From 7612e3ac4322b61bff7e77256f6425b986342c94 Mon Sep 17 00:00:00 2001
From: Jing Dong <thu.dongjing@gmail.com>
Date: Wed, 13 Nov 2013 05:30:40 +0000
Subject: [PATCH] Fix Matrix_(...) to Mat() <<... in gtsam/nonlinear

---
 gtsam/nonlinear/WhiteNoiseFactor.h            |  6 ++---
 .../tests/testLinearContainerFactor.cpp       | 26 +++++++++----------
 2 files changed, 16 insertions(+), 16 deletions(-)

diff --git a/gtsam/nonlinear/WhiteNoiseFactor.h b/gtsam/nonlinear/WhiteNoiseFactor.h
index a8196b870..3d8e5b804 100644
--- a/gtsam/nonlinear/WhiteNoiseFactor.h
+++ b/gtsam/nonlinear/WhiteNoiseFactor.h
@@ -77,9 +77,9 @@ namespace gtsam {
       double c = 2 * logSqrt2PI - log(p) + e2 * p;
       Vector g1 = (Vec(1) << -e * p);
       Vector g2 = (Vec(1) <<  0.5 / p - 0.5 * e2);
-      Matrix G11 = Matrix_(1, 1, p);
-      Matrix G12 = Matrix_(1, 1, e);
-      Matrix G22 = Matrix_(1, 1, 0.5 / (p * p));
+      Matrix G11 = (Mat(1, 1) << p);
+      Matrix G12 = (Mat(1, 1) << e);
+      Matrix G22 = (Mat(1, 1) << 0.5 / (p * p));
       return HessianFactor::shared_ptr(
           new HessianFactor(j1, j2, G11, G12, g1, G22, g2, c));
     }
diff --git a/gtsam/nonlinear/tests/testLinearContainerFactor.cpp b/gtsam/nonlinear/tests/testLinearContainerFactor.cpp
index c1cd73b85..e239b4ba5 100644
--- a/gtsam/nonlinear/tests/testLinearContainerFactor.cpp
+++ b/gtsam/nonlinear/tests/testLinearContainerFactor.cpp
@@ -30,10 +30,10 @@ Pose2 poseA1(0.0, 0.0, 0.0), poseA2(2.0, 0.0, 0.0);
 /* ************************************************************************* */
 TEST( testLinearContainerFactor, generic_jacobian_factor ) {
 
-  Matrix A1 = Matrix_(2,2,
+  Matrix A1 = (Mat(2, 2) <<
       2.74222, -0.0067457,
       0.0,  2.63624);
-  Matrix A2 = Matrix_(2,2,
+  Matrix A2 = (Mat(2, 2) <<
       -0.0455167, -0.0443573,
       -0.0222154, -0.102489);
   Vector b = (Vec(2) << 0.0277052,
@@ -64,10 +64,10 @@ TEST( testLinearContainerFactor, generic_jacobian_factor ) {
 /* ************************************************************************* */
 TEST( testLinearContainerFactor, jacobian_factor_withlinpoints ) {
 
-  Matrix A1 = Matrix_(2,2,
+  Matrix A1 = (Mat(2, 2) <<
       2.74222, -0.0067457,
       0.0,  2.63624);
-  Matrix A2 = Matrix_(2,2,
+  Matrix A2 = (Mat(2, 2) <<
       -0.0455167, -0.0443573,
       -0.0222154, -0.102489);
   Vector b = (Vec(2) << 0.0277052,
@@ -117,16 +117,16 @@ TEST( testLinearContainerFactor, jacobian_factor_withlinpoints ) {
 
 /* ************************************************************************* */
 TEST( testLinearContainerFactor, generic_hessian_factor ) {
-  Matrix G11 = Matrix_(1,1, 1.0);
-  Matrix G12 = Matrix_(1,2, 2.0, 4.0);
-  Matrix G13 = Matrix_(1,3, 3.0, 6.0, 9.0);
+  Matrix G11 = (Mat(1, 1) << 1.0);
+  Matrix G12 = (Mat(1, 2) << 2.0, 4.0);
+  Matrix G13 = (Mat(1, 3) << 3.0, 6.0, 9.0);
 
-  Matrix G22 = Matrix_(2,2, 3.0, 5.0,
+  Matrix G22 = (Mat(2, 2) << 3.0, 5.0,
                             0.0, 6.0);
-  Matrix G23 = Matrix_(2,3, 4.0, 6.0, 8.0,
+  Matrix G23 = (Mat(2, 3) << 4.0, 6.0, 8.0,
                             1.0, 2.0, 4.0);
 
-  Matrix G33 = Matrix_(3,3, 1.0, 2.0, 3.0,
+  Matrix G33 = (Mat(3, 3) << 1.0, 2.0, 3.0,
                             0.0, 5.0, 6.0,
                             0.0, 0.0, 9.0);
 
@@ -158,17 +158,17 @@ TEST( testLinearContainerFactor, hessian_factor_withlinpoints ) {
   // 2 variable example, one pose, one landmark (planar)
   // Initial ordering: x1, l1
 
-  Matrix G11 = Matrix_(3,3,
+  Matrix G11 = (Mat(3, 3) <<
       1.0, 2.0, 3.0,
       0.0, 5.0, 6.0,
       0.0, 0.0, 9.0);
-  Matrix G12 = Matrix_(3,2,
+  Matrix G12 = (Mat(3, 2) <<
       1.0, 2.0,
       3.0, 5.0,
       4.0, 6.0);
   Vector g1 = (Vec(3) << 1.0,  2.0,  3.0);
 
-  Matrix G22 = Matrix_(2,2,
+  Matrix G22 = (Mat(2, 2) <<
         0.5, 0.2,
         0.0, 0.6);