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gps factor replace bind calls

release/4.3a0
kartik arcot 2023-01-10 18:08:18 -08:00
parent 8506877a52
commit 984d2d104f
1 changed files with 2 additions and 4 deletions
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6
gtsam/navigation/tests/testGPSFactor.cpp
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@ -20,8 +20,6 @@
#include <gtsam/base/Testable.h> #include <gtsam/base/Testable.h>
#include <gtsam/base/numericalDerivative.h> #include <gtsam/base/numericalDerivative.h>
#include <boost/bind/bind.hpp>
#include <CppUnitLite/TestHarness.h> #include <CppUnitLite/TestHarness.h>
#include <GeographicLib/Config.h> #include <GeographicLib/Config.h>
@ -71,7 +69,7 @@ TEST( GPSFactor, Constructor ) {
// Calculate numerical derivatives // Calculate numerical derivatives
Matrix expectedH = numericalDerivative11<Vector, Pose3>( Matrix expectedH = numericalDerivative11<Vector, Pose3>(
std::bind(&GPSFactor::evaluateError, &factor, std::placeholders::_1, boost::none), T); [&factor](const Pose3& T) { return factor.evaluateError(T); }, T);
// Use the factor to calculate the derivative // Use the factor to calculate the derivative
Matrix actualH; Matrix actualH;
@ -100,7 +98,7 @@ TEST( GPSFactor2, Constructor ) {
// Calculate numerical derivatives // Calculate numerical derivatives
Matrix expectedH = numericalDerivative11<Vector, NavState>( Matrix expectedH = numericalDerivative11<Vector, NavState>(
std::bind(&GPSFactor2::evaluateError, &factor, std::placeholders::_1, boost::none), T); [&factor](const NavState& T) { return factor.evaluateError(T); }, T);
// Use the factor to calculate the derivative // Use the factor to calculate the derivative
Matrix actualH; Matrix actualH;