From ce53346a9e81a0e56416bfd4c21c56c008d2ea12 Mon Sep 17 00:00:00 2001
From: dellaert <dellaert@cc.gatech.edu>
Date: Wed, 1 Oct 2014 13:12:07 +0200
Subject: [PATCH] Added Symbol versions

---
 gtsam_unstable/nonlinear/Expression.h | 13 ++++++++++++-
 1 file changed, 12 insertions(+), 1 deletion(-)

diff --git a/gtsam_unstable/nonlinear/Expression.h b/gtsam_unstable/nonlinear/Expression.h
index 0d326dffe..eb270ae1b 100644
--- a/gtsam_unstable/nonlinear/Expression.h
+++ b/gtsam_unstable/nonlinear/Expression.h
@@ -20,6 +20,7 @@
 #pragma once
 
 #include "Expression-inl.h"
+#include <gtsam/inference/Symbol.h>
 #include <boost/bind.hpp>
 
 namespace gtsam {
@@ -36,11 +37,21 @@ public:
       root_(new ConstantExpression<T>(value)) {
   }
 
-  // Construct a leaf expression
+  // Construct a leaf expression, with Key
   Expression(const Key& key) :
       root_(new LeafExpression<T>(key)) {
   }
 
+  // Construct a leaf expression, with Symbol
+  Expression(const Symbol& symbol) :
+      root_(new LeafExpression<T>(symbol)) {
+  }
+
+  // Construct a leaf expression, creating Symbol
+  Expression(unsigned char c, size_t j) :
+      root_(new LeafExpression<T>(Symbol(c, j))) {
+  }
+
   /// Construct a unary expression
   template<typename E>
   Expression(typename UnaryExpression<T, E>::function f,