From 88fad4caffeceeccd13455a1aab62ad1e4db6aad Mon Sep 17 00:00:00 2001
From: dellaert <dellaert@cc.gatech.edu>
Date: Wed, 27 Jan 2016 09:24:49 -0800
Subject: [PATCH] Fix small bugs with MATLAB wrapping

---
 gtsam.h                        | 10 +++++-----
 gtsam/geometry/triangulation.h |  1 +
 gtsam/sam/RangeFactor.h        |  3 +--
 3 files changed, 7 insertions(+), 7 deletions(-)

diff --git a/gtsam.h b/gtsam.h
index ca014ad5d..57a1e09be 100644
--- a/gtsam.h
+++ b/gtsam.h
@@ -434,11 +434,11 @@ class Rot3 {
   static gtsam::Rot3 Rz(double t);
   static gtsam::Rot3 RzRyRx(double x, double y, double z);
   static gtsam::Rot3 RzRyRx(Vector xyz);
-  static gtsam::Rot3 yaw(double t); // positive yaw is to right (as in aircraft heading)
-  static gtsam::Rot3 pitch(double t); // positive pitch is up (increasing aircraft altitude)
-  static gtsam::Rot3 roll(double t); // positive roll is to right (increasing yaw in aircraft)
-  static gtsam::Rot3 ypr(double y, double p, double r);
-  static gtsam::Rot3 quaternion(double w, double x, double y, double z);
+  static gtsam::Rot3 Yaw(double t); // positive yaw is to right (as in aircraft heading)
+  static gtsam::Rot3 Pitch(double t); // positive pitch is up (increasing aircraft altitude)
+  static gtsam::Rot3 Roll(double t); // positive roll is to right (increasing yaw in aircraft)
+  static gtsam::Rot3 Ypr(double y, double p, double r);
+  static gtsam::Rot3 Quaternion(double w, double x, double y, double z);
   static gtsam::Rot3 Rodrigues(Vector v);
 
   // Testable
diff --git a/gtsam/geometry/triangulation.h b/gtsam/geometry/triangulation.h
index bec901830..c6e613b14 100644
--- a/gtsam/geometry/triangulation.h
+++ b/gtsam/geometry/triangulation.h
@@ -19,6 +19,7 @@
 #pragma once
 
 #include <gtsam/geometry/PinholeCamera.h>
+#include <gtsam/geometry/Pose2.h>
 #include <gtsam/slam/TriangulationFactor.h>
 #include <gtsam/slam/PriorFactor.h>
 #include <gtsam/nonlinear/NonlinearFactorGraph.h>
diff --git a/gtsam/sam/RangeFactor.h b/gtsam/sam/RangeFactor.h
index 1ad27865d..a5bcac822 100644
--- a/gtsam/sam/RangeFactor.h
+++ b/gtsam/sam/RangeFactor.h
@@ -31,8 +31,7 @@ struct Range;
  * Works for any two types A1,A2 for which the functor Range<A1,A2>() is defined
  * @addtogroup SAM
  */
-template <typename A1, typename A2 = A1,
-          typename T = typename Range<A1, A2>::result_type>
+template <typename A1, typename A2 = A1, typename T = double>
 class RangeFactor : public ExpressionFactor2<T, A1, A2> {
  private:
   typedef RangeFactor<A1, A2> This;