From c86548534242f3c25c6ca9625c1711c6bda84518 Mon Sep 17 00:00:00 2001
From: Vadim Indelman <indelman@gmail.com>
Date: Thu, 19 Jul 2012 15:11:11 +0000
Subject: [PATCH] Richard's changes of RangeFactor.

---
 gtsam.h | 12 ++++++++----
 1 file changed, 8 insertions(+), 4 deletions(-)

diff --git a/gtsam.h b/gtsam.h
index b6b48e795..a658c6376 100644
--- a/gtsam.h
+++ b/gtsam.h
@@ -1237,10 +1237,14 @@ virtual class RangeFactor : gtsam::NonlinearFactor {
 	RangeFactor(size_t key1, size_t key2, double measured, const gtsam::noiseModel::Base* noiseModel);
 };
 
-typedef gtsam::RangeFactor<gtsam::Pose2, gtsam::Point2> RangeFactor2D;
-typedef gtsam::RangeFactor<gtsam::Pose3, gtsam::Point3> RangeFactor3D;
-typedef gtsam::RangeFactor<gtsam::CalibratedCamera, gtsam::Point3> RangeFactorCalibratedCamera;
-typedef gtsam::RangeFactor<gtsam::SimpleCamera, gtsam::Point3> RangeFactorSimpleCamera;
+typedef gtsam::RangeFactor<gtsam::Pose2, gtsam::Point2> RangeFactorPosePoint2;
+typedef gtsam::RangeFactor<gtsam::Pose3, gtsam::Point3> RangeFactorPosePoint3;
+typedef gtsam::RangeFactor<gtsam::Pose2, gtsam::Pose2> RangeFactorPose2;
+typedef gtsam::RangeFactor<gtsam::Pose3, gtsam::Pose3> RangeFactorPose3;
+typedef gtsam::RangeFactor<gtsam::CalibratedCamera, gtsam::Point3> RangeFactorCalibratedCameraPoint;
+typedef gtsam::RangeFactor<gtsam::SimpleCamera, gtsam::Point3> RangeFactorSimpleCameraPoint;
+typedef gtsam::RangeFactor<gtsam::CalibratedCamera, gtsam::CalibratedCamera> RangeFactorCalibratedCamera;
+typedef gtsam::RangeFactor<gtsam::SimpleCamera, gtsam::SimpleCamera> RangeFactorSimpleCamera;
 
 template<POSE, POINT, ROT>
 virtual class BearingFactor : gtsam::NonlinearFactor {