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Fixed some tests/warnings in quaternion mode

release/4.3a0
dellaert 2014-11-03 00:59:19 +01:00
parent ff036ac05c
commit e0c4d84dd7
2 changed files with 6 additions and 4 deletions
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4
gtsam_unstable/nonlinear/tests/testAdaptAutoDiff.cpp
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@ -188,7 +188,7 @@ TEST(Expression, AutoDiff3) {
Matrix29 H1;
Matrix23 H2;
Point2 actual2 = snavely(P, X, H1, H2);
EXPECT(assert_equal(expected,actual,1e-9));
EXPECT(assert_equal(expected,actual2,1e-9));
EXPECT(assert_equal(E1,H1,1e-8));
}
@ -200,7 +200,7 @@ TEST(Expression, Snavely) {
typedef AdaptAutoDiff<SnavelyProjection, Point2, Camera, Point3> Adaptor;
Expression<Point2> expression(Adaptor(), P, X);
#ifdef GTSAM_USE_QUATERNIONS
EXPECT_LONGS_EQUAL(480,expression.traceSize()); // Todo, should be zero
EXPECT_LONGS_EQUAL(400,expression.traceSize()); // Todo, should be zero
#else
EXPECT_LONGS_EQUAL(432,expression.traceSize()); // Todo, should be zero
#endif

6
gtsam_unstable/nonlinear/tests/testExpressionFactor.cpp
View File

@ -165,6 +165,7 @@ TEST(ExpressionFactor, Binary) {
char raw[size];
ExecutionTrace<Point2> trace;
Point2 value = binary.traceExecution(values, trace, raw);
EXPECT(assert_equal(Point2(),value, 1e-9));
// trace.print();
// Expected Jacobians
@ -208,8 +209,8 @@ TEST(ExpressionFactor, Shallow) {
size_t expectedTraceSize = sizeof(Unary::Record) + sizeof(Binary::Record);
EXPECT_LONGS_EQUAL(112, sizeof(Unary::Record));
#ifdef GTSAM_USE_QUATERNIONS
EXPECT_LONGS_EQUAL(464, sizeof(Binary::Record));
LONGS_EQUAL(112+464, expectedTraceSize);
EXPECT_LONGS_EQUAL(352, sizeof(Binary::Record));
LONGS_EQUAL(112+352, expectedTraceSize);
#else
EXPECT_LONGS_EQUAL(400, sizeof(Binary::Record));
LONGS_EQUAL(112+400, expectedTraceSize);
@ -220,6 +221,7 @@ TEST(ExpressionFactor, Shallow) {
char raw[size];
ExecutionTrace<Point2> trace;
Point2 value = expression.traceExecution(values, trace, raw);
EXPECT(assert_equal(Point2(),value, 1e-9));
// trace.print();
// Expected Jacobians