From 6a52d93e960bf71c8e3d48a5a7761f49bf32972a Mon Sep 17 00:00:00 2001
From: dellaert <dellaert@cc.gatech.edu>
Date: Wed, 24 Dec 2014 01:29:08 +0100
Subject: [PATCH] Using FixedDimension

---
 gtsam/geometry/PinholeCamera.h | 2 +-
 gtsam/slam/PoseRotationPrior.h | 5 ++++-
 2 files changed, 5 insertions(+), 2 deletions(-)

diff --git a/gtsam/geometry/PinholeCamera.h b/gtsam/geometry/PinholeCamera.h
index a0395bb6e..33bf9dec3 100644
--- a/gtsam/geometry/PinholeCamera.h
+++ b/gtsam/geometry/PinholeCamera.h
@@ -38,7 +38,7 @@ private:
 
   GTSAM_CONCEPT_MANIFOLD_TYPE(Calibration)
 
-  // Get dimensions of calibration type and This at compile time
+  // Get dimensions of calibration type at compile time
   static const int DimK = FixedDimension<Calibration>::value;
 
 public:
diff --git a/gtsam/slam/PoseRotationPrior.h b/gtsam/slam/PoseRotationPrior.h
index 7d31e2e2c..018d573cb 100644
--- a/gtsam/slam/PoseRotationPrior.h
+++ b/gtsam/slam/PoseRotationPrior.h
@@ -29,6 +29,10 @@ public:
   GTSAM_CONCEPT_GROUP_TYPE(Pose)
   GTSAM_CONCEPT_LIE_TYPE(Rotation)
 
+  // Get dimensions of pose and rotation type at compile time
+  static const int xDim = FixedDimension<POSE>::value;
+  static const int rDim = FixedDimension<POSE::Rotation>::value;
+
 protected:
 
   Rotation measured_;
@@ -70,7 +74,6 @@ public:
   /** h(x)-z */
   Vector evaluateError(const Pose& pose, boost::optional<Matrix&> H = boost::none) const {
     const Rotation& newR = pose.rotation();
-    const size_t rDim = newR.dim(), xDim = pose.dim();
     if (H) {
       *H = gtsam::zeros(rDim, xDim);
       std::pair<size_t, size_t> rotInterval = POSE::rotationInterval();