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

release/4.3a0
Jing Dong 2013-11-13 06:08:59 +00:00
parent 05467e4774
commit 2896a45d1f
3 changed files with 3 additions and 3 deletions
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2
gtsam_unstable/dynamics/tests/testSimpleHelicopter.cpp
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@ -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) { Vector computeFu(const Vector& gamma, const Vector& control) {
double gamma_r = gamma(0), gamma_p = gamma(1); 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, distT*sin(gamma_p*cos(gamma_r)), 0.0,
0.0, distR, 0.0, distR,
sin(gamma_p)*cos(gamma_r), 0.0, sin(gamma_p)*cos(gamma_r), 0.0,

2
gtsam_unstable/geometry/BearingS2.cpp
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@ -29,7 +29,7 @@ BearingS2 BearingS2::fromDownwardsObservation(const Pose3& A, const Point3& B) {
Matrix Cnb = A.rotation().matrix().transpose(); Matrix Cnb = A.rotation().matrix().transpose();
// Cbc = [0,0,1;0,1,0;-1,0,0]; // Cbc = [0,0,1;0,1,0;-1,0,0];
Matrix Cbc = Matrix_(3,3, Matrix Cbc = (Mat(3,3) <<
0.,0.,1., 0.,0.,1.,
0.,1.,0., 0.,1.,0.,
-1.,0.,0.); -1.,0.,0.);

2
tests/testNonlinearEquality.cpp
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@ -520,7 +520,7 @@ typedef NonlinearEquality2<Point3> Point3Equality;
TEST (testNonlinearEqualityConstraint, stereo_constrained ) { TEST (testNonlinearEqualityConstraint, stereo_constrained ) {
// create initial estimates // create initial estimates
Rot3 faceDownY(Matrix_(3,3, Rot3 faceDownY((Matrix)(Mat(3,3) <<
1.0, 0.0, 0.0, 1.0, 0.0, 0.0,
0.0, 0.0, 1.0, 0.0, 0.0, 1.0,
0.0, -1.0, 0.0)); 0.0, -1.0, 0.0));