Deprecated norm_2() in Vector.h

gtsam/base/Vector.cpp

@@ -204,11 +204,6 @@ Vector ediv_(const Vector &a, const Vector &b) {
   return c;
 }
 
-/* ************************************************************************* */
-double norm_2(const Vector& v) {
-  return v.norm();
-}
-
 /* ************************************************************************* */
 // imperative version, pass in x
 double houseInPlace(Vector &v) {

gtsam/base/Vector.h

@@ -228,14 +228,6 @@ GTSAM_EXPORT Vector ediv(const Vector &a, const Vector &b);
  */
 GTSAM_EXPORT Vector ediv_(const Vector &a, const Vector &b);
 
-/**
- * Calculates L2 norm for a vector
- * modeled after boost.ublas for compatibility
- * @param v vector
- * @return the L2 norm
- */
-GTSAM_EXPORT double norm_2(const Vector& v);
-
 /**
  * Dot product
  */
@@ -317,6 +309,7 @@ GTSAM_EXPORT inline Vector abs(const Vector& v){return v.cwiseAbs();}
 GTSAM_EXPORT inline Vector esqrt(const Vector& v) { return v.cwiseSqrt();}
 GTSAM_EXPORT inline Vector emul(const Vector &a, const Vector &b) {assert (b.size()==a.size()); return a.cwiseProduct(b);}
 GTSAM_EXPORT inline double max(const Vector &a){return a.maxCoeff();}
+GTSAM_EXPORT inline double norm_2(const Vector& v) {return v.norm();}
 GTSAM_EXPORT inline Vector reciprocal(const Vector &a) {return a.array().inverse();}
 GTSAM_EXPORT inline double sum(const Vector &a){return a.sum();}
 #endif

gtsam/geometry/tests/testPose3.cpp

@@ -148,7 +148,7 @@ TEST(Pose3, Adjoint_full)
 Pose3 Agrawal06iros(const Vector& xi) {
   Vector w = xi.head(3);
   Vector v = xi.tail(3);
-  double t = norm_2(w);
+  double t = w.norm();
   if (t < 1e-5)
     return Pose3(Rot3(), Point3(v));
   else {

gtsam/geometry/tests/testRot3.cpp

@@ -96,7 +96,7 @@ TEST( Rot3, equals)
 /* ************************************************************************* */
 // Notice this uses J^2 whereas fast uses w*w', and has cos(t)*I + ....
 Rot3 slow_but_correct_Rodrigues(const Vector& w) {
-  double t = norm_2(w);
+  double t = w.norm();
   Matrix3 J = skewSymmetric(w / t);
   if (t < 1e-5) return Rot3();
   Matrix3 R = I_3x3 + sin(t) * J + (1.0 - cos(t)) * (J * J);
@@ -130,7 +130,7 @@ TEST( Rot3, Rodrigues2)
 TEST( Rot3, Rodrigues3)
 {
   Vector w = Vector3(0.1, 0.2, 0.3);
-  Rot3 R1 = Rot3::AxisAngle(w / norm_2(w), norm_2(w));
+  Rot3 R1 = Rot3::AxisAngle(w / w.norm(), w.norm());
   Rot3 R2 = slow_but_correct_Rodrigues(w);
   CHECK(assert_equal(R2,R1));
 }

gtsam/navigation/tests/testAHRSFactor.cpp

@@ -268,7 +268,7 @@ TEST( AHRSFactor, PartialDerivativeLogmap ) {
 
   const Vector3 x = thetahat; // parametrization of so(3)
   const Matrix3 X = skewSymmetric(x); // element of Lie algebra so(3): X = x^
-  double normx = norm_2(x);
+  double normx = x.norm();
   const Matrix3 actualDelFdeltheta = I_3x3 + 0.5 * X
       + (1 / (normx * normx) - (1 + cos(normx)) / (2 * normx * sin(normx))) * X
           * X;

gtsam/slam/tests/testSmartProjectionCameraFactor.cpp

@@ -652,7 +652,7 @@ TEST( SmartProjectionCameraFactor, comparisonGeneralSfMFactor ) {
   Vector e1 = sfm1.evaluateError(values.at<Camera>(c1), values.at<Point3>(l1));
   Vector e2 = sfm2.evaluateError(values.at<Camera>(c2), values.at<Point3>(l1));
   double actualError = 0.5
-      * (norm_2(e1) * norm_2(e1) + norm_2(e2) * norm_2(e2));
+      * (e1.norm() * e1.norm() + e2.norm() * e2.norm());
   double actualErrorGraph = generalGraph.error(values);
 
   DOUBLES_EQUAL(expectedErrorGraph, actualErrorGraph, 1e-7);

gtsam_unstable/slam/Mechanization_bRn2.cpp

@@ -33,7 +33,7 @@ Mechanization_bRn2 Mechanization_bRn2::initialize(const Matrix& U,
   if(g_e == 0) {
     if (flat)
       // acceleration measured is  along the z-axis.
-      b_g = (Vector3(3) << 0.0, 0.0, norm_2(meanF)).finished();
+      b_g = (Vector3(3) << 0.0, 0.0, meanF.norm()).finished();
     else
       // acceleration measured is the opposite of gravity (10.13)
       b_g = -meanF;