From 905377efb630e981d1fb303f0936a733796b5d84 Mon Sep 17 00:00:00 2001
From: Natesh Srinivasan <natesh.rvce@gmail.com>
Date: Fri, 21 Oct 2011 18:05:32 +0000
Subject: [PATCH] Compile changes for matlab - still doesn't work

---
 gtsam.h                       | 49 -----------------------------------
 gtsam/base/blockMatrices.h    |  2 +-
 gtsam/slam/PlanarSLAMGraph.h  |  4 +--
 gtsam/slam/PlanarSLAMValues.h |  2 +-
 gtsam/slam/planarSLAM.cpp     |  1 +
 5 files changed, 5 insertions(+), 53 deletions(-)

diff --git a/gtsam.h b/gtsam.h
index cf59cc3b2..5c448517b 100644
--- a/gtsam.h
+++ b/gtsam.h
@@ -59,57 +59,8 @@ class VectorValues {
 	size_t push_back_preallocated(Vector vector);
 };
 
-class GaussianConditional {
-	GaussianConditional(size_t key, Vector d, Matrix R, Vector sigmas);
-	GaussianConditional(size_t key, Vector d, Matrix R, size_t name1, Matrix S,
-			Vector sigmas);
-	GaussianConditional(size_t key, Vector d, Matrix R, size_t name1, Matrix S,
-			size_t name2, Matrix T, Vector sigmas);
-	void print(string s) const;
-	bool equals(const GaussianConditional &cg, double tol) const;
-};
 
-class GaussianBayesNet {
-	GaussianBayesNet();
-	void print(string s) const;
-	bool equals(const GaussianBayesNet& cbn, double tol) const;
-	void push_back(GaussianConditional* conditional);
-	void push_front(GaussianConditional* conditional);
-};
 
-class GaussianFactor {
-	void print(string s) const;
-	bool equals(const GaussianFactor& lf, double tol) const;
-	double error(const VectorValues& c) const;
-};
-
-class JacobianFactor {
-	JacobianFactor();
-	JacobianFactor(Vector b_in);
-	JacobianFactor(size_t i1, Matrix A1, Vector b, const SharedDiagonal& model);
-	JacobianFactor(size_t i1, Matrix A1, size_t i2, Matrix A2, Vector b,
-			const SharedDiagonal& model);
-	JacobianFactor(size_t i1, Matrix A1, size_t i2, Matrix A2, size_t i3,
-			Matrix A3, Vector b, const SharedDiagonal& model);
-	void print(string s) const;
-	bool equals(const GaussianFactor& lf, double tol) const;
-	bool empty() const;
-	Vector getb() const;
-	double error(const VectorValues& c) const;
-	GaussianConditional* eliminateFirst();
-};
-
-class GaussianFactorGraph {
-	GaussianFactorGraph();
-	void print(string s) const;
-	bool equals(const GaussianFactorGraph& lfgraph, double tol) const;
-
-	size_t size() const;
-	void push_back(GaussianFactor* ptr_f);
-	double error(const VectorValues& c) const;
-	double probPrime(const VectorValues& c) const;
-	void combine(const GaussianFactorGraph& lfg);
-};
 
 class Landmark2 {
 	Landmark2();
diff --git a/gtsam/base/blockMatrices.h b/gtsam/base/blockMatrices.h
index 631dd4062..a95f1a6ba 100644
--- a/gtsam/base/blockMatrices.h
+++ b/gtsam/base/blockMatrices.h
@@ -445,7 +445,7 @@ public:
   /** access to full matrix */
   const FullMatrix& fullMatrix() const { return matrix_; }
 
-  typedef typeof(matrixTemp_.col(0).segment(0, 1)) Column;
+  typedef typeof((FullMatrix)matrixTemp_.col(0).segment(0, 1)) Column;
   typedef typeof(((const FullMatrix&)matrixTemp_).col(0).segment(0, 1)) constColumn;
 
   Column column(size_t i_block, size_t j_block, size_t columnOffset) {
diff --git a/gtsam/slam/PlanarSLAMGraph.h b/gtsam/slam/PlanarSLAMGraph.h
index bc6263997..ae1681fde 100644
--- a/gtsam/slam/PlanarSLAMGraph.h
+++ b/gtsam/slam/PlanarSLAMGraph.h
@@ -17,9 +17,9 @@
 
 #pragma once
 
-#include <gtsam/slam/PlanarSLAM.h>
+#include <gtsam/slam/planarSLAM.h>
 #include <gtsam/slam/PlanarSLAMValues.h>
-#include <gtsam/nonlinear/NonlinearOptimization-inl.h>
+// #include <gtsam/nonlinear/NonlinearOptimization-inl.h>
 
 namespace gtsam {
 
diff --git a/gtsam/slam/PlanarSLAMValues.h b/gtsam/slam/PlanarSLAMValues.h
index eba53b68a..318cc4e04 100644
--- a/gtsam/slam/PlanarSLAMValues.h
+++ b/gtsam/slam/PlanarSLAMValues.h
@@ -17,7 +17,7 @@
 
 #pragma once
 
-#include <gtsam/slam/PlanarSLAM.h>
+#include <gtsam/slam/planarSLAM.h>
 
 namespace gtsam {
 
diff --git a/gtsam/slam/planarSLAM.cpp b/gtsam/slam/planarSLAM.cpp
index 1390d4443..e189928f4 100644
--- a/gtsam/slam/planarSLAM.cpp
+++ b/gtsam/slam/planarSLAM.cpp
@@ -18,6 +18,7 @@
 #include <gtsam/slam/planarSLAM.h>
 #include <gtsam/nonlinear/NonlinearFactorGraph-inl.h>
 #include <gtsam/nonlinear/NonlinearOptimizer-inl.h>
+#include <gtsam/nonlinear/NonlinearOptimization-inl.h>
 #include <gtsam/nonlinear/TupleValues-inl.h>
 
 // Use planarSLAM namespace for specific SLAM instance