From 529fc5536b068340d5a75ee28c8e3b60702bce9b Mon Sep 17 00:00:00 2001
From: Alex Cunningham <alexgcunningham@gmail.com>
Date: Tue, 16 Feb 2010 02:09:07 +0000
Subject: [PATCH] Fixed templating problem with visualSLAM::ProjectionFactor

---
 cpp/visualSLAM.h | 10 +++++-----
 1 file changed, 5 insertions(+), 5 deletions(-)

diff --git a/cpp/visualSLAM.h b/cpp/visualSLAM.h
index c59cc8f86..7bb0369ff 100644
--- a/cpp/visualSLAM.h
+++ b/cpp/visualSLAM.h
@@ -35,8 +35,8 @@ namespace gtsam { namespace visualSLAM {
    * i.e. the main building block for visual SLAM.
    */
   template <class Cfg=Config, class LmK=PointKey, class PosK=PoseKey>
-  class GenericProjectionFactor : public NonlinearFactor2<Cfg, PosK, Pose3, LmK, Point3>, Testable<GenericProjectionFactor<Cfg> > {
-  private:
+  class GenericProjectionFactor : public NonlinearFactor2<Cfg, PosK, Pose3, LmK, Point3>, Testable<GenericProjectionFactor<Cfg, LmK, PosK> > {
+  protected:
 
     // Keep a copy of measurement and calibration for I/O
     Point2 z_;
@@ -81,9 +81,9 @@ namespace gtsam { namespace visualSLAM {
     /**
      * equals
      */
-    bool equals(const GenericProjectionFactor<Cfg>& p, double tol = 1e-9) const {
-        return Base::equals(p, tol) && z_.equals(p.z_, tol)
-                  && K_->equals(*p.K_, tol);
+    bool equals(const GenericProjectionFactor<Cfg, LmK, PosK>& p, double tol = 1e-9) const {
+        return Base::equals(p, tol) && this->z_.equals(p.z_, tol)
+                  && this->K_->equals(*p.K_, tol);
     }
 
     //    /** h(x) */