Cleaned up Double_ problems

gtsam/nonlinear/tests/testExpression.cpp

@@ -17,7 +17,7 @@
  * @brief unit tests for Block Automatic Differentiation
  */
 
-#include <gtsam/nonlinear/Expression.h>
+#include <gtsam/nonlinear/expressions.h>
 #include <gtsam/geometry/Cal3_S2.h>
 #include <gtsam/geometry/PinholeCamera.h>
 #include <gtsam/geometry/Point3.h>
@@ -32,9 +32,7 @@ using boost::assign::map_list_of;
 using namespace std;
 using namespace gtsam;
 
-typedef Expression<double> double_;
 typedef Expression<Point3> Point3_;
-typedef Expression<Vector3> Vector3_;
 typedef Expression<Pose3> Pose3_;
 typedef Expression<Rot3> Rot3_;
 
@@ -101,7 +99,7 @@ TEST(Expression, Unary1) {
 }
 TEST(Expression, Unary2) {
   using namespace unary;
-  double_ e(f2, p);
+  Double_ e(f2, p);
   EXPECT(expected == e.keys());
 }
 
@@ -156,7 +154,7 @@ Point3_ p_cam(x, &Pose3::transform_to, p);
 // Check that creating an expression to double compiles
 TEST(Expression, BinaryToDouble) {
   using namespace binary;
-  double_ p_cam(doubleF, x, p);
+  Double_ p_cam(doubleF, x, p);
 }
 
 /* ************************************************************************* */
@@ -372,8 +370,8 @@ TEST(Expression, TripleSum) {
 /* ************************************************************************* */
 TEST(Expression, SumOfUnaries) {
   const Key key(67);
-  const double_ norm_(&gtsam::norm, Point3_(key));
-  const double_ sum_ = norm_ + norm_;
+  const Double_ norm_(&gtsam::norm, Point3_(key));
+  const Double_ sum_ = norm_ + norm_;
 
   Values values;
   values.insert<Point3>(key, Point3(6, 0, 0));
@@ -391,7 +389,7 @@ TEST(Expression, SumOfUnaries) {
 TEST(Expression, UnaryOfSum) {
   const Key key1(42), key2(67);
   const Point3_ sum_ = Point3_(key1) + Point3_(key2);
-  const double_ norm_(&gtsam::norm, sum_);
+  const Double_ norm_(&gtsam::norm, sum_);
 
   map<Key, int> actual_dims, expected_dims = map_list_of<Key, int>(key1, 3)(key2, 3);
   norm_.dims(actual_dims);

gtsam_unstable/slam/TOAFactor.h

@@ -17,7 +17,7 @@
  *  @date December 2014
  */
 
-#include <gtsam_unstable/nonlinear/ExpressionFactor.h>
+#include <gtsam/nonlinear/ExpressionFactor.h>
 #include <gtsam_unstable/geometry/Event.h>
 
 namespace gtsam {
@@ -25,7 +25,7 @@ namespace gtsam {
 /// A "Time of Arrival" factor - so little code seems hardly worth it :-)
 class TOAFactor: public ExpressionFactor<double> {
 
-  typedef Expression<double> double_;
+  typedef Expression<double> Double_;
 
 public:
 
@@ -40,7 +40,7 @@ public:
       const Expression<Point3>& microphone_, double toaMeasurement,
       const SharedNoiseModel& model) :
       ExpressionFactor<double>(model, toaMeasurement,
-          double_(&Event::toa, eventExpression, microphone_)) {
+          Double_(&Event::toa, eventExpression, microphone_)) {
   }
 
 };

gtsam_unstable/slam/tests/testTOAFactor.cpp

@@ -31,7 +31,6 @@ using namespace std;
 using namespace gtsam;
 
 // typedefs
-typedef Eigen::Matrix<double, 1, 1> Vector1;
 typedef Expression<Point3> Point3_;
 typedef Expression<Event> Event_;
 
@@ -52,7 +51,7 @@ TEST( TOAFactor, NewWay ) {
   Event_ eventExpression(key);
   Point3_ microphoneConstant(microphoneAt0); // constant expression
   double measurement = 7;
-  double_ expression(&Event::toa, eventExpression, microphoneConstant);
+  Double_ expression(&Event::toa, eventExpression, microphoneConstant);
   ExpressionFactor<double> factor(model, measurement, expression);
 }
 
@@ -92,7 +91,7 @@ TEST( TOAFactor, WholeEnchilada ) {
   Event_ eventExpression(key);
   for (size_t i = 0; i < K; i++) {
     Point3_ microphone_i(microphones[i]); // constant expression
-    double_ predictTOA(&Event::toa, eventExpression, microphone_i);
+    Double_ predictTOA(&Event::toa, eventExpression, microphone_i);
     graph.addExpressionFactor(predictTOA, simulatedTOA[i], model);
   }