From 5b2a61682d99ebe09a331cf02ef0a72c7accea20 Mon Sep 17 00:00:00 2001
From: Mike Bosse <mike.bosse@mavt.ethz.ch>
Date: Fri, 24 Oct 2014 22:38:03 +0200
Subject: [PATCH] tests compiling, but many fail

---
 gtsam/geometry/PinholeCamera.h | 1 -
 gtsam/nonlinear/Values-inl.h   | 8 ++++++--
 2 files changed, 6 insertions(+), 3 deletions(-)

diff --git a/gtsam/geometry/PinholeCamera.h b/gtsam/geometry/PinholeCamera.h
index a6c1c6f42..aa42b638f 100644
--- a/gtsam/geometry/PinholeCamera.h
+++ b/gtsam/geometry/PinholeCamera.h
@@ -653,7 +653,6 @@ private:
   friend class boost::serialization::access;
   template<class Archive>
   void serialize(Archive & ar, const unsigned int version) {
-    ar & BOOST_SERIALIZATION_BASE_OBJECT_NVP(Value);
     ar & BOOST_SERIALIZATION_NVP(pose_);
     ar & BOOST_SERIALIZATION_NVP(K_);
   }
diff --git a/gtsam/nonlinear/Values-inl.h b/gtsam/nonlinear/Values-inl.h
index 11c44cad4..76d47b429 100644
--- a/gtsam/nonlinear/Values-inl.h
+++ b/gtsam/nonlinear/Values-inl.h
@@ -205,7 +205,7 @@ namespace gtsam {
   Values::Values(const Values::Filtered<ValueType>& view) {
     BOOST_FOREACH(const typename Filtered<ValueType>::KeyValuePair& key_value, view) {
       Key key = key_value.key;
-      insert<ValueType>(key, key_value.value);
+      insert(key, static_cast<const ValueType&>(key_value.value));
     }
   }
 
@@ -281,7 +281,7 @@ namespace gtsam {
         throw ValuesIncorrectType(j, typeid(*item->second), typeid(ValueType));
 
       // We have already checked the type, so do a "blind" static_cast, not dynamic_cast
-      return static_cast<const GenericValue<ValueType>&>(*item->second).value_;
+      return static_cast<const GenericValue<ValueType>&>(*item->second).value();
     } else {
       return boost::none;
     }
@@ -293,4 +293,8 @@ namespace gtsam {
     insert(j, static_cast<const Value&>(GenericValue<ValueType>(val)));
   }
 
+  template <typename ValueType>
+  void Values::update(Key j, const ValueType& val) {
+    update(j, static_cast<const Value&>(GenericValue<ValueType>(val)));
+  }
 }