Merge pull request #310 from JuliaRobotics/maint/3Q20/more080

maintenance for v0.8.0
JuliaRobotics · Jul 27, 2020 · cc6fcb9 · cc6fcb9
2 parents 8dd8738 + a002cbd
commit cc6fcb9
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Showing 2 changed files with 3 additions and 3 deletions.
diff --git a/src/CanonicalGraphs.jl b/src/CanonicalGraphs.jl
@@ -81,8 +81,8 @@ function generateCanonicalFG_Circle(poses::Int=6;
     if stopEarly <= i
       break
     end
-    @show psym = Symbol("x$i")
-    @show nsym = Symbol("x$(i+1)")
+    psym = Symbol("x$i")
+    nsym = Symbol("x$(i+1)")
     addVariable!(fg, nsym, Pose2)
     pp = Pose2Pose2(MvNormal([10.0;0;2pi/(cyclePoses)+biasTurn], Matrix(Diagonal((kappaOdo*[0.1;0.1;0.1]).^2))))
     addFactor!(fg, [psym;nsym], pp , graphinit=graphinit)

diff --git a/test/testpartialpose3.jl b/test/testpartialpose3.jl
@@ -135,7 +135,7 @@ end
 @show mu2 # mu2 is used for XYYaw
 # trying to compare world and body frame values -- not right!
 @show Statistics.mean(pts[newdims,:],dims=2)
-@test sum(abs.(Statistics.mean(pts[newdims,:],dims=2)-mu2) .< [1.0;1.0;0.3]) == 3
+@test sum(abs.(Statistics.mean(pts[newdims,:],dims=2)-mu2) .< [1.5;1.5;0.3]) == 3
 
 # ensure a re-evaluation of the partial factor updates the partial variable dimensions correclty
 @test norm(X2pts[newdims,:] - pts[newdims,:]) < 1.0