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Removed SLAM namespace from testInferenceB

release/4.3a0
Stephen Williams 2012-07-23 22:45:46 +00:00
parent 2de44904ad
commit 0e6762e5c9
1 changed files with 15 additions and 8 deletions
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23
tests/testInferenceB.cpp
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@ -17,10 +17,17 @@
#include <CppUnitLite/TestHarness.h> #include <CppUnitLite/TestHarness.h>
#include <gtsam/slam/PriorFactor.h>
#include <gtsam/slam/BetweenFactor.h>
#include <gtsam/slam/BearingRangeFactor.h>
#include <gtsam/nonlinear/NonlinearFactorGraph.h>
#include <gtsam/nonlinear/Values.h>
#include <gtsam/nonlinear/Symbol.h> #include <gtsam/nonlinear/Symbol.h>
#include <gtsam/linear/GaussianSequentialSolver.h> #include <gtsam/linear/GaussianSequentialSolver.h>
#include <gtsam/linear/GaussianMultifrontalSolver.h> #include <gtsam/linear/GaussianMultifrontalSolver.h>
#include <gtsam/slam/planarSLAM.h> #include <gtsam/geometry/Pose2.h>
#include <gtsam/geometry/Point2.h>
#include <gtsam/geometry/Rot2.h>
#include <tests/smallExample.h> #include <tests/smallExample.h>
@ -54,16 +61,16 @@ TEST( inference, marginals )
/* ************************************************************************* */ /* ************************************************************************* */
TEST( inference, marginals2) TEST( inference, marginals2)
{ {
planarSLAM::Graph fg; NonlinearFactorGraph fg;
SharedDiagonal poseModel(noiseModel::Isotropic::Sigma(3, 0.1)); SharedDiagonal poseModel(noiseModel::Isotropic::Sigma(3, 0.1));
SharedDiagonal pointModel(noiseModel::Isotropic::Sigma(3, 0.1)); SharedDiagonal pointModel(noiseModel::Isotropic::Sigma(3, 0.1));
fg.addPosePrior(X(0), Pose2(), poseModel); fg.add(PriorFactor<Pose2>(X(0), Pose2(), poseModel));
fg.addRelativePose(X(0), X(1), Pose2(1.0,0.0,0.0), poseModel); fg.add(BetweenFactor<Pose2>(X(0), X(1), Pose2(1.0,0.0,0.0), poseModel));
fg.addRelativePose(X(1), X(2), Pose2(1.0,0.0,0.0), poseModel); fg.add(BetweenFactor<Pose2>(X(1), X(2), Pose2(1.0,0.0,0.0), poseModel));
fg.addBearingRange(X(0), L(0), Rot2(), 1.0, pointModel); fg.add(BearingRangeFactor<Pose2, Point2>(X(0), L(0), Rot2(), 1.0, pointModel));
fg.addBearingRange(X(1), L(0), Rot2(), 1.0, pointModel); fg.add(BearingRangeFactor<Pose2, Point2>(X(1), L(0), Rot2(), 1.0, pointModel));
fg.addBearingRange(X(2), L(0), Rot2(), 1.0, pointModel); fg.add(BearingRangeFactor<Pose2, Point2>(X(2), L(0), Rot2(), 1.0, pointModel));
Values init; Values init;
init.insert(X(0), Pose2(0.0,0.0,0.0)); init.insert(X(0), Pose2(0.0,0.0,0.0));