From d83c4c390cb91576983e62652aaeafb4cd0d558f Mon Sep 17 00:00:00 2001
From: Richard Roberts <richard.jw.roberts@gmail.com>
Date: Tue, 5 Jun 2012 21:31:27 +0000
Subject: [PATCH] Added non-const constructor from filtered

---
 gtsam/nonlinear/Values-inl.h | 10 ++++++++++
 gtsam/nonlinear/Values.h     |  4 ++++
 2 files changed, 14 insertions(+)

diff --git a/gtsam/nonlinear/Values-inl.h b/gtsam/nonlinear/Values-inl.h
index 4cab86714..c38f14177 100644
--- a/gtsam/nonlinear/Values-inl.h
+++ b/gtsam/nonlinear/Values-inl.h
@@ -169,6 +169,16 @@ namespace gtsam {
     }
   };
 
+  /* ************************************************************************* */
+  /** Constructor from a Filtered view copies out all values */
+  template<class ValueType>
+  Values::Values(const Values::Filtered<ValueType>& view) {
+    BOOST_FOREACH(const typename Filtered<ValueType>::KeyValuePair& key_value, view) {
+      Key key = key_value.key;
+      insert(key, key_value.value);
+    }
+  }
+
   /* ************************************************************************* */
   template<class ValueType>
   Values::Values(const Values::ConstFiltered<ValueType>& view) {
diff --git a/gtsam/nonlinear/Values.h b/gtsam/nonlinear/Values.h
index d9778bb0f..4bc5f0f7e 100644
--- a/gtsam/nonlinear/Values.h
+++ b/gtsam/nonlinear/Values.h
@@ -138,6 +138,10 @@ namespace gtsam {
     /** Copy constructor duplicates all keys and values */
     Values(const Values& other);
 
+    /** Constructor from a Filtered view copies out all values */
+    template<class ValueType>
+    Values(const Filtered<ValueType>& view);
+
     /** Constructor from a Filtered or ConstFiltered view */
     template<class ValueType>
     Values(const ConstFiltered<ValueType>& view);