From 0fb6c1320ee8bfc43174d02eb257d44da5c30bc9 Mon Sep 17 00:00:00 2001
From: Alex Cunningham <alexgcunningham@gmail.com>
Date: Fri, 8 Oct 2010 18:39:19 +0000
Subject: [PATCH] Renamed example to be more consistent, pulled in Ordering in
 NonlinearOptimizer

---
 examples/Makefile.am                                           | 2 +-
 examples/PlanarSLAMExample.cpp                                 | 3 ---
 .../{SLAMSelfContained.cpp => PlanarSLAMSelfContained.cpp}     | 2 +-
 nonlinear/NonlinearOptimizer.h                                 | 1 +
 4 files changed, 3 insertions(+), 5 deletions(-)
 rename examples/{SLAMSelfContained.cpp => PlanarSLAMSelfContained.cpp} (99%)

diff --git a/examples/Makefile.am b/examples/Makefile.am
index 52f6c8dc2..ed746ccf0 100644
--- a/examples/Makefile.am
+++ b/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
diff --git a/examples/PlanarSLAMExample.cpp b/examples/PlanarSLAMExample.cpp
index 3529f2b19..e9ce801b0 100644
--- a/examples/PlanarSLAMExample.cpp
+++ b/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>
 
diff --git a/examples/SLAMSelfContained.cpp b/examples/PlanarSLAMSelfContained.cpp
similarity index 99%
rename from examples/SLAMSelfContained.cpp
rename to examples/PlanarSLAMSelfContained.cpp
index 757af1915..97a63e4ae 100644
--- a/examples/SLAMSelfContained.cpp
+++ b/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
diff --git a/nonlinear/NonlinearOptimizer.h b/nonlinear/NonlinearOptimizer.h
index 32f26ba61..a8b2f9bbe 100644
--- a/nonlinear/NonlinearOptimizer.h
+++ b/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>