From 952798e751b1e6738151ec4189195813ceef820a Mon Sep 17 00:00:00 2001
From: Frank Dellaert <dellaert@gmail.com>
Date: Sun, 22 Nov 2009 18:22:17 +0000
Subject: [PATCH] fixed orphans bug

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

diff --git a/cpp/BayesTree-inl.h b/cpp/BayesTree-inl.h
index a7e377250..77238eb64 100644
--- a/cpp/BayesTree-inl.h
+++ b/cpp/BayesTree-inl.h
@@ -402,10 +402,11 @@ namespace gtsam {
 			// only add if key is not yet in the factor graph
 			if (!factors.involves(key)) {
 
-				// get the clique
+				// get the clique and remove it from orphans (if it exists)
 				sharedClique clique = (*this)[key];
+				orphans.remove(clique);
 
-				// remove path above this clique
+				// remove path from clique to root
 				FactorGraph<Factor> factors1;	Cliques orphans1;
 				boost::tie(factors1,orphans1) = removePath<Factor>(clique);
 
diff --git a/cpp/testBayesTree.cpp b/cpp/testBayesTree.cpp
index 70b581664..3b38d68e3 100644
--- a/cpp/testBayesTree.cpp
+++ b/cpp/testBayesTree.cpp
@@ -364,7 +364,7 @@ TEST( BayesTree, removePath2 )
 {
 	SymbolicBayesTree bayesTree = createAsiaSymbolicBayesTree();
 
-	// Call remove-path with clique S
+	// Call remove-path with clique B
 	FactorGraph<SymbolicFactor> factors;
 	SymbolicBayesTree::Cliques orphans;
   boost::tie(factors,orphans) = bayesTree.removePath<SymbolicFactor>(bayesTree["B"]);
@@ -427,7 +427,7 @@ TEST( BayesTree, removeTop )
   CHECK(assert_equal((FactorGraph<SymbolicFactor>)expected, factors));
 	SymbolicBayesTree::Cliques expectedOrphans;
   expectedOrphans += bayesTree["T"], bayesTree["X"];
-  //CHECK(assert_equal(expectedOrphans, orphans));
+  CHECK(assert_equal(expectedOrphans, orphans));
 }
 
 /* ************************************************************************* */