From 1d7bcb301a08725b74ebcee5e10a56e71e5741d1 Mon Sep 17 00:00:00 2001
From: Andrew Melim <Andrew.Melim@gatech.edu>
Date: Mon, 20 Oct 2014 18:58:15 -0400
Subject: [PATCH] Ordering type enum

---
 gtsam/inference/Ordering.h                   |  6 ++++++
 gtsam/nonlinear/NonlinearOptimizerParams.cpp | 17 +++++++++--------
 gtsam/nonlinear/NonlinearOptimizerParams.h   | 16 ++++++----------
 3 files changed, 21 insertions(+), 18 deletions(-)

diff --git a/gtsam/inference/Ordering.h b/gtsam/inference/Ordering.h
index 6cf125551..dfb1deb0e 100644
--- a/gtsam/inference/Ordering.h
+++ b/gtsam/inference/Ordering.h
@@ -37,6 +37,12 @@ namespace gtsam {
     typedef Ordering This; ///< Typedef to this class
     typedef boost::shared_ptr<This> shared_ptr; ///< shared_ptr to this class
 
+	/** See NonlinearOptimizer::orderingType */
+	enum Type {
+		COLAMD_, METIS_, CUSTOM_ // Add underscores to prevent declaration errors
+	};
+
+
     /// Create an empty ordering
     GTSAM_EXPORT Ordering() {}
 
diff --git a/gtsam/nonlinear/NonlinearOptimizerParams.cpp b/gtsam/nonlinear/NonlinearOptimizerParams.cpp
index f20a36b5d..1e964a481 100644
--- a/gtsam/nonlinear/NonlinearOptimizerParams.cpp
+++ b/gtsam/nonlinear/NonlinearOptimizerParams.cpp
@@ -5,6 +5,7 @@
  * @author Yong-Dian Jian
  * @author Richard Roberts
  * @author Frank Dellaert
+ * @author Andrew Melim
  */
 
 #include <gtsam/nonlinear/NonlinearOptimizerParams.h>
@@ -108,10 +109,10 @@ void NonlinearOptimizerParams::print(const std::string& str) const {
   }
 
   switch (orderingType){
-  case COLAMD:
+  case Ordering::Type::COLAMD_:
 	  std::cout << "                   ordering: COLAMD\n";
 	  break;
-  case METIS:
+  case Ordering::Type::METIS_:
 	  std::cout << "                   ordering: METIS\n";
 	  break;
   default:
@@ -164,12 +165,12 @@ NonlinearOptimizerParams::LinearSolverType NonlinearOptimizerParams::linearSolve
 }
 
 /* ************************************************************************* */
-std::string NonlinearOptimizerParams::orderingTypeTranslator(NonlinearOptimizerParams::OrderingType type) const
+std::string NonlinearOptimizerParams::orderingTypeTranslator(Ordering::Type type) const
 {
 	switch (type) {
-	case METIS:
+	case Ordering::Type::METIS_:
 		return "METIS";
-	case COLAMD:
+	case Ordering::Type::COLAMD_:
 		return "COLAMD";
 	default:
 		if (ordering)
@@ -181,12 +182,12 @@ std::string NonlinearOptimizerParams::orderingTypeTranslator(NonlinearOptimizerP
 }
 
 /* ************************************************************************* */
-NonlinearOptimizerParams::OrderingType NonlinearOptimizerParams::orderingTypeTranslator(const std::string& type) const
+Ordering::Type NonlinearOptimizerParams::orderingTypeTranslator(const std::string& type) const
 {
 	if (type == "METIS")
-		return METIS;
+		return Ordering::Type::METIS_;
 	if (type == "COLAMD")
-		return COLAMD;
+		return Ordering::Type::COLAMD_;
 	throw std::invalid_argument(
 		"Invalid ordering type: You must provide an ordering for a custom ordering type. See setOrdering");
 }
diff --git a/gtsam/nonlinear/NonlinearOptimizerParams.h b/gtsam/nonlinear/NonlinearOptimizerParams.h
index a390555e2..04877c72e 100644
--- a/gtsam/nonlinear/NonlinearOptimizerParams.h
+++ b/gtsam/nonlinear/NonlinearOptimizerParams.h
@@ -15,6 +15,7 @@
  * @author Yong-Dian Jian
  * @author Richard Roberts
  * @author Frank Dellaert
+ * @author Andrew Melim
  * @date   Apr 1, 2012
  */
 
@@ -37,21 +38,16 @@ public:
     SILENT, TERMINATION, ERROR, VALUES, DELTA, LINEAR
   };
 
-  /** See NonlinearOptimizer::orderingType */
-  enum OrderingType {
-	COLAMD, METIS, CUSTOM
-  };
-
   int maxIterations; ///< The maximum iterations to stop iterating (default 100)
   double relativeErrorTol; ///< The maximum relative error decrease to stop iterating (default 1e-5)
   double absoluteErrorTol; ///< The maximum absolute error decrease to stop iterating (default 1e-5)
   double errorTol; ///< The maximum total error to stop iterating (default 0.0)
   Verbosity verbosity; ///< The printing verbosity during optimization (default SILENT)
-  OrderingType orderingType; ///< The method of ordering use during variable elimination (default COLAMD)
+  Ordering::Type orderingType; ///< The method of ordering use during variable elimination (default COLAMD)
 
   NonlinearOptimizerParams() :
       maxIterations(100), relativeErrorTol(1e-5), absoluteErrorTol(1e-5), errorTol(
-          0.0), verbosity(SILENT), linearSolverType(MULTIFRONTAL_CHOLESKY), orderingType(COLAMD) {
+          0.0), verbosity(SILENT), linearSolverType(MULTIFRONTAL_CHOLESKY), orderingType(Ordering::Type::COLAMD_) {
   }
 
   virtual ~NonlinearOptimizerParams() {
@@ -158,7 +154,7 @@ public:
 
   void setOrdering(const Ordering& ordering) {
     this->ordering = ordering;
-	this->orderingType = CUSTOM;
+	this->orderingType = Ordering::Type::CUSTOM_;
   }
 
   std::string getOrderingType() const {
@@ -175,9 +171,9 @@ private:
 
   LinearSolverType linearSolverTranslator(const std::string& linearSolverType) const;
 
-  std::string orderingTypeTranslator(OrderingType type) const;
+  std::string orderingTypeTranslator(Ordering::Type type) const;
 
-  OrderingType orderingTypeTranslator(const std::string& type) const;
+  Ordering::Type orderingTypeTranslator(const std::string& type) const;
 
 };