From 1e778cf77b2621f84cd830abd0a29e74d25201b3 Mon Sep 17 00:00:00 2001
From: Andrew Melim <Andrew.Melim@gatech.edu>
Date: Tue, 9 Dec 2014 11:53:35 -0500
Subject: [PATCH] No longer need to cast function pointers for expressions on
 Windows, with Optional Jacobian

---
 gtsam_unstable/nonlinear/expressions.h | 14 --------------
 gtsam_unstable/slam/expressions.h      | 17 +++--------------
 2 files changed, 3 insertions(+), 28 deletions(-)

diff --git a/gtsam_unstable/nonlinear/expressions.h b/gtsam_unstable/nonlinear/expressions.h
index 960371ed2..18d0d5d8f 100644
--- a/gtsam_unstable/nonlinear/expressions.h
+++ b/gtsam_unstable/nonlinear/expressions.h
@@ -8,25 +8,11 @@
 #pragma once
 
 #include <gtsam/nonlinear/Expression.h>
-#include <gtsam/geometry/Pose2.h>
-#include <gtsam/geometry/Pose3.h>
 #include <boost/bind.hpp>
 
 namespace gtsam {
 
-// 2D Geometry
-  typedef Expression<Pose2> Pose2_;
-
-  Pose2_ between(const Pose2_& x, const Pose2_& p) {
-    Pose2(Pose2::*transform)(const Pose2& p,
-      OptionalJacobian<3, 3> H1,
-      OptionalJacobian<3, 3> H2) const = &Pose2::between;
-
-    return Pose2_(x, transform, p);
-  }
-
 // Generics
-
 template<typename T>
 Expression<T> between(const Expression<T>& t1, const Expression<T>& t2) {
   return Expression<T>(t1, &T::between, t2);
diff --git a/gtsam_unstable/slam/expressions.h b/gtsam_unstable/slam/expressions.h
index a45e8f1b4..7badc9dd7 100644
--- a/gtsam_unstable/slam/expressions.h
+++ b/gtsam_unstable/slam/expressions.h
@@ -20,10 +20,7 @@ typedef Expression<Rot2> Rot2_;
 typedef Expression<Pose2> Pose2_;
 
 Point2_ transform_to(const Pose2_& x, const Point2_& p) {
-  Point2 (Pose2::*transform)(const Point2& p, OptionalJacobian<2, 3> H1,
-      OptionalJacobian<2, 2> H2) const = &Pose2::transform_to;
-
-  return Point2_(x, transform, p);
+  return Point2_(x, &Pose2::transform_to, p);
 }
 
 // 3D Geometry
@@ -33,11 +30,7 @@ typedef Expression<Rot3> Rot3_;
 typedef Expression<Pose3> Pose3_;
 
 Point3_ transform_to(const Pose3_& x, const Point3_& p) {
-
-  Point3 (Pose3::*transform)(const Point3& p, OptionalJacobian<3, 6> Dpose,
-      OptionalJacobian<3, 3> Dpoint) const = &Pose3::transform_to;
-
-  return Point3_(x, transform, p);
+  return Point3_(x, &Pose3::transform_to, p);
 }
 
 // Projection
@@ -59,11 +52,7 @@ Point2_ project3(const Pose3_& x, const Point3_& p, const Cal3_S2_& K) {
 
 template<class CAL>
 Point2_ uncalibrate(const Expression<CAL>& K, const Point2_& xy_hat) {
-  Point2(CAL::*uncal)(const Point2& p,
-    OptionalJacobian<2, 5> Dpose,
-    OptionalJacobian<2, 2> Dpoint) const = &CAL::uncalibrate;
-
-  return Point2_(K, uncal, xy_hat);
+  return Point2_(K, &CAL::uncalibrate, xy_hat);
 }
 
 } // \namespace gtsam