From 62f60891194c3c651ebbaf0e2bea988da77858fd Mon Sep 17 00:00:00 2001
From: Alex Cunningham <alexgcunningham@gmail.com>
Date: Tue, 30 Apr 2013 17:50:48 +0000
Subject: [PATCH] Updated matlab wrapping for moved factors

---
 gtsam.h                         | 18 ++++++++++++++++++
 gtsam_unstable/gtsam_unstable.h | 20 --------------------
 2 files changed, 18 insertions(+), 20 deletions(-)

diff --git a/gtsam.h b/gtsam.h
index 47158734e..d16ad9837 100644
--- a/gtsam.h
+++ b/gtsam.h
@@ -2019,6 +2019,24 @@ virtual class GenericStereoFactor : gtsam::NonlinearFactor {
 };
 typedef gtsam::GenericStereoFactor<gtsam::Pose3, gtsam::Point3> GenericStereoFactor3D;
 
+#include <gtsam/slam/PoseTranslationPrior.h>
+template<POSE>
+virtual class PoseTranslationPrior : gtsam::NonlinearFactor {
+  PoseTranslationPrior(size_t key, const POSE& pose_z, const gtsam::noiseModel::Base* noiseModel);
+};
+
+typedef gtsam::PoseTranslationPrior<gtsam::Pose2> PoseTranslationPrior2D;
+typedef gtsam::PoseTranslationPrior<gtsam::Pose3> PoseTranslationPrior3D;
+
+#include <gtsam/slam/PoseRotationPrior.h>
+template<POSE>
+virtual class PoseRotationPrior : gtsam::NonlinearFactor {
+  PoseRotationPrior(size_t key, const POSE& pose_z, const gtsam::noiseModel::Base* noiseModel);
+};
+
+typedef gtsam::PoseRotationPrior<gtsam::Pose2> PoseRotationPrior2D;
+typedef gtsam::PoseRotationPrior<gtsam::Pose3> PoseRotationPrior3D;
+
 #include <gtsam/slam/dataset.h>
 pair<gtsam::NonlinearFactorGraph*, gtsam::Values*> load2D(string filename,
     gtsam::noiseModel::Diagonal* model, int maxID, bool addNoise, bool smart);
diff --git a/gtsam_unstable/gtsam_unstable.h b/gtsam_unstable/gtsam_unstable.h
index ca27cd738..33c3a0b6d 100644
--- a/gtsam_unstable/gtsam_unstable.h
+++ b/gtsam_unstable/gtsam_unstable.h
@@ -570,26 +570,6 @@ virtual class ConcurrentBatchSmoother : gtsam::ConcurrentSmoother {
 //*************************************************************************
 // slam
 //*************************************************************************
-#include <gtsam/geometry/Pose2.h>
-
-#include <gtsam_unstable/slam/PoseTranslationPrior.h>
-template<POSE>
-virtual class PoseTranslationPrior : gtsam::NonlinearFactor {
-  PoseTranslationPrior(size_t key, const POSE& pose_z, const gtsam::noiseModel::Base* noiseModel);
-};
-
-typedef gtsam::PoseTranslationPrior<gtsam::Pose2> PoseTranslationPrior2D;
-typedef gtsam::PoseTranslationPrior<gtsam::Pose3> PoseTranslationPrior3D;
-
-#include <gtsam_unstable/slam/PoseRotationPrior.h>
-template<POSE>
-virtual class PoseRotationPrior : gtsam::NonlinearFactor {
-  PoseRotationPrior(size_t key, const POSE& pose_z, const gtsam::noiseModel::Base* noiseModel);
-};
-
-typedef gtsam::PoseRotationPrior<gtsam::Pose2> PoseRotationPrior2D;
-typedef gtsam::PoseRotationPrior<gtsam::Pose3> PoseRotationPrior3D;
-
 #include <gtsam_unstable/slam/RelativeElevationFactor.h>
 virtual class RelativeElevationFactor: gtsam::NonlinearFactor {
   RelativeElevationFactor();