12345qiupeng
/
gtsam
1
0
Fork 0
Code Issues Pull Requests Packages Projects Releases Wiki Activity

Another attempt at windows debugging

release/4.3a0
Frank Dellaert 2025-04-20 17:24:24 -04:00
parent a3b7f03a65
commit b5293efc56
1 changed files with 8 additions and 8 deletions
Show Stats Download Patch File Download Diff File Expand all files Collapse all files

16
gtsam/geometry/tests/testPose3.cpp
View File

@ -891,14 +891,14 @@ TEST(Pose3, ExpmapDerivative) {
//******************************************************************************
namespace test_cases {
std::vector<Vector3> small{{0, 0, 0}, //
{1e-5, 0, 0}, {0, 1e-5, 0}, {0, 0, 1e-5}, //,
{1e-4, 0, 0}, {0, 1e-4, 0}, {0, 0, 1e-4}};
std::vector<Vector3> large{{0, 0, 0}, {1, 0, 0}, {0, 1, 0},
{0, 0, 1}, {.1, .2, .3}, {1, -2, 3}};
auto omegas = [](bool nearZero) { return nearZero ? small : large; };
std::vector<Vector3> vs{{1, 0, 0}, {0, 1, 0}, {0, 0, 1},
{.4, .3, .2}, {4, 5, 6}, {-10, -20, 30}};
static const std::vector<Vector3> small{ {0, 0, 0}, //
{1e-5, 0, 0}, {0, 1e-5, 0}, {0, 0, 1e-5}, //,
{1e-4, 0, 0}, {0, 1e-4, 0}, {0, 0, 1e-4} };
static const std::vector<Vector3> large{ {0, 0, 0}, {1, 0, 0}, {0, 1, 0},
{0, 0, 1}, {.1, .2, .3}, {1, -2, 3} };
auto omegas = [](bool nearZero) -> std::vector<Vector3>&{ return nearZero ? small : large; };
static const std::vector<Vector3> vs{ {1, 0, 0}, {0, 1, 0}, {0, 0, 1},
{.4, .3, .2}, {4, 5, 6}, {-10, -20, 30} };
} // namespace test_cases
//******************************************************************************