From 21974f95e161346bece7f05e8ebe0195f731b2f2 Mon Sep 17 00:00:00 2001
From: Frank Dellaert <dellaert@gmail.com>
Date: Wed, 18 Nov 2009 16:31:19 +0000
Subject: [PATCH] test for incremental update

---
 cpp/testIncremental.cpp | 33 ++++++++++++++++++++++++++++-----
 1 file changed, 28 insertions(+), 5 deletions(-)

diff --git a/cpp/testIncremental.cpp b/cpp/testIncremental.cpp
index 890d7f848..369d64c59 100644
--- a/cpp/testIncremental.cpp
+++ b/cpp/testIncremental.cpp
@@ -10,6 +10,7 @@ using namespace boost::assign;
 #include <CppUnitLite/TestHarness.h>
 
 #include "SymbolicBayesNet.h"
+#include "SymbolicFactor.h"
 #include "GaussianBayesNet.h"
 #include "Ordering.h"
 #include "BayesTree-inl.h"
@@ -21,10 +22,6 @@ typedef BayesTree<SymbolicConditional> SymbolicBayesTree;
 typedef BayesTree<GaussianConditional> GaussianBayesTree;
 
 
-
-// todo: copied from testBayesTree
-
-
 // Conditionals for ASIA example from the tutorial with A and D evidence
 SymbolicConditional::shared_ptr B(new SymbolicConditional("B")), L(
 		new SymbolicConditional("L", "B")), E(
@@ -32,6 +29,12 @@ SymbolicConditional::shared_ptr B(new SymbolicConditional("B")), L(
 		"L", "B")), T(new SymbolicConditional("T", "E", "L")), X(
 		new SymbolicConditional("X", "E"));
 
+/* ************************************************************************* */
+
+SymbolicBayesTree update(const SymbolicBayesTree& initial, const SymbolicFactor& newFactor) {
+	return initial;
+}
+
 /* ************************************************************************* */
 TEST( BayesTree, iSAM )
 {
@@ -43,8 +46,28 @@ TEST( BayesTree, iSAM )
 	bayesTree.insert(S);
 	bayesTree.insert(T);
 	bayesTree.insert(X);
-
 	bayesTree.print("bayesTree");
+
+	// Create expected Bayes tree
+	SymbolicBayesTree expected;
+	expected.insert(B);
+	expected.insert(L);
+	expected.insert(S);
+	expected.insert(E);
+	expected.insert(T);
+	expected.insert(X);
+	expected.print("expected");
+
+	// create a new factor to be inserted
+	list<string> keys;
+	keys += "B","S";
+	SymbolicFactor newFactor(keys);
+
+	// do incremental inference
+	SymbolicBayesTree actual = update(bayesTree, newFactor);
+
+	// Check whether the same
+	//CHECK(assert_equal(expected,actual));
 }
 
 /* ************************************************************************* */