From d7c67532bf59c4f46c66a816e7e50e06ef69b287 Mon Sep 17 00:00:00 2001
From: Alex Cunningham <alexgcunningham@gmail.com>
Date: Tue, 8 Dec 2009 21:10:38 +0000
Subject: [PATCH] Changed format of Matrix::vector_scale() to switch arguments

---
 cpp/GaussianFactor.cpp        | 2 +-
 cpp/Matrix.cpp                | 4 ++--
 cpp/Matrix.h                  | 8 ++++----
 cpp/NonlinearConstraint-inl.h | 6 +++---
 cpp/testMatrix.cpp            | 4 ++--
 5 files changed, 12 insertions(+), 12 deletions(-)

diff --git a/cpp/GaussianFactor.cpp b/cpp/GaussianFactor.cpp
index 66add2def..6881104a5 100644
--- a/cpp/GaussianFactor.cpp
+++ b/cpp/GaussianFactor.cpp
@@ -181,7 +181,7 @@ pair<Matrix,Vector> GaussianFactor::matrix(const Ordering& ordering, bool weight
 	// divide in sigma so error is indeed 0.5*|Ax-b|
 	if (weight) {
 		Vector t = ediv(ones(sigmas_.size()),sigmas_);
-		A = vector_scale(A, t);
+		A = vector_scale(t, A);
 		for (int i=0; i<b_.size(); ++i)
 			b(i) *= t(i);
 	}
diff --git a/cpp/Matrix.cpp b/cpp/Matrix.cpp
index e6b2ddbb2..8650b39de 100644
--- a/cpp/Matrix.cpp
+++ b/cpp/Matrix.cpp
@@ -491,7 +491,7 @@ return collect(matrices);
 
 /* ************************************************************************* */
 // row scaling
-Matrix vector_scale(const Matrix& A, const Vector& v) {
+Matrix vector_scale(const Vector& v, const Matrix& A) {
 	Matrix M(A);
 	for (int i=0; i<A.size1(); ++i) {
 		for (int j=0; j<A.size2(); ++j) {
@@ -503,7 +503,7 @@ Matrix vector_scale(const Matrix& A, const Vector& v) {
 
 /* ************************************************************************* */
 // column scaling
-Matrix vector_scale(const Vector& v, const Matrix& A) {
+Matrix vector_scale(const Matrix& A, const Vector& v) {
 	Matrix M(A);
 	for (int i=0; i<A.size1(); ++i)
 		for (int j=0; j<A.size2(); ++j)
diff --git a/cpp/Matrix.h b/cpp/Matrix.h
index ac7030d46..ce7527626 100644
--- a/cpp/Matrix.h
+++ b/cpp/Matrix.h
@@ -207,11 +207,11 @@ Matrix collect(size_t nrMatrices, ...);
 
 /**
  * scales a matrix row or column by the values in a vector
- * Arguments (Matrix, Vector) scales the rows,
- * (Vector, Matrix) scales the columns
+ * Arguments (Matrix, Vector) scales the columns,
+ * (Vector, Matrix) scales the rows
  */
-Matrix vector_scale(const Matrix& A, const Vector& v); // row
-Matrix vector_scale(const Vector& v, const Matrix& A); // column
+Matrix vector_scale(const Vector& v, const Matrix& A); // row
+Matrix vector_scale(const Matrix& A, const Vector& v); // column
 
 /**
  * skew symmetric matrix returns this:
diff --git a/cpp/NonlinearConstraint-inl.h b/cpp/NonlinearConstraint-inl.h
index f13ff7e0a..1231baeff 100644
--- a/cpp/NonlinearConstraint-inl.h
+++ b/cpp/NonlinearConstraint-inl.h
@@ -121,7 +121,7 @@ NonlinearConstraint1<Config>::linearize(const Config& config, const VectorConfig
 	Matrix grad = gradG_(config, this->keys());
 
 	// construct probabilistic factor
-	Matrix A1 = vector_scale(grad, lambda);
+	Matrix A1 = vector_scale(lambda, grad);
 	GaussianFactor::shared_ptr factor(new
 			GaussianFactor(key_, A1, this->lagrange_key_, eye(this->p_), zero(this->p_), 1.0));
 
@@ -218,8 +218,8 @@ NonlinearConstraint2<Config>::linearize(const Config& config, const VectorConfig
 	Matrix grad2 = gradG2_(config, this->keys());
 
 	// construct probabilistic factor
-	Matrix A1 = vector_scale(grad1, lambda);
-	Matrix A2 = vector_scale(grad2, lambda);
+	Matrix A1 = vector_scale(lambda, grad1);
+	Matrix A2 = vector_scale(lambda, grad2);
 	GaussianFactor::shared_ptr factor(new
 			GaussianFactor(key1_, A1, key2_, A2,
 					this->lagrange_key_, eye(this->p_), zero(this->p_), 1.0));
diff --git a/cpp/testMatrix.cpp b/cpp/testMatrix.cpp
index ec6165e5e..b3926fbfa 100644
--- a/cpp/testMatrix.cpp
+++ b/cpp/testMatrix.cpp
@@ -167,7 +167,7 @@ TEST( matrix, scale_columns )
 
 	Vector v = Vector_(4, 2., 3., 4., 5.);
 
-	Matrix actual = vector_scale(v,A);
+	Matrix actual = vector_scale(A,v);
 
 	Matrix expected(3,4);
 	expected(0,0) = 2.; expected(0,1) = 3.; expected(0,2)= 4.; expected(0,3)= 5.;
@@ -187,7 +187,7 @@ TEST( matrix, scale_rows )
 
 	Vector v = Vector_(3, 2., 3., 4.);
 
-	Matrix actual = vector_scale(A,v);
+	Matrix actual = vector_scale(v,A);
 
 	Matrix expected(3,4);
 	expected(0,0) = 2.; expected(0,1) = 2.; expected(0,2)= 2.; expected(0,3)= 2.;