From 6e6bb6b51330dde4dfea40596d7679b99d44cce1 Mon Sep 17 00:00:00 2001
From: Frank Dellaert <dellaert@gmail.com>
Date: Wed, 25 Jan 2023 18:32:50 -0800
Subject: [PATCH] Fixed arguments in constructors

---
 gtsam/linear/tests/testJacobianFactor.cpp     | 22 +++++++------------
 .../linear/tests/testLinearEquality.cpp       | 11 +++++-----
 2 files changed, 14 insertions(+), 19 deletions(-)

diff --git a/gtsam/linear/tests/testJacobianFactor.cpp b/gtsam/linear/tests/testJacobianFactor.cpp
index 52d85bd41..9597b8f53 100644
--- a/gtsam/linear/tests/testJacobianFactor.cpp
+++ b/gtsam/linear/tests/testJacobianFactor.cpp
@@ -35,8 +35,8 @@ using Dims = std::vector<Eigen::Index>;  // For constructing block matrices
 namespace {
   namespace simple {
     // Terms we'll use
-  const vector<pair<Key, Matrix> > terms{
-      {5, I_3x3}, {10, 2 * I_3x3}, {15, 3 * I_3x3}};
+  using Terms = vector<pair<Key, Matrix> >;
+  const Terms terms{{5, I_3x3}, {10, 2 * I_3x3}, {15, 3 * I_3x3}};
 
   // RHS and sigmas
   const Vector b = Vector3(1., 2., 3.);
@@ -53,8 +53,7 @@ TEST(JacobianFactor, constructors_and_accessors)
   // Test for using different numbers of terms
   {
     // b vector only constructor
-    JacobianFactor expected(
-      std::vector(terms.begin(), terms.begin()), b);
+    JacobianFactor expected(Terms{}, b);
     JacobianFactor actual(b);
     EXPECT(assert_equal(expected, actual));
     EXPECT(assert_equal(b, expected.getb()));
@@ -64,8 +63,7 @@ TEST(JacobianFactor, constructors_and_accessors)
   }
   {
     // One term constructor
-    JacobianFactor expected(
-      std::vector(terms.begin(), terms.begin() + 1), b, noise);
+    JacobianFactor expected(Terms{terms[0]}, b, noise);
     JacobianFactor actual(terms[0].first, terms[0].second, b, noise);
     EXPECT(assert_equal(expected, actual));
     LONGS_EQUAL((long)terms[0].first, (long)actual.keys().back());
@@ -77,8 +75,7 @@ TEST(JacobianFactor, constructors_and_accessors)
   }
   {
     // Two term constructor
-    JacobianFactor expected(
-      std::vector(terms.begin(), terms.begin() + 2), b, noise);
+    JacobianFactor expected(Terms{terms[0], terms[1]}, b, noise);
     JacobianFactor actual(terms[0].first, terms[0].second,
       terms[1].first, terms[1].second, b, noise);
     EXPECT(assert_equal(expected, actual));
@@ -91,8 +88,7 @@ TEST(JacobianFactor, constructors_and_accessors)
   }
   {
     // Three term constructor
-    JacobianFactor expected(
-      std::vector(terms.begin(), terms.begin() + 3), b, noise);
+    JacobianFactor expected(Terms{terms[0], terms[1], terms[2]}, b, noise);
     JacobianFactor actual(terms[0].first, terms[0].second,
       terms[1].first, terms[1].second, terms[2].first, terms[2].second, b, noise);
     EXPECT(assert_equal(expected, actual));
@@ -105,8 +101,7 @@ TEST(JacobianFactor, constructors_and_accessors)
   }
   {
     // Test three-term constructor with std::map
-    JacobianFactor expected(
-      std::vector(terms.begin(), terms.begin() + 3), b, noise);
+    JacobianFactor expected(Terms{terms[0], terms[1], terms[2]}, b, noise);
     map<Key,Matrix> mapTerms;
     // note order of insertion plays no role: order will be determined by keys
     mapTerms.insert(terms[2]);
@@ -123,8 +118,7 @@ TEST(JacobianFactor, constructors_and_accessors)
   }
   {
     // VerticalBlockMatrix constructor
-    JacobianFactor expected(
-      std::vector(terms.begin(), terms.begin() + 3), b, noise);
+    JacobianFactor expected(Terms{terms[0], terms[1], terms[2]}, b, noise);
     VerticalBlockMatrix blockMatrix(Dims{3, 3, 3, 1}, 3);
     blockMatrix(0) = terms[0].second;
     blockMatrix(1) = terms[1].second;
diff --git a/gtsam_unstable/linear/tests/testLinearEquality.cpp b/gtsam_unstable/linear/tests/testLinearEquality.cpp
index 2f4d41ced..781ae26c1 100644
--- a/gtsam_unstable/linear/tests/testLinearEquality.cpp
+++ b/gtsam_unstable/linear/tests/testLinearEquality.cpp
@@ -29,8 +29,9 @@ GTSAM_CONCEPT_TESTABLE_INST(LinearEquality)
 namespace {
 namespace simple {
 // Terms we'll use
-const vector<pair<Key, Matrix> > terms{
-    make_pair(5, I_3x3), make_pair(10, 2 * I_3x3), make_pair(15, 3 * I_3x3)};
+using Terms = vector<pair<Key, Matrix> >;
+const Terms terms{make_pair(5, I_3x3), make_pair(10, 2 * I_3x3),
+                  make_pair(15, 3 * I_3x3)};
 
 // RHS and sigmas
 const Vector b = (Vector(3) << 1., 2., 3.).finished();
@@ -45,7 +46,7 @@ TEST(LinearEquality, constructors_and_accessors) {
   // Test for using different numbers of terms
   {
     // One term constructor
-    LinearEquality expected(terms.begin(), terms.begin() + 1, b, 0);
+    LinearEquality expected(Terms(terms.begin(), terms.begin() + 1), b, 0);
     LinearEquality actual(terms[0].first, terms[0].second, b, 0);
     EXPECT(assert_equal(expected, actual));
     LONGS_EQUAL((long)terms[0].first, (long)actual.keys().back());
@@ -56,7 +57,7 @@ TEST(LinearEquality, constructors_and_accessors) {
   }
   {
     // Two term constructor
-    LinearEquality expected(terms.begin(), terms.begin() + 2, b, 0);
+    LinearEquality expected(Terms(terms.begin(), terms.begin() + 2), b, 0);
     LinearEquality actual(terms[0].first, terms[0].second, terms[1].first,
                           terms[1].second, b, 0);
     EXPECT(assert_equal(expected, actual));
@@ -68,7 +69,7 @@ TEST(LinearEquality, constructors_and_accessors) {
   }
   {
     // Three term constructor
-    LinearEquality expected(terms.begin(), terms.begin() + 3, b, 0);
+    LinearEquality expected(Terms(terms.begin(), terms.begin() + 3), b, 0);
     LinearEquality actual(terms[0].first, terms[0].second, terms[1].first,
                           terms[1].second, terms[2].first, terms[2].second, b,
                           0);