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fixed testTSAMFactors

release/4.3a0
Mike Bosse 2014-12-15 23:23:40 +01:00
parent 30b21503b3
commit 07bcc18d43
1 changed files with 10 additions and 10 deletions
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20
gtsam_unstable/slam/tests/testTSAMFactors.cpp
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@ -44,10 +44,10 @@ TEST( DeltaFactor, all ) {
// Use numerical derivatives to calculate the Jacobians // Use numerical derivatives to calculate the Jacobians
Matrix H1Expected, H2Expected; Matrix H1Expected, H2Expected;
H1Expected = numericalDerivative11<Vector, Pose2>( H1Expected = numericalDerivative11<Vector2, Pose2>(
boost::bind(&DeltaFactor::evaluateError, &factor, _1, point, boost::none, boost::bind(&DeltaFactor::evaluateError, &factor, _1, point, boost::none,
boost::none), pose); boost::none), pose);
H2Expected = numericalDerivative11<Vector, Point2>( H2Expected = numericalDerivative11<Vector2, Point2>(
boost::bind(&DeltaFactor::evaluateError, &factor, pose, _1, boost::none, boost::bind(&DeltaFactor::evaluateError, &factor, pose, _1, boost::none,
boost::none), point); boost::none), point);
@ -78,16 +78,16 @@ TEST( DeltaFactorBase, all ) {
// Use numerical derivatives to calculate the Jacobians // Use numerical derivatives to calculate the Jacobians
Matrix H1Expected, H2Expected, H3Expected, H4Expected; Matrix H1Expected, H2Expected, H3Expected, H4Expected;
H1Expected = numericalDerivative11<Vector, Pose2>( H1Expected = numericalDerivative11<Vector2, Pose2>(
boost::bind(&DeltaFactorBase::evaluateError, &factor, _1, pose, base2, boost::bind(&DeltaFactorBase::evaluateError, &factor, _1, pose, base2,
point, boost::none, boost::none, boost::none, boost::none), base1); point, boost::none, boost::none, boost::none, boost::none), base1);
H2Expected = numericalDerivative11<Vector, Pose2>( H2Expected = numericalDerivative11<Vector2, Pose2>(
boost::bind(&DeltaFactorBase::evaluateError, &factor, base1, _1, base2, boost::bind(&DeltaFactorBase::evaluateError, &factor, base1, _1, base2,
point, boost::none, boost::none, boost::none, boost::none), pose); point, boost::none, boost::none, boost::none, boost::none), pose);
H3Expected = numericalDerivative11<Vector, Pose2>( H3Expected = numericalDerivative11<Vector2, Pose2>(
boost::bind(&DeltaFactorBase::evaluateError, &factor, base1, pose, _1, boost::bind(&DeltaFactorBase::evaluateError, &factor, base1, pose, _1,
point, boost::none, boost::none, boost::none, boost::none), base2); point, boost::none, boost::none, boost::none, boost::none), base2);
H4Expected = numericalDerivative11<Vector, Point2>( H4Expected = numericalDerivative11<Vector2, Point2>(
boost::bind(&DeltaFactorBase::evaluateError, &factor, base1, pose, base2, boost::bind(&DeltaFactorBase::evaluateError, &factor, base1, pose, base2,
_1, boost::none, boost::none, boost::none, boost::none), point); _1, boost::none, boost::none, boost::none, boost::none), point);
@ -119,16 +119,16 @@ TEST( OdometryFactorBase, all ) {
// Use numerical derivatives to calculate the Jacobians // Use numerical derivatives to calculate the Jacobians
Matrix H1Expected, H2Expected, H3Expected, H4Expected; Matrix H1Expected, H2Expected, H3Expected, H4Expected;
H1Expected = numericalDerivative11<Vector, Pose2>( H1Expected = numericalDerivative11<Vector2, Pose2>(
boost::bind(&OdometryFactorBase::evaluateError, &factor, _1, pose1, base2, boost::bind(&OdometryFactorBase::evaluateError, &factor, _1, pose1, base2,
pose2, boost::none, boost::none, boost::none, boost::none), base1); pose2, boost::none, boost::none, boost::none, boost::none), base1);
H2Expected = numericalDerivative11<Vector, Pose2>( H2Expected = numericalDerivative11<Vector2, Pose2>(
boost::bind(&OdometryFactorBase::evaluateError, &factor, base1, _1, base2, boost::bind(&OdometryFactorBase::evaluateError, &factor, base1, _1, base2,
pose2, boost::none, boost::none, boost::none, boost::none), pose1); pose2, boost::none, boost::none, boost::none, boost::none), pose1);
H3Expected = numericalDerivative11<Vector, Pose2>( H3Expected = numericalDerivative11<Vector2, Pose2>(
boost::bind(&OdometryFactorBase::evaluateError, &factor, base1, pose1, _1, boost::bind(&OdometryFactorBase::evaluateError, &factor, base1, pose1, _1,
pose2, boost::none, boost::none, boost::none, boost::none), base2); pose2, boost::none, boost::none, boost::none, boost::none), base2);
H4Expected = numericalDerivative11<Vector, Pose2>( H4Expected = numericalDerivative11<Vector2, Pose2>(
boost::bind(&OdometryFactorBase::evaluateError, &factor, base1, pose1, boost::bind(&OdometryFactorBase::evaluateError, &factor, base1, pose1,
base2, _1, boost::none, boost::none, boost::none, boost::none), base2, _1, boost::none, boost::none, boost::none, boost::none),
pose2); pose2);