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Removed SLAM namespace from testAntiFactor

release/4.3a0
Stephen Williams 2012-07-30 15:34:18 +00:00
parent 08c72e2a8d
commit 4cf6f10458
1 changed files with 8 additions and 6 deletions
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14
gtsam/slam/tests/testAntiFactor.cpp
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@ -17,10 +17,12 @@
#include <CppUnitLite/TestHarness.h> #include <CppUnitLite/TestHarness.h>
#include <gtsam/slam/pose3SLAM.h>
#include <gtsam/slam/AntiFactor.h> #include <gtsam/slam/AntiFactor.h>
#include <gtsam/nonlinear/NonlinearFactorGraph.h> #include <gtsam/slam/PriorFactor.h>
#include <gtsam/slam/BetweenFactor.h>
#include <gtsam/nonlinear/NonlinearOptimizer.h> #include <gtsam/nonlinear/NonlinearOptimizer.h>
#include <gtsam/nonlinear/NonlinearFactorGraph.h>
#include <gtsam/nonlinear/Values.h>
#include <gtsam/linear/GaussianSequentialSolver.h> #include <gtsam/linear/GaussianSequentialSolver.h>
#include <gtsam/geometry/Pose3.h> #include <gtsam/geometry/Pose3.h>
@ -95,12 +97,12 @@ TEST( AntiFactor, EquivalentBayesNet)
Pose3 z(Rot3(), Point3(1, 1, 1)); Pose3 z(Rot3(), Point3(1, 1, 1));
SharedNoiseModel sigma(noiseModel::Unit::Create(Pose3::Dim())); SharedNoiseModel sigma(noiseModel::Unit::Create(Pose3::Dim()));
boost::shared_ptr<pose3SLAM::Graph> graph(new pose3SLAM::Graph()); NonlinearFactorGraph::shared_ptr graph(new NonlinearFactorGraph());
graph->addPosePrior(1, pose1, sigma); graph->add(PriorFactor<Pose3>(1, pose1, sigma));
graph->addRelativePose(1, 2, pose1.between(pose2), sigma); graph->add(BetweenFactor<Pose3>(1, 2, pose1.between(pose2), sigma));
// Create a configuration corresponding to the ground truth // Create a configuration corresponding to the ground truth
boost::shared_ptr<Values> values(new Values()); Values::shared_ptr values(new Values());
values->insert(1, pose1); values->insert(1, pose1);
values->insert(2, pose2); values->insert(2, pose2);