From 8d661f6e86b389190d0418fb4e3e37bb236807ec Mon Sep 17 00:00:00 2001
From: Richard Roberts <richard.jw.roberts@gmail.com>
Date: Wed, 11 Jul 2012 21:43:19 +0000
Subject: [PATCH] Added templates for PriorFactor and BetweenFactor to gtsam.h

---
 gtsam.h | 13 +++++++++++++
 1 file changed, 13 insertions(+)

diff --git a/gtsam.h b/gtsam.h
index 061edad90..abe7817d3 100644
--- a/gtsam.h
+++ b/gtsam.h
@@ -1084,6 +1084,19 @@ class LevenbergMarquardtParams {
   void setVerbosityLM(string s);
 };
 
+//*************************************************************************
+// Nonlinear factor types
+//*************************************************************************
+template<T = {gtsam::LieVector, gtsam::Point2, gtsam::StereoPoint2, gtsam::Point3, gtsam::Rot2, gtsam::Rot3, gtsam::Pose2, gtsam::Pose3, gtsam::Cal3_S2, gtsam::CalibratedCamera, gtsam::SimpleCamera}>
+virtual class PriorFactor : gtsam::NonlinearFactor {
+	PriorFactor(size_t key, const T& prior, const gtsam::noiseModel::Base* noiseModel);
+};
+
+template<T = {gtsam::LieVector, gtsam::Point2, gtsam::Point3, gtsam::Rot2, gtsam::Rot3, gtsam::Pose2, gtsam::Pose3}>
+virtual class BetweenFactor : gtsam::NonlinearFactor {
+	BetweenFactor(size_t key1, size_t key2, const T& relativePose, const gtsam::noiseModel::Base* noiseModel);
+};
+
 }///\namespace gtsam
 
 //*************************************************************************