From 18e23c20dfc1c037e3119a7aa93968da928fae6c Mon Sep 17 00:00:00 2001
From: Frank Dellaert <dellaert@gmail.com>
Date: Tue, 22 May 2012 12:27:34 +0000
Subject: [PATCH] Added missing header

---
 gtsam/slam/tests/testPose2SLAM.cpp | 10 +++++++---
 tests/testNonlinearOptimizer.cpp   | 27 +++++++++++++--------------
 2 files changed, 20 insertions(+), 17 deletions(-)

diff --git a/gtsam/slam/tests/testPose2SLAM.cpp b/gtsam/slam/tests/testPose2SLAM.cpp
index 22c02ab52..5aa633bbf 100644
--- a/gtsam/slam/tests/testPose2SLAM.cpp
+++ b/gtsam/slam/tests/testPose2SLAM.cpp
@@ -16,6 +16,7 @@
 
 #include <gtsam/slam/pose2SLAM.h>
 #include <gtsam/nonlinear/NonlinearOptimizer.h>
+#include <gtsam/nonlinear/LevenbergMarquardtOptimizer.h>
 #include <gtsam/inference/FactorGraph.h>
 #include <gtsam/base/numericalDerivative.h>
 using namespace gtsam;
@@ -145,7 +146,7 @@ TEST( Pose2SLAM, linearization )
 }
 
 /* ************************************************************************* */
-TEST(Pose2Graph, optimize) {
+TEST(Pose2SLAM, optimize) {
 
 	// create a Pose graph with one equality constraint and one measurement
   pose2SLAM::Graph fg;
@@ -171,11 +172,14 @@ TEST(Pose2Graph, optimize) {
   expected.insert(pose2SLAM::PoseKey(0), Pose2(0,0,0));
   expected.insert(pose2SLAM::PoseKey(1), Pose2(1,2,M_PI_2));
   CHECK(assert_equal(expected, actual));
+
+  // Check marginals
+  Marginals marginals = fg.marginals(actual);
 }
 
 /* ************************************************************************* */
 // test optimization with 3 poses
-TEST(Pose2Graph, optimizeThreePoses) {
+TEST(Pose2SLAM, optimizeThreePoses) {
 
 	// Create a hexagon of poses
 	pose2SLAM::Values hexagon = pose2SLAM::circle(3,1.0);
@@ -289,7 +293,7 @@ TEST_UNSAFE(Pose2SLAM, optimizeCircle) {
 }
 
 /* ************************************************************************* */
-TEST(Pose2Graph, optimize2) {
+TEST(Pose2SLAM, optimize2) {
 //  Pose2SLAMOptimizer myOptimizer("100");
 //  Matrix A1 = myOptimizer.a1();
 //  Matrix A2 = myOptimizer.a2();
diff --git a/tests/testNonlinearOptimizer.cpp b/tests/testNonlinearOptimizer.cpp
index d1eb01f27..a926b9e1b 100644
--- a/tests/testNonlinearOptimizer.cpp
+++ b/tests/testNonlinearOptimizer.cpp
@@ -15,26 +15,25 @@
  * @author  Frank Dellaert
  */
 
-#include <iostream>
-using namespace std;
-
-#include <boost/assign/std/list.hpp> // for operator +=
-using namespace boost::assign;
+#include <gtsam/slam/smallExample.h>
+#include <gtsam/slam/pose2SLAM.h>
+#include <gtsam/nonlinear/NonlinearFactorGraph.h>
+#include <gtsam/nonlinear/GaussNewtonOptimizer.h>
+#include <gtsam/nonlinear/DoglegOptimizer.h>
+#include <gtsam/nonlinear/LevenbergMarquardtOptimizer.h>
+#include <gtsam/linear/GaussianFactorGraph.h>
+#include <gtsam/linear/NoiseModel.h>
+#include <gtsam/base/Matrix.h>
 
 #include <CppUnitLite/TestHarness.h>
 
 #include <boost/shared_ptr.hpp>
-using namespace boost;
+#include <boost/assign/std/list.hpp> // for operator +=
+using namespace boost::assign;
 
-#include <gtsam/base/Matrix.h>
-#include <gtsam/slam/smallExample.h>
-#include <gtsam/slam/pose2SLAM.h>
-#include <gtsam/linear/GaussianFactorGraph.h>
-#include <gtsam/linear/NoiseModel.h>
-#include <gtsam/nonlinear/NonlinearFactorGraph.h>
-#include <gtsam/nonlinear/GaussNewtonOptimizer.h>
-#include <gtsam/nonlinear/DoglegOptimizer.h>
+#include <iostream>
 
+using namespace std;
 using namespace gtsam;
 
 const double tol = 1e-5;