From eb3e0067ef629d03f8b9f850f1d0687e3fe5a327 Mon Sep 17 00:00:00 2001 From: Kai Ni Date: Mon, 18 Jan 2010 07:11:34 +0000 Subject: [PATCH] simplify covariance formulation --- cpp/testIterative.cpp | 8 ++++---- cpp/testNonlinearOptimizer.cpp | 8 ++++---- 2 files changed, 8 insertions(+), 8 deletions(-) diff --git a/cpp/testIterative.cpp b/cpp/testIterative.cpp index 68a52bb62..56abd4ed3 100644 --- a/cpp/testIterative.cpp +++ b/cpp/testIterative.cpp @@ -115,8 +115,8 @@ TEST( Iterative, conjugateGradientDescent_soft_constraint ) config.insert(2, Pose2(1.5,0.,0.)); Pose2Graph graph; - graph.addPrior(1, Pose2(0.,0.,0.), sharedGaussian(Vector_(3, 1e-10, 1e-10, 1e-10))); - graph.addConstraint(1,2, Pose2(1.,0.,0.), eye(3)); + graph.addPrior(1, Pose2(0.,0.,0.), Isotropic::Sigma(3, 1e-10)); + graph.addConstraint(1,2, Pose2(1.,0.,0.), Isotropic::Sigma(3, 1)); VectorConfig zeros; zeros.insert("x1",zero(3)); @@ -141,8 +141,8 @@ TEST( Iterative, subgraphPCG ) theta_bar.insert(2, Pose2(1.5,0.,0.)); Pose2Graph graph; - graph.addPrior(1, Pose2(0.,0.,0.), sharedGaussian(Vector_(3, 1e-10, 1e-10, 1e-10))); - graph.addConstraint(1,2, Pose2(1.,0.,0.), eye(3)); + graph.addPrior(1, Pose2(0.,0.,0.), Isotropic::Sigma(3, 1e-10)); + graph.addConstraint(1,2, Pose2(1.,0.,0.), Isotropic::Sigma(3, 1)); VectorConfig zeros; zeros.insert("x1",zero(3)); diff --git a/cpp/testNonlinearOptimizer.cpp b/cpp/testNonlinearOptimizer.cpp index e703e2ed1..b8303c8d9 100644 --- a/cpp/testNonlinearOptimizer.cpp +++ b/cpp/testNonlinearOptimizer.cpp @@ -161,8 +161,8 @@ TEST( NonlinearOptimizer, Factorization ) config->insert(2, Pose2(1.5,0.,0.)); boost::shared_ptr graph(new Pose2Graph); - graph->addPrior(1, Pose2(0.,0.,0.), Diagonal::Sigmas(Vector_(3, 1e-10, 1e-10, 1e-10))); - graph->addConstraint(1,2, Pose2(1.,0.,0.), Diagonal::Sigmas(Vector_(3, 1, 1, 1))); + graph->addPrior(1, Pose2(0.,0.,0.), Isotropic::Sigma(3, 1e-10)); + graph->addConstraint(1,2, Pose2(1.,0.,0.), Isotropic::Sigma(3, 1)); boost::shared_ptr ordering(new Ordering); ordering->push_back(Pose2Config::Key(1)); @@ -187,8 +187,8 @@ TEST( NonlinearOptimizer, SubgraphPCG ) config->insert(2, Pose2(1.5,0.,0.)); boost::shared_ptr graph(new Pose2Graph); - graph->addPrior(1, Pose2(0.,0.,0.), Diagonal::Sigmas(Vector_(3, 1e-10, 1e-10, 1e-10))); - graph->addConstraint(1,2, Pose2(1.,0.,0.), Diagonal::Sigmas(Vector_(3, 1, 1, 1))); + graph->addPrior(1, Pose2(0.,0.,0.), Isotropic::Sigma(3, 1e-10)); + graph->addConstraint(1,2, Pose2(1.,0.,0.), Isotropic::Sigma(3, 1)); boost::shared_ptr ordering(new Ordering); ordering->push_back(Pose2Config::Key(1));