From 7c8e1f80ced90b8e5be66a4b7207eba3438f4e60 Mon Sep 17 00:00:00 2001
From: yao <chenyao.sunshine@gmail.com>
Date: Wed, 15 Jun 2016 13:18:23 -0400
Subject: [PATCH] Updated several codes.

---
 doc/Code/LocalizationExample2.cpp | 2 +-
 doc/Code/LocalizationFactor.cpp   | 4 ++--
 doc/Code/OdometryExample.cpp      | 4 ++--
 doc/Code/Pose2SLAMExample.cpp     | 8 ++++----
 4 files changed, 9 insertions(+), 9 deletions(-)

diff --git a/doc/Code/LocalizationExample2.cpp b/doc/Code/LocalizationExample2.cpp
index 42f19de9e..34b719e81 100644
--- a/doc/Code/LocalizationExample2.cpp
+++ b/doc/Code/LocalizationExample2.cpp
@@ -1,6 +1,6 @@
 // add unary measurement factors, like GPS, on all three poses
 noiseModel::Diagonal::shared_ptr unaryNoise = 
- unaryNoise::Diagonal::Sigmas((Vector(2)<< 0.1, 0.1)); // 10cm std on x,y
+ unaryNoise::Diagonal::Sigmas(Vector2(0.1, 0.1)); // 10cm std on x,y
 graph.add(boost::make_shared<UnaryFactor>(1, 0.0, 0.0, unaryNoise));
 graph.add(boost::make_shared<UnaryFactor>(2, 2.0, 0.0, unaryNoise));
 graph.add(boost::make_shared<UnaryFactor>(3, 4.0, 0.0, unaryNoise));
diff --git a/doc/Code/LocalizationFactor.cpp b/doc/Code/LocalizationFactor.cpp
index 9be7dce99..8b80f2b2a 100644
--- a/doc/Code/LocalizationFactor.cpp
+++ b/doc/Code/LocalizationFactor.cpp
@@ -8,7 +8,7 @@ public:
   Vector evaluateError(const Pose2& q, 
                        boost::optional<Matrix&> H = boost::none) const
   {
-    if (H) (*H) = (Matrix(2,3)<< 1.0,0.0,0.0, 0.0,1.0,0.0);
-    return (Vector(2) << q.x() - mx_, q.y() - my_);
+    if (H) (*H) = (Matrix(2,3)<< 1.0,0.0,0.0, 0.0,1.0,0.0).finished();
+    return (Vector(2) << q.x() - mx_, q.y() - my_).finished();
   }
 };
diff --git a/doc/Code/OdometryExample.cpp b/doc/Code/OdometryExample.cpp
index c2b6558a4..ef880384c 100644
--- a/doc/Code/OdometryExample.cpp
+++ b/doc/Code/OdometryExample.cpp
@@ -4,12 +4,12 @@ NonlinearFactorGraph graph;
 // Add a Gaussian prior on pose x_1
 Pose2 priorMean(0.0, 0.0, 0.0);
 noiseModel::Diagonal::shared_ptr priorNoise = 
-  noiseModel::Diagonal::Sigmas((Vector(3)<< 0.3, 0.3, 0.1));
+  noiseModel::Diagonal::Sigmas(Vector3(0.3, 0.3, 0.1));
 graph.add(PriorFactor<Pose2>(1, priorMean, priorNoise));
 
 // Add two odometry factors
 Pose2 odometry(2.0, 0.0, 0.0);
 noiseModel::Diagonal::shared_ptr odometryNoise = 
-  noiseModel::Diagonal::Sigmas((Vector(3)<< 0.2, 0.2, 0.1));
+  noiseModel::Diagonal::Sigmas(Vector3(0.2, 0.2, 0.1));
 graph.add(BetweenFactor<Pose2>(1, 2, odometry, odometryNoise));
 graph.add(BetweenFactor<Pose2>(2, 3, odometry, odometryNoise));
diff --git a/doc/Code/Pose2SLAMExample.cpp b/doc/Code/Pose2SLAMExample.cpp
index 470f13397..2e2b41704 100644
--- a/doc/Code/Pose2SLAMExample.cpp
+++ b/doc/Code/Pose2SLAMExample.cpp
@@ -1,16 +1,16 @@
 NonlinearFactorGraph graph;
 noiseModel::Diagonal::shared_ptr priorNoise = 
-  noiseModel::Diagonal::Sigmas((Vector(3)<< 0.3, 0.3, 0.1));
-graph.add(PriorFactor<Pose2>(1, Pose2(0,0,0), priorNoise));
+  noiseModel::Diagonal::Sigmas(Vector3(0.3, 0.3, 0.1));
+graph.add(PriorFactor<Pose2>(1, Pose2(0, 0, 0), priorNoise));
 
 // Add odometry factors
 noiseModel::Diagonal::shared_ptr model = 
-  noiseModel::Diagonal::Sigmas((Vector(3)<< 0.2, 0.2, 0.1));
+  noiseModel::Diagonal::Sigmas(Vector3(0.2, 0.2, 0.1));
 graph.add(BetweenFactor<Pose2>(1, 2, Pose2(2, 0, 0     ), model));
 graph.add(BetweenFactor<Pose2>(2, 3, Pose2(2, 0, M_PI_2), model));
 graph.add(BetweenFactor<Pose2>(3, 4, Pose2(2, 0, M_PI_2), model));
 graph.add(BetweenFactor<Pose2>(4, 5, Pose2(2, 0, M_PI_2), model));
 
-// Add pose constraint
+// Add the loop closure constraint
 graph.add(BetweenFactor<Pose2>(5, 2, Pose2(2, 0, M_PI_2), model));