From fd11a1e2c76b40f7b4195578029c9680c91e5b01 Mon Sep 17 00:00:00 2001
From: Frank Dellaert <dellaert@gmail.com>
Date: Sat, 22 Aug 2009 22:01:17 +0000
Subject: [PATCH] Changed setBCN to take a reference

---
 cpp/ChordalBayesNet.h         | 4 ++--
 cpp/LinearFactorGraph.cpp     | 8 ++++----
 cpp/LinearFactorGraph.h       | 4 ++--
 cpp/testLinearFactorGraph.cpp | 2 +-
 4 files changed, 9 insertions(+), 9 deletions(-)

diff --git a/cpp/ChordalBayesNet.h b/cpp/ChordalBayesNet.h
index 481fe43e6..881c7a31e 100644
--- a/cpp/ChordalBayesNet.h
+++ b/cpp/ChordalBayesNet.h
@@ -57,8 +57,8 @@ public:
 
 	/** return begin and end of the nodes. FD: breaks encapsulation? */
 	typedef std::map<std::string, ConditionalGaussian::shared_ptr>::const_iterator const_iterator;
-	const_iterator const begin() {return nodes.begin();}
-	const_iterator const end()   {return nodes.end();}
+	const_iterator const begin() const {return nodes.begin();}
+	const_iterator const end()   const {return nodes.end();}
 
 	/** optimize */
 	boost::shared_ptr<FGConfig> optimize();
diff --git a/cpp/LinearFactorGraph.cpp b/cpp/LinearFactorGraph.cpp
index ea70ac53b..cc8eb2b87 100644
--- a/cpp/LinearFactorGraph.cpp
+++ b/cpp/LinearFactorGraph.cpp
@@ -18,17 +18,17 @@ using namespace std;
 using namespace gtsam;
 
 /* ************************************************************************* */
-LinearFactorGraph::LinearFactorGraph(ChordalBayesNet::shared_ptr CBN)
+LinearFactorGraph::LinearFactorGraph(const ChordalBayesNet& CBN)
 {
 	setCBN(CBN);
 }
 
 /* ************************************************************************* */
-void LinearFactorGraph::setCBN(ChordalBayesNet::shared_ptr CBN)
+void LinearFactorGraph::setCBN(const ChordalBayesNet& CBN)
 {
 	clear();
-	ChordalBayesNet::const_iterator it = CBN->begin();
-	for(; it != CBN->end(); it++) {
+	ChordalBayesNet::const_iterator it = CBN.begin();
+	for(; it != CBN.end(); it++) {
 		LinearFactor::shared_ptr lf(new LinearFactor(it->first, it->second));
 		push_back(lf);
 	}
diff --git a/cpp/LinearFactorGraph.h b/cpp/LinearFactorGraph.h
index a20889e94..04e3cd8bb 100644
--- a/cpp/LinearFactorGraph.h
+++ b/cpp/LinearFactorGraph.h
@@ -32,13 +32,13 @@ namespace gtsam {
     /**
      * Constructor that receives a Chordal Bayes Net and returns a LinearFactorGraph
      */
-    LinearFactorGraph(ChordalBayesNet::shared_ptr CBN);
+    LinearFactorGraph(const ChordalBayesNet& CBN);
 
     /**
      * given a chordal bayes net, sets the linear factor graph identical to that CBN
      * FD: imperative !!
      */
-    void setCBN(ChordalBayesNet::shared_ptr CBN);
+    void setCBN(const ChordalBayesNet& CBN);
 
     /**
      * This function returns the best ordering for this linear factor
diff --git a/cpp/testLinearFactorGraph.cpp b/cpp/testLinearFactorGraph.cpp
index b25e2d701..6adf192ce 100644
--- a/cpp/testLinearFactorGraph.cpp
+++ b/cpp/testLinearFactorGraph.cpp
@@ -457,7 +457,7 @@ TEST( LinearFactorGraph, CONSTRUCTOR_ChordalBayesNet )
   ord.push_back("x1");
   
   ChordalBayesNet::shared_ptr CBN = fg.eliminate(ord);
-  LinearFactorGraph fg2(CBN);
+  LinearFactorGraph fg2(*CBN);
   ChordalBayesNet::shared_ptr CBN2 = fg2.eliminate(ord);
   
   CHECK(CBN->equals(*CBN2));