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cleaner variables

release/4.3a0
Varun Agrawal 2021-07-09 14:06:59 -04:00
parent 2ecad47b9e
commit 8b9e60156c
1 changed files with 16 additions and 15 deletions
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31
gtsam/slam/tests/testBetweenFactor.cpp
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@ -52,31 +52,31 @@ TEST(BetweenFactor, Rot3) {
// Constructor scalar
TEST(BetweenFactor, ConstructorScalar) {
SharedNoiseModel model;
double measured_value = 0.0;
BetweenFactor<double> factor(1, 2, measured_value, model);
double measured = 0.0;
BetweenFactor<double> factor(1, 2, measured, model);
}
/* ************************************************************************* */
// Constructor vector3
TEST(BetweenFactor, ConstructorVector3) {
SharedNoiseModel model = noiseModel::Isotropic::Sigma(3, 1.0);
Vector3 measured_value(1, 2, 3);
BetweenFactor<Vector3> factor(1, 2, measured_value, model);
Vector3 measured(1, 2, 3);
BetweenFactor<Vector3> factor(1, 2, measured, model);
}
/* ************************************************************************* */
// Constructor dynamic sized vector
TEST(BetweenFactor, ConstructorDynamicSizeVector) {
SharedNoiseModel model = noiseModel::Isotropic::Sigma(5, 1.0);
Vector measured_value(5); measured_value << 1, 2, 3, 4, 5;
BetweenFactor<Vector> factor(1, 2, measured_value, model);
Vector measured(5); measured << 1, 2, 3, 4, 5;
BetweenFactor<Vector> factor(1, 2, measured, model);
}
/* ************************************************************************* */
TEST(BetweenFactor, Point3Jacobians) {
SharedNoiseModel model = noiseModel::Isotropic::Sigma(3, 1.0);
Point3 measured_value(1, 2, 3);
BetweenFactor<Point3> factor(1, 2, measured_value, model);
Point3 measured(1, 2, 3);
BetweenFactor<Point3> factor(1, 2, measured, model);
Values values;
values.insert(1, Point3(0, 0, 0));
@ -89,8 +89,8 @@ TEST(BetweenFactor, Point3Jacobians) {
/* ************************************************************************* */
TEST(BetweenFactor, Rot3Jacobians) {
SharedNoiseModel model = noiseModel::Isotropic::Sigma(3, 1.0);
Rot3 measured_value = Rot3::Ry(M_PI_2);
BetweenFactor<Rot3> factor(1, 2, measured_value, model);
Rot3 measured = Rot3::Ry(M_PI_2);
BetweenFactor<Rot3> factor(1, 2, measured, model);
Values values;
values.insert(1, Rot3());
@ -103,13 +103,14 @@ TEST(BetweenFactor, Rot3Jacobians) {
/* ************************************************************************* */
TEST(BetweenFactor, Pose3Jacobians) {
SharedNoiseModel model = noiseModel::Isotropic::Sigma(6, 1.0);
Pose3 measured_value(Rot3(), Point3(1, 2, 3));
BetweenFactor<Pose3> factor(1, 2, measured_value, model);
Pose3 measured(Rot3(), Point3(1, 2, 3));
BetweenFactor<Pose3> factor(1, 2, measured, model);
Pose3 pose1, pose2(Rot3(), Point3(1, 2, 3));
Values values;
values.insert(1, Pose3());
values.insert(2, Pose3(Rot3(), Point3(1, 2, 3)));
Vector3 error = factor.evaluateError(Pose3(), Pose3(Rot3(), Point3(1, 2, 3)));
values.insert(1, pose1);
values.insert(2, pose2);
Vector3 error = factor.evaluateError(pose1, pose2);
EXPECT(assert_equal<Vector3>(Vector3::Zero(), error, 1e-9));
EXPECT_CORRECT_FACTOR_JACOBIANS(factor, values, 1e-7, 1e-5);
}