Added missing methods

gtsam/discrete/DiscreteBayesNet.cpp

@@ -33,6 +33,15 @@ bool DiscreteBayesNet::equals(const This& bn, double tol) const {
   return Base::equals(bn, tol);
 }
 
+/* ************************************************************************* */
+double DiscreteBayesNet::logProbability(const DiscreteValues& values) const {
+  // evaluate all conditionals and add
+  double result = 0.0;
+  for (const DiscreteConditional::shared_ptr& conditional : *this)
+    result += conditional->logProbability(values);
+  return result;
+}
+
 /* ************************************************************************* */
 double DiscreteBayesNet::evaluate(const DiscreteValues& values) const {
   // evaluate all conditionals and multiply

gtsam/discrete/DiscreteBayesNet.h

@@ -103,6 +103,9 @@ class GTSAM_EXPORT DiscreteBayesNet: public BayesNet<DiscreteConditional> {
       return evaluate(values);
     }
 
+    //** log(evaluate(values)) for given DiscreteValues */
+    double logProbability(const DiscreteValues & values) const;
+
     /**
      * @brief do ancestral sampling
      *
@@ -136,7 +139,15 @@ class GTSAM_EXPORT DiscreteBayesNet: public BayesNet<DiscreteConditional> {
     std::string html(const KeyFormatter& keyFormatter = DefaultKeyFormatter,
                      const DiscreteFactor::Names& names = {}) const;
 
-    ///@}
+    /// @}
+    /// @name HybridValues methods.
+    /// @{
+
+    using Base::error;     // Expose error(const HybridValues&) method..
+    using Base::evaluate;  // Expose evaluate(const HybridValues&) method..
+    using Base::logProbability;  // Expose logProbability(const HybridValues&)
+
+    /// @}
 
 #ifdef GTSAM_ALLOW_DEPRECATED_SINCE_V42
     /// @name Deprecated functionality

gtsam/discrete/DiscreteFactorGraph.h

@@ -222,6 +222,12 @@ class GTSAM_EXPORT DiscreteFactorGraph
   std::string html(const KeyFormatter& keyFormatter = DefaultKeyFormatter,
                    const DiscreteFactor::Names& names = {}) const;
 
+  /// @}
+  /// @name HybridValues methods.
+  /// @{
+
+  using Base::error;  // Expose error(const HybridValues&) method..
+
   /// @}
 };  // \ DiscreteFactorGraph
 

gtsam/discrete/tests/testDiscreteBayesNet.cpp

@@ -25,7 +25,6 @@
 
 #include <CppUnitLite/TestHarness.h>
 
-
 #include <iostream>
 #include <string>
 #include <vector>
@@ -101,6 +100,11 @@ TEST(DiscreteBayesNet, Asia) {
   DiscreteConditional expected2(Bronchitis % "11/9");
   EXPECT(assert_equal(expected2, *chordal->back()));
 
+  // Check evaluate and logProbability
+  auto result = chordal->optimize();
+  EXPECT_DOUBLES_EQUAL(asia.logProbability(result),
+                       std::log(asia.evaluate(result)), 1e-9);
+
   // add evidence, we were in Asia and we have dyspnea
   fg.add(Asia, "0 1");
   fg.add(Dyspnea, "0 1");