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Fix Matrix_(...) to Mat() <<... in gtsam/slam

release/4.3a0
Jing Dong 2013-11-13 05:34:27 +00:00
parent 7612e3ac43
commit 55f65339aa
2 changed files with 9 additions and 9 deletions
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8
gtsam/slam/tests/testProjectionFactor.cpp
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@ -154,8 +154,8 @@ TEST( ProjectionFactor, Jacobian ) {
factor.evaluateError(pose, point, H1Actual, H2Actual);
// The expected Jacobians
Matrix H1Expected = Matrix_(2, 6, 0., -554.256, 0., -92.376, 0., 0., 554.256, 0., 0., 0., -92.376, 0.);
Matrix H2Expected = Matrix_(2, 3, 92.376, 0., 0., 0., 92.376, 0.);
Matrix H1Expected = (Mat(2, 6) << 0., -554.256, 0., -92.376, 0., 0., 554.256, 0., 0., 0., -92.376, 0.);
Matrix H2Expected = (Mat(2, 3) << 92.376, 0., 0., 0., 92.376, 0.);
// Verify the Jacobians are correct
CHECK(assert_equal(H1Expected, H1Actual, 1e-3));
@ -180,8 +180,8 @@ TEST( ProjectionFactor, JacobianWithTransform ) {
factor.evaluateError(pose, point, H1Actual, H2Actual);
// The expected Jacobians
Matrix H1Expected = Matrix_(2, 6, -92.376, 0., 577.350, 0., 92.376, 0., -9.2376, -577.350, 0., 0., 0., 92.376);
Matrix H2Expected = Matrix_(2, 3, 0., -92.376, 0., 0., 0., -92.376);
Matrix H1Expected = (Mat(2, 6) << -92.376, 0., 577.350, 0., 92.376, 0., -9.2376, -577.350, 0., 0., 0., 92.376);
Matrix H2Expected = (Mat(2, 3) << 0., -92.376, 0., 0., 0., -92.376);
// Verify the Jacobians are correct
CHECK(assert_equal(H1Expected, H1Actual, 1e-3));

10
gtsam/slam/tests/testStereoFactor.cpp
View File

@ -31,7 +31,7 @@
using namespace std;
using namespace gtsam;
static Pose3 camera1(Matrix_(3,3,
static Pose3 camera1((Matrix) (Mat(3, 3) <<
1., 0., 0.,
0.,-1., 0.,
0., 0.,-1.
@ -144,10 +144,10 @@ TEST( StereoFactor, Jacobian ) {
factor.evaluateError(pose, point, H1Actual, H2Actual);
// The expected Jacobians
Matrix H1Expected = Matrix_(3, 6, 0.0, -625.0, 0.0, -100.0, 0.0, 0.0,
Matrix H1Expected = (Mat(3, 6) << 0.0, -625.0, 0.0, -100.0, 0.0, 0.0,
0.0, -625.0, 0.0, -100.0, 0.0, -8.0,
625.0, 0.0, 0.0, 0.0, -100.0, 0.0);
Matrix H2Expected = Matrix_(3, 3, 100.0, 0.0, 0.0,
Matrix H2Expected = (Mat(3, 3) << 100.0, 0.0, 0.0,
100.0, 0.0, 8.0,
0.0, 100.0, 0.0);
@ -172,10 +172,10 @@ TEST( StereoFactor, JacobianWithTransform ) {
factor.evaluateError(pose, point, H1Actual, H2Actual);
// The expected Jacobians
Matrix H1Expected = Matrix_(3, 6, -100.0, 0.0, 650.0, 0.0, 100.0, 0.0,
Matrix H1Expected = (Mat(3, 6) << -100.0, 0.0, 650.0, 0.0, 100.0, 0.0,
-100.0, -8.0, 649.2, -8.0, 100.0, 0.0,
-10.0, -650.0, 0.0, 0.0, 0.0, 100.0);
Matrix H2Expected = Matrix_(3, 3, 0.0, -100.0, 0.0,
Matrix H2Expected = (Mat(3, 3) << 0.0, -100.0, 0.0,
8.0, -100.0, 0.0,
0.0, 0.0, -100.0);