From 241366a6e6d4ad343f195ce01c766ae8a913b159 Mon Sep 17 00:00:00 2001
From: dellaert <dellaert@cc.gatech.edu>
Date: Sun, 22 Feb 2015 17:30:08 +0100
Subject: [PATCH] Check augmented information matrices

---
 gtsam/slam/tests/testSmartProjectionPoseFactor.cpp | 4 +++-
 1 file changed, 3 insertions(+), 1 deletion(-)

diff --git a/gtsam/slam/tests/testSmartProjectionPoseFactor.cpp b/gtsam/slam/tests/testSmartProjectionPoseFactor.cpp
index 474009cfb..939743cd7 100644
--- a/gtsam/slam/tests/testSmartProjectionPoseFactor.cpp
+++ b/gtsam/slam/tests/testSmartProjectionPoseFactor.cpp
@@ -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));
   }
 }