Fixed size() crash when BayesTree empty, added clear() function to BayesTree, added and removed #includes to fix link errors

cpp/BayesNet-inl.h

@@ -13,8 +13,8 @@ using namespace boost::assign;
 
 #include "Ordering.h"
 #include "BayesNet.h"
-#include "FactorGraph-inl.h"
-#include "Conditional.h"
+//#include "FactorGraph-inl.h"
+//#include "Conditional.h"
 
 using namespace std;
 

cpp/BayesTree-inl.h

@@ -12,6 +12,7 @@ using namespace boost::assign;
 
 #include "Conditional.h"
 #include "BayesTree.h"
+#include "Ordering.h"
 #include "inference-inl.h"
 
 namespace gtsam {
@@ -386,6 +387,14 @@ namespace gtsam {
 		return eliminate<Factor,Conditional>(fg,ordering);
 	}
 
+	/* ************************************************************************* */
+	template<class Conditional>
+	void BayesTree<Conditional>::clear() {
+		// Remove all nodes and clear the root pointer
+		nodes_.clear();
+		root_.reset();
+	}
+
 	/* ************************************************************************* */
 	template<class Conditional>
 	template<class Factor>

cpp/BayesTree.h

@@ -136,7 +136,10 @@ namespace gtsam {
 
 		/** number of cliques */
 		inline size_t size() const {
+			if(root_)
 				return root_->treeSize();
+			else
+				return 0;
 		}
 
 		/** return root clique */
@@ -169,6 +172,11 @@ namespace gtsam {
 		template<class Factor>
 		BayesNet<Conditional> jointBayesNet(const Symbol& key1, const Symbol& key2) const;
 
+		/**
+		 * Remove all nodes
+		 */
+		void clear();
+
 		/**
 		 * Remove path from clique to root and return that path as factors
 		 * plus a list of orphaned subtree roots. Used in removeTop below.

cpp/ISAM-inl.h

@@ -9,8 +9,8 @@
 using namespace boost::assign;
 
 #include "Conditional.h"
-#include "BayesTree-inl.h"
 #include "ISAM.h"
+#include "BayesTree-inl.h"
 
 namespace gtsam {
 
@@ -22,7 +22,8 @@ namespace gtsam {
 
 	/** Create a Bayes Tree from a Bayes Net */
 	template<class Conditional>
-	ISAM<Conditional>::ISAM(const BayesNet<Conditional>& bayesNet) : BayesTree<Conditional>(bayesNet) {}
+	ISAM<Conditional>::ISAM(const BayesNet<Conditional>& bayesNet) :
+	  BayesTree<Conditional>(bayesNet) {}
 
 	/* ************************************************************************* */
 	template<class Conditional>
@@ -74,7 +75,5 @@ namespace gtsam {
 		this->update_internal<Factor>(newFactors, orphans);
 	}
 
-/* ************************************************************************* */
-
 }
 /// namespace gtsam

cpp/ISAM.h

@@ -19,6 +19,8 @@
 #include "FactorGraph.h"
 #include "BayesNet.h"
 #include "BayesTree.h"
+#include "VectorConfig.h"
+#include "NonlinearFactorGraph.h"
 
 namespace gtsam {
 

cpp/testBayesTree.cpp

@@ -111,6 +111,18 @@ TEST( BayesTree, constructor )
 	CHECK(assert_equal(bayesTree,bayesTree2));
 }
 
+/* ************************************************************************* */
+TEST(BayesTree, clear)
+{
+	SymbolicBayesTree bayesTree = createAsiaSymbolicBayesTree();
+	bayesTree.clear();
+
+	SymbolicBayesTree expected;
+
+	// Check whether cleared BayesTree is equal to a new BayesTree
+	CHECK(assert_equal(expected, bayesTree));
+}
+
 /* ************************************************************************* *
 Bayes Tree for testing conversion to a forest of orphans needed for incremental.
        A,B