From 1f171cf1a1d81c6d969305e4664e41226be92004 Mon Sep 17 00:00:00 2001
From: Christian Forster <ch.forster@gmail.com>
Date: Mon, 1 Dec 2014 10:56:55 -0500
Subject: [PATCH] Removed LieScalar from prior factor test and added new test
 for constructor with Vector3

---
 gtsam/slam/tests/testPriorFactor.cpp | 14 ++++++++++----
 1 file changed, 10 insertions(+), 4 deletions(-)

diff --git a/gtsam/slam/tests/testPriorFactor.cpp b/gtsam/slam/tests/testPriorFactor.cpp
index b3e54bedb..d40ec3025 100644
--- a/gtsam/slam/tests/testPriorFactor.cpp
+++ b/gtsam/slam/tests/testPriorFactor.cpp
@@ -5,8 +5,8 @@
  * @date   Nov 4, 2014
  */
 
+#include <gtsam/base/Vector.h>
 #include <gtsam/slam/PriorFactor.h>
-#include <gtsam/base/LieScalar.h>
 #include <CppUnitLite/TestHarness.h>
 
 using namespace std;
@@ -14,10 +14,16 @@ using namespace gtsam;
 
 /* ************************************************************************* */
 
-// Constructor
-TEST(PriorFactor, Constructor) {
+// Constructor scalar
+TEST(PriorFactor, ConstructorScalar) {
   SharedNoiseModel model;
-  PriorFactor<LieScalar> factor(1, LieScalar(1.0), model);
+  PriorFactor<double> factor(1, 1.0, model);
+}
+
+// Constructor vector3
+TEST(PriorFactor, ConstructorVector3) {
+  SharedNoiseModel model = noiseModel::Isotropic::Sigma(3, 1.0);
+  PriorFactor<Vector3> factor(1, Vector3(1,2,3), model);
 }
 
 /* ************************************************************************* */