gps factor replace bind calls
parent
8506877a52
commit
984d2d104f
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@ -20,8 +20,6 @@
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#include <gtsam/base/Testable.h>
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#include <gtsam/base/numericalDerivative.h>
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#include <boost/bind/bind.hpp>
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#include <CppUnitLite/TestHarness.h>
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#include <GeographicLib/Config.h>
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@ -71,7 +69,7 @@ TEST( GPSFactor, Constructor ) {
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// Calculate numerical derivatives
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Matrix expectedH = numericalDerivative11<Vector, Pose3>(
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std::bind(&GPSFactor::evaluateError, &factor, std::placeholders::_1, boost::none), T);
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[&factor](const Pose3& T) { return factor.evaluateError(T); }, T);
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// Use the factor to calculate the derivative
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Matrix actualH;
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@ -100,7 +98,7 @@ TEST( GPSFactor2, Constructor ) {
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// Calculate numerical derivatives
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Matrix expectedH = numericalDerivative11<Vector, NavState>(
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std::bind(&GPSFactor2::evaluateError, &factor, std::placeholders::_1, boost::none), T);
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[&factor](const NavState& T) { return factor.evaluateError(T); }, T);
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// Use the factor to calculate the derivative
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Matrix actualH;
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