From 1edcdb6f80a27ef5e8acb0cbc07ce1d9767d78e6 Mon Sep 17 00:00:00 2001
From: Frank Dellaert <dellaert@gmail.com>
Date: Wed, 18 Nov 2009 17:27:27 +0000
Subject: [PATCH] added SymbolicFactor constructor that takes a
 SymbolicConditional

---
 cpp/SymbolicFactor.cpp          |  8 +++++++
 cpp/SymbolicFactor.h            |  5 +++++
 cpp/testSymbolicFactorGraph.cpp | 40 +++++++++++++++++++++++++++++++--
 3 files changed, 51 insertions(+), 2 deletions(-)

diff --git a/cpp/SymbolicFactor.cpp b/cpp/SymbolicFactor.cpp
index 63ed9bc31..4bda97df7 100644
--- a/cpp/SymbolicFactor.cpp
+++ b/cpp/SymbolicFactor.cpp
@@ -19,6 +19,14 @@ using namespace std;
 
 namespace gtsam {
 
+	/* ************************************************************************* */
+	SymbolicFactor::SymbolicFactor(const boost::shared_ptr<SymbolicConditional>& c) {
+		// initialize keys_ with parents
+		keys_ = c->parents();
+		// add key on which conditional is defined
+		keys_.push_back(c->key());
+	}
+
 	/* ************************************************************************* */
 	SymbolicFactor::SymbolicFactor(const vector<shared_ptr> & factors) {
 
diff --git a/cpp/SymbolicFactor.h b/cpp/SymbolicFactor.h
index 9c0ba9a9a..0f71af289 100644
--- a/cpp/SymbolicFactor.h
+++ b/cpp/SymbolicFactor.h
@@ -29,6 +29,11 @@ namespace gtsam {
 
 		typedef boost::shared_ptr<SymbolicFactor> shared_ptr;
 
+		/**
+		 * Construct from SymbolicConditional
+		 */
+		SymbolicFactor(const boost::shared_ptr<SymbolicConditional>& c);
+
 		/**
 		 * Constructor from a list of keys
 		 */
diff --git a/cpp/testSymbolicFactorGraph.cpp b/cpp/testSymbolicFactorGraph.cpp
index 1f95fce12..82953d3e2 100644
--- a/cpp/testSymbolicFactorGraph.cpp
+++ b/cpp/testSymbolicFactorGraph.cpp
@@ -13,6 +13,7 @@ using namespace boost::assign;
 #include "smallExample.h"
 #include "SymbolicFactorGraph.h"
 #include "SymbolicBayesNet.h"
+#include "FactorGraph-inl.h"
 
 using namespace std;
 using namespace gtsam;
@@ -87,7 +88,7 @@ TEST( SymbolicFactorGraph, factors)
 }
 
 /* ************************************************************************* */
-TEST( GaussianFactorGraph, removeAndCombineFactors )
+TEST( SymbolicFactorGraph, removeAndCombineFactors )
 {
 	// create a test graph
 	GaussianFactorGraph factorGraph = createGaussianFactorGraph();
@@ -104,7 +105,7 @@ TEST( GaussianFactorGraph, removeAndCombineFactors )
 }
 
 /* ************************************************************************* */
-TEST( GaussianFactorGraph, eliminateOne )
+TEST( SymbolicFactorGraph, eliminateOne )
 {
 	// create a test graph
 	GaussianFactorGraph factorGraph = createGaussianFactorGraph();
@@ -144,6 +145,41 @@ TEST( GaussianFactorGraph, eliminate )
   CHECK(assert_equal(expected,actual));
 }
 
+/* ************************************************************************* */
+TEST( SymbolicFactorGraph, constructFromBayesNet )
+{
+	// create expected factor graph
+	FactorGraph<SymbolicFactor> expected;
+
+	list<string> f1_keys; f1_keys += "l1","x1","x2";
+	SymbolicFactor::shared_ptr f1(new SymbolicFactor(f1_keys));
+	expected.push_back(f1);
+
+	list<string> f2_keys; f2_keys += "x1","l1";
+	SymbolicFactor::shared_ptr f2(new SymbolicFactor(f2_keys));
+	expected.push_back(f2);
+
+	list<string> f3_keys; f3_keys += "x1";
+	SymbolicFactor::shared_ptr f3(new SymbolicFactor(f3_keys));
+	expected.push_back(f3);
+
+
+  // create Bayes Net
+  SymbolicConditional::shared_ptr x2(new SymbolicConditional("x2", "l1", "x1"));
+  SymbolicConditional::shared_ptr l1(new SymbolicConditional("l1", "x1"));
+  SymbolicConditional::shared_ptr x1(new SymbolicConditional("x1"));
+
+  SymbolicBayesNet bayesNet;
+  bayesNet.push_back(x2);
+  bayesNet.push_back(l1);
+  bayesNet.push_back(x1);
+
+  // create actual factor graph from a Bayes Net
+	FactorGraph<SymbolicFactor> actual(bayesNet);
+
+  CHECK(assert_equal(expected,actual));
+}
+
 /* ************************************************************************* */
 int main() {
 	TestResult tr;