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Use symbols

release/4.3a0
dellaert 2015-06-21 21:09:31 -07:00
parent c30bd3e654
commit a3ed636fce
1 changed files with 7 additions and 5 deletions
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12
gtsam/linear/tests/testScatter.cpp
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@ -17,10 +17,12 @@
#include <gtsam/linear/Scatter.h>
#include <gtsam/linear/GaussianFactorGraph.h>
#include <gtsam/inference/Symbol.h>
#include <CppUnitLite/TestHarness.h>
using namespace std;
using namespace gtsam;
using symbol_shorthand::X;
/* ************************************************************************* */
TEST(HessianFactor, CombineAndEliminate) {
@ -43,14 +45,14 @@ TEST(HessianFactor, CombineAndEliminate) {
Vector3 s2(3.6, 3.6, 3.6);
GaussianFactorGraph gfg;
gfg.add(1, A01, b0, noiseModel::Diagonal::Sigmas(s0, true));
gfg.add(0, A10, 1, A11, b1, noiseModel::Diagonal::Sigmas(s1, true));
gfg.add(1, A21, b2, noiseModel::Diagonal::Sigmas(s2, true));
gfg.add(X(1), A01, b0, noiseModel::Diagonal::Sigmas(s0, true));
gfg.add(X(0), A10, X(1), A11, b1, noiseModel::Diagonal::Sigmas(s1, true));
gfg.add(X(1), A21, b2, noiseModel::Diagonal::Sigmas(s2, true));
Scatter scatter(gfg);
EXPECT_LONGS_EQUAL(2, scatter.size());
EXPECT_LONGS_EQUAL(0, scatter.at(0).slot);
EXPECT_LONGS_EQUAL(1, scatter.at(1).slot);
EXPECT(assert_equal(X(1), scatter.at(0).key));
EXPECT(assert_equal(X(0), scatter.at(1).key));
EXPECT_LONGS_EQUAL(n, scatter.at(0).dimension);
EXPECT_LONGS_EQUAL(n, scatter.at(1).dimension);
}