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Merge branch 'develop' into fix/isam2

release/4.3a0
Frank Dellaert 2018-09-28 22:11:34 -04:00
parent a87ce9bac4 e89d312ff0
commit bf24b467ab
1 changed files with 8 additions and 0 deletions
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8
tests/testGaussianBayesTreeB.cpp
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@ -317,8 +317,16 @@ TEST(GaussianBayesTree, shortcut_overlapping_separator)
5, 0, 6, 5, 0, 6,
0, -11, -12 0, -11, -12
).finished(); ).finished();
Matrix actualJointJ = joint.augmentedJacobian(); 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)); EXPECT(assert_equal(expectedJointJ, actualJointJ));
} }