From 12d04abb1ee5ffb0a5776d5d1a9414fcc88934e4 Mon Sep 17 00:00:00 2001
From: dellaert <dellaert@cc.gatech.edu>
Date: Mon, 6 Jun 2016 09:56:44 -0700
Subject: [PATCH] Remove vector in PointX headers

---
 gtsam/geometry/Point2.h | 6 +++---
 gtsam/geometry/Point3.h | 4 ++--
 2 files changed, 5 insertions(+), 5 deletions(-)

diff --git a/gtsam/geometry/Point2.h b/gtsam/geometry/Point2.h
index 4e556746a..23ea3cd73 100644
--- a/gtsam/geometry/Point2.h
+++ b/gtsam/geometry/Point2.h
@@ -43,7 +43,7 @@ public:
     Point2() { setZero(); }
 #else
     Point2() {
-      throw std::runtime_error("Point2 default");
+//      throw std::runtime_error("Point2 default");
     }
 #endif
 
@@ -153,9 +153,9 @@ public:
   Point2 inverse() const { return -(*this);}
   Point2 compose(const Point2& q) const { return (*this)+q;}
   Point2 between(const Point2& q) const { return q-(*this);}
-  Vector2 localCoordinates(const Point2& q) const { return between(q).vector();}
+  Vector2 localCoordinates(const Point2& q) const { return between(q);}
   Point2 retract(const Vector2& v) const { return compose(Point2(v));}
-  static Vector2 Logmap(const Point2& p) { return p.vector();}
+  static Vector2 Logmap(const Point2& p) { return p;}
   static Point2 Expmap(const Vector2& v) { return Point2(v);}
   inline double dist(const Point2& p2) const {return distance();}
   /// @}
diff --git a/gtsam/geometry/Point3.h b/gtsam/geometry/Point3.h
index fd254e51c..f0ffb76fe 100644
--- a/gtsam/geometry/Point3.h
+++ b/gtsam/geometry/Point3.h
@@ -124,9 +124,9 @@ class GTSAM_EXPORT Point3 : public Vector3 {
     Point3 inverse() const { return -(*this);}
     Point3 compose(const Point3& q) const { return (*this)+q;}
     Point3 between(const Point3& q) const { return q-(*this);}
-    Vector3 localCoordinates(const Point3& q) const { return between(q).vector();}
+    Vector3 localCoordinates(const Point3& q) const { return between(q);}
     Point3 retract(const Vector3& v) const { return compose(Point3(v));}
-    static Vector3 Logmap(const Point3& p) { return p.vector();}
+    static Vector3 Logmap(const Point3& p) { return p;}
     static Point3 Expmap(const Vector3& v) { return Point3(v);}
     inline double dist(const Point3& q) const { return (q - *this).norm(); }
     Point3 normalize(OptionalJacobian<3, 3> H = boost::none) const { return normalized(H);}