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using using for boost placeholders in tests

release/4.3a0
acxz 2021-06-20 18:38:52 -04:00
parent 42c0eb6aad
commit 155fafabf2
2 changed files with 6 additions and 6 deletions
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6
gtsam/navigation/tests/testManifoldPreintegration.cpp
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@ -26,6 +26,8 @@
#include "imuFactorTesting.h" #include "imuFactorTesting.h"
using namespace boost::placeholders;
namespace testing { namespace testing {
// Create default parameters with Z-down and above noise parameters // Create default parameters with Z-down and above noise parameters
static boost::shared_ptr<PreintegrationParams> Params() { static boost::shared_ptr<PreintegrationParams> Params() {
@ -98,9 +100,7 @@ TEST(ManifoldPreintegration, computeError) {
pim.computeError(x1, x2, bias, aH1, aH2, aH3); pim.computeError(x1, x2, bias, aH1, aH2, aH3);
boost::function<Vector9(const NavState&, const NavState&, boost::function<Vector9(const NavState&, const NavState&,
const imuBias::ConstantBias&)> f = const imuBias::ConstantBias&)> f =
boost::bind(&ManifoldPreintegration::computeError, pim, boost::bind(&ManifoldPreintegration::computeError, pim, _1, _2, _3,
boost::placeholders::_1, boost::placeholders::_2,
boost::placeholders::_3,
boost::none, boost::none, boost::none); boost::none, boost::none, boost::none);
// NOTE(frank): tolerance of 1e-3 on H1 because approximate away from 0 // NOTE(frank): tolerance of 1e-3 on H1 because approximate away from 0
EXPECT(assert_equal(numericalDerivative31(f, x1, x2, bias), aH1, 1e-9)); EXPECT(assert_equal(numericalDerivative31(f, x1, x2, bias), aH1, 1e-9));

6
gtsam/navigation/tests/testTangentPreintegration.cpp
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@ -26,6 +26,8 @@
#include "imuFactorTesting.h" #include "imuFactorTesting.h"
using namespace boost::placeholders;
static const double kDt = 0.1; static const double kDt = 0.1;
Vector9 f(const Vector9& zeta, const Vector3& a, const Vector3& w) { Vector9 f(const Vector9& zeta, const Vector3& a, const Vector3& w) {
@ -105,9 +107,7 @@ TEST(TangentPreintegration, computeError) {
pim.computeError(x1, x2, bias, aH1, aH2, aH3); pim.computeError(x1, x2, bias, aH1, aH2, aH3);
boost::function<Vector9(const NavState&, const NavState&, boost::function<Vector9(const NavState&, const NavState&,
const imuBias::ConstantBias&)> f = const imuBias::ConstantBias&)> f =
boost::bind(&TangentPreintegration::computeError, pim, boost::bind(&TangentPreintegration::computeError, pim, _1, _2, _3,
boost::placeholders::_1, boost::placeholders::_2,
boost::placeholders::_3,
boost::none, boost::none, boost::none); boost::none, boost::none, boost::none);
// NOTE(frank): tolerance of 1e-3 on H1 because approximate away from 0 // NOTE(frank): tolerance of 1e-3 on H1 because approximate away from 0
EXPECT(assert_equal(numericalDerivative31(f, x1, x2, bias), aH1, 1e-9)); EXPECT(assert_equal(numericalDerivative31(f, x1, x2, bias), aH1, 1e-9));