revert confusing ->template key<N>() notations

revert to using shortcut form: `key1()`, `key2()`

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) ||

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(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(key1()) << ", "
+              << keyFormatter(key2()) << ")" << std::endl;
     traits<R>::Print(measured_, "  measurement: ");
     std::cout << "  noise model sigmas: " << noiseModel_->sigmas().transpose()
               << std::endl;

gtsam/slam/BetweenFactor.h

@@ -88,8 +88,8 @@ namespace gtsam {
         const std::string& s = "",
         const KeyFormatter& keyFormatter = DefaultKeyFormatter) const override {
       std::cout << s << "BetweenFactor("
-          << keyFormatter(this->template key<1>()) << ","
-          << keyFormatter(this->template key<2>()) << ")\n";
+          << keyFormatter(key1()) << ","
+          << keyFormatter(key2()) << ")\n";
       traits<T>::Print(measured_, "  measured: ");
       this->noiseModel_->print("  noise model: ");
     }

gtsam/slam/BoundingConstraint.h

@@ -129,7 +129,7 @@ struct BoundingConstraint2: public NoiseModelFactorN<VALUE1, VALUE2> {
   /** active when constraint *NOT* met */
   bool active(const Values& c) const override {
     // note: still active at equality to avoid zigzagging
-    double x = value(c.at<X1>(this->template key<1>()), c.at<X2>(this->template key<2>()));
+    double x = value(c.at<X1>(key1()), c.at<X2>(key2()));
     return (isGreaterThan_) ? x <= threshold_ : x >= threshold_;
   }
 

gtsam/slam/FrobeniusFactor.h

@@ -130,8 +130,8 @@ class FrobeniusBetweenFactor : public NoiseModelFactorN<Rot, Rot> {
   print(const std::string &s,
         const KeyFormatter &keyFormatter = DefaultKeyFormatter) const override {
     std::cout << s << "FrobeniusBetweenFactor<" << demangle(typeid(Rot).name())
-              << ">(" << keyFormatter(this->template key<1>()) << ","
-              << keyFormatter(this->template key<2>()) << ")\n";
+              << ">(" << keyFormatter(key1()) << ","
+              << keyFormatter(key2()) << ")\n";
     traits<Rot>::Print(R12_, "  R12: ");
     this->noiseModel_->print("  noise model: ");
   }

gtsam/slam/GeneralSFMFactor.h

@@ -140,7 +140,7 @@ class GeneralSFMFactor: public NoiseModelFactorN<CAMERA, LANDMARK> {
     // Only linearize if the factor is active
     if (!this->active(values)) return boost::shared_ptr<JacobianFactor>();
 
-    const Key key1 = this->template key<1>(), key2 = this->template key<2>();
+    const Key key1 = key1(), key2 = key2();
     JacobianC H1;
     JacobianL H2;
     Vector2 b;
@@ -270,8 +270,8 @@ class GeneralSFMFactor2: public NoiseModelFactorN<Pose3, Point3, CALIBRATION> {
       if (H1) *H1 = Matrix::Zero(2, 6);
       if (H2) *H2 = Matrix::Zero(2, 3);
       if (H3) *H3 = Matrix::Zero(2, DimK);
-      std::cout << e.what() << ": Landmark "<< DefaultKeyFormatter(this->template key<2>())
-      << " behind Camera " << DefaultKeyFormatter(this->template key<1>()) << std::endl;
+      std::cout << e.what() << ": Landmark "<< DefaultKeyFormatter(key2())
+      << " behind Camera " << DefaultKeyFormatter(key1()) << std::endl;
     }
     return Z_2x1;
   }

gtsam/slam/ProjectionFactor.h

@@ -154,10 +154,10 @@ namespace gtsam {
         if (H1) *H1 = Matrix::Zero(2,6);
         if (H2) *H2 = Matrix::Zero(2,3);
         if (verboseCheirality_)
-          std::cout << e.what() << ": Landmark "<< DefaultKeyFormatter(this->template key<2>()) <<
-              " moved behind camera " << DefaultKeyFormatter(this->template key<1>()) << std::endl;
+          std::cout << e.what() << ": Landmark "<< DefaultKeyFormatter(key2()) <<
+              " moved behind camera " << DefaultKeyFormatter(key1()) << std::endl;
         if (throwCheirality_)
-          throw CheiralityException(this->template key<2>());
+          throw CheiralityException(key2());
       }
       return Vector2::Constant(2.0 * K_->fx());
     }

gtsam/slam/ReferenceFrameFactor.h

@@ -107,16 +107,16 @@ class ReferenceFrameFactor : public NoiseModelFactorN<POINT, TRANSFORM, POINT> {
   void print(const std::string& s="",
       const gtsam::KeyFormatter& keyFormatter = DefaultKeyFormatter) const override {
     std::cout << s << ": ReferenceFrameFactor("
-        << "Global: " << keyFormatter(this->template key<1>()) << ","
-        << " Transform: " << keyFormatter(this->template key<2>()) << ","
-        << " Local: " << keyFormatter(this->template key<3>()) << ")\n";
+        << "Global: " << keyFormatter(key1()) << ","
+        << " Transform: " << keyFormatter(key2()) << ","
+        << " Local: " << keyFormatter(key3()) << ")\n";
     this->noiseModel_->print("  noise model");
   }
 
   // access - convenience functions
-  Key global_key() const { return this->template key<1>(); }
-  Key transform_key() const { return this->template key<2>(); }
-  Key local_key() const { return this->template key<3>(); }
+  Key global_key() const { return key1(); }
+  Key transform_key() const { return key2(); }
+  Key local_key() const { return key3(); }
 
 private:
   /** Serialization function */

gtsam/slam/StereoFactor.h

@@ -141,10 +141,10 @@ class GenericStereoFactor: public NoiseModelFactorN<POSE, LANDMARK> {
       if (H1) *H1 = Matrix::Zero(3,6);
       if (H2) *H2 = Z_3x3;
       if (verboseCheirality_)
-      std::cout << e.what() << ": Landmark "<< DefaultKeyFormatter(this->template key<2>()) <<
-          " moved behind camera " << DefaultKeyFormatter(this->template key<1>()) << std::endl;
+      std::cout << e.what() << ": Landmark "<< DefaultKeyFormatter(key2()) <<
+          " moved behind camera " << DefaultKeyFormatter(key1()) << std::endl;
       if (throwCheirality_)
-        throw StereoCheiralityException(this->template key<2>());
+        throw StereoCheiralityException(key2());
     }
     return Vector3::Constant(2.0 * K_->fx());
   }

gtsam_unstable/slam/EquivInertialNavFactor_GlobalVel.h

@@ -136,11 +136,11 @@ class EquivInertialNavFactor_GlobalVel : public NoiseModelFactorN<POSE, VELOCITY
   /** print */
   void print(const std::string& s = "EquivInertialNavFactor_GlobalVel", const KeyFormatter& keyFormatter = DefaultKeyFormatter) const override {
     std::cout << s << "("
-        << keyFormatter(this->template key<1>()) << ","
-        << keyFormatter(this->template key<2>()) << ","
-        << keyFormatter(this->template key<3>()) << ","
-        << keyFormatter(this->template key<4>()) << ","
-        << keyFormatter(this->template key<5>()) << "\n";
+        << keyFormatter(key1()) << ","
+        << keyFormatter(key2()) << ","
+        << keyFormatter(key3()) << ","
+        << keyFormatter(key4()) << ","
+        << keyFormatter(key5()) << "\n";
     std::cout << "delta_pos_in_t0: " << this->delta_pos_in_t0_.transpose() << std::endl;
     std::cout << "delta_vel_in_t0: " << this->delta_vel_in_t0_.transpose() << std::endl;
     std::cout << "delta_angles: " << this->delta_angles_ << std::endl;

gtsam_unstable/slam/GaussMarkov1stOrderFactor.h

@@ -73,8 +73,8 @@ class GaussMarkov1stOrderFactor: public NoiseModelFactorN<VALUE, VALUE> {
   /** print */
   void print(const std::string& s, const KeyFormatter& keyFormatter = DefaultKeyFormatter) const override {
     std::cout << s << "GaussMarkov1stOrderFactor("
-        << keyFormatter(this->template key<1>()) << ","
-        << keyFormatter(this->template key<2>()) << ")\n";
+        << keyFormatter(key1()) << ","
+        << keyFormatter(key2()) << ")\n";
     this->noiseModel_->print("  noise model");
   }
 

gtsam_unstable/slam/InertialNavFactor_GlobalVelocity.h

@@ -117,11 +117,11 @@ class InertialNavFactor_GlobalVelocity : public NoiseModelFactorN<POSE, VELOCITY
   /** print */
   void print(const std::string& s = "InertialNavFactor_GlobalVelocity", const KeyFormatter& keyFormatter = DefaultKeyFormatter) const override {
     std::cout << s << "("
-        << keyFormatter(this->template key<1>()) << ","
-        << keyFormatter(this->template key<2>()) << ","
-        << keyFormatter(this->template key<3>()) << ","
-        << keyFormatter(this->template key<4>()) << ","
-        << keyFormatter(this->template key<5>()) << "\n";
+        << keyFormatter(key1()) << ","
+        << keyFormatter(key2()) << ","
+        << keyFormatter(key3()) << ","
+        << keyFormatter(key4()) << ","
+        << keyFormatter(key5()) << "\n";
     std::cout << "acc measurement: " << this->measurement_acc_.transpose() << std::endl;
     std::cout << "gyro measurement: " << this->measurement_gyro_.transpose() << std::endl;
     std::cout << "dt: " << this->dt_ << std::endl;

gtsam_unstable/slam/InvDepthFactor3.h

@@ -93,8 +93,8 @@ class InvDepthFactor3: public NoiseModelFactorN<POSE, LANDMARK, INVDEPTH> {
       if (H1) *H1 = Matrix::Zero(2,6);
       if (H2) *H2 = Matrix::Zero(2,5);
       if (H3) *H3 = Matrix::Zero(2,1);
-      std::cout << e.what() << ": Landmark "<< DefaultKeyFormatter(this->template key<2>()) <<
-          " moved behind camera " << DefaultKeyFormatter(this->template key<1>()) << std::endl;
+      std::cout << e.what() << ": Landmark "<< DefaultKeyFormatter(key2()) <<
+          " moved behind camera " << DefaultKeyFormatter(key1()) << std::endl;
       return Vector::Ones(2) * 2.0 * K_->fx();
     }
     return (Vector(1) << 0.0).finished();

gtsam_unstable/slam/PoseBetweenFactor.h

@@ -68,8 +68,8 @@ namespace gtsam {
     /** print */
     void print(const std::string& s, const KeyFormatter& keyFormatter = DefaultKeyFormatter) const override {
       std::cout << s << "BetweenFactor("
-          << keyFormatter(this->template key<1>()) << ","
-          << keyFormatter(this->template key<2>()) << ")\n";
+          << keyFormatter(key1()) << ","
+          << keyFormatter(key2()) << ")\n";
       measured_.print("  measured: ");
       if(this->body_P_sensor_)
         this->body_P_sensor_->print("  sensor pose in body frame: ");

gtsam_unstable/slam/PoseToPointFactor.h

@@ -48,8 +48,8 @@ class PoseToPointFactor : public NoiseModelFactorN<POSE, POINT> {
   void print(const std::string& s, const KeyFormatter& keyFormatter =
                                        DefaultKeyFormatter) const override {
     std::cout << s << "PoseToPointFactor("
-              << keyFormatter(this->template key<1>()) << ","
-              << keyFormatter(this->template key<2>()) << ")\n"
+              << keyFormatter(key1()) << ","
+              << keyFormatter(key2()) << ")\n"
               << "  measured: " << measured_.transpose() << std::endl;
     this->noiseModel_->print("  noise model: ");
   }

gtsam_unstable/slam/ProjectionFactorPPP.h

@@ -143,9 +143,9 @@ namespace gtsam {
         if (H3) *H3 = Matrix::Zero(2,3);
         if (verboseCheirality_)
             std::cout << e.what() << ": Landmark "
-                      << DefaultKeyFormatter(this->template key<2>())
+                      << DefaultKeyFormatter(key2())
                       << " moved behind camera "
-                      << DefaultKeyFormatter(this->template key<1>())
+                      << DefaultKeyFormatter(key1())
                       << std::endl;
         if (throwCheirality_)
           throw e;

gtsam_unstable/slam/ProjectionFactorPPPC.h

@@ -130,8 +130,8 @@ class GTSAM_UNSTABLE_EXPORT ProjectionFactorPPPC
         if (H3) *H3 = Matrix::Zero(2,3);
         if (H4) *H4 = Matrix::Zero(2,CALIBRATION::Dim());
         if (verboseCheirality_)
-          std::cout << e.what() << ": Landmark "<< DefaultKeyFormatter(this->template key<2>()) <<
-              " moved behind camera " << DefaultKeyFormatter(this->template key<1>()) << std::endl;
+          std::cout << e.what() << ": Landmark "<< DefaultKeyFormatter(key2()) <<
+              " moved behind camera " << DefaultKeyFormatter(key1()) << std::endl;
         if (throwCheirality_)
           throw e;
       }