From be37e1ed0540e403d4d51bd6f058379cefcf0cde Mon Sep 17 00:00:00 2001
From: balderdash-devil <natesh.rvce@gmail.com>
Date: Wed, 21 Jan 2015 13:02:35 -0500
Subject: [PATCH] Fix for Issue #201

It seems like MSVC was unable to identify the template specialization
for the 'const' keyword. So added a specialization in each of these
files for that
---
 gtsam/geometry/Cal3Bundler.h      | 3 +++
 gtsam/geometry/Cal3DS2.h          | 3 +++
 gtsam/geometry/Cal3Unified.h      | 3 +++
 gtsam/geometry/Cal3_S2.h          | 3 +++
 gtsam/geometry/Cal3_S2Stereo.h    | 4 ++++
 gtsam/geometry/CalibratedCamera.h | 3 +++
 gtsam/geometry/EssentialMatrix.h  | 3 +++
 gtsam/geometry/PinholeCamera.h    | 3 +++
 gtsam/geometry/Point3.h           | 3 +++
 gtsam/geometry/Pose2.h            | 3 +++
 gtsam/geometry/Pose3.h            | 4 ++++
 gtsam/geometry/Rot2.h             | 3 +++
 gtsam/geometry/Rot3.h             | 3 +++
 gtsam/geometry/SO3.h              | 3 ++-
 gtsam/geometry/StereoCamera.h     | 2 ++
 gtsam/geometry/StereoPoint2.h     | 3 +++
 gtsam/geometry/Unit3.h            | 2 ++
 gtsam/slam/dataset.cpp            | 1 +
 18 files changed, 51 insertions(+), 1 deletion(-)

diff --git a/gtsam/geometry/Cal3Bundler.h b/gtsam/geometry/Cal3Bundler.h
index ce9f94c48..e90ae32a4 100644
--- a/gtsam/geometry/Cal3Bundler.h
+++ b/gtsam/geometry/Cal3Bundler.h
@@ -174,4 +174,7 @@ private:
 template<>
 struct traits<Cal3Bundler> : public internal::Manifold<Cal3Bundler> {};
 
+template<>
+struct traits<const Cal3Bundler> : public internal::Manifold<Cal3Bundler> {};
+
 } // namespace gtsam
diff --git a/gtsam/geometry/Cal3DS2.h b/gtsam/geometry/Cal3DS2.h
index 0c77eebbc..0cb914ce3 100644
--- a/gtsam/geometry/Cal3DS2.h
+++ b/gtsam/geometry/Cal3DS2.h
@@ -112,5 +112,8 @@ private:
 template<>
 struct traits<Cal3DS2> : public internal::Manifold<Cal3DS2> {};
 
+template<>
+struct traits<const Cal3DS2> : public internal::Manifold<Cal3DS2> {};
+
 }
 
diff --git a/gtsam/geometry/Cal3Unified.h b/gtsam/geometry/Cal3Unified.h
index d0e0f3891..624d7dbb4 100644
--- a/gtsam/geometry/Cal3Unified.h
+++ b/gtsam/geometry/Cal3Unified.h
@@ -142,5 +142,8 @@ private:
 template<>
 struct traits<Cal3Unified> : public internal::Manifold<Cal3Unified> {};
 
+template<>
+struct traits<const Cal3Unified> : public internal::Manifold<Cal3Unified> {};
+
 }
 
diff --git a/gtsam/geometry/Cal3_S2.h b/gtsam/geometry/Cal3_S2.h
index 0c5386822..b9e2ef581 100644
--- a/gtsam/geometry/Cal3_S2.h
+++ b/gtsam/geometry/Cal3_S2.h
@@ -226,4 +226,7 @@ private:
 template<>
 struct traits<Cal3_S2> : public internal::Manifold<Cal3_S2> {};
 
+template<>
+struct traits<const Cal3_S2> : public internal::Manifold<Cal3_S2> {};
+
 } // \ namespace gtsam
diff --git a/gtsam/geometry/Cal3_S2Stereo.h b/gtsam/geometry/Cal3_S2Stereo.h
index 3585fb156..651a7fabb 100644
--- a/gtsam/geometry/Cal3_S2Stereo.h
+++ b/gtsam/geometry/Cal3_S2Stereo.h
@@ -158,4 +158,8 @@ namespace gtsam {
   struct traits<Cal3_S2Stereo> : public internal::Manifold<Cal3_S2Stereo> {
   };
 
+  template<>
+  struct traits<const Cal3_S2Stereo> : public internal::Manifold<Cal3_S2Stereo> {
+  };
+
 } // \ namespace gtsam
diff --git a/gtsam/geometry/CalibratedCamera.h b/gtsam/geometry/CalibratedCamera.h
index cda01b600..9e907f1d5 100644
--- a/gtsam/geometry/CalibratedCamera.h
+++ b/gtsam/geometry/CalibratedCamera.h
@@ -204,5 +204,8 @@ private:
 template<>
 struct traits<CalibratedCamera> : public internal::Manifold<CalibratedCamera> {};
 
+template<>
+struct traits<const CalibratedCamera> : public internal::Manifold<CalibratedCamera> {};
+
 }
 
diff --git a/gtsam/geometry/EssentialMatrix.h b/gtsam/geometry/EssentialMatrix.h
index c9e702078..606f62f87 100644
--- a/gtsam/geometry/EssentialMatrix.h
+++ b/gtsam/geometry/EssentialMatrix.h
@@ -201,5 +201,8 @@ private:
 template<>
 struct traits<EssentialMatrix> : public internal::Manifold<EssentialMatrix> {};
 
+template<>
+struct traits<const EssentialMatrix> : public internal::Manifold<EssentialMatrix> {};
+
 } // gtsam
 
diff --git a/gtsam/geometry/PinholeCamera.h b/gtsam/geometry/PinholeCamera.h
index b409c956d..12eb0235d 100644
--- a/gtsam/geometry/PinholeCamera.h
+++ b/gtsam/geometry/PinholeCamera.h
@@ -499,4 +499,7 @@ private:
 template<typename Calibration>
 struct traits< PinholeCamera<Calibration> > : public internal::Manifold<PinholeCamera<Calibration> > {};
 
+template<typename Calibration>
+struct traits< const PinholeCamera<Calibration> > : public internal::Manifold<PinholeCamera<Calibration> > {};
+
 } // \ gtsam
diff --git a/gtsam/geometry/Point3.h b/gtsam/geometry/Point3.h
index c9dee9003..95f728e39 100644
--- a/gtsam/geometry/Point3.h
+++ b/gtsam/geometry/Point3.h
@@ -197,4 +197,7 @@ namespace gtsam {
 
   template<>
   struct traits<Point3> : public internal::VectorSpace<Point3> {};
+
+ template<>
+  struct traits<const Point3> : public internal::VectorSpace<Point3> {};
 }
diff --git a/gtsam/geometry/Pose2.h b/gtsam/geometry/Pose2.h
index be860107e..d4b647949 100644
--- a/gtsam/geometry/Pose2.h
+++ b/gtsam/geometry/Pose2.h
@@ -293,5 +293,8 @@ GTSAM_EXPORT boost::optional<Pose2> align(const std::vector<Point2Pair>& pairs);
 template<>
 struct traits<Pose2> : public internal::LieGroupTraits<Pose2> {};
 
+template<>
+struct traits<const Pose2> : public internal::LieGroupTraits<Pose2> {};
+
 } // namespace gtsam
 
diff --git a/gtsam/geometry/Pose3.h b/gtsam/geometry/Pose3.h
index d30bd4167..4130a252e 100644
--- a/gtsam/geometry/Pose3.h
+++ b/gtsam/geometry/Pose3.h
@@ -325,4 +325,8 @@ GTSAM_EXPORT boost::optional<Pose3> align(const std::vector<Point3Pair>& pairs);
 template<>
 struct traits<Pose3> : public internal::LieGroupTraits<Pose3> {};
 
+template<>
+struct traits<const Pose3> : public internal::LieGroupTraits<Pose3> {};
+
+
 } // namespace gtsam
diff --git a/gtsam/geometry/Rot2.h b/gtsam/geometry/Rot2.h
index 95f025622..deae1f3a0 100644
--- a/gtsam/geometry/Rot2.h
+++ b/gtsam/geometry/Rot2.h
@@ -210,4 +210,7 @@ namespace gtsam {
   template<>
   struct traits<Rot2> : public internal::LieGroupTraits<Rot2> {};
 
+  template<>
+  struct traits<const Rot2> : public internal::LieGroupTraits<Rot2> {};
+
 } // gtsam
diff --git a/gtsam/geometry/Rot3.h b/gtsam/geometry/Rot3.h
index e9568fb26..4e42d7efb 100644
--- a/gtsam/geometry/Rot3.h
+++ b/gtsam/geometry/Rot3.h
@@ -463,5 +463,8 @@ namespace gtsam {
 
   template<>
   struct traits<Rot3> : public internal::LieGroupTraits<Rot3> {};
+  
+  template<>
+  struct traits<const Rot3> : public internal::LieGroupTraits<Rot3> {};
 }
 
diff --git a/gtsam/geometry/SO3.h b/gtsam/geometry/SO3.h
index bed2f1212..e52eaae1e 100644
--- a/gtsam/geometry/SO3.h
+++ b/gtsam/geometry/SO3.h
@@ -85,6 +85,7 @@ public:
 template<>
 struct traits<SO3> : public internal::LieGroupTraits<SO3> {};
 
-
+template<>
+struct traits<const SO3> : public internal::LieGroupTraits<SO3> {};
 } // end namespace gtsam
 
diff --git a/gtsam/geometry/StereoCamera.h b/gtsam/geometry/StereoCamera.h
index 49abcf36b..913b1eab3 100644
--- a/gtsam/geometry/StereoCamera.h
+++ b/gtsam/geometry/StereoCamera.h
@@ -149,4 +149,6 @@ private:
 template<>
 struct traits<StereoCamera> : public internal::Manifold<StereoCamera> {};
 
+template<>
+struct traits<const StereoCamera> : public internal::Manifold<StereoCamera> {};
 }
diff --git a/gtsam/geometry/StereoPoint2.h b/gtsam/geometry/StereoPoint2.h
index 2ec745fd8..803c59a4b 100644
--- a/gtsam/geometry/StereoPoint2.h
+++ b/gtsam/geometry/StereoPoint2.h
@@ -176,4 +176,7 @@ namespace gtsam {
 
   template<>
   struct traits<StereoPoint2> : public internal::Manifold<StereoPoint2> {};
+
+  template<>
+  struct traits<const StereoPoint2> : public internal::Manifold<StereoPoint2> {};
 }
diff --git a/gtsam/geometry/Unit3.h b/gtsam/geometry/Unit3.h
index 8784d0eb8..50ffb55b7 100644
--- a/gtsam/geometry/Unit3.h
+++ b/gtsam/geometry/Unit3.h
@@ -171,5 +171,7 @@ private:
 // Define GTSAM traits
 template <> struct traits<Unit3> : public internal::Manifold<Unit3> {};
 
+template <> struct traits<const Unit3> : public internal::Manifold<Unit3> {};
+
 } // namespace gtsam
 
diff --git a/gtsam/slam/dataset.cpp b/gtsam/slam/dataset.cpp
index a6fb2d830..d3a7c1e84 100644
--- a/gtsam/slam/dataset.cpp
+++ b/gtsam/slam/dataset.cpp
@@ -19,6 +19,7 @@
 #include <gtsam/slam/BetweenFactor.h>
 #include <gtsam/slam/BearingRangeFactor.h>
 #include <gtsam/geometry/Pose2.h>
+#include <gtsam/geometry/Pose3.h>
 #include <gtsam/linear/Sampler.h>
 #include <gtsam/inference/Symbol.h>