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Updated to 3.0

release/4.3a0
dellaert 2014-05-03 15:50:21 -04:00
parent a6ae176a54
commit 219b2b4db7
1 changed files with 4 additions and 2 deletions
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6
matlab/gtsam_tests/testJacobianFactor.m
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@ -36,7 +36,9 @@ model4 = noiseModel.Diagonal.Sigmas(sigmas);
combined = JacobianFactor(x2, Ax2, l1, Al1, x1, Ax1, b2, model4); combined = JacobianFactor(x2, Ax2, l1, Al1, x1, Ax1, b2, model4);
% eliminate the first variable (x2) in the combined factor, destructive ! % eliminate the first variable (x2) in the combined factor, destructive !
actualCG = combined.eliminateFirst(); ord=Ordering;
ord.push_back(x2);
actualCG = combined.eliminate(ord);
% create expected Conditional Gaussian % create expected Conditional Gaussian
R11 = [ R11 = [
@ -52,7 +54,7 @@ S13 = [
+0.00,-8.94427 +0.00,-8.94427
]; ];
d=[2.23607;-1.56525]; d=[2.23607;-1.56525];
expectedCG = GaussianConditional(x2,d,R11,l1,S12,x1,S13,[1;1]); expectedCG = GaussianConditional(x2,d,R11,l1,S12,x1,S13);
% check if the result matches % check if the result matches
CHECK('actualCG.equals(expectedCG,1e-5)',actualCG.equals(expectedCG,1e-4)); CHECK('actualCG.equals(expectedCG,1e-5)',actualCG.equals(expectedCG,1e-4));