From c8d6b389a4c2be5225f763937b43d77190dc26af Mon Sep 17 00:00:00 2001
From: Richard Roberts <richard.jw.roberts@gmail.com>
Date: Sun, 8 Jan 2012 21:29:05 +0000
Subject: [PATCH] Fixed spelling of coordinates modes in Rot3 and Pose3

---
 gtsam/geometry/Rot3.h              |  6 +++---
 gtsam/geometry/Rot3M.cpp           |  8 ++++----
 gtsam/geometry/tests/testRot3M.cpp | 16 ++++++++--------
 3 files changed, 15 insertions(+), 15 deletions(-)

diff --git a/gtsam/geometry/Rot3.h b/gtsam/geometry/Rot3.h
index 986aa168c..693df8d47 100644
--- a/gtsam/geometry/Rot3.h
+++ b/gtsam/geometry/Rot3.h
@@ -22,7 +22,7 @@
 #pragma once
 
 #ifndef ROT3_DEFAULT_COORDINATES_MODE
-#define ROT3_DEFAULT_COORDINATES_MODE Rot3::CALEY
+#define ROT3_DEFAULT_COORDINATES_MODE Rot3::CAYLEY
 #endif
 
 #include <gtsam/geometry/Point3.h>
@@ -229,8 +229,8 @@ namespace gtsam {
      */
     enum CoordinatesMode {
       EXPMAP, ///< The exponential map, computationally expensive.
-      CALEY, ///< Retract and localCoordinates using the Caley transform.
-      SLOW_CALEY ///< Slow matrix implementation of Cayley transform (for tests only).
+      CAYLEY, ///< Retract and localCoordinates using the Cayley transform.
+      SLOW_CAYLEY ///< Slow matrix implementation of Cayley transform (for tests only).
     };
 
     /// dimension of the variable - used to autodetect sizes
diff --git a/gtsam/geometry/Rot3M.cpp b/gtsam/geometry/Rot3M.cpp
index 5f6f70c55..e6b5c9df2 100644
--- a/gtsam/geometry/Rot3M.cpp
+++ b/gtsam/geometry/Rot3M.cpp
@@ -249,7 +249,7 @@ Vector Rot3::Logmap(const Rot3& R) {
 Rot3 Rot3::retract(const Vector& omega, Rot3::CoordinatesMode mode) const {
   if(mode == Rot3::EXPMAP) {
     return (*this)*Expmap(omega);
-  } else if(mode == Rot3::CALEY) {
+  } else if(mode == Rot3::CAYLEY) {
     const double x = omega(0), y = omega(1), z = omega(2);
     const double x2 = x*x, y2 = y*y, z2 = z*z;
     const double xy = x*y, xz = x*z, yz = y*z;
@@ -259,7 +259,7 @@ Rot3 Rot3::retract(const Vector& omega, Rot3::CoordinatesMode mode) const {
         (xy + 2*z)*_2f, (4-x2+y2-z2)*f, (yz - 2*x)*_2f,
         (xz - 2*y)*_2f, (yz + 2*x)*_2f, (4-x2-y2+z2)*f
     );
-  } else if(mode == Rot3::SLOW_CALEY) {
+  } else if(mode == Rot3::SLOW_CAYLEY) {
     Matrix Omega = skewSymmetric(omega);
     return (*this)*Cayley<3>(-Omega/2);
   } else {
@@ -272,7 +272,7 @@ Rot3 Rot3::retract(const Vector& omega, Rot3::CoordinatesMode mode) const {
 Vector Rot3::localCoordinates(const Rot3& T, Rot3::CoordinatesMode mode) const {
   if(mode == Rot3::EXPMAP) {
     return Logmap(between(T));
-  } else if(mode == Rot3::CALEY) {
+  } else if(mode == Rot3::CAYLEY) {
     // Create a fixed-size matrix
     Eigen::Matrix3d A(between(T).matrix());
     // Mathematica closed form optimization (procrastination?) gone wild:
@@ -286,7 +286,7 @@ Vector Rot3::localCoordinates(const Rot3& T, Rot3::CoordinatesMode mode) const {
     const double y = (b * f - ce - c) * K;
     const double z = (fg - di - d) * K;
     return -2 * Vector_(3, x, y, z);
-  } else if(mode == Rot3::SLOW_CALEY) {
+  } else if(mode == Rot3::SLOW_CAYLEY) {
     // Create a fixed-size matrix
     Eigen::Matrix3d A(between(T).matrix());
     // using templated version of Cayley
diff --git a/gtsam/geometry/tests/testRot3M.cpp b/gtsam/geometry/tests/testRot3M.cpp
index 8311a62b5..5179fa597 100644
--- a/gtsam/geometry/tests/testRot3M.cpp
+++ b/gtsam/geometry/tests/testRot3M.cpp
@@ -208,10 +208,10 @@ TEST(Rot3, manifold_caley)
 	Rot3 origin;
 
 	// log behaves correctly
-	Vector d12 = gR1.localCoordinates(gR2, Rot3::CALEY);
-	CHECK(assert_equal(gR2, gR1.retract(d12, Rot3::CALEY)));
-	Vector d21 = gR2.localCoordinates(gR1, Rot3::CALEY);
-	CHECK(assert_equal(gR1, gR2.retract(d21, Rot3::CALEY)));
+	Vector d12 = gR1.localCoordinates(gR2, Rot3::CAYLEY);
+	CHECK(assert_equal(gR2, gR1.retract(d12, Rot3::CAYLEY)));
+	Vector d21 = gR2.localCoordinates(gR1, Rot3::CAYLEY);
+	CHECK(assert_equal(gR1, gR2.retract(d21, Rot3::CAYLEY)));
 
 	// Check that log(t1,t2)=-log(t2,t1)
 	CHECK(assert_equal(d12,-d21));
@@ -236,10 +236,10 @@ TEST(Rot3, manifold_slow_caley)
   Rot3 origin;
 
   // log behaves correctly
-  Vector d12 = gR1.localCoordinates(gR2, Rot3::SLOW_CALEY);
-  CHECK(assert_equal(gR2, gR1.retract(d12, Rot3::SLOW_CALEY)));
-  Vector d21 = gR2.localCoordinates(gR1, Rot3::SLOW_CALEY);
-  CHECK(assert_equal(gR1, gR2.retract(d21, Rot3::SLOW_CALEY)));
+  Vector d12 = gR1.localCoordinates(gR2, Rot3::SLOW_CAYLEY);
+  CHECK(assert_equal(gR2, gR1.retract(d12, Rot3::SLOW_CAYLEY)));
+  Vector d21 = gR2.localCoordinates(gR1, Rot3::SLOW_CAYLEY);
+  CHECK(assert_equal(gR1, gR2.retract(d21, Rot3::SLOW_CAYLEY)));
 
   // Check that log(t1,t2)=-log(t2,t1)
   CHECK(assert_equal(d12,-d21));