From 286898a8471584310c81ae020afae1b8c553f6eb Mon Sep 17 00:00:00 2001
From: Gerry Chen <gerry.chen2015@gmail.com>
Date: Wed, 20 Jan 2021 12:25:20 -0500
Subject: [PATCH] move SparseMatrixBoostTriplets typedef to gfg

---
 gtsam/base/Matrix.h                  |  6 ------
 gtsam/linear/GaussianFactorGraph.cpp | 11 ++++++-----
 gtsam/linear/GaussianFactorGraph.h   |  3 +++
 3 files changed, 9 insertions(+), 11 deletions(-)

diff --git a/gtsam/base/Matrix.h b/gtsam/base/Matrix.h
index 11058ef40..b4ecf6f6a 100644
--- a/gtsam/base/Matrix.h
+++ b/gtsam/base/Matrix.h
@@ -75,12 +75,6 @@ GTSAM_MAKE_MATRIX_DEFS(9);
 typedef Eigen::Block<Matrix> SubMatrix;
 typedef Eigen::Block<const Matrix> ConstSubMatrix;
 
-/// Sparse matrix representation as vector of tuples.
-/// See SparseMatrix.h for additional representations SparseMatrixEigenTriplets
-/// and SparseMatrixEigen
-typedef std::vector<boost::tuple<size_t, size_t, double>>
-    SparseMatrixBoostTriplets;
-
 // Matrix formatting arguments when printing.
 // Akin to Matlab style.
 const Eigen::IOFormat& matlabFormat();
diff --git a/gtsam/linear/GaussianFactorGraph.cpp b/gtsam/linear/GaussianFactorGraph.cpp
index c4e4ed109..825c6c5d2 100644
--- a/gtsam/linear/GaussianFactorGraph.cpp
+++ b/gtsam/linear/GaussianFactorGraph.cpp
@@ -99,30 +99,31 @@ namespace gtsam {
     return result;
   }
 
+  using BoostTriplets = GaussianFactorGraph::SparseMatrixBoostTriplets;
   /* ************************************************************************* */
-  SparseMatrixBoostTriplets GaussianFactorGraph::sparseJacobian(
+  BoostTriplets GaussianFactorGraph::sparseJacobian(
       const Ordering& ordering, size_t& nrows, size_t& ncols) const {
-    SparseMatrixBoostTriplets entries;
+    BoostTriplets entries;
     entries.reserve(60 * size());
     sparseJacobianInPlace(entries, ordering, nrows, ncols);
     return entries;
   }
 
   /* ************************************************************************* */
-  SparseMatrixBoostTriplets GaussianFactorGraph::sparseJacobian(
+  BoostTriplets GaussianFactorGraph::sparseJacobian(
       const Ordering& ordering) const {
     size_t dummy1, dummy2;
     return sparseJacobian(ordering, dummy1, dummy2);
   }
 
   /* ************************************************************************* */
-  SparseMatrixBoostTriplets GaussianFactorGraph::sparseJacobian(
+  BoostTriplets GaussianFactorGraph::sparseJacobian(
       size_t& nrows, size_t& ncols) const {
     return sparseJacobian(Ordering(this->keys()), nrows, ncols);
   }
 
   /* ************************************************************************* */
-  SparseMatrixBoostTriplets GaussianFactorGraph::sparseJacobian() const {
+  BoostTriplets GaussianFactorGraph::sparseJacobian() const {
     size_t dummy1, dummy2;
     return sparseJacobian(dummy1, dummy2);
   }
diff --git a/gtsam/linear/GaussianFactorGraph.h b/gtsam/linear/GaussianFactorGraph.h
index 2f21d9619..f2ca3bd60 100644
--- a/gtsam/linear/GaussianFactorGraph.h
+++ b/gtsam/linear/GaussianFactorGraph.h
@@ -180,6 +180,9 @@ namespace gtsam {
     ///@name Linear Algebra
     ///@{
 
+    typedef std::vector<boost::tuple<size_t, size_t, double>>
+        SparseMatrixBoostTriplets;  ///< Sparse matrix representation as vector of tuples.
+
     /**
      * Populates a container of triplets: (i, j, s) to generate an m-by-n sparse
      * augmented Jacobian matrix, where i(k) and j(k) are the base 0 row and