Updated timing scripts for comma initializer

gtsam_unstable/timing/timeInertialNavFactor_GlobalVelocity.cpp

@@ -31,7 +31,7 @@ gtsam::Rot3 world_R_ECEF(
     0.85173,     -0.52399,            0,
     0.41733,      0.67835,     -0.60471);
 
-gtsam::Vector ECEF_omega_earth((Vector(3) << 0.0, 0.0, 7.292115e-5));
+gtsam::Vector ECEF_omega_earth((Vector(3) << 0.0, 0.0, 7.292115e-5).finished());
 gtsam::Vector world_omega_earth(world_R_ECEF.matrix() * ECEF_omega_earth);
 
 /* ************************************************************************* */
@@ -54,8 +54,8 @@ int main() {
 
   double measurement_dt(0.1);
   Vector world_g((Vector(3) << 0.0, 0.0, 9.81).finished());
-  Vector world_rho((Vector(3) << 0.0, -1.5724e-05, 0.0)); // NED system
-  gtsam::Vector ECEF_omega_earth((Vector(3) << 0.0, 0.0, 7.292115e-5));
+  Vector world_rho((Vector(3) << 0.0, -1.5724e-05, 0.0).finished()); // NED system
+  gtsam::Vector ECEF_omega_earth((Vector(3) << 0.0, 0.0, 7.292115e-5).finished());
   gtsam::Vector world_omega_earth(world_R_ECEF.matrix() * ECEF_omega_earth);
 
   SharedGaussian model(noiseModel::Isotropic::Sigma(9, 0.1));

timing/timeGaussianFactor.cpp

@@ -63,7 +63,7 @@ int main()
            +0.,-5.,
            10., 0.,
            +0.,10.
-           );
+           ).finished();
                      
   Matrix Al1 = (Matrix(8, 10) <<
            // l1     
@@ -75,7 +75,7 @@ int main()
            0., 5.,1.,2.,3.,4.,5.,6.,7.,8.,
            0., 0.,1.,2.,3.,4.,5.,6.,7.,8.,
            0., 0.,1.,2.,3.,4.,5.,6.,7.,8.
-           );
+           ).finished();
                      
   Matrix Ax1 = (Matrix(8, 2) <<
            // x1
@@ -87,7 +87,7 @@ int main()
            0.00,  0.,1.,2.,3.,4.,5.,6.,7.,8.,
            -10.,  0.,1.,2.,3.,4.,5.,6.,7.,8.,
            0.00,-10.,1.,2.,3.,4.,5.,6.,7.,8.
-           );
+           ).finished();
 
   // and a RHS
   Vector b2(8);

timing/timeLago.cpp

@@ -36,14 +36,14 @@ int main(int argc, char *argv[]) {
   Values::shared_ptr solution;
   NonlinearFactorGraph::shared_ptr g;
   string inputFile = findExampleDataFile("w10000");
-  SharedDiagonal model = noiseModel::Diagonal::Sigmas((Vector(3) << 0.05, 0.05, 5.0 * M_PI / 180.0));
+  SharedDiagonal model = noiseModel::Diagonal::Sigmas((Vector(3) << 0.05, 0.05, 5.0 * M_PI / 180.0).finished());
   boost::tie(g, solution) = load2D(inputFile, model);
 
   // add noise to create initial estimate
   Values initial;
   Sampler sampler(42u);
   Values::ConstFiltered<Pose2> poses = solution->filter<Pose2>();
-  SharedDiagonal noise = noiseModel::Diagonal::Sigmas((Vector(3) << 0.5, 0.5, 15.0 * M_PI / 180.0));
+  SharedDiagonal noise = noiseModel::Diagonal::Sigmas((Vector(3) << 0.5, 0.5, 15.0 * M_PI / 180.0).finished());
   BOOST_FOREACH(const Values::ConstFiltered<Pose2>::KeyValuePair& it, poses)
     initial.insert(it.key, it.value.retract(sampler.sampleNewModel(noise)));
 

timing/timePose2.cpp

@@ -61,7 +61,7 @@ Pose2 Pose2betweenOptimized(const Pose2& r1, const Pose2& r2,
     *H1 = (Matrix(3,3) <<
       -c,  -s,  dt1,
       s,  -c,  dt2,
-      0.0, 0.0,-1.0);
+      0.0, 0.0,-1.0).finished();
   }
   if (H2) *H2 = Matrix::Identity(3,3);
 
@@ -138,7 +138,7 @@ int main()
 
   // create a random pose:
   double x = 4.0, y = 2.0, r = 0.3;
-  Vector v = (Vector(3) << x, y, r);
+  Vector v = (Vector(3) << x, y, r).finished();
   Pose2 X = Pose2(3,2,0.4), X2 = X.retract(v), X3(5,6,0.3);
 
   TEST(Expmap, Pose2::Expmap(v));

timing/timePose3.cpp

@@ -37,7 +37,7 @@ int main()
 
   double norm=sqrt(1.0+16.0+4.0);
   double x=1.0/norm, y=4.0/norm, z=2.0/norm;
-  Vector v = (Vector(6) << x, y, z, 0.1, 0.2, -0.1);
+  Vector v = (Vector(6) << x, y, z, 0.1, 0.2, -0.1).finished();
   Pose3 T = Pose3::Expmap((Vector(6) << 0.1, 0.1, 0.2, 0.1, 0.4, 0.2).finished()), T2 = T.retract(v);
   Matrix H1,H2;
 

timing/timeRot2.cpp

@@ -95,7 +95,7 @@ int main()
   // create a random direction:
   double norm=sqrt(16.0+4.0);
   double x=4.0/norm, y=2.0/norm;
-  Vector v = (Vector(2) << x, y);
+  Vector v = (Vector(2) << x, y).finished();
   Rot2 R = Rot2(0.4), R2 = R.retract(v), R3(0.6);
 
   TEST(Rot2_Expmap, Rot2::Expmap(v));

timing/timeRot3.cpp

@@ -39,7 +39,7 @@ int main()
   // create a random direction:
   double norm=sqrt(1.0+16.0+4.0);
   double x=1.0/norm, y=4.0/norm, z=2.0/norm;
-  Vector v = (Vector(3) << x, y, z);
+  Vector v = (Vector(3) << x, y, z).finished();
   Rot3 R = Rot3::rodriguez(0.1, 0.4, 0.2), R2 = R.retract(v);
 
   TEST("Rodriguez formula given axis angle", Rot3::rodriguez(v,0.001))