From 0c292150180abe014b3051facce7187132d92b9b Mon Sep 17 00:00:00 2001
From: dellaert <dellaert@cc.gatech.edu>
Date: Wed, 8 Jul 2015 19:14:23 -0700
Subject: [PATCH] Slight refactor/reformatting

---
 gtsam/nonlinear/ExpressionFactor.h     | 20 ++++++++++++--------
 gtsam/nonlinear/internal/JacobianMap.h |  7 +++----
 2 files changed, 15 insertions(+), 12 deletions(-)

diff --git a/gtsam/nonlinear/ExpressionFactor.h b/gtsam/nonlinear/ExpressionFactor.h
index b32b84df3..cac55563f 100644
--- a/gtsam/nonlinear/ExpressionFactor.h
+++ b/gtsam/nonlinear/ExpressionFactor.h
@@ -32,7 +32,7 @@ namespace gtsam {
 template<class T>
 class ExpressionFactor: public NoiseModelFactor {
 
- protected:
+protected:
 
   typedef ExpressionFactor<T> This;
 
@@ -42,7 +42,7 @@ class ExpressionFactor: public NoiseModelFactor {
 
   static const int Dim = traits<T>::dimension;
 
- public:
+public:
 
   typedef boost::shared_ptr<ExpressionFactor<T> > shared_ptr;
 
@@ -83,13 +83,16 @@ class ExpressionFactor: public NoiseModelFactor {
     if (!active(x))
       return boost::shared_ptr<JacobianFactor>();
 
-    // Create a writeable JacobianFactor in advance
     // In case noise model is constrained, we need to provide a noise model
-    bool constrained = noiseModel_->isConstrained();
+    SharedDiagonal noiseModel;
+    if (noiseModel_->isConstrained()) {
+      noiseModel = boost::static_pointer_cast<noiseModel::Constrained>(
+          noiseModel_)->unit();
+    }
+
+    // Create a writeable JacobianFactor in advance
     boost::shared_ptr<JacobianFactor> factor(
-        constrained ? new JacobianFactor(keys_, dims_, Dim,
-            boost::static_pointer_cast<noiseModel::Constrained>(noiseModel_)->unit()) :
-            new JacobianFactor(keys_, dims_, Dim));
+        new JacobianFactor(keys_, dims_, Dim, noiseModel));
 
     // Wrap keys and VerticalBlockMatrix into structure passed to expression_
     VerticalBlockMatrix& Ab = factor->matrixObject();
@@ -114,7 +117,8 @@ class ExpressionFactor: public NoiseModelFactor {
   /// @return a deep copy of this factor
   virtual gtsam::NonlinearFactor::shared_ptr clone() const {
     return boost::static_pointer_cast<gtsam::NonlinearFactor>(
-        gtsam::NonlinearFactor::shared_ptr(new This(*this))); }
+        gtsam::NonlinearFactor::shared_ptr(new This(*this)));
+  }
 };
 // ExpressionFactor
 
diff --git a/gtsam/nonlinear/internal/JacobianMap.h b/gtsam/nonlinear/internal/JacobianMap.h
index f4d2e9565..c99f05b7d 100644
--- a/gtsam/nonlinear/internal/JacobianMap.h
+++ b/gtsam/nonlinear/internal/JacobianMap.h
@@ -31,19 +31,18 @@ namespace internal {
 // The JacobianMap provides a mapping from keys to the underlying blocks.
 class JacobianMap {
 private:
-  typedef FastVector<Key> Keys;
-  const FastVector<Key>& keys_;
+  const KeyVector& keys_;
   VerticalBlockMatrix& Ab_;
 
 public:
   /// Construct a JacobianMap for writing into a VerticalBlockMatrix Ab
-  JacobianMap(const Keys& keys, VerticalBlockMatrix& Ab) :
+  JacobianMap(const KeyVector& keys, VerticalBlockMatrix& Ab) :
       keys_(keys), Ab_(Ab) {
   }
 
   /// Access blocks of via key
   VerticalBlockMatrix::Block operator()(Key key) {
-    Keys::const_iterator it = std::find(keys_.begin(), keys_.end(), key);
+    KeyVector::const_iterator it = std::find(keys_.begin(), keys_.end(), key);
     DenseIndex block = it - keys_.begin();
     return Ab_(block);
   }