From c5f8f5b5da8592d96b88251ae08dbda7b174b52a Mon Sep 17 00:00:00 2001
From: Alex Cunningham <alexgcunningham@gmail.com>
Date: Wed, 30 Oct 2013 15:54:03 +0000
Subject: [PATCH] Added matlab interfaces to GaussianFactorGraph to use ordered
 dense hessians/jacobians

---
 gtsam.h | 4 ++++
 1 file changed, 4 insertions(+)

diff --git a/gtsam.h b/gtsam.h
index fff3e04be..fb9348739 100644
--- a/gtsam.h
+++ b/gtsam.h
@@ -1299,9 +1299,13 @@ class GaussianFactorGraph {
   // Conversion to matrices
   Matrix sparseJacobian_() const;
   Matrix augmentedJacobian() const;
+  Matrix augmentedJacobian(const gtsam::Ordering& ordering) const;
   pair<Matrix,Vector> jacobian() const;
+  pair<Matrix,Vector> jacobian(const gtsam::Ordering& ordering) const;
   Matrix augmentedHessian() const;
+  Matrix augmentedHessian(const gtsam::Ordering& ordering) const;
   pair<Matrix,Vector> hessian() const;
+  pair<Matrix,Vector> hessian(const gtsam::Ordering& ordering) const;
 
   // enabling serialization functionality
   void serialize() const;