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Fix bug in LinearContainerFactor and warnings about Point3 #785

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Jun 8, 2021
Merged

Fix bug in LinearContainerFactor and warnings about Point3 #785

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1209857
fix bug in LinearContainerFactor and warnings about Point3
varunagrawal Jun 6, 2021
f1bed30
added test for this issue
varunagrawal Jun 7, 2021
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3 changes: 2 additions & 1 deletion gtsam/nonlinear/LinearContainerFactor.cpp
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Original file line number Diff line number Diff line change
Expand Up @@ -175,9 +175,10 @@ NonlinearFactor::shared_ptr LinearContainerFactor::rekey(
Values newLinearizationPoint;
for (size_t i = 0; i < factor_->size(); ++i) {
auto mapping = rekey_mapping.find(factor_->keys()[i]);
if (mapping != rekey_mapping.end())
if (mapping != rekey_mapping.end()) {
new_factor->factor_->keys()[i] = mapping->second;
newLinearizationPoint.insert(mapping->second, linearizationPoint_->at(mapping->first));
}
}
new_factor->linearizationPoint_ = newLinearizationPoint;

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6 changes: 3 additions & 3 deletions gtsam/nonlinear/tests/testLinearContainerFactor.cpp
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Expand Up @@ -326,13 +326,13 @@ TEST(TestLinearContainerFactor, Rekey) {
// Make an example factor
auto nonlinear_factor =
boost::make_shared<gtsam::BetweenFactor<gtsam::Point3>>(
gtsam::Symbol('x', 0), gtsam::Symbol('l', 0), gtsam::Point3(),
gtsam::Symbol('x', 0), gtsam::Symbol('l', 0), gtsam::Point3(0, 0, 0),
gtsam::noiseModel::Isotropic::Sigma(3, 1));

// Linearize and create an LCF
gtsam::Values linearization_pt;
linearization_pt.insert(gtsam::Symbol('x', 0), gtsam::Point3());
linearization_pt.insert(gtsam::Symbol('l', 0), gtsam::Point3());
linearization_pt.insert(gtsam::Symbol('x', 0), gtsam::Point3(0, 0, 0));
linearization_pt.insert(gtsam::Symbol('l', 0), gtsam::Point3(0, 0, 0));

LinearContainerFactor lcf_factor(
nonlinear_factor->linearize(linearization_pt), linearization_pt);
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