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Small re-factor, no more finished()

release/4.3a0
dellaert 2014-02-16 12:17:00 -05:00
parent f8024bd6dd
commit e88b214b40
1 changed files with 5 additions and 7 deletions
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12
gtsam/linear/tests/testJacobianFactorUnordered.cpp
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@ -131,18 +131,16 @@ TEST(JabobianFactor, Hessian_conversion) {
1.57, 2.695, -1.1, -2.35, 1.57, 2.695, -1.1, -2.35,
2.695, 11.3125, -0.65, -10.225, 2.695, 11.3125, -0.65, -10.225,
-1.1, -0.65, 1, 0.5, -1.1, -0.65, 1, 0.5,
-2.35, -10.225, 0.5, 9.25).finished(), -2.35, -10.225, 0.5, 9.25),
(Vector(4) << -7.885, -28.5175, 2.75, 25.675).finished(), (Vector(4) << -7.885, -28.5175, 2.75, 25.675),
73.1725); 73.1725);
JacobianFactor expected(0, (Matrix(2,4) << JacobianFactor expected(0, (Matrix(2,4) <<
1.2530, 2.1508, -0.8779, -1.8755, 1.2530, 2.1508, -0.8779, -1.8755,
0, 2.5858, 0.4789, -2.3943).finished(), 0, 2.5858, 0.4789, -2.3943),
(Vector(2) << -6.2929, -5.7941).finished()); (Vector(2) << -6.2929, -5.7941));
JacobianFactor actual(hessian); EXPECT(assert_equal(expected, JacobianFactor(hessian), 1e-3));
EXPECT(assert_equal(expected, actual, 1e-3));
} }
/* ************************************************************************* */ /* ************************************************************************* */