moved argmax to conditional

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);

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
   /// @{

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

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