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Removed degenerate example

release/4.3a0
Frank Dellaert 2013-10-29 04:59:17 +00:00
parent daf5938577
commit ccae63fd42
1 changed files with 0 additions and 12 deletions
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12
gtsam/linear/tests/testGaussianFactorGraphUnordered.cpp
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@ -261,13 +261,8 @@ TEST( GaussianFactorGraph, multiplyHessianAdd )
/* ************************************************************************* */ /* ************************************************************************* */
static GaussianFactorGraph createGaussianFactorGraphWithHessianFactor() { static GaussianFactorGraph createGaussianFactorGraphWithHessianFactor() {
GaussianFactorGraph gfg = createSimpleGaussianFactorGraph(); GaussianFactorGraph gfg = createSimpleGaussianFactorGraph();
#ifdef LUCA
gfg += HessianFactor(1, 2, 100*ones(2,2), 200*ones(2,2), (Vec(2) << 0.0, 1.0),
400*ones(2,2), (Vec(2) << 1.0, 1.0), 3.0);
#else
gfg += HessianFactor(1, 2, 100*eye(2,2), zeros(2,2), (Vec(2) << 0.0, 1.0), gfg += HessianFactor(1, 2, 100*eye(2,2), zeros(2,2), (Vec(2) << 0.0, 1.0),
400*eye(2,2), (Vec(2) << 1.0, 1.0), 3.0); 400*eye(2,2), (Vec(2) << 1.0, 1.0), 3.0);
#endif
return gfg; return gfg;
} }
@ -282,16 +277,9 @@ TEST( GaussianFactorGraph, multiplyHessianAdd2 )
(2, (Vec(2) << 5,6)); (2, (Vec(2) << 5,6));
VectorValues expected; VectorValues expected;
#ifdef LUCA
// expected from matlab: -450 -450 2900 2900 6750 6850
expected.insert(0, (Vec(2) << -450, -450));
expected.insert(1, (Vec(2) << 2900, 2900));
expected.insert(2, (Vec(2) << 6750, 6850));
#else
expected.insert(0, (Vec(2) << -450, -450)); expected.insert(0, (Vec(2) << -450, -450));
expected.insert(1, (Vec(2) << 300, 400)); expected.insert(1, (Vec(2) << 300, 400));
expected.insert(2, (Vec(2) << 2950, 3450)); expected.insert(2, (Vec(2) << 2950, 3450));
#endif
VectorValues actual; VectorValues actual;
gfg.multiplyHessianAdd(1.0, x, actual); gfg.multiplyHessianAdd(1.0, x, actual);