From 689adead55f6c770c86e89cadedd4514f6443698 Mon Sep 17 00:00:00 2001
From: Richard Roberts <richard.jw.roberts@gmail.com>
Date: Fri, 4 Feb 2011 02:36:14 +0000
Subject: [PATCH] Using granular debugging flags, fixed code comment

---
 gtsam/linear/JacobianFactor.cpp | 7 ++++---
 gtsam/linear/JacobianFactor.h   | 2 +-
 2 files changed, 5 insertions(+), 4 deletions(-)

diff --git a/gtsam/linear/JacobianFactor.cpp b/gtsam/linear/JacobianFactor.cpp
index ce3803703..e13da78e1 100644
--- a/gtsam/linear/JacobianFactor.cpp
+++ b/gtsam/linear/JacobianFactor.cpp
@@ -16,6 +16,7 @@
  * @created Dec 8, 2010
  */
 
+#include <gtsam/base/debug.h>
 #include <gtsam/base/timing.h>
 #include <gtsam/base/Matrix.h>
 #include <gtsam/base/FastMap.h>
@@ -242,7 +243,7 @@ namespace gtsam {
   void JacobianFactor::permuteWithInverse(const Permutation& inversePermutation) {
 
     // Build a map from the new variable indices to the old slot positions.
-    typedef map<size_t, size_t, std::less<size_t>, boost::fast_pool_allocator<std::pair<const size_t, size_t> > > SourceSlots;
+    typedef FastMap<size_t, size_t> SourceSlots;
     SourceSlots sourceSlots;
     for(size_t j=0; j<keys_.size(); ++j)
       sourceSlots.insert(make_pair(inversePermutation[keys_[j]], j));
@@ -383,7 +384,7 @@ namespace gtsam {
     assert(keys_.size() >= nrFrontals);
     assertInvariants();
 
-    static const bool debug = false;
+    const bool debug = ISDEBUG("JacobianFactor::eliminate");
 
     if(debug) cout << "Eliminating " << nrFrontals << " frontal variables" << endl;
     if(debug) this->print("Eliminating JacobianFactor: ");
@@ -553,7 +554,7 @@ namespace gtsam {
   /* ************************************************************************* */
   JacobianFactor::shared_ptr JacobianFactor::Combine(const FactorGraph<JacobianFactor>& factors, const VariableSlots& variableSlots) {
 
-    static const bool debug = false;
+    const bool debug = ISDEBUG("JacobianFactor::Combine");
 
     if(debug) factors.print("Combining factors: ");
 
diff --git a/gtsam/linear/JacobianFactor.h b/gtsam/linear/JacobianFactor.h
index 38cd88caf..caf678171 100644
--- a/gtsam/linear/JacobianFactor.h
+++ b/gtsam/linear/JacobianFactor.h
@@ -126,7 +126,7 @@ namespace gtsam {
     virtual void permuteWithInverse(const Permutation& inversePermutation);
 
     /**
-     * return the number of rows in the corresponding linear system
+     * return the number of columns in the corresponding linear system
      */
     size_t size1() const { return Ab_.size1(); }