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Fix Matrix_(...) to Mat() <<... in gtsam/nonlinear

release/4.3a0
Jing Dong 2013-11-13 05:30:40 +00:00
parent c08a0ebcae
commit 7612e3ac43
2 changed files with 16 additions and 16 deletions
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6
gtsam/nonlinear/WhiteNoiseFactor.h
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@ -77,9 +77,9 @@ namespace gtsam {
double c = 2 * logSqrt2PI - log(p) + e2 * p;
Vector g1 = (Vec(1) << -e * p);
Vector g2 = (Vec(1) << 0.5 / p - 0.5 * e2);
Matrix G11 = Matrix_(1, 1, p);
Matrix G12 = Matrix_(1, 1, e);
Matrix G22 = Matrix_(1, 1, 0.5 / (p * p));
Matrix G11 = (Mat(1, 1) << p);
Matrix G12 = (Mat(1, 1) << e);
Matrix G22 = (Mat(1, 1) << 0.5 / (p * p));
return HessianFactor::shared_ptr(
new HessianFactor(j1, j2, G11, G12, g1, G22, g2, c));
}

26
gtsam/nonlinear/tests/testLinearContainerFactor.cpp
View File

@ -30,10 +30,10 @@ Pose2 poseA1(0.0, 0.0, 0.0), poseA2(2.0, 0.0, 0.0);
/* ************************************************************************* */
TEST( testLinearContainerFactor, generic_jacobian_factor ) {
Matrix A1 = Matrix_(2,2,
Matrix A1 = (Mat(2, 2) <<
2.74222, -0.0067457,
0.0, 2.63624);
Matrix A2 = Matrix_(2,2,
Matrix A2 = (Mat(2, 2) <<
-0.0455167, -0.0443573,
-0.0222154, -0.102489);
Vector b = (Vec(2) << 0.0277052,
@ -64,10 +64,10 @@ TEST( testLinearContainerFactor, generic_jacobian_factor ) {
/* ************************************************************************* */
TEST( testLinearContainerFactor, jacobian_factor_withlinpoints ) {
Matrix A1 = Matrix_(2,2,
Matrix A1 = (Mat(2, 2) <<
2.74222, -0.0067457,
0.0, 2.63624);
Matrix A2 = Matrix_(2,2,
Matrix A2 = (Mat(2, 2) <<
-0.0455167, -0.0443573,
-0.0222154, -0.102489);
Vector b = (Vec(2) << 0.0277052,
@ -117,16 +117,16 @@ TEST( testLinearContainerFactor, jacobian_factor_withlinpoints ) {
/* ************************************************************************* */
TEST( testLinearContainerFactor, generic_hessian_factor ) {
Matrix G11 = Matrix_(1,1, 1.0);
Matrix G12 = Matrix_(1,2, 2.0, 4.0);
Matrix G13 = Matrix_(1,3, 3.0, 6.0, 9.0);
Matrix G11 = (Mat(1, 1) << 1.0);
Matrix G12 = (Mat(1, 2) << 2.0, 4.0);
Matrix G13 = (Mat(1, 3) << 3.0, 6.0, 9.0);
Matrix G22 = Matrix_(2,2, 3.0, 5.0,
Matrix G22 = (Mat(2, 2) << 3.0, 5.0,
0.0, 6.0);
Matrix G23 = Matrix_(2,3, 4.0, 6.0, 8.0,
Matrix G23 = (Mat(2, 3) << 4.0, 6.0, 8.0,
1.0, 2.0, 4.0);
Matrix G33 = Matrix_(3,3, 1.0, 2.0, 3.0,
Matrix G33 = (Mat(3, 3) << 1.0, 2.0, 3.0,
0.0, 5.0, 6.0,
0.0, 0.0, 9.0);
@ -158,17 +158,17 @@ TEST( testLinearContainerFactor, hessian_factor_withlinpoints ) {
// 2 variable example, one pose, one landmark (planar)
// Initial ordering: x1, l1
Matrix G11 = Matrix_(3,3,
Matrix G11 = (Mat(3, 3) <<
1.0, 2.0, 3.0,
0.0, 5.0, 6.0,
0.0, 0.0, 9.0);
Matrix G12 = Matrix_(3,2,
Matrix G12 = (Mat(3, 2) <<
1.0, 2.0,
3.0, 5.0,
4.0, 6.0);
Vector g1 = (Vec(3) << 1.0, 2.0, 3.0);
Matrix G22 = Matrix_(2,2,
Matrix G22 = (Mat(2, 2) <<
0.5, 0.2,
0.0, 0.6);