Added ordering-less negate()

gtsam_unstable/nonlinear/LinearContainerFactor.cpp

@@ -141,6 +141,12 @@ GaussianFactor::shared_ptr LinearContainerFactor::negate(const Ordering& orderin
 	return result;
 }
 
+/* ************************************************************************* */
+NonlinearFactor::shared_ptr LinearContainerFactor::negate() const {
+	GaussianFactor::shared_ptr antifactor = factor_->negate(); // already has keys in place
+	return NonlinearFactor::shared_ptr(new LinearContainerFactor(antifactor));
+}
+
 /* ************************************************************************* */
 } // \namespace gtsam
 

gtsam_unstable/nonlinear/LinearContainerFactor.h

@@ -79,6 +79,14 @@ public:
    */
   GaussianFactor::shared_ptr negate(const Ordering& ordering) const;
 
+  /**
+   * Creates the equivalent anti-factor as another LinearContainerFactor,
+   * so it remains independent of ordering.
+   */
+  NonlinearFactor::shared_ptr negate() const;
+
+
+
   /**
    * Creates a shared_ptr clone of the factor - needs to be specialized to allow
    * for subclasses