From a7e2a494eddf8550051de41dfe9d0c58c9bdcbe1 Mon Sep 17 00:00:00 2001
From: Richard Roberts <richard.jw.roberts@gmail.com>
Date: Tue, 5 Mar 2013 05:47:24 +0000
Subject: [PATCH] Added consistency check on removing cliques - that they exist
 in their parent's children list.

---
 gtsam/inference/BayesTree-inl.h | 8 ++++++--
 1 file changed, 6 insertions(+), 2 deletions(-)

diff --git a/gtsam/inference/BayesTree-inl.h b/gtsam/inference/BayesTree-inl.h
index 3398b0803..1f6562d28 100644
--- a/gtsam/inference/BayesTree-inl.h
+++ b/gtsam/inference/BayesTree-inl.h
@@ -253,8 +253,12 @@ namespace gtsam {
 
     if (clique->isRoot())
       root_.reset();
-    else // detach clique from parent
-      clique->parent_.lock()->children_.remove(clique);
+    else { // detach clique from parent
+      sharedClique parent = clique->parent_.lock();
+      std::list<typename CLIQUE::shared_ptr>::iterator child = std::find(parent->children().begin(), parent->children().end(), clique);
+      assert(child != parent->children().end());
+      parent->children().erase(child);
+    }
 
     // orphan my children
     BOOST_FOREACH(sharedClique child, clique->children_)