From 0a5f2205343eb95f75d63c70f09cdb049985243e Mon Sep 17 00:00:00 2001
From: alexhagiopol <alexhagiopol@gmail.com>
Date: Fri, 20 Feb 2015 14:33:15 -0500
Subject: [PATCH 1/6] 10% reduction in lines of code included by Vector.h.

---
 gtsam/base/Matrix.h   |  6 ++++++
 gtsam/base/Vector.cpp |  5 +++--
 gtsam/base/Vector.h   | 12 +++++++-----
 3 files changed, 16 insertions(+), 7 deletions(-)

diff --git a/gtsam/base/Matrix.h b/gtsam/base/Matrix.h
index c3cbfa341..294b5e63a 100644
--- a/gtsam/base/Matrix.h
+++ b/gtsam/base/Matrix.h
@@ -27,6 +27,12 @@
 #include <boost/tuple/tuple.hpp>
 #include <boost/math/special_functions/fpclassify.hpp>
 
+#include <gtsam/3rdparty/Eigen/Eigen/Core>
+#include <gtsam/3rdparty/Eigen/Eigen/Cholesky>
+#include <gtsam/3rdparty/Eigen/Eigen/SVD> 
+#include <gtsam/3rdparty/Eigen/Eigen/LU>
+
+
 /**
  * Matrix is a typedef in the gtsam namespace
  * TODO: make a version to work with matlab wrapping
diff --git a/gtsam/base/Vector.cpp b/gtsam/base/Vector.cpp
index a9ef8fe10..5368e708e 100644
--- a/gtsam/base/Vector.cpp
+++ b/gtsam/base/Vector.cpp
@@ -16,9 +16,10 @@
  * @author  Frank Dellaert
  */
 
+
 #include <cstdarg>
 #include <limits>
-#include <iostream>
+//#include <iostream>
 #include <fstream>
 #include <sstream>
 #include <iomanip>
@@ -27,7 +28,7 @@
 #include <boost/foreach.hpp>
 #include <boost/optional.hpp>
 #include <cstdio>
-
+#include <vector> //added by alex
 #include <gtsam/base/Vector.h>
 
 
diff --git a/gtsam/base/Vector.h b/gtsam/base/Vector.h
index 74cd248a1..58e1d2ff6 100644
--- a/gtsam/base/Vector.h
+++ b/gtsam/base/Vector.h
@@ -18,14 +18,16 @@
 
 // \callgraph
 
+
 #pragma once
-
 #include <list>
-#include <vector>
-#include <iostream>
+//#include <vector>
+//#include <iostream>
 #include <gtsam/global_includes.h>
-#include <gtsam/3rdparty/gtsam_eigen_includes.h>
-
+//#include <gtsam/3rdparty/gtsam_eigen_includes.h>
+//#include <gtsam/3rdparty/Eigen/Eigen/src/Core/Matrix.h>
+//#include <gtsam/3rdparty/Eigen/Eigen/src/Core/MatrixBase.h> 
+#include <gtsam/3rdparty/Eigen/Eigen/Core>
 namespace gtsam {
 
 // Vector is just a typedef of the Eigen dynamic vector type

From 7dca1d76a55fd614ffb96c01685acea0d67e809f Mon Sep 17 00:00:00 2001
From: alexhagiopol <alexhagiopol@gmail.com>
Date: Fri, 20 Feb 2015 17:09:17 -0500
Subject: [PATCH 2/6] More reductions in included lines.

---
 gtsam/base/FastSet.h             | 2 +-
 gtsam/base/GenericValue.h        | 2 +-
 gtsam/base/Matrix.h              | 1 -
 gtsam/base/Vector.cpp            | 3 +--
 gtsam/base/Vector.h              | 5 -----
 gtsam/base/types.cpp             | 2 +-
 gtsam/base/types.h               | 5 +++--
 gtsam/geometry/EssentialMatrix.h | 2 +-
 8 files changed, 8 insertions(+), 14 deletions(-)

diff --git a/gtsam/base/FastSet.h b/gtsam/base/FastSet.h
index 69e841e57..810a48c60 100644
--- a/gtsam/base/FastSet.h
+++ b/gtsam/base/FastSet.h
@@ -21,7 +21,7 @@
 #include <gtsam/base/FastDefaultAllocator.h>
 
 #include <set>
-#include <iostream>
+#include <iosfwd>
 #include <string>
 #include <cmath>
 #include <boost/mpl/has_xxx.hpp>
diff --git a/gtsam/base/GenericValue.h b/gtsam/base/GenericValue.h
index c67f7dd61..dd0811d8b 100644
--- a/gtsam/base/GenericValue.h
+++ b/gtsam/base/GenericValue.h
@@ -26,7 +26,7 @@
 #include <boost/pool/pool_alloc.hpp>
 
 #include <cmath>
-#include <iostream>
+#include <iosfwd>
 #include <typeinfo> // operator typeid
 
 namespace gtsam {
diff --git a/gtsam/base/Matrix.h b/gtsam/base/Matrix.h
index 294b5e63a..d5c433d35 100644
--- a/gtsam/base/Matrix.h
+++ b/gtsam/base/Matrix.h
@@ -21,7 +21,6 @@
 // \callgraph
 
 #pragma once
-
 #include <gtsam/base/Vector.h>
 #include <boost/format.hpp>
 #include <boost/tuple/tuple.hpp>
diff --git a/gtsam/base/Vector.cpp b/gtsam/base/Vector.cpp
index 5368e708e..1b145a116 100644
--- a/gtsam/base/Vector.cpp
+++ b/gtsam/base/Vector.cpp
@@ -19,7 +19,6 @@
 
 #include <cstdarg>
 #include <limits>
-//#include <iostream>
 #include <fstream>
 #include <sstream>
 #include <iomanip>
@@ -28,7 +27,7 @@
 #include <boost/foreach.hpp>
 #include <boost/optional.hpp>
 #include <cstdio>
-#include <vector> //added by alex
+#include <vector>
 #include <gtsam/base/Vector.h>
 
 
diff --git a/gtsam/base/Vector.h b/gtsam/base/Vector.h
index 58e1d2ff6..d19fee298 100644
--- a/gtsam/base/Vector.h
+++ b/gtsam/base/Vector.h
@@ -21,12 +21,7 @@
 
 #pragma once
 #include <list>
-//#include <vector>
-//#include <iostream>
 #include <gtsam/global_includes.h>
-//#include <gtsam/3rdparty/gtsam_eigen_includes.h>
-//#include <gtsam/3rdparty/Eigen/Eigen/src/Core/Matrix.h>
-//#include <gtsam/3rdparty/Eigen/Eigen/src/Core/MatrixBase.h> 
 #include <gtsam/3rdparty/Eigen/Eigen/Core>
 namespace gtsam {
 
diff --git a/gtsam/base/types.cpp b/gtsam/base/types.cpp
index 3f86dc0c1..9a0d6c627 100644
--- a/gtsam/base/types.cpp
+++ b/gtsam/base/types.cpp
@@ -18,7 +18,7 @@
  */
 
 #include <boost/lexical_cast.hpp>
-
+//#include <iostream>
 #include <gtsam/base/types.h>
 #include <gtsam/inference/Symbol.h>
 
diff --git a/gtsam/base/types.h b/gtsam/base/types.h
index aca04a14b..839016fd9 100644
--- a/gtsam/base/types.h
+++ b/gtsam/base/types.h
@@ -21,10 +21,11 @@
 
 #include <gtsam/dllexport.h>
 #include <gtsam/config.h>
-
+//#include <iosfwd>
+#include <iostream>
 #include <cstddef>
 #include <string>
-#include <iostream>
+#include <ostream>
 #include <boost/function/function1.hpp>
 #include <boost/range/concepts.hpp>
 #include <boost/optional.hpp>
diff --git a/gtsam/geometry/EssentialMatrix.h b/gtsam/geometry/EssentialMatrix.h
index 606f62f87..9ebcbcf5c 100644
--- a/gtsam/geometry/EssentialMatrix.h
+++ b/gtsam/geometry/EssentialMatrix.h
@@ -10,7 +10,7 @@
 #include <gtsam/geometry/Pose3.h>
 #include <gtsam/geometry/Unit3.h>
 #include <gtsam/geometry/Point2.h>
-#include <iostream>
+#include <iosfwd>
 
 namespace gtsam {
 

From 3f4558cacb2a8b86230e3cfcb2940240211ce227 Mon Sep 17 00:00:00 2001
From: alexhagiopol <alexhagiopol@gmail.com>
Date: Mon, 23 Feb 2015 18:45:25 -0500
Subject: [PATCH 3/6] SVD removed from Matrix.h

---
 gtsam/base/Matrix.cpp | 16 ++++++++++++++++
 gtsam/base/Matrix.h   | 19 ++-----------------
 2 files changed, 18 insertions(+), 17 deletions(-)

diff --git a/gtsam/base/Matrix.cpp b/gtsam/base/Matrix.cpp
index 7bcd32b9f..7136db768 100644
--- a/gtsam/base/Matrix.cpp
+++ b/gtsam/base/Matrix.cpp
@@ -32,6 +32,9 @@
 #include <fstream>
 #include <limits>
 
+#include <gtsam/3rdparty/Eigen/Eigen/SVD>  
+#include <gtsam/3rdparty/Eigen/Eigen/LU>
+
 using namespace std;
 
 namespace gtsam {
@@ -697,6 +700,19 @@ std::string formatMatrixIndented(const std::string& label, const Matrix& matrix,
   return ss.str();
 }
 
+void inplace_QR(Matrix& A){
+  size_t rows = A.rows();
+  size_t cols = A.cols();
+  size_t size = std::min(rows,cols);
 
+  typedef Eigen::internal::plain_diag_type<Matrix>::type HCoeffsType;
+  typedef Eigen::internal::plain_row_type<Matrix>::type RowVectorType;
+  HCoeffsType hCoeffs(size);
+  RowVectorType temp(cols);
+
+  Eigen::internal::householder_qr_inplace_blocked<Matrix, HCoeffsType>::run(A, hCoeffs, 48, temp.data());
+
+  zeroBelowDiagonal(A);
+}
 
 } // namespace gtsam
diff --git a/gtsam/base/Matrix.h b/gtsam/base/Matrix.h
index d5c433d35..ee3c84464 100644
--- a/gtsam/base/Matrix.h
+++ b/gtsam/base/Matrix.h
@@ -25,10 +25,8 @@
 #include <boost/format.hpp>
 #include <boost/tuple/tuple.hpp>
 #include <boost/math/special_functions/fpclassify.hpp>
-
 #include <gtsam/3rdparty/Eigen/Eigen/Core>
 #include <gtsam/3rdparty/Eigen/Eigen/Cholesky>
-#include <gtsam/3rdparty/Eigen/Eigen/SVD> 
 #include <gtsam/3rdparty/Eigen/Eigen/LU>
 
 
@@ -372,21 +370,8 @@ GTSAM_EXPORT std::pair<Matrix,Matrix> qr(const Matrix& A);
  * @param A is the input matrix, and is the output
  * @param clear_below_diagonal enables zeroing out below diagonal
  */
-template <class MATRIX>
-void inplace_QR(MATRIX& A) {
-  size_t rows = A.rows();
-  size_t cols = A.cols();
-  size_t size = std::min(rows,cols);
-
-  typedef Eigen::internal::plain_diag_type<Matrix>::type HCoeffsType;
-  typedef Eigen::internal::plain_row_type<Matrix>::type RowVectorType;
-  HCoeffsType hCoeffs(size);
-  RowVectorType temp(cols);
-
-  Eigen::internal::householder_qr_inplace_blocked<MATRIX, HCoeffsType>::run(A, hCoeffs, 48, temp.data());
-
-  zeroBelowDiagonal(A);
-}
+//template <class MATRIX>
+void inplace_QR(Matrix& A);
 
 /**
  * Imperative algorithm for in-place full elimination with

From c13bde99f2e03644ef19bd22ffc817843c116583 Mon Sep 17 00:00:00 2001
From: alexhagiopol <alexhagiopol@gmail.com>
Date: Tue, 24 Feb 2015 00:19:13 -0500
Subject: [PATCH 4/6] More header bloat reduction.

---
 gtsam/base/Matrix.h      | 1 -
 gtsam/base/types.cpp     | 1 -
 gtsam/base/types.h       | 1 -
 gtsam/nonlinear/Values.h | 6 ------
 4 files changed, 9 deletions(-)

diff --git a/gtsam/base/Matrix.h b/gtsam/base/Matrix.h
index ee3c84464..fc9f27099 100644
--- a/gtsam/base/Matrix.h
+++ b/gtsam/base/Matrix.h
@@ -370,7 +370,6 @@ GTSAM_EXPORT std::pair<Matrix,Matrix> qr(const Matrix& A);
  * @param A is the input matrix, and is the output
  * @param clear_below_diagonal enables zeroing out below diagonal
  */
-//template <class MATRIX>
 void inplace_QR(Matrix& A);
 
 /**
diff --git a/gtsam/base/types.cpp b/gtsam/base/types.cpp
index 9a0d6c627..4f61c6a1d 100644
--- a/gtsam/base/types.cpp
+++ b/gtsam/base/types.cpp
@@ -18,7 +18,6 @@
  */
 
 #include <boost/lexical_cast.hpp>
-//#include <iostream>
 #include <gtsam/base/types.h>
 #include <gtsam/inference/Symbol.h>
 
diff --git a/gtsam/base/types.h b/gtsam/base/types.h
index 839016fd9..d0ba526c2 100644
--- a/gtsam/base/types.h
+++ b/gtsam/base/types.h
@@ -21,7 +21,6 @@
 
 #include <gtsam/dllexport.h>
 #include <gtsam/config.h>
-//#include <iosfwd>
 #include <iostream>
 #include <cstddef>
 #include <string>
diff --git a/gtsam/nonlinear/Values.h b/gtsam/nonlinear/Values.h
index 73d0711be..ad727f45e 100644
--- a/gtsam/nonlinear/Values.h
+++ b/gtsam/nonlinear/Values.h
@@ -26,14 +26,9 @@
 
 #include <gtsam/base/GenericValue.h>
 #include <gtsam/base/VectorSpace.h>
-#include <gtsam/base/FastMap.h>
 #include <gtsam/inference/Key.h>
-
-#include <boost/optional.hpp>
-#include <boost/ptr_container/ptr_map.hpp>
 #include <boost/iterator/transform_iterator.hpp>
 #include <boost/iterator/filter_iterator.hpp>
-#include <boost/function.hpp>
 #ifdef __GNUC__
 #pragma GCC diagnostic push
 #pragma GCC diagnostic ignored "-Wunused-variable"
@@ -43,7 +38,6 @@
 #pragma GCC diagnostic pop
 #endif
 #include <boost/ptr_container/serialize_ptr_map.hpp>
-#include <boost/iterator_adaptors.hpp>
 
 #include <string>
 #include <utility>

From 77770b48b51135660bad396a3ddacee2f18735bc Mon Sep 17 00:00:00 2001
From: alexhagiopol <alexhagiopol@gmail.com>
Date: Tue, 24 Feb 2015 14:39:08 -0500
Subject: [PATCH 5/6] Include <iostream> in types.h only when TBB is on.

---
 gtsam/base/FastSet.h | 3 +--
 gtsam/base/Vector.h  | 1 +
 gtsam/base/types.h   | 2 +-
 3 files changed, 3 insertions(+), 3 deletions(-)

diff --git a/gtsam/base/FastSet.h b/gtsam/base/FastSet.h
index 810a48c60..29fb3fcd9 100644
--- a/gtsam/base/FastSet.h
+++ b/gtsam/base/FastSet.h
@@ -19,9 +19,8 @@
 #pragma once
 
 #include <gtsam/base/FastDefaultAllocator.h>
-
 #include <set>
-#include <iosfwd>
+#include <iostream>
 #include <string>
 #include <cmath>
 #include <boost/mpl/has_xxx.hpp>
diff --git a/gtsam/base/Vector.h b/gtsam/base/Vector.h
index d19fee298..1c433eb4a 100644
--- a/gtsam/base/Vector.h
+++ b/gtsam/base/Vector.h
@@ -23,6 +23,7 @@
 #include <list>
 #include <gtsam/global_includes.h>
 #include <gtsam/3rdparty/Eigen/Eigen/Core>
+#include <iostream>
 namespace gtsam {
 
 // Vector is just a typedef of the Eigen dynamic vector type
diff --git a/gtsam/base/types.h b/gtsam/base/types.h
index d0ba526c2..122bc18a0 100644
--- a/gtsam/base/types.h
+++ b/gtsam/base/types.h
@@ -21,7 +21,6 @@
 
 #include <gtsam/dllexport.h>
 #include <gtsam/config.h>
-#include <iostream>
 #include <cstddef>
 #include <string>
 #include <ostream>
@@ -33,6 +32,7 @@
 #include <tbb/task_scheduler_init.h>
 #include <tbb/tbb_exception.h>
 #include <tbb/scalable_allocator.h>
+#include <iostream>
 #endif
 
 #ifdef GTSAM_USE_EIGEN_MKL_OPENMP

From d8468567b2533ca9a684a7f59f7593fd75836e0c Mon Sep 17 00:00:00 2001
From: alexhagiopol <alexhagiopol@gmail.com>
Date: Mon, 2 Mar 2015 20:19:59 -0500
Subject: [PATCH 6/6] MOre bloat reduction and header ordering.

---
 gtsam/base/FastSet.h  |  8 ++++----
 gtsam/base/Matrix.cpp | 12 +++++++++---
 gtsam/base/Matrix.h   | 13 +++++++++----
 gtsam/base/Value.h    |  5 +++--
 gtsam/base/Vector.cpp | 17 +++++++++++------
 gtsam/base/Vector.h   | 14 ++++++++++----
 gtsam/base/types.cpp  |  2 +-
 gtsam/base/types.h    |  6 +++---
 8 files changed, 50 insertions(+), 27 deletions(-)

diff --git a/gtsam/base/FastSet.h b/gtsam/base/FastSet.h
index 29fb3fcd9..4ef963f5d 100644
--- a/gtsam/base/FastSet.h
+++ b/gtsam/base/FastSet.h
@@ -19,14 +19,14 @@
 #pragma once
 
 #include <gtsam/base/FastDefaultAllocator.h>
-#include <set>
-#include <iostream>
-#include <string>
-#include <cmath>
 #include <boost/mpl/has_xxx.hpp>
 #include <boost/utility/enable_if.hpp>
 #include <boost/serialization/nvp.hpp>
 #include <boost/serialization/set.hpp>
+#include <set>
+#include <iostream>
+#include <string>
+#include <cmath>
 
 BOOST_MPL_HAS_XXX_TRAIT_DEF(print)
 
diff --git a/gtsam/base/Matrix.cpp b/gtsam/base/Matrix.cpp
index 7136db768..7fa0992ca 100644
--- a/gtsam/base/Matrix.cpp
+++ b/gtsam/base/Matrix.cpp
@@ -20,6 +20,8 @@
 #include <gtsam/base/timing.h>
 #include <gtsam/base/Vector.h>
 #include <gtsam/base/FastList.h>
+#include <gtsam/3rdparty/Eigen/Eigen/SVD>  
+#include <gtsam/3rdparty/Eigen/Eigen/LU>
 
 #include <boost/foreach.hpp>
 #include <boost/tuple/tuple.hpp>
@@ -32,9 +34,6 @@
 #include <fstream>
 #include <limits>
 
-#include <gtsam/3rdparty/Eigen/Eigen/SVD>  
-#include <gtsam/3rdparty/Eigen/Eigen/LU>
-
 using namespace std;
 
 namespace gtsam {
@@ -183,6 +182,7 @@ void transposeMultiplyAdd(double alpha, const Matrix& A, const Vector& e, SubVec
 }
 
 /* ************************************************************************* */
+//3 argument call
 void print(const Matrix& A, const string &s, ostream& stream) {
   size_t m = A.rows(), n = A.cols();
 
@@ -201,6 +201,12 @@ void print(const Matrix& A, const string &s, ostream& stream) {
   stream << "];" << endl;
 }
 
+/* ************************************************************************* */
+//1 or 2 argument call
+void print(const Matrix& A, const string &s){
+  print(A, s, cout);
+}
+
 /* ************************************************************************* */
 void save(const Matrix& A, const string &s, const string& filename) {
   fstream stream(filename.c_str(), fstream::out | fstream::app);
diff --git a/gtsam/base/Matrix.h b/gtsam/base/Matrix.h
index fc9f27099..27b7ec8f7 100644
--- a/gtsam/base/Matrix.h
+++ b/gtsam/base/Matrix.h
@@ -22,12 +22,12 @@
 
 #pragma once
 #include <gtsam/base/Vector.h>
-#include <boost/format.hpp>
-#include <boost/tuple/tuple.hpp>
 #include <boost/math/special_functions/fpclassify.hpp>
 #include <gtsam/3rdparty/Eigen/Eigen/Core>
 #include <gtsam/3rdparty/Eigen/Eigen/Cholesky>
 #include <gtsam/3rdparty/Eigen/Eigen/LU>
+#include <boost/format.hpp>
+#include <boost/tuple/tuple.hpp>
 
 
 /**
@@ -201,9 +201,14 @@ inline MATRIX prod(const MATRIX& A, const MATRIX&B) {
 }
 
 /**
- * print a matrix
+ * print without optional string, must specify cout yourself
  */
-GTSAM_EXPORT void print(const Matrix& A, const std::string& s = "", std::ostream& stream = std::cout);
+GTSAM_EXPORT void print(const Matrix& A, const std::string& s, std::ostream& stream);
+
+/**
+ * print with optional string to cout
+ */
+GTSAM_EXPORT void print(const Matrix& A, const std::string& s = "");
 
 /**
  * save a matrix to file, which can be loaded by matlab
diff --git a/gtsam/base/Value.h b/gtsam/base/Value.h
index a12f453f4..70677cad1 100644
--- a/gtsam/base/Value.h
+++ b/gtsam/base/Value.h
@@ -18,9 +18,10 @@
 
 #pragma once
 
-#include <memory>
-#include <boost/serialization/assume_abstract.hpp>
 #include <gtsam/base/Vector.h>
+#include <boost/serialization/assume_abstract.hpp>
+#include <memory>
+
 
 namespace gtsam {
 
diff --git a/gtsam/base/Vector.cpp b/gtsam/base/Vector.cpp
index 1b145a116..0a708427a 100644
--- a/gtsam/base/Vector.cpp
+++ b/gtsam/base/Vector.cpp
@@ -16,20 +16,18 @@
  * @author  Frank Dellaert
  */
 
-
+#include <gtsam/base/Vector.h>
+#include <boost/foreach.hpp>
+#include <boost/optional.hpp>
+#include <stdexcept>
 #include <cstdarg>
 #include <limits>
 #include <fstream>
 #include <sstream>
 #include <iomanip>
 #include <cmath>
-#include <stdexcept>
-#include <boost/foreach.hpp>
-#include <boost/optional.hpp>
 #include <cstdio>
 #include <vector>
-#include <gtsam/base/Vector.h>
-
 
 using namespace std;
 
@@ -55,6 +53,7 @@ Vector delta(size_t n, size_t i, double value) {
 }
 
 /* ************************************************************************* */
+//3 argument call
 void print(const Vector& v, const string& s, ostream& stream) {
   size_t n = v.size();
 
@@ -65,6 +64,12 @@ void print(const Vector& v, const string& s, ostream& stream) {
   stream << "];" << endl;
 }
 
+/* ************************************************************************* */
+//1 or 2 argument call
+void print(const Vector& v, const string& s) {
+    print(v, s, cout);
+}
+
 /* ************************************************************************* */
 void save(const Vector& v, const string &s, const string& filename) {
   fstream stream(filename.c_str(), fstream::out | fstream::app);
diff --git a/gtsam/base/Vector.h b/gtsam/base/Vector.h
index 1c433eb4a..2d333848b 100644
--- a/gtsam/base/Vector.h
+++ b/gtsam/base/Vector.h
@@ -20,10 +20,11 @@
 
 
 #pragma once
-#include <list>
 #include <gtsam/global_includes.h>
 #include <gtsam/3rdparty/Eigen/Eigen/Core>
-#include <iostream>
+#include <iosfwd>
+#include <list>
+
 namespace gtsam {
 
 // Vector is just a typedef of the Eigen dynamic vector type
@@ -95,9 +96,14 @@ GTSAM_EXPORT bool zero(const Vector& v);
 inline size_t dim(const Vector& v) { return v.size(); }
 
 /**
- * print with optional string
+ * print without optional string, must specify cout yourself
  */
-GTSAM_EXPORT void print(const Vector& v, const std::string& s = "", std::ostream& stream = std::cout);
+GTSAM_EXPORT void print(const Vector& v, const std::string& s, std::ostream& stream);
+
+/**
+ * print with optional string to cout
+ */
+GTSAM_EXPORT void print(const Vector& v, const std::string& s = "");
 
 /**
  * save a vector to file, which can be loaded by matlab
diff --git a/gtsam/base/types.cpp b/gtsam/base/types.cpp
index 4f61c6a1d..03e7fd120 100644
--- a/gtsam/base/types.cpp
+++ b/gtsam/base/types.cpp
@@ -17,9 +17,9 @@
  * @addtogroup base
  */
 
-#include <boost/lexical_cast.hpp>
 #include <gtsam/base/types.h>
 #include <gtsam/inference/Symbol.h>
+#include <boost/lexical_cast.hpp>
 
 namespace gtsam {
 
diff --git a/gtsam/base/types.h b/gtsam/base/types.h
index 122bc18a0..a66db13c8 100644
--- a/gtsam/base/types.h
+++ b/gtsam/base/types.h
@@ -21,12 +21,12 @@
 
 #include <gtsam/dllexport.h>
 #include <gtsam/config.h>
-#include <cstddef>
-#include <string>
-#include <ostream>
 #include <boost/function/function1.hpp>
 #include <boost/range/concepts.hpp>
 #include <boost/optional.hpp>
+#include <cstddef>
+#include <string>
+#include <ostream>
 
 #ifdef GTSAM_USE_TBB
 #include <tbb/task_scheduler_init.h>