From 5ab154e654583ef64da4390acfb7be105cd995f3 Mon Sep 17 00:00:00 2001
From: Michael Kaess <michaelkaess@gmail.com>
Date: Fri, 16 Jul 2010 09:26:38 +0000
Subject: [PATCH] new iSAM2 alg, still failing...

---
 inference/ISAM2.h | 1 +
 1 file changed, 1 insertion(+)

diff --git a/inference/ISAM2.h b/inference/ISAM2.h
index 5419bd58a..eaed35fd4 100644
--- a/inference/ISAM2.h
+++ b/inference/ISAM2.h
@@ -69,6 +69,7 @@ namespace gtsam {
 		 * ISAM2. (update_internal provides access to list of orphans for drawing purposes)
 		 */
 		void linear_update(const FactorGraph<GaussianFactor>& newFactors);
+		void find_all(sharedClique clique, std::list<Symbol>& keys, const std::list<Symbol>& marked); // helper function
 		void fluid_relinearization(double relinearize_threshold);
 		void update_internal(const NonlinearFactorGraph<Config>& newFactors,
 				const Config& newTheta, Cliques& orphans,