From 784bdc64c5266990201e5d8659d05a2084fe7567 Mon Sep 17 00:00:00 2001
From: Varun Agrawal <varagrawal@gmail.com>
Date: Sun, 6 Feb 2022 00:08:31 -0500
Subject: [PATCH] minor fixes to Pose2 and Rot2

---
 gtsam/geometry/Pose2.h  |  4 ++--
 gtsam/geometry/Rot2.cpp | 16 ++++++++--------
 gtsam/geometry/Rot2.h   |  2 +-
 3 files changed, 11 insertions(+), 11 deletions(-)

diff --git a/gtsam/geometry/Pose2.h b/gtsam/geometry/Pose2.h
index 12087a34c..eb8ddfb5b 100644
--- a/gtsam/geometry/Pose2.h
+++ b/gtsam/geometry/Pose2.h
@@ -324,8 +324,8 @@ GTSAM_EXPORT boost::optional<Pose2> align(const std::vector<Point2Pair>& pairs);
 
 // Convenience typedef
 using Pose2Pair = std::pair<Pose2, Pose2>;
-using Pose2Pairs = std::vector<std::pair<Pose2, Pose2> >;
-	
+using Pose2Pairs = std::vector<Pose2Pair>;
+
 template <>
 struct traits<Pose2> : public internal::LieGroup<Pose2> {};
 
diff --git a/gtsam/geometry/Rot2.cpp b/gtsam/geometry/Rot2.cpp
index 9f62869e4..d43b9b12d 100644
--- a/gtsam/geometry/Rot2.cpp
+++ b/gtsam/geometry/Rot2.cpp
@@ -130,15 +130,15 @@ Rot2 Rot2::relativeBearing(const Point2& d, OptionalJacobian<1, 2> H) {
 }
 
 /* ************************************************************************* */
-static Rot2 ClosestTo(const Matrix2& M) {
-   double c = M(0,0);
-   double s = M(1,0);
-   double theta_rad = atan2(s, c);
-   c = cos(theta_rad);
-   s = sin(theta_rad);
-   return Rot2::fromCosSin(c, s);
+Rot2 Rot2::ClosestTo(const Matrix2& M) {
+  double c = M(0, 0);
+  double s = M(1, 0);
+  double theta_rad = std::atan2(s, c);
+  c = cos(theta_rad);
+  s = sin(theta_rad);
+  return Rot2::fromCosSin(c, s);
 }
-  
+
 /* ************************************************************************* */
 
 } // gtsam
diff --git a/gtsam/geometry/Rot2.h b/gtsam/geometry/Rot2.h
index 42dba3487..2690ca248 100644
--- a/gtsam/geometry/Rot2.h
+++ b/gtsam/geometry/Rot2.h
@@ -209,7 +209,7 @@ namespace gtsam {
 
     /** return 2*2 transpose (inverse) rotation matrix   */
     Matrix2 transpose() const;
-    
+
     /** Find closest valid rotation matrix, given a 2x2 matrix */
     static Rot2 ClosestTo(const Matrix2& M);