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modified test

release/4.3a0
yetongumich 2020-07-12 14:31:29 -04:00
parent 3d8641c0c3
commit eb1a2b8fb3
1 changed files with 4 additions and 3 deletions
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7
tests/testNonlinearOptimizer.cpp
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@ -459,11 +459,12 @@ TEST(NonlinearOptimizer, RobustMeanCalculation) {
init.insert(0, 100.0);
expected.insert(0, 3.33333333);
LevenbergMarquardtParams params;
DoglegParams params_dl;
params_dl.setRelativeErrorTol(1e-10);
auto gn_result = GaussNewtonOptimizer(fg, init).optimize();
auto lm_result = LevenbergMarquardtOptimizer(fg, init, params).optimize();
auto dl_result = DoglegOptimizer(fg, init).optimize();
auto lm_result = LevenbergMarquardtOptimizer(fg, init).optimize();
auto dl_result = DoglegOptimizer(fg, init, params_dl).optimize();
EXPECT(assert_equal(expected, gn_result, tol));
EXPECT(assert_equal(expected, lm_result, tol));