From b8f514174357faa032643a77dd602e9085c24643 Mon Sep 17 00:00:00 2001
From: dellaert <dellaert@cc.gatech.edu>
Date: Thu, 16 Jul 2015 22:38:17 -0700
Subject: [PATCH] HasRange

---
 gtsam_unstable/dynamics/PoseRTV.h | 11 ++---------
 1 file changed, 2 insertions(+), 9 deletions(-)

diff --git a/gtsam_unstable/dynamics/PoseRTV.h b/gtsam_unstable/dynamics/PoseRTV.h
index a6bc6006a..bef397cb6 100644
--- a/gtsam_unstable/dynamics/PoseRTV.h
+++ b/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