From fd48028f24ca5b2193c880b7be26a7a99a010491 Mon Sep 17 00:00:00 2001
From: Frank Dellaert <dellaert@gmail.com>
Date: Sun, 9 Jan 2022 15:06:57 -0500
Subject: [PATCH] Make free versions and wrap

---
 gtsam/discrete/DiscreteValues.cpp | 15 +++++++++++++--
 gtsam/discrete/DiscreteValues.h   | 19 ++++++++++++++++---
 gtsam/discrete/discrete.i         | 12 ++++++++++++
 3 files changed, 41 insertions(+), 5 deletions(-)

diff --git a/gtsam/discrete/DiscreteValues.cpp b/gtsam/discrete/DiscreteValues.cpp
index 9bd0572bd..8a09de742 100644
--- a/gtsam/discrete/DiscreteValues.cpp
+++ b/gtsam/discrete/DiscreteValues.cpp
@@ -60,8 +60,8 @@ string DiscreteValues::markdown(const KeyFormatter& keyFormatter,
   return ss.str();
 }
 
-std::string DiscreteValues::html(const KeyFormatter& keyFormatter,
-                                 const Names& names) const {
+string DiscreteValues::html(const KeyFormatter& keyFormatter,
+                            const Names& names) const {
   stringstream ss;
 
   // Print out preamble.
@@ -83,4 +83,15 @@ std::string DiscreteValues::html(const KeyFormatter& keyFormatter,
   ss << "  </tbody>\n</table>\n</div>";
   return ss.str();
 }
+
+string markdown(const DiscreteValues& values, const KeyFormatter& keyFormatter,
+                const DiscreteValues::Names& names) {
+  return values.markdown(keyFormatter, names);
+}
+
+string html(const DiscreteValues& values, const KeyFormatter& keyFormatter,
+            const DiscreteValues::Names& names) {
+  return values.html(keyFormatter, names);
+}
+
 }  // namespace gtsam
diff --git a/gtsam/discrete/DiscreteValues.h b/gtsam/discrete/DiscreteValues.h
index 3d0c54ab6..81997a783 100644
--- a/gtsam/discrete/DiscreteValues.h
+++ b/gtsam/discrete/DiscreteValues.h
@@ -21,7 +21,9 @@
 #include <gtsam/discrete/DiscreteKey.h>
 #include <gtsam/inference/Key.h>
 
+#include <map>
 #include <string>
+#include <vector>
 
 namespace gtsam {
 
@@ -71,8 +73,8 @@ class DiscreteValues : public Assignment<Key> {
    * @param names translation table for values.
    * @return string markdown output.
    */
-  std::string markdown(const KeyFormatter& keyFormatter,
-                       const Names& names) const;
+  std::string markdown(const KeyFormatter& keyFormatter = DefaultKeyFormatter,
+                       const Names& names = {}) const;
 
   /**
    * @brief Output as a html table.
@@ -81,11 +83,22 @@ class DiscreteValues : public Assignment<Key> {
    * @param names translation table for values.
    * @return string html output.
    */
-  std::string html(const KeyFormatter& keyFormatter, const Names& names) const;
+  std::string html(const KeyFormatter& keyFormatter = DefaultKeyFormatter,
+                   const Names& names = {}) const;
 
   /// @}
 };
 
+/// Free version of markdown.
+std::string markdown(const DiscreteValues& values,
+                     const KeyFormatter& keyFormatter = DefaultKeyFormatter,
+                     const DiscreteValues::Names& names = {});
+
+/// Free version of html.
+std::string html(const DiscreteValues& values,
+                 const KeyFormatter& keyFormatter = DefaultKeyFormatter,
+                 const DiscreteValues::Names& names = {});
+
 // traits
 template <>
 struct traits<DiscreteValues> : public Testable<DiscreteValues> {};
diff --git a/gtsam/discrete/discrete.i b/gtsam/discrete/discrete.i
index 9bf324fd3..218b790e8 100644
--- a/gtsam/discrete/discrete.i
+++ b/gtsam/discrete/discrete.i
@@ -17,6 +17,18 @@ class DiscreteKeys {
 };
 
 // DiscreteValues is added in specializations/discrete.h as a std::map
+string markdown(
+    const gtsam::DiscreteValues& values,
+    const gtsam::KeyFormatter& keyFormatter = gtsam::DefaultKeyFormatter);
+string markdown(const gtsam::DiscreteValues& values,
+                const gtsam::KeyFormatter& keyFormatter,
+                std::map<gtsam::Key, std::vector<std::string>> names);
+string html(
+    const gtsam::DiscreteValues& values,
+    const gtsam::KeyFormatter& keyFormatter = gtsam::DefaultKeyFormatter);
+string html(const gtsam::DiscreteValues& values,
+            const gtsam::KeyFormatter& keyFormatter,
+            std::map<gtsam::Key, std::vector<std::string>> names);
 
 #include <gtsam/discrete/DiscreteFactor.h>
 class DiscreteFactor {