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Commit 2cd65b1b authored by Mederic Fourmy's avatar Mederic Fourmy
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hotfix: factor relative gtest

parent 20381218
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...@@ -130,7 +130,7 @@ class FactorRelativePose3dWithExtrinsics_class : public testing::Test{ ...@@ -130,7 +130,7 @@ class FactorRelativePose3dWithExtrinsics_class : public testing::Test{
// F1 is be origin KF // F1 is be origin KF
VectorComposite x0(pose_robot, "PO", {3,4}); VectorComposite x0(pose_robot, "PO", {3,4});
VectorComposite s0("PO", {Vector3d(1,1,1), Vector3d(1,1,1)}); VectorComposite s0("PO", {Vector3d(1,1,1), Vector3d(1,1,1)});
F1 = problem->setPriorFactor(x0, s0, 0.0, 0.1); F1 = problem->setPriorFactor(x0, s0, 0.0);
// the sensor is at origin as well as the robot. The measurement matches with the pose of the tag wrt sensor (and also wrt robot and world) // the sensor is at origin as well as the robot. The measurement matches with the pose of the tag wrt sensor (and also wrt robot and world)
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