From 8ff64793f1166b918af4df2dbf48dbe66155e43b Mon Sep 17 00:00:00 2001
From: Alex Cunningham <alexgcunningham@gmail.com>
Date: Tue, 9 Feb 2010 19:27:28 +0000
Subject: [PATCH] Apparently, expmap != exmap. TupleConfigN's are no longer
 broken now.

---
 cpp/TupleConfig.h       | 34 ++++++++++++++++++++--------------
 cpp/testTupleConfig.cpp |  3 +--
 2 files changed, 21 insertions(+), 16 deletions(-)

diff --git a/cpp/TupleConfig.h b/cpp/TupleConfig.h
index 089284d1f..1d0c3fb10 100644
--- a/cpp/TupleConfig.h
+++ b/cpp/TupleConfig.h
@@ -200,9 +200,12 @@ namespace gtsam {
 	  typedef Config1 Config1_t;
 	  typedef Config2 Config2_t;
 
+	  typedef TupleConfig<Config1, TupleConfigEnd<Config2> > Base;
+	  typedef TupleConfig2<Config1, Config2> This;
+
 	  TupleConfig2() {}
-	  TupleConfig2(const TupleConfig2<Config1, Config2>& config);
-	  TupleConfig2(const TupleConfig<Config1, TupleConfigEnd<Config2> >& config);
+	  TupleConfig2(const This& config);
+	  TupleConfig2(const Base& config);
 	  TupleConfig2(const Config1& cfg1, const Config2& cfg2);
 
 	  // access functions
@@ -211,8 +214,8 @@ namespace gtsam {
   };
 
   template<class Config1, class Config2>
-  TupleConfig2<Config1, Config2> exmap(const TupleConfig2<Config1, Config2> c, const VectorConfig& delta) {
-	  return c.exmap(delta);
+  TupleConfig2<Config1, Config2> expmap(const TupleConfig2<Config1, Config2> c, const VectorConfig& delta) {
+	  return c.expmap(delta);
   }
 
   template<class Config1, class Config2, class Config3>
@@ -235,8 +238,8 @@ namespace gtsam {
   };
 
   template<class Config1, class Config2, class Config3>
-  TupleConfig3<Config1, Config2, Config3> exmap(const TupleConfig3<Config1, Config2, Config3> c, const VectorConfig& delta) {
-	  return c.exmap(delta);
+  TupleConfig3<Config1, Config2, Config3> expmap(const TupleConfig3<Config1, Config2, Config3> c, const VectorConfig& delta) {
+	  return c.expmap(delta);
   }
 
   template<class Config1, class Config2, class Config3, class Config4>
@@ -248,9 +251,12 @@ namespace gtsam {
 	  typedef Config3 Config3_t;
 	  typedef Config4 Config4_t;
 
+	  typedef TupleConfig<Config1, TupleConfig<Config2,TupleConfig<Config3, TupleConfigEnd<Config4> > > > Base;
+	  typedef TupleConfig4<Config1, Config2, Config3, Config4> This;
+
 	  TupleConfig4() {}
-	  TupleConfig4(const TupleConfig4<Config1, Config2, Config3, Config4>& config);
-	  TupleConfig4(const TupleConfig<Config1, TupleConfig<Config2,TupleConfig<Config3, TupleConfigEnd<Config4> > > >& config);
+	  TupleConfig4(const This& config);
+	  TupleConfig4(const Base& config);
 	  TupleConfig4(const Config1& cfg1, const Config2& cfg2, const Config3& cfg3,const Config4& cfg4);
 
 	  // access functions
@@ -261,8 +267,8 @@ namespace gtsam {
   };
 
   template<class Config1, class Config2, class Config3, class Config4>
-  TupleConfig4<Config1, Config2, Config3, Config4> exmap(const TupleConfig4<Config1, Config2, Config3, Config4> c, const VectorConfig& delta) {
-	  return c.exmap(delta);
+  TupleConfig4<Config1, Config2, Config3, Config4> expmap(const TupleConfig4<Config1, Config2, Config3, Config4> c, const VectorConfig& delta) {
+	  return c.expmap(delta);
   }
 
   template<class Config1, class Config2, class Config3, class Config4, class Config5>
@@ -290,8 +296,8 @@ namespace gtsam {
   };
 
   template<class Config1, class Config2, class Config3, class Config4, class Config5>
-  TupleConfig5<Config1, Config2, Config3, Config4, Config5> exmap(const TupleConfig5<Config1, Config2, Config3, Config4, Config5> c, const VectorConfig& delta) {
-	  return c.exmap(delta);
+  TupleConfig5<Config1, Config2, Config3, Config4, Config5> expmap(const TupleConfig5<Config1, Config2, Config3, Config4, Config5> c, const VectorConfig& delta) {
+	  return c.expmap(delta);
   }
 
   template<class Config1, class Config2, class Config3, class Config4, class Config5, class Config6>
@@ -320,8 +326,8 @@ namespace gtsam {
   };
 
   template<class Config1, class Config2, class Config3, class Config4, class Config5, class Config6>
-  TupleConfig6<Config1, Config2, Config3, Config4, Config5, Config6> exmap(const TupleConfig6<Config1, Config2, Config3, Config4, Config5, Config6> c, const VectorConfig& delta) {
-	  return c.exmap(delta);
+  TupleConfig6<Config1, Config2, Config3, Config4, Config5, Config6> expmap(const TupleConfig6<Config1, Config2, Config3, Config4, Config5, Config6> c, const VectorConfig& delta) {
+	  return c.expmap(delta);
   }
 
   /**
diff --git a/cpp/testTupleConfig.cpp b/cpp/testTupleConfig.cpp
index a6f9017af..afaa0a8aa 100644
--- a/cpp/testTupleConfig.cpp
+++ b/cpp/testTupleConfig.cpp
@@ -344,8 +344,7 @@ TEST(TupleConfig, expmap_typedefs)
 	expected.insert(l1k, Point2(5.0, 6.1));
 	expected.insert(l2k, Point2(10.3, 11.4));
 
-	actual = expmap(cfg1, increment);
-	CHECK(assert_equal(expected, actual));
+	CHECK(assert_equal(expected, expmap(cfg1, increment)));
 	//CHECK(assert_equal(increment, logmap(cfg1, expected)));
 }