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Removed SLAM namespace from testNonlinearOptimizer

release/4.3a0
Stephen Williams 2012-07-23 22:47:31 +00:00
parent 7a0030070c
commit 01bcd9e939
1 changed files with 8 additions and 4 deletions
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12
tests/testNonlinearOptimizer.cpp
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@ -16,7 +16,10 @@
*/
#include <tests/smallExample.h>
#include <gtsam/slam/pose2SLAM.h>
#include <gtsam/slam/PriorFactor.h>
#include <gtsam/slam/BetweenFactor.h>
#include <gtsam/nonlinear/NonlinearFactorGraph.h>
#include <gtsam/nonlinear/Values.h>
#include <gtsam/nonlinear/Symbol.h>
#include <gtsam/nonlinear/NonlinearFactorGraph.h>
#include <gtsam/nonlinear/GaussNewtonOptimizer.h>
@ -24,6 +27,7 @@
#include <gtsam/nonlinear/LevenbergMarquardtOptimizer.h>
#include <gtsam/linear/GaussianFactorGraph.h>
#include <gtsam/linear/NoiseModel.h>
#include <gtsam/geometry/Pose2.h>
#include <gtsam/base/Matrix.h>
#include <CppUnitLite/TestHarness.h>
@ -174,9 +178,9 @@ TEST( NonlinearOptimizer, Factorization )
config.insert(X(1), Pose2(0.,0.,0.));
config.insert(X(2), Pose2(1.5,0.,0.));
pose2SLAM::Graph graph;
graph.addPosePrior(X(1), Pose2(0.,0.,0.), noiseModel::Isotropic::Sigma(3, 1e-10));
graph.addRelativePose(X(1),X(2), Pose2(1.,0.,0.), noiseModel::Isotropic::Sigma(3, 1));
NonlinearFactorGraph graph;
graph.add(PriorFactor<Pose2>(X(1), Pose2(0.,0.,0.), noiseModel::Isotropic::Sigma(3, 1e-10)));
graph.add(BetweenFactor<Pose2>(X(1),X(2), Pose2(1.,0.,0.), noiseModel::Isotropic::Sigma(3, 1)));
Ordering ordering;
ordering.push_back(X(1));