From f9b14893c86fdde1dc870b9e2d20e50390b71633 Mon Sep 17 00:00:00 2001
From: Frank Dellaert <dellaert@gmail.com>
Date: Fri, 21 Jan 2022 18:10:47 -0500
Subject: [PATCH] moved argmax to conditional

---
 gtsam/discrete/DiscreteConditional.cpp  | 20 ++++++++++++++++++++
 gtsam/discrete/DiscreteConditional.h    |  6 ++++++
 gtsam/discrete/DiscreteDistribution.cpp | 17 -----------------
 gtsam/discrete/DiscreteDistribution.h   | 12 ------------
 4 files changed, 26 insertions(+), 29 deletions(-)

diff --git a/gtsam/discrete/DiscreteConditional.cpp b/gtsam/discrete/DiscreteConditional.cpp
index 9a4897b72..06b2856f8 100644
--- a/gtsam/discrete/DiscreteConditional.cpp
+++ b/gtsam/discrete/DiscreteConditional.cpp
@@ -286,6 +286,26 @@ size_t DiscreteConditional::solve(const DiscreteValues& parentsValues) const {
 }
 #endif
 
+/* ************************************************************************** */
+size_t DiscreteConditional::argmax() const {
+  size_t maxValue = 0;
+  double maxP = 0;
+  assert(nrFrontals() == 1);
+  assert(nrParents() == 0);
+  DiscreteValues frontals;
+  Key j = firstFrontalKey();
+  for (size_t value = 0; value < cardinality(j); value++) {
+    frontals[j] = value;
+    double pValueS = (*this)(frontals);
+    // Update MPE solution if better
+    if (pValueS > maxP) {
+      maxP = pValueS;
+      maxValue = value;
+    }
+  }
+  return maxValue;
+}
+
 /* ************************************************************************** */
 void DiscreteConditional::sampleInPlace(DiscreteValues* values) const {
   assert(nrFrontals() == 1);
diff --git a/gtsam/discrete/DiscreteConditional.h b/gtsam/discrete/DiscreteConditional.h
index af05e932b..48d94a383 100644
--- a/gtsam/discrete/DiscreteConditional.h
+++ b/gtsam/discrete/DiscreteConditional.h
@@ -192,6 +192,12 @@ class GTSAM_EXPORT DiscreteConditional
   /// Zero parent version.
   size_t sample() const;
 
+  /**
+   * @brief Return assignment that maximizes distribution.
+   * @return Optimal assignment (1 frontal variable).
+   */
+  size_t argmax() const;
+
   /// @}
   /// @name Advanced Interface
   /// @{
diff --git a/gtsam/discrete/DiscreteDistribution.cpp b/gtsam/discrete/DiscreteDistribution.cpp
index 5f6fba6a2..739771470 100644
--- a/gtsam/discrete/DiscreteDistribution.cpp
+++ b/gtsam/discrete/DiscreteDistribution.cpp
@@ -49,21 +49,4 @@ std::vector<double> DiscreteDistribution::pmf() const {
   return array;
 }
 
-/* ************************************************************************** */
-size_t DiscreteDistribution::argmax() const {
-  size_t maxValue = 0;
-  double maxP = 0;
-  assert(nrFrontals() == 1);
-  Key j = firstFrontalKey();
-  for (size_t value = 0; value < cardinality(j); value++) {
-    double pValueS = (*this)(value);
-    // Update MPE solution if better
-    if (pValueS > maxP) {
-      maxP = pValueS;
-      maxValue = value;
-    }
-  }
-  return maxValue;
-}
-
 }  // namespace gtsam
diff --git a/gtsam/discrete/DiscreteDistribution.h b/gtsam/discrete/DiscreteDistribution.h
index 8dcc75733..c5147dbc1 100644
--- a/gtsam/discrete/DiscreteDistribution.h
+++ b/gtsam/discrete/DiscreteDistribution.h
@@ -90,18 +90,6 @@ class GTSAM_EXPORT DiscreteDistribution : public DiscreteConditional {
   /// Return entire probability mass function.
   std::vector<double> pmf() const;
 
-  /**
-   * @brief Return assignment that maximizes distribution.
-   * @return Optimal assignment (1 frontal variable).
-   */
-  size_t argmax() const;
-
-  /**
-   * sample
-   * @return sample from conditional
-   */
-  size_t sample() const { return Base::sample(); }
-
   /// @}
 #ifdef GTSAM_ALLOW_DEPRECATED_SINCE_V42
   /// @name Deprecated functionality