From 5a7801583265f0f88e656c7d648d9a21a1d9d8aa Mon Sep 17 00:00:00 2001
From: Varun Agrawal <varagrawal@gmail.com>
Date: Mon, 12 Sep 2022 19:55:51 -0400
Subject: [PATCH] add push_back for containers

---
 gtsam/hybrid/HybridNonlinearFactorGraph.h | 17 +++++++++++++++++
 1 file changed, 17 insertions(+)

diff --git a/gtsam/hybrid/HybridNonlinearFactorGraph.h b/gtsam/hybrid/HybridNonlinearFactorGraph.h
index afa410318..5f04851d4 100644
--- a/gtsam/hybrid/HybridNonlinearFactorGraph.h
+++ b/gtsam/hybrid/HybridNonlinearFactorGraph.h
@@ -109,6 +109,23 @@ class GTSAM_EXPORT HybridNonlinearFactorGraph : public HybridFactorGraph {
     }
   }
 
+  /**
+   * Push back many factors as shared_ptr's in a container (factors are not
+   * copied)
+   */
+  template <typename CONTAINER>
+  Base::Base::HasDerivedElementType<CONTAINER> push_back(
+      const CONTAINER& container) {
+    Base::push_back(container.begin(), container.end());
+  }
+
+  /// Push back non-pointer objects in a container (factors are copied).
+  template <typename CONTAINER>
+  Base::Base::HasDerivedValueType<CONTAINER> push_back(
+      const CONTAINER& container) {
+    Base::push_back(container.begin(), container.end());
+  }
+
   /// Add a nonlinear factor as a shared ptr.
   void add(boost::shared_ptr<NonlinearFactor> factor);