Merge branch 'develop' into fix/isam2
commit
bf24b467ab
|
@ -317,8 +317,16 @@ TEST(GaussianBayesTree, shortcut_overlapping_separator)
|
|||
5, 0, 6,
|
||||
0, -11, -12
|
||||
).finished();
|
||||
|
||||
Matrix actualJointJ = joint.augmentedJacobian();
|
||||
|
||||
// PR 315: sign of rows in joint are immaterial
|
||||
if (signbit(expectedJointJ(0, 2)) != signbit(actualJointJ(0, 2)))
|
||||
expectedJointJ.row(0) = -expectedJointJ.row(0);
|
||||
|
||||
if (signbit(expectedJointJ(1, 2)) != signbit(actualJointJ(1, 2)))
|
||||
expectedJointJ.row(1) = -expectedJointJ.row(1);
|
||||
|
||||
EXPECT(assert_equal(expectedJointJ, actualJointJ));
|
||||
}
|
||||
|
||||
|
|
Loading…
Reference in New Issue