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Fixed warnings

release/4.3a0
Richard Roberts 2013-08-11 18:18:06 +00:00
parent 6d92c45bae
commit 6410205e78
2 changed files with 15 additions and 17 deletions
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2
tests/testGaussianISAM2.cpp
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@ -37,8 +37,6 @@ using boost::shared_ptr;
const double tol = 1e-4;
#define TEST TEST_UNSAFE
// SETDEBUG("ISAM2 update", true);
// SETDEBUG("ISAM2 update verbose", true);
// SETDEBUG("ISAM2 recalculate", true);

30
tests/testNonlinearFactor.cpp
View File

@ -273,10 +273,10 @@ TEST(NonlinearFactor, NoiseModelFactor4) {
EXPECT(assert_equal(Vector_(1, 10.0), tf.unwhitenedError(tv)));
DOUBLES_EQUAL(25.0/2.0, tf.error(tv), 1e-9);
JacobianFactor jf(*boost::dynamic_pointer_cast<JacobianFactor>(tf.linearize(tv)));
LONGS_EQUAL(X(1), (long)jf.keys()[0]);
LONGS_EQUAL(X(2), (long)jf.keys()[1]);
LONGS_EQUAL(X(3), (long)jf.keys()[2]);
LONGS_EQUAL(X(4), (long)jf.keys()[3]);
LONGS_EQUAL((long)X(1), (long)jf.keys()[0]);
LONGS_EQUAL((long)X(2), (long)jf.keys()[1]);
LONGS_EQUAL((long)X(3), (long)jf.keys()[2]);
LONGS_EQUAL((long)X(4), (long)jf.keys()[3]);
EXPECT(assert_equal(Matrix_(1,1, 0.5), jf.getA(jf.begin())));
EXPECT(assert_equal(Matrix_(1,1, 1.0), jf.getA(jf.begin()+1)));
EXPECT(assert_equal(Matrix_(1,1, 1.5), jf.getA(jf.begin()+2)));
@ -320,11 +320,11 @@ TEST(NonlinearFactor, NoiseModelFactor5) {
EXPECT(assert_equal(Vector_(1, 15.0), tf.unwhitenedError(tv)));
DOUBLES_EQUAL(56.25/2.0, tf.error(tv), 1e-9);
JacobianFactor jf(*boost::dynamic_pointer_cast<JacobianFactor>(tf.linearize(tv)));
LONGS_EQUAL(X(1), (long)jf.keys()[0]);
LONGS_EQUAL(X(2), (long)jf.keys()[1]);
LONGS_EQUAL(X(3), (long)jf.keys()[2]);
LONGS_EQUAL(X(4), (long)jf.keys()[3]);
LONGS_EQUAL(X(5), (long)jf.keys()[4]);
LONGS_EQUAL((long)X(1), (long)jf.keys()[0]);
LONGS_EQUAL((long)X(2), (long)jf.keys()[1]);
LONGS_EQUAL((long)X(3), (long)jf.keys()[2]);
LONGS_EQUAL((long)X(4), (long)jf.keys()[3]);
LONGS_EQUAL((long)X(5), (long)jf.keys()[4]);
EXPECT(assert_equal(Matrix_(1,1, 0.5), jf.getA(jf.begin())));
EXPECT(assert_equal(Matrix_(1,1, 1.0), jf.getA(jf.begin()+1)));
EXPECT(assert_equal(Matrix_(1,1, 1.5), jf.getA(jf.begin()+2)));
@ -373,12 +373,12 @@ TEST(NonlinearFactor, NoiseModelFactor6) {
EXPECT(assert_equal(Vector_(1, 21.0), tf.unwhitenedError(tv)));
DOUBLES_EQUAL(110.25/2.0, tf.error(tv), 1e-9);
JacobianFactor jf(*boost::dynamic_pointer_cast<JacobianFactor>(tf.linearize(tv)));
LONGS_EQUAL(X(1), (long)jf.keys()[0]);
LONGS_EQUAL(X(2), (long)jf.keys()[1]);
LONGS_EQUAL(X(3), (long)jf.keys()[2]);
LONGS_EQUAL(X(4), (long)jf.keys()[3]);
LONGS_EQUAL(X(5), (long)jf.keys()[4]);
LONGS_EQUAL(X(6), (long)jf.keys()[5]);
LONGS_EQUAL((long)X(1), (long)jf.keys()[0]);
LONGS_EQUAL((long)X(2), (long)jf.keys()[1]);
LONGS_EQUAL((long)X(3), (long)jf.keys()[2]);
LONGS_EQUAL((long)X(4), (long)jf.keys()[3]);
LONGS_EQUAL((long)X(5), (long)jf.keys()[4]);
LONGS_EQUAL((long)X(6), (long)jf.keys()[5]);
EXPECT(assert_equal(Matrix_(1,1, 0.5), jf.getA(jf.begin())));
EXPECT(assert_equal(Matrix_(1,1, 1.0), jf.getA(jf.begin()+1)));
EXPECT(assert_equal(Matrix_(1,1, 1.5), jf.getA(jf.begin()+2)));