From 86f19362abbf55dd8658d34b43a6f8b484860785 Mon Sep 17 00:00:00 2001
From: Richard Roberts <richard.jw.roberts@gmail.com>
Date: Sat, 30 Jun 2012 22:32:46 +0000
Subject: [PATCH] Return FastSet instead of std::set from
 NonlinearFactorGraph::keys()

---
 gtsam/nonlinear/NonlinearFactorGraph.cpp | 4 ++--
 gtsam/nonlinear/NonlinearFactorGraph.h   | 2 +-
 tests/testNonlinearFactorGraph.cpp       | 4 ++--
 3 files changed, 5 insertions(+), 5 deletions(-)

diff --git a/gtsam/nonlinear/NonlinearFactorGraph.cpp b/gtsam/nonlinear/NonlinearFactorGraph.cpp
index 8c4076c56..969e40677 100644
--- a/gtsam/nonlinear/NonlinearFactorGraph.cpp
+++ b/gtsam/nonlinear/NonlinearFactorGraph.cpp
@@ -54,8 +54,8 @@ double NonlinearFactorGraph::error(const Values& c) const {
 }
 
 /* ************************************************************************* */
-std::set<Key> NonlinearFactorGraph::keys() const {
-	std::set<Key> keys;
+FastSet<Key> NonlinearFactorGraph::keys() const {
+	FastSet<Key> keys;
 	BOOST_FOREACH(const sharedFactor& factor, this->factors_) {
 		if(factor)
 			keys.insert(factor->begin(), factor->end());
diff --git a/gtsam/nonlinear/NonlinearFactorGraph.h b/gtsam/nonlinear/NonlinearFactorGraph.h
index 1742c7b78..85cc0e63f 100644
--- a/gtsam/nonlinear/NonlinearFactorGraph.h
+++ b/gtsam/nonlinear/NonlinearFactorGraph.h
@@ -47,7 +47,7 @@ namespace gtsam {
     void print(const std::string& str = "NonlinearFactorGraph: ", const KeyFormatter& keyFormatter = DefaultKeyFormatter) const;
 
     /** return keys as an ordered set - ordering is by key value */
-    std::set<Key> keys() const;
+    FastSet<Key> keys() const;
 
 		/** unnormalized error, \f$ 0.5 \sum_i (h_i(X_i)-z)^2/\sigma^2 \f$ in the most common case */
 		double error(const Values& c) const;
diff --git a/tests/testNonlinearFactorGraph.cpp b/tests/testNonlinearFactorGraph.cpp
index f44113f93..f677eb0dc 100644
--- a/tests/testNonlinearFactorGraph.cpp
+++ b/tests/testNonlinearFactorGraph.cpp
@@ -65,9 +65,9 @@ TEST( Graph, error )
 TEST( Graph, keys )
 {
 	Graph fg = createNonlinearFactorGraph();
-	set<Key> actual = fg.keys();
+	FastSet<Key> actual = fg.keys();
 	LONGS_EQUAL(3, actual.size());
-	set<Key>::const_iterator it = actual.begin();
+	FastSet<Key>::const_iterator it = actual.begin();
 	LONGS_EQUAL(L(1), *(it++));
 	LONGS_EQUAL(X(1), *(it++));
 	LONGS_EQUAL(X(2), *(it++));