Restored some functions to make ISAM2 compile

gtsam/inference/BayesNet-inl.h

@@ -82,15 +82,15 @@ namespace gtsam {
 			push_front(conditional);
 	}
 
-//	/* ************************************************************************* */
-//	template<class CONDITIONAL>
-//	FastList<Index> BayesNet<CONDITIONAL>::ordering() const {
-//		FastList<Index> ord;
-//		BOOST_FOREACH(sharedConditional conditional,conditionals_)
-//		   ord.push_back(conditional->key());
-//		return ord;
-//	}
-//
+	/* ************************************************************************* */
+	template<class CONDITIONAL>
+	FastList<Index> BayesNet<CONDITIONAL>::ordering() const {
+		FastList<Index> ord;
+		BOOST_FOREACH(sharedConditional conditional,conditionals_)
+		   ord.insert(ord.begin(), conditional->beginFrontals(), conditional->endFrontals());
+		return ord;
+	}
+
 //	/* ************************************************************************* */
 //	template<class CONDITIONAL>
 //	void BayesNet<CONDITIONAL>::saveGraph(const std::string &s) const {

gtsam/inference/BayesNet.h

@@ -116,10 +116,10 @@ namespace gtsam {
 			return conditionals_.size();
 		}
 
-//		/** return keys in reverse topological sort order, i.e., elimination order */
-//		FastList<Index> ordering() const;
-//
-//		/** SLOW O(n) random access to Conditional by key */
+		/** return keys in reverse topological sort order, i.e., elimination order */
+    FastList<Index> ordering() const;
+
+    /** SLOW O(n) random access to Conditional by key */
 		sharedConditional operator[](Index key) const;
 
     /** return last node in ordering */

gtsam/inference/BayesTree.h

@@ -42,6 +42,7 @@ namespace gtsam {
 	  typedef boost::shared_ptr<BayesTree<CONDITIONAL> > shared_ptr;
 		typedef boost::shared_ptr<CONDITIONAL> sharedConditional;
 		typedef boost::shared_ptr<BayesNet<CONDITIONAL> > sharedBayesNet;
+		typedef CONDITIONAL ConditionalType;
 		typedef typename CONDITIONAL::FactorType FactorType;
 	  typedef typename FactorGraph<FactorType>::Eliminate Eliminate;
 
@@ -59,7 +60,7 @@ namespace gtsam {
 		  void assertInvariants() const;
 
 		public:
-		  typedef CONDITIONAL Base;
+		  typedef CONDITIONAL ConditionalType;
 			typedef typename boost::shared_ptr<Clique> shared_ptr;
 			typedef typename boost::weak_ptr<Clique> weak_ptr;
 			sharedConditional conditional_;

gtsam/linear/GaussianConditional.h

@@ -152,6 +152,7 @@ public:
 	size_t dim(const_iterator variable) const { return rsd_(variable - this->begin()).cols(); }
 
 	rsd_type::constBlock get_S(const_iterator variable) const { return rsd_(variable - this->begin()); }
+	rsd_type::constBlock get_S() const { return rsd_.range(nrFrontals(), size()); }
 	const Vector& get_sigmas() const {return sigmas_;}
 
 protected: