From 8f18ce931b43862408b770367fc505fe5b2b0824 Mon Sep 17 00:00:00 2001 From: David Wisth Date: Sat, 20 Feb 2021 23:13:43 +0000 Subject: [PATCH] Add inline comments on commented-out unit tests --- gtsam/slam/tests/testOrientedPlane3Factor.cpp | 4 +++- gtsam_unstable/slam/tests/testLocalOrientedPlane3Factor.cpp | 5 ++++- 2 files changed, 7 insertions(+), 2 deletions(-) diff --git a/gtsam/slam/tests/testOrientedPlane3Factor.cpp b/gtsam/slam/tests/testOrientedPlane3Factor.cpp index d1e361bc3..a0ef7b91d 100644 --- a/gtsam/slam/tests/testOrientedPlane3Factor.cpp +++ b/gtsam/slam/tests/testOrientedPlane3Factor.cpp @@ -82,7 +82,9 @@ TEST(OrientedPlane3Factor, lm_translation_error) { EXPECT(assert_equal(optimized_plane_landmark, expected_plane_landmark)); } -// // ************************************************************************* +// ************************************************************************* +// TODO As described in PR #564 after correcting the derivatives in +// OrientedPlane3Factor this test fails. It should be debugged and re-enabled. /* TEST (OrientedPlane3Factor, lm_rotation_error) { // Tests one pose, two measurements of the landmark that differ in angle only. diff --git a/gtsam_unstable/slam/tests/testLocalOrientedPlane3Factor.cpp b/gtsam_unstable/slam/tests/testLocalOrientedPlane3Factor.cpp index 06a5ae688..9f6fe5b50 100644 --- a/gtsam_unstable/slam/tests/testLocalOrientedPlane3Factor.cpp +++ b/gtsam_unstable/slam/tests/testLocalOrientedPlane3Factor.cpp @@ -78,6 +78,8 @@ TEST(LocalOrientedPlane3Factor, lm_translation_error) { } // ************************************************************************* +// TODO As described in PR #564 after correcting the derivatives in +// OrientedPlane3Factor this test fails. It should be debugged and re-enabled. /* TEST (LocalOrientedPlane3Factor, lm_rotation_error) { // Tests one pose, two measurements of the landmark that differ in angle only. @@ -86,7 +88,8 @@ TEST (LocalOrientedPlane3Factor, lm_rotation_error) { NonlinearFactorGraph graph; - // Init pose and prior. Pose Prior is needed since a single plane measurement does not fully constrain the pose + // Init pose and prior. Pose Prior is needed since a single plane measurement + // does not fully constrain the pose Pose3 init_pose = Pose3::identity(); graph.addPrior(X(0), init_pose, noiseModel::Isotropic::Sigma(6, 0.001));