From 8b4228fa5656790e6a9b3aab1555af90286a96a9 Mon Sep 17 00:00:00 2001
From: cbeall3 <cbeall3@gatech.edu>
Date: Wed, 19 Aug 2015 10:58:19 -0400
Subject: [PATCH] Make smart parameters public. Now easier to set, and it's
 sufficient for this to be const within the smart factor itself!

---
 gtsam/slam/SmartProjectionFactor.h                | 12 +++++-------
 gtsam_unstable/slam/SmartStereoProjectionFactor.h | 13 ++++++-------
 2 files changed, 11 insertions(+), 14 deletions(-)

diff --git a/gtsam/slam/SmartProjectionFactor.h b/gtsam/slam/SmartProjectionFactor.h
index 8fc8880e1..120b0bbce 100644
--- a/gtsam/slam/SmartProjectionFactor.h
+++ b/gtsam/slam/SmartProjectionFactor.h
@@ -44,23 +44,21 @@ enum DegeneracyMode {
 /*
  *  Parameters for the smart projection factors
  */
-class GTSAM_EXPORT SmartProjectionParams {
-
-public:
+struct GTSAM_EXPORT SmartProjectionParams {
 
   LinearizationMode linearizationMode; ///< How to linearize the factor
   DegeneracyMode degeneracyMode; ///< How to linearize the factor
 
   /// @name Parameters governing the triangulation
   /// @{
-  mutable TriangulationParameters triangulation;
-  const double retriangulationThreshold; ///< threshold to decide whether to re-triangulate
+  TriangulationParameters triangulation;
+  double retriangulationThreshold; ///< threshold to decide whether to re-triangulate
   /// @}
 
   /// @name Parameters governing how triangulation result is treated
   /// @{
-  const bool throwCheirality; ///< If true, re-throws Cheirality exceptions (default: false)
-  const bool verboseCheirality; ///< If true, prints text for Cheirality exceptions (default: false)
+  bool throwCheirality; ///< If true, re-throws Cheirality exceptions (default: false)
+  bool verboseCheirality; ///< If true, prints text for Cheirality exceptions (default: false)
   /// @}
 
   // Constructor
diff --git a/gtsam_unstable/slam/SmartStereoProjectionFactor.h b/gtsam_unstable/slam/SmartStereoProjectionFactor.h
index c0532e073..d3dca11e0 100644
--- a/gtsam_unstable/slam/SmartStereoProjectionFactor.h
+++ b/gtsam_unstable/slam/SmartStereoProjectionFactor.h
@@ -15,6 +15,7 @@
  * @author Luca Carlone
  * @author Zsolt Kira
  * @author Frank Dellaert
+ * @author Chris Beall
  */
 
 #pragma once
@@ -47,23 +48,21 @@ enum DegeneracyMode {
  /*
   *  Parameters for the smart stereo projection factors
   */
- class GTSAM_EXPORT SmartStereoProjectionParams {
-
- public:
+ struct GTSAM_EXPORT SmartStereoProjectionParams {
 
    LinearizationMode linearizationMode; ///< How to linearize the factor
    DegeneracyMode degeneracyMode; ///< How to linearize the factor
 
    /// @name Parameters governing the triangulation
    /// @{
-   mutable TriangulationParameters triangulation;
-   const double retriangulationThreshold; ///< threshold to decide whether to re-triangulate
+   TriangulationParameters triangulation;
+   double retriangulationThreshold; ///< threshold to decide whether to re-triangulate
    /// @}
 
    /// @name Parameters governing how triangulation result is treated
    /// @{
-   const bool throwCheirality; ///< If true, re-throws Cheirality exceptions (default: false)
-   const bool verboseCheirality; ///< If true, prints text for Cheirality exceptions (default: false)
+   bool throwCheirality; ///< If true, re-throws Cheirality exceptions (default: false)
+   bool verboseCheirality; ///< If true, prints text for Cheirality exceptions (default: false)
    /// @}