From e45f5faea1734abc4c30198136d735138e259b30 Mon Sep 17 00:00:00 2001
From: zhaoyang <lvzhaoyang1990@gmail.com>
Date: Thu, 25 Jun 2015 09:44:18 -0400
Subject: [PATCH] change: formatting

---
 gtsam/geometry/OrientedPlane3.h             | 14 ++++-----
 gtsam/geometry/tests/testOrientedPlane3.cpp | 32 ++++++++++-----------
 2 files changed, 23 insertions(+), 23 deletions(-)

diff --git a/gtsam/geometry/OrientedPlane3.h b/gtsam/geometry/OrientedPlane3.h
index ff57b590f..2d2527a25 100644
--- a/gtsam/geometry/OrientedPlane3.h
+++ b/gtsam/geometry/OrientedPlane3.h
@@ -44,17 +44,17 @@ public:
 
   /// Default constructor
   OrientedPlane3() :
-      n_(), d_(0.0) {
+    n_(), d_(0.0) {
   }
 
   /// Construct from a Unit3 and a distance
   OrientedPlane3(const Unit3& s, double d) :
-      n_(s), d_(d) {
+    n_(s), d_(d) {
   }
 
   /// Construct from a vector of plane coefficients
   OrientedPlane3(const Vector4& vec) :
-      n_(vec(0), vec(1), vec(2)), d_(vec(3)) {
+    n_(vec(0), vec(1), vec(2)), d_(vec(3)) {
   }
 
   /// Construct from four numbers of plane coeffcients (a, b, c, d)
@@ -85,8 +85,8 @@ public:
    * @return the transformed plane
    */
   OrientedPlane3 transform(const Pose3& xr,
-                           OptionalJacobian<3, 3> Hp = boost::none,
-                           OptionalJacobian<3, 6> Hr = boost::none) const;
+      OptionalJacobian<3, 3> Hp = boost::none,
+      OptionalJacobian<3, 6> Hr = boost::none) const;
 
   /**
    * @ deprecated the static method has wrong Jacobian order,
@@ -143,11 +143,11 @@ public:
 };
 
 template<> struct traits<OrientedPlane3> : public internal::Manifold<
-    OrientedPlane3> {
+OrientedPlane3> {
 };
 
 template<> struct traits<const OrientedPlane3> : public internal::Manifold<
-    OrientedPlane3> {
+OrientedPlane3> {
 };
 
 } // namespace gtsam
diff --git a/gtsam/geometry/tests/testOrientedPlane3.cpp b/gtsam/geometry/tests/testOrientedPlane3.cpp
index 9d48fc7d5..11931449f 100644
--- a/gtsam/geometry/tests/testOrientedPlane3.cpp
+++ b/gtsam/geometry/tests/testOrientedPlane3.cpp
@@ -51,11 +51,11 @@ TEST (OrientedPlane3, getMethods) {
 
 //*******************************************************************************
 OrientedPlane3 Transform_(const OrientedPlane3& plane,  const Pose3& xr) {
-    return OrientedPlane3::Transform(plane, xr);
+  return OrientedPlane3::Transform(plane, xr);
 }
 
 OrientedPlane3 transform_(const OrientedPlane3& plane,  const Pose3& xr) {
-   return plane.transform(xr);
+  return plane.transform(xr);
 }
 
 TEST (OrientedPlane3, transform) {
@@ -72,26 +72,26 @@ TEST (OrientedPlane3, transform) {
   // Test the jacobians of transform
   Matrix actualH1, expectedH1, actualH2, expectedH2;
   {
-      OrientedPlane3::Transform(plane, pose, actualH1, none);
-      // because the Transform class uses a wrong order of Jacobians in interface
-      expectedH1 = numericalDerivative22(Transform_, plane, pose);
-      EXPECT(assert_equal(expectedH1, actualH1, 1e-9));
-      OrientedPlane3::Transform(plane, pose, none, actualH2);
-      expectedH2 = numericalDerivative21(Transform_, plane, pose);
-      EXPECT(assert_equal(expectedH2, actualH2, 1e-9));
+    // because the Transform class uses a wrong order of Jacobians in interface
+    OrientedPlane3::Transform(plane, pose, actualH1, none);
+    expectedH1 = numericalDerivative22(Transform_, plane, pose);
+    EXPECT(assert_equal(expectedH1, actualH1, 1e-9));
+    OrientedPlane3::Transform(plane, pose, none, actualH2);
+    expectedH2 = numericalDerivative21(Transform_, plane, pose);
+    EXPECT(assert_equal(expectedH2, actualH2, 1e-9));
   }
   {
-      plane.transform(pose, actualH1, none);
-      expectedH1 = numericalDerivative21(transform_, plane, pose);
-      EXPECT(assert_equal(expectedH1, actualH1, 1e-9));
-      plane.transform(pose, none, actualH2);
-      expectedH2 = numericalDerivative22(Transform_, plane, pose);
-      EXPECT(assert_equal(expectedH2, actualH2, 1e-9));
+    plane.transform(pose, actualH1, none);
+    expectedH1 = numericalDerivative21(transform_, plane, pose);
+    EXPECT(assert_equal(expectedH1, actualH1, 1e-9));
+    plane.transform(pose, none, actualH2);
+    expectedH2 = numericalDerivative22(Transform_, plane, pose);
+    EXPECT(assert_equal(expectedH2, actualH2, 1e-9));
   }
 }
 
 //*******************************************************************************
-// Returns a random vector -- copied from testUnit3.cpp
+// Returns a any size random vector
 inline static Vector randomVector(const Vector& minLimits,
     const Vector& maxLimits) {