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fix bug in LinearContainerFactor and warnings about Point3

release/4.3a0
Varun Agrawal 2021-06-05 20:08:31 -04:00
parent 2e29d45e1a
commit 1209857a33
2 changed files with 5 additions and 4 deletions
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3
gtsam/nonlinear/LinearContainerFactor.cpp
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@ -175,9 +175,10 @@ NonlinearFactor::shared_ptr LinearContainerFactor::rekey(
Values newLinearizationPoint; Values newLinearizationPoint;
for (size_t i = 0; i < factor_->size(); ++i) { for (size_t i = 0; i < factor_->size(); ++i) {
auto mapping = rekey_mapping.find(factor_->keys()[i]); auto mapping = rekey_mapping.find(factor_->keys()[i]);
if (mapping != rekey_mapping.end()) if (mapping != rekey_mapping.end()) {
new_factor->factor_->keys()[i] = mapping->second; new_factor->factor_->keys()[i] = mapping->second;
newLinearizationPoint.insert(mapping->second, linearizationPoint_->at(mapping->first)); newLinearizationPoint.insert(mapping->second, linearizationPoint_->at(mapping->first));
}
} }
new_factor->linearizationPoint_ = newLinearizationPoint; new_factor->linearizationPoint_ = newLinearizationPoint;

6
gtsam/nonlinear/tests/testLinearContainerFactor.cpp
View File

@ -326,13 +326,13 @@ TEST(TestLinearContainerFactor, Rekey) {
// Make an example factor // Make an example factor
auto nonlinear_factor = auto nonlinear_factor =
boost::make_shared<gtsam::BetweenFactor<gtsam::Point3>>( boost::make_shared<gtsam::BetweenFactor<gtsam::Point3>>(
gtsam::Symbol('x', 0), gtsam::Symbol('l', 0), gtsam::Point3(), gtsam::Symbol('x', 0), gtsam::Symbol('l', 0), gtsam::Point3(0, 0, 0),
gtsam::noiseModel::Isotropic::Sigma(3, 1)); gtsam::noiseModel::Isotropic::Sigma(3, 1));
// Linearize and create an LCF // Linearize and create an LCF
gtsam::Values linearization_pt; gtsam::Values linearization_pt;
linearization_pt.insert(gtsam::Symbol('x', 0), gtsam::Point3()); linearization_pt.insert(gtsam::Symbol('x', 0), gtsam::Point3(0, 0, 0));
linearization_pt.insert(gtsam::Symbol('l', 0), gtsam::Point3()); linearization_pt.insert(gtsam::Symbol('l', 0), gtsam::Point3(0, 0, 0));
LinearContainerFactor lcf_factor( LinearContainerFactor lcf_factor(
nonlinear_factor->linearize(linearization_pt), linearization_pt); nonlinear_factor->linearize(linearization_pt), linearization_pt);