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Fixed templating problem with visualSLAM::ProjectionFactor

release/4.3a0
Alex Cunningham 2010-02-16 02:09:07 +00:00
parent 30893b33eb
commit 529fc5536b
1 changed files with 5 additions and 5 deletions
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10
cpp/visualSLAM.h
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@ -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) */