From bfa8fbac994af2b5c5c939587d152b4d4a3a7226 Mon Sep 17 00:00:00 2001 From: Frank Dellaert Date: Sat, 4 Jul 2015 23:39:51 -0700 Subject: [PATCH] Use retract so tests pass for both Rot3/Quaternion --- gtsam/nonlinear/tests/testAdaptAutoDiff.cpp | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/gtsam/nonlinear/tests/testAdaptAutoDiff.cpp b/gtsam/nonlinear/tests/testAdaptAutoDiff.cpp index 59f8cb7cd..377d6cd34 100644 --- a/gtsam/nonlinear/tests/testAdaptAutoDiff.cpp +++ b/gtsam/nonlinear/tests/testAdaptAutoDiff.cpp @@ -163,7 +163,7 @@ Vector2 adapted(const Vector9& P, const Vector3& X) { /* ************************************************************************* */ namespace example { -Camera camera(Pose3(Rot3::rodriguez(0.1, 0.2, 0.3), Point3(0, 5, 0)), +Camera camera(Pose3(Rot3().retract(Vector3(0.1, 0.2, 0.3)), Point3(0, 5, 0)), Cal3Bundler0(1, 0, 0)); Point3 point(10, 0, -5); // negative Z-axis convention of Snavely! Vector9 P = Camera().localCoordinates(camera);