From 27c009d7925121849afa223e40157c72f82f6707 Mon Sep 17 00:00:00 2001
From: Alex Cunningham <alexgcunningham@gmail.com>
Date: Fri, 30 Jul 2010 17:07:10 +0000
Subject: [PATCH] Added new constructors for PlanarSLAM graphs

---
 slam/planarSLAM.cpp | 3 +++
 slam/planarSLAM.h   | 2 ++
 2 files changed, 5 insertions(+)

diff --git a/slam/planarSLAM.cpp b/slam/planarSLAM.cpp
index 45e315c09..417bbf8a4 100644
--- a/slam/planarSLAM.cpp
+++ b/slam/planarSLAM.cpp
@@ -20,6 +20,9 @@ namespace gtsam {
 
 	namespace planarSLAM {
 
+		Graph::Graph(const NonlinearFactorGraph<Config>& graph) :
+				NonlinearFactorGraph<Config>(graph) {}
+
 		void Graph::addPrior(const PoseKey& i, const Pose2& p,
 				const SharedGaussian& model) {
 			sharedFactor factor(new Prior(i, p, model));
diff --git a/slam/planarSLAM.h b/slam/planarSLAM.h
index d9b4e9d6d..3b0840717 100644
--- a/slam/planarSLAM.h
+++ b/slam/planarSLAM.h
@@ -37,6 +37,8 @@ namespace gtsam {
 
 		// Graph
 		struct Graph: public NonlinearFactorGraph<Config> {
+			Graph(){}
+			Graph(const NonlinearFactorGraph<Config>& graph);
 			void addPrior(const PoseKey& i, const Pose2& p, const SharedGaussian& model);
 			void addPoseConstraint(const PoseKey& i, const Pose2& p);
 			void addOdometry(const PoseKey& i, const PoseKey& j, const Pose2& z,