12345qiupeng
/
gtsam
1
0
Fork 0
Code Issues Pull Requests Packages Projects Releases Wiki Activity

fix compilation error caused by new covariance type

release/4.3a0
Kai Ni 2010-01-18 06:17:01 +00:00
parent 05b07d443e
commit 6a163d1a84
2 changed files with 7 additions and 6 deletions
Show Stats Download Patch File Download Diff File Expand all files Collapse all files

4
cpp/testIterative.cpp
View File

@ -115,7 +115,7 @@ TEST( Iterative, conjugateGradientDescent_soft_constraint )
config.insert(2, Pose2(1.5,0.,0.));
Pose2Graph graph;
graph.addPrior(1, Pose2(0.,0.,0.), eye(3) * 1e-10);
graph.addPrior(1, Pose2(0.,0.,0.), sharedGaussian(Vector_(3, 1e-10, 1e-10, 1e-10)));
graph.addConstraint(1,2, Pose2(1.,0.,0.), eye(3));
VectorConfig zeros;
@ -141,7 +141,7 @@ TEST( Iterative, subgraphPCG )
theta_bar.insert(2, Pose2(1.5,0.,0.));
Pose2Graph graph;
graph.addPrior(1, Pose2(0.,0.,0.), eye(3) * 1e-10);
graph.addPrior(1, Pose2(0.,0.,0.), sharedGaussian(Vector_(3, 1e-10, 1e-10, 1e-10)));
graph.addConstraint(1,2, Pose2(1.,0.,0.), eye(3));
VectorConfig zeros;

9
cpp/testNonlinearOptimizer.cpp
View File

@ -22,6 +22,7 @@ using namespace boost;
#include "smallExample.h"
#include "pose2SLAM.h"
#include "GaussianFactorGraph.h"
#include "NoiseModel.h"
// template definitions
#include "NonlinearFactorGraph-inl.h"
@ -160,8 +161,8 @@ TEST( NonlinearOptimizer, Factorization )
config->insert(2, Pose2(1.5,0.,0.));
boost::shared_ptr<Pose2Graph> graph(new Pose2Graph);
graph->addPrior(1, Pose2(0.,0.,0.), eye(3) * 1e-10);
graph->addConstraint(1,2, Pose2(1.,0.,0.), eye(3));
graph->addPrior(1, Pose2(0.,0.,0.), Diagonal::Sigmas(Vector_(3, 1e-10, 1e-10, 1e-10)));
graph->addConstraint(1,2, Pose2(1.,0.,0.), Diagonal::Sigmas(Vector_(3, 1, 1, 1)));
boost::shared_ptr<Ordering> ordering(new Ordering);
ordering->push_back(Pose2Config::Key(1));
@ -186,8 +187,8 @@ TEST( NonlinearOptimizer, SubgraphPCG )
config->insert(2, Pose2(1.5,0.,0.));
boost::shared_ptr<Pose2Graph> graph(new Pose2Graph);
graph->addPrior(1, Pose2(0.,0.,0.), eye(3) * 1e-10);
graph->addConstraint(1,2, Pose2(1.,0.,0.), eye(3));
graph->addPrior(1, Pose2(0.,0.,0.), Diagonal::Sigmas(Vector_(3, 1e-10, 1e-10, 1e-10)));
graph->addConstraint(1,2, Pose2(1.,0.,0.), Diagonal::Sigmas(Vector_(3, 1, 1, 1)));
boost::shared_ptr<Ordering> ordering(new Ordering);
ordering->push_back(Pose2Config::Key(1));