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Renamed some variables, used subVector as a test

release/4.3a0
Frank Dellaert 2019-04-07 18:14:53 -04:00
parent 93a7c99f03
commit 2de0957b2d
1 changed files with 29 additions and 17 deletions
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46
tests/testSubgraphPreconditioner.cpp
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@ -219,19 +219,19 @@ TEST( SubgraphPreconditioner, RawVectorAPI )
KeyInfo keyInfo(Ab); KeyInfo keyInfo(Ab);
std::map<Key,Vector> lambda; std::map<Key,Vector> lambda;
system.build(Ab, keyInfo, lambda); system.build(Ab, keyInfo, lambda);
const auto ordering = system.Rc1()->ordering(); // build changed R1 ! const auto ordering = keyInfo.ordering(); // build changed R1 !
const Matrix R1 = system.Rc1()->matrix(ordering).first; const Matrix R1 = system.Rc1()->matrix(ordering).first;
// Test that 'solve' does implement x = R^{-1} y // Test that 'solve' does implement x = R^{-1} y
Vector y2 = Vector::Zero(18), x2(18), x3(18); Vector vector_y = Vector::Zero(18), solve_x(18), solveT_x(18);
y2.head(2) << 100, -100; vector_y.head(2) << 100, -100;
system.solve(y2, x2); system.solve(vector_y, solve_x);
EXPECT(assert_equal(R1.inverse() * y2, x2)); EXPECT(assert_equal(R1.inverse() * vector_y, solve_x));
// I can't get test below to pass! // I can't get test below to pass!
// Test that transposeSolve does implement x = R^{-T} y // Test that transposeSolve does implement x = R^{-T} y
// system.transposeSolve(y2, x3); system.transposeSolve(vector_y, solveT_x);
// EXPECT(assert_equal(R1.transpose().inverse() * y2, x3)); EXPECT(assert_equal(R1.transpose().inverse() * vector_y, solveT_x));
} }
/* ************************************************************************* */ /* ************************************************************************* */
@ -257,23 +257,35 @@ TEST( SubgraphSolver, toy3D )
system.build(Ab, keyInfo, lambda); system.build(Ab, keyInfo, lambda);
// Solve the VectorValues way // Solve the VectorValues way
const VectorValues xbar = system.Rc1()->optimize(); // merely for use in zero below const auto xbar = system.Rc1()->optimize(); // merely for use in zero below
auto y = VectorValues::Zero(xbar); auto values_y = VectorValues::Zero(xbar);
y[12] = Vector3(100,200,-300); const size_t n = values_y.size();
auto values_x = system.Rc1()->backSubstitute(y); values_y[0] = Vector3(100, 200, -300);
values_y[n - 1] = Vector3(10, 20, -100);
auto values_x = system.Rc1()->backSubstitute(values_y);
// Check YD's sub-vector machinery
const auto ordering = keyInfo.ordering();
auto vector_y = values_y.vector(ordering);
for (size_t j = 0; j < n; j++) {
EXPECT(assert_equal(values_y[j], getSubvector(vector_y, keyInfo, {j})));
}
// Solve the matrix way, this really just checks BN::backSubstitute // Solve the matrix way, this really just checks BN::backSubstitute
const auto ordering = system.Rc1()->ordering();
const Matrix R1 = system.Rc1()->matrix(ordering).first; const Matrix R1 = system.Rc1()->matrix(ordering).first;
auto y2 = y.vector(ordering); auto vector_x = R1.inverse() * vector_y;
auto matrix_x = R1.inverse() * y2; EXPECT(assert_equal(vector_x, values_x.vector(ordering)));
EXPECT(assert_equal(matrix_x, values_x.vector(ordering)));
// Test that 'solve' does implement x = R^{-1} y // Test that 'solve' does implement x = R^{-1} y
const size_t N = R1.cols(); const size_t N = R1.cols();
EXPECT_LONGS_EQUAL(n * 3, N);
Vector solve_x = Vector::Zero(N); Vector solve_x = Vector::Zero(N);
system.solve(y2, solve_x); system.solve(vector_y, solve_x);
EXPECT(assert_equal(solve_x, matrix_x)); EXPECT(assert_equal(vector_x, solve_x));
for (size_t j = 0; j < n; j++) {
cout << j << endl;
EXPECT(assert_equal(values_x[j], getSubvector(vector_x, keyInfo, {j}), 1e-3));
}
} }
/* ************************************************************************* */ /* ************************************************************************* */