Updated synchronization code for CConcurrent Filter
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@ -186,6 +186,10 @@ protected:
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/** Create linearized factors from any factors remaining after marginalizing out the requested keys */
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NonlinearFactor::shared_ptr marginalizeKeysFromFactor(const NonlinearFactor::shared_ptr& factor, const std::set<Key>& remainingKeys) const;
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std::set<gtsam::Key> findSeparatorKeys(const gtsam::NonlinearFactorGraph& graph) const;
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gtsam::Ordering computeOrdering(const gtsam::NonlinearFactorGraph& graph) const;
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private:
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typedef BayesTree<GaussianConditional,ISAM2Clique>::sharedClique Clique;
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static void SymbolicPrintTree(const Clique& clique, const Ordering& ordering, const std::string indent = "");
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