From 00713ea7411aa1cdc982b8bbe8fae0577ca5b026 Mon Sep 17 00:00:00 2001
From: Yong-Dian Jian <ydjian@gmail.com>
Date: Sat, 30 Oct 2010 05:31:51 +0000
Subject: [PATCH] explicitly instantiate sequential optimizer

---
 gtsam/slam/pose2SLAM.cpp | 1 +
 gtsam/slam/pose2SLAM.h   | 2 +-
 2 files changed, 2 insertions(+), 1 deletion(-)

diff --git a/gtsam/slam/pose2SLAM.cpp b/gtsam/slam/pose2SLAM.cpp
index 34c3cdeb4..8f6af27db 100644
--- a/gtsam/slam/pose2SLAM.cpp
+++ b/gtsam/slam/pose2SLAM.cpp
@@ -27,6 +27,7 @@ namespace gtsam {
 	INSTANTIATE_LIE_CONFIG(Key)
 	INSTANTIATE_NONLINEAR_FACTOR_GRAPH(Values)
 	INSTANTIATE_NONLINEAR_OPTIMIZER(Graph, Values)
+	template class NonlinearOptimizer<Graph, Values, GaussianFactorGraph, GaussianSequentialSolver>;
 
 	namespace pose2SLAM {
 
diff --git a/gtsam/slam/pose2SLAM.h b/gtsam/slam/pose2SLAM.h
index e7cac8552..4ff226bf3 100644
--- a/gtsam/slam/pose2SLAM.h
+++ b/gtsam/slam/pose2SLAM.h
@@ -63,7 +63,7 @@ namespace gtsam {
 
 		// Optimizer
 		typedef NonlinearOptimizer<Graph, Values, GaussianFactorGraph, GaussianSequentialSolver> OptimizerSequential;
-    typedef NonlinearOptimizer<Graph, Values, GaussianFactorGraph, GaussianMultifrontalSolver> Optimizer;
+        typedef NonlinearOptimizer<Graph, Values, GaussianFactorGraph, GaussianMultifrontalSolver> Optimizer;
 
 	} // pose2SLAM