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release/4.3a0
dellaert 2014-12-12 07:45:09 +01:00
parent 8cc813f03e
commit fa7071bdd8
1 changed files with 6 additions and 4 deletions
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10
gtsam_unstable/slam/tests/testTOAFactor.cpp
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@ -61,8 +61,10 @@ public:
/// @{ /// @{
/** /**
* Add an Expression factor directly * Directly add ExpressionFactor that implements |h(x)-z|^2_R
* Which implements |h(x)-z|^2_R * @param h expression that implements measurement function
* @param z measurement
* @param R model
*/ */
template<typename T> template<typename T>
void addExpressionFactor(const Expression<T>& h, const T& z, void addExpressionFactor(const Expression<T>& h, const T& z,
@ -201,8 +203,8 @@ TEST( TOAFactor, RealExperiment1 ) {
ExpressionFactorGraph graph; ExpressionFactorGraph graph;
for (size_t i = 0; i < 4; i++) { for (size_t i = 0; i < 4; i++) {
for (size_t j = 0; j < 15; j++) { for (size_t j = 0; j < 15; j++) {
Double_ predictTOA_ij(&Event::toa, unknownEvents[j], microphones[i]); Double_ h_ij(&Event::toa, unknownEvents[j], microphones[i]);
graph.addExpressionFactor(predictTOA_ij, data[j][i], model); graph.addExpressionFactor(h_ij, data[j][i], model);
} }
} }