Even more concise by templating on second argument. Made return type explicit in HasRange/HasBearing.

gtsam/geometry/BearingRange.h

@@ -94,7 +94,7 @@ struct traits<BearingRange<A1, A2> >
       internal::ManifoldTraits<BearingRange<A1, A2> > {};
 
 // Helper class for to implement Range traits for classes with a bearing method
-template <class A1, typename A2, class T = double>
+template <class A1, typename A2, class T>
 struct HasBearing {
   typedef T result_type;
   T operator()(
@@ -106,7 +106,7 @@ struct HasBearing {
 };
 
 // Helper class for to implement Range traits for classes with a range method
-template <class A1, typename A2, class T = double>
+template <class A1, typename A2, class T>
 struct HasRange {
   typedef T result_type;
   T operator()(

gtsam/geometry/CalibratedCamera.h

@@ -393,14 +393,8 @@ template <>
 struct traits<const CalibratedCamera> : public internal::Manifold<CalibratedCamera> {};
 
 // range traits, used in RangeFactor
-template <>
+template <typename T>
-struct Range<CalibratedCamera, Point3> : HasRange<CalibratedCamera, Point3> {};
+struct Range<CalibratedCamera, T> : HasRange<CalibratedCamera, T, double> {};
-
-template <>
-struct Range<CalibratedCamera, Pose3> : HasRange<CalibratedCamera, Pose3> {};
-
-template <>
-struct Range<CalibratedCamera, CalibratedCamera> : HasRange<CalibratedCamera, CalibratedCamera> {};
 
 }  // namespace gtsam
 

gtsam/geometry/PinholeCamera.h

@@ -314,20 +314,7 @@ struct traits<const PinholeCamera<Calibration> >
     : public internal::Manifold<PinholeCamera<Calibration> > {};
 
 // range traits, used in RangeFactor
-template <typename Calibration>
+template <typename Calibration, typename T>
-struct Range<PinholeCamera<Calibration>, Point3>
+struct Range<PinholeCamera<Calibration>, T> : HasRange<PinholeCamera<Calibration>, T, double> {};
-    : HasRange<PinholeCamera<Calibration>, Point3> {};
-
-template <typename Calibration>
-struct Range<PinholeCamera<Calibration>, Pose3>
-    : HasRange<PinholeCamera<Calibration>, Pose3> {};
-
-template <typename CalibrationA, typename CalibrationB>
-struct Range<PinholeCamera<CalibrationA>, PinholeCamera<CalibrationB> >
-    : HasRange<PinholeCamera<CalibrationA>, PinholeCamera<CalibrationB> > {};
-
-template <typename Calibration>
-struct Range<PinholeCamera<Calibration>, CalibratedCamera>
-    : HasRange<PinholeCamera<Calibration>, CalibratedCamera> {};
 
 }  // \ gtsam

gtsam/geometry/Pose2.h

@@ -298,17 +298,11 @@ template <>
 struct traits<const Pose2> : public internal::LieGroup<Pose2> {};
 
 // bearing and range traits, used in RangeFactor
-template <>
+template <typename T>
-struct Bearing<Pose2, Point2> : HasBearing<Pose2, Point2, Rot2> {};
+struct Bearing<Pose2, T> : HasBearing<Pose2, T, Rot2> {};
 
-template <>
+template <typename T>
-struct Bearing<Pose2, Pose2> : HasBearing<Pose2, Pose2, Rot2> {};
+struct Range<Pose2, T> : HasRange<Pose2, T, double> {};
-
-template <>
-struct Range<Pose2, Point2> : HasRange<Pose2, Point2> {};
-
-template <>
-struct Range<Pose2, Pose2> : HasRange<Pose2, Pose2> {};
 
 } // namespace gtsam
 

gtsam/geometry/Pose3.h

@@ -342,10 +342,7 @@ struct traits<const Pose3> : public internal::LieGroup<Pose3> {};
 template <>
 struct Bearing<Pose3, Point3> : HasBearing<Pose3, Point3, Unit3> {};
 
-template <>
+template <typename T>
-struct Range<Pose3, Point3> : HasRange<Pose3, Point3> {};
+struct Range<Pose3, T> : HasRange<Pose3, T, double> {};
-
-template <>
-struct Range<Pose3, Pose3> : HasRange<Pose3, Pose3> {};
 
 }  // namespace gtsam

gtsam/geometry/SimpleCamera.h

@@ -137,17 +137,7 @@ template <>
 struct traits<const SimpleCamera> : public internal::Manifold<SimpleCamera> {};
 
 // range traits, used in RangeFactor
-template <>
+template <typename T>
-struct Range<SimpleCamera, Point3> : HasRange<SimpleCamera, Point3> {};
+struct Range<SimpleCamera, T> : HasRange<SimpleCamera, T, double> {};
-
-template <>
-struct Range<SimpleCamera, Pose3> : HasRange<SimpleCamera, Pose3> {};
-
-template <>
-struct Range<SimpleCamera, SimpleCamera> : HasRange<SimpleCamera, SimpleCamera> {};
-
-template <typename Calibration>
-struct Range<SimpleCamera, PinholeCamera<Calibration> >
-    : HasRange<SimpleCamera, PinholeCamera<Calibration> > {};
 
 }  // namespace gtsam

gtsam/sam/tests/testRangeFactor.cpp

@@ -19,6 +19,7 @@
 #include <gtsam/sam/RangeFactor.h>
 #include <gtsam/geometry/Pose3.h>
 #include <gtsam/geometry/Pose2.h>
+#include <gtsam/geometry/SimpleCamera.h>
 #include <gtsam/base/numericalDerivative.h>
 #include <gtsam/base/serializationTestHelpers.h>
 #include <gtsam/base/TestableAssertions.h>
@@ -347,6 +348,14 @@ TEST(RangeFactor, Point3) {
   CHECK(assert_equal(expectedError, factor.evaluateError(pose, point), 1e-9));
 }
 
+/* ************************************************************************* */
+// Do tests with SimpleCamera
+TEST( RangeFactor, Camera) {
+  RangeFactor<SimpleCamera,Point3> factor1(poseKey, pointKey, measurement, model);
+  RangeFactor<SimpleCamera,Pose3> factor2(poseKey, pointKey, measurement, model);
+  RangeFactor<SimpleCamera,SimpleCamera> factor3(poseKey, pointKey, measurement, model);
+}
+
 /* ************************************************************************* */
 // Do a test with non GTSAM types