From b173057e33d905fa986f8a47bbdf7573b5cd1778 Mon Sep 17 00:00:00 2001
From: Jing Dong <jdong@gatech.edu>
Date: Thu, 2 Jun 2016 21:04:52 -0400
Subject: [PATCH] fix matlab compile issue, by removing abstract class
 PreintegrationBase from wrapper declearation

---
 gtsam.h | 40 ++++++++++++++++------------------------
 1 file changed, 16 insertions(+), 24 deletions(-)

diff --git a/gtsam.h b/gtsam.h
index c12055916..f9a7483bb 100644
--- a/gtsam.h
+++ b/gtsam.h
@@ -2506,30 +2506,8 @@ virtual class PreintegrationParams : gtsam::PreintegratedRotationParams {
   bool   getUse2ndOrderCoriolis()     const;
 };
 
-#include <gtsam/navigation/PreintegrationBase.h>
-virtual class PreintegrationBase {
-  // Constructors
-  PreintegrationBase(const gtsam::PreintegrationParams* params);
-  PreintegrationBase(const gtsam::PreintegrationParams* params,
-      const gtsam::imuBias::ConstantBias& bias);
-
-  // Testable
-  void print(string s) const;
-  bool equals(const gtsam::PreintegrationBase& expected, double tol);
-
-  double deltaTij() const;
-  gtsam::Rot3 deltaRij() const;
-  Vector deltaPij() const;
-  Vector deltaVij() const;
-  Vector biasHatVector() const;
-
-  // Standard Interface
-  gtsam::NavState predict(const gtsam::NavState& state_i,
-      const gtsam::imuBias::ConstantBias& bias) const;
-};
-
 #include <gtsam/navigation/ImuFactor.h>
-virtual class PreintegratedImuMeasurements: gtsam::PreintegrationBase {
+class PreintegratedImuMeasurements {
   // Constructors
   PreintegratedImuMeasurements(const gtsam::PreintegrationParams* params);
   PreintegratedImuMeasurements(const gtsam::PreintegrationParams* params,
@@ -2544,6 +2522,13 @@ virtual class PreintegratedImuMeasurements: gtsam::PreintegrationBase {
       double deltaT);
   void resetIntegration();
   Matrix preintMeasCov() const;
+  double deltaTij() const;
+  gtsam::Rot3 deltaRij() const;
+  Vector deltaPij() const;
+  Vector deltaVij() const;
+  Vector biasHatVector() const;
+  gtsam::NavState predict(const gtsam::NavState& state_i,
+      const gtsam::imuBias::ConstantBias& bias) const;
 };
 
 virtual class ImuFactor: gtsam::NonlinearFactor {
@@ -2559,7 +2544,7 @@ virtual class ImuFactor: gtsam::NonlinearFactor {
 };
 
 #include <gtsam/navigation/CombinedImuFactor.h>
-virtual class PreintegratedCombinedMeasurements: gtsam::PreintegrationBase {
+class PreintegratedCombinedMeasurements {
   // Testable
   void print(string s) const;
   bool equals(const gtsam::PreintegratedCombinedMeasurements& expected,
@@ -2570,6 +2555,13 @@ virtual class PreintegratedCombinedMeasurements: gtsam::PreintegrationBase {
       double deltaT);
   void resetIntegration();
   Matrix preintMeasCov() const;
+  double deltaTij() const;
+  gtsam::Rot3 deltaRij() const;
+  Vector deltaPij() const;
+  Vector deltaVij() const;
+  Vector biasHatVector() const;
+  gtsam::NavState predict(const gtsam::NavState& state_i,
+      const gtsam::imuBias::ConstantBias& bias) const;
 };
 
 virtual class CombinedImuFactor: gtsam::NonlinearFactor {