Removed use of GTSAM_MAGIC_KEY for constructing Symbols from strings

examples/vSLAMexample/vISAMexample.cpp

@@ -20,9 +20,6 @@
 #include <boost/foreach.hpp>
 using namespace boost;
 
-// Magically casts strings like "x3" to a Symbol('x',3) key, see Symbol.h
-#define GTSAM_MAGIC_KEY
-
 #include <gtsam/nonlinear/NonlinearFactorGraph.h>
 #include <gtsam/nonlinear/NonlinearOptimizer.h>
 #include <gtsam/slam/visualSLAM.h>

examples/vSLAMexample/vSFMexample.cpp

@@ -19,9 +19,6 @@
 #include <boost/shared_ptr.hpp>
 using namespace boost;
 
-// Magically casts strings like "x3" to a Symbol('x',3) key, see Symbol.h
-#define GTSAM_MAGIC_KEY
-
 #include <gtsam/nonlinear/NonlinearFactorGraph.h>
 #include <gtsam/nonlinear/NonlinearOptimizer.h>
 #include <gtsam/slam/visualSLAM.h>

gtsam/inference/tests/testFactorGraph.cpp

@@ -25,9 +25,6 @@ using namespace boost::assign;
 
 #include <CppUnitLite/TestHarness.h>
 
-// Magically casts strings like "x3" to a Symbol('x',3) key, see Symbol.h
-#define GTSAM_MAGIC_KEY
-
 #include <gtsam/inference/SymbolicFactorGraph.h>
 
 using namespace std;

gtsam/inference/tests/testISAM.cpp

@@ -21,9 +21,6 @@ using namespace boost::assign;
 
 #include <CppUnitLite/TestHarness.h>
 
-// Magically casts strings like "x3" to a Symbol('x',3) key, see Symbol.h
-#define GTSAM_MAGIC_KEY
-
 #include <gtsam/inference/BayesNet.h>
 #include <gtsam/inference/IndexConditional.h>
 #include <gtsam/inference/SymbolicFactorGraph.h>

gtsam/nonlinear/Symbol.h

@@ -23,14 +23,9 @@
 #include <boost/mpl/char.hpp>
 #include <boost/format.hpp>
 #include <boost/serialization/nvp.hpp>
-#ifdef GTSAM_MAGIC_KEY
-#include <boost/lexical_cast.hpp>
-#endif
 
 #include <gtsam/nonlinear/Key.h>
 
-#define ALPHA '\224'
-
 namespace gtsam {
 
 /**
@@ -60,35 +55,6 @@ public:
     c_(c), j_(j) {
   }
 
-  /** "Magic" key casting constructor from string */
-#ifdef GTSAM_MAGIC_KEY
-  Symbol(const std::string& str) {
-    if(str.length() < 1)
-    throw std::invalid_argument("Cannot parse string key '" + str + "'");
-    else {
-      const char *c_str = str.c_str();
-      c_ = c_str[0];
-      if(str.length() > 1)
-      j_ = boost::lexical_cast<size_t>(c_str+1);
-      else
-      j_ = 0;
-    }
-  }
-
-  Symbol(const char *c_str) {
-    std::string str(c_str);
-    if(str.length() < 1)
-    throw std::invalid_argument("Cannot parse string key '" + str + "'");
-    else {
-      c_ = c_str[0];
-      if(str.length() > 1)
-      j_ = boost::lexical_cast<size_t>(c_str+1);
-      else
-      j_ = 0;
-    }
-  }
-#endif
-
   /** Constructor that decodes an integer Key */
   Symbol(Key key) {
     const size_t keyBytes = sizeof(Key);

gtsam/nonlinear/tests/testValues.cpp

@@ -20,8 +20,6 @@
 #include <boost/assign/std/list.hpp> // for operator +=
 using namespace boost::assign;
 
-#define GTSAM_MAGIC_KEY
-
 #include <gtsam/base/Testable.h>
 #include <gtsam/base/TestableAssertions.h>
 #include <gtsam/base/LieVector.h>
@@ -33,7 +31,7 @@ using namespace gtsam;
 using namespace std;
 static double inf = std::numeric_limits<double>::infinity();
 
-Key key1(Symbol("v1")), key2(Symbol("v2")), key3(Symbol("v3")), key4(Symbol("v4"));
+Key key1(Symbol('v',1)), key2(Symbol('v',2)), key3(Symbol('v',3)), key4(Symbol('v',4));
 
 /* ************************************************************************* */
 TEST( Values, equals1 )

gtsam/slam/smallExample.cpp

@@ -24,9 +24,6 @@
 
 using namespace std;
 
-// Magically casts strings like Symbol("x3") to a Symbol('x',3) key, see Symbol.h
-#define GTSAM_MAGIC_KEY
-
 #include <gtsam/base/Matrix.h>
 #include <gtsam/nonlinear/NonlinearFactor.h>
 #include <gtsam/slam/smallExample.h>
@@ -52,6 +49,9 @@ namespace example {
 	static const Index _l1_=0, _x1_=1, _x2_=2;
 	static const Index _x_=0, _y_=1, _z_=2;
 
+	Key kx(size_t i) { return Symbol('x',i); }
+	Key kl(size_t i) { return Symbol('l',i); }
+
 	/* ************************************************************************* */
 	boost::shared_ptr<const Graph> sharedNonlinearFactorGraph() {
 		// Create
@@ -121,18 +121,18 @@ namespace example {
 	/* ************************************************************************* */
 	VectorValues createCorrectDelta(const Ordering& ordering) {
 		VectorValues c(vector<size_t>(3,2));
-		c[ordering[Symbol(Symbol("l1"))]] = Vector_(2, -0.1, 0.1);
+		c[ordering[kl(1)]] = Vector_(2, -0.1, 0.1);
-		c[ordering[Symbol("x1")]] = Vector_(2, -0.1, -0.1);
+		c[ordering[kx(1)]] = Vector_(2, -0.1, -0.1);
-		c[ordering[Symbol("x2")]] = Vector_(2, 0.1, -0.2);
+		c[ordering[kx(2)]] = Vector_(2, 0.1, -0.2);
 		return c;
 	}
 
 	/* ************************************************************************* */
 	VectorValues createZeroDelta(const Ordering& ordering) {
 		VectorValues c(vector<size_t>(3,2));
-		c[ordering[Symbol(Symbol("l1"))]] = zero(2);
+		c[ordering[kl(1)]] = zero(2);
-		c[ordering[Symbol("x1")]] = zero(2);
+		c[ordering[kx(1)]] = zero(2);
-		c[ordering[Symbol("x2")]] = zero(2);
+		c[ordering[kx(2)]] = zero(2);
 		return c;
 	}
 
@@ -144,16 +144,16 @@ namespace example {
 		SharedDiagonal unit2 = noiseModel::Unit::Create(2);
 
 		// linearized prior on x1: c[_x1_]+x1=0 i.e. x1=-c[_x1_]
-		fg.add(ordering[Symbol("x1")], 10*eye(2), -1.0*ones(2), unit2);
+		fg.add(ordering[kx(1)], 10*eye(2), -1.0*ones(2), unit2);
 
 		// odometry between x1 and x2: x2-x1=[0.2;-0.1]
-		fg.add(ordering[Symbol("x1")], -10*eye(2),ordering[Symbol("x2")], 10*eye(2), Vector_(2, 2.0, -1.0), unit2);
+		fg.add(ordering[kx(1)], -10*eye(2),ordering[kx(2)], 10*eye(2), Vector_(2, 2.0, -1.0), unit2);
 
     // measurement between x1 and l1: l1-x1=[0.0;0.2]
-		fg.add(ordering[Symbol("x1")], -5*eye(2), ordering[Symbol("l1")], 5*eye(2), Vector_(2, 0.0, 1.0), unit2);
+		fg.add(ordering[kx(1)], -5*eye(2), ordering[kl(1)], 5*eye(2), Vector_(2, 0.0, 1.0), unit2);
 
 		// measurement between x2 and l1: l1-x2=[-0.2;0.3]
-		fg.add(ordering[Symbol("x2")], -5*eye(2), ordering[Symbol("l1")], 5*eye(2), Vector_(2, -1.0, 1.5), unit2);
+		fg.add(ordering[kx(2)], -5*eye(2), ordering[kl(1)], 5*eye(2), Vector_(2, -1.0, 1.5), unit2);
 
 		return *fg.dynamicCastFactors<FactorGraph<JacobianFactor> >();
 	}

gtsam/slam/tests/testGeneralSFMFactor.cpp

@@ -12,9 +12,6 @@
 #include <CppUnitLite/TestHarness.h>
 using namespace boost;
 
-// Magically casts strings like "x3" to a Symbol('x',3) key, see Symbol.h
-#define GTSAM_MAGIC_KEY
-
 #include <gtsam/base/Testable.h>
 #include <gtsam/geometry/Cal3_S2.h>
 #include <gtsam/geometry/PinholeCamera.h>
@@ -74,7 +71,7 @@ TEST( GeneralSFMFactor, equals )
 {
 	// Create two identical factors and make sure they're equal
 	Vector z = Vector_(2,323.,240.);
-  const Symbol cameraFrameNumber="x1", landmarkNumber="l1";
+  const Symbol cameraFrameNumber('x',1), landmarkNumber('l',1);
 	const SharedNoiseModel sigma(noiseModel::Unit::Create(1));
 	boost::shared_ptr<Projection>
 	  factor1(new Projection(z, sigma, cameraFrameNumber, landmarkNumber));
@@ -89,14 +86,14 @@ TEST( GeneralSFMFactor, equals )
 TEST( GeneralSFMFactor, error ) {
 	Point2 z(3.,0.);
 	const SharedNoiseModel sigma(noiseModel::Unit::Create(1));
-	boost::shared_ptr<Projection>	factor(new Projection(z, sigma, Symbol("x1"), Symbol("l1")));
+	boost::shared_ptr<Projection>	factor(new Projection(z, sigma, Symbol('x',1), Symbol('l',1)));
 	// For the following configuration, the factor predicts 320,240
 	Values values;
 	Rot3 R;
 	Point3 t1(0,0,-6);
 	Pose3 x1(R,t1);
-	values.insert(Symbol("x1"), GeneralCamera(x1));
+	values.insert(Symbol('x',1), GeneralCamera(x1));
-	Point3 l1;  values.insert(Symbol("l1"), l1);
+	Point3 l1;  values.insert(Symbol('l',1), l1);
 	EXPECT(assert_equal(Vector_(2, -3.0, 0.0), factor->unwhitenedError(values)));
 }
 

gtsam/slam/tests/testGeneralSFMFactor_Cal3Bundler.cpp

@@ -12,9 +12,6 @@
 #include <CppUnitLite/TestHarness.h>
 using namespace boost;
 
-// Magically casts strings like "x3" to a Symbol('x',3) key, see Symbol.h
-#define GTSAM_MAGIC_KEY
-
 #include <gtsam/base/Testable.h>
 #include <gtsam/geometry/Cal3Bundler.h>
 #include <gtsam/geometry/PinholeCamera.h>
@@ -75,7 +72,7 @@ TEST( GeneralSFMFactor, equals )
 {
   // Create two identical factors and make sure they're equal
   Vector z = Vector_(2,323.,240.);
-  const Symbol cameraFrameNumber="x1", landmarkNumber="l1";
+  const Symbol cameraFrameNumber('x',1), landmarkNumber('l',1);
   const SharedNoiseModel sigma(noiseModel::Unit::Create(1));
   boost::shared_ptr<Projection>
     factor1(new Projection(z, sigma, cameraFrameNumber, landmarkNumber));
@@ -91,14 +88,14 @@ TEST( GeneralSFMFactor, error ) {
   Point2 z(3.,0.);
   const SharedNoiseModel sigma(noiseModel::Unit::Create(1));
   boost::shared_ptr<Projection>
-  factor(new Projection(z, sigma, Symbol("x1"), Symbol("l1")));
+  factor(new Projection(z, sigma, Symbol('x',1), Symbol('l',1)));
   // For the following configuration, the factor predicts 320,240
   Values values;
   Rot3 R;
   Point3 t1(0,0,-6);
   Pose3 x1(R,t1);
-  values.insert(Symbol("x1"), GeneralCamera(x1));
+  values.insert(Symbol('x',1), GeneralCamera(x1));
-  Point3 l1;  values.insert(Symbol("l1"), l1);
+  Point3 l1;  values.insert(Symbol('l',1), l1);
   EXPECT(assert_equal(Vector_(2, -3.0, 0.0), factor->unwhitenedError(values)));
 }
 

gtsam/slam/tests/testPose2SLAM.cpp

@@ -14,9 +14,6 @@
  *  @author Frank Dellaert, Viorela Ila
  **/
 
-// Magically casts strings like "x3" to a Symbol('x',3) key, see Symbol.h
-#define GTSAM_MAGIC_KEY
-
 #include <gtsam/slam/pose2SLAM.h>
 #include <gtsam/nonlinear/NonlinearOptimizer.h>
 #include <gtsam/inference/FactorGraph.h>
@@ -46,7 +43,7 @@ static noiseModel::Gaussian::shared_ptr covariance(
 	)));
 //static noiseModel::Gaussian::shared_ptr I3(noiseModel::Unit::Create(3));
 
-const Key kx0 = Symbol("x0"), kx1 = Symbol("x1"), kx2 = Symbol("x2"), kx3 = Symbol("x3"), kx4 = Symbol("x4"), kx5 = Symbol("x5"), kl1 = Symbol("l1");
+const Key kx0 = Symbol('x',0), kx1 = Symbol('x',1), kx2 = Symbol('x',2), kx3 = Symbol('x',3), kx4 = Symbol('x',4), kx5 = Symbol('x',5), kl1 = Symbol('l',1);
 
 /* ************************************************************************* */
 // Test constraint, small displacement

gtsam/slam/tests/testPose3SLAM.cpp

@@ -28,9 +28,6 @@ using namespace boost::assign;
 // TODO: DANGEROUS, create shared pointers
 #define GTSAM_MAGIC_GAUSSIAN 6
 
-// Magically casts strings like "x3" to a Symbol('x',3) key, see Symbol.h
-#define GTSAM_MAGIC_KEY
-
 #include <gtsam/slam/pose3SLAM.h>
 #include <gtsam/slam/PartialPriorFactor.h>
 
@@ -43,7 +40,7 @@ static Matrix covariance = eye(6);
 
 const double tol=1e-5;
 
-const Key kx0 = Symbol("x0"), kx1 = Symbol("x1"), kx2 = Symbol("x2"), kx3 = Symbol("x3"), kx4 = Symbol("x4"), kx5 = Symbol("x5");
+const Key kx0 = Symbol('x',0), kx1 = Symbol('x',1), kx2 = Symbol('x',2), kx3 = Symbol('x',3), kx4 = Symbol('x',4), kx5 = Symbol('x',5);
 
 /* ************************************************************************* */
 // test optimization with 6 poses arranged in a hexagon and a loop closure

gtsam/slam/tests/testProjectionFactor.cpp

@@ -18,9 +18,6 @@
 
 #include <CppUnitLite/TestHarness.h>
 
-// Magically casts strings like "x3" to a Symbol('x',3) key, see Symbol.h
-#define GTSAM_MAGIC_KEY
-
 #include <gtsam/slam/visualSLAM.h>
 
 using namespace std;
@@ -40,7 +37,7 @@ static Cal3_S2 K(fov,w,h);
 static SharedNoiseModel sigma(noiseModel::Unit::Create(1));
 static shared_ptrK sK(new Cal3_S2(K));
 
-const Key kx1 = Symbol("x1"), kl1 = Symbol("l1");
+const Key kx1 = Symbol('x',1), kl1 = Symbol('l',1);
 
 // make cameras
 

gtsam/slam/tests/testSerializationSLAM.cpp

@@ -16,8 +16,6 @@
  * @date Feb 7, 2012
  */
 
-#define GTSAM_MAGIC_KEY
-
 #include <gtsam/linear/GaussianISAM.h>
 #include <gtsam/linear/GaussianMultifrontalSolver.h>
 #include <gtsam/slam/smallExample.h>
@@ -51,7 +49,7 @@ BOOST_CLASS_EXPORT_GUID(gtsam::SharedDiagonal, "gtsam_SharedDiagonal");
 TEST (Serialization, smallExample_linear) {
   using namespace example;
 
-  Ordering ordering; ordering += Symbol("x1"),Symbol("x2"),Symbol("l1");
+  Ordering ordering; ordering += Symbol('x',1),Symbol('x',2),Symbol('l',1);
   GaussianFactorGraph fg = createGaussianFactorGraph(ordering);
   EXPECT(equalsObj(ordering));
   EXPECT(equalsXML(ordering));

gtsam/slam/tests/testVSLAM.cpp

@@ -22,9 +22,6 @@
 #include <boost/shared_ptr.hpp>
 using namespace boost;
 
-// Magically casts strings like "x3" to a Symbol('x',3) key, see Symbol.h
-#define GTSAM_MAGIC_KEY
-
 #include <gtsam/nonlinear/NonlinearFactorGraph.h>
 #include <gtsam/nonlinear/NonlinearOptimizer.h>
 #include <gtsam/slam/visualSLAM.h>

tests/testBoundingConstraint.cpp

@@ -17,8 +17,6 @@
 
 #include <CppUnitLite/TestHarness.h>
 
-#define GTSAM_MAGIC_KEY
-
 #include <gtsam/slam/simulated2DConstraints.h>
 #include <gtsam/nonlinear/NonlinearFactorGraph.h>
 #include <gtsam/nonlinear/NonlinearOptimizer.h>
@@ -153,7 +151,7 @@ TEST( testBoundingConstraint, unary_simple_optimization1) {
 	Point2 start_pt(0.0, 1.0);
 
 	shared_graph graph(new Graph());
-	Symbol x1("x1");
+	Symbol x1('x',1);
 	graph->add(iq2D::PoseXInequality(x1, 1.0, true));
 	graph->add(iq2D::PoseYInequality(x1, 2.0, true));
 	graph->add(simulated2D::Prior(start_pt, soft_model2, x1));
@@ -175,7 +173,7 @@ TEST( testBoundingConstraint, unary_simple_optimization2) {
 	Point2 start_pt(2.0, 3.0);
 
 	shared_graph graph(new Graph());
-	Symbol x1("x1");
+	Symbol x1('x',1);
 	graph->add(iq2D::PoseXInequality(x1, 1.0, false));
 	graph->add(iq2D::PoseYInequality(x1, 2.0, false));
 	graph->add(simulated2D::Prior(start_pt, soft_model2, x1));
@@ -191,7 +189,7 @@ TEST( testBoundingConstraint, unary_simple_optimization2) {
 
 /* ************************************************************************* */
 TEST( testBoundingConstraint, MaxDistance_basics) {
-	Symbol key1("x1"), key2("x2");
+	Symbol key1('x',1), key2('x',2);
 	Point2 pt1, pt2(1.0, 0.0), pt3(2.0, 0.0), pt4(3.0, 0.0);
 	iq2D::PoseMaxDistConstraint rangeBound(key1, key2, 2.0, mu);
 	EXPECT_DOUBLES_EQUAL(2.0, rangeBound.threshold(), tol);
@@ -233,7 +231,7 @@ TEST( testBoundingConstraint, MaxDistance_basics) {
 TEST( testBoundingConstraint, MaxDistance_simple_optimization) {
 
 	Point2 pt1, pt2_init(5.0, 0.0), pt2_goal(2.0, 0.0);
-  Symbol x1("x1"), x2("x2");
+  Symbol x1('x',1), x2('x',2);
 
 	Graph graph;
 	graph.add(simulated2D::equality_constraints::UnaryEqualityConstraint(pt1, x1));
@@ -256,7 +254,7 @@ TEST( testBoundingConstraint, MaxDistance_simple_optimization) {
 /* ************************************************************************* */
 TEST( testBoundingConstraint, avoid_demo) {
 
-  Symbol x1("x1"), x2("x2"), x3("x3"), l1("l1");
+  Symbol x1('x',1), x2('x',2), x3('x',3), l1('l',1);
 	double radius = 1.0;
 	Point2 x1_pt, x2_init(2.0, 0.5), x2_goal(2.0, 1.0), x3_pt(4.0, 0.0), l1_pt(2.0, 0.0);
 	Point2 odo(2.0, 0.0);

tests/testExtendedKalmanFilter.cpp

@@ -16,8 +16,6 @@
 
 #include <CppUnitLite/TestHarness.h>
 
-#define GTSAM_MAGIC_KEY
-
 #include <gtsam/slam/PriorFactor.h>
 #include <gtsam/slam/BetweenFactor.h>
 #include <gtsam/nonlinear/ExtendedKalmanFilter-inl.h>
@@ -37,7 +35,7 @@ TEST( ExtendedKalmanFilter, linear ) {
   ExtendedKalmanFilter<Point2> ekf(x_initial, P_initial);
 
   // Create the TestKeys for our example
-  Symbol x0("x0"), x1("x1"), x2("x2"), x3("x3");
+  Symbol x0('x',0), x1('x',1), x2('x',2), x3('x',3);
 
   // Create the controls and measurement properties for our example
   double dt = 1.0;

tests/testGaussianBayesNet.cpp

@@ -25,9 +25,6 @@
 #include <boost/assign/std/list.hpp> // for operator +=
 using namespace boost::assign;
 
-// Magically casts strings like "x3" to a Symbol('x',3) key, see Symbol.h
-#define GTSAM_MAGIC_KEY
-
 #include <gtsam/base/Testable.h>
 #include <gtsam/inference/BayesNet.h>
 #include <gtsam/linear/GaussianBayesNet.h>

tests/testGaussianFactor.cpp

@@ -26,9 +26,6 @@ using namespace boost::assign;
 
 #include <CppUnitLite/TestHarness.h>
 
-// Magically casts strings like kx3 to a Symbol('x',3) key, see Symbol.h
-#define GTSAM_MAGIC_KEY
-
 #include <gtsam/base/Matrix.h>
 #include <gtsam/base/Testable.h>
 #include <gtsam/linear/GaussianConditional.h>
@@ -44,7 +41,7 @@ static SharedDiagonal
 	sigma0_1 = sharedSigma(2,0.1), sigma_02 = sharedSigma(2,0.2),
 	constraintModel = noiseModel::Constrained::All(2);
 
-const Key kx1 = Symbol("x1"), kx2 = Symbol("x2"), kl1 = Symbol("l1");
+const Key kx1 = Symbol('x',1), kx2 = Symbol('x',2), kl1 = Symbol('l',1);
 
 /* ************************************************************************* */
 TEST( GaussianFactor, linearFactor )

tests/testGaussianFactorGraph.cpp

@@ -28,9 +28,6 @@ using namespace boost::assign;
 
 #include <CppUnitLite/TestHarness.h>
 
-// Magically casts strings like kx(3) to a Symbol('x',3) key, see Symbol.h
-#define GTSAM_MAGIC_KEY
-
 #include <gtsam/base/Matrix.h>
 #include <gtsam/base/Testable.h>
 #include <gtsam/base/numericalDerivative.h>

tests/testGaussianISAM.cpp

@@ -21,9 +21,6 @@ using namespace boost::assign;
 
 #include <CppUnitLite/TestHarness.h>
 
-// Magically casts strings like kx(3) to a Symbol('x',3) key, see Symbol.h
-#define GTSAM_MAGIC_KEY
-
 #include <gtsam/geometry/Rot2.h>
 #include <gtsam/nonlinear/Ordering.h>
 #include <gtsam/linear/GaussianBayesNet.h>

tests/testGaussianISAM2.cpp

@@ -11,8 +11,6 @@ using namespace boost::assign;
 
 #include <CppUnitLite/TestHarness.h>
 
-#define GTSAM_MAGIC_KEY
-
 #include <gtsam/base/debug.h>
 #include <gtsam/base/TestableAssertions.h>
 #include <gtsam/nonlinear/Ordering.h>

tests/testGaussianJunctionTree.cpp

@@ -25,9 +25,6 @@
 #include <boost/assign/std/vector.hpp>
 using namespace boost::assign;
 
-// Magically casts strings like kx(3) to a Symbol('x',3) key, see Symbol.h
-#define GTSAM_MAGIC_KEY
-
 #include <gtsam/base/debug.h>
 #include <gtsam/base/cholesky.h>
 #include <gtsam/inference/BayesTree-inl.h>

tests/testGraph.cpp

@@ -23,8 +23,6 @@ using namespace boost::assign;
 
 #include <CppUnitLite/TestHarness.h>
 
-#define GTSAM_MAGIC_KEY
-
 // TODO: DANGEROUS, create shared pointers
 #define GTSAM_MAGIC_GAUSSIAN 3
 

tests/testInference.cpp

@@ -17,9 +17,6 @@
 
 #include <CppUnitLite/TestHarness.h>
 
-// Magically casts strings like "x3" to a Symbol('x',3) key, see Symbol.h
-#define GTSAM_MAGIC_KEY
-
 #include <gtsam/linear/GaussianSequentialSolver.h>
 #include <gtsam/slam/smallExample.h>
 #include <gtsam/slam/planarSLAM.h>

tests/testNonlinearFactor.cpp

@@ -25,9 +25,6 @@
 // TODO: DANGEROUS, create shared pointers
 #define GTSAM_MAGIC_GAUSSIAN 2
 
-// Magically casts strings like PoseKey(3) to a Symbol('x',3) key, see Symbol.h
-#define GTSAM_MAGIC_KEY
-
 #include <gtsam/base/Testable.h>
 #include <gtsam/base/Matrix.h>
 #include <gtsam/base/LieVector.h>

tests/testNonlinearFactorGraph.cpp

@@ -27,9 +27,6 @@ using namespace boost::assign;
 
 #include <CppUnitLite/TestHarness.h>
 
-// Magically casts strings like "x3" to a Symbol('x',3) key, see Symbol.h
-#define GTSAM_MAGIC_KEY
-
 #include <gtsam/base/Testable.h>
 #include <gtsam/base/Matrix.h>
 #include <gtsam/slam/smallExample.h>

tests/testNonlinearOptimizer.cpp

@@ -26,9 +26,6 @@ using namespace boost::assign;
 #include <boost/shared_ptr.hpp>
 using namespace boost;
 
-// Magically casts strings like kx(3) to a Symbol('x',3) key, see Symbol.h
-#define GTSAM_MAGIC_KEY
-
 #include <gtsam/base/Matrix.h>
 #include <gtsam/slam/smallExample.h>
 #include <gtsam/slam/pose2SLAM.h>

tests/testSymbolicBayesNet.cpp

@@ -21,9 +21,6 @@ using namespace boost::assign;
 
 #include <CppUnitLite/TestHarness.h>
 
-// Magically casts strings like kx(3) to a Symbol('x',3) key, see Symbol.h
-#define GTSAM_MAGIC_KEY
-
 #include <gtsam/base/Testable.h>
 #include <gtsam/slam/smallExample.h>
 #include <gtsam/inference/SymbolicFactorGraph.h>

tests/testSymbolicFactorGraph.cpp

@@ -20,9 +20,6 @@ using namespace boost::assign;
 
 #include <CppUnitLite/TestHarness.h>
 
-// Magically casts strings like kx(3) to a Symbol('x',3) key, see Symbol.h
-#define GTSAM_MAGIC_KEY
-
 #include <gtsam/slam/smallExample.h>
 #include <gtsam/inference/SymbolicFactorGraph.h>
 #include <gtsam/inference/BayesNet-inl.h>

tests/testTupleValues.cpp

@@ -20,9 +20,6 @@
 
 #include <gtsam/base/TestableAssertions.h>
 
-// Magically casts strings like "x3" to a Symbol('x',3) key, see Symbol.h
-#define GTSAM_MAGIC_KEY
-
 #include <gtsam/geometry/Pose2.h>
 #include <gtsam/geometry/Point2.h>
 #include <gtsam/geometry/Pose3.h>

tests/timeGaussianFactorGraph.cpp

@@ -15,9 +15,6 @@
  * @author  Frank Dellaert
  */
 
-// Magically casts strings like "x3" to a Symbol('x',3) key, see Symbol.h
-#define GTSAM_MAGIC_KEY
-
 #include <time.h>
 #include <boost/foreach.hpp>
 #include <boost/assign/std/list.hpp> // for operator += in Ordering

wrap/matlab.h

@@ -40,8 +40,6 @@ using namespace std;
 using namespace boost; // not usual, but for conciseness of generated code
 
 // start GTSAM Specifics /////////////////////////////////////////////////
-// to make keys be constructed from strings:
-#define GTSAM_MAGIC_KEY
 // to enable Matrix and Vector constructor for SharedGaussian:
 #define GTSAM_MAGIC_GAUSSIAN
 // end GTSAM Specifics /////////////////////////////////////////////////