From a3de1df5a48fce4e26ae03a0a6c47034be1b8cf9 Mon Sep 17 00:00:00 2001
From: Michael Kaess <michaelkaess@gmail.com>
Date: Sun, 22 Nov 2009 21:18:31 +0000
Subject: [PATCH] adding orphans assuming that the first separator key refers
 to the parent; GTSAM_PRINT define

---
 cpp/Testable.h          | 2 ++
 cpp/testIncremental.cpp | 7 +++++++
 2 files changed, 9 insertions(+)

diff --git a/cpp/Testable.h b/cpp/Testable.h
index cf9ba148c..4b4e7db9a 100644
--- a/cpp/Testable.h
+++ b/cpp/Testable.h
@@ -11,6 +11,8 @@
 #include <boost/shared_ptr.hpp>
 #include <stdio.h>
 
+#define GTSAM_PRINT(x)(x.print(#x))
+
 namespace gtsam {
 
   /**
diff --git a/cpp/testIncremental.cpp b/cpp/testIncremental.cpp
index 208e8c2d6..288583c98 100644
--- a/cpp/testIncremental.cpp
+++ b/cpp/testIncremental.cpp
@@ -47,6 +47,12 @@ void update(SymbolicBayesTree& bayesTree, const boost::shared_ptr<SymbolicFactor
 
 	// add orphans to the bottom of the new tree
 	BOOST_FOREACH(SymbolicBayesTree::sharedClique orphan, orphans) {
+		string key = *(orphan->separator_.begin()); // todo: assumes there is a separator...
+		SymbolicBayesTree::sharedClique parent = bayesTree[key];
+		parent->children_ += orphan;
+	}
+
+#if 0
 		BOOST_FOREACH(string key1, orphan->separator_) {
 			// get clique from new tree to attach to
 			SymbolicBayesTree::sharedClique candidateParent = bayesTree[key1];
@@ -71,6 +77,7 @@ void update(SymbolicBayesTree& bayesTree, const boost::shared_ptr<SymbolicFactor
 			}
 		}
 	}
+#endif
 }
 
 /* ************************************************************************* */