From 2896a45d1ff1bf54aa456cb02329c707e4a63e0c Mon Sep 17 00:00:00 2001 From: Jing Dong Date: Wed, 13 Nov 2013 06:08:59 +0000 Subject: [PATCH] Fix Matrix_(...) to Mat() <<... --- gtsam_unstable/dynamics/tests/testSimpleHelicopter.cpp | 2 +- gtsam_unstable/geometry/BearingS2.cpp | 2 +- tests/testNonlinearEquality.cpp | 2 +- 3 files changed, 3 insertions(+), 3 deletions(-) diff --git a/gtsam_unstable/dynamics/tests/testSimpleHelicopter.cpp b/gtsam_unstable/dynamics/tests/testSimpleHelicopter.cpp index b7717b1aa..53c09e457 100644 --- a/gtsam_unstable/dynamics/tests/testSimpleHelicopter.cpp +++ b/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, diff --git a/gtsam_unstable/geometry/BearingS2.cpp b/gtsam_unstable/geometry/BearingS2.cpp index ea1bf0b74..922309a6c 100644 --- a/gtsam_unstable/geometry/BearingS2.cpp +++ b/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.); diff --git a/tests/testNonlinearEquality.cpp b/tests/testNonlinearEquality.cpp index 85b35d7e8..b2d8f43cb 100644 --- a/tests/testNonlinearEquality.cpp +++ b/tests/testNonlinearEquality.cpp @@ -520,7 +520,7 @@ typedef NonlinearEquality2 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));