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Check invsigmas and precisions indeed infinity in case of constrained models

release/4.3a0
Frank Dellaert 2014-01-02 18:38:47 -05:00
parent 6f64b20a5b
commit 29085b94a2
1 changed files with 15 additions and 7 deletions
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22
gtsam/linear/tests/testNoiseModel.cpp
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@ -17,18 +17,21 @@
*/
#include <iostream>
#include <boost/foreach.hpp>
#include <boost/assign/std/vector.hpp>
using namespace boost::assign;
#include <gtsam/linear/NoiseModel.h>
#include <gtsam/base/TestableAssertions.h>
#include <CppUnitLite/TestHarness.h>
#include <gtsam/base/TestableAssertions.h>
#include <gtsam/linear/NoiseModel.h>
#include <boost/foreach.hpp>
#include <boost/assign/std/vector.hpp>
#include <iostream>
#include <limits>
using namespace std;
using namespace gtsam;
using namespace noiseModel;
using namespace boost::assign;
static double sigma = 2, s_1=1.0/sigma, var = sigma*sigma, prc = 1.0/var;
static Matrix R = Matrix_(3, 3,
@ -40,7 +43,7 @@ static Matrix Sigma = Matrix_(3, 3,
0.0, var, 0.0,
0.0, 0.0, var);
//static double inf = std::numeric_limits<double>::infinity();
//static double inf = numeric_limits<double>::infinity();
/* ************************************************************************* */
TEST(NoiseModel, constructors)
@ -155,7 +158,12 @@ TEST(NoiseModel, ConstrainedConstructors )
Vector sigmas = Vector_(3, sigma, 0.0, 0.0);
Vector mu = Vector_(3, 200.0, 300.0, 400.0);
actual = Constrained::All(d);
// TODO: why should this be a thousand ??? Dummy variable?
EXPECT(assert_equal(gtsam::repeat(d, 1000.0), actual->mu()));
EXPECT(assert_equal(gtsam::repeat(d, 0), actual->sigmas()));
double Inf = numeric_limits<double>::infinity();
EXPECT(assert_equal(gtsam::repeat(d, Inf), actual->invsigmas()));
EXPECT(assert_equal(gtsam::repeat(d, Inf), actual->precisions()));
actual = Constrained::All(d, m);
EXPECT(assert_equal(gtsam::repeat(d, m), actual->mu()));