Fix deprecations

gtsam/base/tests/testVector.cpp

@@ -220,8 +220,8 @@ TEST(Vector, axpy )
   Vector x = Vector3(10., 20., 30.);
   Vector y0 = Vector3(2.0, 5.0, 6.0);
   Vector y1 = y0, y2 = y0;
-  axpy(0.1,x,y1);
-  axpy(0.1,x,y2.head(3));
+  y1 += 0.1 * x;
+  y2.head(3) += 0.1 * x;
   Vector expected = Vector3(3.0, 7.0, 9.0);
   EXPECT(assert_equal(expected,y1));
   EXPECT(assert_equal(expected,Vector(y2)));

gtsam/linear/Errors.cpp

@@ -111,10 +111,10 @@ double dot(const Errors& a, const Errors& b) {
 
 /* ************************************************************************* */
 template<>
-void axpy<Errors,Errors>(double alpha, const Errors& x, Errors& y) {
+void axpy(double alpha, const Errors& x, Errors& y) {
   Errors::const_iterator it = x.begin();
   for(Vector& yi: y)
-    axpy(alpha,*(it++),yi);
+    yi += alpha * (*(it++));
 }
 
 /* ************************************************************************* */

gtsam/linear/Errors.h

@@ -66,7 +66,7 @@ namespace gtsam {
   * BLAS level 2 style
   */
   template <>
-  GTSAM_EXPORT void axpy<Errors,Errors>(double alpha, const Errors& x, Errors& y);
+  GTSAM_EXPORT void axpy(double alpha, const Errors& x, Errors& y);
 
   /** print with optional string */
   GTSAM_EXPORT void print(const Errors& a, const std::string& s = "Error");

gtsam/linear/SubgraphPreconditioner.cpp

@@ -173,7 +173,7 @@ void SubgraphPreconditioner::transposeMultiplyAdd
   Errors::const_iterator it = e.begin();
   for(auto& key_value: y) {
     const Vector& ei = *it;
-    axpy(alpha, ei, key_value.second);
+    key_value.second += alpha * ei;
     ++it;
   }
   transposeMultiplyAdd2(alpha, it, e.end(), y);
@@ -191,7 +191,7 @@ void SubgraphPreconditioner::transposeMultiplyAdd2 (double alpha,
 
   VectorValues x = VectorValues::Zero(y); // x = 0
   Ab2_->transposeMultiplyAdd(1.0,e2,x);   // x += A2'*e2
-  axpy(alpha, Rc1_->backSubstituteTranspose(x), y); // y += alpha*inv(R1')*x
+  y += alpha * Rc1_->backSubstituteTranspose(x); // y += alpha*inv(R1')*x
 }
 
 /* ************************************************************************* */

gtsam/linear/iterative-inl.h

@@ -72,7 +72,7 @@ namespace gtsam {
     double takeOptimalStep(V& x) {
       // TODO: can we use gamma instead of dot(d,g) ????? Answer not trivial
       double alpha = -dot(d, g) / dot(Ad, Ad); // calculate optimal step-size
-      axpy(alpha, d, x); // // do step in new search direction, x += alpha*d
+      x += alpha * d; // do step in new search direction, x += alpha*d
       return alpha;
     }
 
@@ -106,7 +106,7 @@ namespace gtsam {
         double beta = new_gamma / gamma;
         // d = g + d*beta;
         d *= beta;
-        axpy(1.0, g, d);
+        d += 1.0 * g;
       }
 
       gamma = new_gamma;

gtsam/linear/tests/testErrors.cpp

@@ -32,7 +32,7 @@ TEST( Errors, arithmetic )
   e += Vector2(1.0,2.0), Vector3(3.0,4.0,5.0);
   DOUBLES_EQUAL(1+4+9+16+25,dot(e,e),1e-9);
 
-  axpy(2.0,e,e);
+  axpy(2.0, e, e);
   Errors expected;
   expected += Vector2(3.0,6.0), Vector3(9.0,12.0,15.0);
   CHECK(assert_equal(expected,e));

gtsam/nonlinear/DoglegOptimizerImpl.cpp

@@ -78,7 +78,8 @@ VectorValues DoglegOptimizerImpl::ComputeBlend(double delta, const VectorValues&
 
   // Compute blended point
   if(verbose) cout << "In blend region with fraction " << tau << " of Newton's method point" << endl;
-  VectorValues blend = (1. - tau) * x_u;  axpy(tau, x_n, blend);
+  VectorValues blend = (1. - tau) * x_u;
+  blend += tau * x_n;
   return blend;
 }