From 9e26b32daa00f4181167f50ba7fa2180a01870f2 Mon Sep 17 00:00:00 2001
From: Alex Cunningham <alexgcunningham@gmail.com>
Date: Sat, 9 Jun 2012 19:43:14 +0000
Subject: [PATCH] Fixed Symbol problem - related to using
 std::numeric_limits::max() statically on keys created outside of functions

---
 .cproject                         |  8 ++++
 gtsam/nonlinear/Symbol.cpp        | 65 ++++++++++++++++---------------
 gtsam/nonlinear/tests/testKey.cpp |  4 +-
 3 files changed, 43 insertions(+), 34 deletions(-)

diff --git a/.cproject b/.cproject
index af740032b..24c4afa85 100644
--- a/.cproject
+++ b/.cproject
@@ -703,6 +703,14 @@
 				<useDefaultCommand>true</useDefaultCommand>
 				<runAllBuilders>true</runAllBuilders>
 			</target>
+			<target name="testKey.run" path="build/gtsam/nonlinear" targetID="org.eclipse.cdt.build.MakeTargetBuilder">
+				<buildCommand>make</buildCommand>
+				<buildArguments>-j5</buildArguments>
+				<buildTarget>testKey.run</buildTarget>
+				<stopOnError>true</stopOnError>
+				<useDefaultCommand>true</useDefaultCommand>
+				<runAllBuilders>true</runAllBuilders>
+			</target>
 			<target name="schedulingExample.run" path="build/gtsam_unstable/discrete" targetID="org.eclipse.cdt.build.MakeTargetBuilder">
 				<buildCommand>make</buildCommand>
 				<buildArguments>-j5</buildArguments>
diff --git a/gtsam/nonlinear/Symbol.cpp b/gtsam/nonlinear/Symbol.cpp
index a161e2fd7..19cf78eb5 100644
--- a/gtsam/nonlinear/Symbol.cpp
+++ b/gtsam/nonlinear/Symbol.cpp
@@ -16,8 +16,6 @@
  * @author: Richard Roberts
  */
 
-#pragma once
-
 #include <gtsam/nonlinear/Symbol.h>
 
 #include <boost/mpl/char.hpp>
@@ -27,47 +25,50 @@
 #include <boost/lambda/construct.hpp>
 #include <boost/lambda/lambda.hpp>
 
+#include <limits.h>
 #include <list>
 #include <iostream>
 
 namespace gtsam {
 
-  static const size_t keyBits = sizeof(Key) * 8;
-  static const size_t chrBits = sizeof(unsigned char) * 8;
-  static const size_t indexBits = keyBits - chrBits;
-  static const Key chrMask = Key(std::numeric_limits<unsigned char>::max())
-      << indexBits;
-  static const Key indexMask = ~chrMask;
+static const size_t keyBits = sizeof(Key) * 8;
+static const size_t chrBits = sizeof(unsigned char) * 8;
+static const size_t indexBits = keyBits - chrBits;
+static const Key chrMask = Key(UCHAR_MAX)	<< indexBits; // For some reason, std::numeric_limits<unsigned char>::max() fails
+static const Key indexMask = ~chrMask;
 
-  Symbol::Symbol(Key key) {
-    c_ = (unsigned char) ((key & chrMask) >> indexBits);
-    j_ = key & indexMask;
-  }
+Symbol::Symbol(Key key) {
+	c_ = (unsigned char) ((key & chrMask) >> indexBits);
+	j_ = key & indexMask;
+}
 
-  Key Symbol::key() const {
-    if (j_ > indexMask)
-      throw std::invalid_argument("Symbol index is too large");
-    Key key = (Key(c_) << indexBits) | j_;
-    return key;
-  }
+Key Symbol::key() const {
+	if (j_ > indexMask) {
+		boost::format msg("Symbol index is too large, j=%d, indexMask=%d");
+		msg % j_ % indexMask;
+		throw std::invalid_argument(msg.str());
+	}
+	Key key = (Key(c_) << indexBits) | j_;
+	return key;
+}
 
-  void Symbol::print(const std::string& s) const {
-    std::cout << s << (std::string) (*this) << std::endl;
-  }
+void Symbol::print(const std::string& s) const {
+	std::cout << s << (std::string) (*this) << std::endl;
+}
 
-  bool Symbol::equals(const Symbol& expected, double tol) const {
-    return (*this) == expected;
-  }
+bool Symbol::equals(const Symbol& expected, double tol) const {
+	return (*this) == expected;
+}
 
-  Symbol::operator std::string() const {
-    return str(boost::format("%c%d") % c_ % j_);
-  }
+Symbol::operator std::string() const {
+	return str(boost::format("%c%d") % c_ % j_);
+}
 
-  boost::function<bool(Key)> Symbol::ChrTest(unsigned char c) {
-    namespace bl = boost::lambda;
-    return bl::bind(&Symbol::chr, bl::bind(bl::constructor<Symbol>(), bl::_1))
-        == c;
-  }
+boost::function<bool(Key)> Symbol::ChrTest(unsigned char c) {
+	namespace bl = boost::lambda;
+	return bl::bind(&Symbol::chr, bl::bind(bl::constructor<Symbol>(), bl::_1))
+	== c;
+}
 
 } // namespace gtsam
 
diff --git a/gtsam/nonlinear/tests/testKey.cpp b/gtsam/nonlinear/tests/testKey.cpp
index 601176935..ee9734af5 100644
--- a/gtsam/nonlinear/tests/testKey.cpp
+++ b/gtsam/nonlinear/tests/testKey.cpp
@@ -21,11 +21,11 @@ using namespace boost::assign;
 #include <gtsam/base/Testable.h>
 #include <gtsam/base/TestableAssertions.h>
 #include <gtsam/nonlinear/Symbol.h>
-	
+
 using namespace std;
 using namespace gtsam;
 
-Key aKey = gtsam::symbol_shorthand::X(4); // FIXME: throws index too large exception in Symbol.key()
+Key aKey = gtsam::symbol_shorthand::X(4);
 
 /* ************************************************************************* */
 TEST(Key, KeySymbolConversion) {