From 2605d181526b4bd0e62ca71c828ce9fa4fad8190 Mon Sep 17 00:00:00 2001 From: Frank Dellaert Date: Sat, 16 Jan 2010 14:59:22 +0000 Subject: [PATCH] removed obsolete tests --- cpp/testBearingFactor.cpp | 103 -------------------------------------- cpp/testBearingRange.cpp | 62 ----------------------- cpp/testRangeFactor.cpp | 81 ------------------------------ 3 files changed, 246 deletions(-) delete mode 100644 cpp/testBearingFactor.cpp delete mode 100644 cpp/testBearingRange.cpp delete mode 100644 cpp/testRangeFactor.cpp diff --git a/cpp/testBearingFactor.cpp b/cpp/testBearingFactor.cpp deleted file mode 100644 index 5cad23cd1..000000000 --- a/cpp/testBearingFactor.cpp +++ /dev/null @@ -1,103 +0,0 @@ -/** - * @file testBearingFactor.cpp - * @brief Unit tests for BearingFactor Class - * @authors Frank Dellaert - **/ - -#include - -#include "numericalDerivative.h" -#include "BearingFactor.h" -#include "TupleConfig.h" - -using namespace std; -using namespace gtsam; - -// typedefs -typedef Symbol PoseKey; -typedef Symbol PointKey; -typedef PairConfig Config; -typedef BearingFactor MyFactor; - -// some shared test values -Pose2 x1, x2(1, 1, 0), x3(1, 1, M_PI_4); -Point2 l1(1, 0), l2(1, 1), l3(2, 2), l4(1, 3); - -/* ************************************************************************* */ -TEST( BearingFactor, relativeBearing ) -{ - Matrix expectedH, actualH; - - // establish relativeBearing is indeed zero - Rot2 actual1 = relativeBearing(l1, actualH); - CHECK(assert_equal(Rot2(),actual1)); - - // Check numerical derivative - expectedH = numericalDerivative11(relativeBearing, l1, 1e-5); - CHECK(assert_equal(expectedH,actualH)); - - // establish relativeBearing is indeed 45 degrees - Rot2 actual2 = relativeBearing(l2, actualH); - CHECK(assert_equal(Rot2(M_PI_4),actual2)); - - // Check numerical derivative - expectedH = numericalDerivative11(relativeBearing, l2, 1e-5); - CHECK(assert_equal(expectedH,actualH)); -} - -/* ************************************************************************* */ -TEST( BearingFactor, bearing ) -{ - Matrix expectedH1, actualH1, expectedH2, actualH2; - - // establish bearing is indeed zero - CHECK(assert_equal(Rot2(),bearing(x1,l1))); - - // establish bearing is indeed 45 degrees - CHECK(assert_equal(Rot2(M_PI_4),bearing(x1,l2))); - - // establish bearing is indeed 45 degrees even if shifted - Rot2 actual23 = bearing(x2, l3, actualH1, actualH2); - CHECK(assert_equal(Rot2(M_PI_4),actual23)); - - // Check numerical derivatives - expectedH1 = numericalDerivative21(bearing, x2, l3, 1e-5); - CHECK(assert_equal(expectedH1,actualH1)); - expectedH2 = numericalDerivative22(bearing, x2, l3, 1e-5); - CHECK(assert_equal(expectedH1,actualH1)); - - // establish bearing is indeed 45 degrees even if rotated - Rot2 actual34 = bearing(x3, l4, actualH1, actualH2); - CHECK(assert_equal(Rot2(M_PI_4),actual34)); - - // Check numerical derivatives - expectedH1 = numericalDerivative21(bearing, x3, l4, 1e-5); - expectedH2 = numericalDerivative22(bearing, x3, l4, 1e-5); - CHECK(assert_equal(expectedH1,actualH1)); - CHECK(assert_equal(expectedH1,actualH1)); -} - -/* ************************************************************************* */ -TEST( BearingFactor, evaluateError ) -{ - // Create factor - Rot2 z(M_PI_4+0.1); // h(x) - z = -0.1 - double sigma = 0.1; - MyFactor factor(z, sigma, 2, 3); - - // create config - Config c; - c.insert(2, x2); - c.insert(3, l3); - - // Check error - Vector actual = factor.error_vector(c); - CHECK(assert_equal(Vector_(1,-0.1),actual)); -} - -/* ************************************************************************* */ -int main() { - TestResult tr; - return TestRegistry::runAllTests(tr); -} -/* ************************************************************************* */ diff --git a/cpp/testBearingRange.cpp b/cpp/testBearingRange.cpp deleted file mode 100644 index 0939d8739..000000000 --- a/cpp/testBearingRange.cpp +++ /dev/null @@ -1,62 +0,0 @@ -/** - * @file testBearingRange.cpp - * @authors Frank Dellaert - **/ - -#include -#include -#include -#include -#include -#include -#include - -using namespace std; -using namespace gtsam; - -// typedefs -typedef Symbol PoseKey; -typedef Symbol PointKey; -typedef PairConfig Config; -typedef BearingFactor BearingMeasurement; -typedef RangeFactor RangeMeasurement; -typedef NonlinearFactorGraph Graph; - -// some shared test values -Pose2 x1, x2(1, 1, 0), x3(1, 1, M_PI_4); -Point2 l1(1, 0), l2(1, 1), l3(2, 2), l4(1, 3); - -/* ************************************************************************* */ -TEST( BearingRange, constructor ) -{ - // create config - Config c; - c.insert(2, x2); - c.insert(3, l3); - - // create graph - Graph G; - - // Create bearing factor - Rot2 z1(M_PI_4 + 0.1); // h(x) - z = -0.1 - double sigma1 = 0.1; - Graph::sharedFactor factor1(new BearingMeasurement(z1, sigma1, 2, 3)); - CHECK(assert_equal(Vector_(1,-0.1),factor1->error_vector(c))); - G.push_back(factor1); - - // Create range factor - double z2(sqrt(2) - 0.22); // h(x) - z = 0.22 - double sigma2 = 0.1; - Graph::sharedFactor factor2(new RangeMeasurement(z2, sigma2, 2, 3)); - CHECK(assert_equal(Vector_(1,0.22),factor2->error_vector(c))); - G.push_back(factor2); - - CHECK(assert_equal(Vector_(2,-0.1,0.22),G.error_vector(c))); -} - -/* ************************************************************************* */ -int main() { - TestResult tr; - return TestRegistry::runAllTests(tr); -} -/* ************************************************************************* */ diff --git a/cpp/testRangeFactor.cpp b/cpp/testRangeFactor.cpp deleted file mode 100644 index 5836842a5..000000000 --- a/cpp/testRangeFactor.cpp +++ /dev/null @@ -1,81 +0,0 @@ -/** - * @file testRangeFactor.cpp - * @brief Unit tests for RangeFactor Class - * @authors Frank Dellaert - **/ - -#include - -#include "numericalDerivative.h" -#include "RangeFactor.h" -#include "TupleConfig.h" - -using namespace std; -using namespace gtsam; - -// typedefs -typedef Symbol PoseKey; -typedef Symbol PointKey; -typedef PairConfig Config; -typedef RangeFactor MyFactor; - -// some shared test values -Pose2 x1, x2(1, 1, 0), x3(1, 1, M_PI_4); -Point2 l1(1, 0), l2(1, 1), l3(2, 2), l4(1, 3); - -/* ************************************************************************* */ -TEST( RangeFactor, range ) -{ - Matrix expectedH1, actualH1, expectedH2, actualH2; - - // establish range is indeed zero - DOUBLES_EQUAL(1,gtsam::range(x1,l1),1e-9); - - // establish range is indeed 45 degrees - DOUBLES_EQUAL(sqrt(2),gtsam::range(x1,l2),1e-9); - - // Another pair - double actual23 = gtsam::range(x2, l3, actualH1, actualH2); - DOUBLES_EQUAL(sqrt(2),actual23,1e-9); - - // Check numerical derivatives - expectedH1 = numericalDerivative21(range, x2, l3, 1e-5); - CHECK(assert_equal(expectedH1,actualH1)); - expectedH2 = numericalDerivative22(range, x2, l3, 1e-5); - CHECK(assert_equal(expectedH1,actualH1)); - - // Another test - double actual34 = gtsam::range(x3, l4, actualH1, actualH2); - DOUBLES_EQUAL(2,actual34,1e-9); - - // Check numerical derivatives - expectedH1 = numericalDerivative21(range, x3, l4, 1e-5); - expectedH2 = numericalDerivative22(range, x3, l4, 1e-5); - CHECK(assert_equal(expectedH1,actualH1)); - CHECK(assert_equal(expectedH1,actualH1)); -} - -/* ************************************************************************* */ -TEST( RangeFactor, evaluateError ) -{ - // Create factor - double z(sqrt(2) - 0.22); // h(x) - z = 0.22 - double sigma = 0.1; - MyFactor factor(z, sigma, 2, 3); - - // create config - Config c; - c.insert(2, x2); - c.insert(3, l3); - - // Check error - Vector actual = factor.error_vector(c); - CHECK(assert_equal(Vector_(1,0.22),actual)); -} - -/* ************************************************************************* */ -int main() { - TestResult tr; - return TestRegistry::runAllTests(tr); -} -/* ************************************************************************* */