Fix x/y mismatch in unit tests
parent
4b29c0370d
commit
ef2cd5dab5
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@ -38,7 +38,6 @@ struct traits<TestPartialPriorFactor> : public Testable<TestPartialPriorFactor>
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};
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}
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/* ************************************************************************* */
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TEST(PartialPriorFactor, JacobianAtIdentity)
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{
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@ -46,7 +45,7 @@ TEST(PartialPriorFactor, JacobianAtIdentity)
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Pose3 measurement = Pose3::identity();
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SharedNoiseModel model = noiseModel::Isotropic::Sigma(1, 0.25);
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TestPartialPriorFactor factor(poseKey, kIndexTy, measurement.translation().x(), model);
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TestPartialPriorFactor factor(poseKey, kIndexTy, measurement.translation().y(), model);
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// Create a linearization point at the zero-error point
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Pose3 pose = Pose3::identity();
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@ -63,14 +62,13 @@ TEST(PartialPriorFactor, JacobianAtIdentity)
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CHECK(assert_equal(expectedH1, actualH1, 1e-5));
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}
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/* ************************************************************************* */
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TEST(PartialPriorFactor, JacobianPartialTranslation) {
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Key poseKey(1);
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Pose3 measurement(Rot3::RzRyRx(0.15, -0.30, 0.45), Point3(-5.0, 8.0, -11.0));
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SharedNoiseModel model = noiseModel::Isotropic::Sigma(1, 0.25);
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TestPartialPriorFactor factor(poseKey, kIndexTy, measurement.translation().x(), model);
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TestPartialPriorFactor factor(poseKey, kIndexTy, measurement.translation().y(), model);
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// Create a linearization point at the zero-error point
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Pose3 pose(Rot3::RzRyRx(0.15, -0.30, 0.45), Point3(-5.0, 8.0, -11.0));
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