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Fixed spelling mistake

release/4.3a0
Frank Dellaert 2020-09-30 15:41:43 -04:00
parent 6b739b17be
commit dc1057f314
1 changed files with 11 additions and 11 deletions
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22
gtsam_unstable/linear/tests/testQPSolver.cpp
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@ -157,21 +157,21 @@ TEST(QPSolver, iterate) {
currentSolution.insert(X(1), Z_1x1); currentSolution.insert(X(1), Z_1x1);
currentSolution.insert(X(2), Z_1x1); currentSolution.insert(X(2), Z_1x1);
std::vector<VectorValues> expecteds(4), expectedDuals(4); std::vector<VectorValues> expected(4), expectedDuals(4);
expecteds[0].insert(X(1), kZero); expected[0].insert(X(1), kZero);
expecteds[0].insert(X(2), kZero); expected[0].insert(X(2), kZero);
expectedDuals[0].insert(1, (Vector(1) << 3).finished()); expectedDuals[0].insert(1, (Vector(1) << 3).finished());
expectedDuals[0].insert(2, kZero); expectedDuals[0].insert(2, kZero);
expecteds[1].insert(X(1), (Vector(1) << 1.5).finished()); expected[1].insert(X(1), (Vector(1) << 1.5).finished());
expecteds[1].insert(X(2), kZero); expected[1].insert(X(2), kZero);
expectedDuals[1].insert(3, (Vector(1) << 1.5).finished()); expectedDuals[1].insert(3, (Vector(1) << 1.5).finished());
expecteds[2].insert(X(1), (Vector(1) << 1.5).finished()); expected[2].insert(X(1), (Vector(1) << 1.5).finished());
expecteds[2].insert(X(2), (Vector(1) << 0.75).finished()); expected[2].insert(X(2), (Vector(1) << 0.75).finished());
expecteds[3].insert(X(1), (Vector(1) << 1.5).finished()); expected[3].insert(X(1), (Vector(1) << 1.5).finished());
expecteds[3].insert(X(2), (Vector(1) << 0.5).finished()); expected[3].insert(X(2), (Vector(1) << 0.5).finished());
auto workingSet = auto workingSet =
solver.identifyActiveConstraints(qp.inequalities, currentSolution); solver.identifyActiveConstraints(qp.inequalities, currentSolution);
@ -186,12 +186,12 @@ TEST(QPSolver, iterate) {
// Forst10book do not follow exactly what we implemented from Nocedal06book. // Forst10book do not follow exactly what we implemented from Nocedal06book.
// Specifically, we do not re-identify active constraints and // Specifically, we do not re-identify active constraints and
// do not recompute dual variables after every step!!! // do not recompute dual variables after every step!!!
// CHECK(assert_equal(expecteds[it], state.values, 1e-10)); // CHECK(assert_equal(expected[it], state.values, 1e-10));
// CHECK(assert_equal(expectedDuals[it], state.duals, 1e-10)); // CHECK(assert_equal(expectedDuals[it], state.duals, 1e-10));
it++; it++;
} }
CHECK(assert_equal(expecteds[3], state.values, 1e-10)); CHECK(assert_equal(expected[3], state.values, 1e-10));
} }
/* ************************************************************************* */ /* ************************************************************************* */