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Fix the Jacobian factor constructor to work with the last QP tests.

release/4.3a0
= 2018-11-05 17:52:55 -05:00
parent f8c13a862d
commit b05bd66ba2
2 changed files with 2 additions and 2 deletions
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2
gtsam/linear/JacobianFactor.cpp
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@ -115,7 +115,7 @@ JacobianFactor::JacobianFactor(const HessianFactor& factor) :
boost::tie(maxrank, success) = choleskyCareful(Ab_.matrix()); boost::tie(maxrank, success) = choleskyCareful(Ab_.matrix());
// Check for indefinite system // Check for indefinite system
if (!success) if (!success and maxrank < factor.rows() - 1)
throw IndeterminantLinearSystemException(factor.keys().front()); throw IndeterminantLinearSystemException(factor.keys().front());
// Zero out lower triangle // Zero out lower triangle

2
gtsam_unstable/linear/tests/testQPSolver.cpp
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@ -322,7 +322,7 @@ TEST(QPSolver, HS268) { // This test needs an extra order of magnitude of tolera
CHECK(assert_equal(5.73107049e-07,error_actual, 1e-6)) CHECK(assert_equal(5.73107049e-07,error_actual, 1e-6))
} }
TEST_DISABLED(QPSolver, QPTEST) { // REQUIRES Jacobian Fix TEST(QPSolver, QPTEST) { // REQUIRES Jacobian Fix
QP problem = QPSParser("QPTEST.QPS").Parse(); QP problem = QPSParser("QPTEST.QPS").Parse();
VectorValues actualSolution; VectorValues actualSolution;
boost::tie(actualSolution, boost::tuples::ignore) = QPSolver(problem).optimize(); boost::tie(actualSolution, boost::tuples::ignore) = QPSolver(problem).optimize();