Added conversion functions from Fast* classes to stl containers. Added permuteWithInverse() to BayesTree

gtsam/base/FastList.h

@@ -62,6 +62,11 @@ public:
       Base::assign(x.begin(), x.end());
   }
 
+  /** Conversion to a standard STL container */
+  operator std::list<VALUE>() const {
+    return std::list<VALUE>(this->begin(), this->end());
+  }
+
 private:
   /** Serialization function */
   friend class boost::serialization::access;

gtsam/base/FastMap.h

@@ -53,6 +53,11 @@ public:
   /** Copy constructor from the base map class */
   FastMap(const Base& x) : Base(x) {}
 
+  /** Conversion to a standard STL container */
+  operator std::map<KEY,VALUE>() const {
+    return std::map<KEY,VALUE>(this->begin(), this->end());
+  }
+
 private:
   /** Serialization function */
   friend class boost::serialization::access;

gtsam/base/FastSet.h

@@ -86,6 +86,11 @@ public:
       Base::insert(x.begin(), x.end());
   }
 
+  /** Conversion to a standard STL container */
+  operator std::set<VALUE>() const {
+    return std::set<VALUE>(this->begin(), this->end());
+  }
+
   /** Print to implement Testable */
   void print(const std::string& str = "") const { FastSetTestableHelper<VALUE>::print(*this, str); }
 

gtsam/inference/BayesTree.h

@@ -229,6 +229,11 @@ namespace gtsam {
       root_->deleteCachedShorcuts();
     }
 
+    /** Apply a permutation to all cliques */
+    void permuteWithInverse(const Permutation& inversePermutation) {
+      root_->permuteWithInverse(inversePermutation);
+    }
+
     /**
      * Remove path from clique to root and return that path as factors
      * plus a list of orphaned subtree roots. Used in removeTop below.