diff --git a/gtsam/linear/tests/testHessianFactorUnordered.cpp b/gtsam/linear/tests/testHessianFactorUnordered.cpp index faa1ebd65..0df621688 100644 --- a/gtsam/linear/tests/testHessianFactorUnordered.cpp +++ b/gtsam/linear/tests/testHessianFactorUnordered.cpp @@ -460,11 +460,18 @@ TEST(HessianFactor, hessianDiagonal) HessianFactor factor(0, 1, G11, G12, g1, G22, g2, f); + // hessianDiagonal VectorValues expected; expected.insert(0, (Vector(1) << 1)); expected.insert(1, (Vector(2) << 1,1)); EXPECT(assert_equal(expected, factor.hessianDiagonal())); -} + + // hessianBlockDiagonal + map expectedBD; + expected.insert(make_pair(0,G11)); + expected.insert(make_pair(1,G22)); + //EXPECT(assert_equal(expectedBD, factor.hessianBlockDiagonal())); + } /* ************************************************************************* */ int main() { TestResult tr; return TestRegistry::runAllTests(tr);}