All unit tests pass with TypedSymbol removed

examples/CameraResectioning.cpp

@@ -16,7 +16,7 @@
  * @date	  Aug 23, 2011
  */
 
-#include <gtsam/nonlinear/Key.h>
+#include <gtsam/nonlinear/Symbol.h>
 #include <gtsam/geometry/Pose3.h>
 #include <gtsam/geometry/Cal3_S2.h>
 #include <gtsam/geometry/SimpleCamera.h>

examples/PlanarSLAMSelfContained_advanced.cpp

@@ -19,7 +19,7 @@
 #include <iostream>
 
 // for all nonlinear keys
-#include <gtsam/nonlinear/Key.h>
+#include <gtsam/nonlinear/Symbol.h>
 
 // for points and poses
 #include <gtsam/geometry/Point2.h>

examples/SimpleRotation.cpp

@@ -22,7 +22,7 @@
 #include <gtsam/slam/PriorFactor.h>
 #include <gtsam/geometry/Rot2.h>
 #include <gtsam/linear/NoiseModel.h>
-#include <gtsam/nonlinear/Key.h>
+#include <gtsam/nonlinear/Symbol.h>
 #include <gtsam/nonlinear/NonlinearFactorGraph.h>
 #include <gtsam/nonlinear/NonlinearOptimization.h>
 

examples/elaboratePoint2KalmanFilter.cpp

@@ -23,7 +23,7 @@
 #include <gtsam/slam/PriorFactor.h>
 #include <gtsam/slam/BetweenFactor.h>
 #include <gtsam/nonlinear/Ordering.h>
-#include <gtsam/nonlinear/Key.h>
+#include <gtsam/nonlinear/Symbol.h>
 #include <gtsam/linear/GaussianSequentialSolver.h>
 #include <gtsam/linear/GaussianBayesNet.h>
 #include <gtsam/linear/GaussianFactorGraph.h>

examples/vSLAMexample/vISAMexample.cpp

@@ -20,7 +20,7 @@
 #include <boost/foreach.hpp>
 using namespace boost;
 
-// Magically casts strings like "x3" to a Symbol('x',3) key, see Key.h
+// Magically casts strings like "x3" to a Symbol('x',3) key, see Symbol.h
 #define GTSAM_MAGIC_KEY
 
 #include <gtsam/nonlinear/NonlinearFactorGraph.h>

examples/vSLAMexample/vSFMexample.cpp

@@ -19,7 +19,7 @@
 #include <boost/shared_ptr.hpp>
 using namespace boost;
 
-// Magically casts strings like "x3" to a Symbol('x',3) key, see Key.h
+// Magically casts strings like "x3" to a Symbol('x',3) key, see Symbol.h
 #define GTSAM_MAGIC_KEY
 
 #include <gtsam/nonlinear/NonlinearFactorGraph.h>

gtsam/inference/tests/testFactorGraph.cpp

@@ -25,7 +25,7 @@ using namespace boost::assign;
 
 #include <CppUnitLite/TestHarness.h>
 
-// Magically casts strings like "x3" to a Symbol('x',3) key, see Key.h
+// Magically casts strings like "x3" to a Symbol('x',3) key, see Symbol.h
 #define GTSAM_MAGIC_KEY
 
 #include <gtsam/inference/SymbolicFactorGraph.h>

gtsam/inference/tests/testISAM.cpp

@@ -21,7 +21,7 @@ using namespace boost::assign;
 
 #include <CppUnitLite/TestHarness.h>
 
-// Magically casts strings like "x3" to a Symbol('x',3) key, see Key.h
+// Magically casts strings like "x3" to a Symbol('x',3) key, see Symbol.h
 #define GTSAM_MAGIC_KEY
 
 #include <gtsam/inference/BayesNet.h>

gtsam/inference/tests/testJunctionTree.cpp

@@ -24,7 +24,7 @@ using namespace boost::assign;
 #include <CppUnitLite/TestHarness.h>
 #include <gtsam/base/TestableAssertions.h>
 
-// Magically casts strings like "x3" to a Symbol('x',3) key, see Key.h
+// Magically casts strings like "x3" to a Symbol('x',3) key, see Symbol.h
 #define GTSAM_MAGIC_KEY
 
 #include <gtsam/nonlinear/Ordering.h>

gtsam/inference/tests/timeSymbolMaps.cpp

@@ -22,7 +22,7 @@
 #include <vector>
 #include <map>
 
-#include <gtsam/nonlinear/Key.h>
+#include <gtsam/nonlinear/Symbol.h>
 
 using namespace std;
 using namespace boost;

gtsam/linear/tests/timeGaussianFactor.cpp

@@ -15,9 +15,6 @@
  * @author  Alireza Fathi
  */
 
-// Magically casts strings like "x3" to a Symbol('x',3) key, see Key.h
-#define GTSAM_MAGIC_KEY
-
 #include <time.h>
 
 /*STL/C++*/

gtsam/nonlinear/Key.h

@@ -1,371 +0,0 @@
-/* ----------------------------------------------------------------------------
-
- * GTSAM Copyright 2010, Georgia Tech Research Corporation, 
- * Atlanta, Georgia 30332-0415
- * All Rights Reserved
- * Authors: Frank Dellaert, et al. (see THANKS for the full author list)
-
- * See LICENSE for the license information
-
- * -------------------------------------------------------------------------- */
-
-/**
- * @file Key.h
- * @date Jan 12, 2010
- * @author: Frank Dellaert
- * @author: Richard Roberts
- */
-
-#pragma once
-
-#include <list>
-#include <iostream>
-#include <boost/mpl/char.hpp>
-#include <boost/format.hpp>
-#include <boost/serialization/nvp.hpp>
-#ifdef GTSAM_MAGIC_KEY
-#include <boost/lexical_cast.hpp>
-#endif
-
-#define ALPHA '\224'
-
-namespace gtsam {
-
-  // Forward declarations
-  class Symbol;
-
-/**
- * TypedSymbol key class is templated on
- * 1) the type T it is supposed to retrieve, for extra type checking
- * 2) the character constant used for its string representation
- */
-template<class T, char C>
-class TypedSymbol {
-
-protected:
-  size_t j_;
-
-public:
-
-  // typedefs
-  typedef T Value;
-  typedef boost::mpl::char_<C> Chr;  // to reconstruct the type: use Chr::value
-
-  // Constructors:
-
-  TypedSymbol() :
-    j_(0) {
-  }
-  TypedSymbol(size_t j) :
-    j_(j) {
-  }
-
-  virtual ~TypedSymbol() {}
-
-  // Get stuff:
-  ///TODO: comment
-  size_t index() const {
-    return j_;
-  }
-  static char chr() {
-    return C;
-  }
-  const char* c_str() const {
-    return ((std::string) (*this)).c_str();
-  }
-  operator std::string() const {
-    return (boost::format("%c%d") % C % j_).str();
-  }
-  std::string latex() const {
-    return (boost::format("%c_{%d}") % C % j_).str();
-  }
-  Symbol symbol() const;
-
-  // logic:
-
-  bool operator<(const TypedSymbol& compare) const {
-    return j_ < compare.j_;
-  }
-  bool operator==(const TypedSymbol& compare) const {
-    return j_ == compare.j_;
-  }
-  bool operator!=(const TypedSymbol& compare) const {
-    return j_ != compare.j_;
-  }
-  int compare(const TypedSymbol& compare) const {
-    return j_ - compare.j_;
-  }
-
-  // Testable Requirements
-  virtual void print(const std::string& s = "") const {
-    std::cout << s << ": " << (std::string) (*this) << std::endl;
-  }
-  bool equals(const TypedSymbol& expected, double tol = 0.0) const {
-    return (*this) == expected;
-  }
-
-private:
-
-  /** Serialization function */
-  friend class boost::serialization::access;
-  template<class ARCHIVE>
-  void serialize(ARCHIVE & ar, const unsigned int version) {
-    ar & BOOST_SERIALIZATION_NVP(j_);
-  }
-};
-
-/** forward declaration to avoid circular dependencies */
-template<class T, char C, typename L>
-class TypedLabeledSymbol;
-
-/**
- * Character and index key used in VectorValues, GaussianFactorGraph,
- * GaussianFactor, etc.  These keys are generated at runtime from TypedSymbol
- * keys when linearizing a nonlinear factor graph.  This key is not type
- * safe, so cannot be used with any Nonlinear* classes.
- */
-class Symbol {
-protected:
-  unsigned char c_;
-  size_t j_;
-
-public:
-  /** Default constructor */
-  Symbol() :
-    c_(0), j_(0) {
-  }
-
-  /** Copy constructor */
-  Symbol(const Symbol& key) :
-    c_(key.c_), j_(key.j_) {
-  }
-
-  /** Constructor */
-  Symbol(unsigned char c, size_t j) :
-    c_(c), j_(j) {
-  }
-
-  /** Casting constructor from TypedSymbol */
-  template<class T, char C>
-  Symbol(const TypedSymbol<T, C>& symbol) :
-    c_(C), j_(symbol.index()) {
-  }
-
-  /** Casting constructor from TypedLabeledSymbol */
-  template<class T, char C, typename L>
-  Symbol(const TypedLabeledSymbol<T, C, L>& symbol) :
-    c_(C), j_(symbol.encode()) {
-  }
-
-  /** "Magic" key casting constructor from string */
-#ifdef GTSAM_MAGIC_KEY
-  Symbol(const std::string& str) {
-    if(str.length() < 1)
-    throw std::invalid_argument("Cannot parse string key '" + str + "'");
-    else {
-      const char *c_str = str.c_str();
-      c_ = c_str[0];
-      if(str.length() > 1)
-      j_ = boost::lexical_cast<size_t>(c_str+1);
-      else
-      j_ = 0;
-    }
-  }
-
-  Symbol(const char *c_str) {
-    std::string str(c_str);
-    if(str.length() < 1)
-    throw std::invalid_argument("Cannot parse string key '" + str + "'");
-    else {
-      c_ = c_str[0];
-      if(str.length() > 1)
-      j_ = boost::lexical_cast<size_t>(c_str+1);
-      else
-      j_ = 0;
-    }
-  }
-#endif
-
-  // Testable Requirements
-  void print(const std::string& s = "") const {
-    std::cout << s << ": " << (std::string) (*this) << std::endl;
-  }
-  bool equals(const Symbol& expected, double tol = 0.0) const {
-    return (*this) == expected;
-  }
-
-  /** Retrieve key character */
-  unsigned char chr() const {
-    return c_;
-  }
-
-  /** Retrieve key index */
-  size_t index() const {
-    return j_;
-  }
-
-  /** Create a string from the key */
-  operator std::string() const {
-    return str(boost::format("%c%d") % c_ % j_);
-  }
-
-  /** Comparison for use in maps */
-  bool operator<(const Symbol& comp) const {
-    return c_ < comp.c_ || (comp.c_ == c_ && j_ < comp.j_);
-  }
-  bool operator==(const Symbol& comp) const {
-    return comp.c_ == c_ && comp.j_ == j_;
-  }
-  bool operator!=(const Symbol& comp) const {
-    return comp.c_ != c_ || comp.j_ != j_;
-  }
-
-private:
-
-  /** Serialization function */
-  friend class boost::serialization::access;
-  template<class ARCHIVE>
-  void serialize(ARCHIVE & ar, const unsigned int version) {
-    ar & BOOST_SERIALIZATION_NVP(c_);
-    ar & BOOST_SERIALIZATION_NVP(j_);
-  }
-};
-
-// Conversion utilities
-
-template<class KEY> Symbol key2symbol(KEY key) {
-  return Symbol(key);
-}
-
-template<class KEY> std::list<Symbol> keys2symbols(std::list<KEY> keys) {
-  std::list<Symbol> symbols;
-  std::transform(keys.begin(), keys.end(), std::back_inserter(symbols),
-      key2symbol<KEY> );
-  return symbols;
-}
-
-/**
- * TypedLabeledSymbol is a variation of the TypedSymbol that allows
- * for a runtime label to be placed on the label, so as to express
- * "Pose 5 for robot 3"
- * Labels should be kept to base datatypes (int, char, etc) to
- * minimize cost of comparisons
- *
- * The labels will be compared first when comparing Keys, followed by the
- * index
- */
-template<class T, char C, typename L>
-class TypedLabeledSymbol: public TypedSymbol<T, C> {
-
-protected:
-  // Label
-  L label_;
-
-public:
-
-  typedef TypedSymbol<T, C> Base;
-
-  // Constructors:
-
-  TypedLabeledSymbol() {
-  }
-  TypedLabeledSymbol(size_t j, L label) :
-    Base(j), label_(label) {
-  }
-
-  /** Constructor that decodes encoded labels */
-  TypedLabeledSymbol(const Symbol& sym) :
-    TypedSymbol<T, C> (0) {
-    size_t shift = (sizeof(size_t) - sizeof(short)) * 8;
-    this->j_ = (sym.index() << shift) >> shift; // truncate upper bits
-    label_ = (L) (sym.index() >> shift); // remove lower bits
-  }
-
-  /** Constructor to upgrade an existing typed label with a label */
-  TypedLabeledSymbol(const Base& key, L label) :
-    Base(key.index()), label_(label) {
-  }
-
-  // Get stuff:
-
-  L label() const {
-    return label_;
-  }
-  const char* c_str() const {
-    return ((std::string)(*this)).c_str();
-  }
-  operator std::string() const {
-    std::string label_s = (boost::format("%1%") % label_).str();
-    return (boost::format("%c%s_%d") % C % label_s % this->j_).str();
-  }
-  std::string latex() const {
-    std::string label_s = (boost::format("%1%") % label_).str();
-    return (boost::format("%c%s_{%d}") % C % label_s % this->j_).str();
-  }
-  Symbol symbol() const {
-    return Symbol(*this);
-  }
-
-  // Needed for conversion to LabeledSymbol
-  size_t convertLabel() const {
-    return label_;
-  }
-
-  /**
-   * Encoding two numbers into a single size_t for conversion to Symbol
-   * Stores the label in the upper bytes of the index
-   */
-  size_t encode() const {
-    short label = (short) label_; //bound size of label to 2 bytes
-    size_t shift = (sizeof(size_t) - sizeof(short)) * 8;
-    size_t modifier = ((size_t) label) << shift;
-    return this->j_ + modifier;
-  }
-
-  // logic:
-
-  bool operator<(const TypedLabeledSymbol& compare) const {
-    if (label_ == compare.label_) // sort by label first
-      return this->j_ < compare.j_;
-    else
-      return label_ < compare.label_;
-  }
-  bool operator==(const TypedLabeledSymbol& compare) const {
-    return this->j_ == compare.j_ && label_ == compare.label_;
-  }
-  int compare(const TypedLabeledSymbol& compare) const {
-    if (label_ == compare.label_) // sort by label first
-      return this->j_ - compare.j_;
-    else
-      return label_ - compare.label_;
-  }
-
-  // Testable Requirements
-  void print(const std::string& s = "") const {
-    std::cout << s << ": " << (std::string) (*this) << std::endl;
-  }
-  bool equals(const TypedLabeledSymbol& expected, double tol = 0.0) const {
-    return (*this) == expected;
-  }
-
-private:
-
-  /** Serialization function */
-  friend class boost::serialization::access;
-  template<class ARCHIVE>
-  void serialize(ARCHIVE & ar, const unsigned int version) {
-    typedef TypedSymbol<T, C> Base;
-    ar & boost::serialization::make_nvp("TypedLabeledSymbol",
-        boost::serialization::base_object<Base>(*this));
-    ar & BOOST_SERIALIZATION_NVP(label_);
-  }
-};
-
-/* ************************************************************************* */
-template<class T, char C>
-Symbol TypedSymbol<T,C>::symbol() const {
-  return Symbol(*this);
-}
-
-} // namespace gtsam
-

gtsam/nonlinear/Makefile.am

@@ -21,7 +21,7 @@ sources += Values.cpp
 check_PROGRAMS += tests/testValues tests/testKey tests/testOrdering
 
 # Nonlinear nonlinear
-headers += Key.h 
+headers += Symbol.h 
 headers += NonlinearFactorGraph.h
 headers += NonlinearOptimizer-inl.h NonlinearOptimization.h NonlinearOptimization-inl.h 
 headers += NonlinearFactor.h

gtsam/nonlinear/Ordering.h

@@ -19,7 +19,7 @@
 
 #include <map>
 #include <set>
-#include <gtsam/nonlinear/Key.h>
+#include <gtsam/nonlinear/Symbol.h>
 #include <gtsam/inference/inference.h>
 
 #include <boost/foreach.hpp>

gtsam/nonlinear/Symbol.h

@@ -0,0 +1,136 @@
+/* ----------------------------------------------------------------------------
+
+ * GTSAM Copyright 2010, Georgia Tech Research Corporation, 
+ * Atlanta, Georgia 30332-0415
+ * All Rights Reserved
+ * Authors: Frank Dellaert, et al. (see THANKS for the full author list)
+
+ * See LICENSE for the license information
+
+ * -------------------------------------------------------------------------- */
+
+/**
+ * @file Symbol.h
+ * @date Jan 12, 2010
+ * @author: Frank Dellaert
+ * @author: Richard Roberts
+ */
+
+#pragma once
+
+#include <list>
+#include <iostream>
+#include <boost/mpl/char.hpp>
+#include <boost/format.hpp>
+#include <boost/serialization/nvp.hpp>
+#ifdef GTSAM_MAGIC_KEY
+#include <boost/lexical_cast.hpp>
+#endif
+
+#define ALPHA '\224'
+
+namespace gtsam {
+
+/**
+ * Character and index key used in VectorValues, GaussianFactorGraph,
+ * GaussianFactor, etc.  These keys are generated at runtime from TypedSymbol
+ * keys when linearizing a nonlinear factor graph.  This key is not type
+ * safe, so cannot be used with any Nonlinear* classes.
+ */
+class Symbol {
+protected:
+  unsigned char c_;
+  size_t j_;
+
+public:
+  /** Default constructor */
+  Symbol() :
+    c_(0), j_(0) {
+  }
+
+  /** Copy constructor */
+  Symbol(const Symbol& key) :
+    c_(key.c_), j_(key.j_) {
+  }
+
+  /** Constructor */
+  Symbol(unsigned char c, size_t j) :
+    c_(c), j_(j) {
+  }
+
+  /** "Magic" key casting constructor from string */
+#ifdef GTSAM_MAGIC_KEY
+  Symbol(const std::string& str) {
+    if(str.length() < 1)
+    throw std::invalid_argument("Cannot parse string key '" + str + "'");
+    else {
+      const char *c_str = str.c_str();
+      c_ = c_str[0];
+      if(str.length() > 1)
+      j_ = boost::lexical_cast<size_t>(c_str+1);
+      else
+      j_ = 0;
+    }
+  }
+
+  Symbol(const char *c_str) {
+    std::string str(c_str);
+    if(str.length() < 1)
+    throw std::invalid_argument("Cannot parse string key '" + str + "'");
+    else {
+      c_ = c_str[0];
+      if(str.length() > 1)
+      j_ = boost::lexical_cast<size_t>(c_str+1);
+      else
+      j_ = 0;
+    }
+  }
+#endif
+
+  // Testable Requirements
+  void print(const std::string& s = "") const {
+    std::cout << s << ": " << (std::string) (*this) << std::endl;
+  }
+  bool equals(const Symbol& expected, double tol = 0.0) const {
+    return (*this) == expected;
+  }
+
+  /** Retrieve key character */
+  unsigned char chr() const {
+    return c_;
+  }
+
+  /** Retrieve key index */
+  size_t index() const {
+    return j_;
+  }
+
+  /** Create a string from the key */
+  operator std::string() const {
+    return str(boost::format("%c%d") % c_ % j_);
+  }
+
+  /** Comparison for use in maps */
+  bool operator<(const Symbol& comp) const {
+    return c_ < comp.c_ || (comp.c_ == c_ && j_ < comp.j_);
+  }
+  bool operator==(const Symbol& comp) const {
+    return comp.c_ == c_ && comp.j_ == j_;
+  }
+  bool operator!=(const Symbol& comp) const {
+    return comp.c_ != c_ || comp.j_ != j_;
+  }
+
+private:
+
+  /** Serialization function */
+  friend class boost::serialization::access;
+  template<class ARCHIVE>
+  void serialize(ARCHIVE & ar, const unsigned int version) {
+    ar & BOOST_SERIALIZATION_NVP(c_);
+    ar & BOOST_SERIALIZATION_NVP(j_);
+  }
+};
+
+} // namespace gtsam
+

gtsam/nonlinear/Values.h

@@ -37,7 +37,7 @@
 #include <gtsam/base/Value.h>
 #include <gtsam/base/FastMap.h>
 #include <gtsam/linear/VectorValues.h>
-#include <gtsam/nonlinear/Key.h>
+#include <gtsam/nonlinear/Symbol.h>
 #include <gtsam/nonlinear/Ordering.h>
 
 namespace gtsam {

gtsam/nonlinear/tests/testKey.cpp

@@ -19,106 +19,11 @@ using namespace boost::assign;
 
 #include <CppUnitLite/TestHarness.h>
 #include <gtsam/base/Testable.h>
-#include <gtsam/nonlinear/Key.h>
+#include <gtsam/nonlinear/Symbol.h>
 	
 using namespace std;
 using namespace gtsam;
 
-class Pose3;
-
-/* ************************************************************************* */
-TEST ( TypedSymbol, basic_operations ) {
-	typedef TypedSymbol<Pose3, 'x'> Key;
-
-	Key key1(0),
-		key2(0),
-		key3(1),
-		key4(2);
-
-	CHECK(key1.index()==0);
-	CHECK(key1 == key2);
-	CHECK(assert_equal(key1, key2));
-	CHECK(!(key1 == key3));
-	CHECK(key1 < key3);
-	CHECK(key3 < key4);
-}
-
-/* ************************************************************************* */
-TEST ( TypedLabledSymbol, basic_operations ) {
-	typedef TypedSymbol<Pose3, 'x'> SimpleKey;
-	typedef TypedLabeledSymbol<Pose3, 'x', int> RobotKey;
-
-	SimpleKey key7(1);
-	RobotKey key1(0, 1),
-			 key2(0, 1),
-			 key3(1, 1),
-			 key4(2, 1),
-			 key5(0, 2),
-			 key6(1, 2),
-			 key8(1, 3),
-			 key9(key7, 3);
-
-
-	CHECK(key1.label()==1);
-	CHECK(key1.index()==0);
-	CHECK(key1 == key2);
-	CHECK(assert_equal(key1, key2));
-	CHECK(!(key1 == key3));
-	CHECK(key1 < key3);
-	CHECK(key3 < key4);
-	CHECK(!(key1 == key5));
-	CHECK(key1 < key5);
-	CHECK(key5 < key6);
-	CHECK(assert_equal(key9, key8));
-}
-
-/* ************************************************************************* */
-TEST ( TypedLabledSymbol, encoding ) {
-	typedef TypedLabeledSymbol<Pose3, 'x', char> RobotKey;
-
-	RobotKey key1(37, 'A');
-
-	// Note: calculations done in test due to possible differences between machines
-	// take the upper two bytes for the label
-	short label = key1.label();
-
-	// find the shift necessary
-	size_t shift = (sizeof(size_t)-sizeof(short)) * 8;
-	size_t modifier = label;
-	modifier = modifier << shift;
-	size_t index = key1.index() + modifier;
-
-	// check index encoding
-	Symbol act1(key1), exp('x', index);
-	CHECK(assert_equal(exp, act1));
-
-	// check casting
-	Symbol act2 = (Symbol) key1;
-	CHECK(assert_equal(exp, act2));
-
-	// decode
-	CHECK(assert_equal(key1, RobotKey(act1)));
-}
-
-/* ************************************************************************* */
-TEST ( TypedLabledSymbol, template_reconstruction ) {
-	typedef TypedSymbol<Pose3, 'x'> Key;
-	typedef TypedLabeledSymbol<Key::Value, Key::Chr::value, char> NewKey;
-	NewKey k(1, 'A');
-}
-
-/* ************************************************************************* */
-TEST ( Key, keys2symbols )
-{
-	typedef TypedSymbol<int, 'x'> Key;
-	list<Symbol> expected;
-	expected += Key(1), Key(2), Key(3);
-
-	list<TypedSymbol<int, 'x'> > typeds;
-	typeds += 1, 2, 3;
-	CHECK(expected == keys2symbols(typeds));
-}
-
 /* ************************************************************************* */
 int main() { TestResult tr; return TestRegistry::runAllTests(tr); }
 /* ************************************************************************* */

gtsam/nonlinear/tests/testValues.cpp

@@ -20,6 +20,8 @@
 #include <boost/assign/std/list.hpp> // for operator +=
 using namespace boost::assign;
 
+#define GTSAM_MAGIC_KEY
+
 #include <gtsam/base/Testable.h>
 #include <gtsam/base/LieVector.h>
 #include <gtsam/geometry/Pose2.h>
@@ -29,9 +31,7 @@ using namespace gtsam;
 using namespace std;
 static double inf = std::numeric_limits<double>::infinity();
 
-typedef TypedSymbol<LieVector, 'v'> VecKey;
+Symbol key1("v1"), key2("v2"), key3("v3"), key4("v4");
-
-VecKey key1(1), key2(2), key3(3), key4(4);
 
 /* ************************************************************************* */
 TEST( Values, equals1 )
@@ -114,11 +114,11 @@ TEST( Values, update_element )
 
   cfg.insert(key1, v1);
   CHECK(cfg.size() == 1);
-  CHECK(assert_equal(v1, cfg.at(key1)));
+  CHECK(assert_equal(v1, cfg.at<LieVector>(key1)));
 
   cfg.update(key1, v2);
   CHECK(cfg.size() == 1);
-  CHECK(assert_equal(v2, cfg.at(key1)));
+  CHECK(assert_equal(v2, cfg.at<LieVector>(key1)));
 }
 
 ///* ************************************************************************* */
@@ -200,10 +200,9 @@ TEST(Values, expmap_d)
   CHECK(equal(config0, config0));
   CHECK(config0.equals(config0));
 
-  typedef TypedSymbol<Pose2, 'p'> PoseKey;
   Values poseconfig;
-  poseconfig.insert(PoseKey(1), Pose2(1,2,3));
+  poseconfig.insert("p1", Pose2(1,2,3));
-  poseconfig.insert(PoseKey(2), Pose2(0.3, 0.4, 0.5));
+  poseconfig.insert("p2", Pose2(0.3, 0.4, 0.5));
 
   CHECK(equal(config0, config0));
   CHECK(config0.equals(config0));
@@ -212,16 +211,15 @@ TEST(Values, expmap_d)
 /* ************************************************************************* */
 TEST(Values, extract_keys)
 {
-	typedef TypedSymbol<Pose2, 'x'> PoseKey;
 	Values config;
 
-	config.insert(PoseKey(1), Pose2());
+	config.insert("x1", Pose2());
-	config.insert(PoseKey(2), Pose2());
+	config.insert("x2", Pose2());
-	config.insert(PoseKey(4), Pose2());
+	config.insert("x4", Pose2());
-	config.insert(PoseKey(5), Pose2());
+	config.insert("x5", Pose2());
 
 	FastList<Symbol> expected, actual;
-	expected += PoseKey(1), PoseKey(2), PoseKey(4), PoseKey(5);
+	expected += "x1", "x2", "x4", "x5";
 	actual = config.keys();
 
 	CHECK(actual.size() == expected.size());
@@ -238,7 +236,7 @@ TEST(Values, exists_)
 	config0.insert(key1, LieVector(Vector_(1, 1.)));
 	config0.insert(key2, LieVector(Vector_(1, 2.)));
 
-	boost::optional<const LieVector&> v = config0.exists(key1);
+	boost::optional<const LieVector&> v = config0.exists<LieVector>(key1);
 	CHECK(assert_equal(Vector_(1, 1.),*v));
 }
 

gtsam/slam/pose2SLAM.h

@@ -20,7 +20,7 @@
 #include <gtsam/geometry/Pose2.h>
 #include <gtsam/slam/PriorFactor.h>
 #include <gtsam/slam/BetweenFactor.h>
-#include <gtsam/nonlinear/Key.h>
+#include <gtsam/nonlinear/Symbol.h>
 #include <gtsam/nonlinear/Values.h>
 #include <gtsam/nonlinear/NonlinearEquality.h>
 #include <gtsam/nonlinear/NonlinearFactorGraph.h>

gtsam/slam/pose3SLAM.h

@@ -20,7 +20,7 @@
 #include <gtsam/geometry/Pose3.h>
 #include <gtsam/slam/PriorFactor.h>
 #include <gtsam/slam/BetweenFactor.h>
-#include <gtsam/nonlinear/Key.h>
+#include <gtsam/nonlinear/Symbol.h>
 #include <gtsam/nonlinear/NonlinearEquality.h>
 #include <gtsam/nonlinear/NonlinearFactorGraph.h>
 #include <gtsam/nonlinear/NonlinearOptimizer.h>

gtsam/slam/simulated3D.h

@@ -23,7 +23,7 @@
 #include <gtsam/geometry/Point3.h>
 #include <gtsam/linear/VectorValues.h>
 #include <gtsam/nonlinear/NonlinearFactor.h>
-#include <gtsam/nonlinear/Key.h>
+#include <gtsam/nonlinear/Symbol.h>
 
 // \namespace
 

gtsam/slam/smallExample.cpp

@@ -24,7 +24,7 @@
 
 using namespace std;
 
-// Magically casts strings like "x3" to a Symbol('x',3) key, see Key.h
+// Magically casts strings like "x3" to a Symbol('x',3) key, see Symbol.h
 #define GTSAM_MAGIC_KEY
 
 #include <gtsam/base/Matrix.h>

gtsam/slam/tests/testGeneralSFMFactor.cpp

@@ -12,7 +12,7 @@
 #include <CppUnitLite/TestHarness.h>
 using namespace boost;
 
-// Magically casts strings like "x3" to a Symbol('x',3) key, see Key.h
+// Magically casts strings like "x3" to a Symbol('x',3) key, see Symbol.h
 #define GTSAM_MAGIC_KEY
 
 #include <gtsam/base/Testable.h>

gtsam/slam/tests/testGeneralSFMFactor_Cal3Bundler.cpp

@@ -12,7 +12,7 @@
 #include <CppUnitLite/TestHarness.h>
 using namespace boost;
 
-// Magically casts strings like "x3" to a Symbol('x',3) key, see Key.h
+// Magically casts strings like "x3" to a Symbol('x',3) key, see Symbol.h
 #define GTSAM_MAGIC_KEY
 
 #include <gtsam/base/Testable.h>

gtsam/slam/tests/testPose2SLAM.cpp

@@ -14,7 +14,7 @@
  *  @author Frank Dellaert, Viorela Ila
  **/
 
-// Magically casts strings like "x3" to a Symbol('x',3) key, see Key.h
+// Magically casts strings like "x3" to a Symbol('x',3) key, see Symbol.h
 #define GTSAM_MAGIC_KEY
 
 #include <gtsam/slam/pose2SLAM.h>

gtsam/slam/tests/testPose3SLAM.cpp

@@ -28,7 +28,7 @@ using namespace boost::assign;
 // TODO: DANGEROUS, create shared pointers
 #define GTSAM_MAGIC_GAUSSIAN 6
 
-// Magically casts strings like "x3" to a Symbol('x',3) key, see Key.h
+// Magically casts strings like "x3" to a Symbol('x',3) key, see Symbol.h
 #define GTSAM_MAGIC_KEY
 
 #include <gtsam/slam/pose3SLAM.h>

gtsam/slam/tests/testProjectionFactor.cpp

@@ -18,7 +18,7 @@
 
 #include <CppUnitLite/TestHarness.h>
 
-// Magically casts strings like "x3" to a Symbol('x',3) key, see Key.h
+// Magically casts strings like "x3" to a Symbol('x',3) key, see Symbol.h
 #define GTSAM_MAGIC_KEY
 
 #include <gtsam/slam/visualSLAM.h>

gtsam/slam/tests/testVSLAM.cpp

@@ -22,7 +22,7 @@
 #include <boost/shared_ptr.hpp>
 using namespace boost;
 
-// Magically casts strings like "x3" to a Symbol('x',3) key, see Key.h
+// Magically casts strings like "x3" to a Symbol('x',3) key, see Symbol.h
 #define GTSAM_MAGIC_KEY
 
 #include <gtsam/nonlinear/NonlinearFactorGraph.h>

gtsam/slam/visualSLAM.h

@@ -23,7 +23,7 @@
 #include <gtsam/slam/ProjectionFactor.h>
 #include <gtsam/slam/StereoFactor.h>
 #include <gtsam/slam/RangeFactor.h>
-#include <gtsam/nonlinear/Key.h>
+#include <gtsam/nonlinear/Symbol.h>
 #include <gtsam/nonlinear/NonlinearFactorGraph.h>
 #include <gtsam/nonlinear/NonlinearEquality.h>
 #include <gtsam/nonlinear/NonlinearOptimizer.h>

tests/testGaussianBayesNet.cpp

@@ -25,7 +25,7 @@
 #include <boost/assign/std/list.hpp> // for operator +=
 using namespace boost::assign;
 
-// Magically casts strings like "x3" to a Symbol('x',3) key, see Key.h
+// Magically casts strings like "x3" to a Symbol('x',3) key, see Symbol.h
 #define GTSAM_MAGIC_KEY
 
 #include <gtsam/base/Testable.h>

tests/testGaussianFactor.cpp

@@ -26,7 +26,7 @@ using namespace boost::assign;
 
 #include <CppUnitLite/TestHarness.h>
 
-// Magically casts strings like "x3" to a Symbol('x',3) key, see Key.h
+// Magically casts strings like "x3" to a Symbol('x',3) key, see Symbol.h
 #define GTSAM_MAGIC_KEY
 
 #include <gtsam/base/Matrix.h>

tests/testGaussianFactorGraph.cpp

@@ -28,7 +28,7 @@ using namespace boost::assign;
 
 #include <CppUnitLite/TestHarness.h>
 
-// Magically casts strings like "x3" to a Symbol('x',3) key, see Key.h
+// Magically casts strings like "x3" to a Symbol('x',3) key, see Symbol.h
 #define GTSAM_MAGIC_KEY
 
 #include <gtsam/base/Matrix.h>

tests/testGaussianISAM.cpp

@@ -21,7 +21,7 @@ using namespace boost::assign;
 
 #include <CppUnitLite/TestHarness.h>
 
-// Magically casts strings like "x3" to a Symbol('x',3) key, see Key.h
+// Magically casts strings like "x3" to a Symbol('x',3) key, see Symbol.h
 #define GTSAM_MAGIC_KEY
 
 #include <gtsam/geometry/Rot2.h>

tests/testGaussianJunctionTree.cpp

@@ -25,7 +25,7 @@
 #include <boost/assign/std/vector.hpp>
 using namespace boost::assign;
 
-// Magically casts strings like "x3" to a Symbol('x',3) key, see Key.h
+// Magically casts strings like "x3" to a Symbol('x',3) key, see Symbol.h
 #define GTSAM_MAGIC_KEY
 
 #include <gtsam/base/debug.h>

tests/testGraph.cpp

@@ -23,6 +23,8 @@ using namespace boost::assign;
 
 #include <CppUnitLite/TestHarness.h>
 
+#define GTSAM_MAGIC_KEY
+
 // TODO: DANGEROUS, create shared pointers
 #define GTSAM_MAGIC_GAUSSIAN 3
 
@@ -37,22 +39,21 @@ using namespace gtsam;
 //		-> x3 -> x4
 //    -> x5
 TEST ( Ordering, predecessorMap2Keys ) {
-	typedef TypedSymbol<Pose2,'x'> PoseKey;
+	PredecessorMap<Symbol> p_map;
-	PredecessorMap<PoseKey> p_map;
+	p_map.insert("x1","x1");
-	p_map.insert(1,1);
+	p_map.insert("x2","x1");
-	p_map.insert(2,1);
+	p_map.insert("x3","x1");
-	p_map.insert(3,1);
+	p_map.insert("x4","x3");
-	p_map.insert(4,3);
+	p_map.insert("x5","x1");
-	p_map.insert(5,1);
 
-	list<PoseKey> expected;
+	list<Symbol> expected;
-	expected += 4,5,3,2,1;//PoseKey(4), PoseKey(5), PoseKey(3), PoseKey(2), PoseKey(1);
+	expected += "x4","x5","x3","x2","x1";//PoseKey(4), PoseKey(5), PoseKey(3), PoseKey(2), PoseKey(1);
 
-	list<PoseKey> actual = predecessorMap2Keys<PoseKey>(p_map);
+	list<Symbol> actual = predecessorMap2Keys<Symbol>(p_map);
 	LONGS_EQUAL(expected.size(), actual.size());
 
-	list<PoseKey>::const_iterator it1 = expected.begin();
+	list<Symbol>::const_iterator it1 = expected.begin();
-	list<PoseKey>::const_iterator it2 = actual.begin();
+	list<Symbol>::const_iterator it2 = actual.begin();
 	for(; it1!=expected.end(); it1++, it2++)
 		CHECK(*it1 == *it2)
 }

tests/testInference.cpp

@@ -17,7 +17,7 @@
 
 #include <CppUnitLite/TestHarness.h>
 
-// Magically casts strings like "x3" to a Symbol('x',3) key, see Key.h
+// Magically casts strings like "x3" to a Symbol('x',3) key, see Symbol.h
 #define GTSAM_MAGIC_KEY
 
 #include <gtsam/linear/GaussianSequentialSolver.h>

tests/testNonlinearFactor.cpp

@@ -25,7 +25,7 @@
 // TODO: DANGEROUS, create shared pointers
 #define GTSAM_MAGIC_GAUSSIAN 2
 
-// Magically casts strings like "x3" to a Symbol('x',3) key, see Key.h
+// Magically casts strings like "x3" to a Symbol('x',3) key, see Symbol.h
 #define GTSAM_MAGIC_KEY
 
 #include <gtsam/base/Testable.h>

tests/testNonlinearFactorGraph.cpp

@@ -27,7 +27,7 @@ using namespace boost::assign;
 
 #include <CppUnitLite/TestHarness.h>
 
-// Magically casts strings like "x3" to a Symbol('x',3) key, see Key.h
+// Magically casts strings like "x3" to a Symbol('x',3) key, see Symbol.h
 #define GTSAM_MAGIC_KEY
 
 #include <gtsam/base/Testable.h>

tests/testNonlinearOptimizer.cpp

@@ -26,7 +26,7 @@ using namespace boost::assign;
 #include <boost/shared_ptr.hpp>
 using namespace boost;
 
-// Magically casts strings like "x3" to a Symbol('x',3) key, see Key.h
+// Magically casts strings like "x3" to a Symbol('x',3) key, see Symbol.h
 #define GTSAM_MAGIC_KEY
 
 #include <gtsam/base/Matrix.h>

tests/testSerialization.cpp

@@ -145,7 +145,7 @@ bool equalsDereferencedXML(const T& input = T()) {
 // Actual Tests
 /* ************************************************************************* */
 
-// Magically casts strings like "x3" to a Symbol('x',3) key, see Key.h
+// Magically casts strings like "x3" to a Symbol('x',3) key, see Symbol.h
 #define GTSAM_MAGIC_KEY
 
 #include <gtsam/geometry/Cal3DS2.h>
@@ -255,16 +255,12 @@ typedef PinholeCamera<Cal3_S2> 				PinholeCal3S2;
 typedef PinholeCamera<Cal3DS2> 				PinholeCal3DS2;
 typedef PinholeCamera<Cal3Bundler> 		PinholeCal3Bundler;
 
-typedef TypedSymbol<Cal3_S2,'a'> 				PinholeCal3S2Key;
-typedef TypedSymbol<Cal3DS2,'s'> 				PinholeCal3DS2Key;
-typedef TypedSymbol<Cal3Bundler,'d'> 		PinholeCal3BundlerKey;
-
 TEST (Serialization, TemplatedValues) {
 	Values values;
-	values.insert(PinholeCal3S2Key(0), 	PinholeCal3S2(pose3, cal1));
+	values.insert(Symbol('a',0), 	PinholeCal3S2(pose3, cal1));
-	values.insert(PinholeCal3DS2Key(5), PinholeCal3DS2(pose3, cal2));
+	values.insert(Symbol('s',5), PinholeCal3DS2(pose3, cal2));
-	values.insert(PinholeCal3BundlerKey(47), PinholeCal3Bundler(pose3, cal3));
+	values.insert(Symbol('d',47), PinholeCal3Bundler(pose3, cal3));
-	values.insert(PinholeCal3S2Key(5), 	PinholeCal3S2(pose3, cal1));
+	values.insert(Symbol('a',5), 	PinholeCal3S2(pose3, cal1));
 	EXPECT(equalsObj(values));
 	EXPECT(equalsXML(values));
 }

tests/testSymbolicBayesNet.cpp

@@ -21,7 +21,7 @@ using namespace boost::assign;
 
 #include <CppUnitLite/TestHarness.h>
 
-// Magically casts strings like "x3" to a Symbol('x',3) key, see Key.h
+// Magically casts strings like "x3" to a Symbol('x',3) key, see Symbol.h
 #define GTSAM_MAGIC_KEY
 
 #include <gtsam/base/Testable.h>

tests/testSymbolicFactorGraph.cpp

@@ -20,7 +20,7 @@ using namespace boost::assign;
 
 #include <CppUnitLite/TestHarness.h>
 
-// Magically casts strings like "x3" to a Symbol('x',3) key, see Key.h
+// Magically casts strings like "x3" to a Symbol('x',3) key, see Symbol.h
 #define GTSAM_MAGIC_KEY
 
 #include <gtsam/slam/smallExample.h>

tests/testTupleValues.cpp

@@ -20,7 +20,7 @@
 
 #include <gtsam/base/TestableAssertions.h>
 
-// Magically casts strings like "x3" to a Symbol('x',3) key, see Key.h
+// Magically casts strings like "x3" to a Symbol('x',3) key, see Symbol.h
 #define GTSAM_MAGIC_KEY
 
 #include <gtsam/geometry/Pose2.h>
@@ -29,7 +29,7 @@
 #include <gtsam/geometry/Point3.h>
 
 #include <gtsam/base/Vector.h>
-#include <gtsam/nonlinear/Key.h>
+#include <gtsam/nonlinear/Symbol.h>
 #include <gtsam/nonlinear/TupleValues.h>
 
 using namespace gtsam;

tests/timeGaussianFactorGraph.cpp

@@ -15,7 +15,7 @@
  * @author  Frank Dellaert
  */
 
-// Magically casts strings like "x3" to a Symbol('x',3) key, see Key.h
+// Magically casts strings like "x3" to a Symbol('x',3) key, see Symbol.h
 #define GTSAM_MAGIC_KEY
 
 #include <time.h>