From f63db8859b90b7e7710a24123fb8edc2dca98e9d Mon Sep 17 00:00:00 2001
From: Luca <luca.carlone@gatech.edu>
Date: Tue, 15 Apr 2014 10:56:07 -0400
Subject: [PATCH] addind wrapper for smart factors

---
 gtsam_unstable/gtsam_unstable.h | 14 ++++++++++++++
 1 file changed, 14 insertions(+)

diff --git a/gtsam_unstable/gtsam_unstable.h b/gtsam_unstable/gtsam_unstable.h
index 80ee41b22..7ccde30a4 100644
--- a/gtsam_unstable/gtsam_unstable.h
+++ b/gtsam_unstable/gtsam_unstable.h
@@ -376,6 +376,20 @@ virtual class SmartRangeFactor : gtsam::NoiseModelFactor {
 
 };
 
+//#include <gtsam_unstable/slam/SmartProjectionPoseFactor.h>
+//template<POSE, LANDMARK, CALIBRATION>
+//virtual class SmartProjectionPoseFactor: public SmartProjectionFactor<POSE, LANDMARK, CALIBRATION, 6> {
+
+//  SmartProjectionPoseFactor(const double rankTol, const double linThreshold,
+//      const bool manageDegeneracy, const bool enableEPI, const POSE& body_P_sensor);
+//
+//  void add(const Point2 measured_i, const Key poseKey_i, const SharedNoiseModel noise_i,
+//      const CALIBRATION* K_i);
+//
+//  // enabling serialization functionality
+//  void serialize() const;
+};
+
 
 #include <gtsam/slam/RangeFactor.h>
 template<POSE, POINT>