fix compilation error caused by new covariance type
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				|  | @ -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; | ||||
|  |  | |||
|  | @ -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)); | ||||
|  |  | |||
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