HasRange

gtsam_unstable/dynamics/PoseRTV.h

@@ -173,14 +173,7 @@ struct traits<PoseRTV> : public internal::LieGroup<PoseRTV> {};
 // Define Range functor specializations that are used in RangeFactor
 template <typename A1, typename A2> struct Range;
 
-template <>
-struct Range<PoseRTV, PoseRTV> {
-  typedef double result_type;
-  double operator()(const PoseRTV& pose1, const PoseRTV& pose2,
-                    OptionalJacobian<1, 9> H1 = boost::none,
-                    OptionalJacobian<1, 9> H2 = boost::none) {
-    return pose1.range(pose2, H1, H2);
-  }
-};
+template<>
+struct Range<PoseRTV, PoseRTV> : HasRange<PoseRTV, PoseRTV, double> {};
 
 } // \namespace gtsam