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Fixed typedefs in BearingRangeFactor

release/4.3a0
Richard Roberts 2013-07-31 15:24:48 +00:00
parent 7f2a903bea
commit 083dabdf1c
1 changed files with 7 additions and 5 deletions
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12
gtsam/slam/BearingRangeFactor.h
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@ -29,16 +29,18 @@ namespace gtsam {
* @addtogroup SLAM
*/
template<class POSE, class POINT, class ROTATION = typename POSE::Rotation>
class BearingRangeFactor: public NoiseModelFactor2<POSE, POINT> {
private:
class BearingRangeFactor: public NoiseModelFactor2<POSE, POINT>
{
public:
typedef BearingRangeFactor<POSE, POINT> This;
typedef NoiseModelFactor2<POSE, POINT> Base;
typedef boost::shared_ptr<This> shared_ptr;
private:
typedef POSE Pose;
typedef ROTATION Rot;
typedef POINT Point;
typedef BearingRangeFactor<POSE, POINT> This;
typedef NoiseModelFactor2<POSE, POINT> Base;
// the measurement
Rot measuredBearing_;
double measuredRange_;