From 4e0b4021df68bdabcd3d514a2dff1403586be9ad Mon Sep 17 00:00:00 2001 From: Richard Roberts Date: Fri, 19 Nov 2010 16:30:06 +0000 Subject: [PATCH] Added prior on the first pose in time*OnDataset --- tests/timeMultifrontalOnDataset.cpp | 3 +++ tests/timeSequentialOnDataset.cpp | 3 +++ 2 files changed, 6 insertions(+) diff --git a/tests/timeMultifrontalOnDataset.cpp b/tests/timeMultifrontalOnDataset.cpp index dcd8470b5..0b329fdc6 100644 --- a/tests/timeMultifrontalOnDataset.cpp +++ b/tests/timeMultifrontalOnDataset.cpp @@ -35,6 +35,9 @@ int main(int argc, char *argv[]) { pair, shared_ptr > data = load2D(dataset(datasetname)); + // Add a prior on the first pose + data.first->addPrior(0, Pose2(), sharedSigma(Pose2::Dim(), 0.0005)); + tic_("Z 1 order"); Ordering::shared_ptr ordering(data.first->orderingCOLAMD(*data.second)); toc_("Z 1 order"); diff --git a/tests/timeSequentialOnDataset.cpp b/tests/timeSequentialOnDataset.cpp index 9be51d0ad..79c32469c 100644 --- a/tests/timeSequentialOnDataset.cpp +++ b/tests/timeSequentialOnDataset.cpp @@ -35,6 +35,9 @@ int main(int argc, char *argv[]) { pair, shared_ptr > data = load2D(dataset(datasetname)); + // Add a prior on the first pose + data.first->addPrior(0, Pose2(), sharedSigma(Pose2::Dim(), 0.0005)); + tic_("Z 1 order"); Ordering::shared_ptr ordering(data.first->orderingCOLAMD(*data.second)); toc_("Z 1 order");