Removed unnecessary includes

gtsam/nonlinear/GaussianISAM2.cpp

@@ -5,7 +5,7 @@
  */
 
 #include <gtsam/nonlinear/GaussianISAM2.h>
-#include <gtsam/nonlinear/TupleValues-inl.h>
+#include <gtsam/nonlinear/ISAM2-inl.h>
 
 using namespace std;
 using namespace gtsam;

gtsam/nonlinear/GaussianISAM2.h

@@ -9,10 +9,7 @@
 #pragma once
 
 #include <gtsam/linear/GaussianConditional.h>
-#include <gtsam/linear/GaussianFactor.h>
+#include <gtsam/nonlinear/ISAM2.h>
-#include <gtsam/slam/simulated2D.h>
-#include <gtsam/slam/planarSLAM.h>
-#include <gtsam/nonlinear/ISAM2-inl.h>
 
 namespace gtsam {
 

gtsam/nonlinear/ISAM2-impl-inl.h

@@ -15,14 +15,10 @@
  * @author  Michael Kaess, Richard Roberts
  */
 
-#include <gtsam/base/FastSet.h>
-
-#include <boost/foreach.hpp>
-
-#include <vector>
-
 namespace gtsam {
 
+using namespace std;
+
 template<class CONDITIONAL, class VALUES, class GRAPH>
 struct ISAM2<CONDITIONAL, VALUES, GRAPH>::Impl {
 
@@ -85,7 +81,7 @@ struct ISAM2<CONDITIONAL, VALUES, GRAPH>::Impl {
    *
    * Alternatively could we trace up towards the root for each variable here?
    */
-  static void FindAll(ISAM2Type::sharedClique clique, FastSet<Index>& keys, const vector<bool>& markedMask);
+  static void FindAll(ISAM2Type::sharedClique clique, FastSet<Index>& keys, const std::vector<bool>& markedMask);
 
   /**
    * Apply expmap to the given values, but only for indices appearing in
@@ -100,7 +96,7 @@ struct ISAM2<CONDITIONAL, VALUES, GRAPH>::Impl {
    * recalculate its delta.
    */
   static void ExpmapMasked(VALUES& values, const Permuted<VectorValues>& delta,
-      const Ordering& ordering, const vector<bool>& mask,
+      const Ordering& ordering, const std::vector<bool>& mask,
       boost::optional<Permuted<VectorValues>&> invalidateIfDebug = boost::optional<Permuted<VectorValues>&>());
 
   /**
@@ -146,7 +142,7 @@ void ISAM2<CONDITIONAL,VALUES,GRAPH>::Impl::AddVariables(
   theta.insert(newTheta);
   if(debug) newTheta.print("The new variables are: ");
   // Add the new keys onto the ordering, add zeros to the delta for the new variables
-  vector<Index> dims(newTheta.dims(*newTheta.orderingArbitrary()));
+  std::vector<Index> dims(newTheta.dims(*newTheta.orderingArbitrary()));
   if(debug) cout << "New variables have total dimensionality " << accumulate(dims.begin(), dims.end(), 0) << endl;
   const size_t newDim = accumulate(dims.begin(), dims.end(), 0);
   const size_t originalDim = delta->dim();
@@ -192,7 +188,7 @@ FastSet<Index> ISAM2<CONDITIONAL,VALUES,GRAPH>::Impl::CheckRelinearization(Permu
 
 /* ************************************************************************* */
 template<class CONDITIONAL, class VALUES, class GRAPH>
-void ISAM2<CONDITIONAL, VALUES, GRAPH>::Impl::FindAll(ISAM2Type::sharedClique clique, FastSet<Index>& keys, const vector<bool>& markedMask) {
+void ISAM2<CONDITIONAL, VALUES, GRAPH>::Impl::FindAll(ISAM2Type::sharedClique clique, FastSet<Index>& keys, const std::vector<bool>& markedMask) {
   static const bool debug = false;
   // does the separator contain any of the variables?
   bool found = false;

gtsam/nonlinear/ISAM2-inl.h

@@ -21,20 +21,11 @@
 #include <boost/assign/std/list.hpp> // for operator +=
 using namespace boost::assign;
 
-#include <set>
-#include <limits>
-#include <numeric>
-
 #include <gtsam/base/timing.h>
 #include <gtsam/base/debug.h>
-#include <gtsam/nonlinear/NonlinearFactorGraph-inl.h>
-#include <gtsam/linear/GaussianFactor.h>
-#include <gtsam/linear/VectorValues.h>
 #include <gtsam/linear/GaussianJunctionTree.h>
-
 #include <gtsam/inference/BayesTree-inl.h>
-
+#include <gtsam/linear/HessianFactor.h>
-#include <gtsam/inference/GenericSequentialSolver-inl.h>
 
 #include <gtsam/nonlinear/ISAM2.h>
 #include <gtsam/nonlinear/ISAM2-impl-inl.h>

gtsam/nonlinear/ISAM2.h

@@ -19,21 +19,8 @@
 
 #pragma once
 
-#include <map>
-#include <list>
-#include <vector>
-#include <stdexcept>
-
-#include <gtsam/base/types.h>
-#include <gtsam/base/FastSet.h>
-#include <gtsam/base/FastList.h>
-#include <gtsam/inference/FactorGraph.h>
 #include <gtsam/nonlinear/NonlinearFactorGraph.h>
-#include <gtsam/nonlinear/Ordering.h>
-#include <gtsam/inference/BayesNet.h>
 #include <gtsam/inference/BayesTree.h>
-#include <gtsam/linear/GaussianFactorGraph.h>
-#include <gtsam/linear/HessianFactor.h>
 
 namespace gtsam {
 

tests/testGaussianISAM2.cpp

@@ -18,6 +18,7 @@ using namespace boost::assign;
 #include <gtsam/linear/GaussianBayesNet.h>
 #include <gtsam/linear/GaussianSequentialSolver.h>
 #include <gtsam/nonlinear/GaussianISAM2.h>
+#include <gtsam/nonlinear/ISAM2-inl.h>
 #include <gtsam/slam/smallExample.h>
 #include <gtsam/slam/planarSLAM.h>