Add deprecated aliases for X1 = ValueType<1>, ...

doc/Code/LocalizationFactor.cpp

@@ -1,9 +1,9 @@
-class UnaryFactor: public NoiseModelFactor1<Pose2> {
+class UnaryFactor: public NoiseModelFactorN<Pose2> {
   double mx_, my_; ///< X and Y measurements
 
 public:
   UnaryFactor(Key j, double x, double y, const SharedNoiseModel& model):
-    NoiseModelFactor1<Pose2>(model, j), mx_(x), my_(y) {}
+    NoiseModelFactorN<Pose2>(model, j), mx_(x), my_(y) {}
 
   Vector evaluateError(const Pose2& q, 
       boost::optional<Matrix&> H = boost::none) const override {

gtsam/navigation/AHRSFactor.h

@@ -128,8 +128,9 @@ class GTSAM_EXPORT PreintegratedAhrsMeasurements : public PreintegratedRotation
   }
 };
 
-class GTSAM_EXPORT AHRSFactor: public NoiseModelFactorN<Rot3, Rot3, Vector3> {
-
+class GTSAM_EXPORT AHRSFactor
+    : public NoiseModelFactorN<Rot3, Rot3, Vector3>,
+      public DeprecatedFactorAliases<Rot3, Rot3, Vector3> {
   typedef AHRSFactor This;
   typedef NoiseModelFactorN<Rot3, Rot3, Vector3> Base;
 

gtsam/navigation/AttitudeFactor.h

@@ -76,7 +76,8 @@ class AttitudeFactor {
  * Version of AttitudeFactor for Rot3
  * @ingroup navigation
  */
-class GTSAM_EXPORT Rot3AttitudeFactor: public NoiseModelFactorN<Rot3>, public AttitudeFactor {
+class GTSAM_EXPORT Rot3AttitudeFactor : public NoiseModelFactorN<Rot3>,
+                                        public DeprecatedFactorAliases<Rot3>, public AttitudeFactor {
 
   typedef NoiseModelFactorN<Rot3> Base;
 
@@ -151,6 +152,7 @@ template<> struct traits<Rot3AttitudeFactor> : public Testable<Rot3AttitudeFacto
  * @ingroup navigation
  */
 class GTSAM_EXPORT Pose3AttitudeFactor: public NoiseModelFactorN<Pose3>,
+                                        public DeprecatedFactorAliases<Pose3>,
     public AttitudeFactor {
 
   typedef NoiseModelFactorN<Pose3> Base;

gtsam/navigation/BarometricFactor.h

@@ -31,7 +31,10 @@ namespace gtsam {
  * https://www.grc.nasa.gov/www/k-12/airplane/atmosmet.html
  * @ingroup navigation
  */
-class GTSAM_EXPORT BarometricFactor : public NoiseModelFactorN<Pose3, double> {
+class GTSAM_EXPORT BarometricFactor
+    : public NoiseModelFactorN<Pose3, double>,
+      public DeprecatedFactorAliases<Pose3, double> {
+
    private:
     typedef NoiseModelFactorN<Pose3, double> Base;
 

gtsam/navigation/CombinedImuFactor.h

@@ -255,11 +255,12 @@ class GTSAM_EXPORT PreintegratedCombinedMeasurements : public PreintegrationType
  *
  * @ingroup navigation
  */
-class GTSAM_EXPORT CombinedImuFactor: public NoiseModelFactorN<Pose3, Vector3, Pose3,
-    Vector3, imuBias::ConstantBias, imuBias::ConstantBias> {
-public:
-
-private:
+class GTSAM_EXPORT CombinedImuFactor
+    : public NoiseModelFactorN<Pose3, Vector3, Pose3, Vector3,
+                               imuBias::ConstantBias, imuBias::ConstantBias>,
+      public DeprecatedFactorAliases<Pose3, Vector3, Pose3, Vector3,
+                                imuBias::ConstantBias, imuBias::ConstantBias> {
+ private:
 
   typedef CombinedImuFactor This;
   typedef NoiseModelFactorN<Pose3, Vector3, Pose3, Vector3,

gtsam/navigation/ConstantVelocityFactor.h

@@ -26,7 +26,9 @@ namespace gtsam {
  * Binary factor for applying a constant velocity model to a moving body represented as a NavState.
  * The only measurement is dt, the time delta between the states.
  */
-class ConstantVelocityFactor : public NoiseModelFactorN<NavState, NavState> {
+class ConstantVelocityFactor : public NoiseModelFactorN<NavState, NavState>,
+                               public DeprecatedFactorAliases<NavState, NavState> {
+
     double dt_;
 
    public:

gtsam/navigation/GPSFactor.h

@@ -32,7 +32,8 @@ namespace gtsam {
  * See Farrell08book or e.g. http://www.dirsig.org/docs/new/coordinates.html
  * @ingroup navigation
  */
-class GTSAM_EXPORT GPSFactor: public NoiseModelFactorN<Pose3> {
+class GTSAM_EXPORT GPSFactor: public NoiseModelFactorN<Pose3>,
+                              public DeprecatedFactorAliases<Pose3> {
 
 private:
 
@@ -111,7 +112,8 @@ class GTSAM_EXPORT GPSFactor: public NoiseModelFactorN<Pose3> {
  * Version of GPSFactor for NavState
  * @ingroup navigation
  */
-class GTSAM_EXPORT GPSFactor2: public NoiseModelFactorN<NavState> {
+class GTSAM_EXPORT GPSFactor2: public NoiseModelFactorN<NavState>,
+                               public DeprecatedFactorAliases<NavState> {
 
 private:
 

gtsam/navigation/ImuFactor.h

@@ -169,7 +169,10 @@ class GTSAM_EXPORT PreintegratedImuMeasurements: public PreintegrationType {
  * @ingroup navigation
  */
 class GTSAM_EXPORT ImuFactor: public NoiseModelFactorN<Pose3, Vector3, Pose3, Vector3,
+    imuBias::ConstantBias>,
+                              public DeprecatedFactorAliases<Pose3, Vector3, Pose3, Vector3,
     imuBias::ConstantBias> {
+
 private:
 
   typedef ImuFactor This;
@@ -260,7 +263,9 @@ class GTSAM_EXPORT ImuFactor: public NoiseModelFactorN<Pose3, Vector3, Pose3, Ve
  * ImuFactor2 is a ternary factor that uses NavStates rather than Pose/Velocity.
  * @ingroup navigation
  */
-class GTSAM_EXPORT ImuFactor2 : public NoiseModelFactorN<NavState, NavState, imuBias::ConstantBias> {
+class GTSAM_EXPORT ImuFactor2 : public NoiseModelFactorN<NavState, NavState, imuBias::ConstantBias>,
+                                public DeprecatedFactorAliases<NavState, NavState, imuBias::ConstantBias> {
+
 private:
 
   typedef ImuFactor2 This;

gtsam/navigation/MagFactor.h

@@ -30,7 +30,8 @@ namespace gtsam {
  * and assumes scale, direction, and the bias are given.
  * Rotation is around negative Z axis, i.e. positive is yaw to right!
  */
-class MagFactor: public NoiseModelFactorN<Rot2> {
+class MagFactor: public NoiseModelFactorN<Rot2>,
+                 public DeprecatedFactorAliases<Rot2> {
 
   const Point3 measured_; ///< The measured magnetometer values
   const Point3 nM_; ///< Local magnetic field (mag output units)
@@ -87,7 +88,8 @@ class MagFactor: public NoiseModelFactorN<Rot2> {
  * This version uses model measured bM = scale * bRn * direction + bias
  * and assumes scale, direction, and the bias are given
  */
-class MagFactor1: public NoiseModelFactorN<Rot3> {
+class MagFactor1: public NoiseModelFactorN<Rot3>,
+                  public DeprecatedFactorAliases<Rot3> {
 
   const Point3 measured_; ///< The measured magnetometer values
   const Point3 nM_; ///< Local magnetic field (mag output units)
@@ -125,7 +127,8 @@ class MagFactor1: public NoiseModelFactorN<Rot3> {
  * This version uses model measured bM = bRn * nM + bias
  * and optimizes for both nM and the bias, where nM is in units defined by magnetometer
  */
-class MagFactor2: public NoiseModelFactorN<Point3, Point3> {
+class MagFactor2: public NoiseModelFactorN<Point3, Point3>,
+                  public DeprecatedFactorAliases<Point3, Point3> {
 
   const Point3 measured_; ///< The measured magnetometer values
   const Rot3 bRn_; ///< The assumed known rotation from nav to body
@@ -166,7 +169,8 @@ class MagFactor2: public NoiseModelFactorN<Point3, Point3> {
  * This version uses model measured bM = scale * bRn * direction + bias
  * and optimizes for both scale, direction, and the bias.
  */
-class MagFactor3: public NoiseModelFactorN<double, Unit3, Point3> {
+class MagFactor3: public NoiseModelFactorN<double, Unit3, Point3>,
+                  public DeprecatedFactorAliases<double, Unit3, Point3> {
 
   const Point3 measured_; ///< The measured magnetometer values
   const Rot3 bRn_; ///< The assumed known rotation from nav to body

gtsam/navigation/MagPoseFactor.h

@@ -25,7 +25,9 @@ namespace gtsam {
  * expressed in the sensor frame.
  */
 template <class POSE>
-class MagPoseFactor: public NoiseModelFactorN<POSE> {
+class MagPoseFactor: public NoiseModelFactorN<POSE>,
+                     public DeprecatedFactorAliases<POSE> {
+
  private:
   using This = MagPoseFactor<POSE>;
   using Base = NoiseModelFactorN<POSE>;

gtsam/nonlinear/ExtendedKalmanFilter.h

@@ -53,8 +53,8 @@ class ExtendedKalmanFilter {
 
 #ifdef GTSAM_ALLOW_DEPRECATED_SINCE_V42
   //@deprecated: any NoiseModelFactor will do, as long as they have the right keys
-  typedef NoiseModelFactorN<VALUE, VALUE> MotionFactor;
-  typedef NoiseModelFactorN<VALUE> MeasurementFactor;
+  typedef NoiseModelFactor2<VALUE, VALUE> MotionFactor;
+  typedef NoiseModelFactor1<VALUE> MeasurementFactor;
 #endif
 
  protected:

gtsam/nonlinear/FunctorizedFactor.h

@@ -56,7 +56,9 @@ namespace gtsam {
  *     MultiplyFunctor(multiplier));
  */
 template <typename R, typename T>
-class FunctorizedFactor : public NoiseModelFactorN<T> {
+class FunctorizedFactor : public NoiseModelFactorN<T>,
+                          public DeprecatedFactorAliases<T> {
+
  private:
   using Base = NoiseModelFactorN<T>;
 
@@ -156,7 +158,9 @@ FunctorizedFactor<R, T> MakeFunctorizedFactor(Key key, const R &z,
  * @param T2: The second argument type for the functor.
  */
 template <typename R, typename T1, typename T2>
-class FunctorizedFactor2 : public NoiseModelFactorN<T1, T2> {
+class FunctorizedFactor2 : public NoiseModelFactorN<T1, T2>,
+                           public DeprecatedFactorAliases<T1, T2> {
+
  private:
   using Base = NoiseModelFactorN<T1, T2>;
 

gtsam/nonlinear/NonlinearEquality.h

@@ -42,7 +42,8 @@ namespace gtsam {
  * \nosubgrouping
  */
 template<class VALUE>
-class NonlinearEquality: public NoiseModelFactorN<VALUE> {
+class NonlinearEquality: public NoiseModelFactorN<VALUE>,
+                         public DeprecatedFactorAliases<VALUE> {
 
 public:
   typedef VALUE T;
@@ -204,7 +205,8 @@ struct traits<NonlinearEquality<VALUE>> : Testable<NonlinearEquality<VALUE>> {};
  * Simple unary equality constraint - fixes a value for a variable
  */
 template<class VALUE>
-class NonlinearEquality1: public NoiseModelFactorN<VALUE> {
+class NonlinearEquality1: public NoiseModelFactorN<VALUE>,
+                          public DeprecatedFactorAliases<VALUE> {
 
 public:
   typedef VALUE X;
@@ -292,7 +294,9 @@ struct traits<NonlinearEquality1<VALUE> >
  * be the same.
  */
 template <class T>
-class NonlinearEquality2 : public NoiseModelFactorN<T, T> {
+class NonlinearEquality2 : public NoiseModelFactorN<T, T>,
+                           public DeprecatedFactorAliases<T, T> {
+
  protected:
   using Base = NoiseModelFactorN<T, T>;
   using This = NonlinearEquality2<T>;