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Small fixes

release/4.3a0
Fan Jiang 2020-08-17 19:21:06 -04:00
parent 0901237ec0
commit 723d00a40a
2 changed files with 4 additions and 2 deletions
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2
CMakeLists.txt
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@ -66,6 +66,7 @@ add_custom_target(uninstall
if(GTSAM_UNSTABLE_AVAILABLE) if(GTSAM_UNSTABLE_AVAILABLE)
option(GTSAM_BUILD_UNSTABLE "Enable/Disable libgtsam_unstable" ON) option(GTSAM_BUILD_UNSTABLE "Enable/Disable libgtsam_unstable" ON)
option(GTSAM_UNSTABLE_BUILD_PYTHON "Enable/Disable Python wrapper for libgtsam_unstable" ON) option(GTSAM_UNSTABLE_BUILD_PYTHON "Enable/Disable Python wrapper for libgtsam_unstable" ON)
option(GTSAM_UNSTABLE_INSTALL_MATLAB_TOOLBOX "Enable/Disable MATLAB wrapper for libgtsam_unstable" ON)
endif() endif()
option(BUILD_SHARED_LIBS "Build shared gtsam library, instead of static" ON) option(BUILD_SHARED_LIBS "Build shared gtsam library, instead of static" ON)
option(GTSAM_USE_QUATERNIONS "Enable/Disable using an internal Quaternion representation for rotations instead of rotation matrices. If enable, Rot3::EXPMAP is enforced by default." OFF) option(GTSAM_USE_QUATERNIONS "Enable/Disable using an internal Quaternion representation for rotations instead of rotation matrices. If enable, Rot3::EXPMAP is enforced by default." OFF)
@ -518,6 +519,7 @@ print_enabled_config(${GTSAM_BUILD_TYPE_POSTFIXES} "Put build type in lib
if(GTSAM_UNSTABLE_AVAILABLE) if(GTSAM_UNSTABLE_AVAILABLE)
print_enabled_config(${GTSAM_BUILD_UNSTABLE} "Build libgtsam_unstable ") print_enabled_config(${GTSAM_BUILD_UNSTABLE} "Build libgtsam_unstable ")
print_enabled_config(${GTSAM_UNSTABLE_BUILD_PYTHON} "Build GTSAM unstable Python ") print_enabled_config(${GTSAM_UNSTABLE_BUILD_PYTHON} "Build GTSAM unstable Python ")
print_enabled_config(${GTSAM_UNSTABLE_INSTALL_MATLAB_TOOLBOX} "Build MATLAB Toolbox for unstable")
endif() endif()
if(NOT MSVC AND NOT XCODE_VERSION) if(NOT MSVC AND NOT XCODE_VERSION)

4
python/gtsam/tests/test_FrobeniusFactor.py
View File

@ -13,7 +13,7 @@ import unittest
import numpy as np import numpy as np
from gtsam import (Rot3, SO3, SO4, FrobeniusBetweenFactorSO4, FrobeniusFactorSO4, from gtsam import (Rot3, SO3, SO4, FrobeniusBetweenFactorSO4, FrobeniusFactorSO4,
FrobeniusWormholeFactor, SOn) ShonanFactor3, SOn)
id = SO4() id = SO4()
v1 = np.array([0, 0, 0, 0.1, 0, 0]) v1 = np.array([0, 0, 0, 0.1, 0, 0])
@ -43,7 +43,7 @@ class TestFrobeniusFactorSO4(unittest.TestCase):
"""Test creation of a factor that calculates Shonan error.""" """Test creation of a factor that calculates Shonan error."""
R1 = SO3.Expmap(v1[3:]) R1 = SO3.Expmap(v1[3:])
R2 = SO3.Expmap(v2[3:]) R2 = SO3.Expmap(v2[3:])
factor = FrobeniusWormholeFactor(1, 2, Rot3(R1.between(R2).matrix()), p=4) factor = ShonanFactor3(1, 2, Rot3(R1.between(R2).matrix()), p=4)
I4 = SOn(4) I4 = SOn(4)
Q1 = I4.retract(v1) Q1 = I4.retract(v1)
Q2 = I4.retract(v2) Q2 = I4.retract(v2)