From 309f2151cf2da6075233d1ebf286cb00d610cea5 Mon Sep 17 00:00:00 2001
From: Frank Dellaert <dellaert@gmail.com>
Date: Fri, 13 Nov 2009 06:17:59 +0000
Subject: [PATCH] Clean-up

---
 cpp/VSLAMFactor.cpp | 17 ++++++-----------
 cpp/VSLAMFactor.h   |  6 ++----
 2 files changed, 8 insertions(+), 15 deletions(-)

diff --git a/cpp/VSLAMFactor.cpp b/cpp/VSLAMFactor.cpp
index 127f353b9..e0e7b4aef 100644
--- a/cpp/VSLAMFactor.cpp
+++ b/cpp/VSLAMFactor.cpp
@@ -13,18 +13,13 @@ using namespace std;
 namespace gtsam{
 
 /* ************************************************************************* */
-VSLAMFactor::VSLAMFactor(const Vector& z, double sigma, int cn, int ln, const Cal3_S2 &K)
-  : NonlinearFactor<VSLAMConfig>(z, sigma)
+VSLAMFactor::VSLAMFactor(const Point2& z, double sigma, int cn, int ln, const Cal3_S2 &K)
+  : NonlinearFactor<VSLAMConfig>(z.vector(), sigma)
 {
   cameraFrameNumber_ = cn;
-  landmarkNumber_ = ln;
-  char temp[100];
-  temp[0] = 0;
-  sprintf(temp, "x%d", cameraFrameNumber_);
-  cameraFrameName_ = string(temp);
-  temp[0] = 0;
-  sprintf(temp, "l%d", landmarkNumber_);
-  landmarkName_ = string(temp);
+  landmarkNumber_    = ln;
+  cameraFrameName_ = symbol('x',cameraFrameNumber_);
+  landmarkName_    = symbol('l',landmarkNumber_);
   K_ = K;
 }
 
@@ -35,7 +30,7 @@ void VSLAMFactor::print(const std::string& s) const {
 }
 
 /* ************************************************************************* */
-  bool VSLAMFactor::equals(const VSLAMFactor& p, double tol) const {
+bool VSLAMFactor::equals(const VSLAMFactor& p, double tol) const {
   if (&p == NULL) return false;
   if (cameraFrameNumber_ != p.cameraFrameNumber_ || landmarkNumber_ != p.landmarkNumber_) return false;
   if (!equal_with_abs_tol(this->z_,p.z_,tol)) return false;
diff --git a/cpp/VSLAMFactor.h b/cpp/VSLAMFactor.h
index b44175f42..920187bc7 100644
--- a/cpp/VSLAMFactor.h
+++ b/cpp/VSLAMFactor.h
@@ -11,7 +11,6 @@
 #include "Cal3_S2.h"
 #include "Testable.h"
 
-
 namespace gtsam {
 
 class VSLAMConfig;
@@ -20,7 +19,6 @@ class VSLAMConfig;
  * Non-linear factor for a constraint derived from a 2D measurement,
  * i.e. the main building block for visual SLAM.
  */
-//class VSLAMFactor : public NonlinearFactor<VSLAMConfig>, Testable<NonlinearFactor<VSLAMConfig> >
 class VSLAMFactor : public NonlinearFactor<VSLAMConfig>, Testable<VSLAMFactor>
 {
  private:
@@ -28,7 +26,7 @@ class VSLAMFactor : public NonlinearFactor<VSLAMConfig>, Testable<VSLAMFactor>
 	int cameraFrameNumber_, landmarkNumber_;
   std::string cameraFrameName_, landmarkName_;
   Cal3_S2 K_; // Calibration stored in each factor. FD: need to think about this.
-  typedef gtsam::NonlinearFactor<VSLAMConfig> ConvenientFactor;
+  typedef NonlinearFactor<VSLAMConfig> ConvenientFactor;
 
  public:
 
@@ -42,7 +40,7 @@ class VSLAMFactor : public NonlinearFactor<VSLAMConfig>, Testable<VSLAMFactor>
    * @param landmarkNumber is the index of the landmark
    * @param K the constant calibration
    */
-  VSLAMFactor(const Vector& z, double sigma, int cameraFrameNumber, int landmarkNumber, const Cal3_S2& K);
+  VSLAMFactor(const Point2& z, double sigma, int cameraFrameNumber, int landmarkNumber, const Cal3_S2& K);
 
 
   /**