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Add namespace to ambiguous placeholders #929

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Nov 15, 2021
Merged

Add namespace to ambiguous placeholders #929

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4 changes: 2 additions & 2 deletions gtsam/navigation/tests/testGPSFactor.cpp
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Original file line number Diff line number Diff line change
Expand Up @@ -72,7 +72,7 @@ TEST( GPSFactor, Constructor ) {

// Calculate numerical derivatives
Matrix expectedH = numericalDerivative11<Vector,Pose3>(
std::bind(&GPSFactor::evaluateError, &factor, _1, boost::none), T);
std::bind(&GPSFactor::evaluateError, &factor, std::placeholders::_1, boost::none), T);

// Use the factor to calculate the derivative
Matrix actualH;
Expand Down Expand Up @@ -101,7 +101,7 @@ TEST( GPSFactor2, Constructor ) {

// Calculate numerical derivatives
Matrix expectedH = numericalDerivative11<Vector,NavState>(
std::bind(&GPSFactor2::evaluateError, &factor, _1, boost::none), T);
std::bind(&GPSFactor2::evaluateError, &factor, std::placeholders::_1, boost::none), T);

// Use the factor to calculate the derivative
Matrix actualH;
Expand Down
16 changes: 8 additions & 8 deletions gtsam/navigation/tests/testMagFactor.cpp
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Expand Up @@ -64,7 +64,7 @@ TEST( MagFactor, unrotate ) {
Point3 expected(22735.5, 314.502, 44202.5);
EXPECT( assert_equal(expected, MagFactor::unrotate(theta,nM,H),1e-1));
EXPECT( assert_equal(numericalDerivative11<Point3,Rot2> //
(std::bind(&MagFactor::unrotate, _1, nM, none), theta), H, 1e-6));
(std::bind(&MagFactor::unrotate, std::placeholders::_1, nM, none), theta), H, 1e-6));
}

// *************************************************************************
Expand All @@ -76,35 +76,35 @@ TEST( MagFactor, Factors ) {
MagFactor f(1, measured, s, dir, bias, model);
EXPECT( assert_equal(Z_3x1,f.evaluateError(theta,H1),1e-5));
EXPECT( assert_equal((Matrix)numericalDerivative11<Vector,Rot2> //
(std::bind(&MagFactor::evaluateError, &f, _1, none), theta), H1, 1e-7));
(std::bind(&MagFactor::evaluateError, &f, std::placeholders::_1, none), theta), H1, 1e-7));

// MagFactor1
MagFactor1 f1(1, measured, s, dir, bias, model);
EXPECT( assert_equal(Z_3x1,f1.evaluateError(nRb,H1),1e-5));
EXPECT( assert_equal(numericalDerivative11<Vector,Rot3> //
(std::bind(&MagFactor1::evaluateError, &f1, _1, none), nRb), H1, 1e-7));
(std::bind(&MagFactor1::evaluateError, &f1, std::placeholders::_1, none), nRb), H1, 1e-7));

// MagFactor2
MagFactor2 f2(1, 2, measured, nRb, model);
EXPECT( assert_equal(Z_3x1,f2.evaluateError(scaled,bias,H1,H2),1e-5));
EXPECT( assert_equal(numericalDerivative11<Vector,Point3> //
(std::bind(&MagFactor2::evaluateError, &f2, _1, bias, none, none), scaled),//
(std::bind(&MagFactor2::evaluateError, &f2, std::placeholders::_1, bias, none, none), scaled),//
H1, 1e-7));
EXPECT( assert_equal(numericalDerivative11<Vector,Point3> //
(std::bind(&MagFactor2::evaluateError, &f2, scaled, _1, none, none), bias),//
(std::bind(&MagFactor2::evaluateError, &f2, scaled, std::placeholders::_1, none, none), bias),//
H2, 1e-7));

// MagFactor2
MagFactor3 f3(1, 2, 3, measured, nRb, model);
EXPECT(assert_equal(Z_3x1,f3.evaluateError(s,dir,bias,H1,H2,H3),1e-5));
EXPECT(assert_equal((Matrix)numericalDerivative11<Vector,double> //
(std::bind(&MagFactor3::evaluateError, &f3, _1, dir, bias, none, none, none), s),//
(std::bind(&MagFactor3::evaluateError, &f3, std::placeholders::_1, dir, bias, none, none, none), s),//
H1, 1e-7));
EXPECT(assert_equal(numericalDerivative11<Vector,Unit3> //
(std::bind(&MagFactor3::evaluateError, &f3, s, _1, bias, none, none, none), dir),//
(std::bind(&MagFactor3::evaluateError, &f3, s, std::placeholders::_1, bias, none, none, none), dir),//
H2, 1e-7));
EXPECT(assert_equal(numericalDerivative11<Vector,Point3> //
(std::bind(&MagFactor3::evaluateError, &f3, s, dir, _1, none, none, none), bias),//
(std::bind(&MagFactor3::evaluateError, &f3, s, dir, std::placeholders::_1, none, none, none), bias),//
H3, 1e-7));
}

Expand Down