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Expanded the clone() test

release/4.3a0
Alex Cunningham 2013-11-07 16:19:50 +00:00
parent e3208a1f8e
commit 1be1731c9b
1 changed files with 16 additions and 3 deletions
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19
gtsam/linear/tests/testGaussianFactorGraphUnordered.cpp
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@ -34,9 +34,9 @@ using namespace boost::assign;
using namespace std; using namespace std;
using namespace gtsam; using namespace gtsam;
static SharedDiagonal //static SharedDiagonal
sigma0_1 = noiseModel::Isotropic::Sigma(2,0.1), sigma_02 = noiseModel::Isotropic::Sigma(2,0.2), // sigma0_1 = noiseModel::Isotropic::Sigma(2,0.1), sigma_02 = noiseModel::Isotropic::Sigma(2,0.2),
constraintModel = noiseModel::Constrained::All(2); // constraintModel = noiseModel::Constrained::All(2);
/* ************************************************************************* */ /* ************************************************************************* */
TEST(GaussianFactorGraph, initialization) { TEST(GaussianFactorGraph, initialization) {
@ -324,10 +324,23 @@ TEST( GaussianFactorGraph, gradientAtZero )
/* ************************************************************************* */ /* ************************************************************************* */
TEST( GaussianFactorGraph, clone ) { TEST( GaussianFactorGraph, clone ) {
// 2 variables, frontal has dim=4
VerticalBlockMatrix blockMatrix(list_of(4)(2)(1), 4);
blockMatrix.matrix() <<
1.0, 0.0, 2.0, 0.0, 3.0, 0.0, 0.1,
0.0, 1.0, 0.0, 2.0, 0.0, 3.0, 0.2,
0.0, 0.0, 3.0, 0.0, 4.0, 0.0, 0.3,
0.0, 0.0, 0.0, 3.0, 0.0, 4.0, 0.4;
GaussianConditional cg(list_of(1)(2), 1, blockMatrix);
GaussianFactorGraph init_graph = createGaussianFactorGraphWithHessianFactor(); GaussianFactorGraph init_graph = createGaussianFactorGraphWithHessianFactor();
init_graph.push_back(GaussianFactor::shared_ptr()); /// Add null factor init_graph.push_back(GaussianFactor::shared_ptr()); /// Add null factor
init_graph.push_back(GaussianConditional(cg));
GaussianFactorGraph exp_graph = createGaussianFactorGraphWithHessianFactor(); // Created separately GaussianFactorGraph exp_graph = createGaussianFactorGraphWithHessianFactor(); // Created separately
exp_graph.push_back(GaussianFactor::shared_ptr()); /// Add null factor exp_graph.push_back(GaussianFactor::shared_ptr()); /// Add null factor
exp_graph.push_back(GaussianConditional(cg));
GaussianFactorGraph actCloned = init_graph.clone(); GaussianFactorGraph actCloned = init_graph.clone();
EXPECT(assert_equal(init_graph, actCloned)); // Same as the original version EXPECT(assert_equal(init_graph, actCloned)); // Same as the original version