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simplify covariance formulation

release/4.3a0
Kai Ni 2010-01-18 07:11:34 +00:00
parent 6a163d1a84
commit eb3e0067ef
2 changed files with 8 additions and 8 deletions
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8
cpp/testIterative.cpp
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@ -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));

8
cpp/testNonlinearOptimizer.cpp
View File

@ -161,8 +161,8 @@ TEST( NonlinearOptimizer, Factorization )
config->insert(2, Pose2(1.5,0.,0.));
boost::shared_ptr<Pose2Graph> 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> 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<Pose2Graph> 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> ordering(new Ordering);
ordering->push_back(Pose2Config::Key(1));