From 97f52c564311c6a933ec73341c3fe11f6791273d Mon Sep 17 00:00:00 2001
From: Richard Roberts <richard.jw.roberts@gmail.com>
Date: Thu, 7 Jun 2012 16:12:55 +0000
Subject: [PATCH] Cleaned up boost bind dependency

---
 gtsam/inference/FactorGraph-inl.h | 12 +++++++-----
 gtsam/linear/JacobianFactor.cpp   | 12 ++++++------
 2 files changed, 13 insertions(+), 11 deletions(-)

diff --git a/gtsam/inference/FactorGraph-inl.h b/gtsam/inference/FactorGraph-inl.h
index ea92cb791..3451b6ed4 100644
--- a/gtsam/inference/FactorGraph-inl.h
+++ b/gtsam/inference/FactorGraph-inl.h
@@ -27,14 +27,12 @@
 #include <boost/foreach.hpp>
 #include <boost/tuple/tuple.hpp>
 #include <boost/format.hpp>
-#include <boost/bind.hpp>
 #include <boost/iterator/transform_iterator.hpp>
 
 #include <stdio.h>
 #include <list>
 #include <sstream>
 #include <stdexcept>
-#include <functional>
 
 using namespace std;
 
@@ -103,11 +101,15 @@ namespace gtsam {
 	/* ************************************************************************* */
 	template<class DERIVED, class KEY>
 	typename DERIVED::shared_ptr Combine(const FactorGraph<DERIVED>& factors,
-			const FastMap<KEY, std::vector<KEY> >& variableSlots) {
+    const FastMap<KEY, std::vector<KEY> >& variableSlots) {
+
 		typedef const pair<const KEY, std::vector<KEY> > KeySlotPair;
+    // Local functional for getting keys out of key-value pairs
+    struct Local { static KEY FirstOf(const KeySlotPair& pr) { return pr.first; } };
+
 		return typename DERIVED::shared_ptr(new DERIVED(
-		    boost::make_transform_iterator(variableSlots.begin(), boost::bind(&KeySlotPair::first, _1)),
-		    boost::make_transform_iterator(variableSlots.end(), boost::bind(&KeySlotPair::first, _1))));
+		    boost::make_transform_iterator(variableSlots.begin(), &Local::FirstOf),
+		    boost::make_transform_iterator(variableSlots.end(), &Local::FirstOf)));
 	}
 
   /* ************************************************************************* */
diff --git a/gtsam/linear/JacobianFactor.cpp b/gtsam/linear/JacobianFactor.cpp
index b4d7016aa..677900b01 100644
--- a/gtsam/linear/JacobianFactor.cpp
+++ b/gtsam/linear/JacobianFactor.cpp
@@ -29,15 +29,16 @@
 #include <boost/foreach.hpp>
 #include <boost/format.hpp>
 #include <boost/make_shared.hpp>
-#include <boost/lambda/bind.hpp>
-#include <boost/lambda/lambda.hpp>
+#include <boost/bind.hpp>
+//#include <boost/lambda/bind.hpp>
+//#include <boost/lambda/lambda.hpp>
 
 #include <cmath>
 #include <sstream>
 #include <stdexcept>
 
 using namespace std;
-using namespace boost::lambda;
+//using namespace boost::lambda;
 
 namespace gtsam {
 
@@ -163,7 +164,7 @@ namespace gtsam {
     size_t maxrank;
     try {
       maxrank = choleskyCareful(matrix_).first;
-    } catch(const CarefulCholeskyNegativeMatrixException& e) {
+    } catch(const CarefulCholeskyNegativeMatrixException&) {
       cout <<
           "Attempting to convert a HessianFactor to a JacobianFactor, but for this\n"
           "HessianFactor it is not possible because either the Hessian is negative or\n"
@@ -494,8 +495,7 @@ namespace gtsam {
 			size_t>& varDims, size_t m) {
 		keys_.resize(variableSlots.size());
 		std::transform(variableSlots.begin(), variableSlots.end(), begin(),
-				boost::bind(&VariableSlots::const_iterator::value_type::first,
-						boost::lambda::_1));
+				boost::bind(&VariableSlots::const_iterator::value_type::first, _1));
 		varDims.push_back(1);
 		Ab_.copyStructureFrom(BlockAb(matrix_, varDims.begin(), varDims.end(), m));
 		firstNonzeroBlocks_.resize(m);