From 7a0366684ae37eb20d085ce5cc088a5d9ed6fb25 Mon Sep 17 00:00:00 2001
From: krunalchande <krunalchande@gmail.com>
Date: Wed, 26 Nov 2014 03:54:21 -0500
Subject: [PATCH] Added Vectors and Matrices. Does not work yet.

---
 gtsam.h | 10 ++++++++--
 1 file changed, 8 insertions(+), 2 deletions(-)

diff --git a/gtsam.h b/gtsam.h
index d63563028..bf554986c 100644
--- a/gtsam.h
+++ b/gtsam.h
@@ -1738,6 +1738,8 @@ class Values {
   void insert(size_t j, const gtsam::Cal3Bundler& t);
   void insert(size_t j, const gtsam::EssentialMatrix& t);
   void insert(size_t j, const gtsam::imuBias::ConstantBias& t);
+  void insert(size_t j, Vector t);
+  void insert(size_t j, Matrix t);  //git/gtsam/gtsam/base/Manifold.h:254:1: error: invalid application of ‘sizeof’ to incomplete type ‘boost::STATIC_ASSERTION_FAILURE<false>’
 
   void update(size_t j, const gtsam::Point2& t);
   void update(size_t j, const gtsam::Point3& t);
@@ -1750,9 +1752,11 @@ class Values {
   void update(size_t j, const gtsam::Cal3Bundler& t);
   void update(size_t j, const gtsam::EssentialMatrix& t);
   void update(size_t j, const gtsam::imuBias::ConstantBias& t);
+  void update(size_t j, Vector t);
+  void update(size_t j, Matrix t);
 
   template<T = {gtsam::Point2, gtsam::Point3, gtsam::Rot2, gtsam::Pose2,
-      gtsam::Rot3, gtsam::Pose3, gtsam::Cal3_S2, gtsam::Cal3DS2, gtsam::imuBias::ConstantBias}>
+      gtsam::Rot3, gtsam::Pose3, gtsam::Cal3_S2, gtsam::Cal3DS2, gtsam::imuBias::ConstantBias ,Vector, Matrix}> // Parse Error
   T at(size_t j);
 };
 
@@ -2150,7 +2154,9 @@ class NonlinearISAM {
 #include <gtsam/geometry/StereoPoint2.h>
 
 #include <gtsam/slam/PriorFactor.h>
-template<T = {gtsam::Point2, gtsam::StereoPoint2, gtsam::Point3, gtsam::Rot2, gtsam::Rot3, gtsam::Pose2, gtsam::Pose3, gtsam::Cal3_S2, gtsam::CalibratedCamera, gtsam::SimpleCamera, gtsam::imuBias::ConstantBias}>
+template<T = { gtsam::Point2, gtsam::StereoPoint2, gtsam::Point3, gtsam::Rot2,
+    gtsam::Rot3, gtsam::Pose2, gtsam::Pose3, gtsam::Cal3_S2,
+    gtsam::CalibratedCamera, gtsam::SimpleCamera, gtsam::imuBias::ConstantBias, Vector, Matrix }> // Parse Error
 virtual class PriorFactor : gtsam::NoiseModelFactor {
   PriorFactor(size_t key, const T& prior, const gtsam::noiseModel::Base* noiseModel);
   T prior() const;