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duplicate symbol errors on Windows

release/4.3a0
Chris Beall 2015-02-07 23:24:12 -05:00
parent 5afc3c4cea
commit 12020ee7a3
4 changed files with 19 additions and 21 deletions
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8
gtsam/geometry/tests/testPose2.cpp
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@ -145,7 +145,7 @@ TEST(Pose2, expmap0d) {
/* ************************************************************************* */
// test case for screw motion in the plane
namespace screw {
namespace screwPose2 {
double w=0.3;
Vector xi = (Vector(3) << 0.0, w, w).finished();
Rot2 expectedR = Rot2::fromAngle(w);
@ -155,9 +155,9 @@ namespace screw {
TEST(Pose2, expmap_c)
{
EXPECT(assert_equal(screw::expected, expm<Pose2>(screw::xi),1e-6));
EXPECT(assert_equal(screw::expected, Pose2::Expmap(screw::xi),1e-6));
EXPECT(assert_equal(screw::xi, Pose2::Logmap(screw::expected),1e-6));
EXPECT(assert_equal(screwPose2::expected, expm<Pose2>(screwPose2::xi),1e-6));
EXPECT(assert_equal(screwPose2::expected, Pose2::Expmap(screwPose2::xi),1e-6));
EXPECT(assert_equal(screwPose2::xi, Pose2::Logmap(screwPose2::expected),1e-6));
}
/* ************************************************************************* */

30
gtsam/geometry/tests/testPose3.cpp
View File

@ -109,7 +109,7 @@ TEST(Pose3, expmap_b)
/* ************************************************************************* */
// test case for screw motion in the plane
namespace screw {
namespace screwPose3 {
double a=0.3, c=cos(a), s=sin(a), w=0.3;
Vector xi = (Vector(6) << 0.0, 0.0, w, w, 0.0, 1.0).finished();
Rot3 expectedR(c, -s, 0, s, c, 0, 0, 0, 1);
@ -121,24 +121,24 @@ namespace screw {
// Checks correct exponential map (Expmap) with brute force matrix exponential
TEST(Pose3, expmap_c_full)
{
EXPECT(assert_equal(screw::expected, expm<Pose3>(screw::xi),1e-6));
EXPECT(assert_equal(screw::expected, Pose3::Expmap(screw::xi),1e-6));
EXPECT(assert_equal(screwPose3::expected, expm<Pose3>(screwPose3::xi),1e-6));
EXPECT(assert_equal(screwPose3::expected, Pose3::Expmap(screwPose3::xi),1e-6));
}
/* ************************************************************************* */
// assert that T*exp(xi)*T^-1 is equal to exp(Ad_T(xi))
TEST(Pose3, Adjoint_full)
{
Pose3 expected = T * Pose3::Expmap(screw::xi) * T.inverse();
Vector xiprime = T.Adjoint(screw::xi);
Pose3 expected = T * Pose3::Expmap(screwPose3::xi) * T.inverse();
Vector xiprime = T.Adjoint(screwPose3::xi);
EXPECT(assert_equal(expected, Pose3::Expmap(xiprime), 1e-6));
Pose3 expected2 = T2 * Pose3::Expmap(screw::xi) * T2.inverse();
Vector xiprime2 = T2.Adjoint(screw::xi);
Pose3 expected2 = T2 * Pose3::Expmap(screwPose3::xi) * T2.inverse();
Vector xiprime2 = T2.Adjoint(screwPose3::xi);
EXPECT(assert_equal(expected2, Pose3::Expmap(xiprime2), 1e-6));
Pose3 expected3 = T3 * Pose3::Expmap(screw::xi) * T3.inverse();
Vector xiprime3 = T3.Adjoint(screw::xi);
Pose3 expected3 = T3 * Pose3::Expmap(screwPose3::xi) * T3.inverse();
Vector xiprime3 = T3.Adjoint(screwPose3::xi);
EXPECT(assert_equal(expected3, Pose3::Expmap(xiprime3), 1e-6));
}
@ -634,9 +634,9 @@ TEST( Pose3, unicycle )
/* ************************************************************************* */
TEST( Pose3, adjointMap) {
Matrix res = Pose3::adjointMap(screw::xi);
Matrix wh = skewSymmetric(screw::xi(0), screw::xi(1), screw::xi(2));
Matrix vh = skewSymmetric(screw::xi(3), screw::xi(4), screw::xi(5));
Matrix res = Pose3::adjointMap(screwPose3::xi);
Matrix wh = skewSymmetric(screwPose3::xi(0), screwPose3::xi(1), screwPose3::xi(2));
Matrix vh = skewSymmetric(screwPose3::xi(3), screwPose3::xi(4), screwPose3::xi(5));
Matrix Z3 = zeros(3,3);
Matrix6 expected;
expected << wh, Z3, vh, wh;
@ -704,13 +704,13 @@ Vector6 testDerivAdjoint(const Vector6& xi, const Vector6& v) {
}
TEST( Pose3, adjoint) {
Vector expected = testDerivAdjoint(screw::xi, screw::xi);
Vector expected = testDerivAdjoint(screwPose3::xi, screwPose3::xi);
Matrix actualH;
Vector actual = Pose3::adjoint(screw::xi, screw::xi, actualH);
Vector actual = Pose3::adjoint(screwPose3::xi, screwPose3::xi, actualH);
Matrix numericalH = numericalDerivative21<Vector6, Vector6, Vector6>(
testDerivAdjoint, screw::xi, screw::xi, 1e-5);
testDerivAdjoint, screwPose3::xi, screwPose3::xi, 1e-5);
EXPECT(assert_equal(expected,actual,1e-5));
EXPECT(assert_equal(numericalH,actualH,1e-5));

1
gtsam/linear/tests/testGaussianBayesNet.cpp
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@ -148,7 +148,6 @@ TEST( GaussianBayesNet, DeterminantTest )
}
/* ************************************************************************* */
typedef Eigen::Matrix<double,10,1> Vector10;
namespace {
double computeError(const GaussianBayesNet& gbn, const Vector10& values)
{

1
gtsam/linear/tests/testGaussianBayesTree.cpp
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@ -175,7 +175,6 @@ TEST(GaussianBayesTree, complicatedMarginal) {
}
/* ************************************************************************* */
typedef Eigen::Matrix<double, 10, 1> Vector10;
namespace {
double computeError(const GaussianBayesTree& gbt, const Vector10& values) {
pair<Matrix, Vector> Rd = GaussianFactorGraph(gbt).jacobian();