Fix Matrix_(...) to Mat() <<...

gtsam_unstable/dynamics/tests/testSimpleHelicopter.cpp

@@ -35,7 +35,7 @@ Matrix Inertia = diag((Vec(6) << 2.0/5.0*mass*distR*distR, 2.0/5.0*mass*distR*di
 Vector computeFu(const Vector& gamma, const Vector& control) {
   double gamma_r = gamma(0), gamma_p = gamma(1);
 
-  Matrix F = Matrix_(6, 2, distT*sin(gamma_r), 0.0,
+  Matrix F = (Mat(6, 2) << distT*sin(gamma_r), 0.0,
                            distT*sin(gamma_p*cos(gamma_r)), 0.0,
                            0.0, distR,
                            sin(gamma_p)*cos(gamma_r), 0.0,

gtsam_unstable/geometry/BearingS2.cpp

@@ -29,7 +29,7 @@ BearingS2 BearingS2::fromDownwardsObservation(const Pose3& A, const Point3& B) {
   Matrix Cnb = A.rotation().matrix().transpose();
 
   //  Cbc = [0,0,1;0,1,0;-1,0,0];
-  Matrix Cbc = Matrix_(3,3,
+  Matrix Cbc = (Mat(3,3) <<
       0.,0.,1.,
       0.,1.,0.,
       -1.,0.,0.);

tests/testNonlinearEquality.cpp

@@ -520,7 +520,7 @@ typedef NonlinearEquality2<Point3> Point3Equality;
 TEST (testNonlinearEqualityConstraint, stereo_constrained ) {
 
   // create initial estimates
-  Rot3 faceDownY(Matrix_(3,3,
+  Rot3 faceDownY((Matrix)(Mat(3,3) <<
       1.0, 0.0, 0.0,
       0.0, 0.0, 1.0,
       0.0, -1.0, 0.0));