From 9876537252c2ea7c1da19adf535a690b8d0eef0b Mon Sep 17 00:00:00 2001
From: Natesh Srinivasan <natesh.rvce@gmail.com>
Date: Wed, 29 Jan 2014 22:26:20 -0500
Subject: [PATCH] added

---
 gtsam/slam/OrientedPlane3Factor.cpp | 42 +++++++++++++++++++++++++++++
 1 file changed, 42 insertions(+)
 create mode 100644 gtsam/slam/OrientedPlane3Factor.cpp

diff --git a/gtsam/slam/OrientedPlane3Factor.cpp b/gtsam/slam/OrientedPlane3Factor.cpp
new file mode 100644
index 000000000..fe63b0419
--- /dev/null
+++ b/gtsam/slam/OrientedPlane3Factor.cpp
@@ -0,0 +1,42 @@
+/*
+ * OrientedPlane3Factor.cpp
+ *
+ *  Created on: Jan 29, 2014
+ *      Author: Natesh Srinivasan
+ */
+
+
+#include "OrientedPlane3Factor.h"
+
+using namespace std;
+
+namespace gtsam {
+
+//***************************************************************************
+
+void OrientedPlane3DirectionPrior::print(const string& s) const {
+  cout << "Prior Factor on " << landmarkSymbol_ << "\n";
+  measured_p_.print("Measured Plane");
+  this->noiseModel_->print("  noise model: ");
+}
+
+//***************************************************************************
+
+bool OrientedPlane3DirectionPrior::equals(const NonlinearFactor& expected,
+    double tol) const {
+  const This* e = dynamic_cast<const This*>(&expected);
+  return e != NULL && Base::equals(*e, tol) && this->measured_p_.equals(e->measured_p_, tol);
+}
+
+//***************************************************************************
+
+Vector OrientedPlane3DirectionPrior::evaluateError(const OrientedPlane3& plane,
+    boost::optional<Matrix&> H) const {
+
+  if(H) {
+    H->resize(2,4);
+  }
+
+}
+}
+