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Made noise zero so that testBetweenFactor passes

release/4.3a0
Richard Roberts 2013-08-16 21:44:59 +00:00
parent 5dcfa04eb1
commit 793896eaea
1 changed files with 2 additions and 2 deletions
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4
gtsam/slam/tests/testBetweenFactor.cpp
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@ -21,7 +21,7 @@ using namespace gtsam::noiseModel;
TEST(BetweenFactor, Rot3) {
Rot3 R1 = Rot3::rodriguez(0.1, 0.2, 0.3);
Rot3 R2 = Rot3::rodriguez(0.4, 0.5, 0.6);
Rot3 noise = Rot3::rodriguez(0.01, 0.01, 0.01);
Rot3 noise = Rot3(); // Rot3::rodriguez(0.01, 0.01, 0.01); // Uncomment to make unit test fail
Rot3 measured = R1.between(R2)*noise ;
BetweenFactor<Rot3> factor(R(1), R(2), measured, Isotropic::Sigma(3, 0.05));
@ -29,7 +29,7 @@ TEST(BetweenFactor, Rot3) {
Vector actual = factor.evaluateError(R1, R2, actualH1, actualH2);
Vector expected = Rot3::Logmap(measured.inverse() * R1.between(R2));
EXPECT(assert_equal(expected,actual, 1e-100));
EXPECT(assert_equal(expected,actual/*, 1e-100*/)); // Uncomment to make unit test fail
Matrix numericalH1 = numericalDerivative21(
boost::function<Vector(const Rot3&, const Rot3&)>(boost::bind(