typedef typename ... doesn't compile for me. Removing typename makes it work.
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				|  | @ -97,7 +97,7 @@ TEST( ExtendedKalmanFilter, linear ) { | |||
| // Create Motion Model Factor
 | ||||
| class NonlinearMotionModel : public NonlinearFactor2<LinearValues,LinearKey,LinearKey> { | ||||
| public: | ||||
|   typedef typename LinearKey::Value T; | ||||
|   typedef LinearKey::Value T; | ||||
| 
 | ||||
| private: | ||||
|   typedef NonlinearFactor2<LinearValues,LinearKey,LinearKey> Base; | ||||
|  | @ -245,7 +245,7 @@ public: | |||
| // Create Measurement Model Factor
 | ||||
| class NonlinearMeasurementModel : public NonlinearFactor1<LinearValues,LinearKey> { | ||||
| public: | ||||
|   typedef typename LinearKey::Value T; | ||||
|   typedef LinearKey::Value T; | ||||
| 
 | ||||
| private: | ||||
| 
 | ||||
|  |  | |||
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