diff --git a/.cproject b/.cproject
index 1cd24836f..bc7ae6d9a 100644
--- a/.cproject
+++ b/.cproject
@@ -315,6 +315,14 @@
true
true
+
+ make
+ -j2
+ testGaussianFactor.run
+ true
+ true
+ true
+
make
-j2
@@ -341,7 +349,6 @@
make
-
tests/testBayesTree.run
true
false
@@ -349,7 +356,6 @@
make
-
testBinaryBayesNet.run
true
false
@@ -397,7 +403,6 @@
make
-
testSymbolicBayesNet.run
true
false
@@ -405,7 +410,6 @@
make
-
tests/testSymbolicFactor.run
true
false
@@ -413,7 +417,6 @@
make
-
testSymbolicFactorGraph.run
true
false
@@ -429,20 +432,11 @@
make
-
tests/testBayesTree
true
false
true
-
- make
- -j2
- testGaussianFactor.run
- true
- true
- true
-
make
-j5
@@ -531,22 +525,6 @@
false
true
-
- make
- -j2
- tests/testPose2.run
- true
- true
- true
-
-
- make
- -j2
- tests/testPose3.run
- true
- true
- true
-
make
-j2
@@ -563,6 +541,22 @@
true
true
+
+ make
+ -j2
+ tests/testPose2.run
+ true
+ true
+ true
+
+
+ make
+ -j2
+ tests/testPose3.run
+ true
+ true
+ true
+
make
-j2
@@ -587,26 +581,42 @@
true
true
-
+
make
- -j2
- all
+ -j5
+ testValues.run
true
true
true
-
+
make
- -j2
- check
+ -j5
+ testOrdering.run
true
true
true
-
+
make
- -j2
- clean
+ -j5
+ testKey.run
+ true
+ true
+ true
+
+
+ make
+ -j5
+ testLinearContainerFactor.run
+ true
+ true
+ true
+
+
+ make
+ -j6 -j8
+ testWhiteNoiseFactor.run
true
true
true
@@ -651,34 +661,26 @@
true
true
-
+
make
- -j5
- testValues.run
+ -j2
+ all
true
true
true
-
+
make
- -j5
- testOrdering.run
+ -j2
+ check
true
true
true
-
+
make
- -j5
- testKey.run
- true
- true
- true
-
-
- make
- -j5
- testLinearContainerFactor.run
+ -j2
+ clean
true
true
true
@@ -1069,7 +1071,6 @@
make
-
testGraph.run
true
false
@@ -1077,7 +1078,6 @@
make
-
testJunctionTree.run
true
false
@@ -1085,7 +1085,6 @@
make
-
testSymbolicBayesNetB.run
true
false
@@ -1253,7 +1252,6 @@
make
-
testErrors.run
true
false
@@ -1299,6 +1297,14 @@
true
true
+
+ make
+ -j2
+ testGaussianFactor.run
+ true
+ true
+ true
+
make
-j2
@@ -1379,14 +1385,6 @@
true
true
-
- make
- -j2
- testGaussianFactor.run
- true
- true
- true
-
make
-j2
@@ -1693,6 +1691,7 @@
make
+
testSimulated2DOriented.run
true
false
@@ -1732,6 +1731,7 @@
make
+
testSimulated2D.run
true
false
@@ -1739,6 +1739,7 @@
make
+
testSimulated3D.run
true
false
@@ -1954,6 +1955,7 @@
make
+
tests/testGaussianISAM2
true
false
@@ -1975,6 +1977,102 @@
true
true
+
+ make
+ -j2
+ testRot3.run
+ true
+ true
+ true
+
+
+ make
+ -j2
+ testRot2.run
+ true
+ true
+ true
+
+
+ make
+ -j2
+ testPose3.run
+ true
+ true
+ true
+
+
+ make
+ -j2
+ timeRot3.run
+ true
+ true
+ true
+
+
+ make
+ -j2
+ testPose2.run
+ true
+ true
+ true
+
+
+ make
+ -j2
+ testCal3_S2.run
+ true
+ true
+ true
+
+
+ make
+ -j2
+ testSimpleCamera.run
+ true
+ true
+ true
+
+
+ make
+ -j2
+ testHomography2.run
+ true
+ true
+ true
+
+
+ make
+ -j2
+ testCalibratedCamera.run
+ true
+ true
+ true
+
+
+ make
+ -j2
+ check
+ true
+ true
+ true
+
+
+ make
+ -j2
+ clean
+ true
+ true
+ true
+
+
+ make
+ -j2
+ testPoint2.run
+ true
+ true
+ true
+
make
-j3
@@ -2176,7 +2274,6 @@
cpack
-
-G DEB
true
false
@@ -2184,7 +2281,6 @@
cpack
-
-G RPM
true
false
@@ -2192,7 +2288,6 @@
cpack
-
-G TGZ
true
false
@@ -2200,7 +2295,6 @@
cpack
-
--config CPackSourceConfig.cmake
true
false
@@ -2342,98 +2436,34 @@
true
true
-
+
make
- -j2
- testRot3.run
+ -j5
+ testSpirit.run
true
true
true
-
+
make
- -j2
- testRot2.run
+ -j5
+ testWrap.run
true
true
true
-
+
make
- -j2
- testPose3.run
+ -j5
+ check.wrap
true
true
true
-
+
make
- -j2
- timeRot3.run
- true
- true
- true
-
-
- make
- -j2
- testPose2.run
- true
- true
- true
-
-
- make
- -j2
- testCal3_S2.run
- true
- true
- true
-
-
- make
- -j2
- testSimpleCamera.run
- true
- true
- true
-
-
- make
- -j2
- testHomography2.run
- true
- true
- true
-
-
- make
- -j2
- testCalibratedCamera.run
- true
- true
- true
-
-
- make
- -j2
- check
- true
- true
- true
-
-
- make
- -j2
- clean
- true
- true
- true
-
-
- make
- -j2
- testPoint2.run
+ -j5
+ wrap
true
true
true
@@ -2477,38 +2507,6 @@
false
true
-
- make
- -j5
- testSpirit.run
- true
- true
- true
-
-
- make
- -j5
- testWrap.run
- true
- true
- true
-
-
- make
- -j5
- check.wrap
- true
- true
- true
-
-
- make
- -j5
- wrap
- true
- true
- true
-
diff --git a/gtsam/nonlinear/CMakeLists.txt b/gtsam/nonlinear/CMakeLists.txt
index 884346e2d..4dcb5e8d8 100644
--- a/gtsam/nonlinear/CMakeLists.txt
+++ b/gtsam/nonlinear/CMakeLists.txt
@@ -15,9 +15,7 @@ set(nonlinear_local_libs
# Files to exclude from compilation of tests and timing scripts
set(nonlinear_excluded_files
# "${CMAKE_CURRENT_SOURCE_DIR}/tests/testTypedDiscreteFactor.cpp" # Example of excluding a test
- #"" # Add to this list, with full path, to exclude
- #"${CMAKE_CURRENT_SOURCE_DIR}/tests/testLinearContainerFactor.cpp"
- "${CMAKE_CURRENT_SOURCE_DIR}/tests/testWhiteNoiseFactor.cpp"
+ "" # Add to this list, with full path, to exclude
)
# Build tests
diff --git a/gtsam/nonlinear/WhiteNoiseFactor.h b/gtsam/nonlinear/WhiteNoiseFactor.h
index 910444cf8..160728e2f 100644
--- a/gtsam/nonlinear/WhiteNoiseFactor.h
+++ b/gtsam/nonlinear/WhiteNoiseFactor.h
@@ -144,22 +144,21 @@ namespace gtsam {
* Create a symbolic factor using the given ordering to determine the
* variable indices.
*/
- virtual IndexFactor::shared_ptr symbolic(const Ordering& ordering) const {
- const Index j1 = ordering[meanKey_], j2 = ordering[precisionKey_];
- return IndexFactor::shared_ptr(new IndexFactor(j1, j2));
- }
+// virtual IndexFactor::shared_ptr symbolic(const Ordering& ordering) const {
+// const Index j1 = ordering[meanKey_], j2 = ordering[precisionKey_];
+// return IndexFactor::shared_ptr(new IndexFactor(j1, j2));
+// }
/// @}
/// @name Advanced Interface
/// @{
/// linearize returns a Hessianfactor that is an approximation of error(p)
- virtual boost::shared_ptr linearize(const Values& x,
- const Ordering& ordering) const {
+ virtual boost::shared_ptr linearize(const Values& x) const {
double u = x.at(meanKey_);
double p = x.at(precisionKey_);
- Index j1 = ordering[meanKey_];
- Index j2 = ordering[precisionKey_];
+ Index j1 = meanKey_;
+ Index j2 = precisionKey_;
return linearize(z_, u, p, j1, j2);
}