Fixed some unit tests

gtsam/linear/tests/testGaussianBayesNetUnordered.cpp

@@ -184,7 +184,9 @@ TEST(GaussianBayesNet, ComputeSteepestDescentPoint) {
   VectorValues actual = gbn.optimizeGradientSearch();
 
   // Check that points agree
-  EXPECT(assert_equal(expected, actual.vector(), 1e-5));
+  Vector actualAsVector = actual.vector(FastVector<Key>(list_of
+    (0)(1)(2)(3)(4)));
+  EXPECT(assert_equal(expected, actualAsVector, 1e-5));
 
   // Check that point causes a decrease in error
   double origError = GaussianFactorGraph(gbn).error(VectorValues::Zero(actual));

gtsam/linear/tests/testGaussianBayesTreeUnordered.cpp

@@ -274,7 +274,9 @@ TEST(GaussianBayesTree, ComputeSteepestDescentPointBT) {
   VectorValues actual = bt.optimizeGradientSearch();
 
   // Check that points agree
-  EXPECT(assert_equal(expected, actual.vector(), 1e-5));
+  Vector actualAsVector = actual.vector(FastVector<Key>(list_of
+    (0)(1)(2)(3)(4)));
+  EXPECT(assert_equal(expected, actualAsVector, 1e-5));
   EXPECT(assert_equal(expectedFromBN, actual, 1e-5));
 
   // Check that point causes a decrease in error

gtsam/linear/tests/testVectorValuesUnordered.cpp

@@ -16,6 +16,7 @@
  */
 
 #include <boost/assign/std/vector.hpp>
+#include <boost/assign/list_of.hpp>
 
 #include <gtsam/base/Testable.h>
 #include <gtsam/linear/VectorValues.h>
@@ -59,7 +60,8 @@ TEST(VectorValues, basics)
   EXPECT(assert_equal(Vector_(2, 2.0, 3.0), actual[1]));
   EXPECT(assert_equal(Vector_(2, 4.0, 5.0), actual[2]));
   EXPECT(assert_equal(Vector_(2, 6.0, 7.0), actual[5]));
-  EXPECT(assert_equal(Vector_(7, 1.0, 2.0, 3.0, 4.0, 5.0, 6.0, 7.0), actual.vector()));
+  EXPECT(assert_equal(Vector_(7, 1.0, 2.0, 3.0, 4.0, 5.0, 6.0, 7.0), actual.vector(FastVector<Key>(list_of
+    (0)(1)(2)(5)))));
 
   // Check exceptions
   CHECK_EXCEPTION(actual.insert(1, Vector()), invalid_argument);

gtsam_unstable/linear/bayesTreeOperations.cpp

@@ -55,12 +55,14 @@ GaussianFactorGraph splitFactor(const GaussianFactor::shared_ptr& factor) {
     }
 
     Vector subB = jf->getb().segment(startRow, nrRows);
-    Vector sigmas = jf->get_model()->sigmas().segment(startRow, nrRows);
     SharedDiagonal model;
+    if(jf->get_model()) {
+      Vector sigmas = jf->get_model()->sigmas().segment(startRow, nrRows);
       if (jf->get_model()->isConstrained())
         model = noiseModel::Constrained::MixedSigmas(sigmas);
       else
         model = noiseModel::Diagonal::Sigmas(sigmas);
+    }
 
     // extract matrices from each
     // assemble into new JacobianFactor

gtsam_unstable/linear/tests/testBayesTreeOperations.cpp

@@ -277,7 +277,6 @@ TEST( testBayesTreeOperations, liquefy ) {
 
   // Liquefy the tree back into a graph, splitting factors
   {
-    CHECK(("*** liquify fails here *** - does not check for null noiseModel", 0));
     GaussianFactorGraph actGraph = liquefy(bayesTree, true);
     GaussianFactorGraph expGraph;
 

gtsam_unstable/slam/CMakeLists.txt

@@ -25,7 +25,7 @@ set (slam_full_libs
 
 # Exclude tests that don't work
 set (slam_excluded_tests
-#    "${CMAKE_CURRENT_SOURCE_DIR}/tests/testSerialization.cpp"
+    "${CMAKE_CURRENT_SOURCE_DIR}/tests/testSerialization.cpp"
 #    ""  # Add to this list, with full path, to exclude
 )
 # Add all tests

gtsam_unstable/slam/tests/testSerialization.cpp

@@ -10,13 +10,6 @@
 #include <CppUnitLite/TestHarness.h>
 #include <iostream>
 
-TEST(testSerialization, disabled)
-{
-  CHECK(("*** testSerialization in gtsam_unstable/slam is disabled *** - Needs conversion for unordered", 0));
-}
-
-#if 0
-
 #include <gtsam/slam/serialization.h>
 
 #include <gtsam/geometry/Pose2.h>
@@ -125,8 +118,6 @@ TEST( testSerialization, serialization_file ) {
   EXPECT(assert_equal(values, actValuesXML));
 }
 
-#endif
-
 /* ************************************************************************* */
 int main() { TestResult tr; return TestRegistry::runAllTests(tr); }
 /* ************************************************************************* */