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Merge pull request #635 from borglab/fix/warning 

Explicitly initialize Point3
release/4.3a0
Varun Agrawal 2020-12-10 13:55:15 -05:00 committed by GitHub
parent 79aedfbf7e 592c572f8c
commit 6c85850147
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1 changed files with 9 additions and 2 deletions
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11
gtsam/slam/tests/testInitializePose3.cpp
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@ -75,8 +75,15 @@ NonlinearFactorGraph graph2() {
g.add(BetweenFactor<Pose3>(x0, x1, pose0.between(pose1), noiseModel::Isotropic::Precision(6, 1.0))); g.add(BetweenFactor<Pose3>(x0, x1, pose0.between(pose1), noiseModel::Isotropic::Precision(6, 1.0)));
g.add(BetweenFactor<Pose3>(x1, x2, pose1.between(pose2), noiseModel::Isotropic::Precision(6, 1.0))); g.add(BetweenFactor<Pose3>(x1, x2, pose1.between(pose2), noiseModel::Isotropic::Precision(6, 1.0)));
g.add(BetweenFactor<Pose3>(x2, x3, pose2.between(pose3), noiseModel::Isotropic::Precision(6, 1.0))); g.add(BetweenFactor<Pose3>(x2, x3, pose2.between(pose3), noiseModel::Isotropic::Precision(6, 1.0)));
g.add(BetweenFactor<Pose3>(x2, x0, Pose3(Rot3::Ypr(0.1,0,0.1), Point3()), noiseModel::Isotropic::Precision(6, 0.0))); // random pose, but zero information // random pose, but zero information
g.add(BetweenFactor<Pose3>(x0, x3, Pose3(Rot3::Ypr(0.5,-0.2,0.2), Point3(10,20,30)), noiseModel::Isotropic::Precision(6, 0.0))); // random pose, but zero informatoin auto noise_zero_info = noiseModel::Isotropic::Precision(6, 0.0);
g.add(BetweenFactor<Pose3>(
x2, x0, Pose3(Rot3::Ypr(0.1, 0.0, 0.1), Point3(0.0, 0.0, 0.0)),
noise_zero_info));
// random pose, but zero information
g.add(BetweenFactor<Pose3>(
x0, x3, Pose3(Rot3::Ypr(0.5, -0.2, 0.2), Point3(10, 20, 30)),
noise_zero_info));
g.addPrior(x0, pose0, model); g.addPrior(x0, pose0, model);
return g; return g;
} }