From aa443fdef05e65066be95fb4b1a7ca9c00eba5da Mon Sep 17 00:00:00 2001
From: Duy-Nguyen Ta <thduynguyen@gmail.com>
Date: Sat, 18 Jun 2016 00:40:23 -0400
Subject: [PATCH] make QPParser tests pass on
 MacOSX-10.10.5/clang-700.1.81(LLVM 7.0.2)/boost-1.59

---
 gtsam_unstable/linear/RawQP.cpp              | 18 +++++++++---------
 gtsam_unstable/linear/tests/testQPSolver.cpp |  4 ++--
 2 files changed, 11 insertions(+), 11 deletions(-)

diff --git a/gtsam_unstable/linear/RawQP.cpp b/gtsam_unstable/linear/RawQP.cpp
index f88731e72..b03bcc079 100644
--- a/gtsam_unstable/linear/RawQP.cpp
+++ b/gtsam_unstable/linear/RawQP.cpp
@@ -225,31 +225,31 @@ QP RawQP::makeQP() {
   madeQP.cost.push_back(obj);
 
   for (auto kv : E) {
-    std::vector < std::pair<Key, Matrix11> > KeyMatPair;
+    std::map<Key, Matrix11> keyMatrixMap;
     for (auto km : kv.second) {
-      KeyMatPair.push_back(km);
+      keyMatrixMap.insert(km);
     }
     madeQP.equalities.push_back(
-        LinearEquality(KeyMatPair, b[kv.first] * I_1x1, dual_key_num++));
+        LinearEquality(keyMatrixMap, b[kv.first] * I_1x1, dual_key_num++));
   }
 
   for (auto kv : IG) {
-    std::vector < std::pair<Key, Matrix11> > KeyMatPair;
+    std::map<Key, Matrix11> keyMatrixMap;
     for (auto km : kv.second) {
       km.second = -km.second;
-      KeyMatPair.push_back(km);
+      keyMatrixMap.insert(km);
     }
     madeQP.inequalities.push_back(
-        LinearInequality(KeyMatPair, -b[kv.first], dual_key_num++));
+        LinearInequality(keyMatrixMap, -b[kv.first], dual_key_num++));
   }
 
   for (auto kv : IL) {
-    std::vector < std::pair<Key, Matrix11> > KeyMatPair;
+    std::map<Key, Matrix11> keyMatrixMap;
     for (auto km : kv.second) {
-      KeyMatPair.push_back(km);
+      keyMatrixMap.insert(km);
     }
     madeQP.inequalities.push_back(
-        LinearInequality(KeyMatPair, b[kv.first], dual_key_num++));
+        LinearInequality(keyMatrixMap, b[kv.first], dual_key_num++));
   }
 
   for (Key k : keys) {
diff --git a/gtsam_unstable/linear/tests/testQPSolver.cpp b/gtsam_unstable/linear/tests/testQPSolver.cpp
index 56c0c38a8..bf9d91232 100644
--- a/gtsam_unstable/linear/tests/testQPSolver.cpp
+++ b/gtsam_unstable/linear/tests/testQPSolver.cpp
@@ -222,9 +222,9 @@ pair<QP, QP> testParser(QPSParser parser) {
   // 2x + y >= 2
   // -x + 2y <= 6
   expectedqp.inequalities.push_back(
-      LinearInequality(X2, -I_1x1, X1, -2.0 * I_1x1, -2, 0));
+      LinearInequality(X1, -2.0 * I_1x1, X2, -I_1x1, -2, 0));
   expectedqp.inequalities.push_back(
-      LinearInequality(X2, 2.0 * I_1x1, X1, -I_1x1, 6, 1));
+      LinearInequality(X1, -I_1x1, X2, 2.0 * I_1x1, 6, 1));
   // x<= 20
   expectedqp.inequalities.push_back(LinearInequality(X1, I_1x1, 20, 4));
   //x >= 0