From 5900eaa8ec35467b41ca98fa6b5f289f8ed8a560 Mon Sep 17 00:00:00 2001
From: Gerry Chen <gdc9@duke.edu>
Date: Thu, 10 Oct 2019 01:02:38 -0400
Subject: [PATCH] Change ordering back to OptionalOrdering typedef

---
 gtsam/nonlinear/Marginals.cpp | 8 ++++----
 gtsam/nonlinear/Marginals.h   | 8 ++++----
 2 files changed, 8 insertions(+), 8 deletions(-)

diff --git a/gtsam/nonlinear/Marginals.cpp b/gtsam/nonlinear/Marginals.cpp
index 7f554b5e5..c24cb6143 100644
--- a/gtsam/nonlinear/Marginals.cpp
+++ b/gtsam/nonlinear/Marginals.cpp
@@ -27,7 +27,7 @@ namespace gtsam {
 
 /* ************************************************************************* */
 Marginals::Marginals(const NonlinearFactorGraph& graph, const Values& solution, Factorization factorization,
-                     boost::optional<const Ordering &> ordering)
+                     EliminateableFactorGraph<GaussianFactorGraph>::OptionalOrdering ordering)
                      : values_(solution), factorization_(factorization) {
   gttic(MarginalsConstructor);
   graph_ = *graph.linearize(solution);
@@ -36,7 +36,7 @@ Marginals::Marginals(const NonlinearFactorGraph& graph, const Values& solution,
 
 /* ************************************************************************* */
 Marginals::Marginals(const GaussianFactorGraph& graph, const VectorValues& solution, Factorization factorization,
-                     boost::optional<const Ordering &> ordering)
+                     EliminateableFactorGraph<GaussianFactorGraph>::OptionalOrdering ordering)
                      : graph_(graph), factorization_(factorization) {
   gttic(MarginalsConstructor);
   Values vals;
@@ -49,14 +49,14 @@ Marginals::Marginals(const GaussianFactorGraph& graph, const VectorValues& solut
 
 /* ************************************************************************* */
 Marginals::Marginals(const GaussianFactorGraph& graph, const Values& solution, Factorization factorization,
-                     boost::optional<const Ordering &> ordering)
+                     EliminateableFactorGraph<GaussianFactorGraph>::OptionalOrdering ordering)
                      : graph_(graph), values_(solution), factorization_(factorization) {
   gttic(MarginalsConstructor);
   computeBayesTree(ordering);
 }
 
 /* ************************************************************************* */
-void Marginals::computeBayesTree(boost::optional<const Ordering &> ordering) {
+void Marginals::computeBayesTree(EliminateableFactorGraph<GaussianFactorGraph>::OptionalOrdering ordering) {
   // Compute BayesTree
   if(factorization_ == CHOLESKY)
     bayesTree_ = *graph_.eliminateMultifrontal(ordering, EliminatePreferCholesky);
diff --git a/gtsam/nonlinear/Marginals.h b/gtsam/nonlinear/Marginals.h
index 4e5921544..54a290196 100644
--- a/gtsam/nonlinear/Marginals.h
+++ b/gtsam/nonlinear/Marginals.h
@@ -58,7 +58,7 @@ public:
    * @param ordering An optional variable ordering for elimination.
    */
   Marginals(const NonlinearFactorGraph& graph, const Values& solution, Factorization factorization = CHOLESKY,
-            boost::optional<const Ordering &> ordering = boost::none);
+            EliminateableFactorGraph<GaussianFactorGraph>::OptionalOrdering ordering = boost::none);
 
   /** Construct a marginals class from a linear factor graph.
    * @param graph The factor graph defining the full joint density on all variables.
@@ -67,7 +67,7 @@ public:
    * @param ordering An optional variable ordering for elimination.
    */          
   Marginals(const GaussianFactorGraph& graph, const Values& solution, Factorization factorization = CHOLESKY,
-              boost::optional<const Ordering &> ordering = boost::none);
+              EliminateableFactorGraph<GaussianFactorGraph>::OptionalOrdering ordering = boost::none);
 
   /** Construct a marginals class from a linear factor graph.
    * @param graph The factor graph defining the full joint density on all variables.
@@ -76,7 +76,7 @@ public:
    * @param ordering An optional variable ordering for elimination.
    */          
   Marginals(const GaussianFactorGraph& graph, const VectorValues& solution, Factorization factorization = CHOLESKY,
-              boost::optional<const Ordering &> ordering = boost::none);
+              EliminateableFactorGraph<GaussianFactorGraph>::OptionalOrdering ordering = boost::none);
 
   /** print */
   void print(const std::string& str = "Marginals: ", const KeyFormatter& keyFormatter = DefaultKeyFormatter) const;
@@ -103,7 +103,7 @@ public:
 protected:
   
   /** Compute the Bayes Tree as a helper function to the constructor */
-  void computeBayesTree(boost::optional<const Ordering &> ordering);
+  void computeBayesTree(EliminateableFactorGraph<GaussianFactorGraph>::OptionalOrdering ordering);
 
 };