borglab · dellaert · Mar 22, 2025 · Mar 22, 2025 · Mar 22, 2025
diff --git a/examples/SFMExample_bal_COLAMD_METIS.cpp b/examples/SFMExample_bal_COLAMD_METIS.cpp
@@ -23,7 +23,6 @@
 #include <gtsam/nonlinear/NonlinearFactorGraph.h>
 #include <gtsam/nonlinear/LevenbergMarquardtOptimizer.h>
 #include <gtsam/inference/Symbol.h>
-#include <gtsam/inference/Ordering.h>
 #include <gtsam/base/timing.h>
 
 #include <vector>

diff --git a/gtsam/base/tests/testKruskal.cpp b/gtsam/base/tests/testKruskal.cpp
@@ -19,7 +19,6 @@
 #include <gtsam/base/TestableAssertions.h>
 #include <gtsam/base/kruskal.h>
 #include <gtsam/geometry/Rot3.h>
-#include <gtsam/inference/Ordering.h>
 #include <gtsam/inference/Symbol.h>
 #include <gtsam/linear/GaussianFactorGraph.h>
 #include <gtsam/nonlinear/NonlinearFactorGraph.h>

diff --git a/gtsam/constrained/tests/testNonlinearEqualityConstraint.cpp b/gtsam/constrained/tests/testNonlinearEqualityConstraint.cpp
@@ -21,6 +21,7 @@
 #include <gtsam/base/Testable.h>
 #include <gtsam/base/TestableAssertions.h>
 #include <gtsam/base/numericalDerivative.h>
+#include <gtsam/inference/VariableIndex.h>
 #include <gtsam/constrained/NonlinearEqualityConstraint.h>
 #include <gtsam/nonlinear/factorTesting.h>
 #include <gtsam/slam/BetweenFactor.h>

diff --git a/gtsam/discrete/DecisionTreeFactor.cpp b/gtsam/discrete/DecisionTreeFactor.cpp
@@ -22,6 +22,7 @@
 #include <gtsam/discrete/DiscreteConditional.h>
 #include <gtsam/discrete/TableFactor.h>
 #include <gtsam/hybrid/HybridValues.h>
+#include <gtsam/inference/Ordering.h>
 
 #include <utility>
 

diff --git a/gtsam/discrete/DecisionTreeFactor.h b/gtsam/discrete/DecisionTreeFactor.h
@@ -22,7 +22,6 @@
 #include <gtsam/discrete/DiscreteFactor.h>
 #include <gtsam/discrete/DiscreteKey.h>
 #include <gtsam/discrete/Ring.h>
-#include <gtsam/inference/Ordering.h>
 
 #include <algorithm>
 #include <map>

diff --git a/gtsam/discrete/DiscreteConditional.cpp b/gtsam/discrete/DiscreteConditional.cpp
@@ -22,6 +22,7 @@
 #include <gtsam/discrete/Ring.h>
 #include <gtsam/discrete/Signature.h>
 #include <gtsam/hybrid/HybridValues.h>
+#include <gtsam/inference/Ordering.h>
 
 #include <algorithm>
 #include <cassert>

diff --git a/gtsam/discrete/DiscreteFactor.h b/gtsam/discrete/DiscreteFactor.h
@@ -22,14 +22,14 @@
 #include <gtsam/discrete/AlgebraicDecisionTree.h>
 #include <gtsam/discrete/DiscreteValues.h>
 #include <gtsam/inference/Factor.h>
-#include <gtsam/inference/Ordering.h>
 
 #include <string>
 namespace gtsam {
 
 class DecisionTreeFactor;
 class DiscreteConditional;
 class HybridValues;
+class Ordering;
 
 /**
  * Base class for discrete probabilistic factors

diff --git a/gtsam/discrete/DiscreteFactorGraph.h b/gtsam/discrete/DiscreteFactorGraph.h
@@ -23,7 +23,6 @@
 #include <gtsam/discrete/DiscreteLookupDAG.h>
 #include <gtsam/inference/EliminateableFactorGraph.h>
 #include <gtsam/inference/FactorGraph.h>
-#include <gtsam/inference/Ordering.h>
 #include <gtsam/base/FastSet.h>
 
 #include <string>

diff --git a/gtsam/discrete/TableFactor.cpp b/gtsam/discrete/TableFactor.cpp
@@ -21,6 +21,7 @@
 #include <gtsam/discrete/DiscreteConditional.h>
 #include <gtsam/discrete/TableFactor.h>
 #include <gtsam/hybrid/HybridValues.h>
+#include <gtsam/inference/Ordering.h>
 
 #include <utility>
 

diff --git a/gtsam/discrete/TableFactor.h b/gtsam/discrete/TableFactor.h
@@ -21,7 +21,6 @@
 #include <gtsam/discrete/DiscreteFactor.h>
 #include <gtsam/discrete/DiscreteKey.h>
 #include <gtsam/discrete/Ring.h>
-#include <gtsam/inference/Ordering.h>
 
 #include <Eigen/Sparse>
 #include <algorithm>

diff --git a/gtsam/hybrid/HybridGaussianFactorGraph.h b/gtsam/hybrid/HybridGaussianFactorGraph.h
@@ -25,7 +25,6 @@
 #include <gtsam/hybrid/HybridGaussianFactor.h>
 #include <gtsam/inference/EliminateableFactorGraph.h>
 #include <gtsam/inference/FactorGraph.h>
-#include <gtsam/inference/Ordering.h>
 #include <gtsam/linear/GaussianFactor.h>
 #include <gtsam/linear/VectorValues.h>
 

diff --git a/gtsam/hybrid/HybridNonlinearISAM.cpp b/gtsam/hybrid/HybridNonlinearISAM.cpp
@@ -19,7 +19,6 @@
 #include <gtsam/hybrid/HybridGaussianFactorGraph.h>
 #include <gtsam/hybrid/HybridNonlinearFactor.h>
 #include <gtsam/hybrid/HybridNonlinearISAM.h>
-#include <gtsam/inference/Ordering.h>
 
 #include <iostream>
 

diff --git a/gtsam/hybrid/tests/testHybridGaussianFactorGraph.cpp b/gtsam/hybrid/tests/testHybridGaussianFactorGraph.cpp
@@ -36,7 +36,6 @@
 #include <gtsam/hybrid/HybridValues.h>
 #include <gtsam/inference/BayesNet.h>
 #include <gtsam/inference/Key.h>
-#include <gtsam/inference/Ordering.h>
 #include <gtsam/inference/Symbol.h>
 #include <gtsam/linear/JacobianFactor.h>
 

diff --git a/gtsam/inference/BayesTreeCliqueBase-inst.h b/gtsam/inference/BayesTreeCliqueBase-inst.h
@@ -18,6 +18,7 @@
 
 #include <gtsam/inference/BayesTreeCliqueBase.h>
 #include <gtsam/inference/FactorGraph-inst.h>
+#include <gtsam/inference/Ordering.h>
 #include <gtsam/base/timing.h>
 
 namespace gtsam {

diff --git a/gtsam/inference/BayesTreeCliqueBase.h b/gtsam/inference/BayesTreeCliqueBase.h
@@ -18,7 +18,6 @@
 #pragma once
 
 #include <gtsam/inference/Key.h>
-#include <gtsam/inference/Ordering.h>
 #include <gtsam/base/types.h>
 #include <gtsam/base/FastVector.h>
 

diff --git a/gtsam/inference/ClusterTree-inst.h b/gtsam/inference/ClusterTree-inst.h
@@ -11,7 +11,6 @@
 
 #include <gtsam/inference/ClusterTree.h>
 #include <gtsam/inference/BayesTree.h>
-#include <gtsam/inference/Ordering.h>
 #include <gtsam/base/timing.h>
 #include <gtsam/base/treeTraversal-inst.h>
 

diff --git a/gtsam/inference/MetisIndex-inl.h b/gtsam/inference/MetisIndex-inl.h
@@ -17,14 +17,16 @@
 
 #pragma once
 
+#include <gtsam/base/timing.h>
+
 #include <map>
 #include <vector>
 
 namespace gtsam {
 
 /* ************************************************************************* */
-template<class FACTORGRAPH>
-void MetisIndex::augment(const FACTORGRAPH& factors) {
+template<class FactorGraphType>
+void MetisIndex::augment(const FactorGraphType& factors) {
   std::map<int32_t, std::set<int32_t> > iAdjMap; // Stores a set of keys that are adjacent to key x, with  adjMap.first
   std::map<int32_t, std::set<int32_t> >::iterator iAdjMapIt;
   std::set<Key> keySet;
@@ -37,8 +39,8 @@ void MetisIndex::augment(const FACTORGRAPH& factors) {
   // and including adjncy[xadj[i + 1] - 1]).
   int32_t keyCounter = 0;
 
-  // First: Record a copy of each key inside the factorgraph and create a
-  // key to integer mapping. This is referenced during the adjaceny step
+  // First: Record a copy of each key inside the factor graph and create a
+  // key to integer mapping. This is referenced during the adjacency step
   for (size_t i = 0; i < factors.size(); i++) {
     if (factors[i]) {
       for(const Key& key: *factors[i]) {

diff --git a/gtsam/inference/MetisIndex.h b/gtsam/inference/MetisIndex.h
@@ -8,23 +8,23 @@
  * See LICENSE for the license information
  * -------------------------------------------------------------------------- */
 
-/**
- * @file    MetisIndex.h
- * @author  Andrew Melim
- * @date    Oct. 10, 2014
- */
+ /**
+  * @file    MetisIndex.h
+  * @author  Andrew Melim
+  * @date    Oct. 10, 2014
+  */
 
 #pragma once
 
 
 #include <gtsam/inference/Key.h>
 #include <gtsam/inference/FactorGraph.h>
 #include <gtsam/base/types.h>
-#include <gtsam/base/timing.h>
 
 #include <vector>
 #include <map>
 #include <unordered_map>
+#include <iostream>
 
 namespace gtsam {
 /**
@@ -50,59 +50,60 @@ class GTSAM_EXPORT MetisIndex {
  };
 
   std::vector<int32_t> xadj_; // Index of node's adjacency list in adj
-  std::vector<int32_t> adj_; // Stores ajacency lists of all nodes, appended into a single vector
+  std::vector<int32_t> adj_;  // Stores adjacency lists of all nodes, appended into a single vector
   BiMap intKeyBMap_; // Stores Key <-> integer value relationship
   size_t nKeys_;
 
 public:
-  /// @name Standard Constructors
+  /// @name Constructors
   /// @{
 
   /** Default constructor, creates empty MetisIndex */
-  MetisIndex() :
-      nKeys_(0) {
-  }
+  MetisIndex() : nKeys_(0) {}
 
-  template<class FACTORGRAPH>
-  MetisIndex(const FACTORGRAPH& factorGraph) :
-      nKeys_(0) {
+  template<class FactorGraphType>
+  MetisIndex(const FactorGraphType& factorGraph) :
+    nKeys_(0) {
     augment(factorGraph);
   }
 
-  ~MetisIndex() {
-  }
+  ~MetisIndex() {}
+
   /// @}
-  /// @name Advanced Interface
+  /// @name Standard API
   /// @{
-
+    
   /**
    * Augment the variable index with new factors.  This can be used when
    * solving problems incrementally.
    */
-  template<class FACTORGRAPH>
-  void augment(const FACTORGRAPH& factors);
-
-  const std::vector<int32_t>& xadj() const {
-    return xadj_;
-  }
-  const std::vector<int32_t>& adj() const {
-    return adj_;
-  }
-  size_t nValues() const {
-    return nKeys_;
-  }
-  Key intToKey(int32_t value) const {
-#ifndef NDEBUG
-    if (value < 0) {
-      throw;
-    }
-#endif
-    return intKeyBMap_.right.find(value)->second;
+  template<class FactorGraphType>
+  void augment(const FactorGraphType& factors);
+
+  const std::vector<int32_t>& xadj() const { return xadj_; }
+  const std::vector<int32_t>& adj() const { return adj_; }
+  size_t nValues() const { return nKeys_; }
+
+  Key intToKey(int32_t value) const { return intKeyBMap_.right.find(value)->second; }
+
+  /// @}
+  /// @name Testable
+  /// @{
+
+  /// print to std::cout
+  void print(const std::string& str = "MetisIndex:") const {
+    std::cout << str << "\nxadj_: ";
+    for (const auto& x : xadj_) std::cout << x << " ";
+    std::cout << "\nadj_: ";
+    for (const auto& x : adj_) std::cout << x << " ";
+    std::cout << "\nKey <-> Index: ";
+    for (const auto& [i, k] : intKeyBMap_.left) std::cout << i << " <-> " << k << ", ";
+    std::cout << std::endl;
   }
 
   /// @}
 };
 
-} // \ namesace gtsam
+} // \ namespace gtsam
 
 #include <gtsam/inference/MetisIndex-inl.h>