def to_sa_pair_form(self, sparse=True):
        """
        Convert this instance of `DiscreteDP` to SA-pair form

        Parameters
        ----------
        sparse : bool, optional(default=True)
            Should the `Q` matrix be stored as a sparse matrix?
            If true the CSR format is used

        Returns
        -------
        ddp_sa : DiscreteDP
            The correspnoding DiscreteDP instance in SA-pair form

        Notes
        -----
        If this instance is already in SA-pair form then it is returned
        un-modified
        """

        if self._sa_pair:
            return self
        else:
            s_ind, a_ind = np.where(self.R > - np.inf)
            RL = self.R[s_ind, a_ind]
            if sparse:
                QL = sp.csr_matrix(self.Q[s_ind, a_ind])
            else:
                QL = self.Q[s_ind, a_ind]
            return DiscreteDP(RL, QL, self.beta, s_ind, a_ind)
Convert this instance of `DiscreteDP` to SA-pair form

        Parameters
        ----------
        sparse : bool, optional(default=True)
            Should the `Q` matrix be stored as a sparse matrix?
            If true the CSR format is used

        Returns
        -------
        ddp_sa : DiscreteDP
            The correspnoding DiscreteDP instance in SA-pair form

        Notes
        -----
        If this instance is already in SA-pair form then it is returned
        un-modified