From 49e93a71b0537fc9ecabd46bafc83541eb0a01d8 Mon Sep 17 00:00:00 2001 From: Richard Roberts Date: Tue, 6 Aug 2013 18:04:36 +0000 Subject: [PATCH] No noise model in smallExample --- tests/smallExample.h | 10 ++++------ 1 file changed, 4 insertions(+), 6 deletions(-) diff --git a/tests/smallExample.h b/tests/smallExample.h index 8c87c9240..26ed41a27 100644 --- a/tests/smallExample.h +++ b/tests/smallExample.h @@ -274,19 +274,17 @@ GaussianFactorGraph createGaussianFactorGraph() { // Create empty graph GaussianFactorGraph fg; - SharedDiagonal unit2 = noiseModel::Unit::Create(2); - // linearized prior on x1: c[_x1_]+x1=0 i.e. x1=-c[_x1_] - fg += JacobianFactor(X(1), 10*eye(2), -1.0*ones(2), unit2); + fg += JacobianFactor(X(1), 10*eye(2), -1.0*ones(2)); // odometry between x1 and x2: x2-x1=[0.2;-0.1] - fg += JacobianFactor(X(1), -10*eye(2), X(2), 10*eye(2), Vector_(2, 2.0, -1.0), unit2); + fg += JacobianFactor(X(1), -10*eye(2), X(2), 10*eye(2), Vector_(2, 2.0, -1.0)); // measurement between x1 and l1: l1-x1=[0.0;0.2] - fg += JacobianFactor(X(1), -5*eye(2), L(1), 5*eye(2), Vector_(2, 0.0, 1.0), unit2); + fg += JacobianFactor(X(1), -5*eye(2), L(1), 5*eye(2), Vector_(2, 0.0, 1.0)); // measurement between x2 and l1: l1-x2=[-0.2;0.3] - fg += JacobianFactor(X(2), -5*eye(2), L(1), 5*eye(2), Vector_(2, -1.0, 1.5), unit2); + fg += JacobianFactor(X(2), -5*eye(2), L(1), 5*eye(2), Vector_(2, -1.0, 1.5)); return fg; }