From 6f11c0803be67c1a5fb80a75bb32696c424fc71d Mon Sep 17 00:00:00 2001
From: Frank Dellaert <dellaert@gmail.com>
Date: Sun, 22 Nov 2009 16:46:29 +0000
Subject: [PATCH] Cliques class

---
 cpp/BayesTree-inl.h   |  4 ++--
 cpp/BayesTree.h       | 11 +++++++++--
 cpp/testBayesTree.cpp |  2 +-
 3 files changed, 12 insertions(+), 5 deletions(-)

diff --git a/cpp/BayesTree-inl.h b/cpp/BayesTree-inl.h
index 3b8c41322..a895be67d 100644
--- a/cpp/BayesTree-inl.h
+++ b/cpp/BayesTree-inl.h
@@ -348,11 +348,11 @@ namespace gtsam {
 	/* ************************************************************************* */
 	template<class Conditional>
 	template<class Factor>
-  pair<FactorGraph<Factor>, list<typename BayesTree<Conditional>::sharedClique> >
+  pair<FactorGraph<Factor>, typename BayesTree<Conditional>::Cliques>
 	BayesTree<Conditional>::removePath(sharedClique clique) {
 
 		FactorGraph<Factor> factors;
-		list<sharedClique> orphans;
+		Cliques orphans;
 
 		// base case is NULL, if so we do nothing and return empties above
 		if (clique!=NULL) {
diff --git a/cpp/BayesTree.h b/cpp/BayesTree.h
index 9b22829e6..cd6db13cd 100644
--- a/cpp/BayesTree.h
+++ b/cpp/BayesTree.h
@@ -79,10 +79,17 @@ namespace gtsam {
 			/** return the joint P(C1,C2), where C1==this. TODO: not a method? */
 			template<class Factor>
 			FactorGraph<Factor> joint(shared_ptr C2, shared_ptr root);
-};
+		};
 
+		// typedef for shared pointers to cliques
 		typedef boost::shared_ptr<Clique> sharedClique;
 
+		// A convenience class for a list of shared cliques
+		struct Cliques : public std::list<sharedClique>, public Testable<Cliques> {
+			void print(const std::string& s = "") const {}
+			bool equals(const Cliques& other, double tol = 1e-9) const { return false; }
+		};
+
 	private:
 
 		/** Map from keys to Clique */
@@ -157,7 +164,7 @@ namespace gtsam {
 
 		/** Remove path from clique to root and return that path as factors plus a list of orphaned subtree roots */
 		template<class Factor>
-		std::pair<FactorGraph<Factor>, std::list<sharedClique> > removePath(sharedClique clique);
+		std::pair<FactorGraph<Factor>, Cliques> removePath(sharedClique clique);
 
 	}; // BayesTree
 
diff --git a/cpp/testBayesTree.cpp b/cpp/testBayesTree.cpp
index 2d4e7adaf..9b580eda0 100644
--- a/cpp/testBayesTree.cpp
+++ b/cpp/testBayesTree.cpp
@@ -333,7 +333,7 @@ TEST( BayesTree, removePath )
 	expected.push_factor("A","C");
 
 	FactorGraph<SymbolicFactor> factors;
-	list<SymbolicBayesTree::sharedClique> orphans;
+	SymbolicBayesTree::Cliques orphans;
 	boost::tie(factors,orphans) = bayesTree.removePath<SymbolicFactor>(bayesTree["C"]);
   CHECK(assert_equal((FactorGraph<SymbolicFactor>)expected, factors));