From 21163e9bdc5869f74c10146e8bd7a794dc208081 Mon Sep 17 00:00:00 2001 From: Toni Date: Tue, 15 Jan 2019 17:51:58 -0500 Subject: [PATCH] Reformat Unit3 test --- gtsam/geometry/tests/testUnit3.cpp | 6 +----- 1 file changed, 1 insertion(+), 5 deletions(-) diff --git a/gtsam/geometry/tests/testUnit3.cpp b/gtsam/geometry/tests/testUnit3.cpp index 815231d38..9d53a30a6 100644 --- a/gtsam/geometry/tests/testUnit3.cpp +++ b/gtsam/geometry/tests/testUnit3.cpp @@ -373,23 +373,19 @@ TEST(Unit3, retract) { //******************************************************************************* TEST (Unit3, jacobian_retract) { + Matrix22 H; Unit3 p; boost::function f = boost::bind(&Unit3::retract, p, _1, boost::none); - Matrix22 H; { Vector2 v (-0.2, 0.1); p.retract(v, H); - - // Test that jacobian is numerically as expected. Matrix H_expected_numerical = numericalDerivative11(f, v); EXPECT(assert_equal(H_expected_numerical, H, 1e-9)); } { Vector2 v (0, 0); p.retract(v, H); - - // Test that jacobian is numerically as expected. Matrix H_expected_numerical = numericalDerivative11(f, v); EXPECT(assert_equal(H_expected_numerical, H, 1e-9)); }