From a0be48ef752bec0194cd81d5cdcdf48b0c7fe81a Mon Sep 17 00:00:00 2001
From: cbeall3 <cbeall3@gatech.edu>
Date: Wed, 22 Oct 2014 22:00:25 -0400
Subject: [PATCH] revert from fixed size vectors to make it compile with
 existing numericalDerivatives

---
 gtsam/geometry/tests/testRot3.cpp | 21 ++++++++-------------
 1 file changed, 8 insertions(+), 13 deletions(-)

diff --git a/gtsam/geometry/tests/testRot3.cpp b/gtsam/geometry/tests/testRot3.cpp
index b495a4fb2..2bc4c58f0 100644
--- a/gtsam/geometry/tests/testRot3.cpp
+++ b/gtsam/geometry/tests/testRot3.cpp
@@ -138,12 +138,7 @@ TEST( Rot3, rodriguez4)
 TEST( Rot3, retract)
 {
   Vector v = zero(3);
-  CHECK(assert_equal(R, R.retract(v)));
-
-  // test Canonical coordinates
-  Canonical<Rot3> chart;
-  Vector v2 = chart.apply(R);
-  CHECK(assert_equal(R, chart.retract(v2)));
+  CHECK(assert_equal(R.retract(v), R));
 }
 
 /* ************************************************************************* */
@@ -206,9 +201,9 @@ Vector3 evaluateLogRotation(const Vector3 thetahat, const Vector3 deltatheta){
 TEST( Rot3, rightJacobianExpMapSO3 )
 {
   // Linearization point
-  Vector3 thetahat; thetahat << 0.1, 0, 0;
+  Vector thetahat = (Vector(3) << 0.1, 0, 0);
 
-  Matrix expectedJacobian = numericalDerivative11<Rot3, Vector3>(
+  Matrix expectedJacobian = numericalDerivative11<Rot3, LieVector>(
       boost::bind(&Rot3::Expmap, _1), thetahat);
   Matrix actualJacobian = Rot3::rightJacobianExpMapSO3(thetahat);
   CHECK(assert_equal(expectedJacobian, actualJacobian));
@@ -218,10 +213,10 @@ TEST( Rot3, rightJacobianExpMapSO3 )
 TEST( Rot3, rightJacobianExpMapSO3inverse )
 {
   // Linearization point
-  Vector3 thetahat; thetahat << 0.1,0.1,0; ///< Current estimate of rotation rate bias
-  Vector3 deltatheta; deltatheta << 0, 0, 0;
+  Vector thetahat = (Vector(3) << 0.1,0.1,0); ///< Current estimate of rotation rate bias
+  Vector deltatheta = (Vector(3) << 0, 0, 0);
 
-  Matrix expectedJacobian = numericalDerivative11<Vector3,Vector3>(
+  Matrix expectedJacobian = numericalDerivative11<LieVector>(
       boost::bind(&evaluateLogRotation, thetahat, _1), deltatheta);
   Matrix actualJacobian = Rot3::rightJacobianExpMapSO3inverse(thetahat);
   EXPECT(assert_equal(expectedJacobian, actualJacobian));
@@ -397,8 +392,8 @@ Vector3 testDexpL(const Vector3& dw) {
 
 TEST( Rot3, dexpL) {
   Matrix actualDexpL = Rot3::dexpL(w);
-  Matrix expectedDexpL = numericalDerivative11<Vector3, Vector3>(testDexpL,
-      Vector3::Zero(), 1e-2);
+  Matrix expectedDexpL = numericalDerivative11<LieVector>(testDexpL,
+      LieVector(zero(3)), 1e-2);
   EXPECT(assert_equal(expectedDexpL, actualDexpL, 1e-5));
 
   Matrix actualDexpInvL = Rot3::dexpInvL(w);