From 233c8aa7bb1b78224c0c0965f0d0b88e682b041d Mon Sep 17 00:00:00 2001
From: Alex Cunningham <alexgcunningham@gmail.com>
Date: Sat, 23 Mar 2013 20:19:43 +0000
Subject: [PATCH] Moved summarization functions

---
 gtsam_unstable/gtsam_unstable.h | 11 ++++++++++-
 1 file changed, 10 insertions(+), 1 deletion(-)

diff --git a/gtsam_unstable/gtsam_unstable.h b/gtsam_unstable/gtsam_unstable.h
index 2d6b7faac..1aa655ce8 100644
--- a/gtsam_unstable/gtsam_unstable.h
+++ b/gtsam_unstable/gtsam_unstable.h
@@ -19,7 +19,8 @@ class gtsam::GaussianFactorGraph;
 class gtsam::NonlinearFactorGraph;
 class gtsam::Ordering;
 class gtsam::Values;
-class gtsam::InvertedOrdering;
+class gtsam::KeySet;
+class gtsam::KeyVector;
 
 namespace gtsam {
 
@@ -369,7 +370,15 @@ virtual class DGroundConstraint : gtsam::NonlinearFactor {
 //*************************************************************************
 // nonlinear
 //*************************************************************************
+#include <gtsam_unstable/nonlinear/summarization.h>
+gtsam::GaussianFactorGraph* summarizeGraphSequential(
+    const gtsam::GaussianFactorGraph& full_graph, const gtsam::KeyVector& indices);
+gtsam::GaussianFactorGraph* summarizeGraphSequential(
+    const gtsam::GaussianFactorGraph& full_graph, const gtsam::Ordering& ordering, const gtsam::KeySet& saved_keys);
 
+pair<gtsam::GaussianFactorGraph,gtsam::Ordering>
+partialCholeskySummarization(const gtsam::NonlinearFactorGraph& graph, const gtsam::Values& values,
+    const gtsam::KeySet& overlap_keys);
 
 //*************************************************************************
 // slam