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Merge branch 'JacobianTest' into feature/SmartFactors3

release/4.3a0
dellaert 2015-02-22 17:32:07 +01:00
parent c271874bc2 241366a6e6
commit 51fc68b4f7
1 changed files with 3 additions and 1 deletions
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4
gtsam/slam/tests/testSmartProjectionPoseFactor.cpp
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@ -502,7 +502,7 @@ TEST( SmartProjectionPoseFactor, Factors ){
boost::shared_ptr<RegularHessianFactor<6> > actual =
smartFactor1->createHessianFactor(cameras, 0.0);
CHECK(assert_equal(expected.information(), actual->information(), 1e-8));
CHECK(assert_equal(expected.augmentedInformation(), actual->augmentedInformation(), 1e-8));
CHECK(assert_equal(expected, *actual, 1e-8));
}
@ -529,6 +529,7 @@ TEST( SmartProjectionPoseFactor, Factors ){
boost::shared_ptr<JacobianFactorQ<6, 2> > actualQ =
smartFactor1->createJacobianQFactor(cameras, 0.0);
CHECK(actual);
CHECK(assert_equal(expectedQ.augmentedInformation(), actualQ->augmentedInformation(), 1e-8));
CHECK(assert_equal(expectedQ, *actualQ));
}
@ -541,6 +542,7 @@ TEST( SmartProjectionPoseFactor, Factors ){
boost::shared_ptr<JacobianFactor> actual =
smartFactor1->createJacobianSVDFactor(cameras, 0.0);
CHECK(actual);
CHECK(assert_equal(expected.augmentedInformation(), actual->augmentedInformation(), 1e-8));
CHECK(assert_equal(expected, *actual));
}
}