From 706534c3b883c93d207ddd349a0de79aabaaf693 Mon Sep 17 00:00:00 2001
From: Alex Cunningham <alexgcunningham@gmail.com>
Date: Thu, 8 Aug 2013 17:53:03 +0000
Subject: [PATCH] Fixed compile problems in tests

---
 gtsam/slam/tests/testGeneralSFMFactor.cpp | 12 ++++++------
 gtsam/slam/tests/testProjectionFactor.cpp |  1 +
 2 files changed, 7 insertions(+), 6 deletions(-)

diff --git a/gtsam/slam/tests/testGeneralSFMFactor.cpp b/gtsam/slam/tests/testGeneralSFMFactor.cpp
index 0aeadfa6a..e6d134ee6 100644
--- a/gtsam/slam/tests/testGeneralSFMFactor.cpp
+++ b/gtsam/slam/tests/testGeneralSFMFactor.cpp
@@ -371,7 +371,7 @@ TEST( GeneralSFMFactor, optimize_varK_BA ) {
   graph.addCameraConstraint(0, cameras[0]);
 
   // Constrain the scale of the problem with a soft range factor of 1m between the cameras
-  graph.add(RangeFactor<GeneralCamera,GeneralCamera>(X(0), X(1), 2.0, noiseModel::Isotropic::Sigma(1, 10.0)));
+  graph.push_back(RangeFactor<GeneralCamera,GeneralCamera>(X(0), X(1), 2.0, noiseModel::Isotropic::Sigma(1, 10.0)));
 
   const double reproj_error = 1e-5 ;
 
@@ -386,8 +386,8 @@ TEST(GeneralSFMFactor, GeneralCameraPoseRange) {
   // Tests range factor between a GeneralCamera and a Pose3
   Graph graph;
   graph.addCameraConstraint(0, GeneralCamera());
-  graph.add(RangeFactor<GeneralCamera, Pose3>(X(0), X(1), 2.0, noiseModel::Isotropic::Sigma(1, 1.0)));
-  graph.add(PriorFactor<Pose3>(X(1), Pose3(Rot3(), Point3(1.0, 0.0, 0.0)), noiseModel::Isotropic::Sigma(6, 1.0)));
+  graph.push_back(RangeFactor<GeneralCamera, Pose3>(X(0), X(1), 2.0, noiseModel::Isotropic::Sigma(1, 1.0)));
+  graph.push_back(PriorFactor<Pose3>(X(1), Pose3(Rot3(), Point3(1.0, 0.0, 0.0)), noiseModel::Isotropic::Sigma(6, 1.0)));
 
   Values init;
   init.insert(X(0), GeneralCamera());
@@ -410,9 +410,9 @@ TEST(GeneralSFMFactor, GeneralCameraPoseRange) {
 TEST(GeneralSFMFactor, CalibratedCameraPoseRange) {
   // Tests range factor between a CalibratedCamera and a Pose3
   NonlinearFactorGraph graph;
-  graph.add(PriorFactor<CalibratedCamera>(X(0), CalibratedCamera(), noiseModel::Isotropic::Sigma(6, 1.0)));
-  graph.add(RangeFactor<CalibratedCamera, Pose3>(X(0), X(1), 2.0, noiseModel::Isotropic::Sigma(1, 1.0)));
-  graph.add(PriorFactor<Pose3>(X(1), Pose3(Rot3(), Point3(1.0, 0.0, 0.0)), noiseModel::Isotropic::Sigma(6, 1.0)));
+  graph.push_back(PriorFactor<CalibratedCamera>(X(0), CalibratedCamera(), noiseModel::Isotropic::Sigma(6, 1.0)));
+  graph.push_back(RangeFactor<CalibratedCamera, Pose3>(X(0), X(1), 2.0, noiseModel::Isotropic::Sigma(1, 1.0)));
+  graph.push_back(PriorFactor<Pose3>(X(1), Pose3(Rot3(), Point3(1.0, 0.0, 0.0)), noiseModel::Isotropic::Sigma(6, 1.0)));
 
   Values init;
   init.insert(X(0), CalibratedCamera());
diff --git a/gtsam/slam/tests/testProjectionFactor.cpp b/gtsam/slam/tests/testProjectionFactor.cpp
index b53fde536..fc1d9a51b 100644
--- a/gtsam/slam/tests/testProjectionFactor.cpp
+++ b/gtsam/slam/tests/testProjectionFactor.cpp
@@ -23,6 +23,7 @@
 #include <gtsam/geometry/Pose3.h>
 #include <gtsam/geometry/Point3.h>
 #include <gtsam/geometry/Point2.h>
+#include <gtsam/base/TestableAssertions.h>
 #include <CppUnitLite/TestHarness.h>
 
 using namespace std;