     anchorId = TypedID<Pose3, Int>(0)
   }
   
+  /// Extract a subgraph of the original graph with only Pose3s.
   public func buildPose3graph(graph: FactorGraph) -> FactorGraph {
     var pose3Graph = FactorGraph()
 

    return pose3Graph
  }
  
  public func buildLinearOrientationGraph(
    g: FactorGraph,
    v: VariableAssignments,

    return val
  }
  
  /// This function computes the chordal initialization. Normally this is what the user needs to call.
  public mutating func GetInitializations(graph: FactorGraph, val: VariableAssignments, ids: Array<TypedID<Pose3, Int>>) -> VariableAssignments {
    var val_copy = val
    anchorId = val_copy.store(Pose3())
