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)); | ||||
| } | ||||
| 
 | ||||
|  |  | |||
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