From d772e5251249572304f0acf4ecdcfa16b2f475e2 Mon Sep 17 00:00:00 2001
From: Duy-Nguyen Ta <thduynguyen@gmail.com>
Date: Tue, 22 Nov 2016 17:34:21 -0500
Subject: [PATCH] move matlab.h, containing matlab ultility functions, to
 nonlinear/utilities.h so it can be installed properly and can be used with
 the cython wrapper

---
 cython/gtsam.h                          | 2 +-
 matlab.h => gtsam/nonlinear/utilities.h | 7 ++++---
 2 files changed, 5 insertions(+), 4 deletions(-)
 rename matlab.h => gtsam/nonlinear/utilities.h (97%)

diff --git a/cython/gtsam.h b/cython/gtsam.h
index 8ffd19003..847085776 100644
--- a/cython/gtsam.h
+++ b/cython/gtsam.h
@@ -2639,7 +2639,7 @@ virtual class Pose3AttitudeFactor : gtsam::NonlinearFactor{
 
 namespace utilities {
 
-  #include <matlab.h>
+  #include <gtsam/nonlinear/utilities.h>
   gtsam::KeyList createKeyList(Vector I);
   gtsam::KeyList createKeyList(string s, Vector I);
   gtsam::KeyVector createKeyVector(Vector I);
diff --git a/matlab.h b/gtsam/nonlinear/utilities.h
similarity index 97%
rename from matlab.h
rename to gtsam/nonlinear/utilities.h
index 5e144730d..891c6fd80 100644
--- a/matlab.h
+++ b/gtsam/nonlinear/utilities.h
@@ -17,6 +17,7 @@
 
 #pragma once
 
+#include <gtsam/inference/Symbol.h>
 #include <gtsam/slam/ProjectionFactor.h>
 #include <gtsam/nonlinear/NonlinearFactorGraph.h>
 #include <gtsam/nonlinear/NonlinearFactor.h>
@@ -43,7 +44,7 @@ FastList<Key> createKeyList(const Vector& I) {
 }
 
 // Create a KeyList from indices using symbol
-FastList<Key> createKeyList(string s, const Vector& I) {
+FastList<Key> createKeyList(std::string s, const Vector& I) {
   FastList<Key> set;
   char c = s[0];
   for (int i = 0; i < I.size(); i++)
@@ -60,7 +61,7 @@ FastVector<Key> createKeyVector(const Vector& I) {
 }
 
 // Create a KeyVector from indices using symbol
-FastVector<Key> createKeyVector(string s, const Vector& I) {
+FastVector<Key> createKeyVector(std::string s, const Vector& I) {
   FastVector<Key> set;
   char c = s[0];
   for (int i = 0; i < I.size(); i++)
@@ -77,7 +78,7 @@ KeySet createKeySet(const Vector& I) {
 }
 
 // Create a KeySet from indices using symbol
-KeySet createKeySet(string s, const Vector& I) {
+KeySet createKeySet(std::string s, const Vector& I) {
   KeySet set;
   char c = s[0];
   for (int i = 0; i < I.size(); i++)