Introduced namespace

examples/Pose2SLAMExample_lago.cpp

@@ -48,7 +48,7 @@ int main(const int argc, const char *argv[]) {
   graphWithPrior.print();
 
   std::cout << "Computing LAGO estimate" << std::endl;
-  Values estimateLago = initializeLago(graphWithPrior);
+  Values estimateLago = lago::initializeLago(graphWithPrior);
   std::cout << "done!" << std::endl;
 
   if (argc < 3) {

gtsam/nonlinear/lago.cpp

@@ -24,6 +24,7 @@
 #include <boost/math/special_functions.hpp>
 
 namespace gtsam {
+namespace lago {
 
 static Matrix I = eye(1);
 static Matrix I3 = eye(3);
@@ -347,4 +348,5 @@ Values initializeLago(const NonlinearFactorGraph& graph, const Values& initialGu
   return initialGuessLago;
 }
 
+} // end of namespace lago
 } // end of namespace gtsam

gtsam/nonlinear/lago.h

@@ -41,6 +41,7 @@
 #include <gtsam/inference/graph.h>
 
 namespace gtsam {
+namespace lago {
 
 typedef std::map<Key,double> key2doubleMap;
 const Key keyAnchor = symbol('Z',9999999);
@@ -93,4 +94,5 @@ GTSAM_EXPORT Values initializeLago(const NonlinearFactorGraph& graph, bool useOd
 /*  Only corrects the orientation part in initialGuess */
 GTSAM_EXPORT Values initializeLago(const NonlinearFactorGraph& graph, const Values& initialGuess);
 
+} // end of namespace lago
 } // end of namespace gtsam

gtsam/nonlinear/tests/testLago.cpp

@@ -37,6 +37,7 @@
 
 using namespace std;
 using namespace gtsam;
+using namespace lago;
 using namespace boost::assign;
 
 Symbol x0('x', 0), x1('x', 1), x2('x', 2), x3('x', 3);