From 6a163d1a84b786befdabf091e42f2ac24e93cc87 Mon Sep 17 00:00:00 2001 From: Kai Ni Date: Mon, 18 Jan 2010 06:17:01 +0000 Subject: [PATCH] fix compilation error caused by new covariance type --- cpp/testIterative.cpp | 4 ++-- cpp/testNonlinearOptimizer.cpp | 9 +++++---- 2 files changed, 7 insertions(+), 6 deletions(-) diff --git a/cpp/testIterative.cpp b/cpp/testIterative.cpp index 89c812953..68a52bb62 100644 --- a/cpp/testIterative.cpp +++ b/cpp/testIterative.cpp @@ -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; diff --git a/cpp/testNonlinearOptimizer.cpp b/cpp/testNonlinearOptimizer.cpp index 69ec11427..e703e2ed1 100644 --- a/cpp/testNonlinearOptimizer.cpp +++ b/cpp/testNonlinearOptimizer.cpp @@ -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 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(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 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(new Ordering); ordering->push_back(Pose2Config::Key(1));