From 06fb94144b5621a67153155adcc5ffe2140bf22b Mon Sep 17 00:00:00 2001
From: Frank Dellaert <dellaert@gmail.com>
Date: Sun, 30 Jan 2022 15:10:32 -0500
Subject: [PATCH] Expose all ordering methods

---
 gtsam/inference/inference.i | 47 ++++++++++++++++++++++++++++++-------
 1 file changed, 39 insertions(+), 8 deletions(-)

diff --git a/gtsam/inference/inference.i b/gtsam/inference/inference.i
index 5a661d5cf..e7b074ec4 100644
--- a/gtsam/inference/inference.i
+++ b/gtsam/inference/inference.i
@@ -4,6 +4,12 @@
 
 namespace gtsam {
 
+// Headers for overloaded methods below, break hierarchy :-/
+#include <gtsam/linear/GaussianFactorGraph.h>
+#include <gtsam/nonlinear/NonlinearFactorGraph.h>
+#include <gtsam/symbolic/SymbolicFactorGraph.h>
+#include <gtsam/discrete/DiscreteFactorGraph.h>
+
 #include <gtsam/inference/Key.h>
 
 // Default keyformatter
@@ -98,10 +104,41 @@ class Ordering {
   Ordering();
   Ordering(const gtsam::Ordering& other);
 
-  template <FACTOR_GRAPH = {gtsam::NonlinearFactorGraph,
-                            gtsam::GaussianFactorGraph}>
+  template <
+      FACTOR_GRAPH = {gtsam::NonlinearFactorGraph, gtsam::DiscreteFactorGraph,
+                      gtsam::SymbolicFactorGraph, gtsam::GaussianFactorGraph}>
   static gtsam::Ordering Colamd(const FACTOR_GRAPH& graph);
 
+  template <
+      FACTOR_GRAPH = {gtsam::NonlinearFactorGraph, gtsam::DiscreteFactorGraph,
+                      gtsam::SymbolicFactorGraph, gtsam::GaussianFactorGraph}>
+  static gtsam::Ordering ColamdConstrainedLast(
+      const FACTOR_GRAPH& graph, const gtsam::KeyVector& constrainLast,
+      bool forceOrder = false);
+
+  template <
+      FACTOR_GRAPH = {gtsam::NonlinearFactorGraph, gtsam::DiscreteFactorGraph,
+                      gtsam::SymbolicFactorGraph, gtsam::GaussianFactorGraph}>
+  static gtsam::Ordering ColamdConstrainedFirst(
+      const FACTOR_GRAPH& graph, const gtsam::KeyVector& constrainFirst,
+      bool forceOrder = false);
+
+  template <
+      FACTOR_GRAPH = {gtsam::NonlinearFactorGraph, gtsam::DiscreteFactorGraph,
+                      gtsam::SymbolicFactorGraph, gtsam::GaussianFactorGraph}>
+  static gtsam::Ordering Natural(const FACTOR_GRAPH& graph);
+
+  template <
+      FACTOR_GRAPH = {gtsam::NonlinearFactorGraph, gtsam::DiscreteFactorGraph,
+                      gtsam::SymbolicFactorGraph, gtsam::GaussianFactorGraph}>
+  static gtsam::Ordering Metis(const FACTOR_GRAPH& graph);
+
+  template <
+      FACTOR_GRAPH = {gtsam::NonlinearFactorGraph, gtsam::DiscreteFactorGraph,
+                      gtsam::SymbolicFactorGraph, gtsam::GaussianFactorGraph}>
+  static gtsam::Ordering Create(gtsam::Ordering::OrderingType orderingType,
+                                const FACTOR_GRAPH& graph);
+
   // Testable
   void print(string s = "", const gtsam::KeyFormatter& keyFormatter =
                                 gtsam::DefaultKeyFormatter) const;
@@ -135,12 +172,6 @@ class DotWriter {
 };
 
 #include <gtsam/inference/VariableIndex.h>
-
-// Headers for overloaded methods below, break hierarchy :-/
-#include <gtsam/linear/GaussianFactorGraph.h>
-#include <gtsam/nonlinear/NonlinearFactorGraph.h>
-#include <gtsam/symbolic/SymbolicFactorGraph.h>
-
 class VariableIndex {
   // Standard Constructors and Named Constructors
   VariableIndex();