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Some mode readable matrix types

release/4.3a0
dellaert 2014-10-11 23:06:57 +02:00
parent c776e87f78
commit e46a8b05eb
1 changed files with 7 additions and 9 deletions
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16
tests/testNonlinearFactor.cpp
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@ -197,8 +197,7 @@ TEST( NonlinearFactor, size )
/* ************************************************************************* */ /* ************************************************************************* */
TEST( NonlinearFactor, linearize_constraint1 ) TEST( NonlinearFactor, linearize_constraint1 )
{ {
Vector sigmas = (Vector(2) << 0.2, 0.0); SharedDiagonal constraint = noiseModel::Constrained::MixedSigmas(Vector2(0.2,0));
SharedDiagonal constraint = noiseModel::Constrained::MixedSigmas(sigmas);
Point2 mu(1., -1.); Point2 mu(1., -1.);
NonlinearFactorGraph::sharedFactor f0(new simulated2D::Prior(mu, constraint, X(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); GaussianFactor::shared_ptr actual = f0->linearize(config);
// create expected // 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, 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)); CHECK(assert_equal((const GaussianFactor&)expected, *actual));
} }
/* ************************************************************************* */ /* ************************************************************************* */
TEST( NonlinearFactor, linearize_constraint2 ) TEST( NonlinearFactor, linearize_constraint2 )
{ {
Vector sigmas = (Vector(2) << 0.2, 0.0); SharedDiagonal constraint = noiseModel::Constrained::MixedSigmas(Vector2(0.2,0));
SharedDiagonal constraint = noiseModel::Constrained::MixedSigmas(sigmas);
Point2 z3(1.,-1.); Point2 z3(1.,-1.);
simulated2D::Measurement f0(z3, constraint, X(1),L(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); GaussianFactor::shared_ptr actual = f0.linearize(config);
// create expected // create expected
Matrix A = (Matrix(2, 2) << 5.0, 0.0, 0.0, 1.0); Matrix2 A; A << 5.0, 0.0, 0.0, 1.0;
Vector b = (Vector(2) << -15., -3.); Vector2 b(-15., -3.);
JacobianFactor expected(X(1), -1*A, L(1), A, b, 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)); CHECK(assert_equal((const GaussianFactor&)expected, *actual));
} }