MATLAB Planar SLAM example fails

[Frank Dellaert]

Possibly because of RangeFactor re-factor to an ExpressionFactor

[Jacob Thomson]

My solution for this was to specialize the RANGE template for doubles:

#include <gtsam/sam/BearingRangeFactor.h>
template<POSE, POINT, BEARING>
virtual class BearingRangeFactor : gtsam::NoiseModelFactor {
  BearingRangeFactor(size_t poseKey, size_t pointKey,
      const BEARING& measuredBearing, double measuredRange,
      const gtsam::noiseModel::Base* noiseModel);

  // enabling serialization functionality
  void serialize() const;
};

typedef gtsam::BearingRangeFactor<gtsam::Pose2, gtsam::Point2, gtsam::Rot2> BearingRangeFactor2D;

Not sure if that is the right way but it is similar to what RangeFactor did.

[Jacob Thomson]

The wrapping code is looking for a class called double which isn't defined.

[Frank Dellaert]

Fixed in current develop (will soon be tagged as 4.0)