From 3bacdbbec5059a712eac4f79a1bf9a536f4daef7 Mon Sep 17 00:00:00 2001
From: cbeall3 <cbeall3@gatech.edu>
Date: Fri, 20 Jun 2014 13:41:51 -0400
Subject: [PATCH] Move Smart Projection Factor wrapper to stable

---
 gtsam.h                         | 19 +++++++++++++++++++
 gtsam_unstable/gtsam_unstable.h | 19 -------------------
 2 files changed, 19 insertions(+), 19 deletions(-)

diff --git a/gtsam.h b/gtsam.h
index 0c00047b1..678e2a3d6 100644
--- a/gtsam.h
+++ b/gtsam.h
@@ -2197,6 +2197,25 @@ virtual class GeneralSFMFactor2 : gtsam::NoiseModelFactor {
   void serialize() const;
 };
 
+#include <gtsam/slam/SmartProjectionPoseFactor.h>
+template<POSE, LANDMARK, CALIBRATION>
+virtual class SmartProjectionPoseFactor : gtsam::NonlinearFactor {
+
+  SmartProjectionPoseFactor(double rankTol, double linThreshold,
+      bool manageDegeneracy, bool enableEPI, const POSE& body_P_sensor);
+
+  SmartProjectionPoseFactor(double rankTol);
+  SmartProjectionPoseFactor();
+
+  void add(const gtsam::Point2& measured_i, size_t poseKey_i, const gtsam::noiseModel::Base* noise_i,
+      const CALIBRATION* K_i);
+
+  // enabling serialization functionality
+  //void serialize() const;
+};
+
+typedef gtsam::SmartProjectionPoseFactor<gtsam::Pose3, gtsam::Point3, gtsam::Cal3_S2> SmartProjectionPose3Factor;
+
 
 #include <gtsam/slam/StereoFactor.h>
 template<POSE, LANDMARK>
diff --git a/gtsam_unstable/gtsam_unstable.h b/gtsam_unstable/gtsam_unstable.h
index 256f313ac..06a41f5ec 100644
--- a/gtsam_unstable/gtsam_unstable.h
+++ b/gtsam_unstable/gtsam_unstable.h
@@ -380,25 +380,6 @@ virtual class SmartRangeFactor : gtsam::NoiseModelFactor {
 
 };
 
-#include <gtsam_unstable/slam/SmartProjectionPoseFactor.h>
-template<POSE, LANDMARK, CALIBRATION>
-virtual class SmartProjectionPoseFactor : gtsam::NonlinearFactor {
-
-  SmartProjectionPoseFactor(double rankTol, double linThreshold,
-      bool manageDegeneracy, bool enableEPI, const POSE& body_P_sensor);
-
-  SmartProjectionPoseFactor(double rankTol);
-  SmartProjectionPoseFactor();
-
-  void add(const gtsam::Point2& measured_i, size_t poseKey_i, const gtsam::noiseModel::Base* noise_i,
-	  const CALIBRATION* K_i);
-
-  // enabling serialization functionality
-  //void serialize() const;
-};
-
-typedef gtsam::SmartProjectionPoseFactor<gtsam::Pose3, gtsam::Point3, gtsam::Cal3_S2> SmartProjectionPose3Factor;
-
 #include <gtsam/slam/RangeFactor.h>
 template<POSE, POINT>
 virtual class RangeFactor : gtsam::NonlinearFactor {