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Fixed incorrect replacement of Vector.h's ones(n) with Matrix::Ones(m,n).

release/4.3a0
Alex Hagiopol 2016-04-11 15:25:08 -04:00
parent 70b2aab352
commit 379ad8b3d2
3 changed files with 4 additions and 4 deletions
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4
gtsam/linear/tests/testGaussianFactorGraph.cpp
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@ -47,7 +47,7 @@ TEST(GaussianFactorGraph, initialization) {
SharedDiagonal unit2 = noiseModel::Unit::Create(2); SharedDiagonal unit2 = noiseModel::Unit::Create(2);
fg += fg +=
JacobianFactor(0, 10*I_2x2, -1.0*Matrix::Ones(2,2), unit2), JacobianFactor(0, 10*I_2x2, -1.0*ones(2), unit2),
JacobianFactor(0, -10*I_2x2,1, 10*I_2x2, Vector2(2.0, -1.0), unit2), JacobianFactor(0, -10*I_2x2,1, 10*I_2x2, Vector2(2.0, -1.0), unit2),
JacobianFactor(0, -5*I_2x2, 2, 5*I_2x2, Vector2(0.0, 1.0), unit2), JacobianFactor(0, -5*I_2x2, 2, 5*I_2x2, Vector2(0.0, 1.0), unit2),
JacobianFactor(1, -5*I_2x2, 2, 5*I_2x2, Vector2(-1.0, 1.5), unit2); JacobianFactor(1, -5*I_2x2, 2, 5*I_2x2, Vector2(-1.0, 1.5), unit2);
@ -166,7 +166,7 @@ static GaussianFactorGraph createSimpleGaussianFactorGraph() {
GaussianFactorGraph fg; GaussianFactorGraph fg;
SharedDiagonal unit2 = noiseModel::Unit::Create(2); SharedDiagonal unit2 = noiseModel::Unit::Create(2);
// linearized prior on x1: c[_x1_]+x1=0 i.e. x1=-c[_x1_] // linearized prior on x1: c[_x1_]+x1=0 i.e. x1=-c[_x1_]
fg += JacobianFactor(2, 10*I_2x2, -1.0*Matrix::Ones(2,2), unit2); fg += JacobianFactor(2, 10*I_2x2, -1.0*ones(2), unit2);
// odometry between x1 and x2: x2-x1=[0.2;-0.1] // odometry between x1 and x2: x2-x1=[0.2;-0.1]
fg += JacobianFactor(0, 10*I_2x2, 2, -10*I_2x2, Vector2(2.0, -1.0), unit2); fg += JacobianFactor(0, 10*I_2x2, 2, -10*I_2x2, Vector2(2.0, -1.0), unit2);
// measurement between x1 and l1: l1-x1=[0.0;0.2] // measurement between x1 and l1: l1-x1=[0.0;0.2]

2
gtsam/linear/tests/testSerializationLinear.cpp
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@ -186,7 +186,7 @@ TEST (Serialization, gaussian_factor_graph) {
{ {
Key i1 = 4, i2 = 7; Key i1 = 4, i2 = 7;
Matrix A1 = I_3x3, A2 = -1.0 * I_3x3; Matrix A1 = I_3x3, A2 = -1.0 * I_3x3;
Vector b = Matrix::Ones(3,3); Vector b = ones(3);
SharedDiagonal model = noiseModel::Diagonal::Sigmas(Vector3(1.0, 2.0, 3.0)); SharedDiagonal model = noiseModel::Diagonal::Sigmas(Vector3(1.0, 2.0, 3.0));
JacobianFactor jacobianfactor(i1, A1, i2, A2, b, model); JacobianFactor jacobianfactor(i1, A1, i2, A2, b, model);
HessianFactor hessianfactor(jacobianfactor); HessianFactor hessianfactor(jacobianfactor);

2
tests/smallExample.h
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@ -274,7 +274,7 @@ inline GaussianFactorGraph createGaussianFactorGraph() {
GaussianFactorGraph fg; GaussianFactorGraph fg;
// linearized prior on x1: c[_x1_]+x1=0 i.e. x1=-c[_x1_] // linearized prior on x1: c[_x1_]+x1=0 i.e. x1=-c[_x1_]
fg += JacobianFactor(X(1), 10*I_2x2, -1.0*Matrix::Ones(2,2)); fg += JacobianFactor(X(1), 10*I_2x2, -1.0*ones(2));
// odometry between x1 and x2: x2-x1=[0.2;-0.1] // odometry between x1 and x2: x2-x1=[0.2;-0.1]
fg += JacobianFactor(X(1), -10*I_2x2, X(2), 10*I_2x2, Vector2(2.0, -1.0)); fg += JacobianFactor(X(1), -10*I_2x2, X(2), 10*I_2x2, Vector2(2.0, -1.0));