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Replaced graph.push_back with graph.emplace_shared if needed.

release/4.3a0
Yao Chen 2016-10-01 11:45:44 -04:00
parent 3c1a0a8801
commit 60f556e513
2 changed files with 10 additions and 10 deletions
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12
gtsam_unstable/linear/tests/testLPSolver.cpp
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@ -189,12 +189,12 @@ TEST(LPSolver, overConstrainedLinearSystem) {
TEST(LPSolver, overConstrainedLinearSystem2) {
GaussianFactorGraph graph;
graph.push_back(JacobianFactor(1, I_1x1, 2, I_1x1, kOne,
noiseModel::Constrained::All(1)));
graph.push_back(JacobianFactor(1, I_1x1, 2, -I_1x1, 5 * kOne,
noiseModel::Constrained::All(1)));
graph.push_back(JacobianFactor(1, I_1x1, 2, 2 * I_1x1, 6 * kOne,
noiseModel::Constrained::All(1)));
graph.emplace_shared<JacobianFactor>(1, I_1x1, 2, I_1x1, kOne,
noiseModel::Constrained::All(1));
graph.emplace_shared<JacobianFactor>(1, I_1x1, 2, -I_1x1, 5 * kOne,
noiseModel::Constrained::All(1));
graph.emplace_shared<JacobianFactor>(1, I_1x1, 2, 2 * I_1x1, 6 * kOne,
noiseModel::Constrained::All(1));
VectorValues x = graph.optimize();
// This check confirms that gtsam linear constraint solver can't handle
// over-constrained system

8
gtsam_unstable/nonlinear/tests/testConcurrentIncrementalSmootherGN.cpp
View File

@ -639,13 +639,13 @@ TEST( ConcurrentIncrementalSmoother, removeFactors_topology_1 )
actualGraph.print("actual graph: \n");
NonlinearFactorGraph expectedGraph;
expectedGraph.push_back(PriorFactor<Pose3>(1, poseInitial, noisePrior));
expectedGraph.emplace_shared<PriorFactor<Pose3> >(1, poseInitial, noisePrior);
// we removed this one: expectedGraph.push_back(BetweenFactor<Pose3>(1, 2, poseOdometry, noiseOdometery));
// we should add an empty one, so that the ordering and labeling of the factors is preserved
expectedGraph.push_back(NonlinearFactor::shared_ptr());
expectedGraph.push_back(BetweenFactor<Pose3>(2, 3, poseOdometry, noiseOdometery));
expectedGraph.push_back(BetweenFactor<Pose3>(3, 4, poseOdometry, noiseOdometery));
expectedGraph.push_back(BetweenFactor<Pose3>(1, 2, poseOdometry, noiseOdometery));
expectedGraph.emplace_shared<BetweenFactor<Pose3> >(2, 3, poseOdometry, noiseOdometery);
expectedGraph.emplace_shared<BetweenFactor<Pose3> >(3, 4, poseOdometry, noiseOdometery);
expectedGraph.emplace_shared<BetweenFactor<Pose3> >(1, 2, poseOdometry, noiseOdometery);
// CHECK(assert_equal(expectedGraph, actualGraph, 1e-6));
}