Made unit test local vars/functions in anonymous namespace

gtsam_unstable/dynamics/tests/testPendulumFactors.cpp

@@ -11,13 +11,17 @@
 using namespace gtsam;
 using namespace gtsam::symbol_shorthand;
 
-const double tol=1e-5;
+namespace {
-const double h = 0.1;
-const double g = 9.81, l = 1.0;
 
-const double deg2rad = M_PI/180.0;
+  const double tol=1e-5;
-LieScalar origin, q1(deg2rad*30.0), q2(deg2rad*31.0);
+  const double h = 0.1;
-LieScalar v1(deg2rad*1.0/h), v2((v1-h*g/l*sin(q1)));
+  const double g = 9.81, l = 1.0;
+
+  const double deg2rad = M_PI/180.0;
+  LieScalar origin, q1(deg2rad*30.0), q2(deg2rad*31.0);
+  LieScalar v1(deg2rad*1.0/h), v2((v1-h*g/l*sin(q1)));
+
+}
 
 /* ************************************************************************* */
 TEST( testPendulumFactor1, evaluateError) {

gtsam_unstable/dynamics/tests/testVelocityConstraint3.cpp

@@ -5,21 +5,29 @@
 
 #include <CppUnitLite/TestHarness.h>
 
+#include <gtsam/nonlinear/Symbol.h>
 #include <gtsam_unstable/dynamics/VelocityConstraint3.h>
 
 /* ************************************************************************* */
 using namespace gtsam;
 
-const double tol=1e-5;
+namespace {
-const double dt = 1.0;
 
-LieScalar origin,
+  const double tol=1e-5;
-        x1(1.0), x2(2.0), v(1.0);
+  const double dt = 1.0;
+
+  LieScalar origin,
+    x1(1.0), x2(2.0), v(1.0);
+
+}
 
 /* ************************************************************************* */
 TEST( testVelocityConstraint3, evaluateError) {
+
+  using namespace gtsam::symbol_shorthand;
+
   // hard constraints don't need a noise model
-  VelocityConstraint3 constraint(x1, x2, v, dt);
+  VelocityConstraint3 constraint(X(1), X(2), V(1), dt);
 
   // verify error function
   EXPECT(assert_equal(zero(1), constraint.evaluateError(x1, x2, v), tol));

gtsam_unstable/nonlinear/tests/testConcurrentBatchFilter.cpp

@@ -35,6 +35,7 @@
 using namespace std;
 using namespace gtsam;
 
+namespace {
 
 // Set up initial pose, odometry difference, loop closure difference, and initialization errors
 const Pose3 poseInitial;
@@ -431,6 +432,8 @@ void FindFactorsWithOnly(const CONTAINER& keys, const NonlinearFactorGraph& sour
 
 }
 
+}
+
 /* ************************************************************************* */
 TEST( ConcurrentBatchFilter, update_batch )
 {

gtsam_unstable/nonlinear/tests/testConcurrentBatchSmoother.cpp

@@ -34,6 +34,8 @@
 using namespace std;
 using namespace gtsam;
 
+namespace {
+
 // Set up initial pose, odometry difference, loop closure difference, and initialization errors
 const Pose3 poseInitial;
 const Pose3 poseOdometry( Rot3::RzRyRx(Vector_(3, 0.05, 0.10, -0.75)), Point3(1.0, -0.25, 0.10) );
@@ -395,6 +397,8 @@ void FindFactorsWithOnly(const std::set<Key>& keys, const NonlinearFactorGraph&
 
 }
 
+}
+
 /* ************************************************************************* */
 TEST( ConcurrentBatchSmoother, update_batch )
 {