeFactor());
+    // auto conditional = std::make_shared<DiscreteConditional>(
+    //     orderedKeys.size(), (product / (*sum)).toDecisionTreeFactor());
+    auto conditional =
+        std::make_shared<DiscreteTableConditional>(product, *sum, orderedKeys);
 #if GTSAM_HYBRID_TIMING
     gttoc_(EliminateDiscreteToDiscreteConditional);
 #endif