Errors:axpy and testErrors

.cproject

@@ -469,6 +469,7 @@
 </target>
 <target name="testBayesTree.run" path="cpp" targetID="org.eclipse.cdt.build.MakeTargetBuilder">
 <buildCommand>make</buildCommand>
+<buildArguments/>
 <buildTarget>testBayesTree.run</buildTarget>
 <stopOnError>true</stopOnError>
 <useDefaultCommand>false</useDefaultCommand>
@@ -476,7 +477,6 @@
 </target>
 <target name="testSymbolicBayesNet.run" path="cpp" targetID="org.eclipse.cdt.build.MakeTargetBuilder">
 <buildCommand>make</buildCommand>
-<buildArguments/>
 <buildTarget>testSymbolicBayesNet.run</buildTarget>
 <stopOnError>true</stopOnError>
 <useDefaultCommand>false</useDefaultCommand>
@@ -484,6 +484,7 @@
 </target>
 <target name="testSymbolicFactorGraph.run" path="cpp" targetID="org.eclipse.cdt.build.MakeTargetBuilder">
 <buildCommand>make</buildCommand>
+<buildArguments/>
 <buildTarget>testSymbolicFactorGraph.run</buildTarget>
 <stopOnError>true</stopOnError>
 <useDefaultCommand>false</useDefaultCommand>
@@ -675,6 +676,7 @@
 </target>
 <target name="testGraph.run" path="cpp" targetID="org.eclipse.cdt.build.MakeTargetBuilder">
 <buildCommand>make</buildCommand>
+<buildArguments/>
 <buildTarget>testGraph.run</buildTarget>
 <stopOnError>true</stopOnError>
 <useDefaultCommand>false</useDefaultCommand>
@@ -730,7 +732,6 @@
 </target>
 <target name="testSimulated2D.run" path="cpp" targetID="org.eclipse.cdt.build.MakeTargetBuilder">
 <buildCommand>make</buildCommand>
-<buildArguments/>
 <buildTarget>testSimulated2D.run</buildTarget>
 <stopOnError>true</stopOnError>
 <useDefaultCommand>false</useDefaultCommand>
@@ -776,6 +777,14 @@
 <useDefaultCommand>true</useDefaultCommand>
 <runAllBuilders>true</runAllBuilders>
 </target>
+<target name="testErrors.run" path="cpp" targetID="org.eclipse.cdt.build.MakeTargetBuilder">
+<buildCommand>make</buildCommand>
+<buildArguments/>
+<buildTarget>testErrors.run</buildTarget>
+<stopOnError>true</stopOnError>
+<useDefaultCommand>false</useDefaultCommand>
+<runAllBuilders>true</runAllBuilders>
+</target>
 <target name="install" path="" targetID="org.eclipse.cdt.build.MakeTargetBuilder">
 <buildCommand>make</buildCommand>
 <buildArguments>-j2</buildArguments>

cpp/Errors.cpp

@@ -38,9 +38,11 @@ bool Errors::equals(const Errors& expected, double tol) const {
 
 /* ************************************************************************* */
 Errors Errors::operator-(const Errors& b) const {
+#ifndef NDEBUG
 	size_t m = size();
-  if (b.size()!=m)
+	if (b.size()!=m)
     throw(std::invalid_argument("Errors::operator-: incompatible sizes"));
+#endif
 	Errors result;
 	Errors::const_iterator it = b.begin();
   BOOST_FOREACH(const Vector& ai, *this)
@@ -50,16 +52,25 @@ Errors Errors::operator-(const Errors& b) const {
 
 /* ************************************************************************* */
 double dot(const Errors& a, const Errors& b) {
+#ifndef NDEBUG
 	size_t m = a.size();
   if (b.size()!=m)
     throw(std::invalid_argument("Errors::dot: incompatible sizes"));
-	double result = 0.0;
+#endif
+  double result = 0.0;
 	Errors::const_iterator it = b.begin();
   BOOST_FOREACH(const Vector& ai, a)
 		result += gtsam::dot(ai, *(it++));
 	return result;
 }
 
+/* ************************************************************************* */
+void axpy(double alpha, const Errors& x, Errors& y) {
+	Errors::const_iterator it = x.begin();
+  BOOST_FOREACH(Vector& yi, y)
+		axpy(alpha,*(it++),yi);
+}
+
 /* ************************************************************************* */
 void print(const Errors& a, const string& s) {
 	a.print(s);

cpp/Errors.h

@@ -36,6 +36,11 @@ namespace gtsam {
    */
   double dot(const Errors& a, const Errors& b);
 
+  /**
+   * BLAS level 2 style
+   */
+  void axpy(double alpha, const Errors& x, Errors& y);
+
   /** print with optional string */
   void print(const Errors& a, const std::string& s = "Error");
 

cpp/Makefile.am

@@ -93,8 +93,10 @@ testBinaryBayesNet_LDADD      = libgtsam.la
 
 # Gaussian inference 
 headers += GaussianFactorSet.h SharedGaussian.h SharedDiagonal.h VectorConfig.h
-sources += NoiseModel.cpp Errors.cpp VectorMap.cpp VectorBTree.cpp GaussianFactor.cpp GaussianFactorGraph.cpp GaussianConditional.cpp GaussianBayesNet.cpp
+sources += NoiseModel.cpp Errors.cpp VectorMap.cpp VectorBTree.cpp GaussianFactor.cpp 
-check_PROGRAMS += testVectorMap testVectorBTree testGaussianFactor testGaussianFactorGraph testGaussianConditional testGaussianBayesNet testNoiseModel
+sources += GaussianFactorGraph.cpp GaussianConditional.cpp GaussianBayesNet.cpp
+check_PROGRAMS += testVectorMap testVectorBTree testGaussianFactor testGaussianFactorGraph 
+check_PROGRAMS += testGaussianConditional testGaussianBayesNet testNoiseModel testErrors
 testVectorMap_SOURCES           = testVectorMap.cpp
 testVectorMap_LDADD             = libgtsam.la
 testVectorBTree_SOURCES         = testVectorBTree.cpp
@@ -109,6 +111,8 @@ testGaussianBayesNet_SOURCES    = testGaussianBayesNet.cpp
 testGaussianBayesNet_LDADD      = libgtsam.la
 testNoiseModel_SOURCES          = testNoiseModel.cpp
 testNoiseModel_LDADD            = libgtsam.la
+testErrors_SOURCES              = testErrors.cpp
+testErrors_LDADD                = libgtsam.la
 
 # Iterative Methods
 headers += iterative-inl.h SubgraphPreconditioner-inl.h

cpp/testErrors.cpp

@@ -0,0 +1,35 @@
+/*
+ * testErrors.cpp
+ *
+ *  Created on: Feb 20, 2010
+ *  @Author: Frank Dellaert
+ */
+
+#include <boost/assign/std/list.hpp> // for +=
+using namespace boost::assign;
+
+#include <CppUnitLite/TestHarness.h>
+#include "Errors.h"
+
+using namespace std;
+using namespace gtsam;
+
+/* ************************************************************************* */
+TEST( Errors, arithmetic )
+{
+	Errors e;
+	e += Vector_(2,1.0,2.0), Vector_(3,3.0,4.0,5.0);
+	DOUBLES_EQUAL(1+4+9+16+25,dot(e,e),1e-9);
+
+	axpy(2.0,e,e);
+	Errors expected;
+	expected += Vector_(2,3.0,6.0), Vector_(3,9.0,12.0,15.0);
+	CHECK(assert_equal(expected,e));
+}
+
+/* ************************************************************************* */
+int main() {
+	TestResult tr;
+	return TestRegistry::runAllTests(tr);
+}
+/* ************************************************************************* */