From 6f19ffd96673edfac3f5faa227de6c8e0d225230 Mon Sep 17 00:00:00 2001
From: Varun Agrawal <varagrawal@gmail.com>
Date: Wed, 1 Jan 2025 15:10:53 -0500
Subject: [PATCH] fixed maxProduct

---
 gtsam/hybrid/HybridBayesNet.cpp                      | 3 +--
 gtsam/hybrid/tests/testHybridGaussianFactorGraph.cpp | 9 +++++----
 2 files changed, 6 insertions(+), 6 deletions(-)

diff --git a/gtsam/hybrid/HybridBayesNet.cpp b/gtsam/hybrid/HybridBayesNet.cpp
index 66e4011dc..aa2e0fc24 100644
--- a/gtsam/hybrid/HybridBayesNet.cpp
+++ b/gtsam/hybrid/HybridBayesNet.cpp
@@ -131,6 +131,7 @@ DiscreteValues HybridBayesNet::discreteMaxProduct(
   for (TableFactor::SparseIt it(sparseTable); it; ++it) {
     if (it.value() > maxValue) {
       maxIdx = it.index();
+      maxValue = it.value();
     }
   }
 
@@ -210,8 +211,6 @@ AlgebraicDecisionTree<Key> HybridBayesNet::errorTree(
 
   // Iterate over each conditional.
   for (auto &&conditional : *this) {
-    conditional->print();
-    conditional->errorTree(continuousValues).print("errorTre", DefaultKeyFormatter);
     result = result + conditional->errorTree(continuousValues);
   }
 
diff --git a/gtsam/hybrid/tests/testHybridGaussianFactorGraph.cpp b/gtsam/hybrid/tests/testHybridGaussianFactorGraph.cpp
index 1942e9234..32a425474 100644
--- a/gtsam/hybrid/tests/testHybridGaussianFactorGraph.cpp
+++ b/gtsam/hybrid/tests/testHybridGaussianFactorGraph.cpp
@@ -650,7 +650,7 @@ TEST(HybridGaussianFactorGraph, EliminateTiny1) {
       mode, std::vector{conditional0, conditional1});
 
   // Add prior on mode.
-  expectedBayesNet.emplace_shared<DiscreteConditional>(mode, "74/26");
+  expectedBayesNet.emplace_shared<DiscreteTableConditional>(mode, "74/26");
 
   // Test elimination
   const auto posterior = fg.eliminateSequential();
@@ -700,11 +700,12 @@ TEST(HybridGaussianFactorGraph, EliminateTiny1Swapped) {
       m1, std::vector{conditional0, conditional1});
 
   // Add prior on m1.
-  expectedBayesNet.emplace_shared<DiscreteConditional>(m1, "1/1");
+  expectedBayesNet.emplace_shared<DiscreteTableConditional>(
+      m1, "0.188638/0.811362");
 
   // Test elimination
   const auto posterior = fg.eliminateSequential();
-  // EXPECT(assert_equal(expectedBayesNet, *posterior, 0.01));
+  EXPECT(assert_equal(expectedBayesNet, *posterior, 0.01));
 
   EXPECT(ratioTest(bn, measurements, *posterior));
 
@@ -736,7 +737,7 @@ TEST(HybridGaussianFactorGraph, EliminateTiny2) {
       mode, std::vector{conditional0, conditional1});
 
   // Add prior on mode.
-  expectedBayesNet.emplace_shared<DiscreteConditional>(mode, "23/77");
+  expectedBayesNet.emplace_shared<DiscreteTableConditional>(mode, "23/77");
 
   // Test elimination
   const auto posterior = fg.eliminateSequential();