From cb5f18603123caa369f6bce798f163711affcf39 Mon Sep 17 00:00:00 2001
From: Richard Roberts <richard.jw.roberts@gmail.com>
Date: Sun, 28 Oct 2012 06:43:05 +0000
Subject: [PATCH] Two more patches after last checkin - removed
 numCachedShortcuts from MATLAB wrapper, and added EliminateQR as default
 argument to GaussianFactorGraph eliminate functions

---
 gtsam.h                            |  2 --
 gtsam/linear/GaussianFactorGraph.h | 10 +++++++---
 2 files changed, 7 insertions(+), 5 deletions(-)

diff --git a/gtsam.h b/gtsam.h
index d8b92d130..48a86e248 100644
--- a/gtsam.h
+++ b/gtsam.h
@@ -810,7 +810,6 @@ virtual class BayesTree {
     void clear();
     void deleteCachedShortcuts();
     void insert(const CLIQUE* subtree);
-    size_t numCachedShortcuts() const;
     size_t numCachedSeparatorMarginals() const;
 };
 
@@ -824,7 +823,6 @@ virtual class BayesTreeClique {
   void print(string s) const;
   void printTree() const; // Default indent of ""
   void printTree(string indent) const;
-  size_t numCachedShortcuts() const;
   size_t numCachedSeparatorMarginals() const;
 
   CONDITIONAL* conditional() const;
diff --git a/gtsam/linear/GaussianFactorGraph.h b/gtsam/linear/GaussianFactorGraph.h
index 90086c1e5..1dbc3a6bc 100644
--- a/gtsam/linear/GaussianFactorGraph.h
+++ b/gtsam/linear/GaussianFactorGraph.h
@@ -31,6 +31,10 @@
 
 namespace gtsam {
 
+  // Forward declaration to use as default argument, documented declaration below.
+  FactorGraph<GaussianFactor>::EliminationResult
+    EliminateQR(const FactorGraph<GaussianFactor>& factors, size_t nrFrontals);
+
   /**
    * A Linear Factor Graph is a factor graph where all factors are Gaussian, i.e.
    *   Factor == GaussianFactor
@@ -122,7 +126,7 @@ namespace gtsam {
      * FactorGraph<GaussianFactor>::eliminateFrontals with EliminateQR as the
      * eliminate function argument.
      */
-    std::pair<sharedConditional, GaussianFactorGraph> eliminateFrontals(size_t nFrontals, const Eliminate& function) const {
+    std::pair<sharedConditional, GaussianFactorGraph> eliminateFrontals(size_t nFrontals, const Eliminate& function = EliminateQR) const {
       return Base::eliminateFrontals(nFrontals, function); }
         
     /** Factor the factor graph into a conditional and a remaining factor graph.
@@ -141,11 +145,11 @@ namespace gtsam {
      * FactorGraph<GaussianFactor>::eliminate with EliminateQR as the eliminate
      * function argument.
      */
-    std::pair<sharedConditional, GaussianFactorGraph> eliminate(const std::vector<Index>& variables, const Eliminate& function) {
+    std::pair<sharedConditional, GaussianFactorGraph> eliminate(const std::vector<Index>& variables, const Eliminate& function = EliminateQR) {
       return Base::eliminate(variables, function); }
 
     /** Eliminate a single variable, by calling GaussianFactorGraph::eliminate. */
-    std::pair<sharedConditional, GaussianFactorGraph> eliminateOne(Index variable, const Eliminate& function) {
+    std::pair<sharedConditional, GaussianFactorGraph> eliminateOne(Index variable, const Eliminate& function = EliminateQR) {
       return Base::eliminateOne(variable, function); }
 
     /** Permute the variables in the factors */