From c332a44c5e4c1fd346c9147c7dd5fa40c88afe9d Mon Sep 17 00:00:00 2001
From: dellaert <dellaert@cc.gatech.edu>
Date: Tue, 4 Nov 2014 15:44:20 +0100
Subject: [PATCH] No more LieVector

---
 tests/testNonlinearFactor.cpp | 44 +++++++++++++++++------------------
 1 file changed, 22 insertions(+), 22 deletions(-)

diff --git a/tests/testNonlinearFactor.cpp b/tests/testNonlinearFactor.cpp
index 832362dfd..025a3c12e 100644
--- a/tests/testNonlinearFactor.cpp
+++ b/tests/testNonlinearFactor.cpp
@@ -234,13 +234,13 @@ TEST( NonlinearFactor, linearize_constraint2 )
 }
 
 /* ************************************************************************* */
-class TestFactor4 : public NoiseModelFactor4<LieVector, LieVector, LieVector, LieVector> {
+class TestFactor4 : public NoiseModelFactor4<double, double, double, double> {
 public:
-  typedef NoiseModelFactor4<LieVector, LieVector, LieVector, LieVector> Base;
+  typedef NoiseModelFactor4<double, double, double, double> Base;
   TestFactor4() : Base(noiseModel::Diagonal::Sigmas((Vector(1) << 2.0)), X(1), X(2), X(3), X(4)) {}
 
   virtual Vector
-    evaluateError(const LieVector& x1, const LieVector& x2, const LieVector& x3, const LieVector& x4,
+    evaluateError(const double& x1, const double& x2, const double& x3, const double& x4,
         boost::optional<Matrix&> H1 = boost::none,
         boost::optional<Matrix&> H2 = boost::none,
         boost::optional<Matrix&> H3 = boost::none,
@@ -263,10 +263,10 @@ public:
 TEST(NonlinearFactor, NoiseModelFactor4) {
   TestFactor4 tf;
   Values tv;
-  tv.insert(X(1), LieVector((Vector(1) << 1.0)));
-  tv.insert(X(2), LieVector((Vector(1) << 2.0)));
-  tv.insert(X(3), LieVector((Vector(1) << 3.0)));
-  tv.insert(X(4), LieVector((Vector(1) << 4.0)));
+  tv.insert(X(1), double((1.0)));
+  tv.insert(X(2), double((2.0)));
+  tv.insert(X(3), double((3.0)));
+  tv.insert(X(4), double((4.0)));
   EXPECT(assert_equal((Vector(1) << 10.0), tf.unwhitenedError(tv)));
   DOUBLES_EQUAL(25.0/2.0, tf.error(tv), 1e-9);
   JacobianFactor jf(*boost::dynamic_pointer_cast<JacobianFactor>(tf.linearize(tv)));
@@ -282,9 +282,9 @@ TEST(NonlinearFactor, NoiseModelFactor4) {
 }
 
 /* ************************************************************************* */
-class TestFactor5 : public NoiseModelFactor5<LieVector, LieVector, LieVector, LieVector, LieVector> {
+class TestFactor5 : public NoiseModelFactor5<double, double, double, double, double> {
 public:
-  typedef NoiseModelFactor5<LieVector, LieVector, LieVector, LieVector, LieVector> Base;
+  typedef NoiseModelFactor5<double, double, double, double, double> Base;
   TestFactor5() : Base(noiseModel::Diagonal::Sigmas((Vector(1) << 2.0)), X(1), X(2), X(3), X(4), X(5)) {}
 
   virtual Vector
@@ -309,11 +309,11 @@ public:
 TEST(NonlinearFactor, NoiseModelFactor5) {
   TestFactor5 tf;
   Values tv;
-  tv.insert(X(1), LieVector((Vector(1) << 1.0)));
-  tv.insert(X(2), LieVector((Vector(1) << 2.0)));
-  tv.insert(X(3), LieVector((Vector(1) << 3.0)));
-  tv.insert(X(4), LieVector((Vector(1) << 4.0)));
-  tv.insert(X(5), LieVector((Vector(1) << 5.0)));
+  tv.insert(X(1), double((1.0)));
+  tv.insert(X(2), double((2.0)));
+  tv.insert(X(3), double((3.0)));
+  tv.insert(X(4), double((4.0)));
+  tv.insert(X(5), double((5.0)));
   EXPECT(assert_equal((Vector(1) << 15.0), tf.unwhitenedError(tv)));
   DOUBLES_EQUAL(56.25/2.0, tf.error(tv), 1e-9);
   JacobianFactor jf(*boost::dynamic_pointer_cast<JacobianFactor>(tf.linearize(tv)));
@@ -331,9 +331,9 @@ TEST(NonlinearFactor, NoiseModelFactor5) {
 }
 
 /* ************************************************************************* */
-class TestFactor6 : public NoiseModelFactor6<LieVector, LieVector, LieVector, LieVector, LieVector, LieVector> {
+class TestFactor6 : public NoiseModelFactor6<double, double, double, double, double, double> {
 public:
-  typedef NoiseModelFactor6<LieVector, LieVector, LieVector, LieVector, LieVector, LieVector> Base;
+  typedef NoiseModelFactor6<double, double, double, double, double, double> Base;
   TestFactor6() : Base(noiseModel::Diagonal::Sigmas((Vector(1) << 2.0)), X(1), X(2), X(3), X(4), X(5), X(6)) {}
 
   virtual Vector
@@ -361,12 +361,12 @@ public:
 TEST(NonlinearFactor, NoiseModelFactor6) {
   TestFactor6 tf;
   Values tv;
-  tv.insert(X(1), LieVector((Vector(1) << 1.0)));
-  tv.insert(X(2), LieVector((Vector(1) << 2.0)));
-  tv.insert(X(3), LieVector((Vector(1) << 3.0)));
-  tv.insert(X(4), LieVector((Vector(1) << 4.0)));
-  tv.insert(X(5), LieVector((Vector(1) << 5.0)));
-  tv.insert(X(6), LieVector((Vector(1) << 6.0)));
+  tv.insert(X(1), double((1.0)));
+  tv.insert(X(2), double((2.0)));
+  tv.insert(X(3), double((3.0)));
+  tv.insert(X(4), double((4.0)));
+  tv.insert(X(5), double((5.0)));
+  tv.insert(X(6), double((6.0)));
   EXPECT(assert_equal((Vector(1) << 21.0), tf.unwhitenedError(tv)));
   DOUBLES_EQUAL(110.25/2.0, tf.error(tv), 1e-9);
   JacobianFactor jf(*boost::dynamic_pointer_cast<JacobianFactor>(tf.linearize(tv)));