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Fixed unitialized error, fixes issue #179

release/4.3a0
dellaert 2014-12-02 11:10:59 +01:00
parent 1330d6b7f2
commit 468d1bd78a
1 changed files with 33 additions and 7 deletions
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40
gtsam_unstable/nonlinear/tests/testBasisDecompositions.cpp
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@ -147,7 +147,7 @@ TEST(BasisDecompositions, ManualFourier) {
Key key(1); Key key(1);
Expression<Vector3> c(key); Expression<Vector3> c(key);
Values values; Values values;
values.insert(key, Vector3()); // does not matter values.insert<Vector3>(key, Vector3::Zero()); // does not matter
for (size_t i = 0; i < 16; i++) { for (size_t i = 0; i < 16; i++) {
double x = i * M_PI / 8, y = exp(sin(x) + cos(x)); double x = i * M_PI / 8, y = exp(sin(x) + cos(x));
@ -162,12 +162,38 @@ TEST(BasisDecompositions, ManualFourier) {
// With ExpressionFactor // With ExpressionFactor
Expression<double> expression(Fourier<3>(x), c); Expression<double> expression(Fourier<3>(x), c);
EXPECT_CORRECT_EXPRESSION_JACOBIANS(expression, values, 1e-5, 1e-9); EXPECT_CORRECT_EXPRESSION_JACOBIANS(expression, values, 1e-5, 1e-9);
{
ExpressionFactor<double> f2(model, y, expression); ExpressionFactor<double> f2(model, y, expression);
boost::shared_ptr<GaussianFactor> gf = f2.linearize(values); boost::shared_ptr<GaussianFactor> gf = f2.linearize(values);
boost::shared_ptr<JacobianFactor> jf = // boost::shared_ptr<JacobianFactor> jf = //
boost::dynamic_pointer_cast<JacobianFactor>(gf); boost::dynamic_pointer_cast<JacobianFactor>(gf);
EXPECT( assert_equal(f1, *jf, 1e-9)); CHECK(jf);
EXPECT( assert_equal(f1, *jf, 1e-9));
}
{
ExpressionFactor<double> f2(model, y, expression);
boost::shared_ptr<GaussianFactor> gf = f2.linearize(values);
boost::shared_ptr<JacobianFactor> jf = //
boost::dynamic_pointer_cast<JacobianFactor>(gf);
CHECK(jf);
EXPECT( assert_equal(f1, *jf, 1e-9));
}
{
ExpressionFactor<double> f2(model, y, expression);
boost::shared_ptr<GaussianFactor> gf = f2.linearize(values);
boost::shared_ptr<JacobianFactor> jf = //
boost::dynamic_pointer_cast<JacobianFactor>(gf);
CHECK(jf);
EXPECT( assert_equal(f1, *jf, 1e-9));
}
{
ExpressionFactor<double> f2(model, y, expression);
boost::shared_ptr<GaussianFactor> gf = f2.linearize(values);
boost::shared_ptr<JacobianFactor> jf = //
boost::dynamic_pointer_cast<JacobianFactor>(gf);
CHECK(jf);
EXPECT( assert_equal(f1, *jf, 1e-9));
}
} }
// Solve // Solve