From 5a8363a775ef0d3feb668cf16353594f76bbf327 Mon Sep 17 00:00:00 2001
From: Frank Dellaert <dellaert@cc.gatech.edu>
Date: Wed, 3 Apr 2019 20:17:18 -0400
Subject: [PATCH] Removed Ordering again -> templated vector method simply
 works

---
 gtsam/linear/VectorValues.cpp | 16 ++++------------
 gtsam/linear/VectorValues.h   |  2 +-
 2 files changed, 5 insertions(+), 13 deletions(-)

diff --git a/gtsam/linear/VectorValues.cpp b/gtsam/linear/VectorValues.cpp
index 7ff773bd5..ca95313cf 100644
--- a/gtsam/linear/VectorValues.cpp
+++ b/gtsam/linear/VectorValues.cpp
@@ -142,7 +142,7 @@ namespace gtsam {
   }
 
   /* ************************************************************************* */
-  Vector VectorValues::vector(boost::optional<const Ordering&> ordering) const {
+  Vector VectorValues::vector() const {
     // Count dimensions
     DenseIndex totalDim = 0;
     for (const Vector& v : *this | map_values) totalDim += v.size();
@@ -150,17 +150,9 @@ namespace gtsam {
     // Copy vectors
     Vector result(totalDim);
     DenseIndex pos = 0;
-    if (ordering) {
-      for (const auto& key : *ordering) {
-        const auto& v = (*this)[key];
-        result.segment(pos, v.size()) = v;
-        pos += v.size();
-      }
-    } else {
-      for (const Vector& v : *this | map_values) {
-        result.segment(pos, v.size()) = v;
-        pos += v.size();
-      }
+    for (const Vector& v : *this | map_values) {
+      result.segment(pos, v.size()) = v;
+      pos += v.size();
     }
 
     return result;
diff --git a/gtsam/linear/VectorValues.h b/gtsam/linear/VectorValues.h
index 5360edeff..39abe1b56 100644
--- a/gtsam/linear/VectorValues.h
+++ b/gtsam/linear/VectorValues.h
@@ -244,7 +244,7 @@ namespace gtsam {
     /// @{
 
     /** Retrieve the entire solution as a single vector */
-    Vector vector(boost::optional<const Ordering&> ordering = boost::none) const;
+    Vector vector() const;
 
     /** Access a vector that is a subset of relevant keys. */
     template <typename CONTAINER>