Deprecated bool zero(). All unit tests pass.

gtsam/base/Vector.cpp

@@ -33,15 +33,6 @@ using namespace std;
 
 namespace gtsam {
 
-/* ************************************************************************* */
-bool zero(const Vector& v) {
-  bool result = true;
-  size_t n = v.size();
-  for( size_t j = 0 ; j < n ; j++)
-    result = result && (v(j) == 0.0);
-  return result;
-}
-
 /* ************************************************************************* */
 //3 argument call
 void print(const Vector& v, const string& s, ostream& stream) {

gtsam/base/Vector.h

@@ -62,11 +62,6 @@ GTSAM_MAKE_VECTOR_DEFS(12);
 typedef Eigen::VectorBlock<Vector> SubVector;
 typedef Eigen::VectorBlock<const Vector> ConstSubVector;
 
-/**
- * check if all zero
- */
-GTSAM_EXPORT bool zero(const Vector& v);
-
 /**
  * print without optional string, must specify cout yourself
  */
@@ -237,22 +232,22 @@ GTSAM_EXPORT Vector concatVectors(size_t nrVectors, ...);
 
 #ifdef GTSAM_ALLOW_DEPRECATED_SINCE_V4
 inline Vector abs(const Vector& v){return v.cwiseAbs();}
+inline Vector basis(size_t n, size_t i) { return delta(n, i, 1.0); }
+inline Vector delta(size_t n, size_t i, double value){ return Vector::Unit(n, i) * value;}
+inline size_t dim(const Vector& v) { return v.size(); }
 inline Vector ediv(const Vector &a, const Vector &b) {assert (b.size()==a.size()); return a.cwiseQuotient(b);}
 inline Vector esqrt(const Vector& v) { return v.cwiseSqrt();}
 inline Vector emul(const Vector &a, const Vector &b) {assert (b.size()==a.size()); return a.cwiseProduct(b);}
 inline double max(const Vector &a){return a.maxCoeff();}
 inline double norm_2(const Vector& v) {return v.norm();}
+inline Vector ones(size_t n) { return Vector::Ones(n); }
 inline Vector reciprocal(const Vector &a) {return a.array().inverse();}
 inline Vector repeat(size_t n, double value) {return Vector::Constant(n, value);}
 inline const Vector sub(const Vector &v, size_t i1, size_t i2) {return v.segment(i1,i2-i1);}
 inline void subInsert(Vector& fullVector, const Vector& subVector, size_t i) {fullVector.segment(i, subVector.size()) = subVector;}
 inline double sum(const Vector &a){return a.sum();}
-
-inline Vector zero(size_t n) { return Vector::Zero(n);}
-inline Vector ones(size_t n) { return Vector::Ones(n); }
-inline size_t dim(const Vector& v) { return v.size(); }
-inline Vector delta(size_t n, size_t i, double value){ return Vector::Unit(n, i) * value;}
-inline Vector basis(size_t n, size_t i) { return delta(n, i, 1.0); }
+inline bool zero(const Vector& v){ return v.isZero(); }
+inline Vector zero(size_t n) { return Vector::Zero(n); }
 #endif
 } // namespace gtsam
 

gtsam/base/tests/testVector.cpp

@@ -79,13 +79,6 @@ TEST(Vector, copy )
   EXPECT(assert_equal(a, b));
 }
 
-/* ************************************************************************* */
-TEST(Vector, zero1 )
-{
-  Vector v = Vector::Zero(2);
-  EXPECT(zero(v));
-}
-
 /* ************************************************************************* */
 TEST(Vector, scalar_multiply )
 {

gtsam/geometry/Rot2.cpp

@@ -63,7 +63,7 @@ Rot2& Rot2::normalize() {
 Rot2 Rot2::Expmap(const Vector1& v, OptionalJacobian<1, 1> H) {
   if (H)
     *H = I_1x1;
-  if (zero(v))
+  if (v.isZero())
     return (Rot2());
   else
     return Rot2::fromAngle(v(0));