From 140577406afc3ba32d089cf2586e190d576444e9 Mon Sep 17 00:00:00 2001
From: cbeall3 <cbeall3@gatech.edu>
Date: Thu, 12 Jun 2014 16:23:41 -0400
Subject: [PATCH] Use findExampleDataFile function to discover data file
 location

---
 examples/Pose2SLAMExample_g2o.cpp    |  2 +-
 examples/Pose2SLAMExample_graph.cpp  |  3 ++-
 examples/Pose2SLAMExample_lago.cpp   |  2 +-
 examples/RangeISAMExample_plaza2.cpp | 11 +++++------
 4 files changed, 9 insertions(+), 9 deletions(-)

diff --git a/examples/Pose2SLAMExample_g2o.cpp b/examples/Pose2SLAMExample_g2o.cpp
index 3a4ee9cff..b46a53198 100644
--- a/examples/Pose2SLAMExample_g2o.cpp
+++ b/examples/Pose2SLAMExample_g2o.cpp
@@ -31,7 +31,7 @@ int main(const int argc, const char *argv[]) {
   // Read graph from file
   string g2oFile;
   if (argc < 2)
-    g2oFile = "../../examples/Data/noisyToyGraph.txt";
+    g2oFile = findExampleDataFile("noisyToyGraph.txt");
   else
     g2oFile = argv[1];
 
diff --git a/examples/Pose2SLAMExample_graph.cpp b/examples/Pose2SLAMExample_graph.cpp
index 449144fef..86be74c75 100644
--- a/examples/Pose2SLAMExample_graph.cpp
+++ b/examples/Pose2SLAMExample_graph.cpp
@@ -32,7 +32,8 @@ int main (int argc, char** argv) {
   NonlinearFactorGraph::shared_ptr graph;
   Values::shared_ptr initial;
   SharedDiagonal model = noiseModel::Diagonal::Sigmas((Vector(3) << 0.05, 0.05, 5.0 * M_PI / 180.0));
-  boost::tie(graph, initial) = load2D("../../examples/Data/w100.graph", model);
+  string graph_file = findExampleDataFile("w100.graph");
+  boost::tie(graph, initial) = load2D(graph_file, model);
   initial->print("Initial estimate:\n");
 
   // Add a Gaussian prior on first poses
diff --git a/examples/Pose2SLAMExample_lago.cpp b/examples/Pose2SLAMExample_lago.cpp
index 1f5d80d7b..bb434f3ce 100644
--- a/examples/Pose2SLAMExample_lago.cpp
+++ b/examples/Pose2SLAMExample_lago.cpp
@@ -32,7 +32,7 @@ int main(const int argc, const char *argv[]) {
   // Read graph from file
   string g2oFile;
   if (argc < 2)
-    g2oFile = "../../examples/Data/noisyToyGraph.txt";
+    g2oFile = findExampleDataFile("noisyToyGraph.txt");
   else
     g2oFile = argv[1];
 
diff --git a/examples/RangeISAMExample_plaza2.cpp b/examples/RangeISAMExample_plaza2.cpp
index 29b02a271..252372f39 100644
--- a/examples/RangeISAMExample_plaza2.cpp
+++ b/examples/RangeISAMExample_plaza2.cpp
@@ -40,6 +40,7 @@
 #include <gtsam/slam/PriorFactor.h>
 #include <gtsam/slam/BetweenFactor.h>
 #include <gtsam/slam/RangeFactor.h>
+#include <gtsam/slam/dataset.h>
 
 // Standard headers, added last, so we know headers above work on their own
 #include <boost/foreach.hpp>
@@ -59,9 +60,8 @@ namespace NM = gtsam::noiseModel;
 typedef pair<double, Pose2> TimedOdometry;
 list<TimedOdometry> readOdometry() {
   list<TimedOdometry> odometryList;
-  ifstream is("../../examples/Data/Plaza2_DR.txt");
-  if (!is)
-    throw runtime_error("../../examples/Data/Plaza2_DR.txt file not found");
+  string data_file = findExampleDataFile("Plaza2_DR.txt");
+  ifstream is(data_file.c_str());
 
   while (is) {
     double t, distance_traveled, delta_heading;
@@ -78,9 +78,8 @@ list<TimedOdometry> readOdometry() {
 typedef boost::tuple<double, size_t, double> RangeTriple;
 vector<RangeTriple> readTriples() {
   vector<RangeTriple> triples;
-  ifstream is("../../examples/Data/Plaza2_TD.txt");
-  if (!is)
-    throw runtime_error("../../examples/Data/Plaza2_TD.txt file not found");
+  string data_file = findExampleDataFile("Plaza2_TD.txt");
+  ifstream is(data_file.c_str());
 
   while (is) {
     double t, sender, receiver, range;