From 73d64d04a8d6ef73dbae6e846eedb92d6148ea3b Mon Sep 17 00:00:00 2001
From: Alex Cunningham <alexgcunningham@gmail.com>
Date: Fri, 3 Aug 2012 19:49:26 +0000
Subject: [PATCH] Removed unused make targets, changed wrap structure for
 PosePartialPriors

---
 .cproject                       | 16 ----------------
 gtsam_unstable/gtsam_unstable.h | 10 ++++++++--
 2 files changed, 8 insertions(+), 18 deletions(-)

diff --git a/.cproject b/.cproject
index b09810484..f5675f5ee 100644
--- a/.cproject
+++ b/.cproject
@@ -2192,22 +2192,6 @@
 				<useDefaultCommand>true</useDefaultCommand>
 				<runAllBuilders>true</runAllBuilders>
 			</target>
-			<target name="wrap_gtsam_clean" path="" targetID="org.eclipse.cdt.build.MakeTargetBuilder">
-				<buildCommand>make</buildCommand>
-				<buildArguments>-j5</buildArguments>
-				<buildTarget>wrap_gtsam_clean</buildTarget>
-				<stopOnError>true</stopOnError>
-				<useDefaultCommand>true</useDefaultCommand>
-				<runAllBuilders>true</runAllBuilders>
-			</target>
-			<target name="wrap_gtsam_unstable_clean" path="" targetID="org.eclipse.cdt.build.MakeTargetBuilder">
-				<buildCommand>make</buildCommand>
-				<buildArguments>-j5</buildArguments>
-				<buildTarget>wrap_gtsam_unstable_clean</buildTarget>
-				<stopOnError>true</stopOnError>
-				<useDefaultCommand>true</useDefaultCommand>
-				<runAllBuilders>true</runAllBuilders>
-			</target>
 			<target name="wrap_gtsam_distclean" path="" targetID="org.eclipse.cdt.build.MakeTargetBuilder">
 				<buildCommand>make</buildCommand>
 				<buildArguments>-j5</buildArguments>
diff --git a/gtsam_unstable/gtsam_unstable.h b/gtsam_unstable/gtsam_unstable.h
index 60bd833ff..1bb6d20e0 100644
--- a/gtsam_unstable/gtsam_unstable.h
+++ b/gtsam_unstable/gtsam_unstable.h
@@ -172,15 +172,21 @@ virtual class DGroundConstraint : gtsam::NonlinearFactor {
 #include <gtsam/geometry/Pose2.h>
 
 #include <gtsam_unstable/slam/PoseTranslationPrior.h>
-template<POSE = {gtsam::Pose2,gtsam::Pose3}>
+template<POSE>
 virtual class PoseTranslationPrior : gtsam::NonlinearFactor {
 	PoseTranslationPrior(size_t key, const POSE& pose_z, const gtsam::noiseModel::Base* noiseModel);
 };
 
+typedef gtsam::PoseTranslationPrior<gtsam::Pose2> PoseTranslationPrior2D;
+typedef gtsam::PoseTranslationPrior<gtsam::Pose3> PoseTranslationPrior3D;
+
 #include <gtsam_unstable/slam/PoseRotationPrior.h>
-template<POSE = {gtsam::Pose2,gtsam::Pose3}>
+template<POSE>
 virtual class PoseRotationPrior : gtsam::NonlinearFactor {
 	PoseRotationPrior(size_t key, const POSE& pose_z, const gtsam::noiseModel::Base* noiseModel);
 };
 
+typedef gtsam::PoseRotationPrior<gtsam::Pose2> PoseRotationPrior2D;
+typedef gtsam::PoseRotationPrior<gtsam::Pose3> PoseRotationPrior3D;
+
 } //\namespace gtsam