From bf47ef3432e41e46b96b17a3e2a7ca73b31247b8 Mon Sep 17 00:00:00 2001
From: Frank Dellaert <dellaert@gmail.com>
Date: Thu, 24 Oct 2024 15:08:29 -0700
Subject: [PATCH] Got rid of inheritance

---
 gtsam/sfm/TransferFactor.h             | 17 ++++++++++-------
 gtsam/sfm/tests/testTransferFactor.cpp |  2 +-
 2 files changed, 11 insertions(+), 8 deletions(-)

diff --git a/gtsam/sfm/TransferFactor.h b/gtsam/sfm/TransferFactor.h
index 0f9f95c13..5c46f9b9b 100644
--- a/gtsam/sfm/TransferFactor.h
+++ b/gtsam/sfm/TransferFactor.h
@@ -67,15 +67,18 @@ class TransferFactor : public NoiseModelFactorN<F, F> {
         pk(pk) {}
 
   // Create Matrix3 objects based on EdgeKey configurations
-  std::pair<Matrix3, Matrix3> getMatrices(const F& F1, const F& F2) const {
+  static std::pair<Matrix3, Matrix3> getMatrices(const EdgeKey& key1,
+                                                 const F& F1,
+                                                 const EdgeKey& key2,
+                                                 const F& F2) {
     // Fill Fki and Fkj based on EdgeKey configurations
-    if (key1_.i() == key2_.i()) {
+    if (key1.i() == key2.i()) {
       return {F1.matrix(), F2.matrix()};
-    } else if (key1_.i() == key2_.j()) {
+    } else if (key1.i() == key2.j()) {
       return {F1.matrix(), F2.matrix().transpose()};
-    } else if (key1_.j() == key2_.i()) {
+    } else if (key1.j() == key2.i()) {
       return {F1.matrix().transpose(), F2.matrix()};
-    } else if (key1_.j() == key2_.j()) {
+    } else if (key1.j() == key2.j()) {
       return {F1.matrix().transpose(), F2.matrix().transpose()};
     } else {
       throw std::runtime_error(
@@ -88,8 +91,8 @@ class TransferFactor : public NoiseModelFactorN<F, F> {
                        OptionalMatrixType H1 = nullptr,
                        OptionalMatrixType H2 = nullptr) const override {
     std::function<Point2(F, F)> transfer = [&](const F& F1, const F& F2) {
-      auto [Fki, Fkj] = getMatrices(F1, F2);
-      return F::transfer(Fki, pi, Fkj, pj);
+      auto [Fki, Fkj] = getMatrices(key1_, F1, key2_, F2);
+      return Transfer(Fki, pi, Fkj, pj);
     };
     if (H1) *H1 = numericalDerivative21<Point2, F, F>(transfer, F1, F2);
     if (H2) *H2 = numericalDerivative22<Point2, F, F>(transfer, F1, F2);
diff --git a/gtsam/sfm/tests/testTransferFactor.cpp b/gtsam/sfm/tests/testTransferFactor.cpp
index 7bcd71b1f..d26bad960 100644
--- a/gtsam/sfm/tests/testTransferFactor.cpp
+++ b/gtsam/sfm/tests/testTransferFactor.cpp
@@ -71,7 +71,7 @@ TEST(TransferFactor, Jacobians) {
       factor2{key20, key12, p[0], p[1], p[2]};
 
   // Check that getMatrices is correct
-  auto [Fki, Fkj] = factor2.getMatrices(triplet.Fca, triplet.Fbc);
+  auto [Fki, Fkj] = factor2.getMatrices(key20, triplet.Fca, key12, triplet.Fbc);
   EXPECT(assert_equal<Matrix3>(triplet.Fca.matrix(), Fki));
   EXPECT(assert_equal<Matrix3>(triplet.Fbc.matrix().transpose(), Fkj));