Fix Matrix_(...) to Mat() <<…

2013-11-14 05:39:29 +00:00 · 2013-11-14 05:39:29 +00:00 · e4d56df32e
parent 2896a45d1f
commit e4d56df32e
15 changed files with 71 additions and 71 deletions
--- a/examples/Data/dubrovnik-3-7-pre-rewritten.txt
+++ b/examples/Data/dubrovnik-3-7-pre-rewritten.txt
@ -1,80 +1,80 @@
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--- a/gtsam/base/tests/timeMatrix.cpp
+++ b/gtsam/base/tests/timeMatrix.cpp
@ -189,7 +189,7 @@ double timeColumn(size_t reps) {
 */
 double timeHouseholder(size_t reps) {
  // create a matrix
-  Matrix Abase = Matrix_(4, 7,
+  Matrix Abase = Mat(4, 7) <<
      -5,  0, 5, 0,  0,  0,  -1,
      00, -5, 0, 5,  0,  0, 1.5,
      10,  0, 0, 0,-10,  0,   2,
--- a/gtsam/geometry/PinholeCamera.h
+++ b/gtsam/geometry/PinholeCamera.h
@ -273,7 +273,7 @@ public:
      boost::optional<Matrix&> Dpoint = boost::none) {
    if (Dpoint) {
      double d = 1.0 / P.z(), d2 = d * d;
-      *Dpoint = Matrix_(2, 3, d, 0.0, -P.x() * d2, 0.0, d, -P.y() * d2);
+      *Dpoint = (Mat(2, 3) << d, 0.0, -P.x() * d2, 0.0, d, -P.y() * d2);
    }
    return Point2(P.x() / P.z(), P.y() / P.z());
  }
--- a/gtsam/geometry/Pose2.h
+++ b/gtsam/geometry/Pose2.h
@ -172,7 +172,7 @@ public:
   * @return xihat, 3*3 element of Lie algebra that can be exponentiated
   */
  static inline Matrix wedge(double vx, double vy, double w) {
-    return Matrix_(3,3,
+    return (Mat(3,3) <<
        0.,-w,  vx,
        w,  0., vy,
        0., 0.,  0.);
--- a/gtsam/geometry/Pose3.cpp
+++ b/gtsam/geometry/Pose3.cpp
@ -306,7 +306,7 @@ double Pose3::range(const Point3& point, boost::optional<Matrix&> H1,
  Point3 d = transform_to(point, H1, H2);
  double x = d.x(), y = d.y(), z = d.z(), d2 = x * x + y * y + z * z, n = sqrt(
      d2);
-  Matrix D_result_d = Matrix_(1, 3, x / n, y / n, z / n);
+  Matrix D_result_d = (Mat(1, 3) << x / n, y / n, z / n);
  if (H1)
    *H1 = D_result_d * (*H1);
  if (H2)
--- a/gtsam/geometry/Pose3.h
+++ b/gtsam/geometry/Pose3.h
@ -218,7 +218,7 @@ public:
     * @return xihat, 4*4 element of Lie algebra that can be exponentiated
     */
    static Matrix wedge(double wx, double wy, double wz, double vx, double vy, double vz) {
-      return Matrix_(4,4,
+      return (Mat(4,4) <<
          0.,-wz,  wy,  vx,
          wz,  0.,-wx,  vy,
          -wy, wx,   0., vz,
--- a/gtsam/geometry/tests/testCalibratedCamera.cpp
+++ b/gtsam/geometry/tests/testCalibratedCamera.cpp
@ -27,7 +27,7 @@ using namespace gtsam;

 GTSAM_CONCEPT_MANIFOLD_INST(CalibratedCamera)

-static const Pose3 pose1(Matrix_(3,3,
+static const Pose3 pose1((Matrix)(Mat(3,3) <<
              1., 0., 0.,
              0.,-1., 0.,
              0., 0.,-1.
--- a/gtsam/geometry/tests/testPinholeCamera.cpp
+++ b/gtsam/geometry/tests/testPinholeCamera.cpp
@ -29,7 +29,7 @@ using namespace gtsam;

 static const Cal3_S2 K(625, 625, 0, 0, 0);

-static const Pose3 pose1(Matrix_(3,3,
+static const Pose3 pose1((Matrix)(Mat(3,3) <<
              1., 0., 0.,
              0.,-1., 0.,
              0., 0.,-1.
--- a/gtsam/geometry/tests/testPoint2.cpp
+++ b/gtsam/geometry/tests/testPoint2.cpp
@ -101,7 +101,7 @@ TEST( Point2, norm ) {
  // exception, for (0,0) derivative is [Inf,Inf] but we return [1,1]
  actual = x1.norm(actualH);
  EXPECT_DOUBLES_EQUAL(0, actual, 1e-9);
-  expectedH = Matrix_(1, 2, 1.0, 1.0);
+  expectedH = (Mat(1, 2) << 1.0, 1.0);
  EXPECT(assert_equal(expectedH,actualH));

  actual = x2.norm(actualH);
--- a/gtsam/geometry/tests/testStereoCamera.cpp
+++ b/gtsam/geometry/tests/testStereoCamera.cpp
@ -74,7 +74,7 @@ TEST( StereoCamera, project)

 /* ************************************************************************* */

-static Pose3 camera1(Matrix_(3,3,
+static Pose3 camera1((Matrix)(Mat(3,3) <<
           1., 0., 0.,
           0.,-1., 0.,
           0., 0.,-1.
--- a/gtsam/geometry/tests/timeCalibratedCamera.cpp
+++ b/gtsam/geometry/tests/timeCalibratedCamera.cpp
@ -27,7 +27,7 @@ int main()
 {
  int n = 100000;

-  const Pose3 pose1(Matrix_(3,3,
+  const Pose3 pose1((Matrix)(Mat(3,3) <<
      1., 0., 0.,
      0.,-1., 0.,
      0., 0.,-1.
--- a/gtsam/geometry/tests/timePinholeCamera.cpp
+++ b/gtsam/geometry/tests/timePinholeCamera.cpp
@ -28,7 +28,7 @@ int main()
 {
  int n = 1000000;

-  const Pose3 pose1(Matrix_(3,3,
+  const Pose3 pose1((Matrix)(Mat(3,3) <<
      1., 0., 0.,
      0.,-1., 0.,
      0., 0.,-1.
--- a/gtsam/geometry/tests/timePose2.cpp
+++ b/gtsam/geometry/tests/timePose2.cpp
@ -58,7 +58,7 @@ Pose2 Pose2betweenOptimized(const Pose2& r1, const Pose2& r2,
  if (H1) {
    double dt1 = -s2 * x + c2 * y;
    double dt2 = -c2 * x - s2 * y;
-    *H1 = Matrix_(3,3,
+    *H1 = (Mat(3,3) <<
      -c,  -s,  dt1,
      s,  -c,  dt2,
      0.0, 0.0,-1.0);
--- a/gtsam/geometry/tests/timeStereoCamera.cpp
+++ b/gtsam/geometry/tests/timeStereoCamera.cpp
@ -27,7 +27,7 @@ int main()
 {
  int n = 100000;

-  const Pose3 pose1(Matrix_(3,3,
+  const Pose3 pose1((Matrix)(Mat(3,3) <<
      1., 0., 0.,
      0.,-1., 0.,
      0., 0.,-1.
--- a/gtsam/linear/tests/testGaussianDensity.cpp
+++ b/gtsam/linear/tests/testGaussianDensity.cpp
@ -25,7 +25,7 @@ using namespace std;
 /* ************************************************************************* */
 TEST(GaussianDensity, constructor)
 {
-  Matrix R = Matrix_(2,2,
+  Matrix R = (Mat(2,2) <<
      -12.1244,  -5.1962,
            0.,   4.6904);