From 2cb448fa2432d1e033567e018f0235af0e5428ba Mon Sep 17 00:00:00 2001
From: djensen3 <david.jensen@gtri.gatech.edu>
Date: Wed, 30 Apr 2014 16:17:32 -0400
Subject: [PATCH] adding SmartProjectionPoseFactor to wrapper

---
 gtsam_unstable/gtsam_unstable.h | 24 ++++++++++++------------
 1 file changed, 12 insertions(+), 12 deletions(-)

diff --git a/gtsam_unstable/gtsam_unstable.h b/gtsam_unstable/gtsam_unstable.h
index d87e71048..44f30e572 100644
--- a/gtsam_unstable/gtsam_unstable.h
+++ b/gtsam_unstable/gtsam_unstable.h
@@ -376,19 +376,19 @@ virtual class SmartRangeFactor : gtsam::NoiseModelFactor {
 
 };
 
-//#include <gtsam_unstable/slam/SmartProjectionPoseFactor.h>
-//template<POSE, LANDMARK, CALIBRATION>
-//virtual class SmartProjectionPoseFactor: public SmartProjectionFactor<POSE, LANDMARK, CALIBRATION, 6> {
+#include <gtsam_unstable/slam/SmartProjectionPoseFactor.h>
+template<POSE, LANDMARK, CALIBRATION>
+virtual class SmartProjectionPoseFactor: gtsam::SmartProjectionFactor {
 
-//  SmartProjectionPoseFactor(const double rankTol, const double linThreshold,
-//      const bool manageDegeneracy, const bool enableEPI, const POSE& body_P_sensor);
-//
-//  void add(const Point2 measured_i, const Key poseKey_i, const SharedNoiseModel noise_i,
-//      const CALIBRATION* K_i);
-//
-//  // enabling serialization functionality
-//  void serialize() const;
-//};
+  SmartProjectionPoseFactor(double rankTol, double linThreshold,
+      bool manageDegeneracy, bool enableEPI, const POSE& body_P_sensor);
+
+  void add(const Point2 measured_i, const Key poseKey_i, const SharedNoiseModel noise_i,
+      const CALIBRATION* K_i);
+
+  // enabling serialization functionality
+  void serialize() const;
+};
 
 
 #include <gtsam/slam/RangeFactor.h>