From 60e3ff536c56a464544d9487737780334c366a56 Mon Sep 17 00:00:00 2001
From: dellaert <dellaert@cc.gatech.edu>
Date: Tue, 17 Feb 2015 00:30:31 +0100
Subject: [PATCH] Symbol -> Key

---
 gtsam/slam/OrientedPlane3Factor.cpp |  2 +-
 gtsam/slam/OrientedPlane3Factor.h   | 13 +++++--------
 2 files changed, 6 insertions(+), 9 deletions(-)

diff --git a/gtsam/slam/OrientedPlane3Factor.cpp b/gtsam/slam/OrientedPlane3Factor.cpp
index 06c1a19f6..3728e53b1 100644
--- a/gtsam/slam/OrientedPlane3Factor.cpp
+++ b/gtsam/slam/OrientedPlane3Factor.cpp
@@ -14,7 +14,7 @@ namespace gtsam {
 //***************************************************************************
 void OrientedPlane3Factor::print(const string& s,
     const KeyFormatter& keyFormatter) const {
-  cout << "OrientedPlane3Factor Factor on " << landmarkSymbol_ << "\n";
+  cout << "OrientedPlane3Factor Factor on " << landmarkKey_ << "\n";
   measured_p_.print("Measured Plane");
   this->noiseModel_->print("  noise model: ");
 }
diff --git a/gtsam/slam/OrientedPlane3Factor.h b/gtsam/slam/OrientedPlane3Factor.h
index b485c3165..ab77ec612 100644
--- a/gtsam/slam/OrientedPlane3Factor.h
+++ b/gtsam/slam/OrientedPlane3Factor.h
@@ -9,9 +9,6 @@
 
 #include <gtsam/geometry/OrientedPlane3.h>
 #include <gtsam/nonlinear/NonlinearFactor.h>
-#include <gtsam/nonlinear/Symbol.h>
-#include <gtsam/inference/Key.h>
-#include <iostream>
 
 namespace gtsam {
 
@@ -21,8 +18,8 @@ namespace gtsam {
 class OrientedPlane3Factor: public NoiseModelFactor2<Pose3, OrientedPlane3> {
 
 protected:
-  Symbol poseSymbol_;
-  Symbol landmarkSymbol_;
+  Key poseKey_;
+  Key landmarkKey_;
   Vector measured_coeffs_;
   OrientedPlane3 measured_p_;
 
@@ -36,9 +33,9 @@ public:
 
   /// Constructor with measured plane coefficients (a,b,c,d), noise model, pose symbol
   OrientedPlane3Factor(const Vector&z, const SharedGaussian& noiseModel,
-      const Symbol& pose, const Symbol& landmark) :
-      Base(noiseModel, pose, landmark), poseSymbol_(pose), landmarkSymbol_(
-          landmark), measured_coeffs_(z) {
+      const Key& pose, const Key& landmark) :
+      Base(noiseModel, pose, landmark), poseKey_(pose), landmarkKey_(landmark), measured_coeffs_(
+          z) {
     measured_p_ = OrientedPlane3(Unit3(z(0), z(1), z(2)), z(3));
   }