diff --git a/gtsam/linear/tests/testGaussianFactorGraphUnordered.cpp b/gtsam/linear/tests/testGaussianFactorGraphUnordered.cpp index 4afd303ba..9a5a7d0f8 100644 --- a/gtsam/linear/tests/testGaussianFactorGraphUnordered.cpp +++ b/gtsam/linear/tests/testGaussianFactorGraphUnordered.cpp @@ -34,9 +34,9 @@ using namespace boost::assign; using namespace std; using namespace gtsam; -static SharedDiagonal - sigma0_1 = noiseModel::Isotropic::Sigma(2,0.1), sigma_02 = noiseModel::Isotropic::Sigma(2,0.2), - constraintModel = noiseModel::Constrained::All(2); +//static SharedDiagonal +// sigma0_1 = noiseModel::Isotropic::Sigma(2,0.1), sigma_02 = noiseModel::Isotropic::Sigma(2,0.2), +// constraintModel = noiseModel::Constrained::All(2); /* ************************************************************************* */ TEST(GaussianFactorGraph, initialization) { @@ -324,10 +324,23 @@ TEST( GaussianFactorGraph, gradientAtZero ) /* ************************************************************************* */ TEST( GaussianFactorGraph, clone ) { + // 2 variables, frontal has dim=4 + VerticalBlockMatrix blockMatrix(list_of(4)(2)(1), 4); + blockMatrix.matrix() << + 1.0, 0.0, 2.0, 0.0, 3.0, 0.0, 0.1, + 0.0, 1.0, 0.0, 2.0, 0.0, 3.0, 0.2, + 0.0, 0.0, 3.0, 0.0, 4.0, 0.0, 0.3, + 0.0, 0.0, 0.0, 3.0, 0.0, 4.0, 0.4; + GaussianConditional cg(list_of(1)(2), 1, blockMatrix); + GaussianFactorGraph init_graph = createGaussianFactorGraphWithHessianFactor(); init_graph.push_back(GaussianFactor::shared_ptr()); /// Add null factor + init_graph.push_back(GaussianConditional(cg)); + GaussianFactorGraph exp_graph = createGaussianFactorGraphWithHessianFactor(); // Created separately exp_graph.push_back(GaussianFactor::shared_ptr()); /// Add null factor + exp_graph.push_back(GaussianConditional(cg)); + GaussianFactorGraph actCloned = init_graph.clone(); EXPECT(assert_equal(init_graph, actCloned)); // Same as the original version