From 129fa68627acbd9dfa9e1275a79c8399cb36cbd0 Mon Sep 17 00:00:00 2001 From: Varun Agrawal Date: Fri, 26 Aug 2022 18:42:31 -0400 Subject: [PATCH] use Switching constructor arguments for noise covariances --- gtsam/hybrid/tests/Switching.h | 4 ++-- 1 file changed, 2 insertions(+), 2 deletions(-) diff --git a/gtsam/hybrid/tests/Switching.h b/gtsam/hybrid/tests/Switching.h index 52ef0439e..6f41d06ea 100644 --- a/gtsam/hybrid/tests/Switching.h +++ b/gtsam/hybrid/tests/Switching.h @@ -145,7 +145,7 @@ struct Switching { // Add "motion models". for (size_t k = 1; k < K; k++) { KeyVector keys = {X(k), X(k + 1)}; - auto motion_models = motionModels(k); + auto motion_models = motionModels(k, between_sigma); std::vector components; for (auto &&f : motion_models) { components.push_back(boost::dynamic_pointer_cast(f)); @@ -155,7 +155,7 @@ struct Switching { } // Add measurement factors - auto measurement_noise = noiseModel::Isotropic::Sigma(1, 0.1); + auto measurement_noise = noiseModel::Isotropic::Sigma(1, prior_sigma); for (size_t k = 2; k <= K; k++) { nonlinearFactorGraph.emplace_nonlinear>( X(k), 1.0 * (k - 1), measurement_noise);