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Fix FrobeniusWormholeFactor Python test

release/4.3a0
Fan Jiang 2020-07-06 23:36:17 -04:00
parent 6d5706049d
commit 683e37f148
1 changed files with 2 additions and 2 deletions
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4
cython/gtsam/tests/test_FrobeniusFactor.py
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@ -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)