Merge pull request #1370 from borglab/feature/NoiseModelFactorN_undep…

…recate
borglab · Jan 5, 2023 · 7bd4556 · 7bd4556
2 parents 181e9c4 + 8f2c978
commit 7bd4556
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Showing 19 changed files with 138 additions and 342 deletions.
diff --git a/gtsam/inference/graph-inl.h b/gtsam/inference/graph-inl.h
@@ -200,8 +200,8 @@ boost::shared_ptr<Values> composePoses(const G& graph, const PredecessorMap<KEY>
     boost::shared_ptr<Factor> factor = boost::dynamic_pointer_cast<Factor>(nl_factor);
     if (!factor) continue;
 
-    KEY key1 = factor->template key<1>();
-    KEY key2 = factor->template key<2>();
+    KEY key1 = factor->key1();
+    KEY key2 = factor->key2();
 
     PoseVertex v1 = key2vertex.find(key1)->second;
     PoseVertex v2 = key2vertex.find(key2)->second;
@@ -270,8 +270,8 @@ void split(const G& g, const PredecessorMap<KEY>& tree, G& Ab1, G& Ab2) {
         FACTOR2>(factor);
     if (!factor2) continue;
 
-    KEY key1 = factor2->template key<1>();
-    KEY key2 = factor2->template key<2>();
+    KEY key1 = factor2->key1();
+    KEY key2 = factor2->key2();
     // if the tree contains the key
     if ((tree.find(key1) != tree.end() &&
        tree.find(key1)->second.compare(key2) == 0) ||

diff --git a/gtsam/nonlinear/FunctorizedFactor.h b/gtsam/nonlinear/FunctorizedFactor.h
@@ -101,7 +101,7 @@ class FunctorizedFactor : public NoiseModelFactorN<T> {
       const KeyFormatter &keyFormatter = DefaultKeyFormatter) const override {
     Base::print(s, keyFormatter);
     std::cout << s << (s != "" ? " " : "") << "FunctorizedFactor("
-              << keyFormatter(this->template key<1>()) << ")" << std::endl;
+              << keyFormatter(this->key1()) << ")" << std::endl;
     traits<R>::Print(measured_, "  measurement: ");
     std::cout << "  noise model sigmas: " << noiseModel_->sigmas().transpose()
               << std::endl;
@@ -208,8 +208,8 @@ class FunctorizedFactor2 : public NoiseModelFactorN<T1, T2> {
       const KeyFormatter &keyFormatter = DefaultKeyFormatter) const override {
     Base::print(s, keyFormatter);
     std::cout << s << (s != "" ? " " : "") << "FunctorizedFactor2("
-              << keyFormatter(this->template key<1>()) << ", "
-              << keyFormatter(this->template key<2>()) << ")" << std::endl;
+              << keyFormatter(this->key1()) << ", "
+              << keyFormatter(this->key2()) << ")" << std::endl;
     traits<R>::Print(measured_, "  measurement: ");
     std::cout << "  noise model sigmas: " << noiseModel_->sigmas().transpose()
               << std::endl;