From 48a6777935e0449e0721c6490266c8544c09e191 Mon Sep 17 00:00:00 2001
From: dellaert <dellaert@cc.gatech.edu>
Date: Wed, 22 Oct 2014 16:26:40 +0200
Subject: [PATCH] Some refactoring

---
 .../nonlinear/tests/testAdaptAutoDiff.cpp     |  1 +
 gtsam_unstable/timing/timeAdaptAutoDiff.cpp   | 19 +++++++++----------
 2 files changed, 10 insertions(+), 10 deletions(-)

diff --git a/gtsam_unstable/nonlinear/tests/testAdaptAutoDiff.cpp b/gtsam_unstable/nonlinear/tests/testAdaptAutoDiff.cpp
index 2d2408a74..b8bdee49e 100644
--- a/gtsam_unstable/nonlinear/tests/testAdaptAutoDiff.cpp
+++ b/gtsam_unstable/nonlinear/tests/testAdaptAutoDiff.cpp
@@ -200,6 +200,7 @@ TEST(Expression, Snavely) {
   Expression<Point3> X(2);
   typedef AdaptAutoDiff<SnavelyProjection, Point2, Camera, Point3> Adaptor;
   Expression<Point2> expression(Adaptor(), P, X);
+  EXPECT_LONGS_EQUAL(528,expression.traceSize()); // Todo, should be zero
   set<Key> expected = list_of(1)(2);
   EXPECT(expected == expression.keys());
 }
diff --git a/gtsam_unstable/timing/timeAdaptAutoDiff.cpp b/gtsam_unstable/timing/timeAdaptAutoDiff.cpp
index c4ea7a8f3..32bce9ba5 100644
--- a/gtsam_unstable/timing/timeAdaptAutoDiff.cpp
+++ b/gtsam_unstable/timing/timeAdaptAutoDiff.cpp
@@ -51,22 +51,21 @@ int main() {
   values.insert(1, Camera());
   values.insert(2, Point3(0, 0, 1));
 
+  NonlinearFactor::shared_ptr f1, f2, f3;
+
   // Dedicated factor
-  NonlinearFactor::shared_ptr f1 = boost::make_shared<
-      GeneralSFMFactor<Camera, Point3> >(z, model, 1, 2);
+  f1 = boost::make_shared<GeneralSFMFactor<Camera, Point3> >(z, model, 1, 2);
   time("GeneralSFMFactor<Camera>                : ", f1, values);
 
   // AdaptAutoDiff
-  typedef AdaptAutoDiff<SnavelyProjection, Point2, Camera, Point3> SnavelyAdaptor;
-  NonlinearFactor::shared_ptr f2 =
-      boost::make_shared<ExpressionFactor<Point2> >(model, z,
-          Point2_(SnavelyAdaptor(), camera, point));
-  time("Point2_(SnavelyAdaptor(), camera, point): ", f2, values);
+  typedef AdaptAutoDiff<SnavelyProjection, Point2, Camera, Point3> AdaptedSnavely;
+  Point2_ expression(AdaptedSnavely(), camera, point);
+  f2 = boost::make_shared<ExpressionFactor<Point2> >(model, z, expression);
+  time("Point2_(AdaptedSnavely(), camera, point): ", f2, values);
 
   // ExpressionFactor
-  NonlinearFactor::shared_ptr f3 =
-      boost::make_shared<ExpressionFactor<Point2> >(model, z,
-          Point2_(camera, &Camera::project2, point));
+  Point2_ expression2(camera, &Camera::project2, point);
+  f3 = boost::make_shared<ExpressionFactor<Point2> >(model, z, expression2);
   time("Point2_(camera, &Camera::project, point): ", f3, values);
 
   return 0;