12345qiupeng
/
gtsam
1
0
Fork 0
Code Issues Pull Requests Packages Projects Releases Wiki Activity

Relocated unit test

release/4.3a0
Richard Roberts 2011-09-23 02:48:34 +00:00
parent 002e4af0b2
commit 222d5073b9
2 changed files with 20 additions and 19 deletions
Show Stats Download Patch File Download Diff File Expand all files Collapse all files

20
tests/testGaussianFactorGraph.cpp
View File

@ -1010,6 +1010,26 @@ TEST(GaussianFactorGraph, replace)
// EXPECT(assert_equal(fg_expected, fg));
//}
/* ************************************************************************* */
TEST(GaussianFactorGraph, createSmoother2)
{
using namespace example;
GaussianFactorGraph fg2;
Ordering ordering;
boost::tie(fg2,ordering) = createSmoother(3);
LONGS_EQUAL(5,fg2.size());
// eliminate
vector<Index> x3var; x3var.push_back(ordering["x3"]);
vector<Index> x1var; x1var.push_back(ordering["x1"]);
GaussianBayesNet p_x3 = *GaussianSequentialSolver(
*GaussianSequentialSolver(fg2).jointFactorGraph(x3var)).eliminate();
GaussianBayesNet p_x1 = *GaussianSequentialSolver(
*GaussianSequentialSolver(fg2).jointFactorGraph(x1var)).eliminate();
CHECK(assert_equal(*p_x1.back(),*p_x3.front())); // should be the same because of symmetry
}
/* ************************************************************************* */
int main() { TestResult tr; return TestRegistry::runAllTests(tr);}
/* ************************************************************************* */

19
tests/testInference.cpp
View File

@ -32,25 +32,6 @@ using namespace gtsam;
// specialized versions in the derived classes GaussianFactorGraph etc...
/* ************************************************************************* */
/* ************************************************************************* */
TEST(GaussianFactorGraph, createSmoother)
{
using namespace example;
GaussianFactorGraph fg2;
Ordering ordering;
boost::tie(fg2,ordering) = createSmoother(3);
LONGS_EQUAL(5,fg2.size());
// eliminate
vector<Index> x3var; x3var.push_back(ordering["x3"]);
vector<Index> x1var; x1var.push_back(ordering["x1"]);
GaussianBayesNet p_x3 = *GaussianSequentialSolver(
*GaussianSequentialSolver(fg2).jointFactorGraph(x3var)).eliminate();
GaussianBayesNet p_x1 = *GaussianSequentialSolver(
*GaussianSequentialSolver(fg2).jointFactorGraph(x1var)).eliminate();
CHECK(assert_equal(*p_x1.back(),*p_x3.front())); // should be the same because of symmetry
}
/* ************************************************************************* */
TEST( Inference, marginals )
{