From f76c7be5b29555c1bd782b67767cd4b54aaf15e2 Mon Sep 17 00:00:00 2001
From: Richard Roberts <richard.jw.roberts@gmail.com>
Date: Fri, 20 Jan 2012 16:26:45 +0000
Subject: [PATCH] (in branch) more implementation for DynamicValues

---
 gtsam/nonlinear/DynamicValues-inl.h | 4 +++-
 gtsam/nonlinear/DynamicValues.cpp   | 8 ++++----
 2 files changed, 7 insertions(+), 5 deletions(-)

diff --git a/gtsam/nonlinear/DynamicValues-inl.h b/gtsam/nonlinear/DynamicValues-inl.h
index f11b2f9f5..deb81d567 100644
--- a/gtsam/nonlinear/DynamicValues-inl.h
+++ b/gtsam/nonlinear/DynamicValues-inl.h
@@ -22,6 +22,8 @@
  *  which is also a manifold element, and hence supports operations dim, retract, and localCoordinates.
  */
 
+#include <utility>
+
 #include <gtsam/nonlinear/DynamicValues.h> // Only so Eclipse finds class definition
 
 namespace gtsam {
@@ -94,7 +96,7 @@ namespace gtsam {
   /* ************************************************************************* */
   template<class ValueType>
   void DynamicValues::insert(const Symbol& j, const ValueType& val) {
-    pair<iterator,bool> insertResult = values_.insert(make_pair(j, ValuePtr(new ValueType(val))));
+    std::pair<iterator,bool> insertResult = values_.insert(make_pair(j, ValuePtr(new ValueType(val))));
     if(!insertResult.second)
       throw DynamicValuesKeyAlreadyExists(j);
   }
diff --git a/gtsam/nonlinear/DynamicValues.cpp b/gtsam/nonlinear/DynamicValues.cpp
index 6a93a29f5..1901ab40e 100644
--- a/gtsam/nonlinear/DynamicValues.cpp
+++ b/gtsam/nonlinear/DynamicValues.cpp
@@ -78,7 +78,7 @@ namespace gtsam {
 
     BOOST_FOREACH(const KeyValuePair& key_value, values_) {
       const SubVector& singleDelta = delta[ordering[key_value.first]]; // Delta for this value
-      const std::auto_ptr<const Value> retractedValue = key_value.second->retract_(singleDelta); // Retract
+      ValuePtr retractedValue(key_value.second->retract_(singleDelta)); // Retract
       result.values_.insert(make_pair(key_value.first, retractedValue)); // Add retracted result directly to result values
     }
 
@@ -96,7 +96,7 @@ namespace gtsam {
   void DynamicValues::localCoordinates(const DynamicValues& cp, const Ordering& ordering, VectorValues& result) const {
     if(this->size() != cp.size())
       throw DynamicValuesMismatched();
-    for(const_iterator it1=this->begin(), it2=other.begin(); it1!=this->end(); ++it1, ++it2) {
+    for(const_iterator it1=this->begin(), it2=cp.begin(); it1!=this->end(); ++it1, ++it2) {
       if(it1->first != it2->first)
         throw DynamicValuesMismatched(); // If keys do not match
       result[ordering[it1->first]] = it1->second->localCoordinates_(*it2->second); // Will throw a dynamic_cast exception if types do not match
@@ -120,14 +120,14 @@ namespace gtsam {
   /* ************************************************************************* */
   void DynamicValues::erase(const Symbol& j) {
     iterator item = values_.find(j);
-    if(item == values_end)
+    if(item == values_.end())
       throw DynamicValuesKeyDoesNotExist("erase", j);
     values_.erase(item);
   }
 
   /* ************************************************************************* */
   FastList<Symbol> DynamicValues::keys() const {
-    return list<Symbol>(
+    return FastList<Symbol>(
         boost::make_transform_iterator(values_.begin(), &KeyValuePair::first),
         boost::make_transform_iterator(values_.end(), &KeyValuePair::first));
   }