diff --git a/gtsam.h b/gtsam.h index defc88c20..a2dd9ea43 100644 --- a/gtsam.h +++ b/gtsam.h @@ -1418,26 +1418,14 @@ class Ordering { bool equals(const gtsam::Ordering& ord, double tol) const; // Standard interface - size_t nVars() const; size_t size() const; size_t at(size_t key) const; + size_t key(size_t index) const; bool exists(size_t key) const; void insert(size_t key, size_t order); void push_back(size_t key); - void permuteWithInverse(const gtsam::Permutation& inversePermutation); - gtsam::InvertedOrdering invert() const; -}; - -class InvertedOrdering { - InvertedOrdering(); - - // FIXME: add bracket operator overload - - bool empty() const; - size_t size() const; - bool count(size_t index) const; // Use as a boolean function with implicit cast - - void clear(); + void permuteInPlace(const gtsam::Permutation& permutation); + void permuteInPlace(const gtsam::Permutation& selector, const gtsam::Permutation& permutation); }; class NonlinearFactorGraph { @@ -1605,12 +1593,9 @@ virtual class LinearContainerFactor : gtsam::NonlinearFactor { LinearContainerFactor(gtsam::GaussianFactor* factor, const gtsam::Ordering& ordering, const gtsam::Values& linearizationPoint); LinearContainerFactor(gtsam::GaussianFactor* factor, const gtsam::Values& linearizationPoint); - LinearContainerFactor(gtsam::GaussianFactor* factor, const gtsam::InvertedOrdering& ordering, - const gtsam::Values& linearizationPoint); LinearContainerFactor(gtsam::GaussianFactor* factor, const gtsam::Ordering& ordering); LinearContainerFactor(gtsam::GaussianFactor* factor); - LinearContainerFactor(gtsam::GaussianFactor* factor, const gtsam::InvertedOrdering& ordering); gtsam::GaussianFactor* factor() const; // const boost::optional& linearizationPoint() const; @@ -1625,13 +1610,9 @@ virtual class LinearContainerFactor : gtsam::NonlinearFactor { static gtsam::NonlinearFactorGraph convertLinearGraph(const gtsam::GaussianFactorGraph& linear_graph, const gtsam::Ordering& ordering, const gtsam::Values& linearizationPoint); - static gtsam::NonlinearFactorGraph convertLinearGraph(const gtsam::GaussianFactorGraph& linear_graph, - const gtsam::InvertedOrdering& invOrdering, const gtsam::Values& linearizationPoint); static gtsam::NonlinearFactorGraph convertLinearGraph(const gtsam::GaussianFactorGraph& linear_graph, const gtsam::Ordering& ordering); - static gtsam::NonlinearFactorGraph convertLinearGraph(const gtsam::GaussianFactorGraph& linear_graph, - const gtsam::InvertedOrdering& invOrdering); }; // \class LinearContainerFactor