Added planar graph to timing script

cpp/Makefile.am

@@ -125,15 +125,6 @@ testBayesNetPreconditioner_LDADD   = libgtsam.la
 testSubgraphPreconditioner_SOURCES = $(example) testSubgraphPreconditioner.cpp
 testSubgraphPreconditioner_LDADD   = libgtsam.la
 
-# the timing tests below are broken for now.
-#noinst_PROGRAMS = timeGaussianFactor timeGaussianFactorGraph
-
-#timeGaussianFactor_SOURCES = timeGaussianFactor.cpp
-#timeGaussianFactorGraph_SOURCES = timeGaussianFactorGraph.cpp
-
-#timeGaussianFactor_LDADD = libgtsam.la 
-#timeGaussianFactorGraph_LDADD = libgtsam.la
-
 # Nonlinear inference 
 headers += Key.h NonlinearFactorGraph.h NonlinearFactorGraph-inl.h
 headers += NonlinearOptimizer.h NonlinearOptimizer-inl.h 
@@ -184,10 +175,6 @@ testCal3_S2_LDADD   = libgtsam.la
 testLieConfig_LDADD = libgtsam.la
 testTupleConfig_LDADD = libgtsam.la
 
-noinst_PROGRAMS = timeRot3
-timeRot3_SOURCES = timeRot3.cpp
-timeRot3_LDADD = libgtsam.la
-
 # simulated2D example
 sources += simulated2D.cpp 
 testSimulated2D_SOURCES = testSimulated2D.cpp
@@ -253,6 +240,15 @@ testVSLAMConfig_LDADD = libgtsam.la
 headers += smallExample.h 
 headers += $(sources:.cpp=.h)
 
+# Timing tests
+noinst_PROGRAMS = timeGaussianFactor timeGaussianFactorGraph timeRot3
+timeRot3_SOURCES = timeRot3.cpp
+timeRot3_LDADD = libgtsam.la
+timeGaussianFactor_SOURCES = timeGaussianFactor.cpp
+timeGaussianFactor_LDADD = $(example) libgtsam.la 
+timeGaussianFactorGraph_SOURCES = timeGaussianFactorGraph.cpp
+timeGaussianFactorGraph_LDADD = $(example) libgtsam.la
+
 # create both dynamic and static libraries
 AM_CXXFLAGS = -I$(boost) -fPIC
 lib_LTLIBRARIES = libgtsam.la

cpp/timeGaussianFactorGraph.cpp

@@ -25,13 +25,36 @@ double timeKalmanSmoother(int T) {
 	return dif;
 }
 
+/* ************************************************************************* */
+// Create a planar factor graph and optimize
+double timePlanarSmoother(int N) {
+	GaussianFactorGraph fg;
+	VectorConfig config;
+	boost::tie(fg,config) = planarGraph(N);
+	Ordering ordering = fg.getOrdering();
+	clock_t start = clock();
+	fg.optimize(ordering);
+	clock_t end = clock ();
+	double dif = (double)(end - start) / CLOCKS_PER_SEC;
+	return dif;
+}
+
 /* ************************************************************************* */
 TEST(timeGaussianFactorGraph, linearTime)
 {
 	int T = 1000;
-	double time1 = timeKalmanSmoother(  T); // cout << time1 << endl;
+	double time1 = timeKalmanSmoother(  T);  cout << time1 << endl;
-	double time2 = timeKalmanSmoother(2*T); // cout << time2 << endl;
+	double time2 = timeKalmanSmoother(2*T);  cout << time2 << endl;
-	DOUBLES_EQUAL(2*time1,time2,0.001);
+	DOUBLES_EQUAL(2*time1,time2,0.1);
+}
+
+/* ************************************************************************* */
+TEST(timeGaussianFactorGraph, planar)
+{
+	// 1740: 8.12, 8.12, 8.12, 8.16, 8.14
+	int N = 30;
+	double time = timePlanarSmoother(N); cout << time << endl;
+	DOUBLES_EQUAL(8.12,time,0.1);
 }
 
 /* ************************************************************************* */