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added test clarifying Ax-b \approx h(x)-z

release/4.3a0
Frank Dellaert 2010-01-10 13:54:34 +00:00
parent f1f21a8589
commit 8061f29ec5
1 changed files with 5 additions and 1 deletions
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6
cpp/testNonlinearFactor.cpp
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@ -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()));
}
/* ************************************************************************* */