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Fix x/y mismatch in unit tests

release/4.3a0
Milo Knowles 2021-03-26 08:59:44 -04:00
parent 4b29c0370d
commit ef2cd5dab5
1 changed files with 2 additions and 4 deletions
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6
gtsam_unstable/slam/tests/testPartialPriorFactor.cpp
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@ -38,7 +38,6 @@ struct traits<TestPartialPriorFactor> : public Testable<TestPartialPriorFactor>
}; };
} }
/* ************************************************************************* */ /* ************************************************************************* */
TEST(PartialPriorFactor, JacobianAtIdentity) TEST(PartialPriorFactor, JacobianAtIdentity)
{ {
@ -46,7 +45,7 @@ TEST(PartialPriorFactor, JacobianAtIdentity)
Pose3 measurement = Pose3::identity(); Pose3 measurement = Pose3::identity();
SharedNoiseModel model = noiseModel::Isotropic::Sigma(1, 0.25); 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 // Create a linearization point at the zero-error point
Pose3 pose = Pose3::identity(); Pose3 pose = Pose3::identity();
@ -63,14 +62,13 @@ TEST(PartialPriorFactor, JacobianAtIdentity)
CHECK(assert_equal(expectedH1, actualH1, 1e-5)); CHECK(assert_equal(expectedH1, actualH1, 1e-5));
} }
/* ************************************************************************* */ /* ************************************************************************* */
TEST(PartialPriorFactor, JacobianPartialTranslation) { TEST(PartialPriorFactor, JacobianPartialTranslation) {
Key poseKey(1); Key poseKey(1);
Pose3 measurement(Rot3::RzRyRx(0.15, -0.30, 0.45), Point3(-5.0, 8.0, -11.0)); 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); 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 // 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)); Pose3 pose(Rot3::RzRyRx(0.15, -0.30, 0.45), Point3(-5.0, 8.0, -11.0));