From 93bf31f8527d98ba92707ba15556cb69e217d470 Mon Sep 17 00:00:00 2001
From: Alex Hagiopol <alexhagiopol@gmail.com>
Date: Sat, 12 Mar 2016 20:47:16 -0500
Subject: [PATCH] Replaced Vector::Constant(N,value) with
 VectorN::Constant(value).

---
 gtsam/geometry/tests/testPose3.cpp                | 2 +-
 gtsam/geometry/tests/testRot3.cpp                 | 6 +++---
 gtsam/linear/NoiseModel.h                         | 2 +-
 gtsam_unstable/geometry/tests/testSimilarity3.cpp | 2 +-
 4 files changed, 6 insertions(+), 6 deletions(-)

diff --git a/gtsam/geometry/tests/testPose3.cpp b/gtsam/geometry/tests/testPose3.cpp
index e096f23ce..648197ced 100644
--- a/gtsam/geometry/tests/testPose3.cpp
+++ b/gtsam/geometry/tests/testPose3.cpp
@@ -538,7 +538,7 @@ TEST(Pose3, retract_localCoordinates)
 /* ************************************************************************* */
 TEST(Pose3, expmap_logmap)
 {
-  Vector d12 = Vector::Constant(6,0.1);
+  Vector d12 = Vector6::Constant(0.1);
   Pose3 t1 = T, t2 = t1.expmap(d12);
   EXPECT(assert_equal(d12, t1.logmap(t2)));
 }
diff --git a/gtsam/geometry/tests/testRot3.cpp b/gtsam/geometry/tests/testRot3.cpp
index f5e0a6913..876897ab3 100644
--- a/gtsam/geometry/tests/testRot3.cpp
+++ b/gtsam/geometry/tests/testRot3.cpp
@@ -224,16 +224,16 @@ TEST(Rot3, log)
 /* ************************************************************************* */
 TEST(Rot3, retract_localCoordinates)
 {
-  Vector3 d12 = Vector::Constant(3,0.1);
+  Vector3 d12 = Vector3::Constant(0.1);
   Rot3 R2 = R.retract(d12);
   EXPECT(assert_equal(d12, R.localCoordinates(R2)));
 }
 /* ************************************************************************* */
 TEST(Rot3, expmap_logmap)
 {
-  Vector3 d12 = Vector::Constant(3,0.1);
+  Vector3 d12 = Vector3::Constant(0.1);
   Rot3 R2 = R.expmap(d12);
-  EXPECT(assert_equal(d12, R.logmap(R2)));
+  EXPECT(assert_equal(d12, (Vector) R.logmap(R2)));
 }
 
 /* ************************************************************************* */
diff --git a/gtsam/linear/NoiseModel.h b/gtsam/linear/NoiseModel.h
index c1718c0b3..15fad5a78 100644
--- a/gtsam/linear/NoiseModel.h
+++ b/gtsam/linear/NoiseModel.h
@@ -525,7 +525,7 @@ namespace gtsam {
         Diagonal(Vector::Constant(dim, sigma)),sigma_(sigma),invsigma_(1.0/sigma) {}
 
       /* dummy constructor to allow for serialization */
-      Isotropic() : Diagonal(Vector::Constant(1, 1.0)),sigma_(1.0),invsigma_(1.0) {}
+      Isotropic() : Diagonal(Vector1::Constant(1.0)),sigma_(1.0),invsigma_(1.0) {}
 
     public:
 
diff --git a/gtsam_unstable/geometry/tests/testSimilarity3.cpp b/gtsam_unstable/geometry/tests/testSimilarity3.cpp
index b1630c776..1866fafc6 100644
--- a/gtsam_unstable/geometry/tests/testSimilarity3.cpp
+++ b/gtsam_unstable/geometry/tests/testSimilarity3.cpp
@@ -167,7 +167,7 @@ TEST( Similarity3, retract_first_order) {
 
 //******************************************************************************
 TEST(Similarity3, localCoordinates_first_order) {
-  Vector d12 = Vector::Constant(7, 0.1);
+  Vector7 d12 = Vector7::Constant(0.1);
   d12(6) = 1.0;
   Similarity3 t1 = T1, t2 = t1.retract(d12);
   EXPECT(assert_equal(d12, t1.localCoordinates(t2)));