From afc3028ad5242413ef59e5a64ed5aa7fe64f7d7d Mon Sep 17 00:00:00 2001 From: Richard Roberts Date: Wed, 30 Dec 2009 18:41:33 +0000 Subject: [PATCH] Fixed bug in testPose2Factor optimize unit test where only the first expected value was checked. --- cpp/testPose2Factor.cpp | 4 ++-- 1 file changed, 2 insertions(+), 2 deletions(-) diff --git a/cpp/testPose2Factor.cpp b/cpp/testPose2Factor.cpp index 1d9cc2d6e..0205f5c3a 100644 --- a/cpp/testPose2Factor.cpp +++ b/cpp/testPose2Factor.cpp @@ -88,13 +88,13 @@ TEST(Pose2Factor, optimize) { ordering.push_back("p0"); ordering.push_back("p1"); NonlinearOptimizer optimizer(fg, ordering, config); - optimizer = optimizer.levenbergMarquardt(1e-10, 1e-10); + optimizer = optimizer.levenbergMarquardt(1e-15, 1e-15); Pose2 actual0 = optimizer.config()->get("p0"); Pose2 actual1 = optimizer.config()->get("p1"); Pose2 expected0 = Pose2(0,0,0); Pose2 expected1 = Pose2(1,2,M_PI_2); CHECK(assert_equal(expected0, actual0)); - CHECK(assert_equal(expected0, actual0)); + CHECK(assert_equal(expected1, actual1)); }