From af9f45ff24dc54a52f16a361ff6b186d42b1aee7 Mon Sep 17 00:00:00 2001
From: Alex Cunningham <alexgcunningham@gmail.com>
Date: Fri, 5 Feb 2010 14:49:40 +0000
Subject: [PATCH] Used template parameters in simulated2D to make it possible
 to template factors on a config type with typedefs for the previous usage so
 no other code needs to change

---
 cpp/simulated2D.h | 43 ++++++++++++++++++++++++++-----------------
 1 file changed, 26 insertions(+), 17 deletions(-)

diff --git a/cpp/simulated2D.h b/cpp/simulated2D.h
index 660b0da3d..1e1cccaba 100644
--- a/cpp/simulated2D.h
+++ b/cpp/simulated2D.h
@@ -52,12 +52,13 @@ namespace gtsam {
 		/**
 		 * Unary factor encoding a soft prior on a vector
 		 */
-		struct Prior: public NonlinearFactor1<Config, PoseKey, Point2> {
+		template<class Cfg=Config>
+		struct GenericPrior: public NonlinearFactor1<Cfg, PoseKey, Point2> {
 
 			Point2 z_;
 
-			Prior(const Point2& z, const SharedGaussian& model, const PoseKey& key) :
-				NonlinearFactor1<Config, PoseKey, Point2> (model, key), z_(z) {
+			GenericPrior(const Point2& z, const SharedGaussian& model, const PoseKey& key) :
+				NonlinearFactor1<Cfg, PoseKey, Point2> (model, key), z_(z) {
 			}
 
 			Vector evaluateError(const Point2& x, boost::optional<Matrix&> H =
@@ -70,13 +71,14 @@ namespace gtsam {
 		/**
 		 * Binary factor simulating "odometry" between two Vectors
 		 */
-		struct Odometry: public NonlinearFactor2<Config, PoseKey, Point2, PoseKey,
+		template<class Cfg=Config>
+		struct GenericOdometry: public NonlinearFactor2<Cfg, PoseKey, Point2, PoseKey,
 				Point2> {
 			Point2 z_;
 
-			Odometry(const Point2& z, const SharedGaussian& model, const PoseKey& j1,
+			GenericOdometry(const Point2& z, const SharedGaussian& model, const PoseKey& j1,
 					const PoseKey& j2) :
-				z_(z), NonlinearFactor2<Config, PoseKey, Point2, PoseKey, Point2> (
+				z_(z), NonlinearFactor2<Cfg, PoseKey, Point2, PoseKey, Point2> (
 						model, j1, j2) {
 			}
 
@@ -90,23 +92,30 @@ namespace gtsam {
 		/**
 		 * Binary factor simulating "measurement" between two Vectors
 		 */
-		struct Measurement: public NonlinearFactor2<Config, PoseKey, Point2,
+		template<class Cfg=Config>
+		class GenericMeasurement: public NonlinearFactor2<Cfg, PoseKey, Point2,
 				PointKey, Point2> {
+			public:
 
-			Point2 z_;
+				Point2 z_;
 
-			Measurement(const Point2& z, const SharedGaussian& model,
-					const PoseKey& j1, const PointKey& j2) :
-				z_(z), NonlinearFactor2<Config, PoseKey, Point2, PointKey, Point2> (
-						model, j1, j2) {
-			}
+				GenericMeasurement(const Point2& z, const SharedGaussian& model,
+						const PoseKey& j1, const PointKey& j2) :
+					z_(z), NonlinearFactor2<Cfg, PoseKey, Point2, PointKey, Point2> (
+							model, j1, j2) {
+				}
 
-			Vector evaluateError(const Point2& x1, const Point2& x2, boost::optional<
-					Matrix&> H1 = boost::none, boost::optional<Matrix&> H2 = boost::none) const {
-				return (mea(x1, x2, H1, H2) - z_).vector();
-			}
+				Vector evaluateError(const Point2& x1, const Point2& x2, boost::optional<
+						Matrix&> H1 = boost::none, boost::optional<Matrix&> H2 = boost::none) const {
+					return (mea(x1, x2, H1, H2) - z_).vector();
+				}
 
 		};
 
+		/** Typedefs for regular use */
+		typedef GenericPrior<Config> Prior;
+		typedef GenericOdometry<Config> Odometry;
+		typedef GenericMeasurement<Config> Measurement;
+
 	} // namespace simulated2D
 } // namespace gtsam