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cleaned up the code a bit

release/4.3a0
Paul Furgale 2014-11-25 06:42:36 +01:00
parent 5b5122d15b
commit 14b582d268
1 changed files with 8 additions and 4 deletions
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12
gtsam_unstable/nonlinear/tests/testCustomChartExpression.cpp
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@ -32,12 +32,17 @@ using boost::assign::map_list_of;
using namespace std; using namespace std;
using namespace gtsam; using namespace gtsam;
// Dynamically sized Vector // A simple prototype custom chart that does two things:
// 1. it reduces the dimension of the variable being estimated
// 2. it scales the input to retract.
//
// The Jacobian of this chart is:
// [ 2 0 ]
// [ 0 3 ]
// [ 0 0 ]
struct ProjectionChart { struct ProjectionChart {
typedef Eigen::Vector3d type; typedef Eigen::Vector3d type;
typedef Eigen::Vector2d vector; typedef Eigen::Vector2d vector;
enum { dimension = 2 };
static vector local(const type& origin, const type& other) { static vector local(const type& origin, const type& other) {
return (other - origin).head<2>(); return (other - origin).head<2>();
} }
@ -57,7 +62,6 @@ template<> struct dimension<ProjectionChart> : public boost::integral_constant<i
} // namespace gtsam } // namespace gtsam
TEST(ExpressionCustomChart, projection) { TEST(ExpressionCustomChart, projection) {
std::cout << "Hello!\n";
// Create expression // Create expression
Expression<Eigen::Vector3d> point(1); Expression<Eigen::Vector3d> point(1);