From 90786c0203e8f2325be7c7211c5b95736ec1d8ad Mon Sep 17 00:00:00 2001
From: jing <jdong@gatech.edu>
Date: Thu, 23 Jan 2014 01:44:55 -0500
Subject: [PATCH] fix Vector_() in rest of gtsam folder

---
 gtsam/linear/tests/testSampler.cpp                  | 2 +-
 gtsam/navigation/ImuBias.h                          | 2 +-
 gtsam/nonlinear/ISAM2.h                             | 4 ++--
 gtsam/nonlinear/tests/testLinearContainerFactor.cpp | 2 +-
 gtsam/slam/BearingRangeFactor.h                     | 2 +-
 gtsam/slam/RangeFactor.h                            | 2 +-
 6 files changed, 7 insertions(+), 7 deletions(-)

diff --git a/gtsam/linear/tests/testSampler.cpp b/gtsam/linear/tests/testSampler.cpp
index 1d041d017..9db8b7edc 100644
--- a/gtsam/linear/tests/testSampler.cpp
+++ b/gtsam/linear/tests/testSampler.cpp
@@ -24,7 +24,7 @@ const double tol = 1e-5;
 
 /* ************************************************************************* */
 TEST(testSampler, basic) {
-  Vector sigmas = Vector_(3, 1.0, 0.1, 0.0);
+  Vector sigmas = (Vector(3) << 1.0, 0.1, 0.0);
   noiseModel::Diagonal::shared_ptr model = noiseModel::Diagonal::Sigmas(sigmas);
   char seed = 'A';
   Sampler sampler1(model, seed), sampler2(model, 1), sampler3(model, 1);
diff --git a/gtsam/navigation/ImuBias.h b/gtsam/navigation/ImuBias.h
index b535f5179..32911e589 100644
--- a/gtsam/navigation/ImuBias.h
+++ b/gtsam/navigation/ImuBias.h
@@ -113,7 +113,7 @@ namespace imuBias {
 //
 //      return measurement - biasGyro_ - w_earth_rate_I;
 //
-////      Vector bias_gyro_temp(Vector_(3, -bias_gyro_(0), bias_gyro_(1), bias_gyro_(2)));
+////      Vector bias_gyro_temp((Vector(3) << -bias_gyro_(0), bias_gyro_(1), bias_gyro_(2)));
 ////      return measurement - bias_gyro_temp - R_G_to_I * w_earth_rate_G;
 //    }
 
diff --git a/gtsam/nonlinear/ISAM2.h b/gtsam/nonlinear/ISAM2.h
index d00be006b..469c78f33 100644
--- a/gtsam/nonlinear/ISAM2.h
+++ b/gtsam/nonlinear/ISAM2.h
@@ -122,8 +122,8 @@ struct GTSAM_EXPORT ISAM2Params {
    * entries would be added with:
    * \code
      FastMap<char,Vector> thresholds;
-     thresholds['x'] = Vector_(6, 0.1, 0.1, 0.1, 0.5, 0.5, 0.5); // 0.1 rad rotation threshold, 0.5 m translation threshold
-     thresholds['l'] = Vector_(3, 1.0, 1.0, 1.0);                // 1.0 m landmark position threshold
+     thresholds['x'] = (Vector(6) << 0.1, 0.1, 0.1, 0.5, 0.5, 0.5); // 0.1 rad rotation threshold, 0.5 m translation threshold
+     thresholds['l'] = (Vector(3) << 1.0, 1.0, 1.0);                // 1.0 m landmark position threshold
      params.relinearizeThreshold = thresholds;
      \endcode
    */
diff --git a/gtsam/nonlinear/tests/testLinearContainerFactor.cpp b/gtsam/nonlinear/tests/testLinearContainerFactor.cpp
index bf75f134b..fd70519dc 100644
--- a/gtsam/nonlinear/tests/testLinearContainerFactor.cpp
+++ b/gtsam/nonlinear/tests/testLinearContainerFactor.cpp
@@ -19,7 +19,7 @@ using namespace std;
 using namespace boost::assign;
 using namespace gtsam;
 
-const gtsam::noiseModel::Diagonal::shared_ptr diag_model2 = noiseModel::Diagonal::Sigmas(Vector_(2, 1.0, 1.0));
+const gtsam::noiseModel::Diagonal::shared_ptr diag_model2 = noiseModel::Diagonal::Sigmas((Vector(2) << 1.0, 1.0));
 const double tol = 1e-5;
 
 gtsam::Key  l1 = 101, l2 = 102, x1 = 1, x2 = 2;
diff --git a/gtsam/slam/BearingRangeFactor.h b/gtsam/slam/BearingRangeFactor.h
index 6f00c81a6..cf5760695 100644
--- a/gtsam/slam/BearingRangeFactor.h
+++ b/gtsam/slam/BearingRangeFactor.h
@@ -96,7 +96,7 @@ namespace gtsam {
       Vector e1 = Rot::Logmap(measuredBearing_.between(y1));
 
       double y2 = pose.range(point, H21_, H22_);
-      Vector e2 = Vector_(1, y2 - measuredRange_);
+      Vector e2 = (Vector(1) << y2 - measuredRange_);
 
       if (H1) *H1 = gtsam::stack(2, &H11, &H21);
       if (H2) *H2 = gtsam::stack(2, &H12, &H22);
diff --git a/gtsam/slam/RangeFactor.h b/gtsam/slam/RangeFactor.h
index 7b807d88f..fe140a298 100644
--- a/gtsam/slam/RangeFactor.h
+++ b/gtsam/slam/RangeFactor.h
@@ -73,7 +73,7 @@ namespace gtsam {
       } else {
         hx = pose.range(point, H1, H2);
       }
-      return Vector_(1, hx - measured_);
+      return (Vector(1) << hx - measured_);
     }
 
     /** return the measured */