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Fix Matrix_(...) to Mat() <<…

release/4.3a0
Jing Dong 2013-11-14 05:39:29 +00:00
parent 2896a45d1f
commit e4d56df32e
15 changed files with 71 additions and 71 deletions
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114
examples/Data/dubrovnik-3-7-pre-rewritten.txt
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@ -1,80 +1,80 @@
3 7 19 3 7 19
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0 1 383.8800048828125 -15.299989700317383 0 1 383.8800048828125 -15.299989700317382812
1 1 559.75 -106.15000152587891 1 1 559.75 -106.15000152587890625
0 2 591.54998779296875 136.44000244140625 0 2 591.54998779296875 136.44000244140625
1 2 863.8599853515625 -23.469970703125 1 2 863.8599853515625 -23.469970703125
2 2 494.72000122070312 112.51999664306641 2 2 494.720001220703125 112.51999664306640625
0 3 592.5 125.75 0 3 592.5 125.75
1 3 861.08001708984375 -35.219970703125 1 3 861.08001708984375 -35.219970703125
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1 4 776.030029296875 483.52999877929687 1 4 776.030029296875 483.529998779296875
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1 5 207.1300048828125 118.36000061035156 1 5 207.1300048828125 118.3600006103515625
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2
gtsam/base/tests/timeMatrix.cpp
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@ -189,7 +189,7 @@ double timeColumn(size_t reps) {
*/ */
double timeHouseholder(size_t reps) { double timeHouseholder(size_t reps) {
// create a matrix // create a matrix
Matrix Abase = Matrix_(4, 7, Matrix Abase = Mat(4, 7) <<
-5, 0, 5, 0, 0, 0, -1, -5, 0, 5, 0, 0, 0, -1,
00, -5, 0, 5, 0, 0, 1.5, 00, -5, 0, 5, 0, 0, 1.5,
10, 0, 0, 0,-10, 0, 2, 10, 0, 0, 0,-10, 0, 2,

2
gtsam/geometry/PinholeCamera.h
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@ -273,7 +273,7 @@ public:
boost::optional<Matrix&> Dpoint = boost::none) { boost::optional<Matrix&> Dpoint = boost::none) {
if (Dpoint) { if (Dpoint) {
double d = 1.0 / P.z(), d2 = d * d; 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()); return Point2(P.x() / P.z(), P.y() / P.z());
} }

2
gtsam/geometry/Pose2.h
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@ -172,7 +172,7 @@ public:
* @return xihat, 3*3 element of Lie algebra that can be exponentiated * @return xihat, 3*3 element of Lie algebra that can be exponentiated
*/ */
static inline Matrix wedge(double vx, double vy, double w) { static inline Matrix wedge(double vx, double vy, double w) {
return Matrix_(3,3, return (Mat(3,3) <<
0.,-w, vx, 0.,-w, vx,
w, 0., vy, w, 0., vy,
0., 0., 0.); 0., 0., 0.);

2
gtsam/geometry/Pose3.cpp
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@ -306,7 +306,7 @@ double Pose3::range(const Point3& point, boost::optional<Matrix&> H1,
Point3 d = transform_to(point, H1, H2); 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( double x = d.x(), y = d.y(), z = d.z(), d2 = x * x + y * y + z * z, n = sqrt(
d2); 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) if (H1)
*H1 = D_result_d * (*H1); *H1 = D_result_d * (*H1);
if (H2) if (H2)

2
gtsam/geometry/Pose3.h
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@ -218,7 +218,7 @@ public:
* @return xihat, 4*4 element of Lie algebra that can be exponentiated * @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) { 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, 0.,-wz, wy, vx,
wz, 0.,-wx, vy, wz, 0.,-wx, vy,
-wy, wx, 0., vz, -wy, wx, 0., vz,

2
gtsam/geometry/tests/testCalibratedCamera.cpp
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@ -27,7 +27,7 @@ using namespace gtsam;
GTSAM_CONCEPT_MANIFOLD_INST(CalibratedCamera) GTSAM_CONCEPT_MANIFOLD_INST(CalibratedCamera)
static const Pose3 pose1(Matrix_(3,3, static const Pose3 pose1((Matrix)(Mat(3,3) <<
1., 0., 0., 1., 0., 0.,
0.,-1., 0., 0.,-1., 0.,
0., 0.,-1. 0., 0.,-1.

2
gtsam/geometry/tests/testPinholeCamera.cpp
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@ -29,7 +29,7 @@ using namespace gtsam;
static const Cal3_S2 K(625, 625, 0, 0, 0); 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., 1., 0., 0.,
0.,-1., 0., 0.,-1., 0.,
0., 0.,-1. 0., 0.,-1.

2
gtsam/geometry/tests/testPoint2.cpp
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@ -101,7 +101,7 @@ TEST( Point2, norm ) {
// exception, for (0,0) derivative is [Inf,Inf] but we return [1,1] // exception, for (0,0) derivative is [Inf,Inf] but we return [1,1]
actual = x1.norm(actualH); actual = x1.norm(actualH);
EXPECT_DOUBLES_EQUAL(0, actual, 1e-9); 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)); EXPECT(assert_equal(expectedH,actualH));
actual = x2.norm(actualH); actual = x2.norm(actualH);

2
gtsam/geometry/tests/testStereoCamera.cpp
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@ -74,7 +74,7 @@ TEST( StereoCamera, project)
/* ************************************************************************* */ /* ************************************************************************* */
static Pose3 camera1(Matrix_(3,3, static Pose3 camera1((Matrix)(Mat(3,3) <<
1., 0., 0., 1., 0., 0.,
0.,-1., 0., 0.,-1., 0.,
0., 0.,-1. 0., 0.,-1.

2
gtsam/geometry/tests/timeCalibratedCamera.cpp
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@ -27,7 +27,7 @@ int main()
{ {
int n = 100000; int n = 100000;
const Pose3 pose1(Matrix_(3,3, const Pose3 pose1((Matrix)(Mat(3,3) <<
1., 0., 0., 1., 0., 0.,
0.,-1., 0., 0.,-1., 0.,
0., 0.,-1. 0., 0.,-1.

2
gtsam/geometry/tests/timePinholeCamera.cpp
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@ -28,7 +28,7 @@ int main()
{ {
int n = 1000000; int n = 1000000;
const Pose3 pose1(Matrix_(3,3, const Pose3 pose1((Matrix)(Mat(3,3) <<
1., 0., 0., 1., 0., 0.,
0.,-1., 0., 0.,-1., 0.,
0., 0.,-1. 0., 0.,-1.

2
gtsam/geometry/tests/timePose2.cpp
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@ -58,7 +58,7 @@ Pose2 Pose2betweenOptimized(const Pose2& r1, const Pose2& r2,
if (H1) { if (H1) {
double dt1 = -s2 * x + c2 * y; double dt1 = -s2 * x + c2 * y;
double dt2 = -c2 * x - s2 * y; double dt2 = -c2 * x - s2 * y;
*H1 = Matrix_(3,3, *H1 = (Mat(3,3) <<
-c, -s, dt1, -c, -s, dt1,
s, -c, dt2, s, -c, dt2,
0.0, 0.0,-1.0); 0.0, 0.0,-1.0);

2
gtsam/geometry/tests/timeStereoCamera.cpp
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@ -27,7 +27,7 @@ int main()
{ {
int n = 100000; int n = 100000;
const Pose3 pose1(Matrix_(3,3, const Pose3 pose1((Matrix)(Mat(3,3) <<
1., 0., 0., 1., 0., 0.,
0.,-1., 0., 0.,-1., 0.,
0., 0.,-1. 0., 0.,-1.

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