From baf4cf5a23108db2dab8f01b1b00e3ae19a16d70 Mon Sep 17 00:00:00 2001
From: kartik arcot <kartik.arcot@verdantrobotics.com>
Date: Mon, 23 Jan 2023 17:56:05 -0800
Subject: [PATCH] fix ordering

---
 gtsam/inference/Ordering.h    | 11 +++++++++++
 gtsam_unstable/CMakeLists.txt |  4 ++--
 2 files changed, 13 insertions(+), 2 deletions(-)

diff --git a/gtsam/inference/Ordering.h b/gtsam/inference/Ordering.h
index ad41aa5bb..a308b9705 100644
--- a/gtsam/inference/Ordering.h
+++ b/gtsam/inference/Ordering.h
@@ -58,6 +58,7 @@ public:
       Base(keys.begin(), keys.end()) {
   }
 
+#ifdef GTSAM_USE_BOOST_FEATURES
   /// Add new variables to the ordering as ordering += key1, key2, ...  Equivalent to calling
   /// push_back.
   boost::assign::list_inserter<boost::assign_detail::call_push_back<This> > operator+=(
@@ -65,6 +66,16 @@ public:
     return boost::assign::make_list_inserter(
         boost::assign_detail::call_push_back<This>(*this))(key);
   }
+#else
+  /** A simple inserter to insert one key at a time
+   * @param key The key to insert
+   * @return The ordering
+   */
+  This& operator+=(Key key) {
+    push_back(key);
+    return *this;
+  }
+#endif
 
   /**
    * @brief Append new keys to the ordering as `ordering += keys`.
diff --git a/gtsam_unstable/CMakeLists.txt b/gtsam_unstable/CMakeLists.txt
index d02731af0..db7c4f89e 100644
--- a/gtsam_unstable/CMakeLists.txt
+++ b/gtsam_unstable/CMakeLists.txt
@@ -34,12 +34,12 @@ if(NOT GTSAM_USE_BOOST_FEATURES)
     list (APPEND excluded_sources ${excluded_sources}
         "${CMAKE_CURRENT_SOURCE_DIR}/linear/QPSParser.cpp"
         "${CMAKE_CURRENT_SOURCE_DIR}/linear/QPSSolver.cpp"
-        "${CMAKE_CURRENT_SOURCE_DIR}/linear/Scheduler.cpp"
+        "${CMAKE_CURRENT_SOURCE_DIR}/discrete/Scheduler.cpp"
     )
     list (APPEND excluded_headers ${excluded_headers}
         "${CMAKE_CURRENT_SOURCE_DIR}/linear/QPSParser.h"
         "${CMAKE_CURRENT_SOURCE_DIR}/linear/QPSSolver.h"
-        "${CMAKE_CURRENT_SOURCE_DIR}/linear/Scheduler.h"
+        "${CMAKE_CURRENT_SOURCE_DIR}/discrete/Scheduler.h"
     )
 endif()