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Changed Vec() to Vector().

release/4.3a0
vindelman3 2014-02-05 13:59:21 -05:00
parent 381899640e
commit 5ef681bc4a
1 changed files with 8 additions and 8 deletions
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16
gtsam_unstable/slam/tests/testTransformBtwRobotsUnaryFactor.cpp
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@ -60,7 +60,7 @@ TEST( TransformBtwRobotsUnaryFactor, ConstructorAndEquals)
gtsam::Pose2 rel_pose_ideal = p1.between(p2);
gtsam::Pose2 rel_pose_msr = rel_pose_ideal.compose(noise);
SharedGaussian model(noiseModel::Diagonal::Sigmas((Vec(3) << 0.5, 0.5, 0.05)));
SharedGaussian model(noiseModel::Diagonal::Sigmas((Vector(3) << 0.5, 0.5, 0.05)));
gtsam::Values valA, valB;
valA.insert(keyA, p1);
@ -91,7 +91,7 @@ TEST( TransformBtwRobotsUnaryFactor, unwhitenedError)
gtsam::Pose2 rel_pose_ideal = orgA_T_1.between(orgA_T_2);
gtsam::Pose2 rel_pose_msr = rel_pose_ideal;
SharedGaussian model(noiseModel::Diagonal::Sigmas((Vec(3) << 0.5, 0.5, 0.05)));
SharedGaussian model(noiseModel::Diagonal::Sigmas((Vector(3) << 0.5, 0.5, 0.05)));
gtsam::Values valA, valB;
valA.insert(keyA, orgA_T_1);
@ -125,7 +125,7 @@ TEST( TransformBtwRobotsUnaryFactor, unwhitenedError2)
gtsam::Pose2 rel_pose_ideal = orgA_T_currA.between(orgA_T_currB);
gtsam::Pose2 rel_pose_msr = rel_pose_ideal;
SharedGaussian model(noiseModel::Diagonal::Sigmas((Vec(3) << 0.5, 0.5, 0.05)));
SharedGaussian model(noiseModel::Diagonal::Sigmas((Vector(3) << 0.5, 0.5, 0.05)));
double prior_outlier = 0.01;
double prior_inlier = 0.99;
@ -171,7 +171,7 @@ TEST( TransformBtwRobotsUnaryFactor, Optimize)
gtsam::Pose2 currA_Tmsr_currB3 = currA_Tmsr_currB1;
gtsam::Pose2 currA_Tmsr_currB4 = currA_Tmsr_currB1;
SharedGaussian model(noiseModel::Diagonal::Sigmas((Vec(3) << 0.5, 0.5, 0.05)));
SharedGaussian model(noiseModel::Diagonal::Sigmas((Vector(3) << 0.5, 0.5, 0.05)));
gtsam::Values valA, valB;
valA.insert(keyA, orgA_T_currA);
@ -224,7 +224,7 @@ TEST( TransformBtwRobotsUnaryFactor, Jacobian)
gtsam::Pose2 rel_pose_ideal = orgA_T_1.between(orgA_T_2);
gtsam::Pose2 rel_pose_msr = rel_pose_ideal.compose(noise);
SharedGaussian model(noiseModel::Diagonal::Sigmas((Vec(3) << 0.5, 0.5, 0.05)));
SharedGaussian model(noiseModel::Diagonal::Sigmas((Vector(3) << 0.5, 0.5, 0.05)));
gtsam::Values valA, valB;
valA.insert(keyA, orgA_T_1);
@ -262,8 +262,8 @@ TEST( TransformBtwRobotsUnaryFactor, Jacobian)
// gtsam::Pose2 rel_pose_ideal = p1.between(p2);
// gtsam::Pose2 rel_pose_msr = rel_pose_ideal.compose(noise);
//
// SharedGaussian model_inlier(noiseModel::Diagonal::Sigmas(gtsam::(Vec(3) << 0.5, 0.5, 0.05)));
// SharedGaussian model_outlier(noiseModel::Diagonal::Sigmas(gtsam::(Vec(3) << 50.0, 50.0, 10.0)));
// SharedGaussian model_inlier(noiseModel::Diagonal::Sigmas(gtsam::(Vector(3) << 0.5, 0.5, 0.05)));
// SharedGaussian model_outlier(noiseModel::Diagonal::Sigmas(gtsam::(Vector(3) << 50.0, 50.0, 10.0)));
//
// gtsam::Values values;
// values.insert(keyA, p1);
@ -284,7 +284,7 @@ TEST( TransformBtwRobotsUnaryFactor, Jacobian)
// // compare to standard between factor
// BetweenFactor<gtsam::Pose2> h(keyA, keyB, rel_pose_msr, model_inlier );
// Vector actual_err_wh_stnd = h.whitenedError(values);
// Vector actual_err_wh_inlier = (Vec(3) << actual_err_wh[0], actual_err_wh[1], actual_err_wh[2]);
// Vector actual_err_wh_inlier = (Vector(3) << actual_err_wh[0], actual_err_wh[1], actual_err_wh[2]);
// CHECK( assert_equal(actual_err_wh_stnd, actual_err_wh_inlier, 1e-8));
// std::vector<gtsam::Matrix> H_actual_stnd_unwh(2);
// (void)h.unwhitenedError(values, H_actual_stnd_unwh);