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Fix Vector_() to Vec() in gtsam_unstable/nonlinear

release/4.3a0
Jing Dong 2013-10-22 04:35:21 +00:00
parent 2a178515b3
commit 87f9a2ab03
7 changed files with 25 additions and 25 deletions
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4
gtsam_unstable/nonlinear/tests/testBatchFixedLagSmoother.cpp
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@ -60,8 +60,8 @@ TEST( BatchFixedLagSmoother, Example )
// SETDEBUG("BatchFixedLagSmoother calculateMarginalFactors", true); // SETDEBUG("BatchFixedLagSmoother calculateMarginalFactors", true);
// Set up parameters // Set up parameters
SharedDiagonal odometerNoise = noiseModel::Diagonal::Sigmas(Vector_(2, 0.1, 0.1)); SharedDiagonal odometerNoise = noiseModel::Diagonal::Sigmas((Vec(2) << 0.1, 0.1));
SharedDiagonal loopNoise = noiseModel::Diagonal::Sigmas(Vector_(2, 0.1, 0.1)); SharedDiagonal loopNoise = noiseModel::Diagonal::Sigmas((Vec(2) << 0.1, 0.1));
// Create a Fixed-Lag Smoother // Create a Fixed-Lag Smoother
typedef BatchFixedLagSmoother::KeyTimestampMap Timestamps; typedef BatchFixedLagSmoother::KeyTimestampMap Timestamps;

8
gtsam_unstable/nonlinear/tests/testConcurrentBatchFilter.cpp
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@ -39,13 +39,13 @@ namespace {
// Set up initial pose, odometry difference, loop closure difference, and initialization errors // Set up initial pose, odometry difference, loop closure difference, and initialization errors
const Pose3 poseInitial; const Pose3 poseInitial;
const Pose3 poseOdometry( Rot3::RzRyRx(Vector_(3, 0.05, 0.10, -0.75)), Point3(1.0, -0.25, 0.10) ); const Pose3 poseOdometry( Rot3::RzRyRx((Vec(3) << 0.05, 0.10, -0.75)), Point3(1.0, -0.25, 0.10) );
const Pose3 poseError( Rot3::RzRyRx(Vector_(3, 0.01, 0.02, -0.1)), Point3(0.05, -0.05, 0.02) ); const Pose3 poseError( Rot3::RzRyRx((Vec(3) << 0.01, 0.02, -0.1)), Point3(0.05, -0.05, 0.02) );
// Set up noise models for the factors // Set up noise models for the factors
const SharedDiagonal noisePrior = noiseModel::Isotropic::Sigma(6, 0.10); const SharedDiagonal noisePrior = noiseModel::Isotropic::Sigma(6, 0.10);
const SharedDiagonal noiseOdometery = noiseModel::Diagonal::Sigmas(Vector_(6, 0.1, 0.1, 0.1, 0.5, 0.5, 0.5)); const SharedDiagonal noiseOdometery = noiseModel::Diagonal::Sigmas((Vec(6) << 0.1, 0.1, 0.1, 0.5, 0.5, 0.5));
const SharedDiagonal noiseLoop = noiseModel::Diagonal::Sigmas(Vector_(6, 0.25, 0.25, 0.25, 1.0, 1.0, 1.0)); const SharedDiagonal noiseLoop = noiseModel::Diagonal::Sigmas((Vec(6) << 0.25, 0.25, 0.25, 1.0, 1.0, 1.0));
/* ************************************************************************* */ /* ************************************************************************* */
Values BatchOptimize(const NonlinearFactorGraph& graph, const Values& theta, int maxIter = 100) { Values BatchOptimize(const NonlinearFactorGraph& graph, const Values& theta, int maxIter = 100) {

8
gtsam_unstable/nonlinear/tests/testConcurrentBatchSmoother.cpp
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@ -39,13 +39,13 @@ namespace {
// Set up initial pose, odometry difference, loop closure difference, and initialization errors // Set up initial pose, odometry difference, loop closure difference, and initialization errors
const Pose3 poseInitial; const Pose3 poseInitial;
const Pose3 poseOdometry( Rot3::RzRyRx(Vector_(3, 0.05, 0.10, -0.75)), Point3(1.0, -0.25, 0.10) ); const Pose3 poseOdometry( Rot3::RzRyRx((Vec(3) << 0.05, 0.10, -0.75)), Point3(1.0, -0.25, 0.10) );
const Pose3 poseError( Rot3::RzRyRx(Vector_(3, 0.01, 0.02, -0.1)), Point3(0.05, -0.05, 0.02) ); const Pose3 poseError( Rot3::RzRyRx((Vec(3) << 0.01, 0.02, -0.1)), Point3(0.05, -0.05, 0.02) );
// Set up noise models for the factors // Set up noise models for the factors
const SharedDiagonal noisePrior = noiseModel::Isotropic::Sigma(6, 0.10); const SharedDiagonal noisePrior = noiseModel::Isotropic::Sigma(6, 0.10);
const SharedDiagonal noiseOdometery = noiseModel::Diagonal::Sigmas(Vector_(6, 0.1, 0.1, 0.1, 0.5, 0.5, 0.5)); const SharedDiagonal noiseOdometery = noiseModel::Diagonal::Sigmas((Vec(6) << 0.1, 0.1, 0.1, 0.5, 0.5, 0.5));
const SharedDiagonal noiseLoop = noiseModel::Diagonal::Sigmas(Vector_(6, 0.25, 0.25, 0.25, 1.0, 1.0, 1.0)); const SharedDiagonal noiseLoop = noiseModel::Diagonal::Sigmas((Vec(6) << 0.25, 0.25, 0.25, 1.0, 1.0, 1.0));
/* ************************************************************************* */ /* ************************************************************************* */
Values BatchOptimize(const NonlinearFactorGraph& graph, const Values& theta, int maxIter = 100) { Values BatchOptimize(const NonlinearFactorGraph& graph, const Values& theta, int maxIter = 100) {

10
gtsam_unstable/nonlinear/tests/testConcurrentIncrementalFilter.cpp
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@ -38,14 +38,14 @@ namespace {
// Set up initial pose, odometry difference, loop closure difference, and initialization errors // Set up initial pose, odometry difference, loop closure difference, and initialization errors
const Pose3 poseInitial; const Pose3 poseInitial;
const Pose3 poseOdometry( Rot3::RzRyRx(Vector_(3, 0.05, 0.10, -0.75)), Point3(1.0, -0.25, 0.10) ); const Pose3 poseOdometry( Rot3::RzRyRx((Vec(3) << 0.05, 0.10, -0.75)), Point3(1.0, -0.25, 0.10) );
//const Pose3 poseError( Rot3::RzRyRx(Vector_(3, 0.01, 0.02, -0.1)), Point3(0.05, -0.05, 0.02) ); //const Pose3 poseError( Rot3::RzRyRx((Vec(3) << 0.01, 0.02, -0.1)), Point3(0.05, -0.05, 0.02) );
const Pose3 poseError( Rot3::RzRyRx(Vector_(3, 0.1, 0.02, -0.1)), Point3(0.5, -0.05, 0.2) ); const Pose3 poseError( Rot3::RzRyRx((Vec(3) << 0.1, 0.02, -0.1)), Point3(0.5, -0.05, 0.2) );
// Set up noise models for the factors // Set up noise models for the factors
const SharedDiagonal noisePrior = noiseModel::Isotropic::Sigma(6, 0.10); const SharedDiagonal noisePrior = noiseModel::Isotropic::Sigma(6, 0.10);
const SharedDiagonal noiseOdometery = noiseModel::Diagonal::Sigmas(Vector_(6, 0.1, 0.1, 0.1, 0.5, 0.5, 0.5)); const SharedDiagonal noiseOdometery = noiseModel::Diagonal::Sigmas((Vec(6) << 0.1, 0.1, 0.1, 0.5, 0.5, 0.5));
const SharedDiagonal noiseLoop = noiseModel::Diagonal::Sigmas(Vector_(6, 0.25, 0.25, 0.25, 1.0, 1.0, 1.0)); const SharedDiagonal noiseLoop = noiseModel::Diagonal::Sigmas((Vec(6) << 0.25, 0.25, 0.25, 1.0, 1.0, 1.0));
/* ************************************************************************* */ /* ************************************************************************* */
Values BatchOptimize(const NonlinearFactorGraph& graph, const Values& theta, int maxIter = 100) { Values BatchOptimize(const NonlinearFactorGraph& graph, const Values& theta, int maxIter = 100) {

8
gtsam_unstable/nonlinear/tests/testConcurrentIncrementalSmootherDL.cpp
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@ -39,13 +39,13 @@ namespace {
// Set up initial pose, odometry difference, loop closure difference, and initialization errors // Set up initial pose, odometry difference, loop closure difference, and initialization errors
const Pose3 poseInitial; const Pose3 poseInitial;
const Pose3 poseOdometry( Rot3::RzRyRx(Vector_(3, 0.05, 0.10, -0.75)), Point3(1.0, -0.25, 0.10) ); const Pose3 poseOdometry( Rot3::RzRyRx((Vec(3) << 0.05, 0.10, -0.75)), Point3(1.0, -0.25, 0.10) );
const Pose3 poseError( Rot3::RzRyRx(Vector_(3, 0.01, 0.02, -0.1)), Point3(0.05, -0.05, 0.02) ); const Pose3 poseError( Rot3::RzRyRx((Vec(3) << 0.01, 0.02, -0.1)), Point3(0.05, -0.05, 0.02) );
// Set up noise models for the factors // Set up noise models for the factors
const SharedDiagonal noisePrior = noiseModel::Isotropic::Sigma(6, 0.10); const SharedDiagonal noisePrior = noiseModel::Isotropic::Sigma(6, 0.10);
const SharedDiagonal noiseOdometery = noiseModel::Diagonal::Sigmas(Vector_(6, 0.1, 0.1, 0.1, 0.5, 0.5, 0.5)); const SharedDiagonal noiseOdometery = noiseModel::Diagonal::Sigmas((Vec(6) << 0.1, 0.1, 0.1, 0.5, 0.5, 0.5));
const SharedDiagonal noiseLoop = noiseModel::Diagonal::Sigmas(Vector_(6, 0.25, 0.25, 0.25, 1.0, 1.0, 1.0)); const SharedDiagonal noiseLoop = noiseModel::Diagonal::Sigmas((Vec(6) << 0.25, 0.25, 0.25, 1.0, 1.0, 1.0));
/* ************************************************************************* */ /* ************************************************************************* */
Values BatchOptimize(const NonlinearFactorGraph& graph, const Values& theta, int maxIter = 100) { Values BatchOptimize(const NonlinearFactorGraph& graph, const Values& theta, int maxIter = 100) {

8
gtsam_unstable/nonlinear/tests/testConcurrentIncrementalSmootherGN.cpp
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@ -38,13 +38,13 @@ namespace {
// Set up initial pose, odometry difference, loop closure difference, and initialization errors // Set up initial pose, odometry difference, loop closure difference, and initialization errors
const Pose3 poseInitial; const Pose3 poseInitial;
const Pose3 poseOdometry( Rot3::RzRyRx(Vector_(3, 0.05, 0.10, -0.75)), Point3(1.0, -0.25, 0.10) ); const Pose3 poseOdometry( Rot3::RzRyRx((Vec(3) << 0.05, 0.10, -0.75)), Point3(1.0, -0.25, 0.10) );
const Pose3 poseError( Rot3::RzRyRx(Vector_(3, 0.01, 0.02, -0.1)), Point3(0.05, -0.05, 0.02) ); const Pose3 poseError( Rot3::RzRyRx((Vec(3) << 0.01, 0.02, -0.1)), Point3(0.05, -0.05, 0.02) );
// Set up noise models for the factors // Set up noise models for the factors
const SharedDiagonal noisePrior = noiseModel::Isotropic::Sigma(6, 0.10); const SharedDiagonal noisePrior = noiseModel::Isotropic::Sigma(6, 0.10);
const SharedDiagonal noiseOdometery = noiseModel::Diagonal::Sigmas(Vector_(6, 0.1, 0.1, 0.1, 0.5, 0.5, 0.5)); const SharedDiagonal noiseOdometery = noiseModel::Diagonal::Sigmas((Vec(6) << 0.1, 0.1, 0.1, 0.5, 0.5, 0.5));
const SharedDiagonal noiseLoop = noiseModel::Diagonal::Sigmas(Vector_(6, 0.25, 0.25, 0.25, 1.0, 1.0, 1.0)); const SharedDiagonal noiseLoop = noiseModel::Diagonal::Sigmas((Vec(6) << 0.25, 0.25, 0.25, 1.0, 1.0, 1.0));
/* ************************************************************************* */ /* ************************************************************************* */
Values BatchOptimize(const NonlinearFactorGraph& graph, const Values& theta, int maxIter = 100) { Values BatchOptimize(const NonlinearFactorGraph& graph, const Values& theta, int maxIter = 100) {

4
gtsam_unstable/nonlinear/tests/testIncrementalFixedLagSmoother.cpp
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@ -59,8 +59,8 @@ TEST( IncrementalFixedLagSmoother, Example )
SETDEBUG("IncrementalFixedLagSmoother update", true); SETDEBUG("IncrementalFixedLagSmoother update", true);
// Set up parameters // Set up parameters
SharedDiagonal odometerNoise = noiseModel::Diagonal::Sigmas(Vector_(2, 0.1, 0.1)); SharedDiagonal odometerNoise = noiseModel::Diagonal::Sigmas((Vec(2) << 0.1, 0.1));
SharedDiagonal loopNoise = noiseModel::Diagonal::Sigmas(Vector_(2, 0.1, 0.1)); SharedDiagonal loopNoise = noiseModel::Diagonal::Sigmas((Vec(2) << 0.1, 0.1));
// Create a Fixed-Lag Smoother // Create a Fixed-Lag Smoother
typedef IncrementalFixedLagSmoother::KeyTimestampMap Timestamps; typedef IncrementalFixedLagSmoother::KeyTimestampMap Timestamps;