Fixed compile problem on linux using boost::join with boost::cref_list_of

.cproject

@@ -19,7 +19,7 @@
 					<folderInfo id="cdt.managedbuild.toolchain.gnu.macosx.base.1359703544.2031210194" name="/" resourcePath="">
 						<toolChain id="cdt.managedbuild.toolchain.gnu.macosx.base.677243255" name="cdt.managedbuild.toolchain.gnu.macosx.base" superClass="cdt.managedbuild.toolchain.gnu.macosx.base">
 							<targetPlatform archList="all" binaryParser="org.eclipse.cdt.core.ELF;org.eclipse.cdt.core.MachO64" id="cdt.managedbuild.target.gnu.platform.macosx.base.752782918" name="Debug Platform" osList="macosx" superClass="cdt.managedbuild.target.gnu.platform.macosx.base"/>
-							<builder arguments="" buildPath="${ProjDirPath}/build" command="make" id="cdt.managedbuild.target.gnu.builder.macosx.base.319933862" keepEnvironmentInBuildfile="false" managedBuildOn="false" name="Gnu Make Builder" parallelBuildOn="true" parallelizationNumber="5" superClass="cdt.managedbuild.target.gnu.builder.macosx.base"/>
+							<builder arguments="-j6" buildPath="${ProjDirPath}/build" command="make" id="cdt.managedbuild.target.gnu.builder.macosx.base.319933862" keepEnvironmentInBuildfile="false" managedBuildOn="false" name="Gnu Make Builder" parallelBuildOn="true" parallelizationNumber="optimal" superClass="cdt.managedbuild.target.gnu.builder.macosx.base"/>
 							<tool id="cdt.managedbuild.tool.macosx.c.linker.macosx.base.457360678" name="MacOS X C Linker" superClass="cdt.managedbuild.tool.macosx.c.linker.macosx.base"/>
 							<tool id="cdt.managedbuild.tool.macosx.cpp.linker.macosx.base.1011140787" name="MacOS X C++ Linker" superClass="cdt.managedbuild.tool.macosx.cpp.linker.macosx.base">
 								<inputType id="cdt.managedbuild.tool.macosx.cpp.linker.input.1032375444" superClass="cdt.managedbuild.tool.macosx.cpp.linker.input">

gtsam/base/types.h

@@ -25,6 +25,7 @@
 
 #include <string>
 #include <boost/function/function1.hpp>
+#include <boost/range/concepts.hpp>
 
 namespace gtsam {
 
@@ -103,6 +104,31 @@ namespace gtsam {
     operator T() const { return value; }
   };
 
+  /** A helper class that behaves as a container with one element, and works with
+   * boost::range */
+  template<typename T>
+  class ListOfOneContainer {
+    T element_;
+  public:
+    typedef T value_type;
+    typedef const T* const_iterator;
+    typedef T* iterator;
+    ListOfOneContainer(const T& element) : element_(element) {}
+    const T* begin() const { return &element_; }
+    const T* end() const { return &element_ + 1; }
+    T* begin() { return &element_; }
+    T* end() { return &element_ + 1; }
+    size_t size() const { return 1; }
+  };
+
+  BOOST_CONCEPT_ASSERT((boost::RandomAccessRangeConcept<ListOfOneContainer<int> >));
+
+  /** Factory function for ListOfOneContainer to enable ListOfOne(e) syntax. */
+  template<typename T>
+  ListOfOneContainer<T> ListOfOne(const T& element) {
+    return ListOfOneContainer<T>(element);
+  }
+
   /** An assertion that throws an exception if NDEBUG is not defined and
    * evaluates to an empty statement otherwise. */
 #ifdef NDEBUG

gtsam/inference/BayesTree-inst.h

@@ -146,6 +146,7 @@ namespace gtsam {
   }
 
   /* ************************************************************************* */
+  // TODO: Clean up
   namespace {
     template<class FACTOR, class CLIQUE>
     int _pushClique(FactorGraph<FACTOR>& fg, const boost::shared_ptr<CLIQUE>& clique) {

gtsam/linear/GaussianConditional-inl.h

@@ -29,7 +29,7 @@ namespace gtsam {
   GaussianConditional::GaussianConditional(Index key, const Vector& d,
     const Matrix& R, const PARENTS& parents, const SharedDiagonal& sigmas, const typename PARENTS::value_type*) :
   BaseFactor(boost::join(
-    boost::assign::cref_list_of<1,typename PARENTS::value_type>(std::make_pair(key, R)),
+    ListOfOne<typename PARENTS::value_type>(std::make_pair(key, R)),
     parents), d, sigmas),
     BaseConditional(1) {}
 

gtsam/linear/HessianFactor.cpp

@@ -168,12 +168,14 @@ GaussianFactor(cref_list_of<3>(j1)(j2)(j3)),
 }
 
 /* ************************************************************************* */
-namespace { DenseIndex _getSizeHF(const Vector& m) { return m.size(); } }
+namespace {
+  DenseIndex _getSizeHF(const Vector& m) { return m.size(); }
+}
 
 /* ************************************************************************* */
 HessianFactor::HessianFactor(const std::vector<Key>& js, const std::vector<Matrix>& Gs,
         const std::vector<Vector>& gs, double f) :
-GaussianFactor(js), info_(br::join(gs | br::transformed(&_getSizeHF), cref_list_of<1,DenseIndex>(1)))
+GaussianFactor(js), info_(br::join(gs | br::transformed(&_getSizeHF), ListOfOne((DenseIndex)1)))
 {
   // Get the number of variables
   size_t variable_count = js.size();

gtsam/linear/JacobianFactor-inl.h

@@ -21,7 +21,6 @@
 #include <gtsam/linear/linearExceptions.h>
 #include <boost/range/adaptor/transformed.hpp>
 #include <boost/range/join.hpp>
-#include <boost/assign/list_of.hpp>
 #include <boost/foreach.hpp>
 
 namespace gtsam {
@@ -71,7 +70,7 @@ namespace gtsam {
   void JacobianFactor::fillTerms(const TERMS& terms, const Vector& b, const SharedDiagonal& noiseModel)
   {
     // Check noise model dimension
-    if(noiseModel && noiseModel->dim() != b.size())
+    if(noiseModel && (DenseIndex)noiseModel->dim() != b.size())
       throw InvalidNoiseModel(b.size(), noiseModel->dim());
 
     // Resize base class key vector
@@ -82,9 +81,8 @@ namespace gtsam {
     // a single '1' to add a dimension for the b vector.
     {
       using boost::adaptors::transformed;
-      using boost::assign::cref_list_of;
       namespace br = boost::range;
-      Ab_ = VerticalBlockMatrix(br::join(terms | transformed(&_getColsJF), cref_list_of<1,DenseIndex>(1)), b.size());
+      Ab_ = VerticalBlockMatrix(br::join(terms | transformed(&_getColsJF), ListOfOne((DenseIndex)1)), b.size());
     }
 
     // Check and add terms

gtsam/linear/JacobianFactor.cpp

@@ -265,7 +265,7 @@ namespace gtsam {
 
     // Allocate matrix and copy keys in order
     gttic(allocate);
-    Ab_ = VerticalBlockMatrix(boost::join(varDims, cref_list_of<1,DenseIndex>(1)), m); // Allocate augmented matrix
+    Ab_ = VerticalBlockMatrix(boost::join(varDims, ListOfOne((DenseIndex)1)), m); // Allocate augmented matrix
     Base::keys_.resize(orderedSlots.size());
     boost::range::copy(    // Get variable keys
       orderedSlots | boost::adaptors::indirected | boost::adaptors::map_keys, Base::keys_.begin());