From c2935c5dd19ae0e1c58782a56897d97c1d64a29f Mon Sep 17 00:00:00 2001
From: Stephen Williams <stephen.vincent.williams@gmail.com>
Date: Thu, 26 Jul 2012 13:33:40 +0000
Subject: [PATCH] Replaced calls to the namespace Circle functions with the
 newly added matlab function

---
 matlab/examples/Pose2SLAMExample_circle.m | 19 ++++++++++---------
 matlab/examples/Pose3SLAMExample.m        | 19 ++++++++++---------
 matlab/tests/testPose3SLAMExample.m       | 19 ++++++++++---------
 3 files changed, 30 insertions(+), 27 deletions(-)

diff --git a/matlab/examples/Pose2SLAMExample_circle.m b/matlab/examples/Pose2SLAMExample_circle.m
index e16edf9cb..3d2265d76 100644
--- a/matlab/examples/Pose2SLAMExample_circle.m
+++ b/matlab/examples/Pose2SLAMExample_circle.m
@@ -10,13 +10,14 @@
 % @author Frank Dellaert
 %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
 
+import gtsam.*
+
 %% Create a hexagon of poses
-hexagon = pose2SLAM.Values.Circle(6,1.0);
-p0 = hexagon.pose(0);
-p1 = hexagon.pose(1);
+hexagon = circlePose2(6,1.0);
+p0 = hexagon.at(0);
+p1 = hexagon.at(1);
 
 %% create a Pose graph with one equality constraint and one measurement
-import gtsam.*
 fg = NonlinearFactorGraph;
 fg.add(NonlinearEqualityPose2(0, p0));
 delta = p0.between(p1);
@@ -31,11 +32,11 @@ fg.add(BetweenFactorPose2(5,0, delta, covariance));
 %% Create initial config
 initial = Values;
 initial.insert(0, p0);
-initial.insert(1, hexagon.pose(1).retract([-0.1, 0.1,-0.1]'));
-initial.insert(2, hexagon.pose(2).retract([ 0.1,-0.1, 0.1]'));
-initial.insert(3, hexagon.pose(3).retract([-0.1, 0.1,-0.1]'));
-initial.insert(4, hexagon.pose(4).retract([ 0.1,-0.1, 0.1]'));
-initial.insert(5, hexagon.pose(5).retract([-0.1, 0.1,-0.1]'));
+initial.insert(1, hexagon.at(1).retract([-0.1, 0.1,-0.1]'));
+initial.insert(2, hexagon.at(2).retract([ 0.1,-0.1, 0.1]'));
+initial.insert(3, hexagon.at(3).retract([-0.1, 0.1,-0.1]'));
+initial.insert(4, hexagon.at(4).retract([ 0.1,-0.1, 0.1]'));
+initial.insert(5, hexagon.at(5).retract([-0.1, 0.1,-0.1]'));
 
 %% Plot Initial Estimate
 cla
diff --git a/matlab/examples/Pose3SLAMExample.m b/matlab/examples/Pose3SLAMExample.m
index 86c5c23c8..0d2bd237f 100644
--- a/matlab/examples/Pose3SLAMExample.m
+++ b/matlab/examples/Pose3SLAMExample.m
@@ -10,13 +10,14 @@
 % @author Frank Dellaert
 %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
 
+import gtsam.*
+
 %% Create a hexagon of poses
-hexagon = pose3SLAM.Values.Circle(6,1.0);
-p0 = hexagon.pose(0);
-p1 = hexagon.pose(1);
+hexagon = circlePose3(6,1.0);
+p0 = hexagon.at(0);
+p1 = hexagon.at(1);
 
 %% create a Pose graph with one equality constraint and one measurement
-import gtsam.*
 fg = NonlinearFactorGraph;
 fg.add(NonlinearEqualityPose3(0, p0));
 delta = p0.between(p1);
@@ -32,11 +33,11 @@ fg.add(BetweenFactorPose3(5,0, delta, covariance));
 initial = Values;
 s = 0.10;
 initial.insert(0, p0);
-initial.insert(1, hexagon.pose(1).retract(s*randn(6,1)));
-initial.insert(2, hexagon.pose(2).retract(s*randn(6,1)));
-initial.insert(3, hexagon.pose(3).retract(s*randn(6,1)));
-initial.insert(4, hexagon.pose(4).retract(s*randn(6,1)));
-initial.insert(5, hexagon.pose(5).retract(s*randn(6,1)));
+initial.insert(1, hexagon.at(1).retract(s*randn(6,1)));
+initial.insert(2, hexagon.at(2).retract(s*randn(6,1)));
+initial.insert(3, hexagon.at(3).retract(s*randn(6,1)));
+initial.insert(4, hexagon.at(4).retract(s*randn(6,1)));
+initial.insert(5, hexagon.at(5).retract(s*randn(6,1)));
 
 %% Plot Initial Estimate
 cla
diff --git a/matlab/tests/testPose3SLAMExample.m b/matlab/tests/testPose3SLAMExample.m
index 0d47990e8..dafad4e47 100644
--- a/matlab/tests/testPose3SLAMExample.m
+++ b/matlab/tests/testPose3SLAMExample.m
@@ -10,13 +10,14 @@
 % @author Frank Dellaert
 %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
 
+import gtsam.*
+
 %% Create a hexagon of poses
-hexagon = pose3SLAM.Values.Circle(6,1.0);
-p0 = hexagon.pose(0);
-p1 = hexagon.pose(1);
+hexagon = circlePose3(6,1.0);
+p0 = hexagon.at(0);
+p1 = hexagon.at(1);
 
 %% create a Pose graph with one equality constraint and one measurement
-import gtsam.*
 fg = NonlinearFactorGraph;
 fg.add(NonlinearEqualityPose3(0, p0));
 delta = p0.between(p1);
@@ -32,11 +33,11 @@ fg.add(BetweenFactorPose3(5,0, delta, covariance));
 initial = Values;
 s = 0.10;
 initial.insert(0, p0);
-initial.insert(1, hexagon.pose(1).retract(s*randn(6,1)));
-initial.insert(2, hexagon.pose(2).retract(s*randn(6,1)));
-initial.insert(3, hexagon.pose(3).retract(s*randn(6,1)));
-initial.insert(4, hexagon.pose(4).retract(s*randn(6,1)));
-initial.insert(5, hexagon.pose(5).retract(s*randn(6,1)));
+initial.insert(1, hexagon.at(1).retract(s*randn(6,1)));
+initial.insert(2, hexagon.at(2).retract(s*randn(6,1)));
+initial.insert(3, hexagon.at(3).retract(s*randn(6,1)));
+initial.insert(4, hexagon.at(4).retract(s*randn(6,1)));
+initial.insert(5, hexagon.at(5).retract(s*randn(6,1)));
 
 %% optimize
 optimizer = LevenbergMarquardtOptimizer(fg, initial);