diff --git a/gtsam/base/tests/testTreeTraversal.cpp b/gtsam/base/tests/testTreeTraversal.cpp index 8fe5e53ef..88e476cb9 100644 --- a/gtsam/base/tests/testTreeTraversal.cpp +++ b/gtsam/base/tests/testTreeTraversal.cpp @@ -40,8 +40,8 @@ struct TestNode { struct TestForest { typedef TestNode Node; typedef Node::shared_ptr sharedNode; - vector roots_; - const vector& roots() const { return roots_; } + FastVector roots_; + const FastVector& roots() const { return roots_; } }; TestForest makeTestForest() { diff --git a/gtsam_unstable/nonlinear/tests/testConcurrentIncrementalFilter.cpp b/gtsam_unstable/nonlinear/tests/testConcurrentIncrementalFilter.cpp index 97b79394f..d6f6446e8 100644 --- a/gtsam_unstable/nonlinear/tests/testConcurrentIncrementalFilter.cpp +++ b/gtsam_unstable/nonlinear/tests/testConcurrentIncrementalFilter.cpp @@ -1110,12 +1110,13 @@ TEST( ConcurrentIncrementalFilter, CalculateMarginals_1 ) // Create the set of marginalizable variables GaussianFactorGraph linearGraph = *factorGraph.linearize(newValues); - GaussianFactorGraph marginal = *linearGraph.eliminatePartialMultifrontal({1}, EliminateCholesky).second; + KeyVector linearIndices {1}; + GaussianFactorGraph marginal = *linearGraph.eliminatePartialMultifrontal(linearIndices, EliminateCholesky).second; - NonlinearFactorGraph expectedMarginals; - for(const GaussianFactor::shared_ptr& factor: marginal) { - expectedMarginals.push_back(LinearContainerFactor(factor, newValues)); - } + NonlinearFactorGraph expectedMarginals; + for(const GaussianFactor::shared_ptr& factor: marginal) { + expectedMarginals.push_back(LinearContainerFactor(factor, newValues)); + } FastList keysToMarginalize; keysToMarginalize.push_back(1);