12345qiupeng
/
gtsam
1
0
Fork 0
Code Issues Pull Requests Packages Projects Releases Wiki Activity

change LieScalar to double

release/4.3a0
krunalchande 2014-11-19 13:14:49 -05:00
parent 06aa425536
commit e800ee3400
1 changed files with 2 additions and 2 deletions
Show Stats Download Patch File Download Diff File Expand all files Collapse all files

4
gtsam/navigation/tests/testMagFactor.cpp
View File

@ -48,7 +48,7 @@ Point3 bias(10, -10, 50);
Point3 scaled = scale * nM;
Point3 measured = nRb.inverse() * (scale * nM) + bias;
LieScalar s(scale * nM.norm());
double s = (scale * nM.norm());
Unit3 dir(nM);
SharedNoiseModel model = noiseModel::Isotropic::Sigma(3, 0.25);
@ -94,7 +94,7 @@ TEST( MagFactor, Factors ) {
// MagFactor2
MagFactor3 f3(1, 2, 3, measured, nRb, model);
EXPECT(assert_equal(zero(3),f3.evaluateError(s,dir,bias,H1,H2,H3),1e-5));
EXPECT(assert_equal(numericalDerivative11<Vector,LieScalar> //
EXPECT(assert_equal(numericalDerivative11<Vector,double> //
(boost::bind(&MagFactor3::evaluateError, &f3, _1, dir, bias, none, none, none), s),//
H1, 1e-7));
EXPECT(assert_equal(numericalDerivative11<Vector,Unit3> //