From bfb58143f5c3158a6e44c3bb311b481e18286187 Mon Sep 17 00:00:00 2001
From: Duy-Nguyen Ta <thduynguyen@gmail.com>
Date: Mon, 19 Sep 2016 12:39:41 -0400
Subject: [PATCH] Vector in template param: works! Also fix tests for recent
 changes...

---
 cython/gtsam.h  |  2 +-
 cython/tests.py | 37 ++++++++++++++++++++-----------------
 2 files changed, 21 insertions(+), 18 deletions(-)

diff --git a/cython/gtsam.h b/cython/gtsam.h
index 8bf097153..9924eafad 100644
--- a/cython/gtsam.h
+++ b/cython/gtsam.h
@@ -2174,7 +2174,7 @@ class NonlinearISAM {
 #include <gtsam/geometry/StereoPoint2.h>
 
 #include <gtsam/slam/PriorFactor.h>
-template<T = {gtsam::Point2, gtsam::StereoPoint2, gtsam::Point3, gtsam::Rot2, gtsam::Rot3, gtsam::Pose2, gtsam::Pose3, gtsam::Cal3_S2,gtsam::CalibratedCamera, gtsam::SimpleCamera, gtsam::imuBias::ConstantBias}>
+template<T = {Vector, gtsam::Point2, gtsam::StereoPoint2, gtsam::Point3, gtsam::Rot2, gtsam::Rot3, gtsam::Pose2, gtsam::Pose3, gtsam::Cal3_S2,gtsam::CalibratedCamera, gtsam::SimpleCamera, gtsam::imuBias::ConstantBias}>
 virtual class PriorFactor : gtsam::NoiseModelFactor {
   PriorFactor(size_t key, const T& prior, const gtsam::noiseModel::Base* noiseModel);
   PriorFactor(const This& other);
diff --git a/cython/tests.py b/cython/tests.py
index 1df5b7f87..f4a8efcec 100644
--- a/cython/tests.py
+++ b/cython/tests.py
@@ -12,8 +12,8 @@ v = np.array([.1, .1, .1])
 print("v = ", v)
 r4 = r3.retract(v)
 print("r4 pitch:", r4.pitch())
-r4._print(b'r4: ')
-r3._print(b"r3: ")
+r4.print_(b'r4: ')
+r3.print_(b"r3: ")
 
 v = r3.localCoordinates(r4)
 print("localCoordinates:", v)
@@ -23,46 +23,49 @@ Rmat = np.array([
     [0.104218,  0.990074, -0.0942928], 
     [-0.0942928, 0.104218, 0.990074]
     ])
-r5 = Rot3.ctor1(Rmat)
-r5._print(b"r5: ")
+r5 = Rot3.Rot3_1(Rmat)
+r5.print_(b"r5: ")
 
 l = Rot3.Logmap(r5)
 print("l = ", l)
 
 
 noise = noiseModel_Gaussian.Covariance(Rmat)
-noise._print(b"noise:")
+noise.print_(b"noise:")
 
 D = np.array([1.,2.,3.])
 diag = noiseModel_Diagonal.Variances(D)
 print("diag:", diag)
-diag._print(b"diag:")
+diag.print_(b"diag:")
 print("diag R:", diag.R())
 
 p = Point3()
-p._print("p:")
-factor = BetweenFactorPoint3.ctor(1,2,p, noise)
-factor._print(b"factor:")
+p.print_("p:")
+factor = BetweenFactorPoint3.BetweenFactorPoint3(1,2,p, noise)
+factor.print_(b"factor:")
 
 vv = VectorValues()
-vv._print(b"vv:")
+vv.print_(b"vv:")
 vv.insert(1, np.array([1.,2.,3.]))
 vv.insert(2, np.array([3.,4.]))
 vv.insert(3, np.array([5.,6.,7.,8.]))
-vv._print(b"vv:")
+vv.print_(b"vv:")
 
-vv2 = VectorValues.ctor1(vv)
+vv2 = VectorValues.VectorValues_1(vv)
 vv2.insert(4, np.array([4.,2.,1]))
-vv2._print(b"vv2:")
-vv._print(b"vv:")
+vv2.print_(b"vv2:")
+vv.print_(b"vv:")
 
 vv.insert(4, np.array([1.,2.,4.]))
-vv._print(b"vv:")
+vv.print_(b"vv:")
 vv3 = vv.add(vv2)
 
-vv3._print(b"vv3:")
+vv3.print_(b"vv3:")
 
 values = Values()
 values.insertPoint3(1, Point3())
 values.insertRot3(2, Rot3())
-values._print(b"values:")
\ No newline at end of file
+values.print_(b"values:")
+
+factor = PriorFactorVector.PriorFactorVector(1, np.array([1.,2.,3.]), diag)
+factor.print_("Prior factor vector: ")
\ No newline at end of file