From e1c984f2b490e983419a5ccce4b559776f207985 Mon Sep 17 00:00:00 2001
From: Richard Roberts <richard.jw.roberts@gmail.com>
Date: Wed, 26 Oct 2011 02:11:00 +0000
Subject: [PATCH] NonlinearFactorGraph::linearize returns GaussianFactorGraph
 instead of FactorGraph<GaussianFactor>

---
 gtsam/nonlinear/NonlinearFactorGraph-inl.h | 4 ++--
 gtsam/nonlinear/NonlinearFactorGraph.h     | 2 +-
 2 files changed, 3 insertions(+), 3 deletions(-)

diff --git a/gtsam/nonlinear/NonlinearFactorGraph-inl.h b/gtsam/nonlinear/NonlinearFactorGraph-inl.h
index a6f2bddb3..4704b26e9 100644
--- a/gtsam/nonlinear/NonlinearFactorGraph-inl.h
+++ b/gtsam/nonlinear/NonlinearFactorGraph-inl.h
@@ -125,11 +125,11 @@ namespace gtsam {
 
 	/* ************************************************************************* */
 	template<class VALUES>
-	typename FactorGraph<GaussianFactor>::shared_ptr NonlinearFactorGraph<VALUES>::linearize(
+	typename GaussianFactorGraph::shared_ptr NonlinearFactorGraph<VALUES>::linearize(
 			const VALUES& config, const Ordering& ordering) const {
 
 		// create an empty linear FG
-		typename FactorGraph<GaussianFactor>::shared_ptr linearFG(new FactorGraph<GaussianFactor>);
+		typename GaussianFactorGraph::shared_ptr linearFG(new GaussianFactorGraph);
 		linearFG->reserve(this->size());
 
 		// linearize all factors
diff --git a/gtsam/nonlinear/NonlinearFactorGraph.h b/gtsam/nonlinear/NonlinearFactorGraph.h
index 5a13a982f..c7f10475a 100644
--- a/gtsam/nonlinear/NonlinearFactorGraph.h
+++ b/gtsam/nonlinear/NonlinearFactorGraph.h
@@ -85,7 +85,7 @@ namespace gtsam {
 		/**
 		 * linearize a nonlinear factor graph
 		 */
-		boost::shared_ptr<FactorGraph<GaussianFactor> >
+		boost::shared_ptr<GaussianFactorGraph >
 				linearize(const VALUES& config, const Ordering& ordering) const;
 
 	private: