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Conversion from Hessian can have NULL node model

release/4.3a0
dellaert 2014-02-16 12:15:52 -05:00
parent 17e2221395
commit f8024bd6dd
2 changed files with 2 additions and 3 deletions
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2
gtsam/linear/JacobianFactor.cpp
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@ -131,7 +131,7 @@ namespace gtsam {
Matrix::Zero(maxrank, Ab_.matrix().cols()); Matrix::Zero(maxrank, Ab_.matrix().cols());
// FIXME: replace with triangular system // FIXME: replace with triangular system
Ab_.rowEnd() = maxrank; Ab_.rowEnd() = maxrank;
model_ = noiseModel::Unit::Create(maxrank); model_ = SharedDiagonal(); // should be same as Unit::Create(maxrank);
} }
/* ************************************************************************* */ /* ************************************************************************* */

3
gtsam/linear/tests/testJacobianFactorUnordered.cpp
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@ -138,8 +138,7 @@ TEST(JabobianFactor, Hessian_conversion) {
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).finished(),
(Vector(2) << -6.2929, -5.7941).finished(), (Vector(2) << -6.2929, -5.7941).finished());
noiseModel::Unit::Create(2));
JacobianFactor actual(hessian); JacobianFactor actual(hessian);