Renamed example to be more consistent, pulled in Ordering in NonlinearOptimizer

examples/Makefile.am

@@ -12,8 +12,8 @@ check_PROGRAMS =
 
 # Examples
 noinst_PROGRAMS  = SimpleRotation      # Optimizes a single nonlinear rotation variable
-noinst_PROGRAMS += SLAMSelfContained   # Solves SLAM example from tutorial with all typedefs in the script
 noinst_PROGRAMS += PlanarSLAMExample   # Solves SLAM example from tutorial by using planarSLAM
+noinst_PROGRAMS += PlanarSLAMSelfContained   # Solves SLAM example from tutorial with all typedefs in the script
 
 #----------------------------------------------------------------------------------------------------
 # rules to build local programs

examples/PlanarSLAMExample.cpp

@@ -8,9 +8,6 @@
 #include <cmath>
 #include <iostream>
 
-// This is should probably be pulled in elsewhere
-#include <gtsam/inference/Ordering.h>
-
 // pull in the planar SLAM domain with all typedefs and helper functions defined
 #include <gtsam/slam/planarSLAM.h>
 

examples/PlanarSLAMSelfContained.cpp

@@ -1,5 +1,5 @@
 /**
- * @file SLAMSelfContained.cpp
+ * @file PlanarSLAMSelfContained.cpp
  * @brief Simple robotics example from tutorial Figure 1.1 (left), with all typedefs
  * internal to this script.
  * @author Alex Cunningham

nonlinear/NonlinearOptimizer.h

@@ -10,6 +10,7 @@
 
 #include <boost/shared_ptr.hpp>
 #include <boost/make_shared.hpp>
+#include <gtsam/inference/Ordering.h>
 #include <gtsam/linear/VectorConfig.h>
 #include <gtsam/nonlinear/NonlinearFactorGraph.h>
 #include <gtsam/linear/Factorization.h>