From 73d64d04a8d6ef73dbae6e846eedb92d6148ea3b Mon Sep 17 00:00:00 2001
From: Alex Cunningham <alexgcunningham@gmail.com>
Date: Fri, 3 Aug 2012 19:49:26 +0000
Subject: [PATCH 1/2] Removed unused make targets, changed wrap structure for
 PosePartialPriors

---
 .cproject                       | 16 ----------------
 gtsam_unstable/gtsam_unstable.h | 10 ++++++++--
 2 files changed, 8 insertions(+), 18 deletions(-)

diff --git a/.cproject b/.cproject
index b09810484..f5675f5ee 100644
--- a/.cproject
+++ b/.cproject
@@ -2192,22 +2192,6 @@
 				<useDefaultCommand>true</useDefaultCommand>
 				<runAllBuilders>true</runAllBuilders>
 			</target>
-			<target name="wrap_gtsam_clean" path="" targetID="org.eclipse.cdt.build.MakeTargetBuilder">
-				<buildCommand>make</buildCommand>
-				<buildArguments>-j5</buildArguments>
-				<buildTarget>wrap_gtsam_clean</buildTarget>
-				<stopOnError>true</stopOnError>
-				<useDefaultCommand>true</useDefaultCommand>
-				<runAllBuilders>true</runAllBuilders>
-			</target>
-			<target name="wrap_gtsam_unstable_clean" path="" targetID="org.eclipse.cdt.build.MakeTargetBuilder">
-				<buildCommand>make</buildCommand>
-				<buildArguments>-j5</buildArguments>
-				<buildTarget>wrap_gtsam_unstable_clean</buildTarget>
-				<stopOnError>true</stopOnError>
-				<useDefaultCommand>true</useDefaultCommand>
-				<runAllBuilders>true</runAllBuilders>
-			</target>
 			<target name="wrap_gtsam_distclean" path="" targetID="org.eclipse.cdt.build.MakeTargetBuilder">
 				<buildCommand>make</buildCommand>
 				<buildArguments>-j5</buildArguments>
diff --git a/gtsam_unstable/gtsam_unstable.h b/gtsam_unstable/gtsam_unstable.h
index 60bd833ff..1bb6d20e0 100644
--- a/gtsam_unstable/gtsam_unstable.h
+++ b/gtsam_unstable/gtsam_unstable.h
@@ -172,15 +172,21 @@ virtual class DGroundConstraint : gtsam::NonlinearFactor {
 #include <gtsam/geometry/Pose2.h>
 
 #include <gtsam_unstable/slam/PoseTranslationPrior.h>
-template<POSE = {gtsam::Pose2,gtsam::Pose3}>
+template<POSE>
 virtual class PoseTranslationPrior : gtsam::NonlinearFactor {
 	PoseTranslationPrior(size_t key, const POSE& pose_z, const gtsam::noiseModel::Base* noiseModel);
 };
 
+typedef gtsam::PoseTranslationPrior<gtsam::Pose2> PoseTranslationPrior2D;
+typedef gtsam::PoseTranslationPrior<gtsam::Pose3> PoseTranslationPrior3D;
+
 #include <gtsam_unstable/slam/PoseRotationPrior.h>
-template<POSE = {gtsam::Pose2,gtsam::Pose3}>
+template<POSE>
 virtual class PoseRotationPrior : gtsam::NonlinearFactor {
 	PoseRotationPrior(size_t key, const POSE& pose_z, const gtsam::noiseModel::Base* noiseModel);
 };
 
+typedef gtsam::PoseRotationPrior<gtsam::Pose2> PoseRotationPrior2D;
+typedef gtsam::PoseRotationPrior<gtsam::Pose3> PoseRotationPrior3D;
+
 } //\namespace gtsam

From a9864dab238fa317bcdcc87ed4aed52301172204 Mon Sep 17 00:00:00 2001
From: Alex Cunningham <alexgcunningham@gmail.com>
Date: Fri, 3 Aug 2012 20:23:08 +0000
Subject: [PATCH 2/2] Wrapped ISAM1

---
 gtsam.h | 47 ++++++++++++++++++++++++++++++++++++++++-------
 1 file changed, 40 insertions(+), 7 deletions(-)

diff --git a/gtsam.h b/gtsam.h
index ddfe7dcd9..023b5c6f3 100644
--- a/gtsam.h
+++ b/gtsam.h
@@ -1028,15 +1028,25 @@ class InvertedOrdering {
 
 class NonlinearFactorGraph {
 	NonlinearFactorGraph();
-  void print(string s) const;
-  size_t size() const;
-	double error(const gtsam::Values& c) const;
-	double probPrime(const gtsam::Values& c) const;
-	gtsam::NonlinearFactor* at(size_t i) const;
+	NonlinearFactorGraph(const gtsam::NonlinearFactorGraph& graph);
+
+	// FactorGraph
+	void print(string s) const;
+	bool equals(const gtsam::NonlinearFactorGraph& fg, double tol) const;
+	size_t size() const;
+	bool empty() const;
+	void remove(size_t i);
+	size_t nrFactors() const;
 	void add(const gtsam::NonlinearFactor* factor);
-	gtsam::Ordering* orderingCOLAMD(const gtsam::Values& c) const;
+	gtsam::NonlinearFactor* at(size_t i) const;
+
+	// NonlinearFactorGraph
+	double error(const gtsam::Values& values) const;
+	double probPrime(const gtsam::Values& values) const;
+	gtsam::Ordering* orderingCOLAMD(const gtsam::Values& values) const;
 	// Ordering* orderingCOLAMDConstrained(const gtsam::Values& c, const std::map<gtsam::Key,int>& constraints) const;
-	gtsam::GaussianFactorGraph* linearize(const gtsam::Values& c, const gtsam::Ordering& ordering) const;
+	gtsam::GaussianFactorGraph* linearize(const gtsam::Values& values,
+			const gtsam::Ordering& ordering) const;
 	gtsam::NonlinearFactorGraph clone() const;
 };
 
@@ -1329,6 +1339,29 @@ class ISAM2 {
   gtsam::ISAM2Params params() const;
 };
 
+#include <gtsam/nonlinear/NonlinearISAM.h>
+class NonlinearISAM {
+	NonlinearISAM();
+	NonlinearISAM(int reorderInterval);
+  void print(string s) const;
+  void printStats() const;
+  void saveGraph(string s) const;
+	gtsam::Values estimate() const;
+  Matrix marginalCovariance(size_t key) const;
+  int reorderInterval() const;
+  int reorderCounter() const;
+  void update(const gtsam::NonlinearFactorGraph& newFactors, const gtsam::Values& initialValues);
+  void reorder_relinearize();
+  void addKey(size_t key);
+  void setOrdering(const gtsam::Ordering& new_ordering);
+
+  // These might be expensive as instead of a reference the wrapper will make a copy
+  gtsam::GaussianISAM bayesTree() const;
+  gtsam::Values getLinearizationPoint() const;
+  gtsam::Ordering getOrdering() const;
+  gtsam::NonlinearFactorGraph getFactorsUnsafe() const;
+};
+
 //*************************************************************************
 // Nonlinear factor types
 //*************************************************************************