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remove AAA style for Dellaert style on simpler types

release/4.3a0
Asa Hammond 2021-02-25 18:12:08 -08:00
parent 38ec991731
commit df76b3b51f
1 changed files with 5 additions and 5 deletions
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10
gtsam/navigation/tests/testConstantVelocityFactor.cpp
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@ -32,13 +32,12 @@
TEST(ConstantVelocityFactor, VelocityFactor) {
using namespace gtsam;
const auto tol = double{1e-5};
const double tol{1e-5};
const auto x1 = Key{1};
const auto x2 = Key{2};
const Key x1 = Key{1};
const Key x2 = Key{2};
const auto dt = double{1.0};
const auto mu = double{1000};
const double dt{1.0};
// moving upward with groundtruth velocity"
const auto origin = NavState{Pose3{Rot3::Yaw(0), Point3{0.0, 0.0, 0.0}}, Velocity3{0.0, 0.0, 0.0}};
@ -49,6 +48,7 @@ TEST(ConstantVelocityFactor, VelocityFactor) {
const auto state2 = NavState{Pose3{Rot3::Yaw(0), Point3{0.0, 0.0, 2.0}}, Velocity3{0.0, 0.0, 1.0}};
const double mu{1000};
const auto noise_model = noiseModel::Constrained::All(3, mu);
const auto factor = ConstantVelocityFactor(x1, x2, dt, noise_model);