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Moved meta-programming tests to testExpressionMeta.cpp

release/4.3a0
dellaert 2014-10-14 08:53:05 +02:00
parent ef5bf03c81
commit 0a41b0a027
3 changed files with 210 additions and 177 deletions
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106
.cproject
View File

@ -600,7 +600,6 @@
</target> </target>
<target name="tests/testBayesTree.run" path="inference" targetID="org.eclipse.cdt.build.MakeTargetBuilder"> <target name="tests/testBayesTree.run" path="inference" targetID="org.eclipse.cdt.build.MakeTargetBuilder">
<buildCommand>make</buildCommand> <buildCommand>make</buildCommand>
<buildArguments/>
<buildTarget>tests/testBayesTree.run</buildTarget> <buildTarget>tests/testBayesTree.run</buildTarget>
<stopOnError>true</stopOnError> <stopOnError>true</stopOnError>
<useDefaultCommand>false</useDefaultCommand> <useDefaultCommand>false</useDefaultCommand>
@ -608,7 +607,6 @@
</target> </target>
<target name="testBinaryBayesNet.run" path="inference" targetID="org.eclipse.cdt.build.MakeTargetBuilder"> <target name="testBinaryBayesNet.run" path="inference" targetID="org.eclipse.cdt.build.MakeTargetBuilder">
<buildCommand>make</buildCommand> <buildCommand>make</buildCommand>
<buildArguments/>
<buildTarget>testBinaryBayesNet.run</buildTarget> <buildTarget>testBinaryBayesNet.run</buildTarget>
<stopOnError>true</stopOnError> <stopOnError>true</stopOnError>
<useDefaultCommand>false</useDefaultCommand> <useDefaultCommand>false</useDefaultCommand>
@ -656,7 +654,6 @@
</target> </target>
<target name="testSymbolicBayesNet.run" path="inference" targetID="org.eclipse.cdt.build.MakeTargetBuilder"> <target name="testSymbolicBayesNet.run" path="inference" targetID="org.eclipse.cdt.build.MakeTargetBuilder">
<buildCommand>make</buildCommand> <buildCommand>make</buildCommand>
<buildArguments/>
<buildTarget>testSymbolicBayesNet.run</buildTarget> <buildTarget>testSymbolicBayesNet.run</buildTarget>
<stopOnError>true</stopOnError> <stopOnError>true</stopOnError>
<useDefaultCommand>false</useDefaultCommand> <useDefaultCommand>false</useDefaultCommand>
@ -664,7 +661,6 @@
</target> </target>
<target name="tests/testSymbolicFactor.run" path="inference" targetID="org.eclipse.cdt.build.MakeTargetBuilder"> <target name="tests/testSymbolicFactor.run" path="inference" targetID="org.eclipse.cdt.build.MakeTargetBuilder">
<buildCommand>make</buildCommand> <buildCommand>make</buildCommand>
<buildArguments/>
<buildTarget>tests/testSymbolicFactor.run</buildTarget> <buildTarget>tests/testSymbolicFactor.run</buildTarget>
<stopOnError>true</stopOnError> <stopOnError>true</stopOnError>
<useDefaultCommand>false</useDefaultCommand> <useDefaultCommand>false</useDefaultCommand>
@ -672,7 +668,6 @@
</target> </target>
<target name="testSymbolicFactorGraph.run" path="inference" targetID="org.eclipse.cdt.build.MakeTargetBuilder"> <target name="testSymbolicFactorGraph.run" path="inference" targetID="org.eclipse.cdt.build.MakeTargetBuilder">
<buildCommand>make</buildCommand> <buildCommand>make</buildCommand>
<buildArguments/>
<buildTarget>testSymbolicFactorGraph.run</buildTarget> <buildTarget>testSymbolicFactorGraph.run</buildTarget>
<stopOnError>true</stopOnError> <stopOnError>true</stopOnError>
<useDefaultCommand>false</useDefaultCommand> <useDefaultCommand>false</useDefaultCommand>
@ -688,7 +683,6 @@
</target> </target>
<target name="tests/testBayesTree" path="inference" targetID="org.eclipse.cdt.build.MakeTargetBuilder"> <target name="tests/testBayesTree" path="inference" targetID="org.eclipse.cdt.build.MakeTargetBuilder">
<buildCommand>make</buildCommand> <buildCommand>make</buildCommand>
<buildArguments/>
<buildTarget>tests/testBayesTree</buildTarget> <buildTarget>tests/testBayesTree</buildTarget>
<stopOnError>true</stopOnError> <stopOnError>true</stopOnError>
<useDefaultCommand>false</useDefaultCommand> <useDefaultCommand>false</useDefaultCommand>
@ -1040,7 +1034,6 @@
</target> </target>
<target name="testErrors.run" path="linear" targetID="org.eclipse.cdt.build.MakeTargetBuilder"> <target name="testErrors.run" path="linear" targetID="org.eclipse.cdt.build.MakeTargetBuilder">
<buildCommand>make</buildCommand> <buildCommand>make</buildCommand>
<buildArguments/>
<buildTarget>testErrors.run</buildTarget> <buildTarget>testErrors.run</buildTarget>
<stopOnError>true</stopOnError> <stopOnError>true</stopOnError>
<useDefaultCommand>false</useDefaultCommand> <useDefaultCommand>false</useDefaultCommand>
@ -1270,46 +1263,6 @@
<useDefaultCommand>true</useDefaultCommand> <useDefaultCommand>true</useDefaultCommand>
<runAllBuilders>true</runAllBuilders> <runAllBuilders>true</runAllBuilders>
</target> </target>
<target name="testBTree.run" path="build/gtsam_unstable/base/tests" targetID="org.eclipse.cdt.build.MakeTargetBuilder">
<buildCommand>make</buildCommand>
<buildArguments>-j5</buildArguments>
<buildTarget>testBTree.run</buildTarget>
<stopOnError>true</stopOnError>
<useDefaultCommand>true</useDefaultCommand>
<runAllBuilders>true</runAllBuilders>
</target>
<target name="testDSF.run" path="build/gtsam_unstable/base/tests" targetID="org.eclipse.cdt.build.MakeTargetBuilder">
<buildCommand>make</buildCommand>
<buildArguments>-j5</buildArguments>
<buildTarget>testDSF.run</buildTarget>
<stopOnError>true</stopOnError>
<useDefaultCommand>true</useDefaultCommand>
<runAllBuilders>true</runAllBuilders>
</target>
<target name="testDSFMap.run" path="build/gtsam_unstable/base/tests" targetID="org.eclipse.cdt.build.MakeTargetBuilder">
<buildCommand>make</buildCommand>
<buildArguments>-j5</buildArguments>
<buildTarget>testDSFMap.run</buildTarget>
<stopOnError>true</stopOnError>
<useDefaultCommand>true</useDefaultCommand>
<runAllBuilders>true</runAllBuilders>
</target>
<target name="testDSFVector.run" path="build/gtsam_unstable/base/tests" targetID="org.eclipse.cdt.build.MakeTargetBuilder">
<buildCommand>make</buildCommand>
<buildArguments>-j5</buildArguments>
<buildTarget>testDSFVector.run</buildTarget>
<stopOnError>true</stopOnError>
<useDefaultCommand>true</useDefaultCommand>
<runAllBuilders>true</runAllBuilders>
</target>
<target name="testFixedVector.run" path="build/gtsam_unstable/base/tests" targetID="org.eclipse.cdt.build.MakeTargetBuilder">
<buildCommand>make</buildCommand>
<buildArguments>-j5</buildArguments>
<buildTarget>testFixedVector.run</buildTarget>
<stopOnError>true</stopOnError>
<useDefaultCommand>true</useDefaultCommand>
<runAllBuilders>true</runAllBuilders>
</target>
<target name="all" path="slam" targetID="org.eclipse.cdt.build.MakeTargetBuilder"> <target name="all" path="slam" targetID="org.eclipse.cdt.build.MakeTargetBuilder">
<buildCommand>make</buildCommand> <buildCommand>make</buildCommand>
<buildArguments>-j2</buildArguments> <buildArguments>-j2</buildArguments>
@ -1392,6 +1345,7 @@
</target> </target>
<target name="testSimulated2DOriented.run" path="slam" targetID="org.eclipse.cdt.build.MakeTargetBuilder"> <target name="testSimulated2DOriented.run" path="slam" targetID="org.eclipse.cdt.build.MakeTargetBuilder">
<buildCommand>make</buildCommand> <buildCommand>make</buildCommand>
<buildArguments/>
<buildTarget>testSimulated2DOriented.run</buildTarget> <buildTarget>testSimulated2DOriented.run</buildTarget>
<stopOnError>true</stopOnError> <stopOnError>true</stopOnError>
<useDefaultCommand>false</useDefaultCommand> <useDefaultCommand>false</useDefaultCommand>
@ -1431,6 +1385,7 @@
</target> </target>
<target name="testSimulated2D.run" path="slam" targetID="org.eclipse.cdt.build.MakeTargetBuilder"> <target name="testSimulated2D.run" path="slam" targetID="org.eclipse.cdt.build.MakeTargetBuilder">
<buildCommand>make</buildCommand> <buildCommand>make</buildCommand>
<buildArguments/>
<buildTarget>testSimulated2D.run</buildTarget> <buildTarget>testSimulated2D.run</buildTarget>
<stopOnError>true</stopOnError> <stopOnError>true</stopOnError>
<useDefaultCommand>false</useDefaultCommand> <useDefaultCommand>false</useDefaultCommand>
@ -1438,6 +1393,7 @@
</target> </target>
<target name="testSimulated3D.run" path="slam" targetID="org.eclipse.cdt.build.MakeTargetBuilder"> <target name="testSimulated3D.run" path="slam" targetID="org.eclipse.cdt.build.MakeTargetBuilder">
<buildCommand>make</buildCommand> <buildCommand>make</buildCommand>
<buildArguments/>
<buildTarget>testSimulated3D.run</buildTarget> <buildTarget>testSimulated3D.run</buildTarget>
<stopOnError>true</stopOnError> <stopOnError>true</stopOnError>
<useDefaultCommand>false</useDefaultCommand> <useDefaultCommand>false</useDefaultCommand>
@ -1451,6 +1407,46 @@
<useDefaultCommand>true</useDefaultCommand> <useDefaultCommand>true</useDefaultCommand>
<runAllBuilders>true</runAllBuilders> <runAllBuilders>true</runAllBuilders>
</target> </target>
<target name="testBTree.run" path="build/gtsam_unstable/base/tests" targetID="org.eclipse.cdt.build.MakeTargetBuilder">
<buildCommand>make</buildCommand>
<buildArguments>-j5</buildArguments>
<buildTarget>testBTree.run</buildTarget>
<stopOnError>true</stopOnError>
<useDefaultCommand>true</useDefaultCommand>
<runAllBuilders>true</runAllBuilders>
</target>
<target name="testDSF.run" path="build/gtsam_unstable/base/tests" targetID="org.eclipse.cdt.build.MakeTargetBuilder">
<buildCommand>make</buildCommand>
<buildArguments>-j5</buildArguments>
<buildTarget>testDSF.run</buildTarget>
<stopOnError>true</stopOnError>
<useDefaultCommand>true</useDefaultCommand>
<runAllBuilders>true</runAllBuilders>
</target>
<target name="testDSFMap.run" path="build/gtsam_unstable/base/tests" targetID="org.eclipse.cdt.build.MakeTargetBuilder">
<buildCommand>make</buildCommand>
<buildArguments>-j5</buildArguments>
<buildTarget>testDSFMap.run</buildTarget>
<stopOnError>true</stopOnError>
<useDefaultCommand>true</useDefaultCommand>
<runAllBuilders>true</runAllBuilders>
</target>
<target name="testDSFVector.run" path="build/gtsam_unstable/base/tests" targetID="org.eclipse.cdt.build.MakeTargetBuilder">
<buildCommand>make</buildCommand>
<buildArguments>-j5</buildArguments>
<buildTarget>testDSFVector.run</buildTarget>
<stopOnError>true</stopOnError>
<useDefaultCommand>true</useDefaultCommand>
<runAllBuilders>true</runAllBuilders>
</target>
<target name="testFixedVector.run" path="build/gtsam_unstable/base/tests" targetID="org.eclipse.cdt.build.MakeTargetBuilder">
<buildCommand>make</buildCommand>
<buildArguments>-j5</buildArguments>
<buildTarget>testFixedVector.run</buildTarget>
<stopOnError>true</stopOnError>
<useDefaultCommand>true</useDefaultCommand>
<runAllBuilders>true</runAllBuilders>
</target>
<target name="testEliminationTree.run" path="build/gtsam/inference/tests" targetID="org.eclipse.cdt.build.MakeTargetBuilder"> <target name="testEliminationTree.run" path="build/gtsam/inference/tests" targetID="org.eclipse.cdt.build.MakeTargetBuilder">
<buildCommand>make</buildCommand> <buildCommand>make</buildCommand>
<buildArguments>-j5</buildArguments> <buildArguments>-j5</buildArguments>
@ -1708,7 +1704,6 @@
</target> </target>
<target name="Generate DEB Package" path="" targetID="org.eclipse.cdt.build.MakeTargetBuilder"> <target name="Generate DEB Package" path="" targetID="org.eclipse.cdt.build.MakeTargetBuilder">
<buildCommand>cpack</buildCommand> <buildCommand>cpack</buildCommand>
<buildArguments/>
<buildTarget>-G DEB</buildTarget> <buildTarget>-G DEB</buildTarget>
<stopOnError>true</stopOnError> <stopOnError>true</stopOnError>
<useDefaultCommand>false</useDefaultCommand> <useDefaultCommand>false</useDefaultCommand>
@ -1716,7 +1711,6 @@
</target> </target>
<target name="Generate RPM Package" path="" targetID="org.eclipse.cdt.build.MakeTargetBuilder"> <target name="Generate RPM Package" path="" targetID="org.eclipse.cdt.build.MakeTargetBuilder">
<buildCommand>cpack</buildCommand> <buildCommand>cpack</buildCommand>
<buildArguments/>
<buildTarget>-G RPM</buildTarget> <buildTarget>-G RPM</buildTarget>
<stopOnError>true</stopOnError> <stopOnError>true</stopOnError>
<useDefaultCommand>false</useDefaultCommand> <useDefaultCommand>false</useDefaultCommand>
@ -1724,7 +1718,6 @@
</target> </target>
<target name="Generate TGZ Package" path="" targetID="org.eclipse.cdt.build.MakeTargetBuilder"> <target name="Generate TGZ Package" path="" targetID="org.eclipse.cdt.build.MakeTargetBuilder">
<buildCommand>cpack</buildCommand> <buildCommand>cpack</buildCommand>
<buildArguments/>
<buildTarget>-G TGZ</buildTarget> <buildTarget>-G TGZ</buildTarget>
<stopOnError>true</stopOnError> <stopOnError>true</stopOnError>
<useDefaultCommand>false</useDefaultCommand> <useDefaultCommand>false</useDefaultCommand>
@ -1732,7 +1725,6 @@
</target> </target>
<target name="Generate TGZ Source Package" path="" targetID="org.eclipse.cdt.build.MakeTargetBuilder"> <target name="Generate TGZ Source Package" path="" targetID="org.eclipse.cdt.build.MakeTargetBuilder">
<buildCommand>cpack</buildCommand> <buildCommand>cpack</buildCommand>
<buildArguments/>
<buildTarget>--config CPackSourceConfig.cmake</buildTarget> <buildTarget>--config CPackSourceConfig.cmake</buildTarget>
<stopOnError>true</stopOnError> <stopOnError>true</stopOnError>
<useDefaultCommand>false</useDefaultCommand> <useDefaultCommand>false</useDefaultCommand>
@ -2459,7 +2451,6 @@
</target> </target>
<target name="testGraph.run" path="build/tests" targetID="org.eclipse.cdt.build.MakeTargetBuilder"> <target name="testGraph.run" path="build/tests" targetID="org.eclipse.cdt.build.MakeTargetBuilder">
<buildCommand>make</buildCommand> <buildCommand>make</buildCommand>
<buildArguments/>
<buildTarget>testGraph.run</buildTarget> <buildTarget>testGraph.run</buildTarget>
<stopOnError>true</stopOnError> <stopOnError>true</stopOnError>
<useDefaultCommand>false</useDefaultCommand> <useDefaultCommand>false</useDefaultCommand>
@ -2467,7 +2458,6 @@
</target> </target>
<target name="testJunctionTree.run" path="build/tests" targetID="org.eclipse.cdt.build.MakeTargetBuilder"> <target name="testJunctionTree.run" path="build/tests" targetID="org.eclipse.cdt.build.MakeTargetBuilder">
<buildCommand>make</buildCommand> <buildCommand>make</buildCommand>
<buildArguments/>
<buildTarget>testJunctionTree.run</buildTarget> <buildTarget>testJunctionTree.run</buildTarget>
<stopOnError>true</stopOnError> <stopOnError>true</stopOnError>
<useDefaultCommand>false</useDefaultCommand> <useDefaultCommand>false</useDefaultCommand>
@ -2475,7 +2465,6 @@
</target> </target>
<target name="testSymbolicBayesNetB.run" path="build/tests" targetID="org.eclipse.cdt.build.MakeTargetBuilder"> <target name="testSymbolicBayesNetB.run" path="build/tests" targetID="org.eclipse.cdt.build.MakeTargetBuilder">
<buildCommand>make</buildCommand> <buildCommand>make</buildCommand>
<buildArguments/>
<buildTarget>testSymbolicBayesNetB.run</buildTarget> <buildTarget>testSymbolicBayesNetB.run</buildTarget>
<stopOnError>true</stopOnError> <stopOnError>true</stopOnError>
<useDefaultCommand>false</useDefaultCommand> <useDefaultCommand>false</useDefaultCommand>
@ -2561,6 +2550,14 @@
<useDefaultCommand>true</useDefaultCommand> <useDefaultCommand>true</useDefaultCommand>
<runAllBuilders>true</runAllBuilders> <runAllBuilders>true</runAllBuilders>
</target> </target>
<target name="testExpressionMeta.run" path="build/gtsam_unstable/nonlinear/tests" targetID="org.eclipse.cdt.build.MakeTargetBuilder">
<buildCommand>make</buildCommand>
<buildArguments>-j5</buildArguments>
<buildTarget>testExpressionMeta.run</buildTarget>
<stopOnError>true</stopOnError>
<useDefaultCommand>true</useDefaultCommand>
<runAllBuilders>true</runAllBuilders>
</target>
<target name="testGaussianFactor.run" path="build/linear/tests" targetID="org.eclipse.cdt.build.MakeTargetBuilder"> <target name="testGaussianFactor.run" path="build/linear/tests" targetID="org.eclipse.cdt.build.MakeTargetBuilder">
<buildCommand>make</buildCommand> <buildCommand>make</buildCommand>
<buildArguments>-j2</buildArguments> <buildArguments>-j2</buildArguments>
@ -2963,6 +2960,7 @@
</target> </target>
<target name="tests/testGaussianISAM2" path="build/slam" targetID="org.eclipse.cdt.build.MakeTargetBuilder"> <target name="tests/testGaussianISAM2" path="build/slam" targetID="org.eclipse.cdt.build.MakeTargetBuilder">
<buildCommand>make</buildCommand> <buildCommand>make</buildCommand>
<buildArguments/>
<buildTarget>tests/testGaussianISAM2</buildTarget> <buildTarget>tests/testGaussianISAM2</buildTarget>
<stopOnError>true</stopOnError> <stopOnError>true</stopOnError>
<useDefaultCommand>false</useDefaultCommand> <useDefaultCommand>false</useDefaultCommand>

123
gtsam_unstable/nonlinear/tests/testExpressionFactor.cpp
View File

@ -424,129 +424,6 @@ TEST(ExpressionFactor, composeTernary) {
EXPECT( assert_equal(expected, *jf,1e-9)); EXPECT( assert_equal(expected, *jf,1e-9));
} }
/* ************************************************************************* */
namespace mpl = boost::mpl;
#include <boost/mpl/assert.hpp>
#include <boost/mpl/equal.hpp>
template<class T> struct Incomplete;
// Check generation of FunctionalNode
typedef mpl::vector<Pose3, Point3> MyTypes;
typedef FunctionalNode<Point2, MyTypes>::type Generated;
//Incomplete<Generated> incomplete;
BOOST_MPL_ASSERT((boost::is_same< Matrix2, Generated::Record::Jacobian2T >));
// Try generating vectors of ExecutionTrace
typedef mpl::vector<ExecutionTrace<Pose3>, ExecutionTrace<Point3> > ExpectedTraces;
typedef mpl::transform<MyTypes, ExecutionTrace<MPL::_1> >::type MyTraces;
BOOST_MPL_ASSERT((mpl::equal< ExpectedTraces, MyTraces >));
template<class T>
struct MakeTrace {
typedef ExecutionTrace<T> type;
};
typedef mpl::transform<MyTypes, MakeTrace<MPL::_1> >::type MyTraces1;
BOOST_MPL_ASSERT((mpl::equal< ExpectedTraces, MyTraces1 >));
// Try generating vectors of Expression types
typedef mpl::vector<Expression<Pose3>, Expression<Point3> > ExpectedExpressions;
typedef mpl::transform<MyTypes, Expression<MPL::_1> >::type Expressions;
BOOST_MPL_ASSERT((mpl::equal< ExpectedExpressions, Expressions >));
// Try generating vectors of Jacobian types
typedef mpl::vector<Matrix26, Matrix23> ExpectedJacobians;
typedef mpl::transform<MyTypes, Jacobian<Point2, MPL::_1> >::type Jacobians;
BOOST_MPL_ASSERT((mpl::equal< ExpectedJacobians, Jacobians >));
// Try accessing a Jacobian
typedef mpl::at_c<Jacobians, 1>::type Jacobian23; // base zero !
BOOST_MPL_ASSERT((boost::is_same< Matrix23, Jacobian23>));
/* ************************************************************************* */
// Boost Fusion includes allow us to create/access values from MPL vectors
#include <boost/fusion/include/mpl.hpp>
#include <boost/fusion/include/at_c.hpp>
// Create a value and access it
TEST(ExpressionFactor, JacobiansValue) {
using boost::fusion::at_c;
Matrix23 expected;
Jacobians jacobians;
at_c<1>(jacobians) << 1, 2, 3, 4, 5, 6;
Matrix23 actual = at_c<1>(jacobians);
CHECK(actual.cols() == expected.cols());
CHECK(actual.rows() == expected.rows());
}
/* ************************************************************************* */
// Test out polymorphic transform
#include <boost/fusion/include/make_vector.hpp>
#include <boost/fusion/include/transform.hpp>
#include <boost/utility/result_of.hpp>
struct triple {
template<class> struct result; // says we will provide result
template<class F>
struct result<F(int)> {
typedef double type; // result for int argument
};
template<class F>
struct result<F(const int&)> {
typedef double type; // result for int argument
};
template<class F>
struct result<F(const double &)> {
typedef double type; // result for double argument
};
template<class F>
struct result<F(double)> {
typedef double type; // result for double argument
};
// actual function
template<typename T>
typename result<triple(T)>::type operator()(const T& x) const {
return (double) x;
}
};
TEST(ExpressionFactor, Triple) {
typedef boost::fusion::vector<int, double> IntDouble;
IntDouble H = boost::fusion::make_vector(1, 2.0);
// Only works if I use Double2
typedef boost::fusion::result_of::transform<IntDouble, triple>::type Result;
typedef boost::fusion::vector<double, double> Double2;
Double2 D = boost::fusion::transform(H, triple());
using boost::fusion::at_c;
DOUBLES_EQUAL(1.0, at_c<0>(D), 1e-9);
DOUBLES_EQUAL(2.0, at_c<1>(D), 1e-9);
}
/* ************************************************************************* */
#include <boost/fusion/include/invoke.hpp>
#include <boost/functional/value_factory.hpp>
// Test out polymorphic transform
TEST(ExpressionFactor, Invoke) {
std::plus<int> add;
assert(invoke(add,boost::fusion::make_vector(1,1)) == 2);
// Creating a Pose3 (is there another way?)
boost::fusion::vector<Rot3, Point3> pair;
Pose3 pose = boost::fusion::invoke(boost::value_factory<Pose3>(), pair);
}
/* ************************************************************************* */ /* ************************************************************************* */
int main() { int main() {
TestResult tr; TestResult tr;

158
gtsam_unstable/nonlinear/tests/testExpressionMeta.cpp Normal file
View File

@ -0,0 +1,158 @@
/* ----------------------------------------------------------------------------
* GTSAM Copyright 2010, Georgia Tech Research Corporation,
* Atlanta, Georgia 30332-0415
* All Rights Reserved
* Authors: Frank Dellaert, et al. (see THANKS for the full author list)
* See LICENSE for the license information
* -------------------------------------------------------------------------- */
/**
* @file testExpressionMeta.cpp
* @date October 14, 2014
* @author Frank Dellaert
* @brief Test meta-programming constructs for Expressions
*/
#include <gtsam_unstable/nonlinear/ExpressionFactor.h>
#include <gtsam/geometry/Pose3.h>
#include <gtsam/geometry/Cal3_S2.h>
#include <gtsam/base/Testable.h>
#include <CppUnitLite/TestHarness.h>
using namespace std;
using namespace gtsam;
/* ************************************************************************* */
namespace mpl = boost::mpl;
#include <boost/mpl/assert.hpp>
#include <boost/mpl/equal.hpp>
template<class T> struct Incomplete;
// Check generation of FunctionalNode
typedef mpl::vector<Pose3, Point3> MyTypes;
typedef FunctionalNode<Point2, MyTypes>::type Generated;
//Incomplete<Generated> incomplete;
BOOST_MPL_ASSERT((boost::is_same< Matrix2, Generated::Record::Jacobian2T >));
// Try generating vectors of ExecutionTrace
typedef mpl::vector<ExecutionTrace<Pose3>, ExecutionTrace<Point3> > ExpectedTraces;
typedef mpl::transform<MyTypes, ExecutionTrace<MPL::_1> >::type MyTraces;
BOOST_MPL_ASSERT((mpl::equal< ExpectedTraces, MyTraces >));
template<class T>
struct MakeTrace {
typedef ExecutionTrace<T> type;
};
typedef mpl::transform<MyTypes, MakeTrace<MPL::_1> >::type MyTraces1;
BOOST_MPL_ASSERT((mpl::equal< ExpectedTraces, MyTraces1 >));
// Try generating vectors of Expression types
typedef mpl::vector<Expression<Pose3>, Expression<Point3> > ExpectedExpressions;
typedef mpl::transform<MyTypes, Expression<MPL::_1> >::type Expressions;
BOOST_MPL_ASSERT((mpl::equal< ExpectedExpressions, Expressions >));
// Try generating vectors of Jacobian types
typedef mpl::vector<Matrix26, Matrix23> ExpectedJacobians;
typedef mpl::transform<MyTypes, Jacobian<Point2, MPL::_1> >::type Jacobians;
BOOST_MPL_ASSERT((mpl::equal< ExpectedJacobians, Jacobians >));
// Try accessing a Jacobian
typedef mpl::at_c<Jacobians, 1>::type Jacobian23; // base zero !
BOOST_MPL_ASSERT((boost::is_same< Matrix23, Jacobian23>));
/* ************************************************************************* */
// Boost Fusion includes allow us to create/access values from MPL vectors
#include <boost/fusion/include/mpl.hpp>
#include <boost/fusion/include/at_c.hpp>
// Create a value and access it
TEST(ExpressionFactor, JacobiansValue) {
using boost::fusion::at_c;
Matrix23 expected;
Jacobians jacobians;
at_c<1>(jacobians) << 1, 2, 3, 4, 5, 6;
Matrix23 actual = at_c<1>(jacobians);
CHECK(actual.cols() == expected.cols());
CHECK(actual.rows() == expected.rows());
}
/* ************************************************************************* */
// Test out polymorphic transform
#include <boost/fusion/include/make_vector.hpp>
#include <boost/fusion/include/transform.hpp>
#include <boost/utility/result_of.hpp>
struct triple {
template<class> struct result; // says we will provide result
template<class F>
struct result<F(int)> {
typedef double type; // result for int argument
};
template<class F>
struct result<F(const int&)> {
typedef double type; // result for int argument
};
template<class F>
struct result<F(const double &)> {
typedef double type; // result for double argument
};
template<class F>
struct result<F(double)> {
typedef double type; // result for double argument
};
// actual function
template<typename T>
typename result<triple(T)>::type operator()(const T& x) const {
return (double) x;
}
};
TEST(ExpressionFactor, Triple) {
typedef boost::fusion::vector<int, double> IntDouble;
IntDouble H = boost::fusion::make_vector(1, 2.0);
// Only works if I use Double2
typedef boost::fusion::result_of::transform<IntDouble, triple>::type Result;
typedef boost::fusion::vector<double, double> Double2;
Double2 D = boost::fusion::transform(H, triple());
using boost::fusion::at_c;
DOUBLES_EQUAL(1.0, at_c<0>(D), 1e-9);
DOUBLES_EQUAL(2.0, at_c<1>(D), 1e-9);
}
/* ************************************************************************* */
#include <boost/fusion/include/invoke.hpp>
#include <boost/functional/value_factory.hpp>
// Test out polymorphic transform
TEST(ExpressionFactor, Invoke) {
std::plus<int> add;
assert(invoke(add,boost::fusion::make_vector(1,1)) == 2);
// Creating a Pose3 (is there another way?)
boost::fusion::vector<Rot3, Point3> pair;
Pose3 pose = boost::fusion::invoke(boost::value_factory<Pose3>(), pair);
}
/* ************************************************************************* */
int main() {
TestResult tr;
return TestRegistry::runAllTests(tr);
}
/* ************************************************************************* */