From 04bcf26aa6314408f93e95325950597e23e4a428 Mon Sep 17 00:00:00 2001
From: cbeall3 <cbeall3@gatech.edu>
Date: Tue, 20 Oct 2015 14:44:00 -0400
Subject: [PATCH] Explicitly cast optional to bool

---
 gtsam/slam/SmartProjectionFactor.h                | 2 +-
 gtsam_unstable/slam/SmartStereoProjectionFactor.h | 4 ++--
 2 files changed, 3 insertions(+), 3 deletions(-)

diff --git a/gtsam/slam/SmartProjectionFactor.h b/gtsam/slam/SmartProjectionFactor.h
index 5146c5a32..13a4dd38f 100644
--- a/gtsam/slam/SmartProjectionFactor.h
+++ b/gtsam/slam/SmartProjectionFactor.h
@@ -246,7 +246,7 @@ public:
   /// triangulate
   bool triangulateForLinearize(const Cameras& cameras) const {
     triangulateSafe(cameras); // imperative, might reset result_
-    return (result_);
+    return bool(result_);
   }
 
   /// linearize returns a Hessianfactor that is an approximation of error(p)
diff --git a/gtsam_unstable/slam/SmartStereoProjectionFactor.h b/gtsam_unstable/slam/SmartStereoProjectionFactor.h
index e7118a36c..6651c005f 100644
--- a/gtsam_unstable/slam/SmartStereoProjectionFactor.h
+++ b/gtsam_unstable/slam/SmartStereoProjectionFactor.h
@@ -314,7 +314,7 @@ public:
   /// triangulate
   bool triangulateForLinearize(const Cameras& cameras) const {
     triangulateSafe(cameras); // imperative, might reset result_
-    return (result_);
+    return bool(result_);
   }
 
   /// linearize returns a Hessianfactor that is an approximation of error(p)
@@ -583,7 +583,7 @@ public:
 
     /// Is result valid?
     bool isValid() const {
-      return result_;
+      return bool(result_);
     }
 
     /** return the degenerate state */