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Fixed testConcurrentIncrementalFilter

release/4.3a0
Richard Roberts 2013-08-19 22:07:32 +00:00
parent 7ce91c7b27
commit ae958ad0f5
1 changed files with 1 additions and 4 deletions
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5
gtsam_unstable/nonlinear/tests/testConcurrentIncrementalFilter.cpp
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@ -31,9 +31,6 @@
#include <gtsam/base/TestableAssertions.h> #include <gtsam/base/TestableAssertions.h>
#include <CppUnitLite/TestHarness.h> #include <CppUnitLite/TestHarness.h>
#include <tbb/tbb.h>
tbb::task_scheduler_init init(1);
using namespace std; using namespace std;
using namespace gtsam; using namespace gtsam;
@ -514,7 +511,7 @@ TEST( ConcurrentIncrementalFilter, update_and_marginalize_2 )
partialGraph.push_back(BetweenFactor<Pose3>(1, 2, poseOdometry, noiseOdometery)); partialGraph.push_back(BetweenFactor<Pose3>(1, 2, poseOdometry, noiseOdometery));
partialGraph.push_back(BetweenFactor<Pose3>(2, 3, poseOdometry, noiseOdometery)); partialGraph.push_back(BetweenFactor<Pose3>(2, 3, poseOdometry, noiseOdometery));
GaussianFactorGraph linearGraph = *partialGraph.linearize(newValues); GaussianFactorGraph linearGraph = *partialGraph.linearize(optimalValues);
GaussianFactorGraph marginal = *linearGraph.eliminatePartialMultifrontal(vector<Key>(keysToMove.begin(), keysToMove.end()), EliminateCholesky).second; GaussianFactorGraph marginal = *linearGraph.eliminatePartialMultifrontal(vector<Key>(keysToMove.begin(), keysToMove.end()), EliminateCholesky).second;