TableFactor Improvements

[varunagrawal]

• Adds a new constructor to the TableFactor which takes a DiscreteConditional. The API for the TableFactor should now mimic that of the DecisionTreeFactor.
• Move cardinalities_ and discreteKeys() to the DiscreteFactor class to reduce code duplication.
• Renamed all "tree" based variables in hybrid elimination to names which are agnostic of the underlying factor type. No change in functionality.

[dellaert]

@varunagrawal this PR shows changes in 15 files, just for adding a constructor? Are you sure it targets the right branch?

[varunagrawal]

I need to update the PR comments. I also moved a lot of common functionality up to the DisreteFactor class to keep it DRY.

[dellaert]

I need to update the PR comments. I also moved a lot of common functionality up to the DisreteFactor class to keep it DRY.

Hmm, yes, but TableFactor is a big change, and I'd rather review that in a separate PR if possible.

[varunagrawal]

Using TableFactor in elimination will be a separate PR for sure.

[varunagrawal]

@dellaert I've updated the PR comment to better reflect the changes. Please note that there is no functionality change in hybrid elimination in this PR, only variable name changes.

[dellaert]

OK. Any reason this is not targeting develop?

[varunagrawal]

OK. Any reason this is not targeting develop?

I chained PRs together since I wanted functionality from different PRs and was not getting review responses to unblock me.

[dellaert]

Cool, looks right - feel free to merge after CI succeeds