From b484a214e6793655206786fa8fd1d55af43b8b9c Mon Sep 17 00:00:00 2001
From: Varun Agrawal <varagrawal@gmail.com>
Date: Sun, 6 Feb 2022 00:09:33 -0500
Subject: [PATCH] fix tests

---
 gtsam/navigation/tests/testGPSFactor.cpp | 13 ++++---
 gtsam/navigation/tests/testMagFactor.cpp | 49 +++++++++++++++---------
 2 files changed, 38 insertions(+), 24 deletions(-)

diff --git a/gtsam/navigation/tests/testGPSFactor.cpp b/gtsam/navigation/tests/testGPSFactor.cpp
index b784c0c94..5b96b80a8 100644
--- a/gtsam/navigation/tests/testGPSFactor.cpp
+++ b/gtsam/navigation/tests/testGPSFactor.cpp
@@ -27,7 +27,6 @@
 #include <GeographicLib/Config.h>
 #include <GeographicLib/LocalCartesian.hpp>
 
-using namespace std::placeholders;
 using namespace std;
 using namespace gtsam;
 using namespace GeographicLib;
@@ -71,8 +70,10 @@ TEST( GPSFactor, Constructor ) {
   EXPECT(assert_equal(Z_3x1,factor.evaluateError(T),1e-5));
 
   // Calculate numerical derivatives
-  Matrix expectedH = numericalDerivative11<Vector,Pose3>(
-      std::bind(&GPSFactor::evaluateError, &factor, _1, boost::none), T);
+  Matrix expectedH = numericalDerivative11<Vector, Pose3>(
+      std::bind(&GPSFactor::evaluateError, &factor, std::placeholders::_1,
+                boost::none),
+      T);
 
   // Use the factor to calculate the derivative
   Matrix actualH;
@@ -100,8 +101,10 @@ TEST( GPSFactor2, Constructor ) {
   EXPECT(assert_equal(Z_3x1,factor.evaluateError(T),1e-5));
 
   // Calculate numerical derivatives
-  Matrix expectedH = numericalDerivative11<Vector,NavState>(
-      std::bind(&GPSFactor2::evaluateError, &factor, _1, boost::none), T);
+  Matrix expectedH = numericalDerivative11<Vector, NavState>(
+      std::bind(&GPSFactor2::evaluateError, &factor, std::placeholders::_1,
+                boost::none),
+      T);
 
   // Use the factor to calculate the derivative
   Matrix actualH;
diff --git a/gtsam/navigation/tests/testMagFactor.cpp b/gtsam/navigation/tests/testMagFactor.cpp
index 5107b3b6b..2450b16c7 100644
--- a/gtsam/navigation/tests/testMagFactor.cpp
+++ b/gtsam/navigation/tests/testMagFactor.cpp
@@ -26,7 +26,6 @@
 
 #include <GeographicLib/LocalCartesian.hpp>
 
-using namespace std::placeholders;
 using namespace std;
 using namespace gtsam;
 using namespace GeographicLib;
@@ -63,8 +62,10 @@ TEST( MagFactor, unrotate ) {
   Matrix H;
   Point3 expected(22735.5, 314.502, 44202.5);
   EXPECT( assert_equal(expected, MagFactor::unrotate(theta,nM,H),1e-1));
-  EXPECT( assert_equal(numericalDerivative11<Point3,Rot2> //
-      (std::bind(&MagFactor::unrotate, _1, nM, none), theta), H, 1e-6));
+  EXPECT(assert_equal(
+      numericalDerivative11<Point3, Rot2>  //
+      (std::bind(&MagFactor::unrotate, std::placeholders::_1, nM, none), theta),
+      H, 1e-6));
 }
 
 // *************************************************************************
@@ -75,36 +76,46 @@ TEST( MagFactor, Factors ) {
   // MagFactor
   MagFactor f(1, measured, s, dir, bias, model);
   EXPECT( assert_equal(Z_3x1,f.evaluateError(theta,H1),1e-5));
-  EXPECT( assert_equal((Matrix)numericalDerivative11<Vector,Rot2> //
-      (std::bind(&MagFactor::evaluateError, &f, _1, none), theta), H1, 1e-7));
+  EXPECT(assert_equal(
+      (Matrix)numericalDerivative11<Vector, Rot2>  //
+      (std::bind(&MagFactor::evaluateError, &f, std::placeholders::_1, none),
+       theta),
+      H1, 1e-7));
 
-// MagFactor1
+  // MagFactor1
   MagFactor1 f1(1, measured, s, dir, bias, model);
   EXPECT( assert_equal(Z_3x1,f1.evaluateError(nRb,H1),1e-5));
-  EXPECT( assert_equal(numericalDerivative11<Vector,Rot3> //
-      (std::bind(&MagFactor1::evaluateError, &f1, _1, none), nRb), H1, 1e-7));
+  EXPECT(assert_equal(
+      numericalDerivative11<Vector, Rot3>  //
+      (std::bind(&MagFactor1::evaluateError, &f1, std::placeholders::_1, none),
+       nRb),
+      H1, 1e-7));
 
-// MagFactor2
+  // MagFactor2
   MagFactor2 f2(1, 2, measured, nRb, model);
   EXPECT( assert_equal(Z_3x1,f2.evaluateError(scaled,bias,H1,H2),1e-5));
-  EXPECT( assert_equal(numericalDerivative11<Vector,Point3> //
-      (std::bind(&MagFactor2::evaluateError, &f2, _1, bias, none, none), scaled),//
-      H1, 1e-7));
-  EXPECT( assert_equal(numericalDerivative11<Vector,Point3> //
-      (std::bind(&MagFactor2::evaluateError, &f2, scaled, _1, none, none), bias),//
-      H2, 1e-7));
+  EXPECT(assert_equal(numericalDerivative11<Vector, Point3>  //
+                      (std::bind(&MagFactor2::evaluateError, &f2,
+                                 std::placeholders::_1, bias, none, none),
+                       scaled),  //
+                      H1, 1e-7));
+  EXPECT(assert_equal(numericalDerivative11<Vector, Point3>  //
+                      (std::bind(&MagFactor2::evaluateError, &f2, scaled,
+                                 std::placeholders::_1, none, none),
+                       bias),  //
+                      H2, 1e-7));
 
-// MagFactor2
+  // MagFactor2
   MagFactor3 f3(1, 2, 3, measured, nRb, model);
   EXPECT(assert_equal(Z_3x1,f3.evaluateError(s,dir,bias,H1,H2,H3),1e-5));
   EXPECT(assert_equal((Matrix)numericalDerivative11<Vector,double> //
-      (std::bind(&MagFactor3::evaluateError, &f3, _1, dir, bias, none, none, none), s),//
+      (std::bind(&MagFactor3::evaluateError, &f3, std::placeholders::_1, dir, bias, none, none, none), s),//
       H1, 1e-7));
   EXPECT(assert_equal(numericalDerivative11<Vector,Unit3> //
-      (std::bind(&MagFactor3::evaluateError, &f3, s, _1, bias, none, none, none), dir),//
+      (std::bind(&MagFactor3::evaluateError, &f3, s, std::placeholders::_1, bias, none, none, none), dir),//
       H2, 1e-7));
   EXPECT(assert_equal(numericalDerivative11<Vector,Point3> //
-      (std::bind(&MagFactor3::evaluateError, &f3, s, dir, _1, none, none, none), bias),//
+      (std::bind(&MagFactor3::evaluateError, &f3, s, dir, std::placeholders::_1, none, none, none), bias),//
       H3, 1e-7));
 }