From be26d99f1e73bac4d7a56640e2d95fc347272386 Mon Sep 17 00:00:00 2001
From: dellaert <dellaert@cc.gatech.edu>
Date: Thu, 26 Feb 2015 14:19:22 +0100
Subject: [PATCH] Moved to less intrusive spot

---
 gtsam/slam/SmartFactorBase.h | 20 ++++++++++----------
 1 file changed, 10 insertions(+), 10 deletions(-)

diff --git a/gtsam/slam/SmartFactorBase.h b/gtsam/slam/SmartFactorBase.h
index ba0d27530..417ba1354 100644
--- a/gtsam/slam/SmartFactorBase.h
+++ b/gtsam/slam/SmartFactorBase.h
@@ -307,16 +307,6 @@ public:
     return f;
   }
 
-  /// Create BIG block-diagonal matrix F from Fblocks
-  static void FillDiagonalF(const std::vector<KeyMatrix2D>& Fblocks,
-      Matrix& F) {
-    size_t m = Fblocks.size();
-    F.resize(ZDim * m, Dim * m);
-    F.setZero();
-    for (size_t i = 0; i < m; ++i)
-      F.block<This::ZDim, Dim>(This::ZDim * i, Dim * i) = Fblocks.at(i).second;
-  }
-
   /// SVD version
   double computeJacobiansSVD(std::vector<KeyMatrix2D>& Fblocks, Matrix& Enull,
       Vector& b, const Cameras& cameras, const Point3& point) const {
@@ -549,6 +539,16 @@ public:
     return boost::make_shared<JacobianFactorSVD<Dim, ZDim> >(F, E0, b, n);
   }
 
+  /// Create BIG block-diagonal matrix F from Fblocks
+  static void FillDiagonalF(const std::vector<KeyMatrix2D>& Fblocks,
+      Matrix& F) {
+    size_t m = Fblocks.size();
+    F.resize(ZDim * m, Dim * m);
+    F.setZero();
+    for (size_t i = 0; i < m; ++i)
+      F.block<This::ZDim, Dim>(This::ZDim * i, Dim * i) = Fblocks.at(i).second;
+  }
+
 private:
 
 /// Serialization function