Fixed references to dimension static member variables in constraints
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				|  | @ -399,12 +399,12 @@ public: | |||
| 	typedef boost::shared_ptr<NonlinearEquality1<Config, Key, X> > shared_ptr; | ||||
| 
 | ||||
| 	NonlinearEquality1(const X& value, const Key& key1, double mu = 1000.0) | ||||
| 		: Base(key1, X::dimension, mu), value_(value) {} | ||||
| 		: Base(key1, X::Dim(), mu), value_(value) {} | ||||
| 	virtual ~NonlinearEquality1() {} | ||||
| 
 | ||||
| 	/** g(x) with optional derivative */ | ||||
| 	Vector evaluateError(const X& x1, boost::optional<Matrix&> H1 = boost::none) const { | ||||
| 		const size_t p = X::dimension; | ||||
| 		const size_t p = X::Dim(); | ||||
| 		if (H1) *H1 = eye(p); | ||||
| 		return logmap(value_, x1); | ||||
| 	} | ||||
|  | @ -425,14 +425,14 @@ public: | |||
| 	typedef boost::shared_ptr<NonlinearEquality2<Config, Key, X> > shared_ptr; | ||||
| 
 | ||||
| 	NonlinearEquality2(const Key& key1, const Key& key2, double mu = 1000.0) | ||||
| 		: Base(key1, key2, X::dimension, mu) {} | ||||
| 		: Base(key1, key2, X::Dim(), mu) {} | ||||
| 	virtual ~NonlinearEquality2() {} | ||||
| 
 | ||||
| 	/** g(x) with optional derivative2 */ | ||||
| 	Vector evaluateError(const X& x1, const X& x2, | ||||
| 			boost::optional<Matrix&> H1 = boost::none, | ||||
| 			boost::optional<Matrix&> H2 = boost::none) const { | ||||
| 		const size_t p = X::dimension; | ||||
| 		const size_t p = X::Dim(); | ||||
| 		if (H1) *H1 = -eye(p); | ||||
| 		if (H2) *H2 = eye(p); | ||||
| 		return logmap(x1, x2); | ||||
|  |  | |||
|  | @ -26,7 +26,7 @@ namespace gtsam { | |||
| 		typedef boost::shared_ptr<BetweenConstraint<Config, Key, X> > shared_ptr; | ||||
| 
 | ||||
| 		BetweenConstraint(const X& measured, const Key& key1, const Key& key2, double mu = 1000.0) | ||||
| 			: Base(key1, key2, X::dimension, mu), measured_(measured) {} | ||||
| 			: Base(key1, key2, X::Dim(), mu), measured_(measured) {} | ||||
| 
 | ||||
| 		/** g(x) with optional derivative2 */ | ||||
| 		Vector evaluateError(const X& x1, const X& x2, | ||||
|  |  | |||
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