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Fixed bug in testPose2Factor optimize unit test where only the first expected value was checked.

release/4.3a0
Richard Roberts 2009-12-30 18:41:33 +00:00
parent 793a9d58ae
commit afc3028ad5
1 changed files with 2 additions and 2 deletions
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4
cpp/testPose2Factor.cpp
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@ -88,13 +88,13 @@ TEST(Pose2Factor, optimize) {
ordering.push_back("p0"); ordering.push_back("p0");
ordering.push_back("p1"); ordering.push_back("p1");
NonlinearOptimizer<Pose2Graph, Pose2Config> optimizer(fg, ordering, config); NonlinearOptimizer<Pose2Graph, Pose2Config> 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 actual0 = optimizer.config()->get("p0");
Pose2 actual1 = optimizer.config()->get("p1"); Pose2 actual1 = optimizer.config()->get("p1");
Pose2 expected0 = Pose2(0,0,0); Pose2 expected0 = Pose2(0,0,0);
Pose2 expected1 = Pose2(1,2,M_PI_2); Pose2 expected1 = Pose2(1,2,M_PI_2);
CHECK(assert_equal(expected0, actual0)); CHECK(assert_equal(expected0, actual0));
CHECK(assert_equal(expected0, actual0)); CHECK(assert_equal(expected1, actual1));
} }