From 723d00a40a8b561aaa7c5c116069ba17cd193c7b Mon Sep 17 00:00:00 2001 From: Fan Jiang Date: Mon, 17 Aug 2020 19:21:06 -0400 Subject: [PATCH] Small fixes --- CMakeLists.txt | 2 ++ python/gtsam/tests/test_FrobeniusFactor.py | 4 ++-- 2 files changed, 4 insertions(+), 2 deletions(-) diff --git a/CMakeLists.txt b/CMakeLists.txt index 44710c977..a0e9e11d4 100644 --- a/CMakeLists.txt +++ b/CMakeLists.txt @@ -66,6 +66,7 @@ add_custom_target(uninstall if(GTSAM_UNSTABLE_AVAILABLE) option(GTSAM_BUILD_UNSTABLE "Enable/Disable libgtsam_unstable" ON) option(GTSAM_UNSTABLE_BUILD_PYTHON "Enable/Disable Python wrapper for libgtsam_unstable" ON) + option(GTSAM_UNSTABLE_INSTALL_MATLAB_TOOLBOX "Enable/Disable MATLAB wrapper for libgtsam_unstable" ON) endif() option(BUILD_SHARED_LIBS "Build shared gtsam library, instead of static" ON) option(GTSAM_USE_QUATERNIONS "Enable/Disable using an internal Quaternion representation for rotations instead of rotation matrices. If enable, Rot3::EXPMAP is enforced by default." OFF) @@ -518,6 +519,7 @@ print_enabled_config(${GTSAM_BUILD_TYPE_POSTFIXES} "Put build type in lib if(GTSAM_UNSTABLE_AVAILABLE) print_enabled_config(${GTSAM_BUILD_UNSTABLE} "Build libgtsam_unstable ") print_enabled_config(${GTSAM_UNSTABLE_BUILD_PYTHON} "Build GTSAM unstable Python ") + print_enabled_config(${GTSAM_UNSTABLE_INSTALL_MATLAB_TOOLBOX} "Build MATLAB Toolbox for unstable") endif() if(NOT MSVC AND NOT XCODE_VERSION) diff --git a/python/gtsam/tests/test_FrobeniusFactor.py b/python/gtsam/tests/test_FrobeniusFactor.py index f3f5354bb..e808627f5 100644 --- a/python/gtsam/tests/test_FrobeniusFactor.py +++ b/python/gtsam/tests/test_FrobeniusFactor.py @@ -13,7 +13,7 @@ import unittest import numpy as np from gtsam import (Rot3, SO3, SO4, FrobeniusBetweenFactorSO4, FrobeniusFactorSO4, - FrobeniusWormholeFactor, SOn) + ShonanFactor3, SOn) id = SO4() v1 = np.array([0, 0, 0, 0.1, 0, 0]) @@ -43,7 +43,7 @@ class TestFrobeniusFactorSO4(unittest.TestCase): """Test creation of a factor that calculates Shonan error.""" R1 = SO3.Expmap(v1[3:]) R2 = SO3.Expmap(v2[3:]) - factor = FrobeniusWormholeFactor(1, 2, Rot3(R1.between(R2).matrix()), p=4) + factor = ShonanFactor3(1, 2, Rot3(R1.between(R2).matrix()), p=4) I4 = SOn(4) Q1 = I4.retract(v1) Q2 = I4.retract(v2)