formatting and fix

borglab · Jul 6, 2023 · a14fb8d · a14fb8d
1 parent 93ed850
commit a14fb8d
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Showing 2 changed files with 4 additions and 10 deletions.
diff --git a/gtsam/nonlinear/nonlinear.i b/gtsam/nonlinear/nonlinear.i
@@ -515,7 +515,7 @@ class ISAM2 {
                             gtsam::KeyGroupMap& constrainedKeys,
                             const gtsam::KeyList& noRelinKeys,
                             const gtsam::KeyList& extraReelimKeys,
-                            bool force_relinearize=false);
+                            bool force_relinearize = false);
 
   gtsam::ISAM2Result update(const gtsam::NonlinearFactorGraph& newFactors,
                             const gtsam::Values& newTheta,
@@ -548,9 +548,8 @@ class ISAM2 {
 
   string dot(const gtsam::KeyFormatter& keyFormatter =
                  gtsam::DefaultKeyFormatter) const;
-  void saveGraph(string s,
-                const gtsam::KeyFormatter& keyFormatter =
-                 gtsam::DefaultKeyFormatter) const;
+  void saveGraph(string s, const gtsam::KeyFormatter& keyFormatter =
+                               gtsam::DefaultKeyFormatter) const;
 };
 
 #include <gtsam/nonlinear/NonlinearISAM.h>

diff --git a/python/gtsam/tests/test_VisualISAMExample.py b/python/gtsam/tests/test_VisualISAMExample.py
@@ -63,7 +63,6 @@ def test_VisualISAMExample(self):
 
     def test_isam2_error(self):
         """Test for isam2 error() method."""
-        #TODO(Varun) fix
         # Initialize iSAM with the first pose and points
         isam, result, nextPose = visual_isam.initialize(
             self.data, self.truth, self.isamOptions)
@@ -83,13 +82,9 @@ def test_isam2_error(self):
             except RuntimeError:
                 v = estimate.atPoint3(key)
 
-            print(key)
-            print(type(v))
-            print(v)
             values.insert(key, v)
-        print(isam.error(values))
 
-        self.assertEqual(isam.error(values), 34212421.14731998)
+        self.assertAlmostEqual(isam.error(values), 34212421.14731998)
 
     def test_isam2_update(self):
         """