From 53a03a002176e1dde19384b72eab9e34c2feb580 Mon Sep 17 00:00:00 2001
From: Frank Dellaert <dellaert@gmail.com>
Date: Thu, 14 Jan 2010 16:05:04 +0000
Subject: [PATCH] Changed signature of tree insert

---
 cpp/FactorGraph-inl.h |  2 +-
 cpp/graph.h           | 10 ++++++++--
 cpp/testGraph.cpp     | 12 ++++++------
 cpp/testOrdering.cpp  | 12 ++++++------
 4 files changed, 21 insertions(+), 15 deletions(-)

diff --git a/cpp/FactorGraph-inl.h b/cpp/FactorGraph-inl.h
index f23696cde..338e35b15 100644
--- a/cpp/FactorGraph-inl.h
+++ b/cpp/FactorGraph-inl.h
@@ -288,7 +288,7 @@ PredecessorMap<Key> FactorGraph<Factor>::findMinimumSpanningTree() const {
 		string key = boost::get(boost::vertex_name, g, *itVertex);
 		string parent = boost::get(boost::vertex_name, g, *vi);
 		// printf("%s parent: %s\n", key.c_str(), parent.c_str());
-		tree.insert(make_pair(key, parent));
+		tree.insert(key, parent);
 	}
 
 	return tree;
diff --git a/cpp/graph.h b/cpp/graph.h
index 946a8372d..2d8a66923 100644
--- a/cpp/graph.h
+++ b/cpp/graph.h
@@ -40,8 +40,14 @@ namespace gtsam {
 	/**
 	 * Map from variable key to parent key
 	 */
-	template <class Key>
-	class PredecessorMap : public std::map<Key,Key> {};
+	template<class Key>
+	class PredecessorMap: public std::map<Key, Key> {
+	public:
+		/** convenience insert so we can pass ints for Symbol keys */
+		inline void insert(const Key& key, const Key& parent) {
+			std::map<Key, Key>::insert(std::make_pair(key, parent));
+		}
+	};
 
 	/**
 	 * Convert the factor graph to an SDGraph
diff --git a/cpp/testGraph.cpp b/cpp/testGraph.cpp
index c3a82fe9b..1f7c5e6a0 100644
--- a/cpp/testGraph.cpp
+++ b/cpp/testGraph.cpp
@@ -29,9 +29,9 @@ TEST( Graph, predecessorMap2Graph )
 	map<string, SVertex> key2vertex;
 
 	PredecessorMap<string> p_map;
-	p_map.insert(make_pair("x1", "x2"));
-	p_map.insert(make_pair("x2", "x2"));
-	p_map.insert(make_pair("x3", "x2"));
+	p_map.insert("x1", "x2");
+	p_map.insert("x2", "x2");
+	p_map.insert("x3", "x2");
 	tie(graph, root, key2vertex) = predecessorMap2Graph<SGraph<string>, SVertex, string>(p_map);
 
 	LONGS_EQUAL(3, boost::num_vertices(graph));
@@ -47,9 +47,9 @@ TEST( Graph, composePoses )
 	graph.push_back(boost::shared_ptr<Pose2Factor>(new Pose2Factor(2,3, Pose2(3.0, 0.0, 0.0), cov)));
 
 	PredecessorMap<Pose2Config::Key> tree;
-	tree.insert(make_pair(1,2));
-	tree.insert(make_pair(2,2));
-	tree.insert(make_pair(3,2));
+	tree.insert(1,2);
+	tree.insert(2,2);
+	tree.insert(3,2);
 
 	Pose2 rootPose(3.0, 0.0, 0.0);
 
diff --git a/cpp/testOrdering.cpp b/cpp/testOrdering.cpp
index 2d70b275c..23beed59f 100644
--- a/cpp/testOrdering.cpp
+++ b/cpp/testOrdering.cpp
@@ -20,14 +20,14 @@ using namespace boost::assign;
 TEST ( Ordering, predecessorMap2Keys ) {
 	typedef Symbol<Pose2,'x'> Key;
 	PredecessorMap<Key> p_map;
-	p_map.insert(make_pair(Key(1), Key(1)));
-	p_map.insert(make_pair(Key(2), Key(1)));
-	p_map.insert(make_pair(Key(3), Key(1)));
-	p_map.insert(make_pair(Key(4), Key(3)));
-	p_map.insert(make_pair(Key(5), Key(1)));
+	p_map.insert(1,1);
+	p_map.insert(2,1);
+	p_map.insert(3,1);
+	p_map.insert(4,3);
+	p_map.insert(5,1);
 
 	list<Key> expected;
-	expected += Key(4), Key(5), Key(3), Key(2), Key(1);
+	expected += 4,5,3,2,1;//Key(4), Key(5), Key(3), Key(2), Key(1);
 
 	list<Key> actual = predecessorMap2Keys<Key>(p_map);
 	LONGS_EQUAL(expected.size(), actual.size());