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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)
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_INSTALL_MATLAB_TOOLBOX "Enable/Disable MATLAB wrapper for libgtsam_unstable" ON)
endif()
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)
@ -518,6 +519,7 @@ print_enabled_config(${GTSAM_BUILD_TYPE_POSTFIXES} "Put build type in lib
if(GTSAM_UNSTABLE_AVAILABLE)
print_enabled_config(${GTSAM_BUILD_UNSTABLE} "Build libgtsam_unstable ")
print_enabled_config(${GTSAM_UNSTABLE_BUILD_PYTHON} "Build GTSAM unstable Python ")
print_enabled_config(${GTSAM_UNSTABLE_INSTALL_MATLAB_TOOLBOX} "Build MATLAB Toolbox for unstable")
endif()
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
from gtsam import (Rot3, SO3, SO4, FrobeniusBetweenFactorSO4, FrobeniusFactorSO4,
FrobeniusWormholeFactor, SOn)
ShonanFactor3, SOn)
id = SO4()
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."""
R1 = SO3.Expmap(v1[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)
Q1 = I4.retract(v1)
Q2 = I4.retract(v2)