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Added expected values for hessianBlockDiagonal

release/4.3a0
dellaert 2014-02-14 13:09:04 -05:00
parent 4ce7d47bce
commit d9431d3d40
1 changed files with 8 additions and 1 deletions
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7
gtsam/linear/tests/testHessianFactorUnordered.cpp
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@ -460,10 +460,17 @@ 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<Key,Matrix> expectedBD;
expected.insert(make_pair(0,G11));
expected.insert(make_pair(1,G22));
//EXPECT(assert_equal(expectedBD, factor.hessianBlockDiagonal()));
}
/* ************************************************************************* */