12345qiupeng
/
gtsam
1
0
Fork 0
Code Issues Pull Requests Packages Projects Releases Wiki Activity

allocate noise model once

release/4.3a0
Kai Ni 2010-02-23 05:28:39 +00:00
parent 3ae81002be
commit 5594d162a2
1 changed files with 5 additions and 7 deletions
Show Stats Download Patch File Download Diff File Expand all files Collapse all files

12
cpp/testGaussianBayesNet.cpp
View File

@ -91,17 +91,15 @@ TEST( GaussianBayesNet, optimize2 )
// Create empty graph
GaussianFactorGraph fg;
SharedDiagonal noise = noiseModel::Unit::Create(1);
fg.add("y", eye(1), 2*ones(1), noiseModel::Unit::Create(1));
fg.add("y", eye(1), 2*ones(1), noise);
fg.add("x", eye(1),"y", -eye(1), -ones(1),
noiseModel::Unit::Create(1));
fg.add("x", eye(1),"y", -eye(1), -ones(1), noise);
fg.add("y", eye(1),"z", -eye(1), -ones(1),
noiseModel::Unit::Create(1));
fg.add("y", eye(1),"z", -eye(1), -ones(1), noise);
fg.add("z", eye(1),"x", -eye(1), 2*ones(1),
noiseModel::Unit::Create(1));
fg.add("z", eye(1),"x", -eye(1), 2*ones(1), noise);
Ordering ordering; ordering += "x", "y", "z";
GaussianBayesNet cbn = fg.eliminate(ordering);