From 319342ab89c510d46e899b5d6caef10c7af7a184 Mon Sep 17 00:00:00 2001
From: kartik arcot <kartik.arcot@verdantrobotics.com>
Date: Wed, 11 Jan 2023 11:21:05 -0800
Subject: [PATCH] use auto instead

---
 gtsam/navigation/tests/testAttitudeFactor.cpp | 4 ++--
 gtsam/slam/tests/testOrientedPlane3Factor.cpp | 2 +-
 2 files changed, 3 insertions(+), 3 deletions(-)

diff --git a/gtsam/navigation/tests/testAttitudeFactor.cpp b/gtsam/navigation/tests/testAttitudeFactor.cpp
index 3bd07a323..f599e3957 100644
--- a/gtsam/navigation/tests/testAttitudeFactor.cpp
+++ b/gtsam/navigation/tests/testAttitudeFactor.cpp
@@ -49,8 +49,8 @@ TEST( Rot3AttitudeFactor, Constructor ) {
   Rot3 nRb;
   EXPECT(assert_equal((Vector) Z_2x1,factor.evaluateError(nRb),1e-5));
 
-  std::function<Vector(const Rot3&)> err_fn = [&factor](const Rot3& r){
-	return factor.evaluateError(r, OptionalNone);
+  auto err_fn = [&factor](const Rot3& r){
+    return factor.evaluateError(r, OptionalNone);
   };
   // Calculate numerical derivatives
   Matrix expectedH = numericalDerivative11<Vector, Rot3>(err_fn, nRb);
diff --git a/gtsam/slam/tests/testOrientedPlane3Factor.cpp b/gtsam/slam/tests/testOrientedPlane3Factor.cpp
index e393ee16b..6e0753c53 100644
--- a/gtsam/slam/tests/testOrientedPlane3Factor.cpp
+++ b/gtsam/slam/tests/testOrientedPlane3Factor.cpp
@@ -140,7 +140,7 @@ TEST( OrientedPlane3Factor, Derivatives ) {
   OrientedPlane3Factor factor(p.planeCoefficients(), noise, poseKey, planeKey);
 
   // Calculate numerical derivatives
-  std::function<Vector(const Pose3&, const OrientedPlane3&)> f = [&factor](const Pose3& p, const OrientedPlane3& o) {
+  auto f = [&factor](const Pose3& p, const OrientedPlane3& o) {
     return factor.evaluateError(p, o);
   };
   Matrix numericalH1 = numericalDerivative21<Vector, Pose3, OrientedPlane3>(f, poseLin, pLin);