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Removed SLAM namespace from testGraph

release/4.3a0
Stephen Williams 2012-07-23 22:45:07 +00:00
parent a641f599f6
commit 2de44904ad
2 changed files with 11 additions and 8 deletions
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2
gtsam/inference/graph.h
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@ -108,3 +108,5 @@ namespace gtsam {
} // namespace gtsam } // namespace gtsam
#include <gtsam/inference/graph-inl.h>

17
tests/testGraph.cpp
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@ -16,8 +16,10 @@
* @brief unit test for graph-inl.h * @brief unit test for graph-inl.h
*/ */
#include <gtsam/slam/pose2SLAM.h> #include <gtsam/slam/BetweenFactor.h>
#include <gtsam/inference/graph-inl.h> #include <gtsam/nonlinear/NonlinearFactorGraph.h>
#include <gtsam/inference/graph.h>
#include <gtsam/geometry/Pose2.h>
#include <CppUnitLite/TestHarness.h> #include <CppUnitLite/TestHarness.h>
@ -75,13 +77,13 @@ TEST( Graph, predecessorMap2Graph )
/* ************************************************************************* */ /* ************************************************************************* */
TEST( Graph, composePoses ) TEST( Graph, composePoses )
{ {
pose2SLAM::Graph graph; NonlinearFactorGraph graph;
SharedNoiseModel cov = noiseModel::Unit::Create(3); SharedNoiseModel cov = noiseModel::Unit::Create(3);
Pose2 p1(1.0, 2.0, 0.3), p2(4.0, 5.0, 0.6), p3(7.0, 8.0, 0.9), p4(2.0, 2.0, 2.9); Pose2 p1(1.0, 2.0, 0.3), p2(4.0, 5.0, 0.6), p3(7.0, 8.0, 0.9), p4(2.0, 2.0, 2.9);
Pose2 p12=p1.between(p2), p23=p2.between(p3), p43=p4.between(p3); Pose2 p12=p1.between(p2), p23=p2.between(p3), p43=p4.between(p3);
graph.addRelativePose(1,2, p12, cov); graph.add(BetweenFactor<Pose2>(1,2, p12, cov));
graph.addRelativePose(2,3, p23, cov); graph.add(BetweenFactor<Pose2>(2,3, p23, cov));
graph.addRelativePose(4,3, p43, cov); graph.add(BetweenFactor<Pose2>(4,3, p43, cov));
PredecessorMap<Key> tree; PredecessorMap<Key> tree;
tree.insert(1,2); tree.insert(1,2);
@ -91,8 +93,7 @@ TEST( Graph, composePoses )
Pose2 rootPose = p2; Pose2 rootPose = p2;
boost::shared_ptr<Values> actual = composePoses<pose2SLAM::Graph, pose2SLAM::Odometry, boost::shared_ptr<Values> actual = composePoses<NonlinearFactorGraph, BetweenFactor<Pose2>, Pose2, Key> (graph, tree, rootPose);
Pose2, Key> (graph, tree, rootPose);
Values expected; Values expected;
expected.insert(1, p1); expected.insert(1, p1);