From 8061f29ec57e81461a24e43df8a86c4ab767164e Mon Sep 17 00:00:00 2001 From: Frank Dellaert Date: Sun, 10 Jan 2010 13:54:34 +0000 Subject: [PATCH] added test clarifying Ax-b \approx h(x)-z --- cpp/testNonlinearFactor.cpp | 6 +++++- 1 file changed, 5 insertions(+), 1 deletion(-) diff --git a/cpp/testNonlinearFactor.cpp b/cpp/testNonlinearFactor.cpp index b021d4c49..3577a6d58 100644 --- a/cpp/testNonlinearFactor.cpp +++ b/cpp/testNonlinearFactor.cpp @@ -96,7 +96,11 @@ TEST( NonlinearFactor, linearize_f1 ) GaussianFactorGraph lfg = createGaussianFactorGraph(); GaussianFactor::shared_ptr expected = lfg[0]; - CHECK(expected->equals(*actual)); + CHECK(assert_equal(*expected,*actual)); + + // The error |A*dx-b| approximates (h(x0+dx)-z) = -error_vector + // Hence i.e., b = approximates z-h(x0) = error_vector(x0) + CHECK(assert_equal(nlf->error_vector(c),actual->get_b())); } /* ************************************************************************* */