From e46a8b05eb31d8a46ebbc53fac5b251aeb0916d4 Mon Sep 17 00:00:00 2001 From: dellaert Date: Sat, 11 Oct 2014 23:06:57 +0200 Subject: [PATCH] Some mode readable matrix types --- tests/testNonlinearFactor.cpp | 16 +++++++--------- 1 file changed, 7 insertions(+), 9 deletions(-) diff --git a/tests/testNonlinearFactor.cpp b/tests/testNonlinearFactor.cpp index 390257f02..739fe52fb 100644 --- a/tests/testNonlinearFactor.cpp +++ b/tests/testNonlinearFactor.cpp @@ -197,8 +197,7 @@ TEST( NonlinearFactor, size ) /* ************************************************************************* */ TEST( NonlinearFactor, linearize_constraint1 ) { - Vector sigmas = (Vector(2) << 0.2, 0.0); - SharedDiagonal constraint = noiseModel::Constrained::MixedSigmas(sigmas); + SharedDiagonal constraint = noiseModel::Constrained::MixedSigmas(Vector2(0.2,0)); Point2 mu(1., -1.); NonlinearFactorGraph::sharedFactor f0(new simulated2D::Prior(mu, constraint, X(1))); @@ -208,17 +207,16 @@ TEST( NonlinearFactor, linearize_constraint1 ) GaussianFactor::shared_ptr actual = f0->linearize(config); // create expected - Vector b = (Vector(2) << 0., -3.); + Vector2 b(0., -3.); JacobianFactor expected(X(1), (Matrix(2, 2) << 5.0, 0.0, 0.0, 1.0), b, - noiseModel::Constrained::MixedSigmas((Vector(2) << 1.0, 0.0))); + noiseModel::Constrained::MixedSigmas(Vector2(1,0))); CHECK(assert_equal((const GaussianFactor&)expected, *actual)); } /* ************************************************************************* */ TEST( NonlinearFactor, linearize_constraint2 ) { - Vector sigmas = (Vector(2) << 0.2, 0.0); - SharedDiagonal constraint = noiseModel::Constrained::MixedSigmas(sigmas); + SharedDiagonal constraint = noiseModel::Constrained::MixedSigmas(Vector2(0.2,0)); Point2 z3(1.,-1.); simulated2D::Measurement f0(z3, constraint, X(1),L(1)); @@ -229,10 +227,10 @@ TEST( NonlinearFactor, linearize_constraint2 ) GaussianFactor::shared_ptr actual = f0.linearize(config); // create expected - Matrix A = (Matrix(2, 2) << 5.0, 0.0, 0.0, 1.0); - Vector b = (Vector(2) << -15., -3.); + Matrix2 A; A << 5.0, 0.0, 0.0, 1.0; + Vector2 b(-15., -3.); JacobianFactor expected(X(1), -1*A, L(1), A, b, - noiseModel::Constrained::MixedSigmas((Vector(2) << 1.0, 0.0))); + noiseModel::Constrained::MixedSigmas(Vector2(1,0))); CHECK(assert_equal((const GaussianFactor&)expected, *actual)); }