From 95f91ab831411e84f2ea85f9f6b020d7c309d0e1 Mon Sep 17 00:00:00 2001
From: Chris Beall <chrisbeall@gmail.com>
Date: Tue, 19 Oct 2010 02:58:13 +0000
Subject: [PATCH] add Optimizer typedef to visualSLAM.h

---
 examples/vSLAMexample/vSLAMexample.cpp | 1 -
 slam/visualSLAM.h                      | 6 ++++--
 2 files changed, 4 insertions(+), 3 deletions(-)

diff --git a/examples/vSLAMexample/vSLAMexample.cpp b/examples/vSLAMexample/vSLAMexample.cpp
index f158a9566..ad0f78106 100644
--- a/examples/vSLAMexample/vSLAMexample.cpp
+++ b/examples/vSLAMexample/vSLAMexample.cpp
@@ -24,7 +24,6 @@ using namespace std;
 using namespace gtsam;
 using namespace gtsam::visualSLAM;
 using namespace boost;
-typedef NonlinearOptimizer<Graph,Values> Optimizer;
 
 /* ************************************************************************* */
 #define CALIB_FILE      "Data/calib.txt"
diff --git a/slam/visualSLAM.h b/slam/visualSLAM.h
index 3413eb88c..5c8a2773d 100644
--- a/slam/visualSLAM.h
+++ b/slam/visualSLAM.h
@@ -19,14 +19,13 @@
 #pragma once
 
 #include <gtsam/geometry/Pose3.h>
-#include <gtsam/geometry/Point3.h>
-#include <gtsam/geometry/Cal3_S2.h>
 #include <gtsam/geometry/Point2.h>
 #include <gtsam/geometry/SimpleCamera.h>
 #include <gtsam/nonlinear/Key.h>
 #include <gtsam/nonlinear/NonlinearFactorGraph.h>
 #include <gtsam/nonlinear/TupleValues.h>
 #include <gtsam/nonlinear/NonlinearEquality.h>
+#include <gtsam/nonlinear/NonlinearOptimizer.h>
 #include <gtsam/slam/PriorFactor.h>
 
 namespace gtsam { namespace visualSLAM {
@@ -199,4 +198,7 @@ namespace gtsam { namespace visualSLAM {
 
 	}; // Graph
 
+	// Optimizer
+	typedef NonlinearOptimizer<Graph, Values> Optimizer;
+
 } } // namespaces