From 10b37db234ed4469a4db4d8b2937ded4c96107b9 Mon Sep 17 00:00:00 2001
From: Duy-Nguyen Ta <thduynguyen@gmail.com>
Date: Sun, 10 Apr 2011 17:47:22 +0000
Subject: [PATCH] fixing compilation problem in numericalHessian and re-enable
 the unittest

---
 gtsam/base/numericalDerivative.h             |  7 +-
 gtsam/base/tests/testNumericalDerivative.cpp | 74 ++++++++++----------
 2 files changed, 41 insertions(+), 40 deletions(-)

diff --git a/gtsam/base/numericalDerivative.h b/gtsam/base/numericalDerivative.h
index 96e1da05b..fb6f75fba 100644
--- a/gtsam/base/numericalDerivative.h
+++ b/gtsam/base/numericalDerivative.h
@@ -465,9 +465,10 @@ namespace gtsam {
    * @return n*n Hessian matrix computed via central differencing
    */
 	template<class X>
-	inline Matrix numericalHessian(const boost::function<double(const X&)>& f, const X& x, double delta=1e-5) {
-	  return numericalDerivative11<X>(
-	      boost::function<LieVector(const X&)>(boost::bind(numericalGradient<X>, f, _1, delta)), x, delta);
+	inline Matrix numericalHessian(boost::function<double(const X&)> f, const X& x, double delta=1e-5) {
+	  Vector (*numGrad)(boost::function<double(const X&)>,const X&, double) = &numericalGradient<X>;
+	  return numericalDerivative11<X>(boost::function<Vector(const X&)>(boost::bind(
+	          numGrad, f, _1, delta)), x, delta);
 	}
 
 	template<class X>
diff --git a/gtsam/base/tests/testNumericalDerivative.cpp b/gtsam/base/tests/testNumericalDerivative.cpp
index 023bb1718..7cdabbbe9 100644
--- a/gtsam/base/tests/testNumericalDerivative.cpp
+++ b/gtsam/base/tests/testNumericalDerivative.cpp
@@ -22,43 +22,43 @@
 
 using namespace gtsam;
 
-///* ************************************************************************* */
-//double f(const LieVector& x) {
-//  assert(x.size() == 2);
-//  return sin(x(0)) + cos(x(1));
-//}
-//
-///* ************************************************************************* */
-//TEST_UNSAFE(testNumericalDerivative, numericalHessian) {
-//  LieVector center(2, 1.0, 1.0);
-//
-//  Matrix expected = Matrix_(2,2,
-//      -sin(center(0)), 0.0,
-//      0.0, -cos(center(1)));
-//
-//  Matrix actual = numericalHessian(f, center);
-//
-//  EXPECT(assert_equal(expected, actual, 1e-5));
-//}
-//
-///* ************************************************************************* */
-//double f2(const LieVector& x) {
-//  assert(x.size() == 2);
-//  return sin(x(0)) * cos(x(1));
-//}
-//
-///* ************************************************************************* */
-//TEST_UNSAFE(testNumericalDerivative, numericalHessian2) {
-//  LieVector center(2, 0.5, 1.0);
-//
-//  Matrix expected = Matrix_(2,2,
-//      -cos(center(1))*sin(center(0)), -sin(center(1))*cos(center(0)),
-//      -cos(center(0))*sin(center(1)), -sin(center(0))*cos(center(1)));
-//
-//  Matrix actual = numericalHessian(f2, center);
-//
-//  EXPECT(assert_equal(expected, actual, 1e-5));
-//}
+/* ************************************************************************* */
+double f(const LieVector& x) {
+  assert(x.size() == 2);
+  return sin(x(0)) + cos(x(1));
+}
+
+/* ************************************************************************* */
+TEST_UNSAFE(testNumericalDerivative, numericalHessian) {
+  LieVector center(2, 1.0, 1.0);
+
+  Matrix expected = Matrix_(2,2,
+      -sin(center(0)), 0.0,
+      0.0, -cos(center(1)));
+
+  Matrix actual = numericalHessian(f, center);
+
+  EXPECT(assert_equal(expected, actual, 1e-5));
+}
+
+/* ************************************************************************* */
+double f2(const LieVector& x) {
+  assert(x.size() == 2);
+  return sin(x(0)) * cos(x(1));
+}
+
+/* ************************************************************************* */
+TEST_UNSAFE(testNumericalDerivative, numericalHessian2) {
+  LieVector center(2, 0.5, 1.0);
+
+  Matrix expected = Matrix_(2,2,
+      -cos(center(1))*sin(center(0)), -sin(center(1))*cos(center(0)),
+      -cos(center(0))*sin(center(1)), -sin(center(0))*cos(center(1)));
+
+  Matrix actual = numericalHessian(f2, center);
+
+  EXPECT(assert_equal(expected, actual, 1e-5));
+}
 
 /* ************************************************************************* */
 int main() { TestResult tr; return TestRegistry::runAllTests(tr); }