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Merge pull request #310 from borglab/fix/x32-unit-tests 

Fix 32-bit unit test failures
release/4.3a0
Frank Dellaert 2020-05-15 08:48:21 -04:00 committed by GitHub
parent b1bb0c9ed5 b73f03646d
commit a76c0a20ee
No known key found for this signature in database
GPG Key ID: 4AEE18F83AFDEB23
3 changed files with 7 additions and 7 deletions
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6
gtsam/base/SymmetricBlockMatrix.h
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@ -76,7 +76,7 @@ namespace gtsam {
blockStart_(0) blockStart_(0)
{ {
fillOffsets(dimensions.begin(), dimensions.end(), appendOneDimension); fillOffsets(dimensions.begin(), dimensions.end(), appendOneDimension);
matrix_.resize(variableColOffsets_.back(), variableColOffsets_.back()); matrix_.setZero(variableColOffsets_.back(), variableColOffsets_.back());
assertInvariants(); assertInvariants();
} }
@ -86,7 +86,7 @@ namespace gtsam {
blockStart_(0) blockStart_(0)
{ {
fillOffsets(firstBlockDim, lastBlockDim, appendOneDimension); fillOffsets(firstBlockDim, lastBlockDim, appendOneDimension);
matrix_.resize(variableColOffsets_.back(), variableColOffsets_.back()); matrix_.setZero(variableColOffsets_.back(), variableColOffsets_.back());
assertInvariants(); assertInvariants();
} }
@ -95,7 +95,7 @@ namespace gtsam {
SymmetricBlockMatrix(const CONTAINER& dimensions, const Matrix& matrix, bool appendOneDimension = false) : SymmetricBlockMatrix(const CONTAINER& dimensions, const Matrix& matrix, bool appendOneDimension = false) :
blockStart_(0) blockStart_(0)
{ {
matrix_.resize(matrix.rows(), matrix.cols()); matrix_.setZero(matrix.rows(), matrix.cols());
matrix_.triangularView<Eigen::Upper>() = matrix.triangularView<Eigen::Upper>(); matrix_.triangularView<Eigen::Upper>() = matrix.triangularView<Eigen::Upper>();
fillOffsets(dimensions.begin(), dimensions.end(), appendOneDimension); fillOffsets(dimensions.begin(), dimensions.end(), appendOneDimension);
if(matrix_.rows() != matrix_.cols()) if(matrix_.rows() != matrix_.cols())

6
gtsam/geometry/tests/testLine3.cpp
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@ -2,10 +2,10 @@
#include <gtsam/base/Testable.h> #include <gtsam/base/Testable.h>
#include <gtsam/base/numericalDerivative.h> #include <gtsam/base/numericalDerivative.h>
#include <gtsam/geometry/Line3.h> #include <gtsam/geometry/Line3.h>
#include <gtsam/slam/expressions.h>
#include <gtsam/slam/PriorFactor.h>
#include <gtsam/nonlinear/ExpressionFactor.h> #include <gtsam/nonlinear/ExpressionFactor.h>
#include <gtsam/nonlinear/expressionTesting.h> #include <gtsam/nonlinear/expressionTesting.h>
#include <gtsam/slam/PriorFactor.h>
#include <gtsam/slam/expressions.h>
using namespace gtsam; using namespace gtsam;
@ -146,7 +146,7 @@ TEST(Line3, projection) {
SharedNoiseModel model = noiseModel::Isotropic::Sigma(2, 0.1); SharedNoiseModel model = noiseModel::Isotropic::Sigma(2, 0.1);
Unit3_ projected_(wL_, &Line3::project); Unit3_ projected_(wL_, &Line3::project);
ExpressionFactor<Unit3> f(model, expected, projected_); ExpressionFactor<Unit3> f(model, expected, projected_);
EXPECT_CORRECT_FACTOR_JACOBIANS(f, val, 1e-5, 1e-7); EXPECT_CORRECT_FACTOR_JACOBIANS(f, val, 1e-5, 1e-5);
} }
int main() { int main() {

2
gtsam/navigation/tests/testAHRSFactor.cpp
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@ -342,7 +342,7 @@ TEST( AHRSFactor, fistOrderExponential ) {
//****************************************************************************** //******************************************************************************
TEST( AHRSFactor, FirstOrderPreIntegratedMeasurements ) { TEST( AHRSFactor, FirstOrderPreIntegratedMeasurements ) {
// Linearization point // Linearization point
Vector3 bias; ///< Current estimate of rotation rate bias Vector3 bias = Vector3::Zero(); ///< Current estimate of rotation rate bias
Pose3 body_P_sensor(Rot3::Expmap(Vector3(0, 0.1, 0.1)), Point3(1, 0, 1)); Pose3 body_P_sensor(Rot3::Expmap(Vector3(0, 0.1, 0.1)), Point3(1, 0, 1));