From d4aaa5d114874c864b570e77b7d58d01e43d41fc Mon Sep 17 00:00:00 2001
From: Frank Dellaert <dellaert@gmail.com>
Date: Sun, 22 Nov 2009 18:06:28 +0000
Subject: [PATCH] Added two more removePath tests and fixed bug in removeTop.
 But orphan list is still incorrect.

---
 cpp/BayesTree-inl.h   |  7 ++--
 cpp/BayesTree.h       |  2 +-
 cpp/testBayesTree.cpp | 79 +++++++++++++++++++++++++++++++++++++++++++
 3 files changed, 84 insertions(+), 4 deletions(-)

diff --git a/cpp/BayesTree-inl.h b/cpp/BayesTree-inl.h
index 6ae445139..a7e377250 100644
--- a/cpp/BayesTree-inl.h
+++ b/cpp/BayesTree-inl.h
@@ -174,9 +174,9 @@ namespace gtsam {
 	/* ************************************************************************* */
 	template<class Conditional>
 	void BayesTree<Conditional>::Cliques::print(const std::string& s) const {
-		cout << s << " Cliques: ";
+		cout << s << ":\n";
 		BOOST_FOREACH(sharedClique clique, *this)
-				clique->print();
+				clique->printTree();
 	}
 
 	/* ************************************************************************* */
@@ -388,6 +388,7 @@ namespace gtsam {
 	}
 
 	/* ************************************************************************* */
+
 	template<class Conditional>
 	template<class Factor>
   pair<FactorGraph<Factor>, typename BayesTree<Conditional>::Cliques>
@@ -406,7 +407,7 @@ namespace gtsam {
 
 				// remove path above this clique
 				FactorGraph<Factor> factors1;	Cliques orphans1;
-				boost::tie(factors1,orphans1) = removePath<Factor>(clique->parent_);
+				boost::tie(factors1,orphans1) = removePath<Factor>(clique);
 
 				// add to global factors and orphans
 				factors.push_back(factors1);
diff --git a/cpp/BayesTree.h b/cpp/BayesTree.h
index 9e2813de7..ae221aef0 100644
--- a/cpp/BayesTree.h
+++ b/cpp/BayesTree.h
@@ -65,7 +65,7 @@ namespace gtsam {
 			size_t treeSize() const;
 
 			/** print this node and entire subtree below it */
-			void printTree(const std::string& indent) const;
+			void printTree(const std::string& indent="") const;
 
 			/** return the conditional P(S|Root) on the separator given the root */
 			// TODO: create a cached version
diff --git a/cpp/testBayesTree.cpp b/cpp/testBayesTree.cpp
index ffc5942e1..c1ff98dab 100644
--- a/cpp/testBayesTree.cpp
+++ b/cpp/testBayesTree.cpp
@@ -351,6 +351,81 @@ TEST( BayesTree, removePath )
   CHECK(assert_equal(expectedOrphans2, orphans));
 }
 
+/* ************************************************************************* */
+TEST( BayesTree, removePath2 )
+{
+	// Conditionals for ASIA example from the tutorial with A and D evidence
+	SymbolicConditional::shared_ptr
+		B(new SymbolicConditional("B")),
+		L(new SymbolicConditional("L", "B")),
+		E(new SymbolicConditional("E", "B", "L")),
+		S(new SymbolicConditional("S", "L", "B")),
+		T(new SymbolicConditional("T", "E", "L")),
+		X(new SymbolicConditional("X", "E"));
+
+	// Create using insert
+	SymbolicBayesTree bayesTree;
+	bayesTree.insert(B);
+	bayesTree.insert(L);
+	bayesTree.insert(E);
+	bayesTree.insert(S);
+	bayesTree.insert(T);
+	bayesTree.insert(X);
+
+	// Call remove-path with clique S
+	FactorGraph<SymbolicFactor> factors;
+	SymbolicBayesTree::Cliques orphans;
+  boost::tie(factors,orphans) = bayesTree.removePath<SymbolicFactor>(bayesTree["B"]);
+
+	// Check expected outcome
+	SymbolicFactorGraph expected;
+	expected.push_factor("B","L","E");
+	expected.push_factor("B","L");
+	expected.push_factor("B");
+  CHECK(assert_equal((FactorGraph<SymbolicFactor>)expected, factors));
+	SymbolicBayesTree::Cliques expectedOrphans;
+  expectedOrphans += bayesTree["S"], bayesTree["T"], bayesTree["X"];
+  CHECK(assert_equal(expectedOrphans, orphans));
+}
+
+/* ************************************************************************* */
+TEST( BayesTree, removePath3 )
+{
+	// Conditionals for ASIA example from the tutorial with A and D evidence
+	SymbolicConditional::shared_ptr
+		B(new SymbolicConditional("B")),
+		L(new SymbolicConditional("L", "B")),
+		E(new SymbolicConditional("E", "B", "L")),
+		S(new SymbolicConditional("S", "L", "B")),
+		T(new SymbolicConditional("T", "E", "L")),
+		X(new SymbolicConditional("X", "E"));
+
+	// Create using insert
+	SymbolicBayesTree bayesTree;
+	bayesTree.insert(B);
+	bayesTree.insert(L);
+	bayesTree.insert(E);
+	bayesTree.insert(S);
+	bayesTree.insert(T);
+	bayesTree.insert(X);
+
+	// Call remove-path with clique S
+	FactorGraph<SymbolicFactor> factors;
+	SymbolicBayesTree::Cliques orphans;
+  boost::tie(factors,orphans) = bayesTree.removePath<SymbolicFactor>(bayesTree["S"]);
+
+	// Check expected outcome
+	SymbolicFactorGraph expected;
+	expected.push_factor("B","L","E");
+	expected.push_factor("B","L");
+	expected.push_factor("B");
+	expected.push_factor("L","B","S");
+  CHECK(assert_equal((FactorGraph<SymbolicFactor>)expected, factors));
+	SymbolicBayesTree::Cliques expectedOrphans;
+  expectedOrphans += bayesTree["T"], bayesTree["X"];
+  CHECK(assert_equal(expectedOrphans, orphans));
+}
+
 /* ************************************************************************* */
 TEST( BayesTree, removeTop )
 {
@@ -387,8 +462,12 @@ TEST( BayesTree, removeTop )
 	expected.push_factor("B","L","E");
 	expected.push_factor("B","L");
 	expected.push_factor("B");
+	expected.push_factor("L","B","S");
 	expected.push_factor("B","S");
   CHECK(assert_equal((FactorGraph<SymbolicFactor>)expected, factors));
+	SymbolicBayesTree::Cliques expectedOrphans;
+  expectedOrphans += bayesTree["T"], bayesTree["X"];
+  //CHECK(assert_equal(expectedOrphans, orphans));
 }
 
 /* ************************************************************************* */