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