From cc2456678fb97a1d912f8f419b945a46efba9730 Mon Sep 17 00:00:00 2001
From: Varun Agrawal <varagrawal@gmail.com>
Date: Wed, 8 Jul 2020 23:37:32 -0400
Subject: [PATCH] Replace scoped name with direct name and instantiate base
 class in constructor

---
 gtsam/navigation/PreintegratedRotation.cpp |  6 +++---
 gtsam/navigation/PreintegrationParams.cpp  |  6 +++---
 gtsam/navigation/PreintegrationParams.h    | 13 +++++++------
 3 files changed, 13 insertions(+), 12 deletions(-)

diff --git a/gtsam/navigation/PreintegratedRotation.cpp b/gtsam/navigation/PreintegratedRotation.cpp
index 8c29d85dd..c5d48b734 100644
--- a/gtsam/navigation/PreintegratedRotation.cpp
+++ b/gtsam/navigation/PreintegratedRotation.cpp
@@ -25,7 +25,7 @@ using namespace std;
 
 namespace gtsam {
 
-void PreintegratedRotation::Params::print(const string& s) const {
+void PreintegratedRotationParams::print(const string& s) const {
   cout << s << endl;
   cout << "gyroscopeCovariance:\n[\n" << gyroscopeCovariance << "\n]" << endl;
   if (omegaCoriolis)
@@ -34,8 +34,8 @@ void PreintegratedRotation::Params::print(const string& s) const {
     body_P_sensor->print("body_P_sensor");
 }
 
-bool PreintegratedRotation::Params::equals(
-    const PreintegratedRotation::Params& other, double tol) const {
+bool PreintegratedRotationParams::equals(
+    const PreintegratedRotationParams& other, double tol) const {
   if (body_P_sensor) {
     if (!other.body_P_sensor
         || !assert_equal(*body_P_sensor, *other.body_P_sensor, tol))
diff --git a/gtsam/navigation/PreintegrationParams.cpp b/gtsam/navigation/PreintegrationParams.cpp
index 61cd1617c..2298bb696 100644
--- a/gtsam/navigation/PreintegrationParams.cpp
+++ b/gtsam/navigation/PreintegrationParams.cpp
@@ -27,7 +27,7 @@ namespace gtsam {
 
 //------------------------------------------------------------------------------
 void PreintegrationParams::print(const string& s) const {
-  PreintegratedRotation::Params::print(s);
+  PreintegratedRotationParams::print(s);
   cout << "accelerometerCovariance:\n[\n" << accelerometerCovariance << "\n]"
        << endl;
   cout << "integrationCovariance:\n[\n" << integrationCovariance << "\n]"
@@ -39,10 +39,10 @@ void PreintegrationParams::print(const string& s) const {
 }
 
 //------------------------------------------------------------------------------
-bool PreintegrationParams::equals(const PreintegratedRotation::Params& other,
+bool PreintegrationParams::equals(const PreintegratedRotationParams& other,
                                   double tol) const {
   auto e = dynamic_cast<const PreintegrationParams*>(&other);
-  return e != nullptr && PreintegratedRotation::Params::equals(other, tol) &&
+  return e != nullptr && PreintegratedRotationParams::equals(other, tol) &&
          use2ndOrderCoriolis == e->use2ndOrderCoriolis &&
          equal_with_abs_tol(accelerometerCovariance, e->accelerometerCovariance,
                             tol) &&
diff --git a/gtsam/navigation/PreintegrationParams.h b/gtsam/navigation/PreintegrationParams.h
index 4bff625ca..de9950e7d 100644
--- a/gtsam/navigation/PreintegrationParams.h
+++ b/gtsam/navigation/PreintegrationParams.h
@@ -31,7 +31,8 @@ struct GTSAM_EXPORT PreintegrationParams: PreintegratedRotationParams {
 
   /// Default constructor for serialization only
   PreintegrationParams()
-      : accelerometerCovariance(I_3x3),
+      : PreintegratedRotationParams(),
+        accelerometerCovariance(I_3x3),
         integrationCovariance(I_3x3),
         use2ndOrderCoriolis(false),
         n_gravity(0, 0, -1) {}
@@ -39,7 +40,8 @@ struct GTSAM_EXPORT PreintegrationParams: PreintegratedRotationParams {
   /// The Params constructor insists on getting the navigation frame gravity vector
   /// For convenience, two commonly used conventions are provided by named constructors below
   PreintegrationParams(const Vector3& n_gravity)
-      : accelerometerCovariance(I_3x3),
+      : PreintegratedRotationParams(),
+        accelerometerCovariance(I_3x3),
         integrationCovariance(I_3x3),
         use2ndOrderCoriolis(false),
         n_gravity(n_gravity) {}
@@ -54,8 +56,8 @@ struct GTSAM_EXPORT PreintegrationParams: PreintegratedRotationParams {
     return boost::shared_ptr<PreintegrationParams>(new PreintegrationParams(Vector3(0, 0, -g)));
   }
 
-  void print(const std::string& s) const;
-  bool equals(const PreintegratedRotation::Params& other, double tol) const;
+  void print(const std::string& s="") const;
+  bool equals(const PreintegratedRotationParams& other, double tol) const;
 
   void setAccelerometerCovariance(const Matrix3& cov) { accelerometerCovariance = cov; }
   void setIntegrationCovariance(const Matrix3& cov)   { integrationCovariance = cov; }
@@ -73,8 +75,7 @@ protected:
   template<class ARCHIVE>
   void serialize(ARCHIVE & ar, const unsigned int /*version*/) {
     namespace bs = ::boost::serialization;
-    ar & boost::serialization::make_nvp("PreintegratedRotation_Params",
-         boost::serialization::base_object<PreintegratedRotationParams>(*this));
+    ar & BOOST_SERIALIZATION_BASE_OBJECT_NVP(PreintegratedRotationParams);
     ar & bs::make_nvp("accelerometerCovariance", bs::make_array(accelerometerCovariance.data(), accelerometerCovariance.size()));
     ar & bs::make_nvp("integrationCovariance", bs::make_array(integrationCovariance.data(), integrationCovariance.size()));
     ar & BOOST_SERIALIZATION_NVP(use2ndOrderCoriolis);