From 02067dd5d0d26f5fb06187196ace44f6020b29d9 Mon Sep 17 00:00:00 2001
From: dellaert <dellaert@cc.gatech.edu>
Date: Mon, 22 Dec 2014 13:51:25 +0100
Subject: [PATCH] Re-enabled concept checks

---
 gtsam/slam/BetweenFactor.h | 9 ++++-----
 1 file changed, 4 insertions(+), 5 deletions(-)

diff --git a/gtsam/slam/BetweenFactor.h b/gtsam/slam/BetweenFactor.h
index 0b20c1286..09e1d310a 100644
--- a/gtsam/slam/BetweenFactor.h
+++ b/gtsam/slam/BetweenFactor.h
@@ -31,6 +31,10 @@ namespace gtsam {
   template<class VALUE>
   class BetweenFactor: public NoiseModelFactor2<VALUE, VALUE> {
 
+    // Check that VALUE type is a testable Lie group
+    BOOST_CONCEPT_ASSERT((IsTestable<VALUE>));
+    BOOST_CONCEPT_ASSERT((IsLieGroup<VALUE>));
+
   public:
 
     typedef VALUE T;
@@ -42,11 +46,6 @@ namespace gtsam {
 
     VALUE measured_; /** The measurement */
 
-    /** concept check by type */
-    // TODO(ASL) Reenable
-    //GTSAM_CONCEPT_LIE_TYPE(T)
-    //GTSAM_CONCEPT_TESTABLE_TYPE(T)
-
   public:
 
     // shorthand for a smart pointer to a factor