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Fixed failing test

release/4.3a0
Frank Dellaert 2019-04-27 17:36:13 -04:00
parent e6c1ad8d04
commit 5f4cedec8a
1 changed files with 6 additions and 6 deletions
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12
gtsam/linear/tests/testJacobianFactor.cpp
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@ -146,7 +146,7 @@ TEST(JacobianFactor, constructors_and_accessors)
/* ************************************************************************* */ /* ************************************************************************* */
TEST(JabobianFactor, Hessian_conversion) { TEST(JabobianFactor, Hessian_conversion) {
HessianFactor hessian(0, (Matrix(4,4) << HessianFactor hessian(0, (Matrix(4, 4) <<
1.57, 2.695, -1.1, -2.35, 1.57, 2.695, -1.1, -2.35,
2.695, 11.3125, -0.65, -10.225, 2.695, 11.3125, -0.65, -10.225,
-1.1, -0.65, 1, 0.5, -1.1, -0.65, 1, 0.5,
@ -154,7 +154,7 @@ TEST(JabobianFactor, Hessian_conversion) {
(Vector(4) << -7.885, -28.5175, 2.75, 25.675).finished(), (Vector(4) << -7.885, -28.5175, 2.75, 25.675).finished(),
73.1725); 73.1725);
JacobianFactor expected(0, (Matrix(2,4) << JacobianFactor expected(0, (Matrix(2, 4) <<
1.2530, 2.1508, -0.8779, -1.8755, 1.2530, 2.1508, -0.8779, -1.8755,
0, 2.5858, 0.4789, -2.3943).finished(), 0, 2.5858, 0.4789, -2.3943).finished(),
Vector2(-6.2929, -5.7941)); Vector2(-6.2929, -5.7941));
@ -164,10 +164,10 @@ TEST(JabobianFactor, Hessian_conversion) {
/* ************************************************************************* */ /* ************************************************************************* */
TEST(JabobianFactor, Hessian_conversion2) { TEST(JabobianFactor, Hessian_conversion2) {
JacobianFactor jf(0, (Matrix(3,3) << JacobianFactor jf(0, (Matrix(3, 3) <<
1, 2, 3, 1, 2, 3,
0, 0, 3, 0, 2, 3,
2, 1, 1).finished(), 0, 0, 3).finished(),
Vector3(1, 2, 2)); Vector3(1, 2, 2));
HessianFactor hessian(jf); HessianFactor hessian(jf);
EXPECT(assert_equal(jf, JacobianFactor(hessian), 1e-9)); EXPECT(assert_equal(jf, JacobianFactor(hessian), 1e-9));
@ -175,7 +175,7 @@ TEST(JabobianFactor, Hessian_conversion2) {
/* ************************************************************************* */ /* ************************************************************************* */
TEST(JabobianFactor, Hessian_conversion3) { TEST(JabobianFactor, Hessian_conversion3) {
JacobianFactor jf(0, (Matrix(2,4) << JacobianFactor jf(0, (Matrix(2, 4) <<
1, 2, 3, 0, 1, 2, 3, 0,
0, 3, 2, 1).finished(), 0, 3, 2, 1).finished(),
Vector2(1, 2)); Vector2(1, 2));