From 7c07c7080204cf8c8e16c0391ee8d5782b54417b Mon Sep 17 00:00:00 2001
From: Vadim Indelman <indelman@gmail.com>
Date: Thu, 8 Aug 2013 16:08:35 +0000
Subject: [PATCH] Changed Between and Prior Factors and NonLinearEquality back
 to NoiseModelFactor.

---
 gtsam.h | 6 +++---
 1 file changed, 3 insertions(+), 3 deletions(-)

diff --git a/gtsam.h b/gtsam.h
index 65c7ffcaa..c8bb81aae 100644
--- a/gtsam.h
+++ b/gtsam.h
@@ -2124,7 +2124,7 @@ class NonlinearISAM {
 
 #include <gtsam/slam/PriorFactor.h>
 template<T = {gtsam::LieScalar, gtsam::LieVector, gtsam::LieMatrix, gtsam::Point2, gtsam::StereoPoint2, gtsam::Point3, gtsam::Rot2, gtsam::Rot3, gtsam::Pose2, gtsam::Pose3, gtsam::Cal3_S2, gtsam::CalibratedCamera, gtsam::SimpleCamera, gtsam::imuBias::ConstantBias}>
-virtual class PriorFactor : gtsam::NonlinearFactor {
+virtual class PriorFactor : gtsam::NoiseModelFactor {
   PriorFactor(size_t key, const T& prior, const gtsam::noiseModel::Base* noiseModel);
   T prior() const;
 
@@ -2135,7 +2135,7 @@ virtual class PriorFactor : gtsam::NonlinearFactor {
 
 #include <gtsam/slam/BetweenFactor.h>
 template<T = {gtsam::LieScalar, gtsam::LieVector, gtsam::LieMatrix, gtsam::Point2, gtsam::Point3, gtsam::Rot2, gtsam::Rot3, gtsam::Pose2, gtsam::Pose3, gtsam::imuBias::ConstantBias}>
-virtual class BetweenFactor : gtsam::NonlinearFactor {
+virtual class BetweenFactor : gtsam::NoiseModelFactor {
   BetweenFactor(size_t key1, size_t key2, const T& relativePose, const gtsam::noiseModel::Base* noiseModel);
   T measured() const;
 
@@ -2146,7 +2146,7 @@ virtual class BetweenFactor : gtsam::NonlinearFactor {
 
 #include <gtsam/nonlinear/NonlinearEquality.h>
 template<T = {gtsam::LieScalar, gtsam::LieVector, gtsam::LieMatrix, gtsam::Point2, gtsam::StereoPoint2, gtsam::Point3, gtsam::Rot2, gtsam::Rot3, gtsam::Pose2, gtsam::Pose3, gtsam::Cal3_S2, gtsam::CalibratedCamera, gtsam::SimpleCamera, gtsam::imuBias::ConstantBias}>
-virtual class NonlinearEquality : gtsam::NonlinearFactor {
+virtual class NonlinearEquality : gtsam::NoiseModelFactor {
   // Constructor - forces exact evaluation
   NonlinearEquality(size_t j, const T& feasible);
   // Constructor - allows inexact evaluation