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Correct Eigen comma initialization

release/4.3a0
Sungtae An 2015-01-01 18:12:45 -05:00
parent e13243b140
commit fcd705f716
2 changed files with 21 additions and 21 deletions
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24
gtsam/slam/tests/testRegularHessianFactor.cpp
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@ -34,18 +34,18 @@ const double tol = 1e-5;
/* ************************************************************************* */ /* ************************************************************************* */
TEST(RegularHessianFactor, ConstructorNWay) TEST(RegularHessianFactor, ConstructorNWay)
{ {
Matrix G11 = (Matrix(2,2) << 111, 112, 113, 114); Matrix G11 = (Matrix(2,2) << 111, 112, 113, 114).finished();
Matrix G12 = (Matrix(2,2) << 121, 122, 123, 124); Matrix G12 = (Matrix(2,2) << 121, 122, 123, 124).finished();
Matrix G13 = (Matrix(2,2) << 131, 132, 133, 134); Matrix G13 = (Matrix(2,2) << 131, 132, 133, 134).finished();
Matrix G22 = (Matrix(2,2) << 221, 222, 222, 224); Matrix G22 = (Matrix(2,2) << 221, 222, 222, 224).finished();
Matrix G23 = (Matrix(2,2) << 231, 232, 233, 234); Matrix G23 = (Matrix(2,2) << 231, 232, 233, 234).finished();
Matrix G33 = (Matrix(2,2) << 331, 332, 332, 334); Matrix G33 = (Matrix(2,2) << 331, 332, 332, 334).finished();
Vector g1 = (Vector(2) << -7, -9); Vector g1 = (Vector(2) << -7, -9).finished();
Vector g2 = (Vector(2) << -9, 1); Vector g2 = (Vector(2) << -9, 1).finished();
Vector g3 = (Vector(2) << 2, 3); Vector g3 = (Vector(2) << 2, 3).finished();
double f = 10; double f = 10;
@ -68,9 +68,9 @@ TEST(RegularHessianFactor, ConstructorNWay)
EXPECT(assert_equal(Y,AtA*X)); EXPECT(assert_equal(Y,AtA*X));
VectorValues x = map_list_of<Key, Vector> VectorValues x = map_list_of<Key, Vector>
(0, (Vector(2) << 1,2)) (0, (Vector(2) << 1,2).finished())
(1, (Vector(2) << 3,4)) (1, (Vector(2) << 3,4).finished())
(3, (Vector(2) << 5,6)); (3, (Vector(2) << 5,6).finished());
VectorValues expected; VectorValues expected;
expected.insert(0, Y.segment<2>(0)); expected.insert(0, Y.segment<2>(0));

18
gtsam/slam/tests/testRegularJacobianFactor.cpp
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@ -35,8 +35,8 @@ namespace {
(make_pair(2, 3*Matrix3::Identity())); (make_pair(2, 3*Matrix3::Identity()));
// RHS and sigmas // RHS and sigmas
const Vector b = (Vector(3) << 1., 2., 3.); const Vector b = (Vector(3) << 1., 2., 3.).finished();
const SharedDiagonal noise = noiseModel::Diagonal::Sigmas((Vector(3) << 0.5,0.5,0.5)); const SharedDiagonal noise = noiseModel::Diagonal::Sigmas((Vector(3) << 0.5,0.5,0.5).finished());
} }
namespace simple2 { namespace simple2 {
@ -47,7 +47,7 @@ namespace {
(make_pair(2, 6*Matrix3::Identity())); (make_pair(2, 6*Matrix3::Identity()));
// RHS // RHS
const Vector b2 = (Vector(3) << 2., 4., 6.); const Vector b2 = (Vector(3) << 2., 4., 6.).finished();
} }
} }
@ -179,15 +179,15 @@ TEST(RegularJacobian, multiplyHessianAdd)
// arbitrary vector X // arbitrary vector X
VectorValues X; VectorValues X;
X.insert(0, (Vector(3) << 10.,20.,30.)); X.insert(0, (Vector(3) << 10.,20.,30.).finished());
X.insert(1, (Vector(3) << 10.,20.,30.)); X.insert(1, (Vector(3) << 10.,20.,30.).finished());
X.insert(2, (Vector(3) << 10.,20.,30.)); X.insert(2, (Vector(3) << 10.,20.,30.).finished());
// arbitrary vector Y // arbitrary vector Y
VectorValues Y; VectorValues Y;
Y.insert(0, (Vector(3) << 10.,10.,10.)); Y.insert(0, (Vector(3) << 10.,10.,10.).finished());
Y.insert(1, (Vector(3) << 20.,20.,20.)); Y.insert(1, (Vector(3) << 20.,20.,20.).finished());
Y.insert(2, (Vector(3) << 30.,30.,30.)); Y.insert(2, (Vector(3) << 30.,30.,30.).finished());
// multiplyHessianAdd Y += alpha*A'A*X // multiplyHessianAdd Y += alpha*A'A*X
double alpha = 2.0; double alpha = 2.0;