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minor improvements

release/4.3a0
Varun Agrawal 2024-10-17 13:38:11 -04:00
parent 8a0bbe9666
commit 631fa2b564
1 changed files with 3 additions and 6 deletions
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9
gtsam/nonlinear/tests/testNonlinearConjugateGradientOptimizer.cpp
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@ -19,6 +19,9 @@
using namespace std; using namespace std;
using namespace gtsam; using namespace gtsam;
using symbol_shorthand::X;
using symbol_shorthand::Y;
// Generate a small PoseSLAM problem // Generate a small PoseSLAM problem
std::tuple<NonlinearFactorGraph, Values> generateProblem() { std::tuple<NonlinearFactorGraph, Values> generateProblem() {
// 1. Create graph container and add factors to it // 1. Create graph container and add factors to it
@ -84,12 +87,6 @@ TEST(NonlinearConjugateGradientOptimizer, Optimize) {
namespace rosenbrock { namespace rosenbrock {
/// Alias for the first term in the Rosenbrock function
// using Rosenbrock1Factor = PriorFactor<double>;
using symbol_shorthand::X;
using symbol_shorthand::Y;
constexpr double sqrt_2 = 1.4142135623730951; constexpr double sqrt_2 = 1.4142135623730951;
class Rosenbrock1Factor : public NoiseModelFactorN<double> { class Rosenbrock1Factor : public NoiseModelFactorN<double> {