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release/4.3a0
dellaert 2014-11-23 11:38:34 +01:00
parent 5ab5e008ba
commit f8b7f204fe
3 changed files with 4 additions and 12 deletions
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7
gtsam/navigation/AHRSFactor.cpp
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@ -13,17 +13,12 @@
* @file AHRSFactor.cpp * @file AHRSFactor.cpp
* @author Krunal Chande * @author Krunal Chande
* @author Luca Carlone * @author Luca Carlone
* @author Frank Dellaert
* @date July 2014 * @date July 2014
**/ **/
#include <gtsam/navigation/AHRSFactor.h> #include <gtsam/navigation/AHRSFactor.h>
/* GTSAM includes */
#include <gtsam/nonlinear/NonlinearFactor.h>
#include <gtsam/linear/GaussianFactor.h>
#include <gtsam/navigation/ImuBias.h>
#include <gtsam/base/debug.h>
/* External or standard includes */ /* External or standard includes */
#include <ostream> #include <ostream>

5
gtsam/navigation/AHRSFactor.h
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@ -20,12 +20,7 @@
/* GTSAM includes */ /* GTSAM includes */
#include <gtsam/nonlinear/NonlinearFactor.h> #include <gtsam/nonlinear/NonlinearFactor.h>
#include <gtsam/linear/GaussianFactor.h>
#include <gtsam/navigation/ImuBias.h> #include <gtsam/navigation/ImuBias.h>
#include <gtsam/base/debug.h>
/* External or standard includes */
#include <ostream>
namespace gtsam { namespace gtsam {

4
gtsam/navigation/tests/testAHRSFactor.cpp
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@ -18,10 +18,11 @@
#include <gtsam/navigation/AHRSFactor.h> #include <gtsam/navigation/AHRSFactor.h>
#include <gtsam/nonlinear/Values.h> #include <gtsam/nonlinear/Values.h>
#include <gtsam/inference/Symbol.h> #include <gtsam/inference/Symbol.h>
#include <gtsam/navigation/ImuBias.h>
#include <gtsam/base/LieVector.h> #include <gtsam/base/LieVector.h>
#include <gtsam/base/TestableAssertions.h> #include <gtsam/base/TestableAssertions.h>
#include <gtsam/base/numericalDerivative.h> #include <gtsam/base/numericalDerivative.h>
#include <gtsam/base/debug.h>
#include <CppUnitLite/TestHarness.h> #include <CppUnitLite/TestHarness.h>
#include <boost/bind.hpp> #include <boost/bind.hpp>
@ -431,6 +432,7 @@ TEST (AHRSFactor, predictTest) {
/* ************************************************************************* */ /* ************************************************************************* */
#include <gtsam/linear/GaussianFactorGraph.h> #include <gtsam/linear/GaussianFactorGraph.h>
#include <gtsam/nonlinear/Marginals.h> #include <gtsam/nonlinear/Marginals.h>
TEST (AHRSFactor, graphTest) { TEST (AHRSFactor, graphTest) {
// linearization point // linearization point
Rot3 x1(Rot3::RzRyRx(0, 0, 0)); Rot3 x1(Rot3::RzRyRx(0, 0, 0));