From 17e3955c0561b642c0b501db6f8d4ce1888c74e7 Mon Sep 17 00:00:00 2001
From: Frank Dellaert <dellaert@gmail.com>
Date: Tue, 4 Jan 2022 13:15:08 -0500
Subject: [PATCH] Fix small bug with names not being passed if no parents

---
 gtsam/discrete/DiscreteConditional.cpp        |  2 +-
 .../tests/testDiscreteConditional.cpp         | 20 ++++++++++++++++++-
 2 files changed, 20 insertions(+), 2 deletions(-)

diff --git a/gtsam/discrete/DiscreteConditional.cpp b/gtsam/discrete/DiscreteConditional.cpp
index b4f95780d..8ee93eb77 100644
--- a/gtsam/discrete/DiscreteConditional.cpp
+++ b/gtsam/discrete/DiscreteConditional.cpp
@@ -307,7 +307,7 @@ std::string DiscreteConditional::markdown(const KeyFormatter& keyFormatter,
   if (nrParents() == 0) {
    // We have no parents, call factor method.
     ss << ")*:\n" << std::endl;
-    ss << DecisionTreeFactor::markdown(keyFormatter);
+    ss << DecisionTreeFactor::markdown(keyFormatter, names);
     return ss.str();
   }
 
diff --git a/gtsam/discrete/tests/testDiscreteConditional.cpp b/gtsam/discrete/tests/testDiscreteConditional.cpp
index b498b0541..6d2af3cff 100644
--- a/gtsam/discrete/tests/testDiscreteConditional.cpp
+++ b/gtsam/discrete/tests/testDiscreteConditional.cpp
@@ -135,6 +135,24 @@ TEST(DiscreteConditional, markdown_prior) {
   EXPECT(actual == expected);
 }
 
+/* ************************************************************************* */
+// Check markdown representation looks as expected, no parents + names.
+TEST(DiscreteConditional, markdown_prior_names) {
+  Symbol x1('x', 1);
+  DiscreteKey A(x1, 3);
+  DiscreteConditional conditional(A % "1/2/2");
+  string expected =
+      " *P(x1)*:\n\n"
+      "|x1|value|\n"
+      "|:-:|:-:|\n"
+      "|A0|0.2|\n"
+      "|A1|0.4|\n"
+      "|A2|0.4|\n";
+  DecisionTreeFactor::Names names{{x1, {"A0", "A1", "A2"}}};
+  string actual = conditional.markdown(DefaultKeyFormatter, names);
+  EXPECT(actual == expected);
+}
+
 /* ************************************************************************* */
 // Check markdown representation looks as expected, multivalued.
 TEST(DiscreteConditional, markdown_multivalued) {
@@ -155,7 +173,7 @@ TEST(DiscreteConditional, markdown_multivalued) {
 }
 
 /* ************************************************************************* */
-// Check markdown representation looks as expected, two parents.
+// Check markdown representation looks as expected, two parents + names.
 TEST(DiscreteConditional, markdown) {
   DiscreteKey A(2, 2), B(1, 2), C(0, 3);
   DiscreteConditional conditional(A, {B, C}, "0/1 1/3  1/1 3/1  0/1 1/0");