From a8811beb31ad030bd7456dec3382c7e36e750df8 Mon Sep 17 00:00:00 2001 From: lvzhaoyang Date: Sun, 7 Dec 2014 00:39:27 -0500 Subject: [PATCH] Fix testSAMFactors --- matlab/unstable_examples/testTSAMFactors.m | 12 ++++++------ 1 file changed, 6 insertions(+), 6 deletions(-) diff --git a/matlab/unstable_examples/testTSAMFactors.m b/matlab/unstable_examples/testTSAMFactors.m index abdfc5922..341725723 100644 --- a/matlab/unstable_examples/testTSAMFactors.m +++ b/matlab/unstable_examples/testTSAMFactors.m @@ -48,12 +48,12 @@ optimizer = LevenbergMarquardtOptimizer(graph, initial, params); result = optimizer.optimize(); % Check result -CHECK('error',result.at(100).equals(b1,1e-5)) -CHECK('error',result.at(10).equals(origin,1e-5)) -CHECK('error',result.at(1).equals(Point2(0,1),1e-5)) -CHECK('error',result.at(2).equals(Point2(0,1),1e-5)) -CHECK('error',result.at(20).equals(origin,1e-5)) -CHECK('error',result.at(200).equals(b2,1e-5)) +CHECK('error',result.atPose2(100).equals(b1,1e-5)) +CHECK('error',result.atPose2(10).equals(origin,1e-5)) +CHECK('error',result.atPoint2(1).equals(Point2(0,1),1e-5)) +CHECK('error',result.atPoint2(2).equals(Point2(0,1),1e-5)) +CHECK('error',result.atPose2(20).equals(origin,1e-5)) +CHECK('error',result.atPose2(200).equals(b2,1e-5)) % Check error CHECK('error',abs(graph.error(result))<1e-9)