Merge pull request #162 from JuliaRobotics/factors/polar19Q1

Factors/polar19 q1
JuliaRobotics · Mar 5, 2019 · 533ef89 · 533ef89
2 parents b238f02 + b406b82
commit 533ef89
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Showing 3 changed files with 6 additions and 5 deletions.
diff --git a/src/RoME.jl b/src/RoME.jl
@@ -184,6 +184,7 @@ export
   addPose2Pose2,
 
   # Polar types
+  Polar,
   PolarPolar,
   PriorPolar,
 

diff --git a/src/factors/Polar.jl b/src/factors/Polar.jl
@@ -23,7 +23,7 @@ function getSample(pp2i::PriorPolar, N::Int=1)
 end
 
 
-mutable struct PolarPolar{T1<:IIF.SamplableBelief, T2<:IIF.SamplableBelief} <: IIF.FunctorSingleton
+mutable struct PolarPolar{T1<:IIF.SamplableBelief, T2<:IIF.SamplableBelief} <: IIF.FunctorPairwise
   Zrange::T1
   Zangle::T2
   PolarPolar{T1,T2}() where {T1,T2} = new{T1,T2}()

diff --git a/test/testPoint2Point2.jl b/test/testPoint2Point2.jl
@@ -49,13 +49,13 @@ inferOverTree!(fg, tree, N=N)
 @test sum( 90 .< getVal(fg, :l1)[2,:] .< 110 ) > 32
 
 global voidsel1 =  10.0 .< getVal(fg, :l1)[1,:]
-@test sum( getVal(fg, :l1)[2,voidsel1] .< 80 ) < 15
+@test sum( getVal(fg, :l1)[2,voidsel1] .< 80 ) < 25
 
 global voidsel2 =  10.0 .< getVal(fg, :l1)[2,:]
-@test sum( getVal(fg, :l1)[1,voidsel2] .< 80 ) < 15
+@test sum( getVal(fg, :l1)[1,voidsel2] .< 80 ) < 25
 
-@test sum( 120 .< abs.(getVal(fg, :l1)[1,:]) ) < 15
-@test sum( 120 .< abs.(getVal(fg, :l1)[2,:]) ) < 15
+@test sum( 120 .< abs.(getVal(fg, :l1)[1,:]) ) < 25
+@test sum( 120 .< abs.(getVal(fg, :l1)[2,:]) ) < 25
 
 
 end