From 683e37f14889701b5acd40797d6a5a0648c2e601 Mon Sep 17 00:00:00 2001 From: Fan Jiang Date: Mon, 6 Jul 2020 23:36:17 -0400 Subject: [PATCH] Fix FrobeniusWormholeFactor Python test --- cython/gtsam/tests/test_FrobeniusFactor.py | 4 ++-- 1 file changed, 2 insertions(+), 2 deletions(-) diff --git a/cython/gtsam/tests/test_FrobeniusFactor.py b/cython/gtsam/tests/test_FrobeniusFactor.py index 82d1fb410..f3f5354bb 100644 --- a/cython/gtsam/tests/test_FrobeniusFactor.py +++ b/cython/gtsam/tests/test_FrobeniusFactor.py @@ -12,7 +12,7 @@ Author: Frank Dellaert import unittest import numpy as np -from gtsam import (SO3, SO4, FrobeniusBetweenFactorSO4, FrobeniusFactorSO4, +from gtsam import (Rot3, SO3, SO4, FrobeniusBetweenFactorSO4, FrobeniusFactorSO4, FrobeniusWormholeFactor, SOn) id = SO4() @@ -43,7 +43,7 @@ class TestFrobeniusFactorSO4(unittest.TestCase): """Test creation of a factor that calculates Shonan error.""" R1 = SO3.Expmap(v1[3:]) R2 = SO3.Expmap(v2[3:]) - factor = FrobeniusWormholeFactor(1, 2, R1.between(R2), p=4) + factor = FrobeniusWormholeFactor(1, 2, Rot3(R1.between(R2).matrix()), p=4) I4 = SOn(4) Q1 = I4.retract(v1) Q2 = I4.retract(v2)