getOrdering is const !!!! It matters !
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fd11a1e2c7
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6dd31fd8c3
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@ -230,6 +230,9 @@ pair<Matrix,Vector> LinearFactorGraph::matrix(const Ordering& ordering) const {
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/* ************************************************************************* */
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Ordering LinearFactorGraph::getOrdering() const {
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// FD: no comments whatsoever, must be totally obvious !
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int * _symbolicMatrix;
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int * _symbolicColumns;
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int _symbolicLength;
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@ -88,8 +88,9 @@ double NonlinearFactorGraph::iterate
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}
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/* ************************************************************************* */
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Ordering NonlinearFactorGraph::getOrdering(FGConfig& config)
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Ordering NonlinearFactorGraph::getOrdering(FGConfig& config) const
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{
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// TODO: FD: Whoa! This is crazy !!!!! re-linearizing just to get ordering ?
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LinearFactorGraph lfg = linearize(config);
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return lfg.getOrdering();
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}
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@ -35,7 +35,7 @@ public: // internal, exposed for testing only, doc in .cpp file
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double& lambda, double lambdaFactor,
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const Ordering& ordering, int verbosity) const;
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Ordering getOrdering(FGConfig& config);
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Ordering getOrdering(FGConfig& config) const;
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public: // these you will probably want to use
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/**
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