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Fixed SVD unit test

release/4.3a0
dellaert 2015-03-04 16:38:02 -08:00
parent f28b083c14
commit 48d8de50d0
1 changed files with 3 additions and 2 deletions
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5
gtsam/slam/tests/testSmartProjectionPoseFactor.cpp
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@ -388,8 +388,9 @@ TEST( SmartProjectionPoseFactor, Factors ) {
// createJacobianSVDFactor // createJacobianSVDFactor
Vector1 b; Vector1 b;
b.setZero(); b.setZero();
double s = sin(M_PI_4); double s = sigma * sin(M_PI_4);
JacobianFactor expected(x1, s * A1, x2, s * A2, b); SharedIsotropic n = noiseModel::Isotropic::Sigma(4-3, sigma);
JacobianFactor expected(x1, s * A1, x2, s * A2, b, n);
EXPECT(assert_equal(expectedInformation, expected.information(), 1e-8)); EXPECT(assert_equal(expectedInformation, expected.information(), 1e-8));
boost::shared_ptr<JacobianFactor> actual = boost::shared_ptr<JacobianFactor> actual =