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Commit 714c6e32 authored by Joan Solà Ortega's avatar Joan Solà Ortega
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1 merge request!242Feature/proc motion
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src/test/gtest_odom_2D.cpp
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...@@ -124,7 +124,7 @@ TEST(Odom2D, ConstraintFix_and_ConstraintOdom2D) ...@@ -124,7 +124,7 @@ TEST(Odom2D, ConstraintFix_and_ConstraintOdom2D)
Matrix3s delta_cov; delta_cov << .02, 0, 0, 0, .025, .02, 0, .02, .02; Matrix3s delta_cov; delta_cov << .02, 0, 0, 0, .025, .02, 0, .02, .02;
ProblemPtr Pr = Problem::create("PO 2D"); ProblemPtr Pr = Problem::create("PO 2D");
CeresManager ceres_manager(Pr); CeresManager ceres_manager(Pr);
// KF0 and absolute prior // KF0 and absolute prior
FrameBasePtr F0 = Pr->setPrior(x0, P0,t0, dt/2); FrameBasePtr F0 = Pr->setPrior(x0, P0,t0, dt/2);
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