From 20ba6b41dd7f956975e1a312041fa399684d81e4 Mon Sep 17 00:00:00 2001 From: Varun Agrawal Date: Fri, 26 May 2023 15:05:30 -0400 Subject: [PATCH 1/2] fix geometry wrapper --- gtsam/geometry/geometry.i | 8 ++++---- 1 file changed, 4 insertions(+), 4 deletions(-) diff --git a/gtsam/geometry/geometry.i b/gtsam/geometry/geometry.i index 630f6d252..0710959bc 100644 --- a/gtsam/geometry/geometry.i +++ b/gtsam/geometry/geometry.i @@ -575,13 +575,13 @@ class Unit3 { gtsam::Point3 point3() const; gtsam::Point3 point3(Eigen::Ref H) const; - Vector3 unitVector() const; - Vector3 unitVector(Eigen::Ref H) const; + gtsam::Vector3 unitVector() const; + gtsam::Vector3 unitVector(Eigen::Ref H) const; double dot(const gtsam::Unit3& q) const; double dot(const gtsam::Unit3& q, Eigen::Ref H1, Eigen::Ref H2) const; - Vector2 errorVector(const gtsam::Unit3& q) const; - Vector2 errorVector(const gtsam::Unit3& q, Eigen::Ref H_p, + gtsam::Vector2 errorVector(const gtsam::Unit3& q) const; + gtsam::Vector2 errorVector(const gtsam::Unit3& q, Eigen::Ref H_p, Eigen::Ref H_q) const; // Manifold From 9fb651d8708e396a5b82aedf948be39a39f5b7f4 Mon Sep 17 00:00:00 2001 From: Varun Agrawal Date: Fri, 26 May 2023 15:37:18 -0400 Subject: [PATCH 2/2] additional matlab test --- matlab/gtsam_tests/testCal3Unified.m | 5 +++++ 1 file changed, 5 insertions(+) diff --git a/matlab/gtsam_tests/testCal3Unified.m b/matlab/gtsam_tests/testCal3Unified.m index 498c65343..ec5bff871 100644 --- a/matlab/gtsam_tests/testCal3Unified.m +++ b/matlab/gtsam_tests/testCal3Unified.m @@ -5,3 +5,8 @@ K = Cal3Unified; EXPECT('fx',K.fx()==1); EXPECT('fy',K.fy()==1); +params = PreintegrationParams.MakeSharedU(-9.81); +%params.getOmegaCoriolis() + +expectedBodyPSensor = gtsam.Pose3(gtsam.Rot3(0, 0, 0, 0, 0, 0, 0, 0, 0), gtsam.Point3(0, 0, 0)); +EXPECT('getBodyPSensor', expectedBodyPSensor.equals(params.getBodyPSensor(), 1e-9));