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Fixed creation of empty HessianFactor and added unit test

release/4.3a0
Richard Roberts 2012-01-20 16:53:35 +00:00
parent 9157d891d3
commit 5dd5f612ce
2 changed files with 9 additions and 1 deletions
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5
gtsam/linear/HessianFactor.cpp
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@ -65,6 +65,11 @@ HessianFactor::HessianFactor(const HessianFactor& gf) :
/* ************************************************************************* */ /* ************************************************************************* */
HessianFactor::HessianFactor() : info_(matrix_) { HessianFactor::HessianFactor() : info_(matrix_) {
// The empty HessianFactor has only a constant error term of zero
FastVector<size_t> dims;
dims.push_back(1);
info_.resize(dims.begin(), dims.end(), false);
info_(0,0)(0,0) = 0.0;
assertInvariants(); assertInvariants();
} }

5
gtsam/linear/tests/testHessianFactor.cpp
View File

@ -38,7 +38,10 @@ const double tol = 1e-5;
/* ************************************************************************* */ /* ************************************************************************* */
TEST(HessianFactor, emptyConstructor) { TEST(HessianFactor, emptyConstructor) {
HessianFactor f; HessianFactor f;
// f.print(); DOUBLES_EQUAL(0.0, f.constantTerm(), 1e-9); // Constant term should be zero
EXPECT(assert_equal(Vector(), f.linearTerm())); // Linear term should be empty
EXPECT(assert_equal(zeros(1,1), f.info())); // Full matrix should be 1-by-1 zero matrix
DOUBLES_EQUAL(0.0, f.error(VectorValues()), 1e-9); // Should have zero error
} }
/* ************************************************************************* */ /* ************************************************************************* */