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

gtsam/navigation/AHRSFactor.h

@@ -128,7 +128,8 @@ class GTSAM_EXPORT PreintegratedAhrsMeasurements : public PreintegratedRotation
   }
 };
 
-class GTSAM_EXPORT AHRSFactor: public NoiseModelFactorN<Rot3, Rot3, Vector3> {
+class GTSAM_EXPORT AHRSFactor : public NoiseModelFactorN<Rot3, Rot3, Vector3> {
+  ADD_NOISE_MODEL_FACTOR_N_DEPRECATED_TYPEDEFS(AHRSFactor, 3);
 
   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 AttitudeFactor {
+  ADD_NOISE_MODEL_FACTOR_N_DEPRECATED_TYPEDEFS(Rot3AttitudeFactor, 1);
 
   typedef NoiseModelFactorN<Rot3> Base;
 
@@ -152,6 +153,7 @@ template<> struct traits<Rot3AttitudeFactor> : public Testable<Rot3AttitudeFacto
  */
 class GTSAM_EXPORT Pose3AttitudeFactor: public NoiseModelFactorN<Pose3>,
     public AttitudeFactor {
+  ADD_NOISE_MODEL_FACTOR_N_DEPRECATED_TYPEDEFS(Pose3AttitudeFactor, 1);
 
   typedef NoiseModelFactorN<Pose3> Base;
 

gtsam/navigation/BarometricFactor.h

@@ -32,6 +32,8 @@ namespace gtsam {
  * @ingroup navigation
  */
 class GTSAM_EXPORT BarometricFactor : public NoiseModelFactorN<Pose3, double> {
+  ADD_NOISE_MODEL_FACTOR_N_DEPRECATED_TYPEDEFS(BarometricFactor, 2);
+
    private:
     typedef NoiseModelFactorN<Pose3, double> Base;
 

gtsam/navigation/CombinedImuFactor.h

@@ -257,7 +257,7 @@ class GTSAM_EXPORT PreintegratedCombinedMeasurements : public PreintegrationType
  */
 class GTSAM_EXPORT CombinedImuFactor: public NoiseModelFactorN<Pose3, Vector3, Pose3,
     Vector3, imuBias::ConstantBias, imuBias::ConstantBias> {
-public:
+  ADD_NOISE_MODEL_FACTOR_N_DEPRECATED_TYPEDEFS(CombinedImuFactor, 6);
 
 private:
 

gtsam/navigation/ConstantVelocityFactor.h

@@ -27,6 +27,8 @@ namespace gtsam {
  * The only measurement is dt, the time delta between the states.
  */
 class ConstantVelocityFactor : public NoiseModelFactorN<NavState, NavState> {
+  ADD_NOISE_MODEL_FACTOR_N_DEPRECATED_TYPEDEFS(ConstantVelocityFactor, 2);
+
     double dt_;
 
    public:

gtsam/navigation/GPSFactor.h

@@ -33,6 +33,7 @@ namespace gtsam {
  * @ingroup navigation
  */
 class GTSAM_EXPORT GPSFactor: public NoiseModelFactorN<Pose3> {
+  ADD_NOISE_MODEL_FACTOR_N_DEPRECATED_TYPEDEFS(GPSFactor, 1);
 
 private:
 
@@ -112,6 +113,7 @@ class GTSAM_EXPORT GPSFactor: public NoiseModelFactorN<Pose3> {
  * @ingroup navigation
  */
 class GTSAM_EXPORT GPSFactor2: public NoiseModelFactorN<NavState> {
+  ADD_NOISE_MODEL_FACTOR_N_DEPRECATED_TYPEDEFS(GPSFactor2, 1);
 
 private:
 

gtsam/navigation/ImuFactor.h

@@ -170,6 +170,8 @@ class GTSAM_EXPORT PreintegratedImuMeasurements: public PreintegrationType {
  */
 class GTSAM_EXPORT ImuFactor: public NoiseModelFactorN<Pose3, Vector3, Pose3, Vector3,
     imuBias::ConstantBias> {
+  ADD_NOISE_MODEL_FACTOR_N_DEPRECATED_TYPEDEFS(ImuFactor, 5);
+
 private:
 
   typedef ImuFactor This;
@@ -261,6 +263,8 @@ class GTSAM_EXPORT ImuFactor: public NoiseModelFactorN<Pose3, Vector3, Pose3, Ve
  * @ingroup navigation
  */
 class GTSAM_EXPORT ImuFactor2 : public NoiseModelFactorN<NavState, NavState, imuBias::ConstantBias> {
+  ADD_NOISE_MODEL_FACTOR_N_DEPRECATED_TYPEDEFS(ImuFactor2, 3);
+
 private:
 
   typedef ImuFactor2 This;

gtsam/navigation/MagFactor.h

@@ -31,6 +31,7 @@ namespace gtsam {
  * Rotation is around negative Z axis, i.e. positive is yaw to right!
  */
 class MagFactor: public NoiseModelFactorN<Rot2> {
+  ADD_NOISE_MODEL_FACTOR_N_DEPRECATED_TYPEDEFS(MagFactor, 1);
 
   const Point3 measured_; ///< The measured magnetometer values
   const Point3 nM_; ///< Local magnetic field (mag output units)
@@ -88,6 +89,7 @@ class MagFactor: public NoiseModelFactorN<Rot2> {
  * and assumes scale, direction, and the bias are given
  */
 class MagFactor1: public NoiseModelFactorN<Rot3> {
+  ADD_NOISE_MODEL_FACTOR_N_DEPRECATED_TYPEDEFS(MagFactor1, 1);
 
   const Point3 measured_; ///< The measured magnetometer values
   const Point3 nM_; ///< Local magnetic field (mag output units)
@@ -126,6 +128,7 @@ class MagFactor1: public NoiseModelFactorN<Rot3> {
  * and optimizes for both nM and the bias, where nM is in units defined by magnetometer
  */
 class MagFactor2: public NoiseModelFactorN<Point3, Point3> {
+  ADD_NOISE_MODEL_FACTOR_N_DEPRECATED_TYPEDEFS(MagFactor2, 2);
 
   const Point3 measured_; ///< The measured magnetometer values
   const Rot3 bRn_; ///< The assumed known rotation from nav to body
@@ -167,6 +170,7 @@ class MagFactor2: public NoiseModelFactorN<Point3, Point3> {
  * and optimizes for both scale, direction, and the bias.
  */
 class MagFactor3: public NoiseModelFactorN<double, Unit3, Point3> {
+  ADD_NOISE_MODEL_FACTOR_N_DEPRECATED_TYPEDEFS(MagFactor3, 3);
 
   const Point3 measured_; ///< The measured magnetometer values
   const Rot3 bRn_; ///< The assumed known rotation from nav to body

gtsam/navigation/MagPoseFactor.h

@@ -26,6 +26,8 @@ namespace gtsam {
  */
 template <class POSE>
 class MagPoseFactor: public NoiseModelFactorN<POSE> {
+  ADD_NOISE_MODEL_FACTOR_N_DEPRECATED_TYPEDEFS(MagPoseFactor, 1);
+
  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

@@ -57,6 +57,8 @@ namespace gtsam {
  */
 template <typename R, typename T>
 class FunctorizedFactor : public NoiseModelFactorN<T> {
+  ADD_NOISE_MODEL_FACTOR_N_DEPRECATED_TYPEDEFS(FunctorizedFactor, 1);
+
  private:
   using Base = NoiseModelFactorN<T>;
 
@@ -157,6 +159,8 @@ FunctorizedFactor<R, T> MakeFunctorizedFactor(Key key, const R &z,
  */
 template <typename R, typename T1, typename T2>
 class FunctorizedFactor2 : public NoiseModelFactorN<T1, T2> {
+  ADD_NOISE_MODEL_FACTOR_N_DEPRECATED_TYPEDEFS(FunctorizedFactor2, 2);
+
  private:
   using Base = NoiseModelFactorN<T1, T2>;
 

gtsam/nonlinear/NonlinearEquality.h

@@ -43,6 +43,7 @@ namespace gtsam {
  */
 template<class VALUE>
 class NonlinearEquality: public NoiseModelFactorN<VALUE> {
+  ADD_NOISE_MODEL_FACTOR_N_DEPRECATED_TYPEDEFS(NonlinearEquality, 1);
 
 public:
   typedef VALUE T;
@@ -293,6 +294,8 @@ struct traits<NonlinearEquality1<VALUE> >
  */
 template <class T>
 class NonlinearEquality2 : public NoiseModelFactorN<T, T> {
+  ADD_NOISE_MODEL_FACTOR_N_DEPRECATED_TYPEDEFS(NonlinearEquality2, 2);
+
  protected:
   using Base = NoiseModelFactorN<T, T>;
   using This = NonlinearEquality2<T>;

gtsam/nonlinear/NonlinearFactor.h

@@ -594,6 +594,51 @@ class NoiseModelFactorN : public NoiseModelFactor {
 
 };  // \class NoiseModelFactorN
 
+/******************************************************************************
+ * THE REMAINDER OF THIS FILE IS JUST FOR DEPRECATED BACKWARD COMPATIBILITY   *
+ * DEFINITIONS.  DO NOT USE THESE FOR NEW CODE                                *
+ ******************************************************************************/
+
+/** Convenience macros to add deprecated typedefs `X1`, `X2`, ..., `X6`.
+ * This was only used to maintain backwards compatibility of existing factors!
+ * Do NOT use for new factors!
+ * When transitioning from NoiseModelFactor1 to NoiseModelFactorN, this macro
+ * was used to add deprecated typedefs for the old NoiseModelFactor1.
+ * Usage example:
+ * ```
+ * class MyFactor : public NoiseModelFactorN<Pose3, Point3> {
+ *  ADD_NOISE_MODEL_FACTOR_N_DEPRECATED_TYPEDEFS(MyFactor, 2);
+ *  // class implementation ...
+ * };
+ * 
+ * // MyFactor::X1 == Pose3
+ * // MyFactor::X2 == Point3
+ * ```
+ */
+#define ADD_NOISE_MODEL_FACTOR_N_DEPRECATED_TYPEDEFS1(CLASS) \
+  using X GTSAM_DEPRECATED = typename CLASS::template ValueType<1>;
+#define ADD_NOISE_MODEL_FACTOR_N_DEPRECATED_TYPEDEFS1_(CLASS) \
+  using X1 GTSAM_DEPRECATED = typename CLASS::template ValueType<1>;
+#define ADD_NOISE_MODEL_FACTOR_N_DEPRECATED_TYPEDEFS2(CLASS) \
+  ADD_NOISE_MODEL_FACTOR_N_DEPRECATED_TYPEDEFS1_(CLASS)      \
+  using X2 GTSAM_DEPRECATED = typename CLASS::template ValueType<2>;
+#define ADD_NOISE_MODEL_FACTOR_N_DEPRECATED_TYPEDEFS3(CLASS) \
+  ADD_NOISE_MODEL_FACTOR_N_DEPRECATED_TYPEDEFS2(CLASS)       \
+  using X3 GTSAM_DEPRECATED = typename CLASS::template ValueType<3>;
+#define ADD_NOISE_MODEL_FACTOR_N_DEPRECATED_TYPEDEFS4(CLASS) \
+  ADD_NOISE_MODEL_FACTOR_N_DEPRECATED_TYPEDEFS3(CLASS)       \
+  using X4 GTSAM_DEPRECATED = typename CLASS::template ValueType<4>;
+#define ADD_NOISE_MODEL_FACTOR_N_DEPRECATED_TYPEDEFS5(CLASS) \
+  ADD_NOISE_MODEL_FACTOR_N_DEPRECATED_TYPEDEFS4(CLASS)       \
+  using X5 GTSAM_DEPRECATED = typename CLASS::template ValueType<5>;
+#define ADD_NOISE_MODEL_FACTOR_N_DEPRECATED_TYPEDEFS6(CLASS) \
+  ADD_NOISE_MODEL_FACTOR_N_DEPRECATED_TYPEDEFS5(CLASS)       \
+  using X6 GTSAM_DEPRECATED = typename CLASS::template ValueType<6>;
+#define ADD_NOISE_MODEL_FACTOR_N_DEPRECATED_TYPEDEFS(CLASS, N) \
+ public:                                                       \
+  ADD_NOISE_MODEL_FACTOR_N_DEPRECATED_TYPEDEFS##N(CLASS);      \
+ private:
+
 /* ************************************************************************* */
 /** @deprecated: use NoiseModelFactorN, replacing .key() with .key<1>() and X1
  * with ValueType<1>.
@@ -604,6 +649,9 @@ class NoiseModelFactorN : public NoiseModelFactor {
  * A convenient base class for creating your own NoiseModelFactor
  * with 1 variable.  To derive from this class, implement evaluateError().
  */
+CLANG_DIAGNOSTIC_PUSH_IGNORE("-Wdeprecated-declarations")  // Silence warnings
+GCC_DIAGNOSTIC_PUSH_IGNORE("-Wdeprecated-declarations")    // while we define
+MSVC_DIAGNOSTIC_PUSH_IGNORE(4996)                          // deprecated classes
 template <class VALUE>
 class GTSAM_DEPRECATED NoiseModelFactor1 : public NoiseModelFactorN<VALUE> {
  public:
@@ -857,5 +905,6 @@ class GTSAM_DEPRECATED NoiseModelFactor6
         "NoiseModelFactor", boost::serialization::base_object<Base>(*this));
   }
 };  // \class NoiseModelFactor6
+DIAGNOSTIC_POP() // Finish silencing warnings
 
 } // \namespace gtsam

gtsam/nonlinear/PriorFactor.h

@@ -28,6 +28,7 @@ namespace gtsam {
    */
   template<class VALUE>
   class PriorFactor: public NoiseModelFactorN<VALUE> {
+    ADD_NOISE_MODEL_FACTOR_N_DEPRECATED_TYPEDEFS(PriorFactor, 1);
 
   public:
     typedef VALUE T;

gtsam/sfm/ShonanFactor.h

@@ -34,6 +34,8 @@ namespace gtsam {
  */
 template <size_t d>
 class GTSAM_EXPORT ShonanFactor : public NoiseModelFactorN<SOn, SOn> {
+  ADD_NOISE_MODEL_FACTOR_N_DEPRECATED_TYPEDEFS(ShonanFactor, 2);
+
   Matrix M_;                    ///< measured rotation between R1 and R2
   size_t p_, pp_;               ///< dimensionality constants
   boost::shared_ptr<Matrix> G_; ///< matrix of vectorized generators

gtsam/sfm/TranslationFactor.h

@@ -40,6 +40,8 @@ namespace gtsam {
  * 
  */
 class TranslationFactor : public NoiseModelFactorN<Point3, Point3> {
+  ADD_NOISE_MODEL_FACTOR_N_DEPRECATED_TYPEDEFS(TranslationFactor, 2);
+
  private:
   typedef NoiseModelFactorN<Point3, Point3> Base;
   Point3 measured_w_aZb_;

gtsam/slam/BetweenFactor.h

@@ -38,6 +38,7 @@ namespace gtsam {
    */
   template<class VALUE>
   class BetweenFactor: public NoiseModelFactorN<VALUE, VALUE> {
+    ADD_NOISE_MODEL_FACTOR_N_DEPRECATED_TYPEDEFS(BetweenFactor, 2);
 
     // Check that VALUE type is a testable Lie group
     BOOST_CONCEPT_ASSERT((IsTestable<VALUE>));

gtsam/slam/EssentialMatrixConstraint.h

@@ -28,6 +28,7 @@ namespace gtsam {
  * @ingroup slam
  */
 class GTSAM_EXPORT EssentialMatrixConstraint: public NoiseModelFactorN<Pose3, Pose3> {
+  ADD_NOISE_MODEL_FACTOR_N_DEPRECATED_TYPEDEFS(EssentialMatrixConstraint, 2);
 
 private:
 

gtsam/slam/EssentialMatrixFactor.h

@@ -32,6 +32,8 @@ namespace gtsam {
  * Factor that evaluates epipolar error p'Ep for given essential matrix
  */
 class EssentialMatrixFactor : public NoiseModelFactorN<EssentialMatrix> {
+  ADD_NOISE_MODEL_FACTOR_N_DEPRECATED_TYPEDEFS(EssentialMatrixFactor, 1);
+
   Vector3 vA_, vB_;  ///< Homogeneous versions, in ideal coordinates
 
   typedef NoiseModelFactorN<EssentialMatrix> Base;
@@ -107,6 +109,8 @@ class EssentialMatrixFactor : public NoiseModelFactorN<EssentialMatrix> {
  */
 class EssentialMatrixFactor2
     : public NoiseModelFactorN<EssentialMatrix, double> {
+  ADD_NOISE_MODEL_FACTOR_N_DEPRECATED_TYPEDEFS(EssentialMatrixFactor2, 2);
+
   Point3 dP1_;  ///< 3D point corresponding to measurement in image 1
   Point2 pn_;   ///< Measurement in image 2, in ideal coordinates
   double f_;    ///< approximate conversion factor for error scaling
@@ -322,6 +326,8 @@ class EssentialMatrixFactor3 : public EssentialMatrixFactor2 {
 template <class CALIBRATION>
 class EssentialMatrixFactor4
     : public NoiseModelFactorN<EssentialMatrix, CALIBRATION> {
+  ADD_NOISE_MODEL_FACTOR_N_DEPRECATED_TYPEDEFS(EssentialMatrixFactor4, 2);
+
  private:
   Point2 pA_, pB_;  ///< points in pixel coordinates
 

gtsam/slam/FrobeniusFactor.h

@@ -49,6 +49,8 @@ ConvertNoiseModel(const SharedNoiseModel &model, size_t n,
  */
 template <class Rot>
 class FrobeniusPrior : public NoiseModelFactorN<Rot> {
+  ADD_NOISE_MODEL_FACTOR_N_DEPRECATED_TYPEDEFS(FrobeniusPrior, 1);
+
   enum { Dim = Rot::VectorN2::RowsAtCompileTime };
   using MatrixNN = typename Rot::MatrixNN;
   Eigen::Matrix<double, Dim, 1> vecM_;  ///< vectorized matrix to approximate
@@ -76,6 +78,8 @@ class FrobeniusPrior : public NoiseModelFactorN<Rot> {
  */
 template <class Rot>
 class FrobeniusFactor : public NoiseModelFactorN<Rot, Rot> {
+  ADD_NOISE_MODEL_FACTOR_N_DEPRECATED_TYPEDEFS(FrobeniusFactor, 2);
+
   enum { Dim = Rot::VectorN2::RowsAtCompileTime };
 
  public:
@@ -102,6 +106,8 @@ class FrobeniusFactor : public NoiseModelFactorN<Rot, Rot> {
  */
 template <class Rot>
 class FrobeniusBetweenFactor : public NoiseModelFactorN<Rot, Rot> {
+  ADD_NOISE_MODEL_FACTOR_N_DEPRECATED_TYPEDEFS(FrobeniusBetweenFactor, 2);
+
   Rot R12_;  ///< measured rotation between R1 and R2
   Eigen::Matrix<double, Rot::dimension, Rot::dimension>
       R2hat_H_R1_;  ///< fixed derivative of R2hat wrpt R1

gtsam/slam/GeneralSFMFactor.h

@@ -58,6 +58,7 @@ namespace gtsam {
  */
 template<class CAMERA, class LANDMARK>
 class GeneralSFMFactor: public NoiseModelFactorN<CAMERA, LANDMARK> {
+  ADD_NOISE_MODEL_FACTOR_N_DEPRECATED_TYPEDEFS(GeneralSFMFactor, 2);
 
   GTSAM_CONCEPT_MANIFOLD_TYPE(CAMERA)
   GTSAM_CONCEPT_MANIFOLD_TYPE(LANDMARK)
@@ -202,6 +203,7 @@ struct traits<GeneralSFMFactor<CAMERA, LANDMARK> > : Testable<
  */
 template<class CALIBRATION>
 class GeneralSFMFactor2: public NoiseModelFactorN<Pose3, Point3, CALIBRATION> {
+  ADD_NOISE_MODEL_FACTOR_N_DEPRECATED_TYPEDEFS(GeneralSFMFactor2, 3);
 
   GTSAM_CONCEPT_MANIFOLD_TYPE(CALIBRATION)
   static const int DimK = FixedDimension<CALIBRATION>::value;

gtsam/slam/OrientedPlane3Factor.h

@@ -16,6 +16,8 @@ namespace gtsam {
  * Factor to measure a planar landmark from a given pose
  */
 class GTSAM_EXPORT OrientedPlane3Factor: public NoiseModelFactorN<Pose3, OrientedPlane3> {
+  ADD_NOISE_MODEL_FACTOR_N_DEPRECATED_TYPEDEFS(OrientedPlane3Factor, 2);
+
  protected:
   OrientedPlane3 measured_p_;
   typedef NoiseModelFactorN<Pose3, OrientedPlane3> Base;
@@ -50,6 +52,8 @@ class GTSAM_EXPORT OrientedPlane3Factor: public NoiseModelFactorN<Pose3, Oriente
 
 // TODO: Convert this factor to dimension two, three dimensions is redundant for direction prior
 class GTSAM_EXPORT OrientedPlane3DirectionPrior : public NoiseModelFactorN<OrientedPlane3> {
+  ADD_NOISE_MODEL_FACTOR_N_DEPRECATED_TYPEDEFS(OrientedPlane3DirectionPrior, 1);
+
  protected:
   OrientedPlane3 measured_p_;  /// measured plane parameters
   typedef NoiseModelFactorN<OrientedPlane3> Base;

gtsam/slam/PoseRotationPrior.h

@@ -17,6 +17,8 @@ namespace gtsam {
 
 template<class POSE>
 class PoseRotationPrior : public NoiseModelFactorN<POSE> {
+  ADD_NOISE_MODEL_FACTOR_N_DEPRECATED_TYPEDEFS(PoseRotationPrior, 1);
+
 public:
 
   typedef PoseRotationPrior<POSE> This;

gtsam/slam/PoseTranslationPrior.h

@@ -19,6 +19,8 @@ namespace gtsam {
  */
 template<class POSE>
 class PoseTranslationPrior : public NoiseModelFactorN<POSE> {
+  ADD_NOISE_MODEL_FACTOR_N_DEPRECATED_TYPEDEFS(PoseTranslationPrior, 1);
+
 public:
   typedef PoseTranslationPrior<POSE> This;
   typedef NoiseModelFactorN<POSE> Base;