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update proxy functions to use the Adjoint and AdjointTranpose methods

release/4.3a0
Varun Agrawal 2021-10-12 21:05:18 -04:00
parent 7c026666f9
commit f97e55b85b
1 changed files with 2 additions and 2 deletions
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4
gtsam/geometry/tests/testPose3.cpp
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@ -159,7 +159,7 @@ TEST(Pose3, Adjoint_jacobians)
// Check jacobians // Check jacobians
Matrix6 actualH1, actualH2, expectedH1, expectedH2; Matrix6 actualH1, actualH2, expectedH1, expectedH2;
std::function<Vector6(const Pose3&, const Vector6&)> Adjoint_proxy = std::function<Vector6(const Pose3&, const Vector6&)> Adjoint_proxy =
[&](const Pose3& T, const Vector6& xi) { return T.AdjointMap() * xi; }; [&](const Pose3& T, const Vector6& xi) { return T.Adjoint(xi); };
T.Adjoint(xi, actualH1, actualH2); T.Adjoint(xi, actualH1, actualH2);
expectedH1 = numericalDerivative21(Adjoint_proxy, T, xi); expectedH1 = numericalDerivative21(Adjoint_proxy, T, xi);
@ -198,7 +198,7 @@ TEST(Pose3, AdjointTranspose)
Matrix6 actualH1, actualH2, expectedH1, expectedH2; Matrix6 actualH1, actualH2, expectedH1, expectedH2;
std::function<Vector6(const Pose3&, const Vector6&)> AdjointTranspose_proxy = std::function<Vector6(const Pose3&, const Vector6&)> AdjointTranspose_proxy =
[&](const Pose3& T, const Vector6& xi) { [&](const Pose3& T, const Vector6& xi) {
return T.AdjointMap().transpose() * xi; return T.AdjointTranspose(xi);
}; };
T.AdjointTranspose(xi, actualH1, actualH2); T.AdjointTranspose(xi, actualH1, actualH2);