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fixed testTSAMFactors.cpp

release/4.3a0
Mike Bosse 2014-12-22 09:39:51 +01:00
parent 06c3696176
commit a6f612844f
1 changed files with 4 additions and 4 deletions
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8
gtsam_unstable/slam/tests/testTSAMFactors.cpp
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@ -119,16 +119,16 @@ TEST( OdometryFactorBase, all ) {
// Use numerical derivatives to calculate the Jacobians // Use numerical derivatives to calculate the Jacobians
Matrix H1Expected, H2Expected, H3Expected, H4Expected; Matrix H1Expected, H2Expected, H3Expected, H4Expected;
H1Expected = numericalDerivative11<Vector2, Pose2>( H1Expected = numericalDerivative11<Vector3, Pose2>(
boost::bind(&OdometryFactorBase::evaluateError, &factor, _1, pose1, base2, boost::bind(&OdometryFactorBase::evaluateError, &factor, _1, pose1, base2,
pose2, boost::none, boost::none, boost::none, boost::none), base1); pose2, boost::none, boost::none, boost::none, boost::none), base1);
H2Expected = numericalDerivative11<Vector2, Pose2>( H2Expected = numericalDerivative11<Vector3, Pose2>(
boost::bind(&OdometryFactorBase::evaluateError, &factor, base1, _1, base2, boost::bind(&OdometryFactorBase::evaluateError, &factor, base1, _1, base2,
pose2, boost::none, boost::none, boost::none, boost::none), pose1); pose2, boost::none, boost::none, boost::none, boost::none), pose1);
H3Expected = numericalDerivative11<Vector2, Pose2>( H3Expected = numericalDerivative11<Vector3, Pose2>(
boost::bind(&OdometryFactorBase::evaluateError, &factor, base1, pose1, _1, boost::bind(&OdometryFactorBase::evaluateError, &factor, base1, pose1, _1,
pose2, boost::none, boost::none, boost::none, boost::none), base2); pose2, boost::none, boost::none, boost::none, boost::none), base2);
H4Expected = numericalDerivative11<Vector2, Pose2>( H4Expected = numericalDerivative11<Vector3, Pose2>(
boost::bind(&OdometryFactorBase::evaluateError, &factor, base1, pose1, boost::bind(&OdometryFactorBase::evaluateError, &factor, base1, pose1,
base2, _1, boost::none, boost::none, boost::none, boost::none), base2, _1, boost::none, boost::none, boost::none, boost::none),
pose2); pose2);