From 5b51538204a9f9d69aa905d80e0bb88521b71377 Mon Sep 17 00:00:00 2001
From: Richard Roberts <richard.jw.roberts@gmail.com>
Date: Tue, 30 Jul 2013 14:32:09 +0000
Subject: [PATCH] Fixed typedefs in BearingRangeFactor

---
 gtsam/slam/BearingRangeFactor.h | 12 +++++++-----
 1 file changed, 7 insertions(+), 5 deletions(-)

diff --git a/gtsam/slam/BearingRangeFactor.h b/gtsam/slam/BearingRangeFactor.h
index e8452f909..6f00c81a6 100644
--- a/gtsam/slam/BearingRangeFactor.h
+++ b/gtsam/slam/BearingRangeFactor.h
@@ -29,16 +29,18 @@ namespace gtsam {
    * @addtogroup SLAM
    */
   template<class POSE, class POINT, class ROTATION = typename POSE::Rotation>
-  class BearingRangeFactor: public NoiseModelFactor2<POSE, POINT> {
-  private:
+  class BearingRangeFactor: public NoiseModelFactor2<POSE, POINT>
+  {
+  public:
+    typedef BearingRangeFactor<POSE, POINT> This;
+    typedef NoiseModelFactor2<POSE, POINT> Base;
+    typedef boost::shared_ptr<This> shared_ptr;
 
+  private:
     typedef POSE Pose;
     typedef ROTATION Rot;
     typedef POINT Point;
 
-    typedef BearingRangeFactor<POSE, POINT> This;
-    typedef NoiseModelFactor2<POSE, POINT> Base;
-
     // the measurement
     Rot measuredBearing_;
     double measuredRange_;