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Add inline comments on commented-out unit tests

release/4.3a0
David Wisth 2021-02-20 23:13:43 +00:00
parent 5b0bd08e7b
commit 8f18ce931b
2 changed files with 7 additions and 2 deletions
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4
gtsam/slam/tests/testOrientedPlane3Factor.cpp
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@ -82,7 +82,9 @@ TEST(OrientedPlane3Factor, lm_translation_error) {
EXPECT(assert_equal(optimized_plane_landmark, expected_plane_landmark)); 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) { TEST (OrientedPlane3Factor, lm_rotation_error) {
// Tests one pose, two measurements of the landmark that differ in angle only. // Tests one pose, two measurements of the landmark that differ in angle only.

5
gtsam_unstable/slam/tests/testLocalOrientedPlane3Factor.cpp
View File

@ -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) { TEST (LocalOrientedPlane3Factor, lm_rotation_error) {
// Tests one pose, two measurements of the landmark that differ in angle only. // Tests one pose, two measurements of the landmark that differ in angle only.
@ -86,7 +88,8 @@ TEST (LocalOrientedPlane3Factor, lm_rotation_error) {
NonlinearFactorGraph graph; 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(); Pose3 init_pose = Pose3::identity();
graph.addPrior(X(0), init_pose, noiseModel::Isotropic::Sigma(6, 0.001)); graph.addPrior(X(0), init_pose, noiseModel::Isotropic::Sigma(6, 0.001));