From 411381fd884bff8007340797a5121673bec882a6 Mon Sep 17 00:00:00 2001 From: dellaert Date: Fri, 14 Feb 2014 13:31:21 -0500 Subject: [PATCH] unit test for Jacobian::hessianBlockDiagonal --- gtsam/linear/tests/testJacobianFactorUnordered.cpp | 7 +++++++ 1 file changed, 7 insertions(+) diff --git a/gtsam/linear/tests/testJacobianFactorUnordered.cpp b/gtsam/linear/tests/testJacobianFactorUnordered.cpp index a812e1768..aacf38199 100644 --- a/gtsam/linear/tests/testJacobianFactorUnordered.cpp +++ b/gtsam/linear/tests/testJacobianFactorUnordered.cpp @@ -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 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])); } /* ************************************************************************* */