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testGaussianISAM2 cleanup

release/4.3a0
kartik arcot 2023-01-13 11:15:14 -08:00
parent c397a99b30
commit 65bb6aea63
1 changed files with 10 additions and 10 deletions
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20
tests/testGaussianISAM2.cpp
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@ -43,7 +43,7 @@ SharedDiagonal brNoise = noiseModel::Diagonal::Sigmas((Vector(2) << M_PI/100.0,
ISAM2 createSlamlikeISAM2(
Values* init_values = nullptr,
boost::optional<NonlinearFactorGraph&> full_graph = boost::none,
NonlinearFactorGraph* full_graph = nullptr,
const ISAM2Params& params = ISAM2Params(ISAM2GaussNewtonParams(0.001), 0.0,
0, false, true,
ISAM2Params::CHOLESKY, true,
@ -288,7 +288,7 @@ TEST(ISAM2, simple)
// These variables will be reused and accumulate factors and values
Values fullinit;
NonlinearFactorGraph fullgraph;
ISAM2 isam = createSlamlikeISAM2(&fullinit, fullgraph, ISAM2Params(ISAM2GaussNewtonParams(0.001), 0.0, 0, false), i);
ISAM2 isam = createSlamlikeISAM2(&fullinit, &fullgraph, ISAM2Params(ISAM2GaussNewtonParams(0.001), 0.0, 0, false), i);
// Compare solutions
EXPECT(isam_check(fullgraph, fullinit, isam, *this, result_));
@ -301,7 +301,7 @@ TEST(ISAM2, slamlike_solution_gaussnewton)
// These variables will be reused and accumulate factors and values
Values fullinit;
NonlinearFactorGraph fullgraph;
ISAM2 isam = createSlamlikeISAM2(&fullinit, fullgraph, ISAM2Params(ISAM2GaussNewtonParams(0.001), 0.0, 0, false));
ISAM2 isam = createSlamlikeISAM2(&fullinit, &fullgraph, ISAM2Params(ISAM2GaussNewtonParams(0.001), 0.0, 0, false));
// Compare solutions
CHECK(isam_check(fullgraph, fullinit, isam, *this, result_));
@ -313,7 +313,7 @@ TEST(ISAM2, slamlike_solution_dogleg)
// These variables will be reused and accumulate factors and values
Values fullinit;
NonlinearFactorGraph fullgraph;
ISAM2 isam = createSlamlikeISAM2(&fullinit, fullgraph, ISAM2Params(ISAM2DoglegParams(1.0), 0.0, 0, false));
ISAM2 isam = createSlamlikeISAM2(&fullinit, &fullgraph, ISAM2Params(ISAM2DoglegParams(1.0), 0.0, 0, false));
// Compare solutions
CHECK(isam_check(fullgraph, fullinit, isam, *this, result_));
@ -325,7 +325,7 @@ TEST(ISAM2, slamlike_solution_gaussnewton_qr)
// These variables will be reused and accumulate factors and values
Values fullinit;
NonlinearFactorGraph fullgraph;
ISAM2 isam = createSlamlikeISAM2(&fullinit, fullgraph, ISAM2Params(ISAM2GaussNewtonParams(0.001), 0.0, 0, false, false, ISAM2Params::QR));
ISAM2 isam = createSlamlikeISAM2(&fullinit, &fullgraph, ISAM2Params(ISAM2GaussNewtonParams(0.001), 0.0, 0, false, false, ISAM2Params::QR));
// Compare solutions
CHECK(isam_check(fullgraph, fullinit, isam, *this, result_));
@ -337,7 +337,7 @@ TEST(ISAM2, slamlike_solution_dogleg_qr)
// These variables will be reused and accumulate factors and values
Values fullinit;
NonlinearFactorGraph fullgraph;
ISAM2 isam = createSlamlikeISAM2(&fullinit, fullgraph, ISAM2Params(ISAM2DoglegParams(1.0), 0.0, 0, false, false, ISAM2Params::QR));
ISAM2 isam = createSlamlikeISAM2(&fullinit, &fullgraph, ISAM2Params(ISAM2DoglegParams(1.0), 0.0, 0, false, false, ISAM2Params::QR));
// Compare solutions
CHECK(isam_check(fullgraph, fullinit, isam, *this, result_));
@ -386,7 +386,7 @@ TEST(ISAM2, removeFactors)
// These variables will be reused and accumulate factors and values
Values fullinit;
NonlinearFactorGraph fullgraph;
ISAM2 isam = createSlamlikeISAM2(&fullinit, fullgraph, ISAM2Params(ISAM2GaussNewtonParams(0.001), 0.0, 0, false));
ISAM2 isam = createSlamlikeISAM2(&fullinit, &fullgraph, ISAM2Params(ISAM2GaussNewtonParams(0.001), 0.0, 0, false));
// Remove the 2nd measurement on landmark 0 (Key 100)
FactorIndices toRemove;
@ -406,7 +406,7 @@ TEST(ISAM2, removeVariables)
// These variables will be reused and accumulate factors and values
Values fullinit;
NonlinearFactorGraph fullgraph;
ISAM2 isam = createSlamlikeISAM2(&fullinit, fullgraph, ISAM2Params(ISAM2GaussNewtonParams(0.001), 0.0, 0, false));
ISAM2 isam = createSlamlikeISAM2(&fullinit, &fullgraph, ISAM2Params(ISAM2GaussNewtonParams(0.001), 0.0, 0, false));
// Remove the measurement on landmark 0 (Key 100)
FactorIndices toRemove;
@ -431,7 +431,7 @@ TEST(ISAM2, swapFactors)
Values fullinit;
NonlinearFactorGraph fullgraph;
ISAM2 isam = createSlamlikeISAM2(&fullinit, fullgraph);
ISAM2 isam = createSlamlikeISAM2(&fullinit, &fullgraph);
// Remove the measurement on landmark 0 and replace with a different one
{
@ -610,7 +610,7 @@ TEST(ISAM2, slamlike_solution_partial_relinearization_check)
NonlinearFactorGraph fullgraph;
ISAM2Params params(ISAM2GaussNewtonParams(0.001), 0.0, 0, false);
params.enablePartialRelinearizationCheck = true;
ISAM2 isam = createSlamlikeISAM2(&fullinit, fullgraph, params);
ISAM2 isam = createSlamlikeISAM2(&fullinit, &fullgraph, params);
// Compare solutions
CHECK(isam_check(fullgraph, fullinit, isam, *this, result_));