Merge pull request #635 from borglab/fix/warning

Explicitly initialize Point3
borglab · Dec 10, 2020 · 6c85850 · 6c85850
2 parents 79aedfb + 592c572
commit 6c85850
Showing 1 changed file with 9 additions and 2 deletions.
diff --git a/gtsam/slam/tests/testInitializePose3.cpp b/gtsam/slam/tests/testInitializePose3.cpp
@@ -75,8 +75,15 @@ NonlinearFactorGraph graph2() {
   g.add(BetweenFactor<Pose3>(x0, x1, pose0.between(pose1), noiseModel::Isotropic::Precision(6, 1.0)));
   g.add(BetweenFactor<Pose3>(x1, x2, pose1.between(pose2), noiseModel::Isotropic::Precision(6, 1.0)));
   g.add(BetweenFactor<Pose3>(x2, x3, pose2.between(pose3), noiseModel::Isotropic::Precision(6, 1.0)));
-  g.add(BetweenFactor<Pose3>(x2, x0, Pose3(Rot3::Ypr(0.1,0,0.1), Point3()), noiseModel::Isotropic::Precision(6, 0.0))); // random pose, but zero information
-  g.add(BetweenFactor<Pose3>(x0, x3, Pose3(Rot3::Ypr(0.5,-0.2,0.2), Point3(10,20,30)), noiseModel::Isotropic::Precision(6, 0.0))); // random pose, but zero informatoin
+  // random pose, but zero information
+  auto noise_zero_info = noiseModel::Isotropic::Precision(6, 0.0);
+  g.add(BetweenFactor<Pose3>(
+      x2, x0, Pose3(Rot3::Ypr(0.1, 0.0, 0.1), Point3(0.0, 0.0, 0.0)),
+      noise_zero_info));
+  // random pose, but zero information
+  g.add(BetweenFactor<Pose3>(
+      x0, x3, Pose3(Rot3::Ypr(0.5, -0.2, 0.2), Point3(10, 20, 30)),
+      noise_zero_info));
   g.addPrior(x0, pose0, model);
   return g;
 }