From 3db7920f6559035b9c04cd8ef0aa998f4c6aa1e1 Mon Sep 17 00:00:00 2001
From: p-zach <porterdzach@gmail.com>
Date: Tue, 15 Apr 2025 23:53:43 -0400
Subject: [PATCH] Fix syntax errors

---
 gtsam/inference/VariableIndex.cpp | 10 +++++-----
 gtsam/inference/inference.i       |  4 ++--
 gtsam/linear/linear.i             | 16 ++++++++--------
 3 files changed, 15 insertions(+), 15 deletions(-)

diff --git a/gtsam/inference/VariableIndex.cpp b/gtsam/inference/VariableIndex.cpp
index 3d22501b3..ba291c1f2 100644
--- a/gtsam/inference/VariableIndex.cpp
+++ b/gtsam/inference/VariableIndex.cpp
@@ -23,12 +23,12 @@ namespace gtsam {
 
 using namespace std;
 
-const FactorIndices& operator[](Key variable) const {
-  KeyMap::const_iterator item = index_.find(variable);
+const FactorIndices& VariableIndex::operator[](Key variable) const {
+  return index_.find(variable)->second;
 }
 
-const FactorIndices& at(Key variable) const {
-  KeyMap::const_iterator item = (*this)[variable];
+const FactorIndices& VariableIndex::at(Key variable) const {
+  KeyMap::const_iterator item = index_.find(variable);
   if(item == index_.end())
     throw std::invalid_argument("Requested non-existent variable '" +
                                 DefaultKeyFormatter(variable) +
@@ -37,7 +37,7 @@ const FactorIndices& at(Key variable) const {
     return item->second;
 }
 
-bool empty(Key variable) const {
+bool VariableIndex::empty(Key variable) const {
   return (*this)[variable].empty();
 }
 
diff --git a/gtsam/inference/inference.i b/gtsam/inference/inference.i
index 084d97a01..2b05adf89 100644
--- a/gtsam/inference/inference.i
+++ b/gtsam/inference/inference.i
@@ -199,8 +199,8 @@ class VariableIndex {
   VariableIndex(const T& factorGraph);
   VariableIndex(const gtsam::VariableIndex& other);
 
-  const FactorIndices& at(Key variable) const;
-  bool empty(Key variable) const;
+  gtsam::FactorIndices& at(gtsam::Key variable) const;
+  bool empty(gtsam::Key variable) const;
 
   // Testable
   bool equals(const gtsam::VariableIndex& other, double tol) const;
diff --git a/gtsam/linear/linear.i b/gtsam/linear/linear.i
index 39947125a..3ad6be6c4 100644
--- a/gtsam/linear/linear.i
+++ b/gtsam/linear/linear.i
@@ -689,16 +689,16 @@ virtual class GaussianBayesTree {
 
 #include <gtsam/linear/GaussianEliminationTree.h>
 virtual class GaussianEliminationTree {
-  GaussianEliminationTree(const GaussianFactorGraph& factorGraph,
-    const VariableIndex& structure, const Ordering& order);
-  GaussianEliminationTree(const GaussianFactorGraph& factorGraph,
-    const Ordering& order);
+  GaussianEliminationTree(const gtsam::GaussianFactorGraph& factorGraph,
+    const gtsam::VariableIndex& structure, const gtsam::Ordering& order);
+  GaussianEliminationTree(const gtsam::GaussianFactorGraph& factorGraph,
+    const gtsam::Ordering& order);
 
-  bool GaussianEliminationTree::equals(const This& other, double tol) const;
+  bool equals(const This& other, double tol) const;
 
-  void print(const std::string& name = "GaussianEliminationTree: ",
-    const KeyFormatter& formatter = DefaultKeyFormatter) const;
-}
+  void print(const string name = "GaussianEliminationTree: ",
+    const gtsam::KeyFormatter& formatter = gtsam::DefaultKeyFormatter) const;
+};
 
 #include <gtsam/linear/GaussianISAM.h>
 class GaussianISAM {