From 55f65339aadd98fcdfc0a1c2c2e00bf3ba056885 Mon Sep 17 00:00:00 2001 From: Jing Dong Date: Wed, 13 Nov 2013 05:34:27 +0000 Subject: [PATCH] Fix Matrix_(...) to Mat() <<... in gtsam/slam --- gtsam/slam/tests/testProjectionFactor.cpp | 8 ++++---- gtsam/slam/tests/testStereoFactor.cpp | 10 +++++----- 2 files changed, 9 insertions(+), 9 deletions(-) diff --git a/gtsam/slam/tests/testProjectionFactor.cpp b/gtsam/slam/tests/testProjectionFactor.cpp index a7f23493e..63499900f 100644 --- a/gtsam/slam/tests/testProjectionFactor.cpp +++ b/gtsam/slam/tests/testProjectionFactor.cpp @@ -154,8 +154,8 @@ TEST( ProjectionFactor, Jacobian ) { factor.evaluateError(pose, point, H1Actual, H2Actual); // The expected Jacobians - Matrix H1Expected = Matrix_(2, 6, 0., -554.256, 0., -92.376, 0., 0., 554.256, 0., 0., 0., -92.376, 0.); - Matrix H2Expected = Matrix_(2, 3, 92.376, 0., 0., 0., 92.376, 0.); + Matrix H1Expected = (Mat(2, 6) << 0., -554.256, 0., -92.376, 0., 0., 554.256, 0., 0., 0., -92.376, 0.); + Matrix H2Expected = (Mat(2, 3) << 92.376, 0., 0., 0., 92.376, 0.); // Verify the Jacobians are correct CHECK(assert_equal(H1Expected, H1Actual, 1e-3)); @@ -180,8 +180,8 @@ TEST( ProjectionFactor, JacobianWithTransform ) { factor.evaluateError(pose, point, H1Actual, H2Actual); // The expected Jacobians - Matrix H1Expected = Matrix_(2, 6, -92.376, 0., 577.350, 0., 92.376, 0., -9.2376, -577.350, 0., 0., 0., 92.376); - Matrix H2Expected = Matrix_(2, 3, 0., -92.376, 0., 0., 0., -92.376); + Matrix H1Expected = (Mat(2, 6) << -92.376, 0., 577.350, 0., 92.376, 0., -9.2376, -577.350, 0., 0., 0., 92.376); + Matrix H2Expected = (Mat(2, 3) << 0., -92.376, 0., 0., 0., -92.376); // Verify the Jacobians are correct CHECK(assert_equal(H1Expected, H1Actual, 1e-3)); diff --git a/gtsam/slam/tests/testStereoFactor.cpp b/gtsam/slam/tests/testStereoFactor.cpp index 3b0e37954..64b1beda8 100644 --- a/gtsam/slam/tests/testStereoFactor.cpp +++ b/gtsam/slam/tests/testStereoFactor.cpp @@ -31,7 +31,7 @@ using namespace std; using namespace gtsam; -static Pose3 camera1(Matrix_(3,3, +static Pose3 camera1((Matrix) (Mat(3, 3) << 1., 0., 0., 0.,-1., 0., 0., 0.,-1. @@ -144,10 +144,10 @@ TEST( StereoFactor, Jacobian ) { factor.evaluateError(pose, point, H1Actual, H2Actual); // The expected Jacobians - Matrix H1Expected = Matrix_(3, 6, 0.0, -625.0, 0.0, -100.0, 0.0, 0.0, + Matrix H1Expected = (Mat(3, 6) << 0.0, -625.0, 0.0, -100.0, 0.0, 0.0, 0.0, -625.0, 0.0, -100.0, 0.0, -8.0, 625.0, 0.0, 0.0, 0.0, -100.0, 0.0); - Matrix H2Expected = Matrix_(3, 3, 100.0, 0.0, 0.0, + Matrix H2Expected = (Mat(3, 3) << 100.0, 0.0, 0.0, 100.0, 0.0, 8.0, 0.0, 100.0, 0.0); @@ -172,10 +172,10 @@ TEST( StereoFactor, JacobianWithTransform ) { factor.evaluateError(pose, point, H1Actual, H2Actual); // The expected Jacobians - Matrix H1Expected = Matrix_(3, 6, -100.0, 0.0, 650.0, 0.0, 100.0, 0.0, + Matrix H1Expected = (Mat(3, 6) << -100.0, 0.0, 650.0, 0.0, 100.0, 0.0, -100.0, -8.0, 649.2, -8.0, 100.0, 0.0, -10.0, -650.0, 0.0, 0.0, 0.0, 100.0); - Matrix H2Expected = Matrix_(3, 3, 0.0, -100.0, 0.0, + Matrix H2Expected = (Mat(3, 3) << 0.0, -100.0, 0.0, 8.0, -100.0, 0.0, 0.0, 0.0, -100.0);