From 3ebcfc5ce040adecd272b29198e7a3722d3c16ff Mon Sep 17 00:00:00 2001
From: dellaert <dellaert@cc.gatech.edu>
Date: Sun, 28 Dec 2014 16:37:54 +0100
Subject: [PATCH] make timing compiles

---
 gtsam_unstable/timing/timeAdaptAutoDiff.cpp   |  2 +-
 .../timing/timeCameraExpression.cpp           |  6 ++--
 .../timing/timeOneCameraExpression.cpp        |  4 +--
 gtsam_unstable/timing/timeSFMExpressions.cpp  |  4 +--
 timing/timeIncremental.cpp                    | 34 +++++++++----------
 timing/timeiSAM2Chain.cpp                     |  6 ++--
 6 files changed, 28 insertions(+), 28 deletions(-)

diff --git a/gtsam_unstable/timing/timeAdaptAutoDiff.cpp b/gtsam_unstable/timing/timeAdaptAutoDiff.cpp
index 437067697..edfd420ef 100644
--- a/gtsam_unstable/timing/timeAdaptAutoDiff.cpp
+++ b/gtsam_unstable/timing/timeAdaptAutoDiff.cpp
@@ -19,7 +19,7 @@
 #include "timeLinearize.h"
 #include <gtsam/3rdparty/ceres/example.h>
 #include <gtsam/nonlinear/AdaptAutoDiff.h>
-#include <gtsam_unstable/nonlinear/ExpressionFactor.h>
+#include <gtsam/nonlinear/ExpressionFactor.h>
 #include <gtsam/slam/GeneralSFMFactor.h>
 #include <gtsam/geometry/PinholeCamera.h>
 #include <gtsam/geometry/Cal3Bundler.h>
diff --git a/gtsam_unstable/timing/timeCameraExpression.cpp b/gtsam_unstable/timing/timeCameraExpression.cpp
index 92522c440..208c991fd 100644
--- a/gtsam_unstable/timing/timeCameraExpression.cpp
+++ b/gtsam_unstable/timing/timeCameraExpression.cpp
@@ -16,8 +16,8 @@
  * @date    October 3, 2014
  */
 
-#include <gtsam_unstable/slam/expressions.h>
-#include <gtsam_unstable/nonlinear/ExpressionFactor.h>
+#include <gtsam/slam/expressions.h>
+#include <gtsam/nonlinear/ExpressionFactor.h>
 #include <gtsam/slam/ProjectionFactor.h>
 #include <gtsam/slam/GeneralSFMFactor.h>
 #include <gtsam/geometry/Pose3.h>
@@ -32,7 +32,7 @@ using namespace gtsam;
 boost::shared_ptr<Cal3_S2> fixedK(new Cal3_S2());
 
 Point2 myProject(const Pose3& pose, const Point3& point,
-    boost::optional<Matrix26&> H1, boost::optional<Matrix23&> H2) {
+    OptionalJacobian<2,6> H1, OptionalJacobian<2,3> H2) {
   PinholeCamera<Cal3_S2> camera(pose, *fixedK);
   return camera.project(point, H1, H2, boost::none);
 }
diff --git a/gtsam_unstable/timing/timeOneCameraExpression.cpp b/gtsam_unstable/timing/timeOneCameraExpression.cpp
index 4cb655825..962e7ee21 100644
--- a/gtsam_unstable/timing/timeOneCameraExpression.cpp
+++ b/gtsam_unstable/timing/timeOneCameraExpression.cpp
@@ -16,8 +16,8 @@
  * @date    October 3, 2014
  */
 
-#include <gtsam_unstable/slam/expressions.h>
-#include <gtsam_unstable/nonlinear/ExpressionFactor.h>
+#include <gtsam/slam/expressions.h>
+#include <gtsam/nonlinear/ExpressionFactor.h>
 #include "timeLinearize.h"
 
 using namespace std;
diff --git a/gtsam_unstable/timing/timeSFMExpressions.cpp b/gtsam_unstable/timing/timeSFMExpressions.cpp
index 678e4db60..cfb8e0dc6 100644
--- a/gtsam_unstable/timing/timeSFMExpressions.cpp
+++ b/gtsam_unstable/timing/timeSFMExpressions.cpp
@@ -16,8 +16,8 @@
  * @date    October 3, 2014
  */
 
-#include <gtsam_unstable/slam/expressions.h>
-#include <gtsam_unstable/nonlinear/ExpressionFactor.h>
+#include <gtsam/slam/expressions.h>
+#include <gtsam/nonlinear/ExpressionFactor.h>
 #include <gtsam/nonlinear/NonlinearFactorGraph.h>
 #include <gtsam/linear/GaussianFactorGraph.h>
 
diff --git a/timing/timeIncremental.cpp b/timing/timeIncremental.cpp
index 6377649e2..d82ef9442 100644
--- a/timing/timeIncremental.cpp
+++ b/timing/timeIncremental.cpp
@@ -14,15 +14,15 @@
  * @author  Richard Roberts
  */
 
-#include <gtsam/base/timing.h>
 #include <gtsam/slam/dataset.h>
-#include <gtsam/geometry/Pose2.h>
 #include <gtsam/slam/PriorFactor.h>
 #include <gtsam/slam/BetweenFactor.h>
 #include <gtsam/slam/BearingRangeFactor.h>
+#include <gtsam/geometry/Pose2.h>
 #include <gtsam/inference/Symbol.h>
 #include <gtsam/nonlinear/ISAM2.h>
 #include <gtsam/nonlinear/Marginals.h>
+#include <gtsam/base/timing.h>
 
 #include <fstream>
 #include <boost/archive/binary_oarchive.hpp>
@@ -39,20 +39,20 @@ typedef NoiseModelFactor1<Pose> NM1;
 typedef NoiseModelFactor2<Pose,Pose> NM2;
 typedef BearingRangeFactor<Pose,Point2> BR;
 
-GTSAM_VALUE_EXPORT(Value);
-GTSAM_VALUE_EXPORT(Pose);
-GTSAM_VALUE_EXPORT(NonlinearFactor);
-GTSAM_VALUE_EXPORT(NoiseModelFactor);
-GTSAM_VALUE_EXPORT(NM1);
-GTSAM_VALUE_EXPORT(NM2);
-GTSAM_VALUE_EXPORT(BetweenFactor<Pose>);
-GTSAM_VALUE_EXPORT(PriorFactor<Pose>);
-GTSAM_VALUE_EXPORT(BR);
-GTSAM_VALUE_EXPORT(noiseModel::Base);
-GTSAM_VALUE_EXPORT(noiseModel::Isotropic);
-GTSAM_VALUE_EXPORT(noiseModel::Gaussian);
-GTSAM_VALUE_EXPORT(noiseModel::Diagonal);
-GTSAM_VALUE_EXPORT(noiseModel::Unit);
+//GTSAM_VALUE_EXPORT(Value);
+//GTSAM_VALUE_EXPORT(Pose);
+//GTSAM_VALUE_EXPORT(NonlinearFactor);
+//GTSAM_VALUE_EXPORT(NoiseModelFactor);
+//GTSAM_VALUE_EXPORT(NM1);
+//GTSAM_VALUE_EXPORT(NM2);
+//GTSAM_VALUE_EXPORT(BetweenFactor<Pose>);
+//GTSAM_VALUE_EXPORT(PriorFactor<Pose>);
+//GTSAM_VALUE_EXPORT(BR);
+//GTSAM_VALUE_EXPORT(noiseModel::Base);
+//GTSAM_VALUE_EXPORT(noiseModel::Isotropic);
+//GTSAM_VALUE_EXPORT(noiseModel::Gaussian);
+//GTSAM_VALUE_EXPORT(noiseModel::Diagonal);
+//GTSAM_VALUE_EXPORT(noiseModel::Unit);
 
 double chi2_red(const gtsam::NonlinearFactorGraph& graph, const gtsam::Values& config) {
   // Compute degrees of freedom (observations - variables)
@@ -97,7 +97,7 @@ int main(int argc, char *argv[]) {
       //      cout << "Initializing " << 0 << endl;
       newVariables.insert(0, Pose());
       // Add prior
-      newFactors.add(PriorFactor<Pose>(0, Pose(), noiseModel::Unit::Create(Pose::Dim())));
+      newFactors.add(PriorFactor<Pose>(0, Pose(), noiseModel::Unit::Create(3)));
     }
     while(nextMeasurement < measurements.size()) {
 
diff --git a/timing/timeiSAM2Chain.cpp b/timing/timeiSAM2Chain.cpp
index d15ccfaf4..c4196f414 100644
--- a/timing/timeiSAM2Chain.cpp
+++ b/timing/timeiSAM2Chain.cpp
@@ -39,7 +39,7 @@ typedef Pose2 Pose;
 
 typedef NoiseModelFactor1<Pose> NM1;
 typedef NoiseModelFactor2<Pose,Pose> NM2;
-noiseModel::Unit::shared_ptr model = noiseModel::Unit::Create(Pose::Dim());
+noiseModel::Unit::shared_ptr model = noiseModel::Unit::Create(3);
 
 int main(int argc, char *argv[]) {
 
@@ -61,10 +61,10 @@ int main(int argc, char *argv[]) {
     gttic_(Create_measurements);
     if(step == 0) {
       // Add prior
-      newFactors.add(PriorFactor<Pose>(0, Pose(), noiseModel::Unit::Create(Pose::Dim())));
+      newFactors.add(PriorFactor<Pose>(0, Pose(), noiseModel::Unit::Create(3)));
       newVariables.insert(0, Pose());
     } else {
-      Vector eta = Vector::Random(Pose::Dim()) * 0.1;
+      Vector eta = Vector::Random(3) * 0.1;
       Pose2 between = Pose().retract(eta);
       // Add between
       newFactors.add(BetweenFactor<Pose>(step-1, step, between, model));