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Added test to verify that GaussianFactorGraph worked in serialization

release/4.3a0
Alex Cunningham 2013-11-08 21:55:35 +00:00
parent ec78d54f37
commit 03dcf17393
1 changed files with 28 additions and 0 deletions
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28
gtsam/linear/tests/testSerializationLinear.cpp
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@ -130,6 +130,7 @@ TEST (Serialization, SharedDiagonal_noiseModels) {
/* ************************************************************************* */
BOOST_CLASS_EXPORT_GUID(gtsam::JacobianFactor, "gtsam::JacobianFactor");
BOOST_CLASS_EXPORT_GUID(gtsam::HessianFactor , "gtsam::HessianFactor");
BOOST_CLASS_EXPORT_GUID(gtsam::GaussianConditional , "gtsam::GaussianConditional");
/* ************************************************************************* */
TEST (Serialization, linear_factors) {
@ -169,6 +170,33 @@ TEST (Serialization, gaussian_conditional) {
EXPECT(equalsBinary(cg));
}
/* ************************************************************************* */
TEST (Serialization, gaussian_factor_graph) {
GaussianFactorGraph graph;
{
Matrix A1 = Matrix_(2,2, 1., 2., 3., 4.);
Matrix A2 = Matrix_(2,2, 6., 0.2, 8., 0.4);
Matrix R = Matrix_(2,2, 0.1, 0.3, 0.0, 0.34);
Vector d(2); d << 0.2, 0.5;
GaussianConditional cg(0, d, R, 1, A1, 2, A2);
graph.push_back(cg);
}
{
Key i1 = 4, i2 = 7;
Matrix A1 = eye(3), A2 = -1.0 * eye(3);
Vector b = ones(3);
SharedDiagonal model = noiseModel::Diagonal::Sigmas((Vec(3) << 1.0, 2.0, 3.0));
JacobianFactor jacobianfactor(i1, A1, i2, A2, b, model);
HessianFactor hessianfactor(jacobianfactor);
graph.push_back(jacobianfactor);
graph.push_back(hessianfactor);
}
EXPECT(equalsObj(graph));
EXPECT(equalsXML(graph));
EXPECT(equalsBinary(graph));
}
/* ************************************************************************* */
TEST (Serialization, gaussian_bayes_tree) {
const Key x1=1, x2=2, x3=3, x4=4;