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