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Removed the test from testGaussianFactor from an old MAST failure case - as it turns out, the system had inconsistent dimensions, which is why elimination crashed out.

release/4.3a0
Alex Cunningham 2010-07-23 13:25:27 +00:00
parent d6157ab828
commit 82a160074a
1 changed files with 0 additions and 29 deletions
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29
linear/tests/testGaussianFactor.cpp
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@ -427,35 +427,6 @@ TEST ( GaussianFactor, constraint_eliminate2 )
CHECK(assert_equal(expectedCG, *actualCG, 1e-4));
}
/* ************************************************************************* */
TEST ( GaussianFactor, exploding_MAST_factor ) {
// Test derived from a crashing error in MAST
// Works properly with the newer elimination code
// This is only a test of execution without crashing
Symbol lA2('l', 182958734);
Matrix A1 = eye(2);
Vector b1 = zero(2);
SharedDiagonal model1 = noiseModel::Isotropic::Sigma(2, 1.0/sqrt(2.0));
GaussianFactor::shared_ptr f1(new GaussianFactor(lA2, A1, b1, model1));
Matrix A2 = Matrix_(3,3,
5.45735, 1.94835, -1.68176,
0, 10.2778, 0.973046,
0, 0, 12.253);
Vector b2 = Vector_(3, 1.29627e-16, 5.14706e-16, 4.19527e-16);
SharedDiagonal model2 = noiseModel::Diagonal::Sigmas(ones(3));
GaussianFactor::shared_ptr f2(new GaussianFactor(lA2, A2, b2, model2));
GaussianFactorGraph fg;
fg.push_back(f1);
fg.push_back(f2);
// works when using the newer implementation of eliminate
GaussianConditional::shared_ptr cg = fg.eliminateOne(lA2, false);
CHECK(true);
}
/* ************************************************************************* */
TEST( GaussianFactor, erase)
{