From 2c088b6a727053c490fe9c39d6406d733c731087 Mon Sep 17 00:00:00 2001
From: Richard Roberts <richard.jw.roberts@gmail.com>
Date: Mon, 25 Jun 2012 12:09:42 +0000
Subject: [PATCH] Could not use local class for KeyFormatter when passing to
 boost function on some compilers

---
 gtsam/inference/BayesTree.h       |  1 -
 gtsam/nonlinear/NonlinearISAM.cpp | 27 ++++++++++++++-------------
 2 files changed, 14 insertions(+), 14 deletions(-)

diff --git a/gtsam/inference/BayesTree.h b/gtsam/inference/BayesTree.h
index c62af258a..4d8b0a1a4 100644
--- a/gtsam/inference/BayesTree.h
+++ b/gtsam/inference/BayesTree.h
@@ -34,7 +34,6 @@
 #include <gtsam/inference/BayesTreeCliqueBase.h>
 #include <gtsam/inference/IndexConditional.h>
 #include <gtsam/linear/VectorValues.h>
-#include <gtsam/nonlinear/Key.h>
 
 namespace gtsam {
 
diff --git a/gtsam/nonlinear/NonlinearISAM.cpp b/gtsam/nonlinear/NonlinearISAM.cpp
index 3bddbb635..467f7bfe3 100644
--- a/gtsam/nonlinear/NonlinearISAM.cpp
+++ b/gtsam/nonlinear/NonlinearISAM.cpp
@@ -29,21 +29,22 @@ using namespace std;
 
 namespace gtsam {
 
+
+/* ************************************************************************* */
+// Create an index formatter that looks up the Key in an inverse ordering, then
+// formats the key using the provided key formatter, used in saveGraph.
+struct OrderingIndexFormatter {
+  Ordering::InvertedMap inverseOrdering;
+  const KeyFormatter& keyFormatter;
+  OrderingIndexFormatter(const Ordering& ordering, const KeyFormatter& keyFormatter) :
+      inverseOrdering(ordering.invert()), keyFormatter(keyFormatter) {}
+  string operator()(Index index) {
+    return keyFormatter(inverseOrdering.at(index));
+  }
+};
+
 /* ************************************************************************* */
 void NonlinearISAM::saveGraph(const string& s, const KeyFormatter& keyFormatter) const {
-
-  // Create an index formatter that looks up the Key in an inverse ordering, then
-  // formats the key using the provided key formatter.
-  struct OrderingIndexFormatter {
-    Ordering::InvertedMap inverseOrdering;
-    const KeyFormatter& keyFormatter;
-    OrderingIndexFormatter(const Ordering& ordering, const KeyFormatter& keyFormatter) :
-        inverseOrdering(ordering.invert()), keyFormatter(keyFormatter) {}
-    string operator()(Index index) {
-      return keyFormatter(inverseOrdering.at(index));
-    }
-  };
-
   isam_.saveGraph(s, OrderingIndexFormatter(ordering_, keyFormatter));
 }