Some refactoring of the shortcut caching code

gtsam/inference/BayesTree-inl.h

@@ -555,20 +555,6 @@ namespace gtsam {
 		}
 	}
 
-	/* ************************************************************************* */
-	template<class CONDITIONAL, class CLIQUE>
-	void BayesTree<CONDITIONAL, CLIQUE>::deleteCachedShorcuts(const sharedClique& subtree) {
-		// Check if subtree exists
-		if (subtree) {
-			//Delete CachedShortcut for this clique
-			subtree->resetCachedShortcut();
-			// Recursive call over all child cliques
-			BOOST_FOREACH(sharedClique& childClique, subtree->children()) {
-				deleteCachedShorcuts(childClique);
-			}
-		}
-	}
-
 	/* ************************************************************************* */
 	template<class CONDITIONAL, class CLIQUE>
 	template<class CONTAINER>
@@ -591,7 +577,7 @@ namespace gtsam {
 	  // Delete cachedShorcuts for each orphan subtree
 	  //TODO: Consider Improving
 	  BOOST_FOREACH(sharedClique& orphan, orphans)
-	  	deleteCachedShorcuts(orphan);
+	  	orphan->deleteCachedShorcuts();
 	}
 
   /* ************************************************************************* */

gtsam/inference/BayesTree.h

@@ -280,11 +280,6 @@ namespace gtsam {
 		sharedClique insert(const sharedConditional& clique,
 				std::list<sharedClique>& children, bool isRootClique = false);
 
-		/**
-		 * This deletes the cached shortcuts of all cliques in a subtree. This is
-		 * performed when the bayes tree is modified.
-		 */
-		void deleteCachedShorcuts(const sharedClique& subtree);
 
   private:
 

gtsam/inference/BayesTreeCliqueBase-inl.h

@@ -265,4 +265,15 @@ namespace gtsam {
     return *solver.jointFactorGraph(keys12vector, function);
   }
 
+	/* ************************************************************************* */
+	template<class DERIVED, class CONDITIONAL>
+	void BayesTreeCliqueBase<DERIVED, CONDITIONAL>::deleteCachedShorcuts() {
+		//Delete CachedShortcut for this clique
+		this->resetCachedShortcut();
+		// Recursive call over all child cliques
+		BOOST_FOREACH(derived_ptr& child, children_) {
+			child->deleteCachedShorcuts();
+		}
+	}
+
 }

gtsam/inference/BayesTreeCliqueBase.h

@@ -161,6 +161,15 @@ namespace gtsam {
     /** return the joint P(C1,C2), where C1==this. TODO: not a method? */
     FactorGraph<FactorType> joint(derived_ptr C2, derived_ptr root, Eliminate function) const;
 
+    /**
+     * This deletes the cached shortcuts of all cliques (subtree) below this clique.
+     * This is performed when the bayes tree is modified.
+     */
+    void deleteCachedShorcuts();
+
+    /** return cached shortcut of the clique */
+    const boost::optional<BayesNet<ConditionalType> > cachedShortcut() const { return cachedShortcut_; }
+
     friend class BayesTree<ConditionalType, DerivedType>;
 
   protected:

gtsam/inference/tests/testBayesTree.cpp

@@ -238,6 +238,76 @@ TEST( BayesTree, removePath3 )
   CHECK(assert_equal(expectedOrphans, orphans));
 }
 
+void getAllCliques(const SymbolicBayesTree::sharedClique& subtree, SymbolicBayesTree::Cliques& cliques)	{
+	// Check if subtree exists
+	if (subtree) {
+		cliques.push_back(subtree);
+		// Recursive call over all child cliques
+		BOOST_FOREACH(SymbolicBayesTree::sharedClique& childClique, subtree->children()) {
+			getAllCliques(childClique,cliques);
+		}
+	}
+}
+
+/* ************************************************************************* */
+TEST( BayesTree, shortcutCheck )
+{
+  const Index _A_=6, _B_=5, _C_=4, _D_=3, _E_=2, _F_=1, _G_=0;
+	IndexConditional::shared_ptr
+			A(new IndexConditional(_A_)),
+			B(new IndexConditional(_B_, _A_)),
+			C(new IndexConditional(_C_, _A_)),
+			D(new IndexConditional(_D_, _C_)),
+			E(new IndexConditional(_E_, _B_)),
+			F(new IndexConditional(_F_, _E_)),
+			G(new IndexConditional(_G_, _F_));
+	SymbolicBayesTree bayesTree;
+//	Ordering ord; ord += _A_,_B_,_C_,_D_,_E_,_F_;
+	SymbolicBayesTree::insert(bayesTree, A);
+	SymbolicBayesTree::insert(bayesTree, B);
+	SymbolicBayesTree::insert(bayesTree, C);
+	SymbolicBayesTree::insert(bayesTree, D);
+	SymbolicBayesTree::insert(bayesTree, E);
+	SymbolicBayesTree::insert(bayesTree, F);
+	SymbolicBayesTree::insert(bayesTree, G);
+
+	//bayesTree.print("BayesTree");
+	//bayesTree.saveGraph("BT1.dot");
+
+	SymbolicBayesTree::sharedClique rootClique= bayesTree.root();
+	//rootClique->printTree();
+	SymbolicBayesTree::Cliques allCliques;
+	getAllCliques(rootClique,allCliques);
+
+	BayesNet<IndexConditional> bn;
+	BOOST_FOREACH(SymbolicBayesTree::sharedClique& clique, allCliques) {
+		//clique->print("Clique#");
+		bn = clique->shortcut(rootClique, &EliminateSymbolic);
+		//bn.print("Shortcut:\n");
+		//cout << endl;
+	}
+
+	// Check if all the cached shortcuts are cleared
+	rootClique->deleteCachedShorcuts();
+	BOOST_FOREACH(SymbolicBayesTree::sharedClique& clique, allCliques) {
+		bool notCleared = clique->cachedShortcut();
+		CHECK( notCleared == false);
+	}
+
+//	BOOST_FOREACH(SymbolicBayesTree::sharedClique& clique, allCliques) {
+//		clique->print("Clique#");
+//		if(clique->cachedShortcut()){
+//			bn = clique->cachedShortcut().get();
+//			bn.print("Shortcut:\n");
+//		}
+//		else
+//			cout << "Not Initialized" << endl;
+//		cout << endl;
+//	}
+}
+
+
+
 /* ************************************************************************* */
 TEST( BayesTree, removeTop )
 {