From afb28e91b67f16679c6f779d6da1385044a30301 Mon Sep 17 00:00:00 2001
From: Varun Agrawal <varagrawal@gmail.com>
Date: Tue, 19 Jan 2021 15:40:21 -0500
Subject: [PATCH 1/2] add BearingRange measured to wrapper

---
 gtsam/gtsam.i | 2 ++
 1 file changed, 2 insertions(+)

diff --git a/gtsam/gtsam.i b/gtsam/gtsam.i
index abba7437d..22c2cc17d 100644
--- a/gtsam/gtsam.i
+++ b/gtsam/gtsam.i
@@ -2623,6 +2623,8 @@ virtual class BearingRangeFactor : gtsam::NoiseModelFactor {
       const BEARING& measuredBearing, const RANGE& measuredRange,
       const gtsam::noiseModel::Base* noiseModel);
 
+  BearingRange<POSE, POINT, BEARING, RANGE> measured() const;
+
   // enabling serialization functionality
   void serialize() const;
 };

From f831bfd62ec56373677c52ea5e035f2816451de0 Mon Sep 17 00:00:00 2001
From: Varun Agrawal <varagrawal@gmail.com>
Date: Tue, 19 Jan 2021 15:40:37 -0500
Subject: [PATCH 2/2] add override and formatting

---
 gtsam_unstable/slam/SmartStereoProjectionPoseFactor.h | 11 ++++++-----
 1 file changed, 6 insertions(+), 5 deletions(-)

diff --git a/gtsam_unstable/slam/SmartStereoProjectionPoseFactor.h b/gtsam_unstable/slam/SmartStereoProjectionPoseFactor.h
index 93a83ab30..2ecd7b75c 100644
--- a/gtsam_unstable/slam/SmartStereoProjectionPoseFactor.h
+++ b/gtsam_unstable/slam/SmartStereoProjectionPoseFactor.h
@@ -113,12 +113,13 @@ class SmartStereoProjectionPoseFactor : public SmartStereoProjectionFactor {
    * print
    * @param s optional string naming the factor
    * @param keyFormatter optional formatter useful for printing Symbols
-   */ void print(
-      const std::string& s = "",
-      const KeyFormatter& keyFormatter = DefaultKeyFormatter) const override;
+   */
+  void print(const std::string& s = "", const KeyFormatter& keyFormatter =
+                                            DefaultKeyFormatter) const override;
 
   /// equals
-  virtual bool equals(const NonlinearFactor& p, double tol = 1e-9) const;
+  virtual bool equals(const NonlinearFactor& p,
+                      double tol = 1e-9) const override;
 
   /**
    * error calculates the error of the factor.
@@ -155,4 +156,4 @@ template <>
 struct traits<SmartStereoProjectionPoseFactor>
     : public Testable<SmartStereoProjectionPoseFactor> {};
 
-}  // \ namespace gtsam
+}  // namespace gtsam