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

Merged in fix/nav_tests (pull request #246) 

Fixed compile errors with tests on Mac
release/4.3a0
Frank Dellaert 2016-04-16 16:16:08 -07:00
parent f062e12d21 63e6ed0401
commit 71d73f283a
2 changed files with 6 additions and 6 deletions
Show Stats Download Patch File Download Diff File Expand all files Collapse all files

4
gtsam/navigation/tests/testGPSFactor.cpp
View File

@ -58,7 +58,7 @@ TEST( GPSFactor, Constructor ) {
// Create a linearization point at zero error // Create a linearization point at zero error
Pose3 T(Rot3::RzRyRx(0.15, -0.30, 0.45), Point3(E, N, U)); Pose3 T(Rot3::RzRyRx(0.15, -0.30, 0.45), Point3(E, N, U));
EXPECT(assert_equal(Z_3x3,factor.evaluateError(T),1e-5)); EXPECT(assert_equal(Z_3x1,factor.evaluateError(T),1e-5));
// Calculate numerical derivatives // Calculate numerical derivatives
Matrix expectedH = numericalDerivative11<Vector,Pose3>( Matrix expectedH = numericalDerivative11<Vector,Pose3>(
@ -87,7 +87,7 @@ TEST( GPSFactor2, Constructor ) {
// Create a linearization point at zero error // Create a linearization point at zero error
NavState T(Rot3::RzRyRx(0.15, -0.30, 0.45), Point3(E, N, U), Vector3::Zero()); NavState T(Rot3::RzRyRx(0.15, -0.30, 0.45), Point3(E, N, U), Vector3::Zero());
EXPECT(assert_equal(Z_3x3,factor.evaluateError(T),1e-5)); EXPECT(assert_equal(Z_3x1,factor.evaluateError(T),1e-5));
// Calculate numerical derivatives // Calculate numerical derivatives
Matrix expectedH = numericalDerivative11<Vector,NavState>( Matrix expectedH = numericalDerivative11<Vector,NavState>(

8
gtsam/navigation/tests/testMagFactor.cpp
View File

@ -71,19 +71,19 @@ TEST( MagFactor, Factors ) {
// MagFactor // MagFactor
MagFactor f(1, measured, s, dir, bias, model); MagFactor f(1, measured, s, dir, bias, model);
EXPECT( assert_equal(Z_3x3,f.evaluateError(theta,H1),1e-5)); EXPECT( assert_equal(Z_3x1,f.evaluateError(theta,H1),1e-5));
EXPECT( assert_equal((Matrix)numericalDerivative11<Vector,Rot2> // EXPECT( assert_equal((Matrix)numericalDerivative11<Vector,Rot2> //
(boost::bind(&MagFactor::evaluateError, &f, _1, none), theta), H1, 1e-7)); (boost::bind(&MagFactor::evaluateError, &f, _1, none), theta), H1, 1e-7));
// MagFactor1 // MagFactor1
MagFactor1 f1(1, measured, s, dir, bias, model); MagFactor1 f1(1, measured, s, dir, bias, model);
EXPECT( assert_equal(Z_3x3,f1.evaluateError(nRb,H1),1e-5)); EXPECT( assert_equal(Z_3x1,f1.evaluateError(nRb,H1),1e-5));
EXPECT( assert_equal(numericalDerivative11<Vector,Rot3> // EXPECT( assert_equal(numericalDerivative11<Vector,Rot3> //
(boost::bind(&MagFactor1::evaluateError, &f1, _1, none), nRb), H1, 1e-7)); (boost::bind(&MagFactor1::evaluateError, &f1, _1, none), nRb), H1, 1e-7));
// MagFactor2 // MagFactor2
MagFactor2 f2(1, 2, measured, nRb, model); MagFactor2 f2(1, 2, measured, nRb, model);
EXPECT( assert_equal(Z_3x3,f2.evaluateError(scaled,bias,H1,H2),1e-5)); EXPECT( assert_equal(Z_3x1,f2.evaluateError(scaled,bias,H1,H2),1e-5));
EXPECT( assert_equal(numericalDerivative11<Vector,Point3> // EXPECT( assert_equal(numericalDerivative11<Vector,Point3> //
(boost::bind(&MagFactor2::evaluateError, &f2, _1, bias, none, none), scaled),// (boost::bind(&MagFactor2::evaluateError, &f2, _1, bias, none, none), scaled),//
H1, 1e-7)); H1, 1e-7));
@ -93,7 +93,7 @@ TEST( MagFactor, Factors ) {
// MagFactor2 // MagFactor2
MagFactor3 f3(1, 2, 3, measured, nRb, model); MagFactor3 f3(1, 2, 3, measured, nRb, model);
EXPECT(assert_equal(Z_3x3,f3.evaluateError(s,dir,bias,H1,H2,H3),1e-5)); EXPECT(assert_equal(Z_3x1,f3.evaluateError(s,dir,bias,H1,H2,H3),1e-5));
EXPECT(assert_equal((Matrix)numericalDerivative11<Vector,double> // EXPECT(assert_equal((Matrix)numericalDerivative11<Vector,double> //
(boost::bind(&MagFactor3::evaluateError, &f3, _1, dir, bias, none, none, none), s),// (boost::bind(&MagFactor3::evaluateError, &f3, _1, dir, bias, none, none, none), s),//
H1, 1e-7)); H1, 1e-7));