test compiling!! but 34 tests failed out of 198

gtsam_unstable/nonlinear/ExpressionFactor.h

@@ -36,7 +36,7 @@ class ExpressionFactor: public NoiseModelFactor {
   Expression<T> expression_; ///< the expression that is AD enabled
   FastVector<int> dims_; ///< dimensions of the Jacobian matrices
 
-  static const int Dim = traits::dimension<T>::value;
+  static const int Dim = traits_x<T>::dimension;
 
 public:
 
@@ -63,13 +63,12 @@ public:
    */
   virtual Vector unwhitenedError(const Values& x,
       boost::optional<std::vector<Matrix>&> H = boost::none) const {
-    DefaultChart<T> chart;
      if (H) {
       const T value = expression_.value(x, keys_, dims_, *H);
-      return chart.local(measurement_, value);
+      return traits_x<T>::Local(measurement_, value);
     } else {
       const T value = expression_.value(x);
-      return chart.local(measurement_, value);
+      return traits_x<T>::Local(measurement_, value);
     }
   }
 
@@ -97,8 +96,7 @@ public:
     T value = expression_.value(x, jacobianMap); // <<< Reverse AD happens here !
 
     // Evaluate error and set RHS vector b
-    DefaultChart<T> chart;
-    Ab(size()).col(0) = -chart.local(measurement_, value);
+    Ab(size()).col(0) = -traits_x<T>::Local(measurement_, value);
 
     // Whiten the corresponding system, Ab already contains RHS
     Vector dummy(Dim);

gtsam_unstable/nonlinear/expressionTesting.h

@@ -107,7 +107,7 @@ void testExpressionJacobians(TestResult& result_, const std::string& name_,
     const gtsam::Expression<T>& expression, const gtsam::Values& values,
     double nd_step, double tolerance) {
   // Create factor
-  size_t size = traits::dimension<T>::value;
+  size_t size = traits_x<T>::dimension;
   ExpressionFactor<T> f(noiseModel::Unit::Create(size),
       expression.value(values), expression);
   testFactorJacobians(result_, name_, f, values, nd_step, tolerance);

gtsam_unstable/slam/SmartStereoProjectionFactor.h

@@ -107,7 +107,7 @@ protected:
   /// shorthand for this class
   typedef SmartStereoProjectionFactor<POSE, LANDMARK, CALIBRATION, D> This;
 
-  typedef traits::dimension<gtsam::StereoPoint2> ZDim_t;    ///< Dimension trait of measurement type
+  enum {ZDim = traits_x<gtsam::StereoPoint2>::dimension};    ///< Dimension trait of measurement type
 
 public:
 
@@ -482,7 +482,7 @@ public:
     if (triangulateForLinearize(cameras))
       return Base::createJacobianSVDFactor(cameras, point_, lambda);
     else
-      return boost::make_shared< JacobianFactorSVD<D, ZDim_t::value> >(this->keys_);
+      return boost::make_shared< JacobianFactorSVD<D, ZDim> >(this->keys_);
   }
 
   /// Returns true if nonDegenerate