From 4a23971b80dedae289ae470e447f91a227f1fdd4 Mon Sep 17 00:00:00 2001
From: Richard Roberts <richard.jw.roberts@gmail.com>
Date: Sat, 6 Nov 2010 20:52:39 +0000
Subject: [PATCH] Fixed template names

---
 gtsam/base/Matrix-inl.h | 20 ++++++++++----------
 gtsam/base/Matrix.h     | 12 ++++++------
 2 files changed, 16 insertions(+), 16 deletions(-)

diff --git a/gtsam/base/Matrix-inl.h b/gtsam/base/Matrix-inl.h
index 1e1c5dfe4..a038f28d1 100644
--- a/gtsam/base/Matrix-inl.h
+++ b/gtsam/base/Matrix-inl.h
@@ -33,11 +33,11 @@ using namespace std;
  * @param b an RHS vector
  * @return the solution x of U*x=b
  */
-template<class MATRIXAE, class VECTORAE>
-Vector backSubstituteUpper(const boost::numeric::ublas::matrix_expression<MATRIXAE>& _U,
-    const boost::numeric::ublas::vector_expression<VECTORAE>& _b, bool unit=false) {
-  const MATRIXAE& U((const MATRIXAE&)_U);
-  const VECTORAE& b((const VECTORAE&)_b);
+template<class MATRIX, class VECTOR>
+Vector backSubstituteUpper(const boost::numeric::ublas::matrix_expression<MATRIX>& _U,
+    const boost::numeric::ublas::vector_expression<VECTOR>& _b, bool unit=false) {
+  const MATRIX& U(*static_cast<const MATRIX*>(&_U));
+  const VECTOR& b(*static_cast<const VECTOR*>(&_b));
   size_t n = U.size2();
 #ifndef NDEBUG
   size_t m = U.size1();
@@ -74,11 +74,11 @@ Vector backSubstituteUpper(const boost::numeric::ublas::matrix_expression<MATRIX
  * @return the solution x of x'*U=b'
  * TODO: use boost
  */
-template<class VECTORAE, class MATRIXAE>
-Vector backSubstituteUpper(const boost::numeric::ublas::vector_expression<VECTORAE>& _b,
-    const boost::numeric::ublas::matrix_expression<MATRIXAE>& _U, bool unit=false) {
-  const VECTORAE& b((const VECTORAE&)_b);
-  const MATRIXAE& U((const MATRIXAE&)_U);
+template<class VECTOR, class MATRIX>
+Vector backSubstituteUpper(const boost::numeric::ublas::vector_expression<VECTOR>& _b,
+    const boost::numeric::ublas::matrix_expression<MATRIX>& _U, bool unit=false) {
+  const VECTOR& b(*static_cast<const VECTOR*>(&_b));
+  const MATRIX& U(*static_cast<const MATRIX*>(&_U));
   size_t n = U.size2();
 #ifndef NDEBUG
   size_t m = U.size1();
diff --git a/gtsam/base/Matrix.h b/gtsam/base/Matrix.h
index 8c69fb666..7815161b0 100644
--- a/gtsam/base/Matrix.h
+++ b/gtsam/base/Matrix.h
@@ -293,9 +293,9 @@ void householderColMajor(MatrixColMajor& A);
  * @return the solution x of U*x=b
  * TODO: use boost
  */
-template<class MatrixAE, class VectorAE>
-Vector backSubstituteUpper(const boost::numeric::ublas::matrix_expression<MatrixAE>& U,
-    const boost::numeric::ublas::vector_expression<VectorAE>& b, bool unit=false);
+template<class MATRIX, class VECTOR>
+Vector backSubstituteUpper(const boost::numeric::ublas::matrix_expression<MATRIX>& U,
+    const boost::numeric::ublas::vector_expression<VECTOR>& b, bool unit=false);
 
 /**
  * backSubstitute x'*U=b'
@@ -305,9 +305,9 @@ Vector backSubstituteUpper(const boost::numeric::ublas::matrix_expression<Matrix
  * @return the solution x of x'*U=b'
  * TODO: use boost
  */
-template<class VectorAE, class MatrixAE>
-Vector backSubstituteUpper(const boost::numeric::ublas::vector_expression<VectorAE>& b,
-    const boost::numeric::ublas::matrix_expression<MatrixAE>& U, bool unit=false);
+template<class VECTOR, class MATRIX>
+Vector backSubstituteUpper(const boost::numeric::ublas::vector_expression<VECTOR>& b,
+    const boost::numeric::ublas::matrix_expression<MATRIX>& U, bool unit=false);
 
 /**
  * backSubstitute L*x=b