Renamed variables in linearFactorN unit test
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37bc303492
commit
cb22a0bc52
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@ -190,10 +190,10 @@ TEST( LinearFactor, linearFactorN){
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Vector_(2,
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2.0, -1.0))));
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LinearFactor combined(f);
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MutableLinearFactor combinedFactor(f);
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vector<pair<string, Matrix> > meas;
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meas.push_back(make_pair("x1", Matrix_(8,2,
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vector<pair<string, Matrix> > combinedMeasurement;
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combinedMeasurement.push_back(make_pair("x1", Matrix_(8,2,
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1.0, 0.0,
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0.0, 1.0,
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-10.0, 0.0,
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@ -202,7 +202,7 @@ TEST( LinearFactor, linearFactorN){
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0.0, 0.0,
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0.0, 0.0,
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0.0, 0.0)));
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meas.push_back(make_pair("x2", Matrix_(8,2,
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combinedMeasurement.push_back(make_pair("x2", Matrix_(8,2,
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0.0, 0.0,
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0.0, 0.0,
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10.0, 0.0,
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@ -211,7 +211,7 @@ TEST( LinearFactor, linearFactorN){
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0.0, -10.0,
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0.0, 0.0,
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0.0, 0.0)));
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meas.push_back(make_pair("x3", Matrix_(8,2,
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combinedMeasurement.push_back(make_pair("x3", Matrix_(8,2,
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0.0, 0.0,
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0.0, 0.0,
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0.0, 0.0,
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@ -220,7 +220,7 @@ TEST( LinearFactor, linearFactorN){
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0.0, 10.0,
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-10.0, 0.0,
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0.0, -10.0)));
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meas.push_back(make_pair("x4", Matrix_(8,2,
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combinedMeasurement.push_back(make_pair("x4", Matrix_(8,2,
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0.0, 0.0,
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0.0, 0.0,
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0.0, 0.0,
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@ -232,8 +232,8 @@ TEST( LinearFactor, linearFactorN){
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Vector b = Vector_(8,
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10.0, 5.0, 1.0, -2.0, 1.5, -1.5, 2.0, -1.0);
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LinearFactor expected(meas, b);
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CHECK(assert_equal(expected,combined));
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LinearFactor expected(combinedMeasurement, b);
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CHECK(combinedFactor.equals(expected));
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}
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/* ************************************************************************* */
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