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unit test for Jacobian::hessianBlockDiagonal

release/4.3a0
dellaert 2014-02-14 13:31:21 -05:00
parent 7abcd81150
commit 411381fd88
1 changed files with 7 additions and 0 deletions
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7
gtsam/linear/tests/testJacobianFactorUnordered.cpp
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@ -240,6 +240,13 @@ TEST(JacobianFactor, matrices)
expectDiagonal.insert(10, (Vector(3) << 4, 4, 4)/0.25);
expectDiagonal.insert(15, (Vector(3) << 9, 9, 9)/0.25);
EXPECT(assert_equal(expectDiagonal, factor.hessianDiagonal()));
// hessianBlockDiagonal
map<Key,Matrix> actualBD = factor.hessianBlockDiagonal();
LONGS_EQUAL(3,actualBD.size());
EXPECT(assert_equal(4*eye(3),actualBD[5]));
EXPECT(assert_equal(16*eye(3),actualBD[10]));
EXPECT(assert_equal(36*eye(3),actualBD[15]));
}
/* ************************************************************************* */