Removed degenerate example
parent
daf5938577
commit
ccae63fd42
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@ -261,13 +261,8 @@ TEST( GaussianFactorGraph, multiplyHessianAdd )
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/* ************************************************************************* */
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static GaussianFactorGraph createGaussianFactorGraphWithHessianFactor() {
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GaussianFactorGraph gfg = createSimpleGaussianFactorGraph();
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#ifdef LUCA
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gfg += HessianFactor(1, 2, 100*ones(2,2), 200*ones(2,2), (Vec(2) << 0.0, 1.0),
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400*ones(2,2), (Vec(2) << 1.0, 1.0), 3.0);
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#else
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gfg += HessianFactor(1, 2, 100*eye(2,2), zeros(2,2), (Vec(2) << 0.0, 1.0),
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400*eye(2,2), (Vec(2) << 1.0, 1.0), 3.0);
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#endif
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return gfg;
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}
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@ -282,16 +277,9 @@ TEST( GaussianFactorGraph, multiplyHessianAdd2 )
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(2, (Vec(2) << 5,6));
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VectorValues expected;
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#ifdef LUCA
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// expected from matlab: -450 -450 2900 2900 6750 6850
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expected.insert(0, (Vec(2) << -450, -450));
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expected.insert(1, (Vec(2) << 2900, 2900));
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expected.insert(2, (Vec(2) << 6750, 6850));
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#else
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expected.insert(0, (Vec(2) << -450, -450));
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expected.insert(1, (Vec(2) << 300, 400));
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expected.insert(2, (Vec(2) << 2950, 3450));
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#endif
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VectorValues actual;
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gfg.multiplyHessianAdd(1.0, x, actual);
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