From a94c2e7323b0c4f3911ead650bdd627e68bdf72f Mon Sep 17 00:00:00 2001
From: dellaert <dellaert@cc.gatech.edu>
Date: Sun, 14 Jun 2015 15:02:48 -0700
Subject: [PATCH] Renamed to BinaryJacobianFactor

---
 gtsam/slam/GeneralSFMFactor.h | 26 +++++++++++++-------------
 1 file changed, 13 insertions(+), 13 deletions(-)

diff --git a/gtsam/slam/GeneralSFMFactor.h b/gtsam/slam/GeneralSFMFactor.h
index 8097394db..ba8d478ad 100644
--- a/gtsam/slam/GeneralSFMFactor.h
+++ b/gtsam/slam/GeneralSFMFactor.h
@@ -133,29 +133,29 @@ public:
     }
   }
 
-  class LinearizedFactor : public JacobianFactor {
+  class BinaryJacobianFactor : public JacobianFactor {
     // Fixed size matrices
     // TODO(frank): implement generic BinaryJacobianFactor<N,M1,M2> next to
     // JacobianFactor
 
   public:
     /// Constructor
-    LinearizedFactor(Key i1, const JacobianC& A1, Key i2, const JacobianL& A2,
+    BinaryJacobianFactor(Key key1, const JacobianC& A1, Key key2, const JacobianL& A2,
         const Vector2& b,
         const SharedDiagonal& model = SharedDiagonal())
-    : JacobianFactor(i1, A1, i2, A2, b, model) {}
+    : JacobianFactor(key1, A1, key2, A2, b, model) {}
 
     // Fixed-size matrix update
     void updateHessian(const FastVector<Key>& infoKeys, SymmetricBlockMatrix* info) const {
-      gttic(updateHessian_LinearizedFactor);
+      gttic(updateHessian_BinaryJacobianFactor);
       // Whiten the factor if it has a noise model
       const SharedDiagonal& model = get_model();
       if (model && !model->isUnit()) {
         if (model->isConstrained())
         throw std::invalid_argument(
-            "JacobianFactor::updateHessian: cannot update information with "
+            "BinaryJacobianFactor::updateHessian: cannot update information with "
             "constrained noise model");
-        JacobianFactor whitenedFactor = whiten();
+        JacobianFactor whitenedFactor = whiten(); // TODO: make BinaryJacobianFactor
         whitenedFactor.updateHessian(infoKeys, info);
       } else {
         // First build an array of slots
@@ -164,9 +164,9 @@ public:
         DenseIndex slotB = info->nBlocks() - 1;
 
         const Matrix& Ab = Ab_.matrix();
-        Eigen::Block<const Matrix,2,DimC> A1(Ab,0,0);
-        Eigen::Block<const Matrix,2,DimL> A2(Ab,0,DimC);
-        Eigen::Block<const Matrix,2,1> b(Ab,0,DimC+DimL);
+        Eigen::Block<const Matrix,2,DimC> A1(Ab, 0, 0);
+        Eigen::Block<const Matrix,2,DimL> A2(Ab, 0, DimC);
+        Eigen::Block<const Matrix,2,1> b(Ab, 0, DimC + DimL);
 
         // We perform I += A'*A to the upper triangle
         (*info)(slot1, slot1).selfadjointView().rankUpdate(A1.transpose());
@@ -174,7 +174,7 @@ public:
         (*info)(slot1, slotB).knownOffDiagonal() += A1.transpose() * b;
         (*info)(slot2, slot2).selfadjointView().rankUpdate(A2.transpose());
         (*info)(slot2, slotB).knownOffDiagonal() += A2.transpose() * b;
-        (*info)(slotB, slotB).selfadjointView().rankUpdate(b.transpose());
+        (*info)(slotB, slotB)(0,0) = b.transpose() * b;
       }
     }
   };
@@ -182,7 +182,7 @@ public:
   /// Linearize using fixed-size matrices
   boost::shared_ptr<GaussianFactor> linearize(const Values& values) const {
     // Only linearize if the factor is active
-    if (!this->active(values)) return boost::shared_ptr<LinearizedFactor>();
+    if (!this->active(values)) return boost::shared_ptr<BinaryJacobianFactor>();
 
     const Key key1 = this->key1(), key2 = this->key2();
     JacobianC H1;
@@ -212,11 +212,11 @@ public:
 
     if (noiseModel && noiseModel->isConstrained()) {
       using noiseModel::Constrained;
-      return boost::make_shared<LinearizedFactor>(
+      return boost::make_shared<BinaryJacobianFactor>(
           key1, H1, key2, H2, b,
           boost::static_pointer_cast<Constrained>(noiseModel)->unit());
     } else {
-      return boost::make_shared<LinearizedFactor>(key1, H1, key2, H2, b);
+      return boost::make_shared<BinaryJacobianFactor>(key1, H1, key2, H2, b);
     }
   }