From 37ed46cee1d8e4cf2a68eb4f6d61f1815aa82307 Mon Sep 17 00:00:00 2001
From: Frank Dellaert <dellaert@gmail.com>
Date: Mon, 11 Feb 2019 10:44:24 -0500
Subject: [PATCH] Added underscore to case conflicts until wrap can handle
 this.

---
 cython/gtsam/tests/test_Pose2.py | 21 +++++++++++++++++++++
 cython/gtsam/tests/test_Pose3.py |  4 ++--
 gtsam.h                          |  8 ++++----
 gtsam/geometry/Pose2.h           |  8 ++++++--
 gtsam/geometry/Pose3.h           |  4 ++++
 5 files changed, 37 insertions(+), 8 deletions(-)
 create mode 100644 cython/gtsam/tests/test_Pose2.py

diff --git a/cython/gtsam/tests/test_Pose2.py b/cython/gtsam/tests/test_Pose2.py
new file mode 100644
index 000000000..f43ec0683
--- /dev/null
+++ b/cython/gtsam/tests/test_Pose2.py
@@ -0,0 +1,21 @@
+"""Pose2 unit tests."""
+import unittest
+
+import numpy as np
+
+from gtsam import Pose2
+
+
+class TestPose2(unittest.TestCase):
+    """Test selected Pose2 methods."""
+
+    def test_adjoint(self):
+        """Test adjoint method."""
+        xi = np.array([1, 2, 3])
+        expected = np.dot(Pose2.adjointMap(xi), xi)
+        actual = Pose2.adjoint(xi, xi)
+        np.testing.assert_array_equal(actual, expected)
+
+
+if __name__ == "__main__":
+    unittest.main()
diff --git a/cython/gtsam/tests/test_Pose3.py b/cython/gtsam/tests/test_Pose3.py
index 4752a4b02..b878a9551 100644
--- a/cython/gtsam/tests/test_Pose3.py
+++ b/cython/gtsam/tests/test_Pose3.py
@@ -49,8 +49,8 @@ class TestPose3(unittest.TestCase):
     def test_adjoint(self):
         """Test adjoint method."""
         xi = np.array([1, 2, 3, 4, 5, 6])
-        expected = np.dot(Pose3.adjointMap(xi), xi)
-        actual = Pose3.adjoint(xi, xi)
+        expected = np.dot(Pose3.adjointMap_(xi), xi)
+        actual = Pose3.adjoint_(xi, xi)
         np.testing.assert_array_equal(actual, expected)
 
 
diff --git a/gtsam.h b/gtsam.h
index 3d4ee5c29..4720d9d6b 100644
--- a/gtsam.h
+++ b/gtsam.h
@@ -577,8 +577,8 @@ class Pose2 {
   static Matrix LogmapDerivative(const gtsam::Pose2& v);
   Matrix AdjointMap() const;
   Vector Adjoint(Vector xi) const;
-  static Matrix adjointMap(Vector v);
-  Vector adjoint(Vector xi, Vector y);
+  static Matrix adjointMap_(Vector v);
+  Vector adjoint_(Vector xi, Vector y);
   Vector adjointTranspose(Vector xi, Vector y);
   static Matrix wedge(double vx, double vy, double w);
 
@@ -628,8 +628,8 @@ class Pose3 {
   static Vector Logmap(const gtsam::Pose3& pose);
   Matrix AdjointMap() const;
   Vector Adjoint(Vector xi) const;
-  static Matrix adjointMap(Vector xi);
-  static Vector adjoint(Vector xi, Vector y);
+  static Matrix adjointMap_(Vector xi);
+  static Vector adjoint_(Vector xi, Vector y);
   static Vector adjointTranspose(Vector xi, Vector y);
   static Matrix ExpmapDerivative(Vector xi);
   static Matrix LogmapDerivative(const gtsam::Pose3& xi);
diff --git a/gtsam/geometry/Pose2.h b/gtsam/geometry/Pose2.h
index 603c3a421..6937ff78d 100644
--- a/gtsam/geometry/Pose2.h
+++ b/gtsam/geometry/Pose2.h
@@ -146,17 +146,21 @@ public:
   /**
    * Action of the adjointMap on a Lie-algebra vector y, with optional derivatives
    */
-  Vector3 adjoint(const Vector3& xi, const Vector3& y) {
+  static Vector3 adjoint(const Vector3& xi, const Vector3& y) {
     return adjointMap(xi) * y;
   }
 
   /**
    * The dual version of adjoint action, acting on the dual space of the Lie-algebra vector space.
    */
-  Vector3 adjointTranspose(const Vector3& xi, const Vector3& y) {
+  static Vector3 adjointTranspose(const Vector3& xi, const Vector3& y) {
     return adjointMap(xi).transpose() * y;
   }
 
+  // temporary fix for wrappers until case issue is resolved
+  static Matrix3 adjointMap_(const Vector3 &xi) { return adjointMap(xi);}
+  static Vector3 adjoint_(const Vector3 &xi, const Vector3 &y) { return adjoint(xi, y);}
+
   /**
    * wedge for SE(2):
    * @param xi 3-dim twist (v,omega) where
diff --git a/gtsam/geometry/Pose3.h b/gtsam/geometry/Pose3.h
index ca0fdff10..757c4fdd4 100644
--- a/gtsam/geometry/Pose3.h
+++ b/gtsam/geometry/Pose3.h
@@ -160,6 +160,10 @@ public:
   static Vector6 adjoint(const Vector6 &xi, const Vector6 &y,
       OptionalJacobian<6, 6> = boost::none);
 
+  // temporary fix for wrappers until case issue is resolved
+  static Matrix6 adjointMap_(const Vector6 &xi) { return adjointMap(xi);}
+  static Vector6 adjoint_(const Vector6 &xi, const Vector6 &y) { return adjoint(xi, y);}
+
   /**
    * The dual version of adjoint action, acting on the dual space of the Lie-algebra vector space.
    */