Fix Matrix_(...) to Mat() <<…

examples/Data/dubrovnik-3-7-pre-rewritten.txt

@@ -1,80 +1,80 @@
 3 7 19
 
 0 0 -385.989990234375 387.1199951171875
-1 0 -38.439998626708984 492.1199951171875
-2 0 -667.91998291015625 123.11000061035156
-0 1 383.8800048828125 -15.299989700317383
-1 1 559.75 -106.15000152587891
+1 0 -38.439998626708984375 492.1199951171875
+2 0 -667.91998291015625 123.1100006103515625
+0 1 383.8800048828125 -15.299989700317382812
+1 1 559.75 -106.15000152587890625
 0 2 591.54998779296875 136.44000244140625
 1 2 863.8599853515625 -23.469970703125
-2 2 494.72000122070312 112.51999664306641
+2 2 494.720001220703125 112.51999664306640625
 0 3 592.5 125.75
 1 3 861.08001708984375 -35.219970703125
-2 3 498.54000854492187 101.55999755859375
-0 4 348.72000122070312 558.3800048828125
-1 4 776.030029296875 483.52999877929687
-2 4 7.7800288200378418 326.35000610351562
+2 3 498.540008544921875 101.55999755859375
+0 4 348.720001220703125 558.3800048828125
+1 4 776.030029296875 483.529998779296875
+2 4 7.7800288200378417969 326.350006103515625
 0 5 14.010009765625 96.420013427734375
-1 5 207.1300048828125 118.36000061035156
-0 6 202.75999450683594 340.989990234375
+1 5 207.1300048828125 118.3600006103515625
+0 6 202.7599945068359375 340.989990234375
 1 6 543.18011474609375 294.80999755859375
-2 6 -58.419979095458984 110.83000183105469
+2 6 -58.419979095458984375 110.8300018310546875
 
-0.29656188120312943
--0.03531835438428587
-0.31252101755032047
-0.47230274932665989
--0.35723408637441134
--2.0517704282499576
+0.29656188120312942935
+-0.035318354384285870207
+0.31252101755032046793
+0.47230274932665988752
+-0.3572340863744113415
+-2.0517704282499575896
 1430.031982421875
--7.5572756941255648e-008
-3.2377570134516087e-014
+-7.5572756941255647689e-08
+3.2377570134516087119e-14
 
-0.28532097290364833
--0.27699838355720618
-0.048601170006498565
--1.2598695987678452
--0.04906379852479037
--1.9586867140054638
+0.28532097381985194184
+-0.27699838370789808817
+0.048601169984112867206
+-1.2598695987143850861
+-0.049063798188844320869
+-1.9586867140445654023
 1432.137451171875
--7.317191830225056e-008
-3.1759419042137055e-014
+-7.3171918302250560373e-08
+3.1759419042137054801e-14
 
-0.057491325683772541
-0.34853090049579966
-0.47985129303736057
-8.196390428906339
-6.5146840788718787
--3.8392804395897406
+0.057491325683772541433
+0.34853090049579965592
+0.47985129303736057116
+8.1963904289063389541
+6.5146840788718787252
+-3.8392804395897406344
 1572.047119140625
--1.5962623223231276e-008
--1.6507904730136101e-014
+-1.5962623223231275915e-08
+-1.6507904730136101212e-14
 
--11.317351620610928
-3.3594874875767187
--42.755222607849106
+-11.317351620610928364
+3.3594874875767186673
+-42.755222607849105998
 
-4.2648515634753199
--8.4629358700849355
--22.252086323427271
+4.2648515634753199066
+-8.4629358700849355301
+-22.252086323427270997
 
-10.996977688149537
--9.2123370180278048
--29.206739014051372
+10.996977688149536689
+-9.2123370180278048025
+-29.206739014051372294
 
-10.935342607054865
--9.4338917557810742
--29.1122639091755
+10.935342607054865383
+-9.4338917557810741954
+-29.112263909175499776
 
-15.71402493540176
-1.3745079651566265
--59.286834979937105
+15.714024935401759819
+1.3745079651566265433
+-59.286834979937104606
 
--1.3624227800805182
--4.1979357415396095
--21.034430148188399
+-1.3624227800805182031
+-4.1979357415396094666
+-21.034430148188398846
 
-6.7690173115899297
--4.7352452433700787
--53.605307875695893
+6.7690173115899296974
+-4.7352452433700786827
+-53.605307875695892506
 

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,

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());
   }

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.);

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)

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,

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.

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.

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);

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.

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.

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.

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);

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.

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);